diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/episode_83_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/episode_83_success.json new file mode 100644 index 0000000000000000000000000000000000000000..40b3b799e965f69311c4c9031d60099ed23e60ed --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/episode_83_success.json @@ -0,0 +1,926 @@ +{ + "episode": 83, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.18926603978572465, + 0.2184303168843422, + 1.0449861775376952 + ], + "current_z": 1.0449861775376952, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.18839961052448484, + "gripper_z": 1.0504106264593047, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18434158554311986, + 0.21355768013947443, + 1.0504106264593047 + ], + "object_minus_gripper": [ + 0.004924454242604792, + 0.004872636744867764, + -0.005424448921609537 + ], + "object_to_gripper_xy": 0.006927686369556856, + "object_to_gripper_z": -0.005424448921609537, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.18926603978572465, + 0.19420254004606616, + 1.0449861775376952 + ], + "finger_b": [ + 0.17726092804559235, + 0.2184303168843422, + 1.0449861775376952 + ], + "finger_midpoint": [ + 0.1832634839156585, + 0.20631642846520418, + 1.0449861775376952 + ], + "object_minus_finger_midpoint": [ + 0.006002555870066151, + 0.01211388841913802, + 0.0 + ], + "finger_gap": 0.02703900660931106, + "fingertip_max_gap": 0.09131542137202711, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01351950330465553, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0449861775376952, + "object_top_z": 1.090477536065399, + "finger_top_clearance": 0.04549135852770392, + "fingertip_min_top_clearance": 0.013647407558311191, + "object_projection_between_fingers": 0.8028708045044619, + "object_to_finger_line_xy": 0.010756947263674044, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04815771068601356, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9233232367474066, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 212, + "max_stable_success_frames": 212, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18824185960296752, + 0.21908364803428565, + 1.2396079620201907 + ], + "held_position": [ + 0.1934307932165686, + 0.22353575969879147, + 1.2340701389839521 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008798512050357317, + "max_held_gripper_dist": 0.008801840872516935, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0055378230362386205, + "max_held_gripper_z_dist": 0.005563880564077639, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08536433661323331, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.1934307932165686, + 0.1984934434339006, + 1.2340701389839521 + ], + "held_grasp_finger_b": [ + 0.18321511077581776, + 0.22353575969879147, + 1.2340701389839521 + ], + "held_grasp_midpoint": [ + 0.18832295199619317, + 0.21101460156634605, + 1.2340701389839521 + ], + "held_grasp_object_position": [ + 0.1934307932165686, + 0.22353575969879147, + 1.2340701389839521 + ], + "held_grasp_finger_gap": 0.02704584573721226, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024467862104921363, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05270995465727166, + -0.9985629922829904, + 0.009675284123421111 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004442438667290067, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03242782575510503, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33842401124296084, + -0.32160366053931466, + 0.8470193071779082 + ], + "target_position": [ + 0.3279438390802522, + -0.3257776952991569, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.011280805588980968, + "xy_threshold": 0.08, + "gripper_dist": 0.19086054320699308, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470193071779082, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07580484586106725, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08534662473631231, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15894545687237557, + "release_required_pad_clearance": 0.05267331236815616, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.4034823715469878, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 158, + "max_placed_release_frames": 158 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00786513090133667, + "max_z_decrease": 0.00786513090133667, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03512535545311599, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00786513090133667, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021167670925509974, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00786513090133667, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007865150000501784, + "max_button_displacement": 0.12, + "button_start": [ + 0.18364375829696655, + -0.3820391595363617, + 0.7768088579177856 + ], + "button_final": [ + 0.18364375829696655, + -0.3820391595363617, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1827090131079847, + -0.3799091680507951, + 0.8071731909390505 + ], + "closest_button": [ + 0.1836320161819458, + -0.38204243779182434, + 0.7721248269081116 + ], + "closest_ee_minus_button": [ + -0.0009230030739610928, + 0.002133269741029231, + 0.03504836403093892 + ], + "button_min_z_position": [ + 0.1836269497871399, + -0.38204339146614075, + 0.768943727016449 + ], + "min_active_finger_to_button": 0.1460663134113412, + "closest_active_finger": [ + 0.056164517998695374, + -0.44436022639274597, + 0.8103875517845154 + ], + "closest_active_finger_button": [ + 0.18364904820919037, + -0.38204309344291687, + 0.7757517695426941 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.127484530210495, + -0.0623171329498291, + 0.03463578224182129 + ], + "min_contact_pad_to_button": 0.021167670925509974, + "closest_contact_pad": [ + 0.1836269497871399, + -0.38204339146614075, + 0.790111397941959 + ], + "closest_contact_pad_button": [ + 0.1836269497871399, + -0.38204339146614075, + 0.768943727016449 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021167670925509974 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 83, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511, + 7728913421038834906 + ], + "workflow_spec_digest": "bc4db0291f406fbd9c91f68a4c7f1acd36da9a03dd09cb73d832a7602138bc78", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "19d3434e3d5dcfcc68138d60001e5f455053b511079a2c87c59595c47a4c40aa", + "visual_seed": 5312497569921623296, + "episode_index": 83, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511, + 7728913421038834906 + ], + "runtime_workflow_digest": "45388e27c653b4c58871f8eb0be862a6bfbe31c6d7d135b34c259a2497af3374" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/episode_84_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/episode_84_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f273ac486fa295af232151ae18008d41772e0db2 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/episode_84_success.json @@ -0,0 +1,926 @@ +{ + "episode": 84, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.18420630081452383, + 0.21811253136897146, + 1.0429797406829937 + ], + "current_z": 1.0429797406829937, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.18639317366978336, + "gripper_z": 1.0490492187706253, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.17912667365133123, + 0.21329688264459543, + 1.0490492187706253 + ], + "object_minus_gripper": [ + 0.0050796271631926015, + 0.004815648724376037, + -0.006069478087631586 + ], + "object_to_gripper_xy": 0.006999506036402045, + "object_to_gripper_z": -0.006069478087631586, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.18420630081452383, + 0.193533394035937, + 1.0429797406829937 + ], + "finger_b": [ + 0.1726068245953457, + 0.21811253136897146, + 1.0429797406829937 + ], + "finger_midpoint": [ + 0.17840656270493477, + 0.20582296270245423, + 1.0429797406829937 + ], + "object_minus_finger_midpoint": [ + 0.005799738109589059, + 0.012289568666517231, + 0.0 + ], + "finger_gap": 0.027178701966713698, + "fingertip_max_gap": 0.09596408386175753, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013589350983356849, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0429797406829937, + "object_top_z": 1.0900581225275083, + "finger_top_clearance": 0.04707838184451463, + "fingertip_min_top_clearance": 0.014123514553354387, + "object_projection_between_fingers": 0.8178541272236767, + "object_to_finger_line_xy": 0.010490019697468283, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05048204193087877, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.6513351119807664, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 208, + "max_stable_success_frames": 208, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18253777659535922, + 0.21941443519581058, + 1.2387369694137904 + ], + "held_position": [ + 0.18776853039587357, + 0.2239434923194542, + 1.2325702169837334 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.009268332065934888, + "max_held_gripper_dist": 0.009270915220388936, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.006166752430057043, + "max_held_gripper_z_dist": 0.0061930293912253465, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08642904509754551, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.18776853039587357, + 0.19896217284328924, + 1.2325702169837334 + ], + "held_grasp_finger_b": [ + 0.1772644696006998, + 0.2239434923194542, + 1.2325702169837334 + ], + "held_grasp_midpoint": [ + 0.18251649999828667, + 0.2114528325813717, + 1.2325702169837334 + ], + "held_grasp_object_position": [ + 0.18776853039587357, + 0.2239434923194542, + 1.2325702169837334 + ], + "held_grasp_finger_gap": 0.02709984531245383, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024977443032122744, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.0008326151042376514, + -0.9994947311038489, + 0.03177403417466861 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005277367819899268, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.0327202492894233, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33476592331021243, + -0.32563794757238607, + 0.8470198304846746 + ], + "target_position": [ + 0.3279030054457123, + -0.3279324759570924, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007236332090437654, + "xy_threshold": 0.08, + "gripper_dist": 0.18722203182433184, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470198304846746, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07542478642997408, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.087305427681991, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15600214552893768, + "release_required_pad_clearance": 0.0536527138409955, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.3151649664511473, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 156, + "max_placed_release_frames": 156 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008020579814910889, + "max_z_decrease": 0.008020579814910889, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03503735672013835, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008020579814910889, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02135619485522218, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008020579814910889, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008020613733493415, + "max_button_displacement": 0.12, + "button_start": [ + 0.18360292911529535, + -0.38419392704963673, + 0.7768088579177856 + ], + "button_final": [ + 0.18360292911529535, + -0.38419392704963673, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18347405759250554, + -0.3856899254394796, + 0.80594959236227 + ], + "closest_button": [ + 0.18358664214611048, + -0.38419699668884266, + 0.7709442377090454 + ], + "closest_ee_minus_button": [ + -0.00011258455360493858, + -0.001492928750636946, + 0.03500535465322463 + ], + "button_min_z_position": [ + 0.18358016014099118, + -0.3841989934444427, + 0.7687882781028748 + ], + "min_active_finger_to_button": 0.14609915969632037, + "closest_active_finger": [ + 0.042416006326675415, + -0.3702039122581482, + 0.8077661395072937 + ], + "closest_active_finger_button": [ + 0.18361243605613703, + -0.38419884443283076, + 0.7729426622390747 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14119642972946161, + 0.013994932174682562, + 0.034823477268218994 + ], + "min_contact_pad_to_button": 0.02135619485522218, + "closest_contact_pad": [ + 0.18358215689659116, + -0.38688523726966967, + 0.7900566846539416 + ], + "closest_contact_pad_button": [ + 0.18358215689659116, + -0.38419750332832325, + 0.7688702940940857 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002687733941346415, + 0.02118639055985594 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 84, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511, + 7728913421038834906 + ], + "workflow_spec_digest": "bc4db0291f406fbd9c91f68a4c7f1acd36da9a03dd09cb73d832a7602138bc78", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1fa9751af3056fe11d5ea49654629181a4e87a7deb09513870f132d76e1593cf", + "visual_seed": 334252278402900947, + "episode_index": 84, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511, + 7728913421038834906 + ], + "runtime_workflow_digest": "45388e27c653b4c58871f8eb0be862a6bfbe31c6d7d135b34c259a2497af3374" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/episode_85_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/episode_85_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f9519b5459b5819a7fc825c885144df8b04dc147 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/episode_85_success.json @@ -0,0 +1,926 @@ +{ + "episode": 85, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.18820405493470918, + 0.2208958925971026, + 1.0436997928818004 + ], + "current_z": 1.0436997928818004, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.18711322586859003, + "gripper_z": 1.0487452303489353, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1837685809990827, + 0.21634025883879787, + 1.0487452303489353 + ], + "object_minus_gripper": [ + 0.004435473935626488, + 0.004555633758304728, + -0.005045437467134928 + ], + "object_to_gripper_xy": 0.006358240949620232, + "object_to_gripper_z": -0.005045437467134928, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.18820405493470918, + 0.19693618183805287, + 1.0436997928818004 + ], + "finger_b": [ + 0.17675227249811357, + 0.2208958925971026, + 1.0436997928818004 + ], + "finger_midpoint": [ + 0.18247816371641137, + 0.20891603721757773, + 1.0436997928818004 + ], + "object_minus_finger_midpoint": [ + 0.005725891218297807, + 0.011979855379524867, + 0.0 + ], + "finger_gap": 0.0265558102989241, + "fingertip_max_gap": 0.09304964808988159, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01327790514946205, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0436997928818004, + "object_top_z": 1.0898509695930039, + "finger_top_clearance": 0.0461511767112035, + "fingertip_min_top_clearance": 0.013845353013361067, + "object_projection_between_fingers": 0.8140367780710805, + "object_to_finger_line_xy": 0.01033225466547008, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049024824044940796, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.459568591019224, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 210, + "max_stable_success_frames": 210, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18763485232769572, + 0.22191952198584822, + 1.239416883853056 + ], + "held_position": [ + 0.19231459590323238, + 0.22610666703326715, + 1.2342716300876428 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008118239950346322, + "max_held_gripper_dist": 0.008125264052681675, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0051452537654130825, + "max_held_gripper_z_dist": 0.005167487893323441, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0852468853274995, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.19231459590323238, + 0.20133253559453868, + 1.2342716300876428 + ], + "held_grasp_finger_b": [ + 0.18258803850848548, + 0.22610666703326715, + 1.2342716300876428 + ], + "held_grasp_midpoint": [ + 0.18745131720585895, + 0.2137196013139029, + 1.2342716300876428 + ], + "held_grasp_object_position": [ + 0.19231459590323238, + 0.22610666703326715, + 1.2342716300876428 + ], + "held_grasp_finger_gap": 0.026615099235146582, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02433064656678381, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.042534079763272815, + -0.9987981534703613, + 0.02435365851136584 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004342671326692268, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03262119151436865, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33992961918145204, + -0.3238770939419545, + 0.8470194744043994 + ], + "target_position": [ + 0.3326402067456511, + -0.32594351902881546, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007576651390872998, + "xy_threshold": 0.08, + "gripper_dist": 0.1865813495893337, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470194744043994, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07552111137421767, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08547816999663026, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15503566002860392, + "release_required_pad_clearance": 0.05273908499831513, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5293397610823093, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 157, + "max_placed_release_frames": 157 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008101105690002441, + "max_z_decrease": 0.008101105690002441, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502045595978081, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008101105690002441, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021381753849101494, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008101105690002441, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008101149511134756, + "max_button_displacement": 0.12, + "button_start": [ + 0.18834012746810913, + -0.38220497965812683, + 0.7768088579177856 + ], + "button_final": [ + 0.18834012746810913, + -0.38220497965812683, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18770508435952482, + -0.3835039071673218, + 0.8050892257754277 + ], + "closest_button": [ + 0.1883250176906585, + -0.38220417499542236, + 0.7700983881950378 + ], + "closest_ee_minus_button": [ + -0.000619933331133693, + -0.001299732171899437, + 0.0349908375803899 + ], + "button_min_z_position": [ + 0.18831358850002283, + -0.3822025954723358, + 0.7687077522277832 + ], + "min_active_finger_to_button": 0.14661317972784307, + "closest_active_finger": [ + 0.0468168705701828, + -0.367233008146286, + 0.8080481886863708 + ], + "closest_active_finger_button": [ + 0.1883529871702194, + -0.3822128176689148, + 0.7728550434112549 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1415361166000366, + 0.014979809522628784, + 0.03519314527511597 + ], + "min_contact_pad_to_button": 0.021381753849101494, + "closest_contact_pad": [ + 0.18831358850002283, + -0.3847215374610746, + 0.7899406118778853 + ], + "closest_contact_pad_button": [ + 0.18831358850002283, + -0.3822025954723358, + 0.7687077522277832 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00251894198873881, + 0.02123285965010213 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 85, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511, + 7728913421038834906 + ], + "workflow_spec_digest": "bc4db0291f406fbd9c91f68a4c7f1acd36da9a03dd09cb73d832a7602138bc78", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8abc695fe291169508063525cd15ed75aaf9921b89d8af6169567271315aa60f", + "visual_seed": 770160716871674400, + "episode_index": 85, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511, + 7728913421038834906 + ], + "runtime_workflow_digest": "45388e27c653b4c58871f8eb0be862a6bfbe31c6d7d135b34c259a2497af3374" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/episode_86_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/episode_86_success.json new file mode 100644 index 0000000000000000000000000000000000000000..894202174dbc0db63ac5ddb18c195bfb0016a29f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/episode_86_success.json @@ -0,0 +1,926 @@ +{ + "episode": 86, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.18351052142842036, + 0.21621172374085793, + 1.044300875088057 + ], + "current_z": 1.044300875088057, + "required_z": 0.8565866266178552, + "initial_z": 0.7565866266178553, + "lift_margin": 0.18771424847020168, + "gripper_z": 1.0504069742845308, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.17865510774188562, + 0.21156153678302486, + 1.0504069742845308 + ], + "object_minus_gripper": [ + 0.004855413686534749, + 0.0046501869578330635, + -0.006106099196473869 + ], + "object_to_gripper_xy": 0.006723041038859549, + "object_to_gripper_z": -0.006106099196473869, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.18351052142842036, + 0.19162648314494546, + 1.044300875088057 + ], + "finger_b": [ + 0.17236705362148802, + 0.21621172374085793, + 1.044300875088057 + ], + "finger_midpoint": [ + 0.17793878752495418, + 0.2039191034429017, + 1.044300875088057 + ], + "object_minus_finger_midpoint": [ + 0.005571733903466186, + 0.01229262029795622, + 0.0 + ], + "finger_gap": 0.026992794036984017, + "fingertip_max_gap": 0.09582610916866766, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013496397018492002, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.044300875088057, + "object_top_z": 1.0913528036864666, + "finger_top_clearance": 0.047051928598409676, + "fingertip_min_top_clearance": 0.014115578579522902, + "object_projection_between_fingers": 0.8295703925588189, + "object_to_finger_line_xy": 0.010149554608198965, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05041305458433383, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.439595760694655, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 210, + "max_stable_success_frames": 210, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18200873069697773, + 0.2179354148591563, + 1.2390445151743268 + ], + "held_position": [ + 0.18693967607945858, + 0.22236700933142528, + 1.2328376001355812 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.009081797521958989, + "max_held_gripper_dist": 0.00908271582916637, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.006206915038745597, + "max_held_gripper_z_dist": 0.006232582322731606, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08594315173335454, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.18693967607945858, + 0.19752273408404655, + 1.2328376001355812 + ], + "held_grasp_finger_b": [ + 0.17669897941915735, + 0.22236700933142528, + 1.2328376001355812 + ], + "held_grasp_midpoint": [ + 0.18181932774930798, + 0.2099448717077359, + 1.2328376001355812 + ], + "held_grasp_object_position": [ + 0.18693967607945858, + 0.22236700933142528, + 1.2328376001355812 + ], + "held_grasp_finger_gap": 0.026872102274586182, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024918396022449472, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.008382398333480586, + -0.999528228397426, + 0.02954752163687857 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005237129103868191, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03282686855320503, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33321671588143875, + -0.32622469352154504, + 0.8470197232171949 + ], + "target_position": [ + 0.3291916271115063, + -0.3273139037574839, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.004169858336192065, + "xy_threshold": 0.08, + "gripper_dist": 0.1832580592479894, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470197232171949, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07530200564299672, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08883305965622733, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1521278798407892, + "release_required_pad_clearance": 0.054416529828113666, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.858296568690701, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007969081401824951, + "max_z_decrease": 0.007969081401824951, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03499824199603241, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007969081401824951, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021281606707285364, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007969081401824951, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007969107778942516, + "max_button_displacement": 0.12, + "button_start": [ + 0.18489155173301697, + -0.38357535004615784, + 0.7768088579177856 + ], + "button_final": [ + 0.18489155173301697, + -0.38357535004615784, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1854274659650882, + -0.38365058867194246, + 0.8038335161460186 + ], + "closest_button": [ + 0.18487106263637543, + -0.3835761249065399, + 0.7688397765159607 + ], + "closest_ee_minus_button": [ + 0.0005564033287127623, + -7.446376540254374e-05, + 0.03499373963005792 + ], + "button_min_z_position": [ + 0.18487106263637543, + -0.3835761249065399, + 0.7688397765159607 + ], + "min_active_finger_to_button": 0.14545241252095806, + "closest_active_finger": [ + 0.04477062076330185, + -0.36679044365882874, + 0.808131754398346 + ], + "closest_active_finger_button": [ + 0.18490293622016907, + -0.38358184695243835, + 0.7729552388191223 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14013231545686722, + 0.01679140329360962, + 0.03517651557922363 + ], + "min_contact_pad_to_button": 0.021281606707285364, + "closest_contact_pad": [ + 0.18487106263637543, + -0.3849077750830233, + 0.7900796798079026 + ], + "closest_contact_pad_button": [ + 0.18487106263637543, + -0.3835761249065399, + 0.7688397765159607 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001331650176483401, + 0.02123990329194192 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 86, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511, + 7728913421038834906 + ], + "workflow_spec_digest": "bc4db0291f406fbd9c91f68a4c7f1acd36da9a03dd09cb73d832a7602138bc78", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b6cf40b69901700e7f0ffb0b3923a5aafc40a86579a8fad1d56ecf32c02ef112", + "visual_seed": 4864041739196823750, + "episode_index": 86, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511, + 7728913421038834906 + ], + "runtime_workflow_digest": "45388e27c653b4c58871f8eb0be862a6bfbe31c6d7d135b34c259a2497af3374" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/episode_87_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/episode_87_success.json new file mode 100644 index 0000000000000000000000000000000000000000..360af532c969e9a4ec14d1cfa71640ec5bd567ee --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/episode_87_success.json @@ -0,0 +1,926 @@ +{ + "episode": 87, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.19036248815028434, + 0.22142102974327796, + 1.0423790334537664 + ], + "current_z": 1.0423790334537664, + "required_z": 0.8565865074085657, + "initial_z": 0.7565865074085657, + "lift_margin": 0.1857925260452007, + "gripper_z": 1.0483046026506881, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1856328872392184, + 0.2168981563476408, + 1.0483046026506881 + ], + "object_minus_gripper": [ + 0.004729600911065945, + 0.004522873395637145, + -0.005925569196921776 + ], + "object_to_gripper_xy": 0.00654412014948672, + "object_to_gripper_z": -0.005925569196921776, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19036248815028434, + 0.19688219126225032, + 1.0423790334537664 + ], + "finger_b": [ + 0.17947504085169455, + 0.22142102974327796, + 1.0423790334537664 + ], + "finger_midpoint": [ + 0.18491876450098943, + 0.20915161050276415, + 1.0423790334537664 + ], + "object_minus_finger_midpoint": [ + 0.005443723649294907, + 0.012269419240513807, + 0.0 + ], + "finger_gap": 0.026845690579263053, + "fingertip_max_gap": 0.09905030477573276, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01342284528963152, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0423790334537664, + "object_top_z": 1.0906093167431348, + "finger_top_clearance": 0.0482302832893684, + "fingertip_min_top_clearance": 0.014469084986810503, + "object_projection_between_fingers": 0.835523835053354, + "object_to_finger_line_xy": 0.00995188817892311, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05202515238786638, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.4951001377506494, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 206, + "max_stable_success_frames": 206, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18860615390319577, + 0.22405061675382154, + 1.2384885821360347 + ], + "held_position": [ + 0.19337830104707432, + 0.22843728697939727, + 1.232487675592683 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008833297423545888, + "max_held_gripper_dist": 0.00884210580884168, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.006000906543351725, + "max_held_gripper_z_dist": 0.006025043738486779, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0851252159503291, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.19337830104707432, + 0.20380511598504816, + 1.232487675592683 + ], + "held_grasp_finger_b": [ + 0.18299218686254864, + 0.22843728697939727, + 1.232487675592683 + ], + "held_grasp_midpoint": [ + 0.18818524395481148, + 0.21612120148222272, + 1.232487675592683 + ], + "held_grasp_object_position": [ + 0.19337830104707432, + 0.22843728697939727, + 1.232487675592683 + ], + "held_grasp_finger_gap": 0.02673228788841051, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024977689955290323, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.0366917743741794, + -0.9985561160098301, + 0.03923514843398745 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005661797528237114, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03309246494644869, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.32793517997974164, + -0.32664864225327117, + 0.8470197585822522 + ], + "target_position": [ + 0.32514133138227436, + -0.3269459866675872, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0028096269656833176, + "xy_threshold": 0.08, + "gripper_dist": 0.1828064126934101, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470197585822522, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07585536722714376, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09069447389999595, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1505412957471934, + "release_required_pad_clearance": 0.05534723694999798, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 5.812862137403398, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007898807525634766, + "max_z_decrease": 0.007898807525634766, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035092586319148286, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007898807525634766, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021135560803057743, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007898807525634766, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007898830099815981, + "max_button_displacement": 0.12, + "button_start": [ + 0.180841252207756, + -0.3832074403762817, + 0.7768088579177856 + ], + "button_final": [ + 0.180841252207756, + -0.3832074403762817, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18122528659872658, + -0.38262902763772566, + 0.807729443781506 + ], + "closest_button": [ + 0.1808308809995651, + -0.38321241736412043, + 0.7726439237594604 + ], + "closest_ee_minus_button": [ + 0.00039440559916148477, + 0.0005833897263947674, + 0.03508552002204557 + ], + "button_min_z_position": [ + 0.18082274496555323, + -0.3832111954689026, + 0.7689100503921509 + ], + "min_active_finger_to_button": 0.14560174148220026, + "closest_active_finger": [ + 0.05503707379102707, + -0.44790831208229065, + 0.8108293414115906 + ], + "closest_active_finger_button": [ + 0.18084441125392908, + -0.38320991396903986, + 0.7763837575912476 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.125807337462902, + -0.06469839811325079, + 0.03444558382034302 + ], + "min_contact_pad_to_button": 0.021135560803057743, + "closest_contact_pad": [ + 0.18082274496555323, + -0.38363723573044767, + 0.7900413168036865 + ], + "closest_contact_pad_button": [ + 0.18082274496555323, + -0.3832111954689026, + 0.7689100503921509 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0004260402615450798, + 0.02113126641153562 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 87, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511, + 7728913421038834906 + ], + "workflow_spec_digest": "bc4db0291f406fbd9c91f68a4c7f1acd36da9a03dd09cb73d832a7602138bc78", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c47b61ef49138c973b16d616f11a33fc9bebfaedf7869eed8722d10634c4f6c8", + "visual_seed": 4862564724633892358, + "episode_index": 87, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511, + 7728913421038834906 + ], + "runtime_workflow_digest": "45388e27c653b4c58871f8eb0be862a6bfbe31c6d7d135b34c259a2497af3374" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/episode_88_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/episode_88_success.json new file mode 100644 index 0000000000000000000000000000000000000000..10034d6461838e31e0d2f42b059fe4d10f957c5e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/episode_88_success.json @@ -0,0 +1,926 @@ +{ + "episode": 88, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.19113091906999088, + 0.21161329964474357, + 1.0435630401246148 + ], + "current_z": 1.0435630401246148, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.1869765327160492, + "gripper_z": 1.048842334021707, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18626639183968563, + 0.2068380333598107, + 1.048842334021707 + ], + "object_minus_gripper": [ + 0.0048645272303052545, + 0.004775266284932855, + -0.005279293897092252 + ], + "object_to_gripper_xy": 0.006816655577803366, + "object_to_gripper_z": -0.005279293897092252, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19113091906999088, + 0.1872957585719795, + 1.0435630401246148 + ], + "finger_b": [ + 0.1794408186207493, + 0.21161329964474357, + 1.0435630401246148 + ], + "finger_midpoint": [ + 0.18528586884537007, + 0.19945452910836153, + 1.0435630401246148 + ], + "object_minus_finger_midpoint": [ + 0.0058450502246208125, + 0.012158770536382035, + 0.0 + ], + "finger_gap": 0.026981498333838432, + "fingertip_max_gap": 0.09321252816070713, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013490749166919223, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0435630401246148, + "object_top_z": 1.0895649035121053, + "finger_top_clearance": 0.04600186338749057, + "fingertip_min_top_clearance": 0.013800559016247204, + "object_projection_between_fingers": 0.8122826738631264, + "object_to_finger_line_xy": 0.01053590480046291, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04910626408035357, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.674023689756541, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 210, + "max_stable_success_frames": 210, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18993317446522257, + 0.2126913485255656, + 1.236420137545651 + ], + "held_position": [ + 0.19497977227525917, + 0.21712252224071626, + 1.2310125644729468 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008622371859688211, + "max_held_gripper_dist": 0.008623710112693337, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005407573072704119, + "max_held_gripper_z_dist": 0.005429073703272058, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08635748971637863, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.19497977227525917, + 0.19215514653468685, + 1.2310125644729468 + ], + "held_grasp_finger_b": [ + 0.184861345223499, + 0.21712252224071626, + 1.2310125644729468 + ], + "held_grasp_midpoint": [ + 0.18992055874937908, + 0.20463883438770156, + 1.2310125644729468 + ], + "held_grasp_object_position": [ + 0.19497977227525917, + 0.21712252224071626, + 1.2310125644729468 + ], + "held_grasp_finger_gap": 0.026939792420280818, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02467694416214066, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.027298439083238306, + -0.9994306858852348, + 0.019826732826875304 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004723104553886658, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03258553562024978, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3384277259756573, + -0.3235580768906407, + 0.8470194206045432 + ], + "target_position": [ + 0.33025439299362863, + -0.32651411117227475, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008691461943155086, + "xy_threshold": 0.08, + "gripper_dist": 0.18701786327054123, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470194206045432, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07566755816085609, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0864962841001674, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15531253086118074, + "release_required_pad_clearance": 0.0532481420500837, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.5164278000385325, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 156, + "max_placed_release_frames": 156 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0078660249710083, + "max_z_decrease": 0.0078660249710083, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03504414544186721, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0078660249710083, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02129914118622259, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.0078660249710083, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007866051061052716, + "max_button_displacement": 0.12, + "button_start": [ + 0.18595431745052338, + -0.38277557492256165, + 0.7768088579177856 + ], + "button_final": [ + 0.18595431745052338, + -0.38277557492256165, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1841449323684443, + -0.3829049397644725, + 0.8080228847576524 + ], + "closest_button": [ + 0.18596458435058594, + -0.3827824294567108, + 0.7730262279510498 + ], + "closest_ee_minus_button": [ + -0.0018196519821416512, + -0.0001225103077616696, + 0.03499665680660258 + ], + "button_min_z_position": [ + 0.18593409657478333, + -0.38277682662010193, + 0.7689428329467773 + ], + "min_active_finger_to_button": 0.14801927686776267, + "closest_active_finger": [ + 0.056478001177310944, + -0.44538432359695435, + 0.808010995388031 + ], + "closest_active_finger_button": [ + 0.18596458435058594, + -0.3827824294567108, + 0.7730262279510498 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.129486583173275, + -0.06260189414024353, + 0.0349847674369812 + ], + "min_contact_pad_to_button": 0.02129914118622259, + "closest_contact_pad": [ + 0.18593409657478333, + -0.38428850882374177, + 0.7901882614476535 + ], + "closest_contact_pad_button": [ + 0.18593409657478333, + -0.38277682662010193, + 0.7689428329467773 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0015116822036398414, + 0.021245428500876185 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 88, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511, + 7728913421038834906 + ], + "workflow_spec_digest": "bc4db0291f406fbd9c91f68a4c7f1acd36da9a03dd09cb73d832a7602138bc78", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e93ebb0bf729b2347bc627ec62c4850b900552da6032fd6061f69649b906b28f", + "visual_seed": 8394886441656345913, + "episode_index": 88, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511, + 7728913421038834906 + ], + "runtime_workflow_digest": "45388e27c653b4c58871f8eb0be862a6bfbe31c6d7d135b34c259a2497af3374" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/episode_8_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/episode_8_success.json new file mode 100644 index 0000000000000000000000000000000000000000..93e4648ed0543366ae888e6bd898892b4032b7f5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/episode_8_success.json @@ -0,0 +1,926 @@ +{ + "episode": 8, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.18639922900439063, + 0.2209870216650889, + 1.0427991779615224 + ], + "current_z": 1.0427991779615224, + "required_z": 0.8565866266178551, + "initial_z": 0.7565866266178551, + "lift_margin": 0.18621255134366732, + "gripper_z": 1.0482718225966703, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1813692355095444, + 0.21621150965156227, + 1.0482718225966703 + ], + "object_minus_gripper": [ + 0.00502999349484623, + 0.004775512013526634, + -0.00547264463514785 + ], + "object_to_gripper_xy": 0.006935874101332333, + "object_to_gripper_z": -0.00547264463514785, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.18639922900439063, + 0.19640243135337843, + 1.0427991779615224 + ], + "finger_b": [ + 0.17490376766287094, + 0.2209870216650889, + 1.0427991779615224 + ], + "finger_midpoint": [ + 0.18065149833363078, + 0.20869472650923365, + 1.0427991779615224 + ], + "object_minus_finger_midpoint": [ + 0.005747730670759843, + 0.012292295155855254, + 0.0 + ], + "finger_gap": 0.027139412525863976, + "fingertip_max_gap": 0.09252727553909376, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013569706262932, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0427991779615224, + "object_top_z": 1.088504156481981, + "finger_top_clearance": 0.04570497852045863, + "fingertip_min_top_clearance": 0.013711493556137587, + "object_projection_between_fingers": 0.8205878190146412, + "object_to_finger_line_xy": 0.010413313377953108, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04876363776954688, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.504040002698241, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 208, + "max_stable_success_frames": 208, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18508569954742204, + 0.22173446646294748, + 1.2376580502158487 + ], + "held_position": [ + 0.1902694551757074, + 0.22619913675831774, + 1.2320719198005168 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00883229620638022, + "max_held_gripper_dist": 0.008836002807544437, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005586130415331958, + "max_held_gripper_z_dist": 0.005613246539393657, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08521256275377159, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.1902694551757074, + 0.20115478563987227, + 1.2320719198005168 + ], + "held_grasp_finger_b": [ + 0.1800379244536906, + 0.22619913675831774, + 1.2320719198005168 + ], + "held_grasp_midpoint": [ + 0.18515368981469899, + 0.21367696119909502, + 1.2320719198005168 + ], + "held_grasp_object_position": [ + 0.1902694551757074, + 0.22619913675831774, + 1.2320719198005168 + ], + "held_grasp_finger_gap": 0.02705371959379254, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024833362308011756, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.019757413843244708, + -0.9996470172588164, + 0.0177619110395898 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004872481086606755, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03258139522508014, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33688227459241393, + -0.32819448494796594, + 0.8470195862207417 + ], + "target_position": [ + 0.32837892287951737, + -0.3309378142856077, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008934922842867026, + "xy_threshold": 0.08, + "gripper_dist": 0.18883428137961927, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195862207417, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07524851649087641, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08669454872318454, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1579591312254118, + "release_required_pad_clearance": 0.05334727436159227, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.710473443780065, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 159, + "max_placed_release_frames": 159 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008116364479064941, + "max_z_decrease": 0.008116364479064941, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.034997357725653745, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008116364479064941, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02129798964143216, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008116364479064941, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008116417402253507, + "max_button_displacement": 0.12, + "button_start": [ + 0.18407884240150452, + -0.3871992826461792, + 0.7768088579177856 + ], + "button_final": [ + 0.18407884240150452, + -0.3871992826461792, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1844389187873244, + -0.3874592758069668, + 0.8037549134436925 + ], + "closest_button": [ + 0.18405526876449585, + -0.38719967007637024, + 0.768760621547699 + ], + "closest_ee_minus_button": [ + 0.00038365002282855776, + -0.0002596057305965793, + 0.03499429189599357 + ], + "button_min_z_position": [ + 0.1840495467185974, + -0.3871983587741852, + 0.7686924934387207 + ], + "min_active_finger_to_button": 0.14558717454276782, + "closest_active_finger": [ + 0.043775737285614014, + -0.37059110403060913, + 0.8079508543014526 + ], + "closest_active_finger_button": [ + 0.18409055471420288, + -0.38720637559890747, + 0.7728608250617981 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14031481742858887, + 0.01661527156829834, + 0.03509002923965454 + ], + "min_contact_pad_to_button": 0.02129798964143216, + "closest_contact_pad": [ + 0.1840495467185974, + -0.38870881687651626, + 0.7899368545514408 + ], + "closest_contact_pad_button": [ + 0.1840495467185974, + -0.3871983587741852, + 0.7686924934387207 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0015104581023310804, + 0.0212443611127201 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 8, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511, + 7728913421038834906 + ], + "workflow_spec_digest": "bc4db0291f406fbd9c91f68a4c7f1acd36da9a03dd09cb73d832a7602138bc78", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "02959ad93961c66feb82c2a178e15c4ada90d692e8dc32f7875cc03ea718b462", + "visual_seed": 5758835564470361657, + "episode_index": 8, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511, + 7728913421038834906 + ], + "runtime_workflow_digest": "45388e27c653b4c58871f8eb0be862a6bfbe31c6d7d135b34c259a2497af3374" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/episode_90_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/episode_90_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1321917d8b560d7f6bf5d9f1a2e201d9ff38de02 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/episode_90_success.json @@ -0,0 +1,926 @@ +{ + "episode": 90, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.18644583803398818, + 0.21295754517700213, + 1.0430818590607192 + ], + "current_z": 1.0430818590607192, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.18649535165215358, + "gripper_z": 1.048615382681408, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1820908509248751, + 0.2084697813583913, + 1.048615382681408 + ], + "object_minus_gripper": [ + 0.004354987109113084, + 0.004487763818610824, + -0.005533523620688818 + ], + "object_to_gripper_xy": 0.006253473979491203, + "object_to_gripper_z": -0.005533523620688818, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.18644583803398818, + 0.18898063921295377, + 1.0430818590607192 + ], + "finger_b": [ + 0.1751831501022197, + 0.21295754517700213, + 1.0430818590607192 + ], + "finger_midpoint": [ + 0.18081449406810393, + 0.20096909219497794, + 1.0430818590607192 + ], + "object_minus_finger_midpoint": [ + 0.005631343965884245, + 0.011988452982024195, + 0.0 + ], + "finger_gap": 0.026490378612945897, + "fingertip_max_gap": 0.0933168364568574, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01324518930647296, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0430818590607192, + "object_top_z": 1.089540568659063, + "finger_top_clearance": 0.04645870959834375, + "fingertip_min_top_clearance": 0.013937612879503158, + "object_projection_between_fingers": 0.8192377366305751, + "object_to_finger_line_xy": 0.01019405624162972, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0491584182284287, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3270736882592764, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 210, + "max_stable_success_frames": 210, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1860866380827793, + 0.21377415413638462, + 1.237173770076196 + ], + "held_position": [ + 0.1906379979759703, + 0.21787488959289994, + 1.2315160490241144 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008339107606023383, + "max_held_gripper_dist": 0.008350559002300396, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005657721052081621, + "max_held_gripper_z_dist": 0.005676595566346698, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08655389123022894, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.1906379979759703, + 0.19310818256237455, + 1.2315160490241144 + ], + "held_grasp_finger_b": [ + 0.181214380210063, + 0.21787488959289994, + 1.2315160490241144 + ], + "held_grasp_midpoint": [ + 0.18592618909301667, + 0.20549153607763726, + 1.2315160490241144 + ], + "held_grasp_object_position": [ + 0.1906379979759703, + 0.21787488959289994, + 1.2315160490241144 + ], + "held_grasp_finger_gap": 0.0264989499590795, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02428109461612599, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.04736445235841611, + -0.9984144876574121, + 0.03041577696812503 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004137480148418067, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03261333316303054, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3289577313419898, + -0.3275128435117006, + 0.8470198418853708 + ], + "target_position": [ + 0.32328745924079816, + -0.32859814589643144, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005773202488035101, + "xy_threshold": 0.08, + "gripper_dist": 0.18466400496496893, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470198418853708, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07517472136043275, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08552055908572524, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15388606170021957, + "release_required_pad_clearance": 0.05276027954286262, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5692366306004287, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0076247453689575195, + "max_z_decrease": 0.0076247453689575195, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03506883471644975, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0076247453689575195, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021255198056990054, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.0076247453689575195, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0076247638143232994, + "max_button_displacement": 0.12, + "button_start": [ + 0.17898738384246826, + -0.3848595917224884, + 0.7768088579177856 + ], + "button_final": [ + 0.17898738384246826, + -0.3848595917224884, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1798331045976637, + -0.3828257387216466, + 0.8041831083562555 + ], + "closest_button": [ + 0.17897094786167145, + -0.38486292958259577, + 0.7691841125488281 + ], + "closest_ee_minus_button": [ + 0.0008621567359922422, + 0.0020371908609491673, + 0.03499899580742738 + ], + "button_min_z_position": [ + 0.17897094786167145, + -0.38486292958259577, + 0.7691841125488281 + ], + "min_active_finger_to_button": 0.14431756153393227, + "closest_active_finger": [ + 0.052249886095523834, + -0.4443734586238861, + 0.8081313371658325 + ], + "closest_active_finger_button": [ + 0.17899824678897855, + -0.38486436009407043, + 0.7731873989105225 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12674836069345471, + -0.059509098529815674, + 0.03494393825531006 + ], + "min_contact_pad_to_button": 0.021255198056990054, + "closest_contact_pad": [ + 0.17897094786167145, + -0.38486292958259577, + 0.7904393106058182 + ], + "closest_contact_pad_button": [ + 0.17897094786167145, + -0.38486292958259577, + 0.7691841125488281 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021255198056990054 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 90, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511, + 7728913421038834906 + ], + "workflow_spec_digest": "bc4db0291f406fbd9c91f68a4c7f1acd36da9a03dd09cb73d832a7602138bc78", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3056e07319dae036158458b669013666268421607fc7124f6715b8b08cfafc75", + "visual_seed": 3740303440003927693, + "episode_index": 90, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511, + 7728913421038834906 + ], + "runtime_workflow_digest": "45388e27c653b4c58871f8eb0be862a6bfbe31c6d7d135b34c259a2497af3374" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/episode_91_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/episode_91_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a41ec73d1d6dcc701b2985ea4c11f49d9ce026e8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/episode_91_success.json @@ -0,0 +1,926 @@ +{ + "episode": 91, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.18730953988363536, + 0.22102181610537014, + 1.0424285269029514 + ], + "current_z": 1.0424285269029514, + "required_z": 0.8565866862224999, + "initial_z": 0.7565866862224999, + "lift_margin": 0.1858418406804515, + "gripper_z": 1.0477304582717324, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1826352973738367, + 0.2163893196710312, + 1.0477304582717324 + ], + "object_minus_gripper": [ + 0.004674242509798643, + 0.00463249643433894, + -0.005301931368780988 + ], + "object_to_gripper_xy": 0.006580924422493523, + "object_to_gripper_z": -0.005301931368780988, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.18730953988363536, + 0.19677697689908427, + 1.0424285269029514 + ], + "finger_b": [ + 0.17590661586041373, + 0.22102181610537014, + 1.0424285269029514 + ], + "finger_midpoint": [ + 0.18160807787202454, + 0.20889939650222722, + 1.0424285269029514 + ], + "object_minus_finger_midpoint": [ + 0.005701462011610814, + 0.01212241960314292, + 0.0 + ], + "finger_gap": 0.02679251582845518, + "fingertip_max_gap": 0.0941469747893389, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013396257914227577, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0424285269029514, + "object_top_z": 1.0890952787502775, + "finger_top_clearance": 0.04666675184732605, + "fingertip_min_top_clearance": 0.014000025554197814, + "object_projection_between_fingers": 0.818863709560598, + "object_to_finger_line_xy": 0.01031863006798653, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04957348739466945, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.6490723154584208, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 208, + "max_stable_success_frames": 208, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18616741891016786, + 0.22231341303590235, + 1.2363347675509158 + ], + "held_position": [ + 0.1910147268536792, + 0.22664337643179544, + 1.230921686201688 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008458512103340567, + "max_held_gripper_dist": 0.008459663693779696, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005413081349227689, + "max_held_gripper_z_dist": 0.005436804221743419, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08638308772669023, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.1910147268536792, + 0.20181467375848017, + 1.230921686201688 + ], + "held_grasp_finger_b": [ + 0.18100147877515213, + 0.22664337643179544, + 1.230921686201688 + ], + "held_grasp_midpoint": [ + 0.18600810281441565, + 0.2142290250951378, + 1.230921686201688 + ], + "held_grasp_object_position": [ + 0.1910147268536792, + 0.22664337643179544, + 1.230921686201688 + ], + "held_grasp_finger_gap": 0.026771806317878875, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02455144683235753, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.025885875180615574, + -0.9992728516152455, + 0.027994454644968296 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004696600468974113, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032665299859718715, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33583005190104376, + -0.3311423451832679, + 0.8470195988926785 + ], + "target_position": [ + 0.32937781079081163, + -0.332934733310641, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006696571551452095, + "xy_threshold": 0.08, + "gripper_dist": 0.1856362267587491, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195988926785, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07538951504255681, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08564411627645328, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1543212359265836, + "release_required_pad_clearance": 0.052822058138226644, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6886991608794875, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007858037948608398, + "max_z_decrease": 0.007858037948608398, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03506508160271109, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007858037948608398, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021148973058714677, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 119, + "max_z_decrease_with_contact_point": 0.007858037948608398, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007858060761089901, + "max_button_displacement": 0.12, + "button_start": [ + 0.1850777417421341, + -0.3891961872577667, + 0.7768088579177856 + ], + "button_final": [ + 0.1850777417421341, + -0.3891961872577667, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18361794242394838, + -0.389653224859872, + 0.8039833321775267 + ], + "closest_button": [ + 0.18505901098251343, + -0.3891989588737487, + 0.7689508199691772 + ], + "closest_ee_minus_button": [ + -0.0014410685585650451, + -0.0004542659861233034, + 0.035032512208349464 + ], + "button_min_z_position": [ + 0.18505901098251343, + -0.3891989588737487, + 0.7689508199691772 + ], + "min_active_finger_to_button": 0.14720294059118372, + "closest_active_finger": [ + 0.04264364391565323, + -0.37574246525764465, + 0.8083324432373047 + ], + "closest_active_finger_button": [ + 0.18508534133434296, + -0.38920328021049494, + 0.7737221121788025 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14244169741868973, + 0.013460814952850286, + 0.0346103310585022 + ], + "min_contact_pad_to_button": 0.021148973058714677, + "closest_contact_pad": [ + 0.18505901098251343, + -0.39063843089341466, + 0.7900507484463745 + ], + "closest_contact_pad_button": [ + 0.18505901098251343, + -0.3891989588737487, + 0.7689508199691772 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0014394720196659327, + 0.021099928477197216 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 91, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511, + 7728913421038834906 + ], + "workflow_spec_digest": "bc4db0291f406fbd9c91f68a4c7f1acd36da9a03dd09cb73d832a7602138bc78", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "bd1d0746afc3a575623dfa940c9c9c0cc92b365d70c22ee67ca1cbc8bae55631", + "visual_seed": 4819368157513327723, + "episode_index": 91, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511, + 7728913421038834906 + ], + "runtime_workflow_digest": "45388e27c653b4c58871f8eb0be862a6bfbe31c6d7d135b34c259a2497af3374" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/episode_92_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/episode_92_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3c8f6a46ac15437441f5b32bd9e6abee2ccf2722 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/episode_92_success.json @@ -0,0 +1,926 @@ +{ + "episode": 92, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.1848361977434143, + 0.21374318589753752, + 1.0420291231727876 + ], + "current_z": 1.0420291231727876, + "required_z": 0.8565866266178551, + "initial_z": 0.7565866266178551, + "lift_margin": 0.1854424965549325, + "gripper_z": 1.0477681145348126, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18019141895700652, + 0.20910291942744236, + 1.0477681145348126 + ], + "object_minus_gripper": [ + 0.004644778786407788, + 0.004640266470095161, + -0.005738991362024937 + ], + "object_to_gripper_xy": 0.006565519239797658, + "object_to_gripper_z": -0.005738991362024937, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1848361977434143, + 0.18956417321982585, + 1.0420291231727876 + ], + "finger_b": [ + 0.17335681218239413, + 0.21374318589753752, + 1.0420291231727876 + ], + "finger_midpoint": [ + 0.17909650496290422, + 0.2016536795586817, + 1.0420291231727876 + ], + "object_minus_finger_midpoint": [ + 0.005739692780510092, + 0.012089506338855832, + 0.0 + ], + "finger_gap": 0.02676566731705937, + "fingertip_max_gap": 0.0929195801703808, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013382833658529684, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0420291231727876, + "object_top_z": 1.0881515924482654, + "finger_top_clearance": 0.046122469275477807, + "fingertip_min_top_clearance": 0.013836740782643308, + "object_projection_between_fingers": 0.8160579024585036, + "object_to_finger_line_xy": 0.010370008926896481, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0489597900851904, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3306810525407025, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 208, + "max_stable_success_frames": 208, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18402976066259955, + 0.2147123323217709, + 1.2358668788726768 + ], + "held_position": [ + 0.188842419552643, + 0.21897839860048032, + 1.2299956479319867 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008708177756865818, + "max_held_gripper_dist": 0.008720571633322717, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0058712309406900864, + "max_held_gripper_z_dist": 0.005892856901918764, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08630442523096843, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.188842419552643, + 0.19411355588078866, + 1.2299956479319867 + ], + "held_grasp_finger_b": [ + 0.17906297860763998, + 0.21897839860048032, + 1.2299956479319867 + ], + "held_grasp_midpoint": [ + 0.1839526990801415, + 0.2065459772406345, + 1.2299956479319867 + ], + "held_grasp_object_position": [ + 0.188842419552643, + 0.21897839860048032, + 1.2299956479319867 + ], + "held_grasp_finger_gap": 0.026718867278981068, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02446532967964749, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.03819237428486354, + -0.9989538252274848, + 0.025151493193462993 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004422564127608919, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032594060057118755, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3366955723701558, + -0.3297840866832339, + 0.84701950379788 + ], + "target_position": [ + 0.3305204404959125, + -0.33131142852038403, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006361212679340679, + "xy_threshold": 0.08, + "gripper_dist": 0.18509099572891494, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.84701950379788, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07582677414675561, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08636545364357372, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15294085343555525, + "release_required_pad_clearance": 0.05318272682178686, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.3887231868885062, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008024871349334717, + "max_z_decrease": 0.008024871349334717, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035062509138932885, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008024871349334717, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02123065790726897, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008024871349334717, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008024890681751573, + "max_button_displacement": 0.12, + "button_start": [ + 0.18622036278247833, + -0.3875728845596313, + 0.7768088579177856 + ], + "button_final": [ + 0.18622036278247833, + -0.3875728845596313, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18505829989879574, + -0.38568573437919235, + 0.8048753671736423 + ], + "closest_button": [ + 0.18620453774929047, + -0.38757273554801935, + 0.7698824405670166 + ], + "closest_ee_minus_button": [ + -0.0011462378504947246, + 0.0018870011688270072, + 0.034992926606625674 + ], + "button_min_z_position": [ + 0.1862027496099472, + -0.38757264614105225, + 0.7687839865684509 + ], + "min_active_finger_to_button": 0.14632301096097533, + "closest_active_finger": [ + 0.05737952142953873, + -0.44731390476226807, + 0.8081187605857849 + ], + "closest_active_finger_button": [ + 0.18623340129852295, + -0.3875805139541626, + 0.7729189991950989 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12885387986898422, + -0.05973339080810547, + 0.035199761390686035 + ], + "min_contact_pad_to_button": 0.02123065790726897, + "closest_contact_pad": [ + 0.1862027496099472, + -0.38757264614105225, + 0.7900146444757199 + ], + "closest_contact_pad_button": [ + 0.1862027496099472, + -0.38757264614105225, + 0.7687839865684509 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02123065790726897 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 92, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511, + 7728913421038834906 + ], + "workflow_spec_digest": "bc4db0291f406fbd9c91f68a4c7f1acd36da9a03dd09cb73d832a7602138bc78", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "02949596ebf13509a95cfdb5ef24fe6389619b62c04408504069a4b2da46b60c", + "visual_seed": 1583187615645521471, + "episode_index": 92, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511, + 7728913421038834906 + ], + "runtime_workflow_digest": "45388e27c653b4c58871f8eb0be862a6bfbe31c6d7d135b34c259a2497af3374" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/episode_93_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/episode_93_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c4ef6fab15b0e444adf7421b7b6db8b8ec9a9fa5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/episode_93_success.json @@ -0,0 +1,926 @@ +{ + "episode": 93, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.18930515904777975, + 0.2151348262543995, + 1.0418731824777492 + ], + "current_z": 1.0418731824777492, + "required_z": 0.8565865670132105, + "initial_z": 0.7565865670132105, + "lift_margin": 0.18528661546453873, + "gripper_z": 1.047279861194864, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18462729103529887, + 0.21051076720602246, + 1.047279861194864 + ], + "object_minus_gripper": [ + 0.004677868012480879, + 0.004624059048377038, + -0.0054066787171147546 + ], + "object_to_gripper_xy": 0.00657756575224219, + "object_to_gripper_z": -0.0054066787171147546, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.18930515904777975, + 0.19086781103382047, + 1.0418731824777492 + ], + "finger_b": [ + 0.17793622685907978, + 0.2151348262543995, + 1.0418731824777492 + ], + "finger_midpoint": [ + 0.18362069295342975, + 0.20300131864410997, + 1.0418731824777492 + ], + "object_minus_finger_midpoint": [ + 0.005684466094349999, + 0.012133507610289529, + 0.0 + ], + "finger_gap": 0.026798146331921405, + "fingertip_max_gap": 0.09425490918329535, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01339907316596072, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0418731824777492, + "object_top_z": 1.088597373467059, + "finger_top_clearance": 0.04672419098930991, + "fingertip_min_top_clearance": 0.014017257296793007, + "object_projection_between_fingers": 0.8200176808229291, + "object_to_finger_line_xy": 0.010295116947558356, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04962745459164768, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.667851400666037, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 207, + "max_stable_success_frames": 207, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1884080714211647, + 0.21618410242926317, + 1.2359647858463452 + ], + "held_position": [ + 0.19325941649363484, + 0.22047710389815048, + 1.2304414155381047 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008513109313641009, + "max_held_gripper_dist": 0.008517386777404438, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005523370308240461, + "max_held_gripper_z_dist": 0.005545094493485392, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08516779769620292, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.19325941649363484, + 0.1956057200098348, + 1.2304414155381047 + ], + "held_grasp_finger_b": [ + 0.18338085094460677, + 0.22047710389815048, + 1.2304414155381047 + ], + "held_grasp_midpoint": [ + 0.18832013371912082, + 0.20804141195399264, + 1.2304414155381047 + ], + "held_grasp_object_position": [ + 0.19325941649363484, + 0.22047710389815048, + 1.2304414155381047 + ], + "held_grasp_finger_gap": 0.026761386246351528, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02456153280092605, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.029170585009874114, + -0.9991280118805023, + 0.029871271246744817 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004589656708925106, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03263129502922421, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3368949103029079, + -0.3329884654811864, + 0.8470194007070864 + ], + "target_position": [ + 0.3306420846207223, + -0.3346197774178969, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006462120986692686, + "xy_threshold": 0.08, + "gripper_dist": 0.18479381008441184, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470194007070864, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07567432942039247, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08661754495949324, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15280801727495658, + "release_required_pad_clearance": 0.05330877247974662, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.6346624358788577, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007966816425323486, + "max_z_decrease": 0.007966816425323486, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03499723576840958, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007966816425323486, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021280506184079423, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 119, + "max_z_decrease_with_contact_point": 0.007966816425323486, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007966842554849907, + "max_button_displacement": 0.12, + "button_start": [ + 0.1863420158624649, + -0.39088124036788935, + 0.7768088579177856 + ], + "button_final": [ + 0.1863420158624649, + -0.39088124036788935, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18593153714202507, + -0.3908682836588787, + 0.8067200418634934 + ], + "closest_button": [ + 0.18632838129997253, + -0.3908812999725341, + 0.771725058555603 + ], + "closest_ee_minus_button": [ + -0.00039684415794746797, + 1.3016313655411782e-05, + 0.034994983307890415 + ], + "button_min_z_position": [ + 0.18632163107395172, + -0.39088213443756104, + 0.7688420414924622 + ], + "min_active_finger_to_button": 0.14659736979337415, + "closest_active_finger": [ + 0.058455243706703186, + -0.45339640974998474, + 0.8081173896789551 + ], + "closest_active_finger_button": [ + 0.1863541156053543, + -0.39088702201843256, + 0.7731139063835144 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12789887189865112, + -0.06250938773155218, + 0.035003483295440674 + ], + "min_contact_pad_to_button": 0.021280506184079423, + "closest_contact_pad": [ + 0.18632163107395172, + -0.3921318025996202, + 0.7900858234753243 + ], + "closest_contact_pad_button": [ + 0.18632163107395172, + -0.39088213443756104, + 0.7688420414924622 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001249668162059181, + 0.021243781982862142 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 93, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511, + 7728913421038834906 + ], + "workflow_spec_digest": "bc4db0291f406fbd9c91f68a4c7f1acd36da9a03dd09cb73d832a7602138bc78", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "83bd56c0919cd50651ecec2c1ff1b564ac0d348eb604c4796a618be473e67742", + "visual_seed": 8313369204901742558, + "episode_index": 93, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511, + 7728913421038834906 + ], + "runtime_workflow_digest": "45388e27c653b4c58871f8eb0be862a6bfbe31c6d7d135b34c259a2497af3374" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/episode_94_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/episode_94_success.json new file mode 100644 index 0000000000000000000000000000000000000000..33d147cb40a98f8ea962f4d9a6252acd48719af9 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/episode_94_success.json @@ -0,0 +1,926 @@ +{ + "episode": 94, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.1886026806475424, + 0.21882699484849902, + 1.0421315028412674 + ], + "current_z": 1.0421315028412674, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.1855449358280571, + "gripper_z": 1.0475238629602255, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18375026640925946, + 0.21404689695068024, + 1.0475238629602255 + ], + "object_minus_gripper": [ + 0.004852414238282948, + 0.004780097897818775, + -0.0053923601189580506 + ], + "object_to_gripper_xy": 0.006811406598685954, + "object_to_gripper_z": -0.0053923601189580506, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1886026806475424, + 0.19454848738105965, + 1.0421315028412674 + ], + "finger_b": [ + 0.17686592793176592, + 0.21882699484849902, + 1.0421315028412674 + ], + "finger_midpoint": [ + 0.18273430428965415, + 0.20668774111477933, + 1.0421315028412674 + ], + "object_minus_finger_midpoint": [ + 0.005868376357888255, + 0.012139253733719685, + 0.0 + ], + "finger_gap": 0.026966595802173397, + "fingertip_max_gap": 0.09274761630912873, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013483297901086705, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0421315028412674, + "object_top_z": 1.0882190563894354, + "finger_top_clearance": 0.04608755354816796, + "fingertip_min_top_clearance": 0.013826266064450421, + "object_projection_between_fingers": 0.8105722252198939, + "object_to_finger_line_xy": 0.010566807933187589, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048873808154564366, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1693878904017125, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 208, + "max_stable_success_frames": 208, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18748685036502466, + 0.2196025604971932, + 1.2361391395855903 + ], + "held_position": [ + 0.1925514708390091, + 0.22400995438812235, + 1.2306295062812767 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008685134460864948, + "max_held_gripper_dist": 0.008689448676648623, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005509633304313644, + "max_held_gripper_z_dist": 0.005533386294407361, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0851653250571979, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.1925514708390091, + 0.19903133297496414, + 1.2306295062812767 + ], + "held_grasp_finger_b": [ + 0.18244172663964894, + 0.22400995438812235, + 1.2306295062812767 + ], + "held_grasp_midpoint": [ + 0.187496598739329, + 0.21152064368154325, + 1.2306295062812767 + ], + "held_grasp_object_position": [ + 0.1925514708390091, + 0.22400995438812235, + 1.2306295062812767 + ], + "held_grasp_finger_gap": 0.026946956330509423, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024531509727329575, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.04147429662898443, + -0.998886361436802, + 0.022492657794883075 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00454138037999249, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03251517557237857, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3325477557600964, + -0.3283704799003725, + 0.8470196765987086 + ], + "target_position": [ + 0.32549009896282016, + -0.33048837061374803, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0073685806327909225, + "xy_threshold": 0.08, + "gripper_dist": 0.18598701427157457, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196765987086, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07518611640934215, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08527379035009518, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15523597204533496, + "release_required_pad_clearance": 0.05263689517504759, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.3333778941732003, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 156, + "max_placed_release_frames": 156 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007875502109527588, + "max_z_decrease": 0.007875502109527588, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035037706042456346, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007875502109527588, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02125548251897702, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007875502109527588, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007875523913930616, + "max_button_displacement": 0.12, + "button_start": [ + 0.18119002878665924, + -0.38674983382225037, + 0.7768088579177856 + ], + "button_final": [ + 0.18119002878665924, + -0.38674983382225037, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18166927732615673, + -0.38517738852473765, + 0.8039321082854607 + ], + "closest_button": [ + 0.1811716705560684, + -0.38675236701965326, + 0.7689333558082581 + ], + "closest_ee_minus_button": [ + 0.000497606770088338, + 0.0015749784949156131, + 0.03499875247720263 + ], + "button_min_z_position": [ + 0.1811716705560684, + -0.38675236701965326, + 0.7689333558082581 + ], + "min_active_finger_to_button": 0.14484170018374695, + "closest_active_finger": [ + 0.0542534664273262, + -0.4470997154712677, + 0.8079699277877808 + ], + "closest_active_finger_button": [ + 0.18120178580284116, + -0.3867546916007995, + 0.7730168104171753 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12694831937551496, + -0.060345023870468195, + 0.03495311737060547 + ], + "min_contact_pad_to_button": 0.02125548251897702, + "closest_contact_pad": [ + 0.1811716705560684, + -0.38675236701965326, + 0.7901888383272351 + ], + "closest_contact_pad_button": [ + 0.1811716705560684, + -0.38675236701965326, + 0.7689333558082581 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02125548251897702 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 94, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511, + 7728913421038834906 + ], + "workflow_spec_digest": "bc4db0291f406fbd9c91f68a4c7f1acd36da9a03dd09cb73d832a7602138bc78", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "589f1460227e8f8f66894d8e7813cb3d589493ebfb5d6c6b9018c3be7c44f256", + "visual_seed": 4180862093739473905, + "episode_index": 94, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511, + 7728913421038834906 + ], + "runtime_workflow_digest": "45388e27c653b4c58871f8eb0be862a6bfbe31c6d7d135b34c259a2497af3374" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/episode_95_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/episode_95_success.json new file mode 100644 index 0000000000000000000000000000000000000000..133834fd93aad015855ce72648ebebac2115faa4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/episode_95_success.json @@ -0,0 +1,926 @@ +{ + "episode": 95, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.18258030074491166, + 0.2201366115766616, + 1.0426294665052942 + ], + "current_z": 1.0426294665052942, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.18604295909672863, + "gripper_z": 1.0484885912155304, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.17771560454522856, + 0.21544565198574733, + 1.0484885912155304 + ], + "object_minus_gripper": [ + 0.004864696199683105, + 0.0046909595909142565, + -0.0058591247102361965 + ], + "object_to_gripper_xy": 0.00675798572052366, + "object_to_gripper_z": -0.0058591247102361965, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.18258030074491166, + 0.1956340945133255, + 1.0426294665052942 + ], + "finger_b": [ + 0.17126107767901033, + 0.2201366115766616, + 1.0426294665052942 + ], + "finger_midpoint": [ + 0.176920689211961, + 0.20788535304499356, + 1.0426294665052942 + ], + "object_minus_finger_midpoint": [ + 0.005659611532950665, + 0.01225125853166803, + 0.0 + ], + "finger_gap": 0.026990704941788922, + "fingertip_max_gap": 0.09427088786895987, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013495352470894447, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0426294665052942, + "object_top_z": 1.0889543072244223, + "finger_top_clearance": 0.046324840719128124, + "fingertip_min_top_clearance": 0.01389745221573842, + "object_projection_between_fingers": 0.8241247280542718, + "object_to_finger_line_xy": 0.01027573962644238, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04963544393447994, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.1816024349492853, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 207, + "max_stable_success_frames": 207, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18117919404475807, + 0.22170397805452333, + 1.2368844603949007 + ], + "held_position": [ + 0.18613439282683497, + 0.22611916145256278, + 1.2309021508810034 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008935091858973029, + "max_held_gripper_dist": 0.008945187151737331, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0059823095138973326, + "max_held_gripper_z_dist": 0.006002979026169308, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08654635657394213, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.18613439282683497, + 0.20123773884297688, + 1.2309021508810034 + ], + "held_grasp_finger_b": [ + 0.1759814654888212, + 0.22611916145256278, + 1.2309021508810034 + ], + "held_grasp_midpoint": [ + 0.1810579291578281, + 0.21367845014776982, + 1.2309021508810034 + ], + "held_grasp_object_position": [ + 0.18613439282683497, + 0.22611916145256278, + 1.2309021508810034 + ], + "held_grasp_finger_gap": 0.026873167372079523, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024851273465926655, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0022414180019410396, + -0.9997029032596967, + 0.02427099626044238 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0050575958481908195, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032751831278739624, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33334782758580217, + -0.3274167937801753, + 0.8470195682637405 + ], + "target_position": [ + 0.3256174002680183, + -0.3301196924347032, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008189332552301693, + "xy_threshold": 0.08, + "gripper_dist": 0.1884034914693532, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195682637405, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07542729390287303, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0876225657116566, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15718790861733914, + "release_required_pad_clearance": 0.0538112828558283, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.631332230852575, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 157, + "max_placed_release_frames": 157 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00797128677368164, + "max_z_decrease": 0.00797128677368164, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03509526868340825, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00797128677368164, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02115961274078071, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00797128677368164, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007971306123741214, + "max_button_displacement": 0.12, + "button_start": [ + 0.18131732940673823, + -0.3863811492919922, + 0.7768088579177856 + ], + "button_final": [ + 0.18131732940673823, + -0.3863811492919922, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18007880017625866, + -0.38486848282957636, + 0.8068688504643858 + ], + "closest_button": [ + 0.18130485713481898, + -0.38638389110565186, + 0.771827757358551 + ], + "closest_ee_minus_button": [ + -0.0012260569585603176, + 0.0015154082760754917, + 0.03504109310583481 + ], + "button_min_z_position": [ + 0.18130013346672053, + -0.3863847255706787, + 0.768837571144104 + ], + "min_active_finger_to_button": 0.14658337407818636, + "closest_active_finger": [ + 0.0530862957239151, + -0.4483710527420044, + 0.8109095096588135 + ], + "closest_active_finger_button": [ + 0.1813223212957382, + -0.3863847851753235, + 0.776269793510437 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1282360255718231, + -0.06198626756668091, + 0.034639716148376465 + ], + "min_contact_pad_to_button": 0.02115961274078071, + "closest_contact_pad": [ + 0.18130013346672053, + -0.3863847255706787, + 0.7899971838848847 + ], + "closest_contact_pad_button": [ + 0.18130013346672053, + -0.3863847255706787, + 0.768837571144104 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02115961274078071 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 95, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511, + 7728913421038834906 + ], + "workflow_spec_digest": "bc4db0291f406fbd9c91f68a4c7f1acd36da9a03dd09cb73d832a7602138bc78", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b8174eaf1e0e3d1d252788ade904aed20ad2b20ce398d7bb0594f1c522a2dce8", + "visual_seed": 8807872125119333223, + "episode_index": 95, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511, + 7728913421038834906 + ], + "runtime_workflow_digest": "45388e27c653b4c58871f8eb0be862a6bfbe31c6d7d135b34c259a2497af3374" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/episode_96_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/episode_96_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b60103b3db7623169702158e3d4616dc23a8e35f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/episode_96_success.json @@ -0,0 +1,926 @@ +{ + "episode": 96, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.18690959262508577, + 0.22070706896327075, + 1.0456287302771987 + ], + "current_z": 1.0456287302771987, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.18904216326398837, + "gripper_z": 1.0510937944399197, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18201715282987724, + 0.21587092901111227, + 1.0510937944399197 + ], + "object_minus_gripper": [ + 0.004892439795208536, + 0.00483613995215848, + -0.005465064162720967 + ], + "object_to_gripper_xy": 0.0068792599010797355, + "object_to_gripper_z": -0.005465064162720967, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.18690959262508577, + 0.19647081786903894, + 1.0456287302771987 + ], + "finger_b": [ + 0.17499257285754316, + 0.22070706896327075, + 1.0456287302771987 + ], + "finger_midpoint": [ + 0.18095108274131447, + 0.20858894341615486, + 1.0456287302771987 + ], + "object_minus_finger_midpoint": [ + 0.005958509883771307, + 0.012118125547115888, + 0.0 + ], + "finger_gap": 0.027007614245665123, + "fingertip_max_gap": 0.09112146172397104, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01350380712283255, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0456287302771987, + "object_top_z": 1.0908504347316166, + "finger_top_clearance": 0.045221704454417866, + "fingertip_min_top_clearance": 0.013566511336325327, + "object_projection_between_fingers": 0.8053013789260512, + "object_to_finger_line_xy": 0.010694165014129108, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04806073086198552, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.093663598571056, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 212, + "max_stable_success_frames": 212, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18597000288732476, + 0.2211736841381921, + 1.2416268696322554 + ], + "held_position": [ + 0.19112694863731738, + 0.22558912007565052, + 1.236047946819735 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00878718064763822, + "max_held_gripper_dist": 0.008793297881843855, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0055789228125204815, + "max_held_gripper_z_dist": 0.005603609887056882, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08654939526308422, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.19112694863731738, + 0.20054587750686215, + 1.236047946819735 + ], + "held_grasp_finger_b": [ + 0.18099708228748465, + 0.22558912007565052, + 1.236047946819735 + ], + "held_grasp_midpoint": [ + 0.18606201546240103, + 0.21306749879125633, + 1.236047946819735 + ], + "held_grasp_object_position": [ + 0.19112694863731738, + 0.22558912007565052, + 1.236047946819735 + ], + "held_grasp_finger_gap": 0.02701440709370923, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02451181672642356, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.049217143952348066, + -0.9986877597053664, + 0.014157378141819388 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004446122535000754, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03244575351224123, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.341482176091111, + -0.32344486728996114, + 0.8470191707559596 + ], + "target_position": [ + 0.3325568419210215, + -0.3266205872293349, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00947347809313472, + "xy_threshold": 0.08, + "gripper_dist": 0.1855223430445195, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470191707559596, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07521170672831935, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08580851756764211, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1550063617821929, + "release_required_pad_clearance": 0.05290425878382106, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8467226839638934, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 158, + "max_placed_release_frames": 158 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007891237735748291, + "max_z_decrease": 0.007891237735748291, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03509251652658146, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007891237735748291, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02123554794206078, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007891237735748291, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007891256151409697, + "max_button_displacement": 0.12, + "button_start": [ + 0.1882567703723907, + -0.3828820586204528, + 0.7768088579177856 + ], + "button_final": [ + 0.1882567703723907, + -0.3828820586204528, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1860441278401407, + -0.3820364072940309, + 0.8079876716935936 + ], + "closest_button": [ + 0.18826939165592188, + -0.38288903236389155, + 0.7729761600494385 + ], + "closest_ee_minus_button": [ + -0.00222526381578117, + 0.0008526250698606685, + 0.03501151164415517 + ], + "button_min_z_position": [ + 0.18823973834514612, + -0.38288131356239313, + 0.7689176201820374 + ], + "min_active_finger_to_button": 0.1480498122866526, + "closest_active_finger": [ + 0.057960666716098785, + -0.4436566233634949, + 0.8082703948020935 + ], + "closest_active_finger_button": [ + 0.18826939165592188, + -0.38288903236389155, + 0.7729761600494385 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1303087249398231, + -0.06076759099960333, + 0.03529423475265503 + ], + "min_contact_pad_to_button": 0.02123554794206078, + "closest_contact_pad": [ + 0.18823973834514612, + -0.38349033991154885, + 0.7901444330211236 + ], + "closest_contact_pad_button": [ + 0.18823973834514612, + -0.38288131356239313, + 0.7689176201820374 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0006090263491557169, + 0.02122681283908623 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 96, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511, + 7728913421038834906 + ], + "workflow_spec_digest": "bc4db0291f406fbd9c91f68a4c7f1acd36da9a03dd09cb73d832a7602138bc78", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "dcdd0a34c5527f9af0aadf28f9622c25283afecd44abf3648301a35f57f77ec6", + "visual_seed": 4737148143801978626, + "episode_index": 96, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511, + 7728913421038834906 + ], + "runtime_workflow_digest": "45388e27c653b4c58871f8eb0be862a6bfbe31c6d7d135b34c259a2497af3374" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/episode_97_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/episode_97_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ee9ef2512b1141512f9ffd4480c9ed9934eee3e4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/episode_97_success.json @@ -0,0 +1,926 @@ +{ + "episode": 97, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.1899526861833787, + 0.21474103535511513, + 1.0448845944514091 + ], + "current_z": 1.0448845944514091, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.1882980274381988, + "gripper_z": 1.0502383130875412, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18520365200117797, + 0.21002300873195756, + 1.0502383130875412 + ], + "object_minus_gripper": [ + 0.00474903418220074, + 0.004718026623157567, + -0.005353718636132099 + ], + "object_to_gripper_xy": 0.006694258799937051, + "object_to_gripper_z": -0.005353718636132099, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1899526861833787, + 0.19052672005870047, + 1.0448845944514091 + ], + "finger_b": [ + 0.1783116036658835, + 0.21474103535511513, + 1.0448845944514091 + ], + "finger_midpoint": [ + 0.1841321449246311, + 0.2026338777069078, + 1.0448845944514091 + ], + "object_minus_finger_midpoint": [ + 0.005820541258747619, + 0.012107157648207328, + 0.0 + ], + "finger_gap": 0.02686722664238558, + "fingertip_max_gap": 0.09273665559896566, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013433613321192795, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0448845944514091, + "object_top_z": 1.0909199100161626, + "finger_top_clearance": 0.04603531556475349, + "fingertip_min_top_clearance": 0.013810594669426047, + "object_projection_between_fingers": 0.8122668109317407, + "object_to_finger_line_xy": 0.01049162409734973, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04886832779948283, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2414224009286985, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 212, + "max_stable_success_frames": 212, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18908779292925076, + 0.21563399252202597, + 1.2407483016019685 + ], + "held_position": [ + 0.19407017445884658, + 0.2199798795461665, + 1.2352952034541673 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00857013063742921, + "max_held_gripper_dist": 0.00857365189041909, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.00545309814780115, + "max_held_gripper_z_dist": 0.005476484433115214, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08525896833833446, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.19407017445884658, + 0.19505712114663046, + 1.2352952034541673 + ], + "held_grasp_finger_b": [ + 0.18401744618057603, + 0.2199798795461665, + 1.2352952034541673 + ], + "held_grasp_midpoint": [ + 0.1890438103197113, + 0.20751850034639846, + 1.2352952034541673 + ], + "held_grasp_object_position": [ + 0.19407017445884658, + 0.2199798795461665, + 1.2352952034541673 + ], + "held_grasp_finger_gap": 0.02687380196545298, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024484097045515775, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.040937459413384863, + -0.9989115090031416, + 0.022358926580764216 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0045207497963829875, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.0325466432871674, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3343480619972641, + -0.32945756336464155, + 0.8470192375409473 + ], + "target_position": [ + 0.3261307633031085, + -0.33219277399183944, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008660564358291422, + "xy_threshold": 0.08, + "gripper_dist": 0.18830479426691804, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470192375409473, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07531474828761206, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08515360275302085, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15732109171268796, + "release_required_pad_clearance": 0.052576801376510426, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.21669928674961356, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 157, + "max_placed_release_frames": 157 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008071660995483398, + "max_z_decrease": 0.008071660995483398, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03503054131320946, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008071660995483398, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02111142522849572, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008071660995483398, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008071662171733683, + "max_button_displacement": 0.12, + "button_start": [ + 0.1818306893110275, + -0.38845422863960266, + 0.7768088579177856 + ], + "button_final": [ + 0.1818306893110275, + -0.38845422863960266, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18071251241490902, + -0.3880312234235462, + 0.803747412445407 + ], + "closest_button": [ + 0.18182978034019467, + -0.38844996690750117, + 0.7687371969223022 + ], + "closest_ee_minus_button": [ + -0.0011172679252856588, + 0.0004187434839549864, + 0.03501021552310479 + ], + "button_min_z_position": [ + 0.18182978034019467, + -0.38844996690750117, + 0.7687371969223022 + ], + "min_active_finger_to_button": 0.1466187093638997, + "closest_active_finger": [ + 0.05427248775959015, + -0.4519270658493042, + 0.8107941746711731 + ], + "closest_active_finger_button": [ + 0.18183517456054685, + -0.38845595717430115, + 0.776207685470581 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1275626868009567, + -0.06347110867500305, + 0.03458648920059204 + ], + "min_contact_pad_to_button": 0.02111142522849572, + "closest_contact_pad": [ + 0.18182978034019467, + -0.38911864156499, + 0.7898380298295786 + ], + "closest_contact_pad_button": [ + 0.18182978034019467, + -0.38844996690750117, + 0.7687371969223022 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0006686746574888214, + 0.02110083290727638 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 97, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511, + 7728913421038834906 + ], + "workflow_spec_digest": "bc4db0291f406fbd9c91f68a4c7f1acd36da9a03dd09cb73d832a7602138bc78", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f1a1fcb872a0b6f72365dd9f4ea55cae33f781831fdad9085218af301ef3bb6b", + "visual_seed": 5851583805862895707, + "episode_index": 97, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511, + 7728913421038834906 + ], + "runtime_workflow_digest": "45388e27c653b4c58871f8eb0be862a6bfbe31c6d7d135b34c259a2497af3374" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/episode_98_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/episode_98_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f7f33d4ff7554387a1f436d93c62b355cefc91fa --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/episode_98_success.json @@ -0,0 +1,926 @@ +{ + "episode": 98, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.1828788830481413, + 0.21732412768148796, + 1.0424739449683094 + ], + "current_z": 1.0424739449683094, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.18588755676903335, + "gripper_z": 1.048326372326138, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.17807586089238528, + 0.21268916406870325, + 1.048326372326138 + ], + "object_minus_gripper": [ + 0.004803022155756009, + 0.004634963612784704, + -0.005852427357828649 + ], + "object_to_gripper_xy": 0.006674721681128086, + "object_to_gripper_z": -0.005852427357828649, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1828788830481413, + 0.19281152580932429, + 1.0424739449683094 + ], + "finger_b": [ + 0.17171370761030408, + 0.21732412768148796, + 1.0424739449683094 + ], + "finger_midpoint": [ + 0.1772962953292227, + 0.20506782674540613, + 1.0424739449683094 + ], + "object_minus_finger_midpoint": [ + 0.005582587718918591, + 0.012256300936081821, + 0.0 + ], + "finger_gap": 0.026935641687193666, + "fingertip_max_gap": 0.09413201264349583, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013467820843596814, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0424739449683094, + "object_top_z": 1.0887481244238326, + "finger_top_clearance": 0.04627417945552326, + "fingertip_min_top_clearance": 0.01388225383665696, + "object_projection_between_fingers": 0.8281789175797063, + "object_to_finger_line_xy": 0.010160793773503717, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049566006321747916, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.108257055359663, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 207, + "max_stable_success_frames": 207, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18152247288902693, + 0.21902689180540558, + 1.2375253066477956 + ], + "held_position": [ + 0.1864212697282707, + 0.2234093395872753, + 1.2315675591730708 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008871235201796251, + "max_held_gripper_dist": 0.00887839291424194, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005957747474724773, + "max_held_gripper_z_dist": 0.005980655204457674, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0865355739090593, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.1864212697282707, + 0.19857548014543122, + 1.2315675591730708 + ], + "held_grasp_finger_b": [ + 0.17626463836554845, + 0.2234093395872753, + 1.2315675591730708 + ], + "held_grasp_midpoint": [ + 0.1813429540469096, + 0.21099240986635326, + 1.2315675591730708 + ], + "held_grasp_object_position": [ + 0.1864212697282707, + 0.2234093395872753, + 1.2315675591730708 + ], + "held_grasp_finger_gap": 0.02683053736725191, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02482856461918034, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.00015550391517871187, + -0.9997231916923037, + 0.023526916735643555 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005088638347474086, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03278752205216254, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33092709019125965, + -0.33247612540522165, + 0.847020038422826 + ], + "target_position": [ + 0.32314992823452837, + -0.33521832611934216, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008246448499672534, + "xy_threshold": 0.08, + "gripper_dist": 0.18752283730362518, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.847020038422826, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07537050177901936, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08729425246804011, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15655211432220822, + "release_required_pad_clearance": 0.05364712623402006, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.3005799785062164, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008056819438934326, + "max_z_decrease": 0.008056819438934326, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035106386523441016, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008056819438934326, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021150979121935337, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008056819438934326, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008056826769019995, + "max_button_displacement": 0.12, + "button_start": [ + 0.17884986102581021, + -0.3914797902107238, + 0.7768088579177856 + ], + "button_final": [ + 0.17884986102581021, + -0.3914797902107238, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17682742618101707, + -0.39242436108948153, + 0.8037879002945622 + ], + "closest_button": [ + 0.1788394898176193, + -0.39147654175758356, + 0.7687520384788513 + ], + "closest_ee_minus_button": [ + -0.0020120636366022238, + -0.00094781933189797, + 0.035035861815710834 + ], + "button_min_z_position": [ + 0.1788394898176193, + -0.39147654175758356, + 0.7687520384788513 + ], + "min_active_finger_to_button": 0.14765678884220412, + "closest_active_finger": [ + 0.035971447825431824, + -0.37738722562789917, + 0.8101412653923035 + ], + "closest_active_finger_button": [ + 0.17885328829288483, + -0.39148351550102234, + 0.7756651639938354 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.142881840467453, + 0.014096289873123169, + 0.03447610139846802 + ], + "min_contact_pad_to_button": 0.021150979121935337, + "closest_contact_pad": [ + 0.1788394898176193, + -0.39350608780190616, + 0.7898054196959033 + ], + "closest_contact_pad_button": [ + 0.1788394898176193, + -0.39147654175758356, + 0.7687520384788513 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0020295460443225943, + 0.021053381217052025 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 98, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511, + 7728913421038834906 + ], + "workflow_spec_digest": "bc4db0291f406fbd9c91f68a4c7f1acd36da9a03dd09cb73d832a7602138bc78", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "45ef3200de7c0912fb21bd3476caf01956ef4ee2397c772f5f65740cded9bc23", + "visual_seed": 8626757872738542435, + "episode_index": 98, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511, + 7728913421038834906 + ], + "runtime_workflow_digest": "45388e27c653b4c58871f8eb0be862a6bfbe31c6d7d135b34c259a2497af3374" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/episode_99_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/episode_99_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2a9ce2d27995443ef57ccd5118ab72a59beb9337 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/episode_99_success.json @@ -0,0 +1,926 @@ +{ + "episode": 99, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.1862135124795541, + 0.21916422012878695, + 1.0419879622773731 + ], + "current_z": 1.0419879622773731, + "required_z": 0.8565866266178551, + "initial_z": 0.7565866266178551, + "lift_margin": 0.185401335659518, + "gripper_z": 1.0483093869771185, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18124922575048266, + 0.21450123791207706, + 1.0483093869771185 + ], + "object_minus_gripper": [ + 0.0049642867290714265, + 0.004662982216709882, + -0.006321424699745393 + ], + "object_to_gripper_xy": 0.006810840321266333, + "object_to_gripper_z": -0.006321424699745393, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1862135124795541, + 0.1944843516961921, + 1.0419879622773731 + ], + "finger_b": [ + 0.1750726553957921, + 0.21916422012878695, + 1.0419879622773731 + ], + "finger_midpoint": [ + 0.1806430839376731, + 0.20682428591248952, + 1.0419879622773731 + ], + "object_minus_finger_midpoint": [ + 0.005570428541881001, + 0.012339934216297421, + 0.0 + ], + "finger_gap": 0.027077935711774657, + "fingertip_max_gap": 0.09138832352982501, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013538967855887329, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0419879622773731, + "object_top_z": 1.0872951873021726, + "finger_top_clearance": 0.04530722502479945, + "fingertip_min_top_clearance": 0.013592167507439816, + "object_projection_between_fingers": 0.8307198245197583, + "object_to_finger_line_xy": 0.010154204145407821, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04819416176491251, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3372011904764027, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 207, + "max_stable_success_frames": 207, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18483689104069223, + 0.22046602631662587, + 1.2365381808527658 + ], + "held_position": [ + 0.1898829594919277, + 0.2248824731941169, + 1.2301068948769156 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.009291353461117572, + "max_held_gripper_dist": 0.009294177140362937, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.006431285975850187, + "max_held_gripper_z_dist": 0.006456170298985375, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08629580224691855, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.1898829594919277, + 0.19994295235609935, + 1.2301068948769156 + ], + "held_grasp_finger_b": [ + 0.17970626806950551, + 0.2248824731941169, + 1.2301068948769156 + ], + "held_grasp_midpoint": [ + 0.1847946137807166, + 0.21241271277510812, + 1.2301068948769156 + ], + "held_grasp_object_position": [ + 0.1898829594919277, + 0.2248824731941169, + 1.2301068948769156 + ], + "held_grasp_finger_gap": 0.026935937851448804, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024842847315105072, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.009262681084868432, + -0.9999033631887675, + 0.010366630258276334 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0049743103322556805, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03268453786111323, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33147204401381597, + -0.3228375981343753, + 0.8470193877113157 + ], + "target_position": [ + 0.3232649348333718, + -0.32575167446119574, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008709103394624844, + "xy_threshold": 0.08, + "gripper_dist": 0.1878882390805093, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470193877113157, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07545874873532063, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08751729115236238, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1565767675046392, + "release_required_pad_clearance": 0.053758645576181194, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.5256912806699288, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 156, + "max_placed_release_frames": 156 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007774233818054199, + "max_z_decrease": 0.007774233818054199, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03510497761836877, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007774233818054199, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021325218346390607, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007774233818054199, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007774259059404118, + "max_button_displacement": 0.12, + "button_start": [ + 0.17896486818790436, + -0.38201314210891724, + 0.7768088579177856 + ], + "button_final": [ + 0.17896486818790436, + -0.38201314210891724, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18034813019837023, + -0.3833637687052232, + 0.8044463372370774 + ], + "closest_button": [ + 0.1789461076259613, + -0.38201698660850525, + 0.7693952322006226 + ], + "closest_ee_minus_button": [ + 0.0014020225724089286, + -0.0013467820967179578, + 0.03505110503645481 + ], + "button_min_z_position": [ + 0.17894545197486875, + -0.3820170760154724, + 0.7690346240997314 + ], + "min_active_finger_to_button": 0.14442773755620492, + "closest_active_finger": [ + 0.03949876129627228, + -0.3678652048110962, + 0.8078142404556274 + ], + "closest_active_finger_button": [ + 0.1789751946926117, + -0.38201969861984253, + 0.7730961441993713 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13947643339633942, + 0.014154493808746338, + 0.034718096256256104 + ], + "min_contact_pad_to_button": 0.021325218346390607, + "closest_contact_pad": [ + 0.17894545197486875, + -0.3845009000990864, + 0.790214698590698 + ], + "closest_contact_pad_button": [ + 0.17894545197486875, + -0.3820170760154724, + 0.7690346240997314 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0024838240836139724, + 0.021180074490966594 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 99, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511, + 7728913421038834906 + ], + "workflow_spec_digest": "bc4db0291f406fbd9c91f68a4c7f1acd36da9a03dd09cb73d832a7602138bc78", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "10eb551ac1447b8110b0453dfa8de8d7cb15b87ec064c598afe56c4ed6df13d3", + "visual_seed": 3124168203580526125, + "episode_index": 99, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511, + 7728913421038834906 + ], + "runtime_workflow_digest": "45388e27c653b4c58871f8eb0be862a6bfbe31c6d7d135b34c259a2497af3374" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/episode_9_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/episode_9_success.json new file mode 100644 index 0000000000000000000000000000000000000000..88710c65a3ec23c0bd448b42dafc9987edd77956 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/episode_9_success.json @@ -0,0 +1,926 @@ +{ + "episode": 9, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.1864143056541273, + 0.2178787441684862, + 1.0414295157009736 + ], + "current_z": 1.0414295157009736, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.18484300829240807, + "gripper_z": 1.0477453980635687, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1814224102074904, + 0.21318387600740407, + 1.0477453980635687 + ], + "object_minus_gripper": [ + 0.004991895446636918, + 0.0046948681610821386, + -0.00631588236259506 + ], + "object_to_gripper_xy": 0.006852795575536832, + "object_to_gripper_z": -0.00631588236259506, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1864143056541273, + 0.19322520393208237, + 1.0414295157009736 + ], + "finger_b": [ + 0.17516163406446053, + 0.2178787441684862, + 1.0414295157009736 + ], + "finger_midpoint": [ + 0.1807879698592939, + 0.2055519740502843, + 1.0414295157009736 + ], + "object_minus_finger_midpoint": [ + 0.005626335794833404, + 0.012326770118201907, + 0.0 + ], + "finger_gap": 0.027100178303710053, + "fingertip_max_gap": 0.09295777458664703, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013550089151855021, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0414295157009736, + "object_top_z": 1.087382593350675, + "finger_top_clearance": 0.04595307764970147, + "fingertip_min_top_clearance": 0.013785923294910457, + "object_projection_between_fingers": 0.8275881977352927, + "object_to_finger_line_xy": 0.010236766293338723, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04897888729332352, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.505028021505663, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 207, + "max_stable_success_frames": 207, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18505656944628726, + 0.2190212405356568, + 1.235909851900905 + ], + "held_position": [ + 0.1901400131118739, + 0.22344644715268713, + 1.2294799768756752 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00931488840215901, + "max_held_gripper_dist": 0.00932071507286461, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0064298750252298476, + "max_held_gripper_z_dist": 0.006452836406779516, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08637483238365937, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.1901400131118739, + 0.19847388900654203, + 1.2294799768756752 + ], + "held_grasp_finger_b": [ + 0.17996781004550638, + 0.22344644715268713, + 1.2294799768756752 + ], + "held_grasp_midpoint": [ + 0.18505391157869014, + 0.2109601680796146, + 1.2294799768756752 + ], + "held_grasp_object_position": [ + 0.1901400131118739, + 0.22344644715268713, + 1.2294799768756752 + ], + "held_grasp_finger_gap": 0.02696483590875373, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024853441222160676, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.011048264225278673, + -0.9997304346349055, + 0.02042042904327801 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004954434344632424, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032661119167500016, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3403329372335192, + -0.3227512450077427, + 0.8470195086589569 + ], + "target_position": [ + 0.33236799835554576, + -0.32547203938645164, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008416826799992205, + "xy_threshold": 0.08, + "gripper_dist": 0.18715154391326372, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195086589569, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0755235779895192, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08789302309382362, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15581419756639658, + "release_required_pad_clearance": 0.05394651154691181, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.902626313826947, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 156, + "max_placed_release_frames": 156 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008038163185119629, + "max_z_decrease": 0.008038163185119629, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0350294595804522, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008038163185119629, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02124847298372658, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008038163185119629, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008038191272286508, + "max_button_displacement": 0.12, + "button_start": [ + 0.18806792795658103, + -0.38173350691795344, + 0.7768088579177856 + ], + "button_final": [ + 0.18806792795658103, + -0.38173350691795344, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1869839948214945, + -0.38056617234030915, + 0.806748750790608 + ], + "closest_button": [ + 0.18805439770221702, + -0.38173484802246094, + 0.7717551589012146 + ], + "closest_ee_minus_button": [ + -0.0010704028807225208, + 0.0011686756821517874, + 0.03499359188939344 + ], + "button_min_z_position": [ + 0.18804670870304102, + -0.3817346394062042, + 0.768770694732666 + ], + "min_active_finger_to_button": 0.14669446863139476, + "closest_active_finger": [ + 0.05997081845998764, + -0.4440706968307495, + 0.8078292012214661 + ], + "closest_active_finger_button": [ + 0.18807950615882868, + -0.3817397058010101, + 0.7728680968284607 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12810868769884104, + -0.062330991029739435, + 0.03496110439300537 + ], + "min_contact_pad_to_button": 0.02124847298372658, + "closest_contact_pad": [ + 0.18804670870304102, + -0.38178305596720413, + 0.7900191125555718 + ], + "closest_contact_pad_button": [ + 0.18804670870304102, + -0.3817346394062042, + 0.768770694732666 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -4.8416560999908764e-05, + 0.021248417822905763 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 9, + "reproducibility": { + "enabled": true, + "action_seed": 6098556129387905517, + "physical_seed": 7490668268172140043, + "layout_id": "layout_00031", + "step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511, + 7728913421038834906 + ], + "workflow_spec_digest": "bc4db0291f406fbd9c91f68a4c7f1acd36da9a03dd09cb73d832a7602138bc78", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c3777f016068fc858b709828cb23543564606ec3373bb901c7bcc474498badf9", + "visual_seed": 4835395930822005624, + "episode_index": 9, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4567401361451441112, + 7000790218311912638, + 7522013946436761511, + 7728913421038834906 + ], + "runtime_workflow_digest": "45388e27c653b4c58871f8eb0be862a6bfbe31c6d7d135b34c259a2497af3374" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/summary.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..6fc16ff8a668ee5c72e0bb74492fe962b56ff5b6 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/summary.json @@ -0,0 +1,9 @@ +{ + "scope": "published_success_subset", + "case": "lab3_heat_2beaker_s04_pslr_hte_00031", + "family": "lab3_v1", + "published_episodes": 100, + "published_successes": 100, + "published_failures": 0, + "matched_success_results": 100 +} diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0000.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0000.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d0172ecb27ba6a5995ff436e8829dc54319fe9a2 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0000.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5a49bb3d57906ba0e2574926034d51d9ecd6cbf286c12dd25ee210d687350e5f +size 6603319 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0001.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0001.h5 new file mode 100644 index 0000000000000000000000000000000000000000..49dba74fdd360d2fc50679680968247c726168df --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0001.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eb194d74b7a74431b5036214c0df56e11bed3fc5f3e651d01115e52ce69bff7a +size 6134577 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0002.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0002.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f7f179f5f7fe963b059add169cce3e9878fdc220 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0002.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c2d5a4f75b73524c18dac9726684513af66fb8a7563dea8abe7120b1158355af +size 5605627 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0003.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0003.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a0182f2781efa97843fbc28516d982c707e8eeec --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0003.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d8467ed53d348f410d6f760538453296a36b925508217ce9e47bb02efa3019a0 +size 6293164 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0004.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0004.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9da01dda33297e6232f02b84f54622a6479db75b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0004.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7fb1b2e472ed1d1d200bd131b35dccd4ca7b342ae8b02208f77bbe74b43921cb +size 5477711 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0005.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0005.h5 new file mode 100644 index 0000000000000000000000000000000000000000..713d0194da10870ce3e17d71ac795a4839c7a12c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0005.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:55c3e83b2c104351cb1a842fbe6320369c3ccf29d718c658c05fc7476c32930f +size 6207917 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0006.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0006.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c62f911d32aab5033a4a73b896a33da4e74444bc --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0006.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:33a133adc214e672e027073fa7c63ddf0bcf311a236f844f38ae1bcaa8e25eb4 +size 7062219 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0007.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0007.h5 new file mode 100644 index 0000000000000000000000000000000000000000..df0d546b5c3d50b8356fa9a000b01889d37dd994 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0007.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:03a9c077c099f65e410f117a16ff8d66bdf2426e68a9a9af1b8f2a121a21ffe4 +size 7580261 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0008.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0008.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3b482c2772869de3fc62a657e62c5f3728b3d102 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0008.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b443590285711e0bf7937942a0e90a009f0f528a3f292c0418548ec3e420c575 +size 5907551 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0009.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0009.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6b15521bb6b207d57539e9d895b6b66cf734a74f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0009.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c61f8b4dab39493b86d4576a327960c323eff68421d5d4deb353f031d750fef4 +size 8532419 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0011.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0011.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e8898230cc0e23afe8961b071e7b4f270e896886 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0011.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b4827d27d4d9006bf8f439fb7d59602c04324242f4dd1e43c164ee1932e8fa6e +size 8265304 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0012.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0012.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a58480de348be3fbbfb540796b81ea5adf619da2 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0012.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4f78b5d759661982009f52adcf0367d9d3a4b2b35829be3845f86a86363433b8 +size 6635730 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0013.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0013.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a0b45005f7f1fe0098867008abb36bedafccedd9 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0013.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:95527ffee9f1a3f17d15d208b0fa333873abcb3778afd173eb9b567b22249f5d +size 6577906 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0015.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0015.h5 new file mode 100644 index 0000000000000000000000000000000000000000..021bda70b98eeb216ac1f799364a7fb58d956e59 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0015.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e05712ea4240958385af730f1c8fc4fc49345925eea654d79d0c3a6bf55e565c +size 6312315 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0016.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0016.h5 new file mode 100644 index 0000000000000000000000000000000000000000..90bab0533a35cfa2869a0c006591be01678cbece --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0016.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9f44eb95fdacc0bb8f9257ef1ee8b81145564789418edb2cf02ebf275e8df46d +size 7873250 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0017.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0017.h5 new file mode 100644 index 0000000000000000000000000000000000000000..7112d6ea1712b02d848f6fd72a0a059e8e079fde --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0017.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:daea21142a7e01cfa1b072c31e4875f41bdb10ddac6bdb2d3475fcfe803210e2 +size 7164650 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0018.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0018.h5 new file mode 100644 index 0000000000000000000000000000000000000000..54eeafac8cd524eb9359bf5a6f39c8fc18792d01 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0018.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:70d9e9f03c78454237e2e31f2634ca9ec3c455c539266f343547339ea5fe91d6 +size 6067584 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0019.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0019.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f145b8a9426856715ec62333427fcfb98e16837b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0019.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ba863a283197f3191a1b5c8feb0e115ce58179b5575bd8255e6eff1206765cf2 +size 7145220 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0020.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0020.h5 new file mode 100644 index 0000000000000000000000000000000000000000..21e70ee6ff63c3409279a881fd8534babf803b1d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0020.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ecbdcff7b52e52a2cc04ab090bded800077ed92a3c6b2a2aa697c36d53c0ee48 +size 5978460 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0021.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0021.h5 new file mode 100644 index 0000000000000000000000000000000000000000..59932964cfc693c170fc5a4a1ad6207d8515a275 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0021.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3287b88e9d054bd158731e378943c2e2e2e417c814f0f21a82ac9eb3cca1f973 +size 6568589 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0022.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0022.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b2dabca4135caa28fc510d06bd46bd396ed22354 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0022.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dc13e2901739325dfa9c69a098dc37b6ea372f7468e77bc79e1b50ac133b8428 +size 8957333 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0023.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0023.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6064d13586e2fe6459e92f5ff69617fb1f14a612 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0023.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d674119617587586f348e25ba41e92fa1677ab2cc9126ad1869bdf56df99503f +size 6706358 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0024.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0024.h5 new file mode 100644 index 0000000000000000000000000000000000000000..df16fda5946de1a5ffe21f9a2160cfa886cae52e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0024.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2c04ce7c8cf2061a85018c2c010a5eb21ed23be23fd144033154abbd383b8256 +size 5702912 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0025.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0025.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4ea0da7bb1f256b6907078e23633f24602b458e8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0025.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:43c5e5373210a1b4d56c90ff348de08ec018b73c3735ff7af6cdccf25bc2596a +size 4951678 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0026.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0026.h5 new file mode 100644 index 0000000000000000000000000000000000000000..de9ee541f9262e9da6fcf6425f9ae0e66d52b2a0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0026.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cee5b10c9efcee135d80ebb1f288e2eaa49d62f6d30ae6323373af20549895d6 +size 7114048 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0027.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0027.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3d4e5e6ec2815912b9d6fd70ad47a662a38c1ca3 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0027.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aaa77d44f9c9405727c4da8871c8327adff06a3087af1d9e3bab2f21783ef3c3 +size 5510557 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0028.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0028.h5 new file mode 100644 index 0000000000000000000000000000000000000000..380385f12f997af68b05d83ba9f8e332ec9ec445 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0028.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9bbd6d49563111959ac5f6d51da604fec38ae9404f122222af8bb4f7e527c5b8 +size 6080793 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0029.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0029.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8dcfc4dc6472c872eeb3b77c969782a36f59cd0c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0029.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:295b5ebb96eb65a7a736f032b9dc52477e18b950ce8fc5f1996eabb481fa5cc8 +size 6576163 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0030.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0030.h5 new file mode 100644 index 0000000000000000000000000000000000000000..20fbaa1d8b20ae7616627258f082ea3ebb422a19 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0030.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ddd5d7db985dfaf9b3d99b6af0601ff9f6b93bf9848d6221ceb1e4a032c5cb65 +size 6149139 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0031.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0031.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9a12717979028f6fc11d4354a530b2db136a6c36 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0031.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3f0f7afa336087663025973734eaf88001a5835b6112f51559688ae9c1c6121d +size 5692523 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0032.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0032.h5 new file mode 100644 index 0000000000000000000000000000000000000000..02ae44cf3996209b1488f98c4bbc90fe29dd5547 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0032.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:087fbdafc303362e2a6038a8fa9954ff0e51efec0007c960d50b2f0fd8ab52b6 +size 5855611 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0033.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0033.h5 new file mode 100644 index 0000000000000000000000000000000000000000..70a35f34b9f4ddc7bc11467a0969bfe6079a1077 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0033.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:38dae8d9f8007bec31be2dd8dfaddd1825909cea79d41283146f1d08c5acab63 +size 6381796 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0034.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0034.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ae440e2a1769727bb354966d24e5f35fbbd69ecb --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0034.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9ab17c6a40044d0b2fd1dfeef9f94419366d4d016d01929f26a6a555562feaed +size 6864703 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0035.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0035.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0f2a861ca19802b05f8c92bcf3ea5ab118ec0ebe --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0035.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:df74f9841a02ee012687f340d63ee23e07a375d6c17e8fb8930d05c47916ff65 +size 6344356 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0036.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0036.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f68131619bce8babdcfa16b2c400d4781ec924d7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0036.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d7c489fc49c337fb66956a1b715ff75f9ba087bd8311b165ebec472a6217c493 +size 5873444 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0037.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0037.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e1614070f05e798ed85247e592068de6de1682cd --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0037.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:47aa637454108d9abf9ee2c398a0b3426548773b4e8cbeecf1a0e8d0f85997b1 +size 6297725 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0038.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0038.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4c1f38235947653fe2d498040a96d01a55057b76 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0038.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ead9e91dd03da824fea01a9c7553f5bb50f6c49fcbcacdaa9ea8799cd8c09447 +size 5728471 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0039.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0039.h5 new file mode 100644 index 0000000000000000000000000000000000000000..440afcffc069075cf945a8a53caa4de377649f50 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0039.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a10cb2412defdfc479e2906007d0a75825fd799c4cf32561dd696a6727423542 +size 6333425 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0040.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0040.h5 new file mode 100644 index 0000000000000000000000000000000000000000..7ff44b70537474c4112d9a08f1163246ea408575 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0040.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0a2361703e380fa18d3a1d6f9e0d2d54d7763bedbbe0169264d461adb180823d +size 7819492 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0041.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0041.h5 new file mode 100644 index 0000000000000000000000000000000000000000..66d791e42cfcbece5ef1c5f9923bb2247d51af29 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0041.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:00f819cb23161a11f2c14da90fd43eb465d2822a1b1023e695301c23349d8c22 +size 6222622 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0042.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0042.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a775d88ade9842d6c1a6974c1de94d8187a21700 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0042.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:750c017798985d277c6a49c5464283655d06c9542e46b3c926fd1bbe00bb6bd6 +size 5242972 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0043.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0043.h5 new file mode 100644 index 0000000000000000000000000000000000000000..db2e20318a0813002a8e4a802ea1c9de82d55914 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0043.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ab9fa2d12eea274a145ca98f92b20234aacf64fe8aa7d7c38cb30126adc33a79 +size 6834983 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0044.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0044.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3a1632b422f615928f929cb2adf312e0ed8d3d24 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0044.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b6290d14c0117af2aa94dc363917055505beada265203c79b567650d146f2534 +size 7319795 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0045.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0045.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9b93ae189d6c6de47024d9fd5742ff0a5d106aee --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0045.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a42e19d0063ff02afa60ad329f04b0a96b0c0e4478dc9bd66378689d425b777a +size 6738092 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0046.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0046.h5 new file mode 100644 index 0000000000000000000000000000000000000000..7748a4b5fdc14ec9b6503b2194a2021c74583fd5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0046.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2f3f2a459fd8ddbd8c545710f68e0d2409cb1b18ea540affffc50ebd2d708896 +size 8724609 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0047.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0047.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f01774b58b68afaa00139e87c02f52742804b67c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0047.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f00545c4db56b74e51e2a650740375d35f6ff129e21b674a2a4d7be94fd53ed4 +size 5623190 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0048.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0048.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2809d2979286a8b488ea9bac8b655bf25c1efd83 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0048.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3d69976d4e7d687afd68b3c47d15b60a0317fbd1ee2de520fbc1795909824802 +size 5914359 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0049.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0049.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4725e02e0ffa4dedd8b5a7bb1671f6a151668881 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0049.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:96d41843b1dea4f733ce69627055e9eb88bbd738f72775265ec230ca67261b97 +size 6226446 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0050.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0050.h5 new file mode 100644 index 0000000000000000000000000000000000000000..530591816c27009b2b2dbce28c0125cc369e44c3 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0050.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e462ace95e2dc6889a18ebc681122e3940aa26222a0e749372befcfb6a0e9f3c +size 6918115 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0051.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0051.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1ec0d09d1843a5204a8a512a4c4a110bd2a02b2b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0051.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9fd5d3daa73b48c418e30cb595b751ee005f4cce8fd923dbaeee63b04ec7908b +size 8372990 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0052.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0052.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6d3c49c90f99d74defe03e543137567ab1388808 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0052.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:50e814f57a0764badcdf6944dd66a661f7d2222ffab68c4ebdc388ee77f3167e +size 7601386 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0053.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0053.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d93ac51df7c33dbb9d1d2ec6c1c2f19e541c2296 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0053.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:344e169d4410b1fd934bb7ae392454dc7f9f316adcf2c720474c5390bda2f8f4 +size 6251358 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0054.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0054.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b413b8b85feb2677441d7dd3ddbc5ccb99ab549b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0054.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eb72ec220f7c7c5603b9479096e81d8b416abc8c9d2503c831cf2cdbc09d9f36 +size 6147634 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0055.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0055.h5 new file mode 100644 index 0000000000000000000000000000000000000000..25effc469051245337b94bf1f12e67d1c25fe76f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0055.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e16b2d8d0981fbd547302306d38bb526b02902adc27d7b48d5bc52dff9c43314 +size 7781355 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0056.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0056.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b296975e3d5f6f3acf3e1339ea2687248dc8a42e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0056.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a8560a00d98e5a4f3459a97b2a6dabc461c10cc534254248ab6f8fb3ce0d6834 +size 8249633 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0057.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0057.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4b7760d84ac40584e2807f3c8747be8f0facdf1c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0057.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:85b22ddd07578f9023f89f8d1aeb1cba5e637d5a3f714a90e70abd36b0dabc9a +size 8802747 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0058.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0058.h5 new file mode 100644 index 0000000000000000000000000000000000000000..eca7f644ec42a4e0c3ba551a22fc6cd7eaa3362b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0058.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aba3cc88de6d17fdf4edc3cb87ab10be57bd986d36cd0bef1489df706123298e +size 7057358 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0059.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0059.h5 new file mode 100644 index 0000000000000000000000000000000000000000..fb32f0c289e39e7cb6ea755f13209dcc27fe8b46 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0059.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:27dd65b83b8bcb2c453868f1321c25233610ffa6183963d06df6e165da98dff3 +size 5536180 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0060.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0060.h5 new file mode 100644 index 0000000000000000000000000000000000000000..865924c35c0ea52ecf7c26c77729da921d3ccb40 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0060.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:97b65986992df95cb1f90870bea8c6d7c2990dad8761fa54c4d9a858900f0d3c +size 6043771 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0061.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0061.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1a58cf7b56544e8f182e27c21e7b1ec375a45f6b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0061.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7840d91b3b18a62617d03c59af3c72484da7d6fd57a2aaeda159c5fb7c12a488 +size 7646644 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0062.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0062.h5 new file mode 100644 index 0000000000000000000000000000000000000000..619947ff9e809016c6fbf3dc9c54c669b7f94655 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0062.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:beb91e3794eaa0446fcbfa5729433bbca877b302a101657f5502bf841d5c2a1b +size 5435356 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0063.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0063.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1948ca0ec1ef1bde26aebaf129b0fea29a23802f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0063.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cc2d97e92b2d64bc0c196365be98229377d540c46d7c0db14a7ac15f5578fad7 +size 5990072 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0064.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0064.h5 new file mode 100644 index 0000000000000000000000000000000000000000..70157c5488248d444dd2e7cb58ea37f5100e6f2c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0064.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:68011e50cf51c4093f4cc482f60cd5f875996767f6fbc325dd8579a380d2d86b +size 6432453 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0065.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0065.h5 new file mode 100644 index 0000000000000000000000000000000000000000..95c1cab8cc9f471fe9ceef7f282c8bd300885cf0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0065.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6e7df2e3699899a9e5dee5149c4ca65f7543e8ad00c3dbc27ce3e759b44320bf +size 8161610 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0067.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0067.h5 new file mode 100644 index 0000000000000000000000000000000000000000..7cd44e0f35346b5874d75bf41bb383c4906aaa8d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0067.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ee05ce0270fd426fc11d6ed6a3571aaad79c94f8cb798795361f7bf1d8923be8 +size 6963455 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0068.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0068.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8b0c9dc88d14967a1bd8c5624f357cdd81d633a4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0068.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1d75cef04cf7e7070c3ba02df3e041a6aea5cf82e27e0de1ec55cfc9e1269ca7 +size 5424403 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0069.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0069.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3ab3ae26f52bb5aa6fe435d370e93a9243ced4b3 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0069.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e7be378bfff76e5afdcf1238d24d5107f1ee550f38b5b23334a0cbc235813732 +size 5013554 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0070.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0070.h5 new file mode 100644 index 0000000000000000000000000000000000000000..633c84b10814d3181285d7b0cd2bfb0edb8ee7d3 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0070.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:31e3c7ae4ec75586a069d650b5c49e6e98f6e4ccfdaa5cea8cf5fe4e5ef2f059 +size 6464690 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0071.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0071.h5 new file mode 100644 index 0000000000000000000000000000000000000000..7fe548fc8b7b3ed4f327e22988d6c4bf04da270d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0071.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:221746f9d32265869467cc68f4c2ef2b22518569bd490f2cc6287d9a49489b46 +size 7484274 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0072.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0072.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c58b082d1f1e21fc433b85f645f098884651759e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0072.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9ab637c91fb27161ea0e1448a23b86bc02e34eaf67b04149e01e274b3562440e +size 7225222 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0073.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0073.h5 new file mode 100644 index 0000000000000000000000000000000000000000..cd88e70be3ea43f7156d96921f7587d03159c20d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0073.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d0e3e2e1879cc95f0f46681a8c6b422800443cc84aa3ff895cdaeb70eb7e7ad4 +size 8464253 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0074.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0074.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2434a766463ae7fe3ff548a7c817609c26863fd1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0074.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:625c018bc3686c50dcc7c8ea76eeb781cefc572c6797896a60cd19e28191ac67 +size 5468327 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0075.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0075.h5 new file mode 100644 index 0000000000000000000000000000000000000000..70722c02fb56c98095d3e7d5718104009486875f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0075.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d3a0a41f043f5ad61e7e30822dac7af18dce523e578aef3c850e201460a34e4c +size 5305700 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0077.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0077.h5 new file mode 100644 index 0000000000000000000000000000000000000000..26228c359b9ac263373fc3f82b55935c6fde429e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0077.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c5b83e378c56760d661eb6d418a38fbd7bb545d8d8cc47358b0470cdebcc654e +size 4947368 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0078.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0078.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5d4896373d60faf6c728bbbe8b1a10866e43ceaf --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0078.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7edc18a039bf66df079d9d55f6074f23baacdaf68821f80b5c12fbf14a4ed5dc +size 6547549 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0079.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0079.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0ecc784ae84c7e57e4967d35e59d585d892e7ff5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0079.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e3515cf15cbbb97775b0ee8635a7f83fb6eb16f39f9109b70bff7a15c80a36fe +size 6117496 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0080.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0080.h5 new file mode 100644 index 0000000000000000000000000000000000000000..210641edc0ff09ddf758b12d9bfc9d6e5443783e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0080.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:54fff050250592afa2b5744dc87d63083ac96046098a97e3e997740df3098ac2 +size 5757620 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0081.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0081.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ab9abbdc34cb7a867eac1d558d4be0845171f88f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0081.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5fa88b829419417bccf8af7fd907a6411ab7277818803654b5a4160ecc26e811 +size 6229096 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0082.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0082.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0be49eddd76d46435c02ca4afbd8dc30294d044c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0082.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:363262243e23f6a05c2ca28d83030b8766702b7d63b314bb275bc32c3b198fe7 +size 5364964 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0083.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0083.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3bc337b87723b8637dda743dcb29404c90bfc77d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0083.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dcf4fc70d1fb193753d65aed9e692e31aee40f3b930a1f711443c973ab37295e +size 5549715 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0084.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0084.h5 new file mode 100644 index 0000000000000000000000000000000000000000..19be93c38cf45db36ba29ec4610b72a2bf57f753 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0084.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3756936014ca3d030ff953fb857c54bb9a48257feec05ee17b926425e48809b4 +size 5225052 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0085.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0085.h5 new file mode 100644 index 0000000000000000000000000000000000000000..91f660cc90c6a621c9747efaee82731c0802617a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0085.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a5a34ffbb68407ab7bca03d1c3ca55cf26ac7b973620a92db08ed8617dba7b1a +size 7770863 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0086.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0086.h5 new file mode 100644 index 0000000000000000000000000000000000000000..89d0f82ac28cced49a9a6c21ee7a0c9599b82203 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0086.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c937c3449b94e1f0ce538e649af3aa6cdfe1dc433187b9eb15cc49278f9d07f0 +size 6715262 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0087.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0087.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f7ab2e35b890392913ab8484a5c1560a7c6a571c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0087.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:873df79b4e4f7b0b4ed4b604d817989ae57e0ad608df530c78f1e59b4112bbd9 +size 6083526 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0088.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0088.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b379e11ae39c970987e6552f9f3497dc74a9b5cc --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0088.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:07ad9325e29fd482c471f23cb6868e79a80c57305ffd4ba6fde03dd298e48cd6 +size 5504690 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0089.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0089.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a311af8d81d925f08364f88bb6c4f65f72466500 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0089.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2d91533645afe470729e365555c489c094555f9ac2be7a767a263441710c7c85 +size 6544546 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0090.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0090.h5 new file mode 100644 index 0000000000000000000000000000000000000000..df2c30af4c91fccb89bfc631a50ccd6e60bfbfda --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0090.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aff3dfb2ed5490e6c6db15602b416df5ac8248cf819aedfb31310f70b7ea21ab +size 7558271 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0091.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0091.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ca68b141538e9e8bceab8d0017753f6488a3312c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0091.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ea089fb8f7ac6588a2e917e9812ca3d7e580984fa7e5c2e52ad8cc9b7b97479e +size 6478758 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0092.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0092.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1fd2ab98053277d61a666e0a0a6b0e8612f5e342 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0092.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:042d92d3f2121c24ea7e4da9574eef6ee305da74ab08431ee2a19e28eb708524 +size 8168860 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0093.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0093.h5 new file mode 100644 index 0000000000000000000000000000000000000000..13c5611ca08fd73eb9cb81f7112ba91c9593b180 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0093.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6d0289b564bf496b1fc5c976b97433892b46b118e6df060afc0516ea7b62fed3 +size 5531231 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0094.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0094.h5 new file mode 100644 index 0000000000000000000000000000000000000000..134289bff4f6b93837013a21d07b0ab3f01c28e1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0094.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6806edb1550e61e4d49a551fa6f47b406c2cbf7c458996d9279bfe9d3693205c +size 5175071 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0095.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0095.h5 new file mode 100644 index 0000000000000000000000000000000000000000..84653853541c34cc9a6c54a91129286a8c53b012 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0095.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:652d05008d9b980ebdfcfdaca4dcc793ed2142247cc0fa0450e962e96f6656a7 +size 5607007 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0096.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0096.h5 new file mode 100644 index 0000000000000000000000000000000000000000..48199eee3fbf39db3cbbc45a7a58fe5e3bfa12fc --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0096.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:07021f9683841659e8ef8332bf9545c8cf3dfe1b56ffbca71e227be325635a97 +size 5621705 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0097.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0097.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c173b0b1d506ee842d525b2067df47c6309236ff --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0097.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4a84e532f7d7b551a53104289b47cf7ade0e9d8cfe5e9c57a222142829c94261 +size 5901975 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0098.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0098.h5 new file mode 100644 index 0000000000000000000000000000000000000000..16a9dca78ac4e99de409306d704e134d5f4a6bc7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0098.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c301f96c454ec727bcbb74460ed2cd99b0c91cf755a7e83cf8efbc6cbb9d1da2 +size 5987477 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0099.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0099.h5 new file mode 100644 index 0000000000000000000000000000000000000000..161b39f29e055308c33dd0f0d5f1cd849a170492 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0099.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5ddf8ff3c63d627119e07fc3a785fa18dd9b48c051ca300010474a72822fa0eb +size 5477165 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0100.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0100.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2d43ae657f15b392f0c36872e266664709594ad4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0100.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eb3b5db6300b8793b0ef6b711abc17afd4442952956bb00cd27c956c68c4cce5 +size 7961961 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0101.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0101.h5 new file mode 100644 index 0000000000000000000000000000000000000000..13d86af8c16035ab6735c675805bbcea5d1286e0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0101.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:55383104febf0e505497c5aff9d8542a1008a9e5fcaf9fe9e3e19cd587c9d815 +size 5870762 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0102.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0102.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b3ab7c895b5b644dae2cee189b730a8ea1576cd6 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0102.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6a5b81ff6269b249fc54072ab7f5863559c4ef26b6cdf23526c506b06be97388 +size 7594717 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0103.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0103.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3b721dd92ebb433ef7eb1605a6d7d100f01faee4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0103.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0969ea85c06272695f531eee5339eb9c2853f5dcb7e7eb2cc253b6584a884048 +size 5521205 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/meta/episode.jsonl b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/meta/episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..efb3fa52cbd329b63460af1717042d947584a7e3 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/meta/episode.jsonl @@ -0,0 +1,100 @@ +{"episode_index":0,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1141,"success":true,"robot_type":"ur5e"} +{"episode_index":1,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1138,"success":true,"robot_type":"ur5e"} +{"episode_index":2,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1139,"success":true,"robot_type":"ur5e"} +{"episode_index":3,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1137,"success":true,"robot_type":"ur5e"} +{"episode_index":4,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1136,"success":true,"robot_type":"ur5e"} +{"episode_index":5,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1139,"success":true,"robot_type":"ur5e"} +{"episode_index":6,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1142,"success":true,"robot_type":"ur5e"} +{"episode_index":7,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1137,"success":true,"robot_type":"ur5e"} +{"episode_index":8,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1140,"success":true,"robot_type":"ur5e"} +{"episode_index":9,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1138,"success":true,"robot_type":"ur5e"} +{"episode_index":11,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1141,"success":true,"robot_type":"ur5e"} +{"episode_index":12,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1136,"success":true,"robot_type":"ur5e"} +{"episode_index":13,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1139,"success":true,"robot_type":"ur5e"} +{"episode_index":15,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1143,"success":true,"robot_type":"ur5e"} +{"episode_index":16,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1136,"success":true,"robot_type":"ur5e"} +{"episode_index":17,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1140,"success":true,"robot_type":"ur5e"} +{"episode_index":18,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1143,"success":true,"robot_type":"ur5e"} +{"episode_index":19,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1139,"success":true,"robot_type":"ur5e"} +{"episode_index":20,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1139,"success":true,"robot_type":"ur5e"} +{"episode_index":21,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1135,"success":true,"robot_type":"ur5e"} +{"episode_index":22,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1138,"success":true,"robot_type":"ur5e"} +{"episode_index":23,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1139,"success":true,"robot_type":"ur5e"} +{"episode_index":24,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1139,"success":true,"robot_type":"ur5e"} +{"episode_index":25,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1137,"success":true,"robot_type":"ur5e"} +{"episode_index":26,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1141,"success":true,"robot_type":"ur5e"} +{"episode_index":27,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1139,"success":true,"robot_type":"ur5e"} +{"episode_index":28,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1139,"success":true,"robot_type":"ur5e"} +{"episode_index":29,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1137,"success":true,"robot_type":"ur5e"} +{"episode_index":30,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1139,"success":true,"robot_type":"ur5e"} +{"episode_index":31,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1137,"success":true,"robot_type":"ur5e"} +{"episode_index":32,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1137,"success":true,"robot_type":"ur5e"} +{"episode_index":33,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1140,"success":true,"robot_type":"ur5e"} +{"episode_index":34,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1136,"success":true,"robot_type":"ur5e"} +{"episode_index":35,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1138,"success":true,"robot_type":"ur5e"} +{"episode_index":36,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1138,"success":true,"robot_type":"ur5e"} +{"episode_index":37,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1144,"success":true,"robot_type":"ur5e"} +{"episode_index":38,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1142,"success":true,"robot_type":"ur5e"} +{"episode_index":39,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1139,"success":true,"robot_type":"ur5e"} +{"episode_index":40,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1139,"success":true,"robot_type":"ur5e"} +{"episode_index":41,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1138,"success":true,"robot_type":"ur5e"} +{"episode_index":42,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1140,"success":true,"robot_type":"ur5e"} +{"episode_index":43,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1139,"success":true,"robot_type":"ur5e"} +{"episode_index":44,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1140,"success":true,"robot_type":"ur5e"} +{"episode_index":45,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1136,"success":true,"robot_type":"ur5e"} +{"episode_index":46,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1142,"success":true,"robot_type":"ur5e"} +{"episode_index":47,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1139,"success":true,"robot_type":"ur5e"} +{"episode_index":48,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1143,"success":true,"robot_type":"ur5e"} +{"episode_index":49,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1137,"success":true,"robot_type":"ur5e"} +{"episode_index":50,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1139,"success":true,"robot_type":"ur5e"} +{"episode_index":51,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1136,"success":true,"robot_type":"ur5e"} +{"episode_index":52,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1138,"success":true,"robot_type":"ur5e"} +{"episode_index":53,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1141,"success":true,"robot_type":"ur5e"} +{"episode_index":54,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1140,"success":true,"robot_type":"ur5e"} +{"episode_index":55,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1138,"success":true,"robot_type":"ur5e"} +{"episode_index":56,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1137,"success":true,"robot_type":"ur5e"} +{"episode_index":57,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1140,"success":true,"robot_type":"ur5e"} +{"episode_index":58,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1136,"success":true,"robot_type":"ur5e"} +{"episode_index":59,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1136,"success":true,"robot_type":"ur5e"} +{"episode_index":60,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1141,"success":true,"robot_type":"ur5e"} +{"episode_index":61,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1141,"success":true,"robot_type":"ur5e"} +{"episode_index":62,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1142,"success":true,"robot_type":"ur5e"} +{"episode_index":63,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1139,"success":true,"robot_type":"ur5e"} +{"episode_index":64,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1137,"success":true,"robot_type":"ur5e"} +{"episode_index":65,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1136,"success":true,"robot_type":"ur5e"} +{"episode_index":67,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1135,"success":true,"robot_type":"ur5e"} +{"episode_index":68,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1137,"success":true,"robot_type":"ur5e"} +{"episode_index":69,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1138,"success":true,"robot_type":"ur5e"} +{"episode_index":70,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1140,"success":true,"robot_type":"ur5e"} +{"episode_index":71,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1138,"success":true,"robot_type":"ur5e"} +{"episode_index":72,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1137,"success":true,"robot_type":"ur5e"} +{"episode_index":73,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1141,"success":true,"robot_type":"ur5e"} +{"episode_index":74,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1143,"success":true,"robot_type":"ur5e"} +{"episode_index":75,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1140,"success":true,"robot_type":"ur5e"} +{"episode_index":77,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1138,"success":true,"robot_type":"ur5e"} +{"episode_index":78,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1139,"success":true,"robot_type":"ur5e"} +{"episode_index":79,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1138,"success":true,"robot_type":"ur5e"} +{"episode_index":80,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1138,"success":true,"robot_type":"ur5e"} +{"episode_index":81,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1137,"success":true,"robot_type":"ur5e"} +{"episode_index":82,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1141,"success":true,"robot_type":"ur5e"} +{"episode_index":83,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1136,"success":true,"robot_type":"ur5e"} +{"episode_index":84,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1142,"success":true,"robot_type":"ur5e"} +{"episode_index":85,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1140,"success":true,"robot_type":"ur5e"} +{"episode_index":86,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1138,"success":true,"robot_type":"ur5e"} +{"episode_index":87,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1137,"success":true,"robot_type":"ur5e"} +{"episode_index":88,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1140,"success":true,"robot_type":"ur5e"} +{"episode_index":89,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1136,"success":true,"robot_type":"ur5e"} +{"episode_index":90,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1140,"success":true,"robot_type":"ur5e"} +{"episode_index":91,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1139,"success":true,"robot_type":"ur5e"} +{"episode_index":92,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1137,"success":true,"robot_type":"ur5e"} +{"episode_index":93,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1137,"success":true,"robot_type":"ur5e"} +{"episode_index":94,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1139,"success":true,"robot_type":"ur5e"} +{"episode_index":95,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1138,"success":true,"robot_type":"ur5e"} +{"episode_index":96,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1141,"success":true,"robot_type":"ur5e"} +{"episode_index":97,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1142,"success":true,"robot_type":"ur5e"} +{"episode_index":98,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1138,"success":true,"robot_type":"ur5e"} +{"episode_index":99,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1136,"success":true,"robot_type":"ur5e"} +{"episode_index":100,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1140,"success":true,"robot_type":"ur5e"} +{"episode_index":101,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1136,"success":true,"robot_type":"ur5e"} +{"episode_index":102,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1143,"success":true,"robot_type":"ur5e"} +{"episode_index":103,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1141,"success":true,"robot_type":"ur5e"} diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/meta/randomization_episodes.jsonl b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/meta/randomization_episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..27c86ced80d653e7548b08737a3fc2bdcf6793f6 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/meta/randomization_episodes.jsonl @@ -0,0 +1,100 @@ +{"episode_id":"ep_000000","started_at":"2026-09-05T18:02:35","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_0","position":[0.6271211979564086,-1.0804307862791014,0.71338606911949],"aabb_xy":[[0.5631212008443031,-1.129463156073512],[0.6911211950685144,-1.0313984164846908]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_1","position":[-0.20909660093143645,-1.8083949882596464,0.71338606911949],"aabb_xy":[[-0.28909042450999467,-1.888394990852488],[-0.12910277735287826,-1.7283949856668048]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_2","position":[0.4633189208501194,0.5269317789867349,0.71338606911949],"aabb_xy":[[0.45940504765469686,0.518182763580178],[0.4672327940455419,0.5356807943932916]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_3","position":[-0.6507112402372489,-0.6956961752610686,0.71338606911949],"aabb_xy":[[-0.6857112393672046,-0.7014413963367326],[-0.6157112411072933,-0.6899509541854044]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_4","position":[0.59880337047911,-0.09767883160901736,0.71338606911949],"aabb_xy":[[0.5348076730840132,-0.16167882990972604],[0.6627990678742064,-0.033678833308308675]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_5","position":[-0.2784860989901332,-1.1248912733671417,0.71338606911949],"aabb_xy":[[-0.31598609948749146,-1.1288599569152602],[-0.24098609849277497,-1.1209225898190232]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_6","position":[0.5284486171867069,-0.4738985946245795,0.71338606911949],"aabb_xy":[[0.44844861392269375,-0.4874586269334928],[0.60844862045072,-0.4603385623156661]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_7","position":[-0.4709282747517587,-1.5248076790845497,0.71338606911949],"aabb_xy":[[-0.5509282761818859,-1.6043248340971592],[-0.3909282733216315,-1.4452905240719403]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_8","position":[0.40162913048280946,1.2038159466111988,0.71338606911949],"aabb_xy":[[0.3817380906024692,1.191160135326502],[0.4215201703631497,1.2164717578958957]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_9","position":[-0.32429817088676144,-2.3274334927325024,0.71338606911949],"aabb_xy":[[-0.4042981713569774,-2.3357442003468507],[-0.24429817041654545,-2.319122785118154]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_10","position":[0.5717735747758781,-1.4498984423029302,0.71338606911949],"aabb_xy":[[0.4917735773722846,-1.5298910135011126],[0.6517735721794714,-1.369905871104747]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_11","position":[-0.48449666293667865,-1.0835395224709872,0.71338606911949],"aabb_xy":[[-0.49391413750654145,-1.0929556996087062],[-0.47507918836681595,-1.0741233453332681]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_12","position":[0.6727614438591005,0.6183106249505443,0.71338606911949],"aabb_xy":[[0.6678054236742195,0.5958106247484228],[0.6777174640439818,0.6408106251526661]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_13","position":[0.4432649161628919,-1.2310135324974185,0.71338606911949],"aabb_xy":[[0.42415260880491296,-1.2501483113746605],[0.4623772235208707,-1.2118787536201765]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_14","position":[-0.6065091351108912,-1.2749647048426045,0.71338606911949],"aabb_xy":[[-0.6665091353622924,-1.3292460298790694],[-0.54650913485949,-1.22068337980614]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_15","position":[-0.5364771963904252,-0.006852630262479398,0.71338606911949],"aabb_xy":[[-0.5814697831088756,-0.05185262953692815],[-0.4914846096719748,0.038147369011969356]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_16","position":[-0.4625583625547956,0.43103928304869754,0.71338606911949],"aabb_xy":[[-0.5265583628152664,0.38603048369576953],[-0.3985583622943248,0.47604808240162555]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_17","position":[0.5928093676249953,-2.2991199587787348,0.71338606911949],"aabb_xy":[[0.5752310654360484,-2.3166944483528398],[0.6103876698139421,-2.2815454692046298]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_18","position":[0.12293728965802464,-1.727921860112038,0.71338606911949],"aabb_xy":[[0.08543728955243168,-1.7347440219650188],[0.1604372897636176,-1.7210996982590565]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_19","position":[-0.5979634248391336,-0.29352750172657416,0.71338606911949],"aabb_xy":[[-0.6322797020137515,-0.3435275016997519],[-0.5636471476645156,-0.24352750175339644]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_20","position":[0.702339465286596,-0.8878394704571808,0.71338606911949],"aabb_xy":[[0.6950782177161886,-0.9006264807206903],[0.7096007128570035,-0.8750524601936713]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_21","position":[-0.08963155487688224,-2.254307202402247,0.71338606911949],"aabb_xy":[[-0.10004311355736593,-2.2596529357381447],[-0.07921999619639851,-2.248961469066348]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_22","position":[0.18208899302583992,-2.5497927775034253,0.71338606911949],"aabb_xy":[[0.15959257159197582,-2.572292777310173],[0.20458541445970402,-2.5272927776966783]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_23","position":[-0.5683963469866513,1.3952816032468238,0.71338606911949],"aabb_xy":[[-0.6483963439496904,1.3182059616030501],[-0.48839635002361204,1.472357244890597]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_24","position":[0.6182515247388989,-2.0288365627049343,0.71338606911949],"aabb_xy":[[0.5957515242268582,-2.051328421070332],[0.6407515252509394,-2.0063447043395355]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_25","position":[0.24668388238394612,1.0794328179899284,0.71338606911949],"aabb_xy":[[0.23405709509674974,1.0698867442883557],[0.25931066967114247,1.0889788916915015]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_26","position":[-0.47149619013766675,1.0968360751408088,0.71338606911949],"aabb_xy":[[-0.4833682731491678,1.0118360754471587],[-0.4596241071261656,1.1818360748344594]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_27","position":[0.05848803598345731,1.4820448655494185,0.71338606911949],"aabb_xy":[[0.04655530162162924,1.4696627127415591],[0.07042077034528538,1.4944270183572779]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_28","position":[-0.029931014821986568,-0.7659137060737291,0.71338606911949],"aabb_xy":[[-0.0939310150959648,-0.815979806271017],[0.03406898545199166,-0.715847605876441]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_29","position":[-0.2908622681608829,0.9550247484125123,0.71338606911949],"aabb_xy":[[-0.29632021379790296,0.8750247451048532],[-0.28540432252386283,1.0350247517201714]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_30","position":[-0.5250314976068313,-2.2578078207282433,0.71338606911949],"aabb_xy":[[-0.6050314962637173,-2.2723126796525066],[-0.4450314989499453,-2.243302961803981]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_31","position":[0.4678328259548794,1.0074993941551096,0.71338606911949],"aabb_xy":[[0.45978946602892423,0.9224993930597429],[0.4758761858808346,1.0924993952504758]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_32","position":[-0.12534870772180662,-2.5135390685600028,0.71338606911949],"aabb_xy":[[-0.16284870807003435,-2.5253304641410868],[-0.08784870737357883,-2.5017476729789196]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_33","position":[0.1775318200195556,1.7779483064452557,0.71338606911949],"aabb_xy":[[0.165962839272619,1.7529483063283242],[0.18910080076649216,1.8029483065621876]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_34","position":[-0.5656759276867599,0.8416361442230058,0.71338606911949],"aabb_xy":[[-0.5908967645465995,0.816412393370119],[-0.5404550908269201,0.8668598950758925]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6885288815019475,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/660.png","name":"660"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/660.png","name":"660"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3137.png","name":"3137"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7307.png","name":"7307"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4725.png","name":"4725"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4153.png","name":"4153"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":775.1759243951026,"rotation_z_degrees":221.0177765634194,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013683848329365297,-0.011038251103069512,-2.4548178734172532e-06]},{"name":"camera_2","offset_m":[-0.0026568998265165712,-0.0034594063754995776,0.014377916805910284]},{"name":"camera_3","offset_m":[-0.017572958856085834,-0.010089798512288027,0.010719625443267367]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00036619941531096855,-0.0014626748584308934,0.0017778389827707857],"end_effector_yaw_offset_degrees":-0.058000826715733256},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.001903521297505034,-0.0012411301551992283,0.001020463790283655],"end_effector_yaw_offset_degrees":0.8799666054802597},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00021392346575503673,-0.0010678724658822985,0.0003097406475175029],"end_effector_yaw_offset_degrees":-0.717102396663704},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0015087864930669146,-0.000841770289124574,-0.0011896025803241842],"end_effector_yaw_offset_degrees":0.4495362135543799}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0007665161536179691,0.002612240801587267],"position_m":[0.21283348384638204,-0.05108775919841273,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00014840514621100847,0.0006154415611084709],"position_m":[0.249248405146211,-0.38278455843889153,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00222471980242554,-0.00482542191873196],"position_m":[0.13827528019757448,0.22987457808126804,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0003863789006067061,-0.0003173336820727615],"position_m":[0.3532136210993933,0.11688266631792724,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e81c7f2492676a9f9b7b12906d1b9ec8ea6502622e04ef7e4d54f56b8cb27616","episode_index":0,"episode_name":"episode_0000"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0000.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_660/tex_ceiling_textures_4153/tex_floor_textures_4725/tex_table_textures_3137/tex_wall_textures_7307","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":4641353217609060353,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":4641353217609060353,"visual_seed":4641353217609060353,"scene_id":"lab_003","finished_at":"2026-09-05T18:06:09"} +{"episode_id":"ep_000001","started_at":"2026-09-05T18:06:15","dimensions":{"distractor":{"count":21,"items":[{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_0","position":[-0.39610777976828054,-0.4512657294737705,0.71338606911949],"aabb_xy":[[-0.40106379995316194,-0.4737657296758922],[-0.3911517595833995,-0.42876572927164897]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_1","position":[-0.2808020119156255,-1.2810543601173263,0.71338606911949],"aabb_xy":[[-0.298671119670081,-1.2948872680945374],[-0.26293290416117,-1.2672214521401153]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_2","position":[0.4194368625441738,-2.1439088217393256,0.71338606911949],"aabb_xy":[[0.38380770664421404,-2.1795414884961786],[0.4550660184441335,-2.1082761549824727]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_3","position":[-0.4850579374940135,0.17639723695932963,0.71338606911949],"aabb_xy":[[-0.5025579366283806,0.16651760992174175],[-0.4675579383596462,0.1862768639969174]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_4","position":[-0.3223545411284656,-1.900365214693539,0.71338606911949],"aabb_xy":[[-0.3863545414024439,-1.950431314890827],[-0.25835454085448745,-1.850299114496251]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_5","position":[-0.04949734355139712,-2.486641356212788,0.71338606911949],"aabb_xy":[[-0.13449734224347176,-2.5186272196076667],[0.03550265514067751,-2.454655492817909]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_6","position":[0.4602656796122435,-0.051755441603636765,0.71338606911949],"aabb_xy":[[0.44703473407756217,-0.06498286062563617],[0.47349662514692475,-0.03852802258163733]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_7","position":[-0.18126655313960138,0.6125106185695897,0.71338606911949],"aabb_xy":[[-0.23125078884777858,0.562510619756094],[-0.13128231743142413,0.6625106173830851]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_8","position":[0.42289508324550007,-1.4321687582029403,0.71338606911949],"aabb_xy":[[0.3588950859431536,-1.4765351851707968],[0.4868950805478464,-1.3878023312350833]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_9","position":[-0.31490642044501266,1.462785829772581,0.71338606911949],"aabb_xy":[[-0.3789064177306613,1.4212791108197371],[-0.250906423159364,1.504292548725425]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_10","position":[-0.2537346673385262,1.0765616823938515,0.71338606911949],"aabb_xy":[[-0.3037077328710417,1.0265616825813186],[-0.20376160180601077,1.1265616822063844]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_11","position":[-0.5298216250004938,-1.011876493711804,0.71338606911949],"aabb_xy":[[-0.5798147371096858,-1.061876494386],[-0.479828512891302,-0.9618764930376087]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_12","position":[0.46037718347329637,-0.5485477657712985,0.71338606911949],"aabb_xy":[[0.45641669970356197,-0.5562156303568191],[0.46433766724303066,-0.5408799011857779]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_13","position":[0.2415358112656052,-2.1010084802214486,0.71338606911949],"aabb_xy":[[0.22866390776466508,-2.1810084806352843],[0.25440771476654533,-2.021008479807612]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_14","position":[-0.2761958257557033,1.625151642094433,0.71338606911949],"aabb_xy":[[-0.35619582373648834,1.617550101132581],[-0.19619582777491826,1.632753183056285]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_15","position":[-0.2673119354480798,-0.4276640546616135,0.71338606911949],"aabb_xy":[[-0.31712871491291456,-0.4776640531459168],[-0.21749515598324504,-0.3776640561773101]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_16","position":[-0.4776234254242634,0.7164194419719734,0.71338606911949],"aabb_xy":[[-0.5276234250005981,0.6664388630198674],[-0.4276234258479287,0.7664000209240793]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_17","position":[-0.5985146892153116,0.0851257445438458,0.71338606911949],"aabb_xy":[[-0.6090821688734105,0.07458071443083723],[-0.5879472095572125,0.09567077465685435]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_18","position":[0.45305266477258477,1.7575107446891827,0.71338606911949],"aabb_xy":[[0.44227969085121704,1.7225107464701437],[0.4638256386939526,1.7925107429082217]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_19","position":[-0.3987258498209881,-0.19413986768411817,0.71338606911949],"aabb_xy":[[-0.41428161923125345,-0.2096903009285254],[-0.3831700804107229,-0.17858943443971098]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_20","position":[0.33554451347880687,0.4458172110054508,0.71338606911949],"aabb_xy":[[0.33142856336673415,0.44170165597260524],[0.3396604635908795,0.44993276603829624]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6838992331386402,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6800.png","name":"6800"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6800.png","name":"6800"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2374.png","name":"2374"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/556.png","name":"556"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5990.png","name":"5990"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6042.png","name":"6042"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":519.5558510869473,"rotation_z_degrees":134.5449010269672,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.018281262159685598,0.0062088070796083375,0.010025682964183297]},{"name":"camera_2","offset_m":[-0.012807390816990016,0.0023895460436953,-0.009163007304542274]},{"name":"camera_3","offset_m":[0.017215603970093894,-0.010102808763858868,-0.00810060404704594]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00013197585461233521,-0.0012446725930980213,-0.001464981390779589],"end_effector_yaw_offset_degrees":0.7711750264238},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0008187302255446469,0.0017352379442078197,0.0011738492766336429],"end_effector_yaw_offset_degrees":0.26925827340772734},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001582530270224713,0.0005246462937110717,-0.0018027800685169945],"end_effector_yaw_offset_degrees":-0.21517149673720803},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0006458506335976855,0.0013943349722148816,-0.00017521589998910564],"end_effector_yaw_offset_degrees":-0.7460930777101775}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0020539632459159306,0.0045204816160979875],"position_m":[0.2115460367540841,-0.04917951838390201,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0034835792013346743,0.003512812350285318],"position_m":[0.2456164207986653,-0.3798871876497147,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0011624741987325562,-0.002299576170197822],"position_m":[0.13933752580126746,0.23240042382980217,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0007926147334649377,-0.0025466590450454896],"position_m":[0.35439261473346495,0.11465334095495451,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"bb16b31ce8e4e0ace43b9f2fec0edccd67dd7544b53bb47c96a192f9f881f5a9","episode_index":1,"episode_name":"episode_0001"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0001.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_6800/tex_ceiling_textures_6042/tex_floor_textures_5990/tex_table_textures_2374/tex_wall_textures_556","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":2514856658900460447,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":2514856658900460447,"visual_seed":2514856658900460447,"scene_id":"lab_003","finished_at":"2026-09-05T18:10:06"} +{"episode_id":"ep_000002","started_at":"2026-09-05T18:10:11","dimensions":{"distractor":{"count":28,"items":[{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_0","position":[-0.11952654511260874,0.31655492620419645,0.71338606911949],"aabb_xy":[[-0.13707324002872767,0.27905492463994525],[-0.1019798501964898,0.35405492776844777]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_1","position":[-0.253847418964283,-0.9752354049257379,0.71338606911949],"aabb_xy":[[-0.2741317216876817,-0.9955180300684467],[-0.2335631162408842,-0.9549527797830291]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_2","position":[0.2894173551261954,-1.7757351253971754,0.71338606911949],"aabb_xy":[[0.25191735462883713,-1.7797038089452941],[0.3269173556235536,-1.771766441849057]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_3","position":[0.4677534346771832,0.9508841287368481,0.71338606911949],"aabb_xy":[[0.4581217984567536,0.9412468159571392],[0.47738507089761284,0.960521441516557]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_4","position":[0.222597070600012,1.3787826817738233,0.71338606911949],"aabb_xy":[[0.16259707009215904,1.321935948087902],[0.28259707110786486,1.4356294154597447]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_5","position":[-0.6799650919716861,0.9486271078408586,0.71338606911949],"aabb_xy":[[-0.6853026676376907,0.9236271069117189],[-0.6746275163056815,0.9736271087699985]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_6","position":[-0.19065382975918788,-2.4833769282702947,0.71338606911949],"aabb_xy":[[-0.2097661371171667,-2.5025117071475367],[-0.17154152240120898,-2.4642421493930526]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_7","position":[0.28959893865263453,-2.335998293483032,0.71338606911949],"aabb_xy":[[0.22559894135028813,-2.380364720450889],[0.35359893595498093,-2.2916318665151754]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_8","position":[-0.40765964498681784,0.28077990877153347,0.71338606911949],"aabb_xy":[[-0.41397174452315627,0.2750129695183146],[-0.4013475454504794,0.2865468480247522]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_9","position":[-0.5877433207172431,1.1459207428525562,0.71338606911949],"aabb_xy":[[-0.6377262709047223,1.0959207432099956],[-0.5377603705297637,1.1959207424951164]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_10","position":[0.25695658128098553,0.8523315463591383,0.71338606911949],"aabb_xy":[[0.16695658186261464,0.8189560495149485],[0.3469565806993564,0.8857070432033279]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_11","position":[0.45050455779479215,-1.685432661727736,0.71338606911949],"aabb_xy":[[0.4052259429136429,-1.7494326610759194],[0.4957831726759414,-1.621432662379552]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_12","position":[-0.6859595672190785,-0.35124360999140203,0.71338606911949],"aabb_xy":[[-0.6947616225280511,-0.35905493614633105],[-0.6771575119101056,-0.3434322838364729]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_13","position":[0.435434850608889,0.2375013002307047,0.71338606911949],"aabb_xy":[[0.4236666638142315,0.15250130032548312],[0.44720303740354655,0.32250130013592626]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_14","position":[-0.38737314571364845,0.6265074615743385,0.71338606911949],"aabb_xy":[[-0.4044752236720166,0.6094006560430686],[-0.3702710677552803,0.6436142671056081]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_15","position":[0.16819345394468255,0.9860617276053723,0.71338606911949],"aabb_xy":[[0.13319345404866367,0.9776874920934323],[0.20319345384070142,0.9944359631173122]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_16","position":[-0.37912198977298756,1.3355184283220174,0.71338606911949],"aabb_xy":[[-0.4591219869325628,1.3239708273642004],[-0.2991219926134122,1.3470660292798344]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_17","position":[0.5184235082008759,-0.9591210760898368,0.71338606911949],"aabb_xy":[[0.4544235078233423,-1.008866342940649],[0.5824235085784095,-0.9093758092390244]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_18","position":[0.18835621580965856,-1.3852761909547278,0.71338606911949],"aabb_xy":[[0.14336362909120814,-1.4302761902291765],[0.23334880252810897,-1.340276191680279]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_19","position":[-0.2399290708893228,1.0159219847808751,0.71338606911949],"aabb_xy":[[-0.30392907410796066,0.9691988728818668],[-0.17592906767068497,1.0626450966798835]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_20","position":[0.6178219320892298,-0.5544359466290638,0.71338606911949],"aabb_xy":[[0.5853602312073022,-0.5845687787439662],[0.6502836329711571,-0.524303114514161]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_21","position":[0.14576120272457915,-2.43126398967892,0.71338606911949],"aabb_xy":[[0.13498822880321137,-2.466263987897959],[0.15653417664594693,-2.396263991459881]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_22","position":[-0.6440788797287759,-0.07907200907330392,0.71338606911949],"aabb_xy":[[-0.6546463593868749,-0.08961703918631247],[-0.6335114000706769,-0.06852697896029536]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_23","position":[-0.3630325172258003,1.6179146267494153,0.71338606911949],"aabb_xy":[[-0.41303251680213504,1.5679340477973096],[-0.3130325176494656,1.6678952057015215]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_24","position":[-0.3082036472400319,1.47560196705312,0.71338606911949],"aabb_xy":[[-0.36820364888295376,1.4236018177611758],[-0.24820364559711006,1.5276021163450642]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_25","position":[0.61592445314875,-2.552207395006524,0.71338606911949],"aabb_xy":[[0.5359244551679649,-2.559808935968376],[0.695924451129535,-2.544605854044672]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_26","position":[-0.46070710457585373,0.3829462950727285,0.71338606911949],"aabb_xy":[[-0.5247071064881961,0.3270351458147181],[-0.3967071026635114,0.438857444330739]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_27","position":[-0.22235648218914855,-1.0763084133186236,0.71338606911949],"aabb_xy":[[-0.29235648399789393,-1.0976621820828107],[-0.1523564803804031,-1.054954644554436]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6929552118453584,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3857.png","name":"3857"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3857.png","name":"3857"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4573.png","name":"4573"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4179.png","name":"4179"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2656.png","name":"2656"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5498.png","name":"5498"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":747.9386743972057,"rotation_z_degrees":9.934269674925682,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015141852481257715,-0.011497993595295464,-0.01973820306797393]},{"name":"camera_2","offset_m":[0.006746760625821996,-0.01707524522439225,0.015070059096840154]},{"name":"camera_3","offset_m":[0.0006399844385481489,0.009156643415781124,0.015167034123970854]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0005202183494546087,-0.0007566074954740844,0.0013911308618074622],"end_effector_yaw_offset_degrees":-0.1556645588316885},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0012852235641928195,-0.0015465427609964487,-0.0013540197626892372],"end_effector_yaw_offset_degrees":-0.4064026738888531},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0007509453639819382,-0.0014436465409647843,-0.00039552211783602646],"end_effector_yaw_offset_degrees":-0.019866569458127037},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0013247111315669792,-0.00038857154834116836,0.0014997370484664233],"end_effector_yaw_offset_degrees":0.6587224697783347}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0013934237774980993,0.00030343162780623566],"position_m":[0.2149934237774981,-0.05339656837219376,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00363100981038031,-0.0021391972552327033],"position_m":[0.2527310098103803,-0.3855391972552327,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004751723497583171,0.004802820949979418],"position_m":[0.1452517234975832,0.2395028209499794,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0025817362858056633,0.0027227236744122463],"position_m":[0.3561817362858057,0.11992272367441224,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f3608537e7dc65ebb1f5da0810804441951b0836bd8870a44789f2256c128e72","episode_index":2,"episode_name":"episode_0002"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0002.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_3857/tex_ceiling_textures_5498/tex_floor_textures_2656/tex_table_textures_4573/tex_wall_textures_4179","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":8149693894547717653,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":8149693894547717653,"visual_seed":8149693894547717653,"scene_id":"lab_003","finished_at":"2026-09-05T18:13:41"} +{"episode_id":"ep_000003","started_at":"2026-09-05T18:13:46","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_0","position":[-0.2148646852357199,-2.2754871361045304,0.71338606911949],"aabb_xy":[[-0.2788603826308165,-2.3394871344052386],[-0.15086898784062328,-2.2114871378038212]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_1","position":[-0.08996053698680007,-0.25921904898557235,0.71338606911949],"aabb_xy":[[-0.09407648709887272,-0.2633346040184178],[-0.08584458687472739,-0.2551034939527268]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_2","position":[-0.31472799274666824,0.6067316354686727,0.71338606911949],"aabb_xy":[[-0.3787279959653061,0.5600085235696644],[-0.2507279895280304,0.653454747367681]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_3","position":[-0.10875732906640045,-0.6054249161471013,0.71338606911949],"aabb_xy":[[-0.17875733119783,-0.6281868817727968],[-0.0387573269349709,-0.5826629505214055]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_4","position":[-0.4291770933698518,-0.5250008921319327,0.71338606911949],"aabb_xy":[[-0.5091770907734451,-0.6049934633301154],[-0.34917709596625834,-0.4450083209337498]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_5","position":[-0.3562897211961853,-1.51371942132018,0.71338606911949],"aabb_xy":[[-0.44628972061455613,-1.5470949181643696],[-0.26628972177781435,-1.4803439244759902]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_6","position":[0.0779934270112459,-1.7871192566776555,0.71338606911949],"aabb_xy":[[0.03271481213009664,-1.8511192560258392],[0.12327204189239516,-1.7231192573294718]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_7","position":[0.23081153643616237,0.9742381392191932,0.71338606911949],"aabb_xy":[[0.217365009802119,0.960768287566102],[0.24425806307020567,0.9877079908722844]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_8","position":[-0.6172360326991618,0.8867535894505587,0.71338606911949],"aabb_xy":[[-0.6872360360907237,0.8514378157471277],[-0.5472360293075997,0.9220693631539895]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_9","position":[-0.1675785446654443,0.7689427005831706,0.71338606911949],"aabb_xy":[[-0.17200917402028448,0.763494328848488],[-0.16314791531060413,0.7743910723178532]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_10","position":[-0.6572732171425291,-1.3153270968574013,0.71338606911949],"aabb_xy":[[-0.6621725094490925,-1.34300401615997],[-0.6523739248359655,-1.2876501775548324]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_11","position":[0.1525417642448198,-2.01510606540215,0.71338606911949],"aabb_xy":[[0.09754176506823029,-2.070095740177108],[0.20754176342140926,-1.9601163906271926]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_12","position":[0.643310180729147,1.4589837165549135,0.71338606911949],"aabb_xy":[[0.6098700055331272,1.4255400907239832],[0.6767503559251664,1.4924273423858434]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_13","position":[-0.07150214547667855,0.6311524839156313,0.71338606911949],"aabb_xy":[[-0.10799796610395729,0.5946685414888737],[-0.035006324849399806,0.6676364263423888]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_14","position":[0.31349850060663287,-0.6537254319449495,0.71338606911949],"aabb_xy":[[0.2663691216047971,-0.7177254329893513],[0.3606278796084684,-0.5897254309005474]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_15","position":[0.5143334759028384,0.9835895219266355,0.71338606911949],"aabb_xy":[[0.476833475959072,0.9752964318917988],[0.5518334758466048,0.991882611961472]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_16","position":[-0.4554547646469852,-1.7155724114025583,0.71338606911949],"aabb_xy":[[-0.5354547660771124,-1.7950895664151678],[-0.375454763216858,-1.6360552563899489]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_17","position":[-0.16939784811084246,0.09817600554204242,0.71338606911949],"aabb_xy":[[-0.2038603261239302,0.0915123283591196],[-0.13493537009775466,0.10483968272496524]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_18","position":[0.1939073437597677,-0.902352856692811,0.71338606911949],"aabb_xy":[[0.10390734702415746,-0.9555363200101055],[0.2839073404953779,-0.8491693933755164]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_19","position":[0.10206322932873324,-2.2145178572018303,0.71338606911949],"aabb_xy":[[0.03206322669214688,-2.2346227221976958],[0.17206323196531959,-2.1944129922059648]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_20","position":[-0.3926999837858239,1.7039288715451284,0.71338606911949],"aabb_xy":[[-0.3980324984404369,1.6986045432998929],[-0.38736746913121095,1.709253199790364]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_21","position":[0.3214186904656844,-2.3524811192678405,0.71338606911949],"aabb_xy":[[0.31339241983505844,-2.361232614245193],[0.32944496109631044,-2.343729624290488]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_22","position":[-0.10371283970958878,-0.9433362385664104,0.71338606911949],"aabb_xy":[[-0.1387128396860846,-0.9528008546140272],[-0.06871283973309293,-0.933871622518794]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_23","position":[0.11350033300232776,0.7985255226848458,0.71338606911949],"aabb_xy":[[0.049500330952595775,0.7584310395955378],[0.17750033505205975,0.8386200057741537]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_24","position":[0.16909167586944052,-1.5268845862290672,0.71338606911949],"aabb_xy":[[0.15392880289250346,-1.5420500435241864],[0.18425454884637762,-1.5117191289339489]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_25","position":[0.13065784891524435,-1.1761392880423014,0.71338606911949],"aabb_xy":[[0.0931578477304515,-1.1805575107383617],[0.1681578501000371,-1.1717210653462407]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_26","position":[0.387821666283354,-1.042857371186996,0.71338606911949],"aabb_xy":[[0.38411840495421506,-1.0465593894957137],[0.39152492761249286,-1.0391553528782782]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_27","position":[0.6384272656708885,1.6719994734812391,0.71338606911949],"aabb_xy":[[0.6159272651588479,1.6495076151158408],[0.6609272661829291,1.6944913318466375]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_28","position":[0.35118934968773274,-1.7359253659592575,0.71338606911949],"aabb_xy":[[0.28959859046374,-1.7999253640683044],[0.4127801089117256,-1.6719253678502106]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_29","position":[0.3619508021893507,0.5572738537247268,0.71338606911949],"aabb_xy":[[0.32064625912561473,0.4932738541566096],[0.4032553452530867,0.6212738532928438]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_30","position":[-0.04436454338624596,-2.5036974940736925,0.71338606911949],"aabb_xy":[[-0.10836454268041418,-2.5676836344425467],[0.01963545590792226,-2.4397113537048383]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_31","position":[0.5116352184161619,-2.5314027898676152,0.71338606911949],"aabb_xy":[[0.4316352197592759,-2.545907648791878],[0.5916352170730479,-2.5168979309433523]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6905684852304809,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9429.png","name":"9429"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9429.png","name":"9429"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1864.png","name":"1864"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3602.png","name":"3602"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4014.png","name":"4014"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7429.png","name":"7429"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":651.6469964219115,"rotation_z_degrees":99.11890742446835,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011385026168826123,-0.005401703191793091,-0.002196987890273467]},{"name":"camera_2","offset_m":[-0.008882504518968406,0.019719778847231455,-0.005789079109257158]},{"name":"camera_3","offset_m":[-0.015521790409241216,0.00941808650742617,-0.01171690036451138]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0013408151018388268,0.00017515573463429022,-0.0010514131914737402],"end_effector_yaw_offset_degrees":-0.6328686876221858},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0008151621325763294,0.00026266278208188004,-1.3531564418257577e-05],"end_effector_yaw_offset_degrees":-0.715708330203876},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0011828756413893387,-0.001033464670763433,-0.00047978972903579245],"end_effector_yaw_offset_degrees":0.2503782198228506},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0015847565057716647,0.0006533042738579345,-0.001409908537027662],"end_effector_yaw_offset_degrees":0.8409806429032332}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.002701197836470731,-0.0018453820236183339],"position_m":[0.21630119783647075,-0.055545382023618334,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003865679850454713,0.002521865063996085],"position_m":[0.2529656798504547,-0.3808781349360039,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.002290387068601597,-0.004312181875621235],"position_m":[0.1382096129313984,0.23038781812437875,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0030669917429241456,-0.0007952575896547189],"position_m":[0.3505330082570759,0.11640474241034528,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"76b4b458d5343b40c919fe3f783a8b8b7d4d79b2024c57597ef93b6e7fc3aab7","episode_index":3,"episode_name":"episode_0003"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0003.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_9429/tex_ceiling_textures_7429/tex_floor_textures_4014/tex_table_textures_1864/tex_wall_textures_3602","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":1186542445013151168,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":1186542445013151168,"visual_seed":1186542445013151168,"scene_id":"lab_003","finished_at":"2026-09-05T18:17:47"} +{"episode_id":"ep_000004","started_at":"2026-09-05T18:17:50","dimensions":{"distractor":{"count":24,"items":[{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_0","position":[0.5046462293140064,1.116431882428726,0.71338606911949],"aabb_xy":[[0.4741619791869762,1.0664318826472299],[0.5351304794410365,1.1664318822102218]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_1","position":[-0.2381126295562635,0.6384685681124287,0.71338606911949],"aabb_xy":[[-0.2461389001868895,0.629717073135076],[-0.2300863589256375,0.6472200630897812]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_2","position":[0.6797874445350578,1.575848704231173,0.71338606911949],"aabb_xy":[[0.6429928114101514,1.5389428291345908],[0.716582077659964,1.6127545793277553]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_3","position":[-0.6302857362910029,-0.16081102667302183,0.71338606911949],"aabb_xy":[[-0.6803832002720765,-0.22481102718283363],[-0.5801882723099293,-0.09681102616321002]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_4","position":[0.39400497578587523,1.4119638575800986,0.71338606911949],"aabb_xy":[[0.382643241132589,1.4005953911738103],[0.40536671043916134,1.4233323239863864]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_5","position":[0.653049451664466,0.33002696205770254,0.71338606911949],"aabb_xy":[[0.6470829127237303,0.3240658173983385],[0.6590159906052018,0.3359881067170666]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_6","position":[-0.37803186282750195,0.7749747510456726,0.71338606911949],"aabb_xy":[[-0.458031861484388,0.7604698921214098],[-0.298031864170616,0.7894796099699354]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_7","position":[-0.017920458393103633,-0.37441852217908256,0.71338606911949],"aabb_xy":[[-0.024015086281221953,-0.38298791673075133],[-0.011825830504985313,-0.3658491276274139]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_8","position":[-0.3222353931571986,-0.921350861149075,0.71338606911949],"aabb_xy":[[-0.3447353931673469,-0.9354470807886783],[-0.29973539314705033,-0.9072546415094718]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_9","position":[-0.14101664183872953,0.785404057410207,0.71338606911949],"aabb_xy":[[-0.15657241124899482,0.7698536241658],[-0.1254608724284643,0.8009544906546144]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_10","position":[-0.011379426013250704,-1.227826030864677,0.71338606911949],"aabb_xy":[[-0.031437837626490994,-1.247891117773834],[0.008678985599989584,-1.2077609439555193]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_11","position":[-0.2781759156408247,-0.29010152148371615,0.71338606911949],"aabb_xy":[[-0.33817591614867765,-0.3469482551696374],[-0.21817591513297183,-0.23325478779779482]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_12","position":[-0.07512040283102728,-0.6492436471139267,0.71338606911949],"aabb_xy":[[-0.0816220393390319,-0.6590114691402364],[-0.06861876632302266,-0.6394758250876169]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_13","position":[-0.29324551180325087,-2.440819181309246,0.71338606911949],"aabb_xy":[[-0.3005067593736583,-2.453606191572756],[-0.28598426423284345,-2.428032171045737]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_14","position":[-0.30103730738305834,1.2057696095775747,0.71338606911949],"aabb_xy":[[-0.3092518524987422,1.197093019279933],[-0.29282276226737425,1.2144461998752156]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_15","position":[-0.4055608111606678,1.4222180474353263,0.71338606911949],"aabb_xy":[[-0.47556081379725407,1.4021131824394606],[-0.3355608085240814,1.4423229124311916]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_16","position":[-0.03420244809626416,-0.9360689040498564,0.71338606911949],"aabb_xy":[[-0.062047484876871284,-0.9668534027881681],[-0.0063574113156570355,-0.9052844053115447]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_17","position":[-0.3890609700545163,-2.2307910785753435,0.71338606911949],"aabb_xy":[[-0.4440541813916531,-2.2857910789141376],[-0.33406775871737954,-2.1757910782365504]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_18","position":[-0.3628628040299945,0.07445850398655285,0.71338606911949],"aabb_xy":[[-0.39849195992995423,0.038825837229699886],[-0.32723364813003475,0.11009117074340578]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_19","position":[-0.16297145964099735,1.2964513493279246,0.71338606911949],"aabb_xy":[[-0.16938527328418226,1.290041529080256],[-0.15655764599781238,1.3028611695755927]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_20","position":[-0.3110177320268241,1.0665133468740509,0.71338606911949],"aabb_xy":[[-0.31544836138166427,1.0610649751393686],[-0.3065871026719839,1.0719617186087336]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_21","position":[0.0979272608223355,-1.78282481244268,0.71338606911949],"aabb_xy":[[0.06292726084583966,-1.7922894284902968],[0.13292726079883133,-1.7733601963950636]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_22","position":[0.17946182230169938,-0.8984849622495266,0.71338606911949],"aabb_xy":[[0.11546182008129233,-0.9428580463748147],[0.24346182452210638,-0.8541118781242382]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_23","position":[-0.4427941279069701,1.5502124376439697,0.71338606911949],"aabb_xy":[[-0.5067941293149606,1.4984234861200447],[-0.37879412649897937,1.6020013891678941]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6886942778399917,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6934.png","name":"6934"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6934.png","name":"6934"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7917.png","name":"7917"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6217.png","name":"6217"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9290.png","name":"9290"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6691.png","name":"6691"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":516.565040177337,"rotation_z_degrees":97.39357811740545,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004059820018582544,0.009428203244527356,-0.009168480714876215]},{"name":"camera_2","offset_m":[-0.0065014467988137835,0.012054344882337992,-0.01073521660317653]},{"name":"camera_3","offset_m":[0.0008406820355899708,0.01423791667482235,-0.014648442795869535]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0007620527653720227,0.0008405486331553398,-0.0005166254126276555],"end_effector_yaw_offset_degrees":-0.44978923529442727},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.001587763068171657,-0.0002156002452491422,0.0013912650999481327],"end_effector_yaw_offset_degrees":0.3312929917952814},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0018588445854892536,0.0005029890035121278,-0.0009132580309381434],"end_effector_yaw_offset_degrees":-0.07190977418018929},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00011352614868487872,6.8227698109049e-05,-0.0004961844770034402],"end_effector_yaw_offset_degrees":-0.0506219429938386}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0010636281626722555,-0.0021901264420668364],"position_m":[0.21253637183732776,-0.05589012644206683,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0006138601414095134,0.0010142998694188223],"position_m":[0.2497138601414095,-0.3823857001305812,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0001954575148871299,0.0029304069916239],"position_m":[0.14069545751488716,0.23763040699162388,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003776805865170302,0.0004017401622571663],"position_m":[0.3498231941348297,0.11760174016225716,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"342943633c665a4f870c671b6efc0cf9a3255d92ac1446bac3515dcfd34b9c33","episode_index":4,"episode_name":"episode_0004"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0004.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_6934/tex_ceiling_textures_6691/tex_floor_textures_9290/tex_table_textures_7917/tex_wall_textures_6217","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":2151536625652012067,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":2151536625652012067,"visual_seed":2151536625652012067,"scene_id":"lab_003","finished_at":"2026-09-05T18:21:17"} +{"episode_id":"ep_000005","started_at":"2026-09-05T18:21:23","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_0","position":[0.3571790149169316,0.5976495453616297,0.71338606911949],"aabb_xy":[[0.320328466979944,0.560149544538596],[0.3940295628539192,0.6351495461846635]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_1","position":[0.4584744986130167,-1.3726397537549977,0.71338606911949],"aabb_xy":[[0.394474501500911,-1.4216721235494083],[0.5224744957251224,-1.323607383960587]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_2","position":[0.37884326866992635,-1.9043485261138096,0.71338606911949],"aabb_xy":[[0.365612323135245,-1.9175759451358088],[0.3920742142046076,-1.89112110709181]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_3","position":[-0.23094194875962676,0.7447078394975288,0.71338606911949],"aabb_xy":[[-0.2410236558382002,0.664707841605414],[-0.22086024168105325,0.8247078373896433]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_4","position":[0.33014081227028713,-2.277291356185241,0.71338606911949],"aabb_xy":[[0.2851482255518367,-2.3222913554596896],[0.37513339898873754,-2.232291356910792]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_5","position":[-0.08250722357581675,-1.32235926899525,0.71338606911949],"aabb_xy":[[-0.1465072267944546,-1.3690823808942583],[-0.018507220357178902,-1.2756361570962416]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_6","position":[-0.5774264596675007,0.030003820036601958,0.71338606911949],"aabb_xy":[[-0.6274214706269529,-0.01999617899898976],[-0.5274314487080488,0.08000381907219369]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_7","position":[-0.5331121728642874,-1.9817192259668168,0.71338606911949],"aabb_xy":[[-0.5379557676255173,-1.9865708784458012],[-0.5282685781030574,-1.976867573487833]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_8","position":[-0.5180592450280598,0.23220049474505533,0.71338606911949],"aabb_xy":[[-0.539337253171532,0.16720049241898227],[-0.49678123688458753,0.2972004970711284]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_9","position":[-0.3714893400212351,1.5525432918993753,0.71338606911949],"aabb_xy":[[-0.4354893373068838,1.5110365729465314],[-0.3074893427355865,1.5940500108522193]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_10","position":[-0.5889523603415178,1.4469208590102052,0.71338606911949],"aabb_xy":[[-0.6114523608535583,1.4244290006448066],[-0.5664523598294771,1.4694127173756033]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_11","position":[-0.5460697421183779,0.8370750559149207,0.71338606911949],"aabb_xy":[[-0.5541131020443331,0.7520750548195542],[-0.5380263821924227,0.922075057010287]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_12","position":[-0.6089940191850806,-0.23920024888192337,0.71338606911949],"aabb_xy":[[-0.6154956556930852,-0.24896807090823314],[-0.6024923826770759,-0.2294324268556136]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_13","position":[-0.38099021968648245,-2.138972943898788,0.71338606911949],"aabb_xy":[[-0.41147446981351254,-2.188972943680284],[-0.35050596955945224,-2.088972944117292]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_14","position":[0.17782202237197353,-1.322398614253862,0.71338606911949],"aabb_xy":[[0.14032202207979871,-1.3264400896544652],[0.21532202266414835,-1.3183571388532582]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_15","position":[0.15916071578033186,0.655982529423401,0.71338606911949],"aabb_xy":[[0.14161402086421293,0.6184825278591497],[0.1767074106964508,0.6934825309876522]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_16","position":[0.35121318075242147,1.136197545493086,0.71338606911949],"aabb_xy":[[0.2812131786209918,1.1134355798673898],[0.4212131828838509,1.1589595111187811]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_17","position":[0.5421631702379159,0.22810401544081982,0.71338606911949],"aabb_xy":[[0.5320101546837663,0.19203447386807945],[0.5523161857920651,0.26417355701356016]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_18","position":[0.5774766441869488,1.3007602628698112,0.71338606911949],"aabb_xy":[[0.4974766409291058,1.2207637550778272],[0.6574766474447917,1.3807567706617951]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_19","position":[-0.30085878182007014,-2.288529807244903,0.71338606911949],"aabb_xy":[[-0.32918849176861037,-2.29299054943862],[-0.2725290718715299,-2.284069065051186]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_20","position":[0.19010507685701583,-2.491892561234478,0.71338606911949],"aabb_xy":[[0.11010507984276788,-2.512027112907889],[0.2701050738712638,-2.471758009561067]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_21","position":[0.1233372479577699,-1.9404613448330648,0.71338606911949],"aabb_xy":[[0.1173002349571052,-1.946488045902013],[0.12937426095843466,-1.934434643764117]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_22","position":[0.5381156867925978,1.0682818479286422,0.71338606911949],"aabb_xy":[[0.5156156872688903,1.0457859004780212],[0.5606156863163051,1.0907777953792628]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_23","position":[-0.2627472427097755,0.5007838314854105,0.71338606911949],"aabb_xy":[[-0.3012929355349766,0.46223806042922183],[-0.22420154988457452,0.5393296025415991]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_24","position":[-0.1371110302103482,-2.2686784968706277,0.71338606911949],"aabb_xy":[[-0.1871110296505438,-2.3186464213549436],[-0.08711103077015256,-2.218710572386311]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_25","position":[-0.03335759285829765,0.4250755552006753,0.71338606911949],"aabb_xy":[[-0.037435750765347386,0.420994574952412],[-0.029279434951247907,0.4291565354489386]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_26","position":[-0.3583938835546402,-0.7825141103438842,0.71338606911949],"aabb_xy":[[-0.37750619091261906,-0.8016488892211263],[-0.3392815761966613,-0.7633793314666423]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_27","position":[0.38063144226711154,-0.5541961490350196,0.71338606911949],"aabb_xy":[[0.355631442715373,-0.5643386329001543],[0.40563144181884997,-0.5440536651698848]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_28","position":[-0.6432616557355872,-1.96613081285266,0.71338606911949],"aabb_xy":[[-0.6777241337486749,-1.972794490035583],[-0.6087991777224994,-1.9594671356697375]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_29","position":[0.46727561392873995,-0.2942234670354926,0.71338606911949],"aabb_xy":[[0.4563698378411772,-0.3742234634343218],[0.4781813900163026,-0.21422347063666347]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6890167784457442,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6599.png","name":"6599"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6599.png","name":"6599"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3468.png","name":"3468"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1522.png","name":"1522"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1309.png","name":"1309"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1421.png","name":"1421"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":602.8946735231619,"rotation_z_degrees":283.8965975479911,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018379655735107702,0.010665545969642788,-0.003852892253755326]},{"name":"camera_2","offset_m":[0.01809027208587086,-0.005337685967938608,-0.012621899648025767]},{"name":"camera_3","offset_m":[0.005294541984620683,0.00238068532043402,0.003185013088916829]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0019873036736910436,0.0003088220223563692,-0.00036692997275818086],"end_effector_yaw_offset_degrees":-0.5597300233308364},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0010315603222910467,0.0019381911872575763,0.00011230667434801531],"end_effector_yaw_offset_degrees":-0.2889041113631847},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008228438251570548,-0.0001129585862524496,-0.0005239912590128996],"end_effector_yaw_offset_degrees":-0.14429891632544245},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00023769807627131365,-0.0019079794589635971,0.0016182493344611129],"end_effector_yaw_offset_degrees":0.9366332503665913}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0018427352492189266,0.0012307201282159242],"position_m":[0.21175726475078108,-0.052469279871784076,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0009272227915534219,0.000902860520945268],"position_m":[0.2500272227915534,-0.3824971394790547,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.000517811537522307,-0.004857877886378667],"position_m":[0.1399821884624777,0.22984212211362132,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0015050303904439542,-0.0019199904910415354],"position_m":[0.355105030390444,0.11528000950895846,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"11a20c3a7f9af4a86e663293359f3ce66a07627a65e4291fbd52ae66c026055e","episode_index":5,"episode_name":"episode_0005"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0005.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_6599/tex_ceiling_textures_1421/tex_floor_textures_1309/tex_table_textures_3468/tex_wall_textures_1522","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":7289505918369130333,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":7289505918369130333,"visual_seed":7289505918369130333,"scene_id":"lab_003","finished_at":"2026-09-05T18:24:49"} +{"episode_id":"ep_000006","started_at":"2026-09-05T18:24:53","dimensions":{"distractor":{"count":24,"items":[{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_0","position":[-0.528587267378879,-0.7103969330983688,0.71338606911949],"aabb_xy":[[-0.5660872688945107,-0.721623706114514],[-0.49108726586324725,-0.6991701600822239]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_1","position":[-0.6031754718724237,0.7296027893628363,0.71338606911949],"aabb_xy":[[-0.6276890959694297,0.7053381960607997],[-0.578661847775418,0.7538673826648726]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_2","position":[-0.3659918213151346,-2.5242356046487218,0.71338606911949],"aabb_xy":[[-0.40099181962583,-2.531950619572268],[-0.33099182300443913,-2.5165205897251766]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_3","position":[-0.46251261184646164,0.34204411200092144,0.71338606911949],"aabb_xy":[[-0.5124900287117151,0.29204411051167284],[-0.41253519498120805,0.39204411349016993]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_4","position":[0.5760747927763123,-0.5870446982940467,0.71338606911949],"aabb_xy":[[0.5697626932399739,-0.5928116375472655],[0.5823868923126506,-0.5812777590408279]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_5","position":[0.11962721735628312,1.4324554613326659,0.71338606911949],"aabb_xy":[[0.10675531385534298,1.3524554609188295],[0.13249912085722326,1.5124554617465018]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_6","position":[-0.13200026160776823,-1.8475329448667934,0.71338606911949],"aabb_xy":[[-0.2216873379158837,-1.937532945121244],[-0.04231318529965278,-1.7575329446123429]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_7","position":[0.0724985695443695,-1.106769513641845,0.71338606911949],"aabb_xy":[[0.008498573148796429,-1.1707328020605785],[0.13649856593994258,-1.0428062252231114]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_8","position":[0.4537893225619014,-1.0301734140085577,0.71338606911949],"aabb_xy":[[0.4039725430970666,-1.080173412492861],[0.5036061020267362,-0.9801734155242543]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_9","position":[0.07402653821254346,-1.7024786104138228,0.71338606911949],"aabb_xy":[[0.024053472680028005,-1.752478610226356],[0.12399960374505895,-1.6524786106012903]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_10","position":[0.2426633374269862,-1.768063501577581,0.71338606911949],"aabb_xy":[[0.20766333823416794,-1.7790305475752433],[0.27766333661980447,-1.7570964555799182]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_11","position":[-0.39125351809032205,-0.6606163161485672,0.71338606911949],"aabb_xy":[[-0.44113621496801836,-0.710616315394842],[-0.3413708212126259,-0.6106163169022926]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_12","position":[-0.19765901812478615,1.4628274698370833,0.71338606911949],"aabb_xy":[[-0.21771742973802644,1.442762382927926],[-0.17760060651154586,1.4828925567462408]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_13","position":[0.4789574324106882,1.2625781852905247,0.71338606911949],"aabb_xy":[[0.46132459681716065,1.2449552392749015],[0.4965902680042158,1.2802011313061474]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_14","position":[-0.6224464466293125,-1.0515973185237155,0.71338606911949],"aabb_xy":[[-0.6342146334239701,-1.1365973184289373],[-0.6106782598346551,-0.9665973186184942]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_15","position":[0.20443759029181108,-0.7849348595778938,0.71338606911949],"aabb_xy":[[0.17659255351120395,-0.8157193583162055],[0.2322826270724182,-0.7541503608395821]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_16","position":[-0.11747664087324194,-2.344564860487105,0.71338606911949],"aabb_xy":[[-0.1626479587214109,-2.4085648576316436],[-0.07230532302507298,-2.280564863342567]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_17","position":[-0.24372054552709727,-0.8582718053214178,0.71338606911949],"aabb_xy":[[-0.27719971278813815,-0.8917509186925249],[-0.2102413782660563,-0.8247926919503109]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_18","position":[0.32796654821215765,1.252258254136105,0.71338606911949],"aabb_xy":[[0.27796727304372154,1.2022582528601578],[0.37796582338059387,1.302258255412052]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_19","position":[0.2182311324641456,-1.9137086271576889,0.71338606911949],"aabb_xy":[[0.2073253563765829,-1.9937086235565182],[0.22913690855170832,-1.83370863075886]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_20","position":[-0.24458936387342933,0.8486805684832261,0.71338606911949],"aabb_xy":[[-0.3245893671312723,0.7686840606912421],[-0.16458936061558635,0.92867707627521]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_21","position":[0.5169199100177548,-0.023837153205614303,0.71338606911949],"aabb_xy":[[0.4469199066261929,-0.05915292690904516],[0.5869199134093168,0.011478620497816559]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_22","position":[0.2512339715477826,1.5113079649101775,0.71338606911949],"aabb_xy":[[0.18723396986978524,1.462790573430863],[0.31523397322577995,1.5598253563894915]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_23","position":[0.026331824300089623,-0.858878358984861,0.71338606911949],"aabb_xy":[[-0.0536619992784686,-0.9388783615777027],[0.10632564787864784,-0.7788783563920195]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6832318371916302,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6257.png","name":"6257"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6257.png","name":"6257"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8269.png","name":"8269"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3479.png","name":"3479"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6233.png","name":"6233"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7964.png","name":"7964"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":838.0500509488475,"rotation_z_degrees":352.99109560196183,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009668511948499749,0.00632609179063039,-0.009145877759849146]},{"name":"camera_2","offset_m":[-0.018398490769250337,-0.013684260667366922,0.009707123443012756]},{"name":"camera_3","offset_m":[0.01762859581938762,0.005254381916517007,-0.019159335948150096]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0005177379226756177,-5.115610611180848e-05,-8.951740856224621e-05],"end_effector_yaw_offset_degrees":0.6822344038182111},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0008058910853644824,-0.00030073574154048147,0.001721780882107182],"end_effector_yaw_offset_degrees":0.803833930668469},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0014430534343531712,-0.0015628961626576112,0.0008554501469432386],"end_effector_yaw_offset_degrees":-0.033793937965640675},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00047265158796274504,-0.0012382198789726373,-0.0009234439070582711],"end_effector_yaw_offset_degrees":-0.9131509217952902}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.003485263050631686,-0.004296820298153631],"position_m":[0.21011473694936833,-0.05799682029815363,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0049245274329305245,0.0025606036375995546],"position_m":[0.24417547256706945,-0.38083939636240044,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00432651924708434,-0.0006802485377198049],"position_m":[0.1361734807529157,0.23401975146228018,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0015185904245937389,-0.003608863266455842],"position_m":[0.35511859042459376,0.11359113673354415,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"fb5e819fedd06fa4b41a28b9a4739ea4e1941f79ddf6e7840d1f33d4ddc1ea1a","episode_index":6,"episode_name":"episode_0006"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0006.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_6257/tex_ceiling_textures_7964/tex_floor_textures_6233/tex_table_textures_8269/tex_wall_textures_3479","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":7945291159043093991,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":7945291159043093991,"visual_seed":7945291159043093991,"scene_id":"lab_003","finished_at":"2026-09-05T18:28:49"} +{"episode_id":"ep_000007","started_at":"2026-09-05T18:28:53","dimensions":{"distractor":{"count":20,"items":[{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_0","position":[0.6472714514679005,1.756403897235169,0.71338606911949],"aabb_xy":[[0.6320992821862672,1.7412350403069659],[0.6624436207495339,1.7715727541633726]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_1","position":[-0.36115036429456193,-2.4806678079685627,0.71338606911949],"aabb_xy":[[-0.39615036260525743,-2.4883828228921088],[-0.32615036598386654,-2.4729527930450175]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_2","position":[0.030037872346287964,1.4676883981791389,0.71338606911949],"aabb_xy":[[-0.004259038671452657,1.4333915119691976],[0.06433478336402859,1.5019852843890802]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_3","position":[0.16594257801421441,-1.075433758857678,0.71338606911949],"aabb_xy":[[0.11596951248169898,-1.125433758670211],[0.21591564354672993,-1.0254337590451452]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_4","position":[-0.4693580887355346,-0.8604473259423131,0.71338606911949],"aabb_xy":[[-0.5068580895275301,-0.8668151669005031],[-0.43185808794353914,-0.8540794849841229]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_5","position":[-0.13448357105215636,1.167571236760697,0.71338606911949],"aabb_xy":[[-0.15576157919562858,1.1025712344346237],[-0.11320556290868408,1.2325712390867698]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_6","position":[-0.12218586124294917,-0.9008594391447722,0.71338606911949],"aabb_xy":[[-0.13909659367929095,-0.9143316447373867],[-0.10527512880660739,-0.8873872335521577]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_7","position":[0.5060447676241329,-0.031417407292973376,0.71338606911949],"aabb_xy":[[0.4773954352637165,-0.06006296657004916],[0.534694099984549,-0.0027718480158975753]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_8","position":[0.5051675214704983,-0.373443855781205,0.71338606911949],"aabb_xy":[[0.45908243021576683,-0.4374438530337601],[0.5512526127252297,-0.30944385852864986]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_9","position":[-0.5593145012375411,0.28954593374074333,0.71338606911949],"aabb_xy":[[-0.639314501511148,0.21659638591502664],[-0.4793145009639341,0.36249548156646005]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_10","position":[0.44162405508945657,-0.7967589357614526,0.71338606911949],"aabb_xy":[[0.3916240556492609,-0.8467268602457689],[0.49162405452965213,-0.7467910112771363]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_11","position":[0.2196196038830739,-0.6723978183650632,0.71338606911949],"aabb_xy":[[0.19603448041917904,-0.737397820610495],[0.24320472734696874,-0.6073978161196314]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_12","position":[0.022916129993806877,1.28839642528022,0.71338606911949],"aabb_xy":[[-0.05708386798697816,1.2807948843183683],[0.10291612797459192,1.2959979662420722]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_13","position":[-0.403168756143373,1.4035872360168975,0.71338606911949],"aabb_xy":[[-0.483168753157621,1.3834526843434862],[-0.323168759129125,1.4237217876903088]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_14","position":[0.5056793388411469,0.4904574162516919,0.71338606911949],"aabb_xy":[[0.49431760418786075,0.47908894984540384],[0.5170410734944331,0.50182588265798]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_15","position":[-0.1963906855280974,-1.8569522957094542,0.71338606911949],"aabb_xy":[[-0.260390685905631,-1.9066975625602662],[-0.1323906851505638,-1.8072070288586417]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_16","position":[0.029724558086217656,1.170525304079936,0.71338606911949],"aabb_xy":[[0.023222921578213037,1.1607574820536262],[0.03622619459422227,1.1802931261062457]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_17","position":[-0.4171493583708927,-0.536984847265956,0.71338606911949],"aabb_xy":[[-0.45394399149579895,-0.5738907223625381],[-0.3803547252459864,-0.5000789721693736]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_18","position":[0.46893131780007513,0.609447702628299,0.71338606911949],"aabb_xy":[[0.46080362960676197,0.6005340942175914],[0.4770590059933884,0.6183613110390067]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_19","position":[-0.6512247560424785,0.03968574894327448,0.71338606911949],"aabb_xy":[[-0.6687247553205654,0.022347648876928528],[-0.6337247567643917,0.05702384900962043]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.692763328618723,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3042.png","name":"3042"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3042.png","name":"3042"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1266.png","name":"1266"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8155.png","name":"8155"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9942.png","name":"9942"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3523.png","name":"3523"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":768.7431097608103,"rotation_z_degrees":4.771089177180081,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00961036821684675,0.00047474607513133676,0.0010422388119466358]},{"name":"camera_2","offset_m":[0.010062869931421723,-0.013985004259960316,0.00621541170747884]},{"name":"camera_3","offset_m":[0.004667057673048865,0.0007144043391935778,-0.005000083014400367]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0005749559954629346,-0.0016040345469580616,-0.0007903330806274256],"end_effector_yaw_offset_degrees":0.017986286865536494},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0007730483891993983,-0.0012061628113415913,-0.0015187278195932347],"end_effector_yaw_offset_degrees":0.10665812941525177},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0014184472567682909,0.0006979295143984317,0.0010582235182283774],"end_effector_yaw_offset_degrees":-0.7897756937136755},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0009931217167627984,-0.001696095667673764,-0.0009780196839294195],"end_effector_yaw_offset_degrees":0.8893701394999041}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0033947654725500374,-0.0036123878824802867],"position_m":[0.21699476547255006,-0.05731238788248028,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003649908648724853,-0.0017659619181009055],"position_m":[0.2527499086487248,-0.38516596191810093,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.001321194786142594,-0.00412269718905372],"position_m":[0.1418211947861426,0.23057730281094627,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0030433617448402976,0.0037308281665404007],"position_m":[0.35664336174484035,0.1209308281665404,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d7c60b84f565c92d55db8edc06bfb2b63d6183b610ca82ab60691149dcbd618f","episode_index":7,"episode_name":"episode_0007"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0007.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_3042/tex_ceiling_textures_3523/tex_floor_textures_9942/tex_table_textures_1266/tex_wall_textures_8155","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":490861392670271617,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":490861392670271617,"visual_seed":490861392670271617,"scene_id":"lab_003","finished_at":"2026-09-05T18:32:42"} +{"episode_id":"ep_000008","started_at":"2026-09-05T18:32:47","dimensions":{"distractor":{"count":27,"items":[{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_0","position":[0.037267304340040774,1.4349018950774224,0.71338606911949],"aabb_xy":[[-0.042732698923972356,1.4213418627685088],[0.1172673076040539,1.4484619273863355]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_1","position":[0.46718559002035076,1.0536125536788137,0.71338606911949],"aabb_xy":[[0.4031855868017129,1.006889441779805],[0.5311855932389886,1.1003356655778218]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_2","position":[0.6362411437699189,-1.4748297404940376,0.71338606911949],"aabb_xy":[[0.6137411439560165,-1.4793043568645183],[0.6587411435838213,-1.4703551241235568]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_3","position":[0.30888458220164083,0.5179412996607184,0.71338606911949],"aabb_xy":[[0.2590678027368061,0.4679413011764151],[0.3587013616664756,0.5679412981450218]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_4","position":[-0.197593099808698,-0.6050345793665377,0.71338606911949],"aabb_xy":[[-0.20150697300412054,-0.6137835947730944],[-0.1936792266132755,-0.5962855639599808]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_5","position":[0.28471391339403074,1.50704402093761,0.71338606911949],"aabb_xy":[[0.20099168789394822,1.4170440174029137],[0.36843613889411314,1.5970440244723056]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_6","position":[0.631655208975757,-2.1075363863058065,0.71338606911949],"aabb_xy":[[0.577639612693857,-2.1715363891980637],[0.685670805257657,-2.0435363834135494]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_7","position":[0.14142252197901972,-2.3220225809019137,0.71338606911949],"aabb_xy":[[0.13678740682678633,-2.325889915979062],[0.1460576371312531,-2.3181552458247645]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_8","position":[-0.1565524780008104,-2.0601489902506387,0.71338606911949],"aabb_xy":[[-0.19155247935229214,-2.080508726207459],[-0.12155247664932868,-2.0397892542938174]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_9","position":[-0.1779078395750855,-0.2873785233623054,0.71338606911949],"aabb_xy":[[-0.2419078387448554,-0.3341452104812679],[-0.11390784040531553,-0.24061183624334295]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_10","position":[-0.13078850305986955,-1.7565608105712833,0.71338606911949],"aabb_xy":[[-0.22078850247824044,-1.7899363074154728],[-0.040788503641498663,-1.7231853137270934]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_11","position":[-0.2391576638936062,-1.9373592499263843,0.71338606911949],"aabb_xy":[[-0.3091576660250357,-1.9601212155520797],[-0.16915766176217661,-1.9145972843006884]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_12","position":[-0.29745609018887526,1.48388416080202,0.71338606911949],"aabb_xy":[[-0.32037180307392515,1.4609798636655964],[-0.27454037730382536,1.5067884579384436]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_13","position":[0.33585583787929796,0.6772224446069908,0.71338606911949],"aabb_xy":[[0.3226248923446166,0.6639950255849913],[0.3490867834139792,0.6904498636289902]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_14","position":[0.32523261265056624,-1.9238643379443912,0.71338606911949],"aabb_xy":[[0.3006863970278155,-1.954113234493428],[0.34977882827331697,-1.8936154413953539]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_15","position":[-0.46223368290054667,0.914955566533922,0.71338606911949],"aabb_xy":[[-0.5122124914108626,0.864955566528203],[-0.41225487439023073,0.9649555665396407]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_16","position":[0.5076169569485796,-0.8145631612806556,0.71338606911949],"aabb_xy":[[0.47028568042333707,-0.8492162160755079],[0.5449482334738223,-0.7799101064858034]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_17","position":[0.32562156928942687,-1.4591558005958971,0.71338606911949],"aabb_xy":[[0.23562156561250863,-1.520588207173001],[0.41562157296634494,-1.3977233940187925]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_18","position":[-0.013875057819734193,-2.084167701707475,0.71338606911949],"aabb_xy":[[-0.020187157356072627,-2.089934640960694],[-0.00756295828339576,-2.0784007624542564]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_19","position":[0.305396801815528,-0.685641464468074,0.71338606911949],"aabb_xy":[[0.2678968002998962,-0.6968682374842191],[0.3428968033311596,-0.674414691451929]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_20","position":[-0.33747409560113806,1.0858533479980959,0.71338606911949],"aabb_xy":[[-0.37247409479395627,1.0748863020004331],[-0.30247409640831974,1.0968203939957581]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_21","position":[-0.6654705511157539,1.249158370465489,0.71338606911949],"aabb_xy":[[-0.6695865012278265,1.2450428154326432],[-0.6613546010036812,1.2532739254983343]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_22","position":[0.32453163728183587,-0.8207717511390833,0.71338606911949],"aabb_xy":[[0.3067381303469195,-0.838571496734881],[0.34232514421675236,-0.8029720055432856]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_23","position":[-0.30167004352335913,1.8205330648805558,0.71338606911949],"aabb_xy":[[-0.33667004179347904,1.8134589371855678],[-0.26667004525323923,1.8276071925755442]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_24","position":[-0.5884409389302002,0.9703625199255623,0.71338606911949],"aabb_xy":[[-0.6109409384539075,0.9478665724749413],[-0.5659409394064927,0.9928584673761829]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_25","position":[-0.2462767056310569,0.8697806572845739,0.71338606911949],"aabb_xy":[[-0.2639523362196552,0.8521004410051711],[-0.22860107504245855,0.8874608735639766]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_26","position":[0.5285602843568054,-1.0047088897727026,0.71338606911949],"aabb_xy":[[0.4645602840963346,-1.0497176891256303],[0.5925602846172762,-0.9597000904197744]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6882350137282547,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4984.png","name":"4984"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4984.png","name":"4984"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1525.png","name":"1525"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9558.png","name":"9558"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6775.png","name":"6775"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3102.png","name":"3102"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":556.4263679778389,"rotation_z_degrees":69.26755151384842,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012456601990136224,0.008638443650382042,-0.009734045204952326]},{"name":"camera_2","offset_m":[0.016952222709629556,-0.01127172881002453,0.012739456467739985]},{"name":"camera_3","offset_m":[0.014539534324450511,-0.01630974030876202,0.018525978205347477]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0009080534238315651,-0.0018918411717194254,0.0015661995046619918],"end_effector_yaw_offset_degrees":-0.5550705497360209},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00018786892775420104,0.00010347163729967478,0.0013737993189548488],"end_effector_yaw_offset_degrees":0.5648988266459654},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0009232871876812721,0.0018022833849739958,0.0008634336447227533],"end_effector_yaw_offset_degrees":0.5674483102733892},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0009142546625771075,-0.0002693779960402489,-0.0015899745859741983],"end_effector_yaw_offset_degrees":0.3974377432941556}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0013831776702289567,-0.0035414837017062406],"position_m":[0.21498317767022898,-0.05724148370170624,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0031364539561623173,-0.0037285416020166762],"position_m":[0.24596354604383766,-0.3871285416020167,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0003098714082046391,0.00424362721298784],"position_m":[0.1401901285917954,0.23894362721298784,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0019466312557463493,0.0023539331897297943],"position_m":[0.3516533687442537,0.11955393318972979,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"64bf1bf5026b3d0917f8598f15a693f541b2faecf6f203af7112af2b39b44aee","episode_index":8,"episode_name":"episode_0008"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0008.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_4984/tex_ceiling_textures_3102/tex_floor_textures_6775/tex_table_textures_1525/tex_wall_textures_9558","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":8440107501756118736,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":8440107501756118736,"visual_seed":8440107501756118736,"scene_id":"lab_003","finished_at":"2026-09-05T18:36:35"} +{"episode_id":"ep_000009","started_at":"2026-09-05T18:36:41","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_0","position":[0.09510534327549824,1.3529837201602044,0.71338606911949],"aabb_xy":[[0.08977282862088526,1.347659391914969],[0.10043785793011123,1.3583080484054402]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_1","position":[-0.2764712295174949,-0.08694649278788757,0.71338606911949],"aabb_xy":[[-0.29163410249443206,-0.10211195008300636],[-0.2613083565405579,-0.07178103549276883]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_2","position":[0.586579370865784,0.4415661608279464,0.71338606911949],"aabb_xy":[[0.5831386946257269,0.43770472785358205],[0.5900200471058412,0.445427593802311]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_3","position":[-0.28932259359411133,-0.3790093924646656,0.71338606911949],"aabb_xy":[[-0.3442963156304442,-0.4340093920288988],[-0.23434887155777845,-0.32400939290043246]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_4","position":[0.552114885981845,-1.4382440491936042,0.71338606911949],"aabb_xy":[[0.48811488430384764,-1.4867614406729182],[0.6161148876598423,-1.3897266577142897]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_5","position":[0.31838028592683565,1.2261760743490675,0.71338606911949],"aabb_xy":[[0.3066120991321782,1.1411760744438462],[0.3301484727214932,1.3111760742542893]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_6","position":[0.15628686167470074,1.1925953969650256,0.71338606911949],"aabb_xy":[[0.12128686336400532,1.18488038204148],[0.1912868599853962,1.2003104118885712]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_7","position":[-0.16432232487561382,-1.5133382709200205,0.71338606911949],"aabb_xy":[[-0.1818223251206632,-1.5308380587595871],[-0.14682232463056444,-1.4958384830804534]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_8","position":[0.38097108331678675,-0.6783008426584307,0.71338606911949],"aabb_xy":[[0.3485093824348592,-0.7084336747733332],[0.4134327841987141,-0.648168010543528]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_9","position":[0.44728020772121013,-2.0985602951375286,0.71338606911949],"aabb_xy":[[0.3672802055584476,-2.1785154787636722],[0.5272802098839726,-2.018605111511385]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_10","position":[-0.38333952796403076,-2.1788910172682967,0.71338606911949],"aabb_xy":[[-0.44493028718802363,-2.242891015377344],[-0.321748768740038,-2.1148910191592503]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_11","position":[0.6362690078798048,-0.5962490653288994,0.71338606911949],"aabb_xy":[[0.6274877807325686,-0.6050288126174297],[0.6450502350270412,-0.5874693180403694]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_12","position":[0.27111197953519595,-2.349777601202106,0.71338606911949],"aabb_xy":[[0.2638682134889506,-2.4297775994057083],[0.27835574558144127,-2.2697776029985035]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_13","position":[-0.5468488804449146,-0.8034433997748807,0.71338606911949],"aabb_xy":[[-0.6268488818750418,-0.88296055478749],[-0.46684887901478744,-0.7239262447622711]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_14","position":[-0.5226119815674506,0.26458860953592955,0.71338606911949],"aabb_xy":[[-0.5866119818414288,0.2145225093386416],[-0.45861198129347236,0.3146547097332175]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_15","position":[0.2013836656685799,-1.125584481324647,0.71338606911949],"aabb_xy":[[0.13638366466807939,-1.1763708464793217],[0.2663836666690804,-1.0747981161699718]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_16","position":[-0.18677498936412185,0.3381603175052237,0.71338606911949],"aabb_xy":[[-0.24176820070125862,0.28316031716643014],[-0.1317817780269851,0.3931603178440174]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_17","position":[0.4502086822014961,0.6899160238799018,0.71338606911949],"aabb_xy":[[0.4002356166689808,0.639916024067369],[0.5001817477340117,0.7399160236924348]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_18","position":[0.22684583138320225,1.395509184027809,0.71338606911949],"aabb_xy":[[0.211290061972937,1.3799587507834021],[0.24240160079346754,1.4110596172722165]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_19","position":[0.6156748569907,-2.4059128364730413,0.71338606911949],"aabb_xy":[[0.5786407475626402,-2.4402900438067503],[0.6527089664187596,-2.3715356291393315]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_20","position":[0.471741672223851,1.5955652776464766,0.71338606911949],"aabb_xy":[[0.42955725806302025,1.5315652773692654],[0.5139260863846817,1.6595652779236878]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_21","position":[0.634631191964516,0.3347588401876971,0.71338606911949],"aabb_xy":[[0.6042330808653723,0.3043519381860275],[0.6650293030636595,0.36516574218936654]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_22","position":[-0.19462779094210814,1.4760141448687976,0.71338606911949],"aabb_xy":[[-0.20777903691339752,1.451014145112111],[-0.18147654497081878,1.5010141446254843]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_23","position":[-0.23242164393990167,0.8876573506452754,0.71338606911949],"aabb_xy":[[-0.2443543783017297,0.8752751978374161],[-0.22048890957807357,0.9000395034531349]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_24","position":[0.3939674728411504,1.042241811802438,0.71338606911949],"aabb_xy":[[0.3589674736483321,1.0312747658047752],[0.4289674720339686,1.0532088578001002]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_25","position":[-0.6812234984391754,1.3506263728938497,0.71338606911949],"aabb_xy":[[-0.6930955814506766,1.2656263732001993],[-0.6693514154276744,1.4356263725875]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_26","position":[0.3975316204607988,-0.48121371036427574,0.71338606911949],"aabb_xy":[[0.386286564890181,-0.492455508088371],[0.40877667603141665,-0.46997191264018046]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_27","position":[-0.26013600451337854,-2.3391007432524957,0.71338606911949],"aabb_xy":[[-0.330136006322124,-2.3604545120166835],[-0.1901360027046331,-2.317746974488309]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_28","position":[-0.184279111166186,0.583663815043308,0.71338606911949],"aabb_xy":[[-0.22177911166354422,0.5796951314951896],[-0.14677911066882773,0.5876324985914264]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_29","position":[0.6286904927888717,0.5363025762078504,0.71338606911949],"aabb_xy":[[0.591359216263629,0.501649521412998],[0.6660217693141142,0.5709556310027025]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_30","position":[-0.4753692445588181,1.0038278948422015,0.71338606911949],"aabb_xy":[[-0.5393692464711605,0.947916745584191],[-0.4113692426464758,1.059739044100212]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6884009650521091,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4382.png","name":"4382"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4382.png","name":"4382"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7617.png","name":"7617"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2288.png","name":"2288"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/995.png","name":"995"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8379.png","name":"8379"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":701.190645059858,"rotation_z_degrees":182.3324950001805,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019755757095675647,0.016581964769757398,0.0150353291686512]},{"name":"camera_2","offset_m":[0.004366821226497272,0.001717681856924315,0.0027253797404428806]},{"name":"camera_3","offset_m":[-0.007302351875707767,0.007163807272418065,-0.012619069881589576]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0016256646115071023,-0.0009426084602727936,0.0007339313582592714],"end_effector_yaw_offset_degrees":-0.1750283403619426},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0011361144328472857,-0.00114536812367695,0.0002308125247983306],"end_effector_yaw_offset_degrees":0.71100642430366},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0003380629280499727,0.001525219036764882,0.0005862300439250629],"end_effector_yaw_offset_degrees":0.6153965600140803},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0008150333260586531,1.0970102003043068e-05,-0.0019914062242705716],"end_effector_yaw_offset_degrees":-0.07765878827845674}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0027737327555058845,0.003375485098822341],"position_m":[0.21082626724449413,-0.050324514901177654,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002053901222537082,0.0037116754183845494],"position_m":[0.25115390122253706,-0.37968832458161544,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0015632946149417705,-0.0001291584067167669],"position_m":[0.13893670538505826,0.23457084159328323,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004827749956082066,-0.0012784713933011171],"position_m":[0.348772250043918,0.11592152860669888,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9cd1a42881873904430dd68da48afd77b5c0987c39556cb55d8048cf8d62690b","episode_index":9,"episode_name":"episode_0009"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0009.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_4382/tex_ceiling_textures_8379/tex_floor_textures_995/tex_table_textures_7617/tex_wall_textures_2288","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":3738555197929045593,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":3738555197929045593,"visual_seed":3738555197929045593,"scene_id":"lab_003","finished_at":"2026-09-05T18:40:01"} +{"episode_id":"ep_000010","started_at":"2026-09-05T18:42:35","dimensions":{"distractor":{"count":34,"items":[{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_0","position":[0.026645970128259977,1.0239801641600264,0.71338606911949],"aabb_xy":[[-0.053354027275333435,0.9439875929618434],[0.10664596753185339,1.103972735358209]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_1","position":[0.2602624053202235,1.5995126576613008,0.71338606911949],"aabb_xy":[[0.24935662923266078,1.5195126612624714],[0.2711681814077862,1.6795126540601297]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_2","position":[-0.5152949169600486,0.6312974733242513,0.71338606911949],"aabb_xy":[[-0.5652949186215432,0.5812990310685485],[-0.46529491529855377,0.681295915579954]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_3","position":[0.07909876683692807,1.794854225496397,0.71338606911949],"aabb_xy":[[0.044801855819187435,1.7605573392864553],[0.11339567785466868,1.829151111706338]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_4","position":[-0.4634653122300234,1.7271833388486413,0.71338606911949],"aabb_xy":[[-0.4867471544281547,1.6421833375514134],[-0.440183470031892,1.8121833401458696]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_5","position":[-0.5400448620549929,0.42765664807710246,0.71338606911949],"aabb_xy":[[-0.5900448630055257,0.3961075010735811],[-0.4900448611044601,0.4592057950806239]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_6","position":[-0.23541652786820938,1.5819600121537492,0.71338606911949],"aabb_xy":[[-0.2994122252633059,1.5179600138530402],[-0.17142083047311277,1.6459600104544576]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_7","position":[-0.501184283039452,-1.8383624915983119,0.71338606911949],"aabb_xy":[[-0.5611842836354681,-1.8931749641435354],[-0.44118428244343577,-1.7835500190530884]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_8","position":[-0.6305799964909973,-1.7885763488105568,0.71338606911949],"aabb_xy":[[-0.6421489772379338,-1.8135763489274883],[-0.6190110157440607,-1.763576348693625]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_9","position":[-0.19461702478864518,-0.9615423356368824,0.71338606911949],"aabb_xy":[[-0.21219532697759202,-0.9791168252109871],[-0.17703872259969833,-0.9439678460627773]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_10","position":[-0.056377989278089125,-1.9300987201724507,0.71338606911949],"aabb_xy":[[-0.14637798601369933,-1.983282183489745],[0.03362200745752109,-1.876915256855156]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_11","position":[-0.1307792607963678,-1.5361097493797031,0.71338606911949],"aabb_xy":[[-0.1857529828327007,-1.591109748943936],[-0.07580553876003493,-1.4811097498154697]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_12","position":[-0.5579783319366312,-0.13724571393737328,0.71338606911949],"aabb_xy":[[-0.5698504149481322,-0.22224571363102363],[-0.5461062489251299,-0.05224571424372293]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_13","position":[-0.26454261909949495,-0.8764747393053187,0.71338606911949],"aabb_xy":[[-0.28700738907090007,-0.8989747401841792],[-0.24207784912808983,-0.8539747384264582]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_14","position":[0.5646874173279561,-0.31816202583774844,0.71338606911949],"aabb_xy":[[0.5006874166244869,-0.36418040831066945],[0.6286874180314256,-0.27214364336482744]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_15","position":[-0.0596013295202914,-1.7776213512476655,0.71338606911949],"aabb_xy":[[-0.09710132794369175,-1.790785565215496],[-0.022101331096891053,-1.7644571372798346]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_16","position":[0.03748995985464587,0.7327240107794131,0.71338606911949],"aabb_xy":[[0.027733970345471967,0.7229614767201785],[0.04724594936381975,0.7424865448386474]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_17","position":[-0.47818232186015225,-1.3408777659416862,0.71338606911949],"aabb_xy":[[-0.48629597653352935,-1.348983582395715],[-0.47006866718677515,-1.3327719494876569]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_18","position":[0.5072717921048222,1.1844706013302533,0.71338606911949],"aabb_xy":[[0.4748100912228946,1.1543377692153505],[0.5397334929867494,1.2146034334451556]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_19","position":[-0.5205003772666097,-2.474904749374004,0.71338606911949],"aabb_xy":[[-0.6005003775402166,-2.5478542971997205],[-0.44050037699300265,-2.401955201548287]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_20","position":[0.09641251288419961,-1.3849665381415337,0.71338606911949],"aabb_xy":[[0.059617879759293335,-1.4218724132381158],[0.13320714600910588,-1.3480606630449512]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_21","position":[0.034009331090073536,-0.8544291013414156,0.71338606911949],"aabb_xy":[[-0.01599066992906174,-0.8908953170792436],[0.0840093321092088,-0.8179628856035878]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_22","position":[0.4202195254544756,-1.1481755045603814,0.71338606911949],"aabb_xy":[[0.3602195256079088,-1.2049941267534199],[0.4802195253010424,-1.0913568823673425]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_23","position":[0.37707178346406,-0.6246703006438432,0.71338606911949],"aabb_xy":[[0.3395717819484283,-0.6358970736599882],[0.4145717849796917,-0.613443527627698]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_24","position":[0.14740092259151327,-2.4518530863631516,0.71338606911949],"aabb_xy":[[0.10027154358967755,-2.515853087407553],[0.1945303015933489,-2.387853085318749]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_25","position":[0.6038213330779201,1.7696233965754655,0.71338606911949],"aabb_xy":[[0.5488258552572606,1.7146233951415584],[0.6588168108985794,1.8246233980093722]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_26","position":[0.4614490954646864,-2.280571172225758,0.71338606911949],"aabb_xy":[[0.43894909565078394,-2.2850457885962383],[0.4839490952785887,-2.2760965558552773]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_27","position":[0.5155089475781836,0.21550730417971398,0.71338606911949],"aabb_xy":[[0.5030415894684479,0.20304197954639047],[0.5279763056879192,0.22797262881303748]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_28","position":[-0.4441845964637938,-1.0139643323720404,0.71338606911949],"aabb_xy":[[-0.4547520761218929,-1.024509362485049],[-0.43361711680569487,-1.0034193022590319]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_29","position":[-0.45413389159704864,-0.30466785002090413,0.71338606911949],"aabb_xy":[[-0.4585645209518888,-0.31011622175558673],[-0.44970326224220847,-0.29921947828622153]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_30","position":[0.17095483699927716,-0.7164490309494702,0.71338606911949],"aabb_xy":[[0.12097742013402356,-0.7664490324387188],[0.22093225386453072,-0.6664490294602217]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_31","position":[-0.3302811956437215,-0.43808270383727566,0.71338606911949],"aabb_xy":[[-0.3677811958155934,-0.4707834392201828],[-0.2927811954718495,-0.4053819684543684]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_32","position":[-0.2640679366017156,0.9395001529813669,0.71338606911949],"aabb_xy":[[-0.2865643580355797,0.9170001531746195],[-0.24157151516785152,0.9620001527881143]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_33","position":[-0.2961545329882662,1.3667551100927575,0.71338606911949],"aabb_xy":[[-0.30256834663145105,1.3603452898450892],[-0.28974071934508117,1.3731649303404259]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6921154971880282,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3859.png","name":"3859"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3859.png","name":"3859"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1583.png","name":"1583"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8304.png","name":"8304"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/488.png","name":"488"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8678.png","name":"8678"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":551.3880135984635,"rotation_z_degrees":152.74232975638037,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01440991316579118,0.008102805773968554,0.006789375379336771]},{"name":"camera_2","offset_m":[-0.0010156497549097324,0.009206725234761005,-0.011444220318989754]},{"name":"camera_3","offset_m":[0.00870131178078734,0.009428477961594003,-0.014266909759250575]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0002652282365527511,-0.001787948077270004,-0.00030838013875946575],"end_effector_yaw_offset_degrees":0.890718855646129},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.001968470238915169,0.0008310492191561931,-0.001630584801677385],"end_effector_yaw_offset_degrees":0.2876358594533148},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0013063133179695074,-0.001867218641858655,0.0017758998569472832],"end_effector_yaw_offset_degrees":-0.7721220370559598},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-9.928443085889332e-05,0.0009043167523020055,-0.0018818425853412545],"end_effector_yaw_offset_degrees":-0.28574924264033696}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0041158445773962415,-0.0026369914505780245],"position_m":[0.20948415542260376,-0.05633699145057802,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003347175633282685,-0.0010531255241126103],"position_m":[0.25244717563328267,-0.38445312552411265,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0016685960282529799,0.0016773584373086566],"position_m":[0.13883140397174704,0.23637735843730864,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004873582684651348,0.0012487119483979145],"position_m":[0.35847358268465135,0.11844871194839791,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1ed19f8468790ba9d3e1250a38becd922211ba68964a173851049a599621c01e","episode_index":11,"episode_name":"episode_0011"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0011.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_3859/tex_ceiling_textures_8678/tex_floor_textures_488/tex_table_textures_1583/tex_wall_textures_8304","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":1997707932087142353,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":1997707932087142353,"visual_seed":1997707932087142353,"scene_id":"lab_003","finished_at":"2026-09-05T18:46:28"} +{"episode_id":"ep_000011","started_at":"2026-09-05T18:46:32","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_0","position":[0.16477315270494453,-0.7193372181090811,0.71338606911949],"aabb_xy":[[0.16085927950952197,-0.7280862335156378],[0.16868702590036702,-0.7105882027025242]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_1","position":[0.573908928142167,-1.7142814542720644,0.71338606911949],"aabb_xy":[[0.5568068501837988,-1.731388259803334],[0.5910110061005351,-1.6971746487407946]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_2","position":[-0.5210280756830594,0.7489189602084854,0.71338606911949],"aabb_xy":[[-0.6060280743751341,0.7169330968136066],[-0.4360280769909848,0.7809048236033643]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_3","position":[0.08197258820050879,-1.456380389699276,0.71338606911949],"aabb_xy":[[0.03199952266799332,-1.506380389511809],[0.13194565373302425,-1.406380389886743]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_4","position":[0.2251842246363529,-1.9672114701242451,0.71338606911949],"aabb_xy":[[0.21755995654617466,-1.9748446936607893],[0.23280849272653115,-1.9595782465877019]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_5","position":[-0.5620114876377369,-2.105836983469041,0.71338606911949],"aabb_xy":[[-0.6260114893157341,-2.154354374948355],[-0.49801148595973943,-2.0573195919897267]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_6","position":[0.05530461108194573,-1.2087229072558252,0.71338606911949],"aabb_xy":[[-0.01469538532801607,-1.2291608429075067],[0.1253046074919075,-1.1882849716041433]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_7","position":[-0.11911038182045242,0.2936103608994052,0.71338606911949],"aabb_xy":[[-0.1561444912485121,0.25923315356569565],[-0.08207627239239268,0.3279875682331146]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_8","position":[0.6769423050237326,0.9526803201695082,0.71338606911949],"aabb_xy":[[0.6519423050912148,0.9457976519485851],[0.7019423049562505,0.9595629883904317]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_9","position":[-0.21498915810604646,0.1914899153593983,0.71338606911949],"aabb_xy":[[-0.22686124111754757,0.10648991566574795],[-0.20311707509454535,0.27648991505304865]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_10","position":[-0.3309882058994004,-1.0651096170164023,0.71338606911949],"aabb_xy":[[-0.368319482424643,-1.0997626718112545],[-0.2936569293741577,-1.03045656222155]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_11","position":[-0.41034780044514396,-0.43832164624113146,0.71338606911949],"aabb_xy":[[-0.4176090480155514,-0.45110865650464094],[-0.40308655287473655,-0.425534635977622]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_12","position":[-0.18451371373842962,-2.2378341884234034,0.71338606911949],"aabb_xy":[[-0.22728042061784984,-2.301834191845206],[-0.14174700685900946,-2.173834185001601]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_13","position":[0.40468112307557025,-2.4335836346797994,0.71338606911949],"aabb_xy":[[0.39459941599699666,-2.5135836325719136],[0.4147628301541436,-2.3535836367876843]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_14","position":[0.6498194265927904,0.1822947231384906,0.71338606911949],"aabb_xy":[[0.6148194252413085,0.16193498718166974],[0.684819427944272,0.2026544590953114]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_15","position":[0.30966362441743933,-0.7964222497224085,0.71338606911949],"aabb_xy":[[0.25966362484110467,-0.8464028286745146],[0.3596636239937741,-0.7464416707703027]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_16","position":[0.4778509135230362,-1.4524266005203554,0.71338606911949],"aabb_xy":[[0.3978509113602737,-1.532381784146499],[0.5578509156857987,-1.3724714168942118]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_17","position":[0.5062370331626047,-2.3356547077126217,0.71338606911949],"aabb_xy":[[0.4775877008021884,-2.3643002669896975],[0.5348863655230208,-2.307009148435546]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_18","position":[-0.5560620557869302,0.009014552120846009,0.71338606911949],"aabb_xy":[[-0.5935620573025618,-0.002212220895299044],[-0.5185620542712984,0.020241325136991062]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_19","position":[0.5922381467132025,-0.2628781040870307,0.71338606911949],"aabb_xy":[[0.5553875987762149,-0.30037810491006445],[0.6290886946501901,-0.225378103263997]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_20","position":[-0.10470491781914526,0.5088623315666778,0.71338606911949],"aabb_xy":[[-0.16870491986887726,0.46876784847736985],[-0.04070491576941325,0.5489568146559858]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_21","position":[-0.36654704313825953,-1.1640640080047973,0.71338606911949],"aabb_xy":[[-0.4040470415616599,-1.1772282219726276],[-0.3290470447148592,-1.1508997940369665]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_22","position":[-0.4738563185771346,0.5727032108551078,0.71338606911949],"aabb_xy":[[-0.5378563156892403,0.5236708410606972],[-0.4098563214650289,0.6217355806495184]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_23","position":[0.5355069928833658,-0.031045643676643753,0.71338606911949],"aabb_xy":[[0.5076619561027588,-0.061830142414955436],[0.563352029663973,-0.0002611449383320731]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_24","position":[-0.3228726358170529,-1.5182684533049051,0.71338606911949],"aabb_xy":[[-0.4078726342344761,-1.6031427487671899],[-0.23787263739962966,-1.43339415784262]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_25","position":[-0.04789337371236102,-1.3746596712377892,0.71338606911949],"aabb_xy":[[-0.05439501022036565,-1.384427493264099],[-0.04139173720435641,-1.3648918492114794]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_26","position":[-0.252691938887749,-0.4150229423182701,0.71338606911949],"aabb_xy":[[-0.2765281565283541,-0.5050229431267567],[-0.22885572124714398,-0.32502294150978367]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_27","position":[-0.07439349497907577,1.6099231074410754,0.71338606911949],"aabb_xy":[[-0.07847165288612551,1.6058421271928118],[-0.07031533707202603,1.6140040876893385]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_28","position":[-0.367054800586431,-0.09716835332542217,0.71338606911949],"aabb_xy":[[-0.3730918135870957,-0.10319505439437038],[-0.36101778758576625,-0.09114165225647396]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6843367417365188,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/926.png","name":"926"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/926.png","name":"926"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1556.png","name":"1556"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8750.png","name":"8750"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4990.png","name":"4990"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9808.png","name":"9808"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":566.9044284358788,"rotation_z_degrees":159.22989478411478,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010024683246498408,-0.012847856283585176,0.014852777655523366]},{"name":"camera_2","offset_m":[0.017001356782384795,-0.018604611734884254,0.00613835100824733]},{"name":"camera_3","offset_m":[-0.009857286763964957,0.0017124796230508811,0.006160260307159993]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0014790172994512676,0.0004513680746139727,-0.00032735570019464303],"end_effector_yaw_offset_degrees":0.5275206346938832},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00039712245761690745,0.0009253211080817057,-0.0013493348831964437],"end_effector_yaw_offset_degrees":-0.9101727411057225},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0011663911252699287,0.00024786700331899843,-0.0018234579823583003],"end_effector_yaw_offset_degrees":0.7434370182125243},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0003317745911348255,-0.00015356609705169302,0.0006936938437732175],"end_effector_yaw_offset_degrees":0.3490241381268817}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-4.348376311366208e-05,0.0017977425177055908],"position_m":[0.21355651623688635,-0.051902257482294406,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002563072836637427,0.004104464156935303],"position_m":[0.24653692716336256,-0.3792955358430647,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002666514532933915,0.002062228702052165],"position_m":[0.14316651453293394,0.23676222870205216,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0031315924897367233,0.004509415453581386],"position_m":[0.3504684075102633,0.12170941545358138,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"76396390b9bb9eaa37dfff52a5d881758f8e460034ef0dc8012388bf385e6437","episode_index":12,"episode_name":"episode_0012"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0012.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_926/tex_ceiling_textures_9808/tex_floor_textures_4990/tex_table_textures_1556/tex_wall_textures_8750","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":875584448536011557,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":875584448536011557,"visual_seed":875584448536011557,"scene_id":"lab_003","finished_at":"2026-09-05T18:50:05"} +{"episode_id":"ep_000012","started_at":"2026-09-05T18:50:12","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_0","position":[0.5018219389214105,-1.0515454752841806,0.71338606911949],"aabb_xy":[[0.49382844912612855,-1.0595436072246562],[0.5098154287166926,-1.043547343343705]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_1","position":[0.4677592336303078,0.3522311508048821,0.71338606911949],"aabb_xy":[[0.41778181676505416,0.3022311493156335],[0.5177366504955613,0.4022311522941306]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_2","position":[-0.21662079674283025,-0.7149256428308033,0.71338606911949],"aabb_xy":[[-0.26270588799756167,-0.7789256400833584],[-0.17053570548809877,-0.6509256455782482]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_3","position":[0.6916733153796446,0.13977050349359832,0.71338606911949],"aabb_xy":[[0.6799051285849872,0.054770503588376776],[0.7034415021743022,0.22477050339881993]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_4","position":[-0.5315875246288795,0.7186718212742158,0.71338606911949],"aabb_xy":[[-0.5423604985502473,0.6836718230551768],[-0.5208145507075117,0.7536718194932548]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_5","position":[0.2851096002762151,1.5868527734057758,0.71338606911949],"aabb_xy":[[0.27806814932546753,1.5798260216679814],[0.2921510512269627,1.5938795251435702]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_6","position":[-0.02724075922049174,-1.6731221162641614,0.71338606911949],"aabb_xy":[[-0.05224075838612485,-1.6800743619695178],[-0.002240760054858626,-1.6661698705588046]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_7","position":[-0.36117472033285863,0.753130330278029,0.71338606911949],"aabb_xy":[[-0.45117472400977665,0.6916979237009245],[-0.27117471665594034,0.8145627368551331]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_8","position":[0.3609942649891311,0.6985975583823003,0.71338606911949],"aabb_xy":[[0.30600105365199437,0.6435975580435068],[0.4159874763262679,0.7535975587210941]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_9","position":[0.4929822410761926,0.8892976269609738,0.71338606911949],"aabb_xy":[[0.4129822439166173,0.8777500260031568],[0.5729822382357679,0.9008452279187908]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_10","position":[0.1743772762325707,1.538704461218996,0.71338606911949],"aabb_xy":[[0.12920595838440174,1.4747044640744578],[0.2195485940807397,1.6027044583635348]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_11","position":[-0.2666153924069217,-1.311679374739019,0.71338606911949],"aabb_xy":[[-0.2885240745462727,-1.3335800415591095],[-0.24470671026757063,-1.289778707918928]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_12","position":[0.3868199192784123,-2.3040539732989944,0.71338606911949],"aabb_xy":[[0.34931991776278054,-2.3152807463151395],[0.42431992079404396,-2.2928272002828494]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_13","position":[0.040924303821255226,1.575868247131703,0.71338606911949],"aabb_xy":[[0.003424303156676529,1.5601811891314803],[0.07842430448583393,1.5915553051319247]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_14","position":[-0.47859133089521355,1.656307591186129,0.71338606911949],"aabb_xy":[[-0.49609126432919687,1.6388075912658944],[-0.4610913974612301,1.6738075911063635]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_15","position":[-0.5540270594733236,-1.5850064729058206,0.71338606911949],"aabb_xy":[[-0.5890270608248053,-1.6053662088626413],[-0.5190270581218418,-1.5646467369489996]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_16","position":[-0.2516739803303879,1.2131284457130844,0.71338606911949],"aabb_xy":[[-0.2719582830537866,1.1928458205703751],[-0.2313896776069891,1.2334110708557928]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_17","position":[-0.02940744656766303,0.7430497405125984,0.71338606911949],"aabb_xy":[[-0.07071198963139902,0.6790497409444812],[0.011897096496072956,0.8070497400807154]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_18","position":[-0.11715188674342736,-2.470327390496042,0.71338606911949],"aabb_xy":[[-0.1811518859131973,-2.5170940776150044],[-0.053151887573657415,-2.4235607033770794]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_19","position":[-0.6062035861296533,-2.0275011908901623,0.71338606911949],"aabb_xy":[[-0.6702035893482912,-2.0742243027891707],[-0.5422035829110154,-1.980778078991154]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_20","position":[0.10186504363467996,-2.2694917385052107,0.71338606911949],"aabb_xy":[[0.06808948444398698,-2.2835302337183756],[0.13564060282537294,-2.2554532432920458]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_21","position":[0.26137878889380606,-1.767754491986501,0.71338606911949],"aabb_xy":[[0.2115620094289713,-1.817754490470804],[0.3111955683586408,-1.7177544935021973]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_22","position":[-0.5396778276570879,-0.8986222476207584,0.71338606911949],"aabb_xy":[[-0.546718137590625,-0.9786222470204299],[-0.5326375177235511,-0.8186222482210871]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_23","position":[0.2657807414478164,1.3379363405312659,0.71338606911949],"aabb_xy":[[0.20178074215364816,1.2739502001624117],[0.3297807407419846,1.40192248090012]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_24","position":[0.5931625103782379,-1.2131956663522416,0.71338606911949],"aabb_xy":[[0.5581625120675424,-1.2209106812757873],[0.6281625086889333,-1.205480651428696]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_25","position":[-0.13385243071533148,-1.151996328172648,0.71338606911949],"aabb_xy":[[-0.15885242998729374,-1.16834169176881],[-0.10885243144336919,-1.1356509645764854]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_26","position":[-0.20067561826697222,-0.34827118555615977,0.71338606911949],"aabb_xy":[[-0.264675618527443,-0.3932799849090877],[-0.13667561800650138,-0.3032623862032317]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6906505787761552,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4631.png","name":"4631"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4631.png","name":"4631"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5151.png","name":"5151"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5168.png","name":"5168"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7839.png","name":"7839"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6175.png","name":"6175"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":524.3280369501633,"rotation_z_degrees":325.3371453758726,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00998497694771069,0.011146908741349767,0.018573208636792963]},{"name":"camera_2","offset_m":[-0.014549553438170059,-0.0070282334021041,0.008426770095189957]},{"name":"camera_3","offset_m":[0.001036661103714212,0.006937245148944341,-0.007061768999106981]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0013887071281454713,0.0014575047000949426,0.0013498749891922264],"end_effector_yaw_offset_degrees":0.8086893792864458},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0018010885500746264,-0.0019753523852467994,-0.001309969444098714],"end_effector_yaw_offset_degrees":-0.3830957589466577},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0003670125347255526,0.0008378113782250216,0.0018179685460096924],"end_effector_yaw_offset_degrees":0.29609340127790684},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.000990372216330946,-0.0006113694431947234,-0.001812564532307894],"end_effector_yaw_offset_degrees":0.7027207286564037}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003607749530967436,-0.0031845924372377876],"position_m":[0.21720774953096744,-0.056884592437237785,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0015527513220027636,-0.0011006758045434815],"position_m":[0.25065275132200276,-0.3845006758045435,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003248340415580429,-0.0031533223213981144],"position_m":[0.14374834041558043,0.23154667767860188,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00320768504363361,-0.002832737903457787],"position_m":[0.35680768504363364,0.11436726209654222,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3b99a710ec7585af8a6dc3be1d12e243e6a5084300ec23b1ef41d1f0cd8fa716","episode_index":13,"episode_name":"episode_0013"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0013.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_4631/tex_ceiling_textures_6175/tex_floor_textures_7839/tex_table_textures_5151/tex_wall_textures_5168","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":833502351442749002,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":833502351442749002,"visual_seed":833502351442749002,"scene_id":"lab_003","finished_at":"2026-09-05T18:54:08"} +{"episode_id":"ep_000013","started_at":"2026-09-05T18:56:27","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_0","position":[-0.03281570577895665,0.871690286634438,0.71338606911949],"aabb_xy":[[-0.04322726445944036,0.8663445532985395],[-0.022404147098472937,0.8770360199703365]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_1","position":[-0.21987874335403018,-1.4749731441268064,0.71338606911949],"aabb_xy":[[-0.3098787398549019,-1.5208847865452644],[-0.1298787468531584,-1.429061501708348]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_2","position":[-0.5347364392614922,-1.9723577541491406,0.71338606911949],"aabb_xy":[[-0.5847314502209443,-2.0223577531847328],[-0.48474142830204026,-1.9223577551135491]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_3","position":[0.11449191962951855,-2.2023178606005667,0.71338606911949],"aabb_xy":[[0.08927108276967888,-2.2275416114534528],[0.13971275648935821,-2.177094109747679]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_4","position":[-0.5111526672612197,1.5898421259142732,0.71338606911949],"aabb_xy":[[-0.5167343388953485,1.5773421260964977],[-0.5055709956270908,1.6023421257320487]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_5","position":[-0.5907359685304175,-1.7796793280639411,0.71338606911949],"aabb_xy":[[-0.5995171956776538,-1.7884590753524716],[-0.5819547413831815,-1.770899580775411]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_6","position":[0.1654080311299143,1.485666720879991,0.71338606911949],"aabb_xy":[[0.14290803061787372,1.4631748625145924],[0.1879080316419549,1.508158579245389]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_7","position":[-0.5310325809410749,-2.50851578948156,0.71338606911949],"aabb_xy":[[-0.5680666903691345,-2.542892996815269],[-0.493998471513015,-2.4741385821478503]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_8","position":[0.4188212223439023,-1.1517790855625938,0.71338606911949],"aabb_xy":[[0.32882121866698405,-1.213211492139698],[0.5088212260208204,-1.0903466789854892]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_9","position":[-0.36274342244520186,-0.2407091503946548,0.71338606911949],"aabb_xy":[[-0.42674342573491,-0.28404406939857235],[-0.29874341915549374,-0.19737423139073715]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_10","position":[-0.3900377680757577,-1.6108122176945932,0.71338606911949],"aabb_xy":[[-0.40559353748602306,-1.6263626509390006],[-0.3744819986654925,-1.5952617844501862]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_11","position":[-0.08386149356737493,-1.0296057999868264,0.71338606911949],"aabb_xy":[[-0.10677720645242486,-1.05251009712325],[-0.06094578068232505,-1.006701502850403]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_12","position":[-0.06821200485340018,-2.0862229759594104,0.71338606911949],"aabb_xy":[[-0.1006737057353276,-2.116355808074313],[-0.0357503039714727,-2.056090143844507]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_13","position":[0.6342078445476358,-2.290478796926137,0.71338606911949],"aabb_xy":[[0.579082638918045,-2.3504787983674236],[0.6893330501772266,-2.2304787954848493]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_14","position":[-0.5592099745621709,-0.24520447172865145,0.71338606911949],"aabb_xy":[[-0.6392099715252101,-0.3222801133724249],[-0.47920997759913175,-0.168128830084878]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_15","position":[-0.4598450088079728,-1.209294738487688,0.71338606911949],"aabb_xy":[[-0.5248450073650457,-1.2390472719015706],[-0.3948450102508999,-1.1795422050738054]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_16","position":[-0.5794568602331829,-0.7190569530159789,0.71338606911949],"aabb_xy":[[-0.6344568598549287,-0.7740406458034517],[-0.524456860611437,-0.6640732602285062]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_17","position":[0.0744329166755201,-1.6612654068060353,0.71338606911949],"aabb_xy":[[0.010432919389871453,-1.7027721257588793],[0.13843291396116875,-1.6197586878531913]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_18","position":[0.12063539885831742,1.124209764293468,0.71338606911949],"aabb_xy":[[0.040635400201431415,1.1097049053692052],[0.20063539751520343,1.138714623217731]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_19","position":[-0.12436146604028575,0.987236572370128,0.71338606911949],"aabb_xy":[[-0.1337789406101485,0.9778203952324089],[-0.114943991470423,0.996652749507847]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_20","position":[-0.4140245643358021,-2.233094225390022,0.71338606911949],"aabb_xy":[[-0.46402456535493747,-2.26956044112785],[-0.3640245633166669,-2.196628009652194]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_21","position":[-0.26049384267495174,-2.4206026957352305,0.71338606911949],"aabb_xy":[[-0.310476792862431,-2.4706026953777904],[-0.21051089248747237,-2.3706026960926696]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_22","position":[0.3288865440525748,0.43324442856491974,0.71338606911949],"aabb_xy":[[0.31913055454340084,0.42348189450568524],[0.3386425335617486,0.4430069626241541]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_23","position":[0.42699653317192476,-0.24638788811527013,0.71338606911949],"aabb_xy":[[0.4178366542280481,-0.2529191061588072],[0.4361564121158013,-0.23985667007173314]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_24","position":[-0.035993958839238394,1.4886426958443786,0.71338606911949],"aabb_xy":[[-0.10099395887354112,1.4419420191640513],[0.029006041195064336,1.5353433725247059]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_25","position":[0.0038583410715130606,-2.3626999377661155,0.71338606911949],"aabb_xy":[[-0.06014165532406002,-2.4266632261848495],[0.06785833746708614,-2.2987366493473824]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_26","position":[0.6323133319323924,0.565039607433365,0.71338606911949],"aabb_xy":[[0.5723133310715793,0.5136131774268784],[0.692313332793205,0.6164660374398512]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_27","position":[0.6593297893928731,-2.4546425005649257,0.71338606911949],"aabb_xy":[[0.6243297894968541,-2.4630167360768658],[0.6943297892888919,-2.4462682650529857]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_28","position":[-0.2529108506945303,0.5745554231391856,0.71338606911949],"aabb_xy":[[-0.3028882675597838,0.5245554216499368],[-0.20293343382927667,0.6245554246284339]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_29","position":[-0.18287706665135706,-2.267049317375224,0.71338606911949],"aabb_xy":[[-0.18884360559209284,-2.2730104620345877],[-0.17691052771062127,-2.2610881727158594]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_30","position":[0.3497685211140036,-1.4910005106488742,0.71338606911949],"aabb_xy":[[0.31545224393938565,-1.5410005106220517],[0.3840847982886215,-1.4410005106756962]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_31","position":[0.5667081661482427,-0.8312057155220176,0.71338606911949],"aabb_xy":[[0.5442081666245353,-0.8537016629726382],[0.5892081656719501,-0.8087097680713966]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_32","position":[-0.3020385252391667,1.341303314698827,0.71338606911949],"aabb_xy":[[-0.3108405805481394,1.3334919885438978],[-0.293236469930194,1.349114640853756]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_33","position":[0.46571922733985827,0.512091016438343,0.71338606911949],"aabb_xy":[[0.44071922778811967,0.5019485325732083],[0.49071922689159664,0.5222335003034777]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6907539935913121,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2806.png","name":"2806"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2806.png","name":"2806"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4610.png","name":"4610"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1086.png","name":"1086"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7596.png","name":"7596"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4676.png","name":"4676"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":642.6282677560289,"rotation_z_degrees":297.79734882396343,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008749809848553853,-0.012982230776270098,-0.014881713491909147]},{"name":"camera_2","offset_m":[0.007075936733911381,0.011117492272413147,-0.00029765059435243185]},{"name":"camera_3","offset_m":[-0.001812419826647687,0.019910850632215687,0.007710990994516841]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0002853563202933351,-0.00011423322209614013,0.0009246310631887693],"end_effector_yaw_offset_degrees":0.9989412748830955},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0006031641912558792,0.0006476634768161735,0.001245815086540869],"end_effector_yaw_offset_degrees":-0.21428331378432564},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0010764906536900277,0.001741427796543316,0.0013592088289535618],"end_effector_yaw_offset_degrees":0.493531874942009},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005647002473697657,0.0002882748713998991,0.00022341136980382143],"end_effector_yaw_offset_degrees":-0.6861361728207855}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0037404767318764388,-0.003439331821506767],"position_m":[0.20985952326812357,-0.05713933182150677,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002408067273159639,-7.738494168052154e-06],"position_m":[0.2515080672731596,-0.3834077384941681,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002430447835708672,-0.0016347267617765537],"position_m":[0.14293044783570868,0.23306527323822343,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0023746736272416266,-0.0013688324640051533],"position_m":[0.35597467362724167,0.11583116753599484,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"64e6a791282cccdf4429709a7a224defa1dd73cfc4976912f716526c185e970d","episode_index":15,"episode_name":"episode_0015"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0015.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_2806/tex_ceiling_textures_4676/tex_floor_textures_7596/tex_table_textures_4610/tex_wall_textures_1086","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":2027164861600951709,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":2027164861600951709,"visual_seed":2027164861600951709,"scene_id":"lab_003","finished_at":"2026-09-05T19:00:12"} +{"episode_id":"ep_000014","started_at":"2026-09-05T19:00:19","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_0","position":[-0.35071840367703316,-1.3794648111516041,0.71338606911949],"aabb_xy":[[-0.4157184037113359,-1.4261654878319316],[-0.28571840364273043,-1.332764134471277]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_1","position":[0.310792778795141,1.199046032198508,0.71338606911949],"aabb_xy":[[0.3026650906018278,1.1901324237878004],[0.3189204669884542,1.207959640609216]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_2","position":[0.05275756055373981,-1.7802856592835523,0.71338606911949],"aabb_xy":[[-0.0072424399541131034,-1.8371323929694736],[0.11275756106159274,-1.723438925597631]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_3","position":[-0.38939895680621484,-1.8837067478400975,0.71338606911949],"aabb_xy":[[-0.4393989562464104,-1.9336746723244138],[-0.33939895736601916,-1.8337388233557812]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_4","position":[-0.049501578846079974,1.0727816880723386,0.71338606911949],"aabb_xy":[[-0.08700158003087276,1.068363465376278],[-0.012001577661287175,1.077199910768399]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_5","position":[0.28071872660776365,1.0191404609025212,0.71338606911949],"aabb_xy":[[0.22572647597225276,0.9641404591592087],[0.33571097724327464,1.0741404626458342]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_6","position":[-0.3754093057320984,1.0856301094541623,0.71338606911949],"aabb_xy":[[-0.4303830277684313,1.0306301098899293],[-0.3204355836957655,1.1406301090183957]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_7","position":[-0.6216553038682205,1.5568295534073235,0.71338606911949],"aabb_xy":[[-0.6856553041286912,1.5118207540543953],[-0.5576553036077496,1.6018383527602513]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_8","position":[-0.5277959357468867,-0.7305376099705732,0.71338606911949],"aabb_xy":[[-0.5615714949375796,-0.7445761051837382],[-0.4940203765561937,-0.7164991147574081]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_9","position":[-0.1195377540648328,1.2480226696322987,0.71338606911949],"aabb_xy":[[-0.14408396968758352,1.2177737730832616],[-0.09499153844208208,1.2782715661813357]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_10","position":[-0.46352343453709577,1.7092075262282482,0.71338606911949],"aabb_xy":[[-0.46983553407343415,1.703440586975029],[-0.4572113350007573,1.714974465481467]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_11","position":[-0.528486714852624,-1.088188067437085,0.71338606911949],"aabb_xy":[[-0.5762928824663927,-1.1531880701441437],[-0.48068054723885534,-1.0231880647300258]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_12","position":[0.055721373430063004,-1.9510994212471444,0.71338606911949],"aabb_xy":[[0.0448808952035481,-1.9682857025377931],[0.06656185165657791,-1.9339131399564957]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_13","position":[-0.2138430421683749,-1.085897874031975,0.71338606911949],"aabb_xy":[[-0.21874233447493835,-1.1135747933345435],[-0.20894374986181136,-1.058220954729406]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_14","position":[-0.3473090400534882,-0.5729202642874487,0.71338606911949],"aabb_xy":[[-0.38480903999725463,-0.5812133543222853],[-0.3098090401097218,-0.5646271742526121]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_15","position":[0.3907776579487072,-1.5226924978132481,0.71338606911949],"aabb_xy":[[0.33578218012804784,-1.577692499247155],[0.4457731357693666,-1.4676924963793412]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_16","position":[0.2414396596581816,-2.5689921945315466,0.71338606911949],"aabb_xy":[[0.21893965964803327,-2.58308841417115],[0.2639396596683299,-2.5548959748919433]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_17","position":[0.24057128960905683,-1.8745424108056983,0.71338606911949],"aabb_xy":[[0.2304182740549074,-1.9106119523784384],[0.25072430516320615,-1.8384728692329577]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_18","position":[0.4447824196188246,-1.3456871634009513,0.71338606911949],"aabb_xy":[[0.43470071254025106,-1.4256871612930657],[0.454864126697398,-1.2656871655088364]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_19","position":[0.32173657031896585,0.7525525198565961,0.71338606911949],"aabb_xy":[[0.2938915335383588,0.7217680211182844],[0.34958160709957303,0.7833370185949078]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_20","position":[0.21014388249848226,-2.2830944080171336,0.71338606911949],"aabb_xy":[[0.17264388183390353,-2.2987814660173553],[0.24764388316306093,-2.267407350016911]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_21","position":[0.6342824502127637,0.8277411314071879,0.71338606911949],"aabb_xy":[[0.6288245045757436,0.7477411280995285],[0.6397403958497837,0.9077411347148467]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6882166797014787,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7157.png","name":"7157"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7157.png","name":"7157"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/853.png","name":"853"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2039.png","name":"2039"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5238.png","name":"5238"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2652.png","name":"2652"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":640.0480771644316,"rotation_z_degrees":57.74222708625243,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013977281350474522,-0.01928122124388582,0.0009366366327382865]},{"name":"camera_2","offset_m":[0.01841223506408159,-0.005465627439022019,0.01844240499576218]},{"name":"camera_3","offset_m":[-0.005548449219566369,0.005184810620502765,0.014444125062604635]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00180124423068875,-0.0006194915540070709,-0.0014724272401691633],"end_effector_yaw_offset_degrees":-0.6611237666228722},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0014692415044180607,0.00010193694747124074,0.00037033608648214715],"end_effector_yaw_offset_degrees":-0.5345068996217364},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0010504602947973539,0.0013028748649886752,-0.001006023625314039],"end_effector_yaw_offset_degrees":0.42664675431440346},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00020799700816091478,-0.0005368448352675807,0.0006078390999374561],"end_effector_yaw_offset_degrees":-0.39941754946770414}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0018605976701196094,0.004721217923127495],"position_m":[0.2117394023298804,-0.0489787820768725,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00155970135365074,-0.0013679687466749278],"position_m":[0.24754029864634924,-0.38476796874667496,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00038963590973584063,0.00493614628126485],"position_m":[0.14011036409026417,0.23963614628126484,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002462130034020559,0.0022356090528408727],"position_m":[0.35113786996597945,0.11943560905284087,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"364d4ae67f04e0c8a62684751a84350dfeec6ed97ba622d4de2734854ad45d5d","episode_index":16,"episode_name":"episode_0016"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0016.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_7157/tex_ceiling_textures_2652/tex_floor_textures_5238/tex_table_textures_853/tex_wall_textures_2039","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":3145180025089947331,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":3145180025089947331,"visual_seed":3145180025089947331,"scene_id":"lab_003","finished_at":"2026-09-05T19:04:08"} +{"episode_id":"ep_000015","started_at":"2026-09-05T19:04:11","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_0","position":[-0.48905176351532753,0.3027972384035924,0.71338606911949],"aabb_xy":[[-0.5065517637603769,0.2852974505640255],[-0.47155176327027815,0.3202970262431592]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_1","position":[-0.4073774230588575,1.6777651040093926,0.71338606911949],"aabb_xy":[[-0.4167244306411527,1.6634614817917486],[-0.39803041547656226,1.6920687262270366]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_2","position":[0.4302360960780047,0.27791554461471524,0.71338606911949],"aabb_xy":[[0.38524350935955426,0.23291554534026643],[0.4752286827964551,0.32291554388916394]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_3","position":[0.493525473683599,-0.062127687834065526,0.71338606911949],"aabb_xy":[[0.4822804181129811,-0.0733694855581608],[0.5047705292542168,-0.05088589010997023]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_4","position":[0.5548541629166546,1.7890497161446004,0.71338606911949],"aabb_xy":[[0.5495216482620416,1.783725387899365],[0.5601866775712677,1.7943740443898362]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_5","position":[0.43773167283906034,-0.3232377237260766,0.71338606911949],"aabb_xy":[[0.3877316724784942,-0.3732177109356795],[0.48773167319962635,-0.2732577365164736]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_6","position":[-0.6497050429787504,0.07177893620825193,0.71338606911949],"aabb_xy":[[-0.6640394681049139,0.05971872065371307],[-0.635370617852587,0.08383915176279076]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_7","position":[-0.058719167534591055,-1.8901082203671593,0.71338606911949],"aabb_xy":[[-0.12271917082429917,-1.9334431393710767],[0.005280835755117056,-1.8467733013632415]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_8","position":[-0.2981276171564838,-1.9382338714159246,0.71338606911949],"aabb_xy":[[-0.3132299186175018,-1.9533353930469861],[-0.28302531569546563,-1.9231323497848622]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_9","position":[0.5242952870285533,-0.5748321519027235,0.71338606911949],"aabb_xy":[[0.48929528789859766,-0.5805773729783875],[0.559295286158509,-0.5690869308270593]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_10","position":[-0.6169358840498061,1.3317659863157156,0.71338606911949],"aabb_xy":[[-0.6421567209096456,1.3065422354628284],[-0.5917150471899663,1.356989737168602]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_11","position":[-0.001604881002751024,1.748684762839083,0.71338606911949],"aabb_xy":[[-0.016767753979688108,1.7335193055439644],[0.01355799197418606,1.763850220134202]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_12","position":[0.08660986718510366,-2.520569928709958,0.71338606911949],"aabb_xy":[[0.08176627242387367,-2.5254215811889424],[0.09145346194633362,-2.515718276230974]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_13","position":[0.5873887619871776,-0.2385458320762135,0.71338606911949],"aabb_xy":[[0.5323932841665181,-0.29354583351012037],[0.6423842398078369,-0.1835458306423065]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_14","position":[0.4916390488255755,-1.4046817917144394,0.71338606911949],"aabb_xy":[[0.4276433514304789,-1.4686817900151479],[0.5556347462206721,-1.3406817934137305]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_15","position":[0.2176500739315288,-1.8193852319728765,0.71338606911949],"aabb_xy":[[0.18650315508794568,-1.8893852306596832],[0.2487969927751119,-1.7493852332860689]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_16","position":[-0.6165371844103543,0.5437928578245668,0.71338606911949],"aabb_xy":[[-0.6296884303816437,0.5187928580678802],[-0.603385938439065,0.5687928575812533]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_17","position":[0.361349028044897,-1.7671437092521778,0.71338606911949],"aabb_xy":[[0.3113702195345811,-1.8171437092578961],[0.4113278365552129,-1.7171437092464585]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_18","position":[0.6678463097802301,-1.6196118157650394,0.71338606911949],"aabb_xy":[[0.650299614864111,-1.6571118173292907],[0.6853930046963489,-1.5821118142007882]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_19","position":[0.022725748240295163,-2.296645122453849,0.71338606911949],"aabb_xy":[[0.007169978830029901,-2.3121955556982563],[0.03828151765056043,-2.281094689209442]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_20","position":[-0.49259230736081006,-1.764010384403936,0.71338606911949],"aabb_xy":[[-0.49963375831155765,-1.7710371361417303],[-0.48555085641006246,-1.7569836326661414]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_21","position":[-0.26990443662621477,-1.2665120809517145,0.71338606911949],"aabb_xy":[[-0.2814734173731514,-1.2915120810686462],[-0.25833545587927825,-1.2415120808347828]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_22","position":[0.5734895562186597,-0.9824013120216566,0.71338606911949],"aabb_xy":[[0.48348955388464065,-1.0598836666067695],[0.6634895585526788,-0.904918957436544]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_23","position":[-0.06136270738528493,-2.4984053633521244,0.71338606911949],"aabb_xy":[[-0.06906589805936197,-2.506114734050862],[-0.05365951671120789,-2.490695992653386]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_24","position":[-0.422859121383757,-1.582992840897863,0.71338606911949],"aabb_xy":[[-0.43166117669272963,-1.5908041670527917],[-0.4140570660747842,-1.5751815147429336]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_25","position":[0.6909411515139405,-2.524626644358607,0.71338606911949],"aabb_xy":[[0.6875004752738834,-2.5284880773329714],[0.6943818277539977,-2.5207652113842425]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_26","position":[-0.41198214222090745,-2.5092968820699473,0.71338606911949],"aabb_xy":[[-0.4769821422552102,-2.555997558750274],[-0.3469821421866047,-2.4625962053896195]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_27","position":[0.5774594719244956,-2.205134916877526,0.71338606911949],"aabb_xy":[[0.541545967499506,-2.241048425094281],[0.6133729763494853,-2.1692214086607713]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_28","position":[-0.10702607723305979,0.4319491154362236,0.71338606911949],"aabb_xy":[[-0.17102607640282974,0.3851824283172611],[-0.04302607806328986,0.4787158025551861]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_29","position":[-0.0716050785009178,-1.5312899377685736,0.71338606911949],"aabb_xy":[[-0.100254410861334,-1.5599354970456494],[-0.04295574614050156,-1.5026443784914978]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6863900543532971,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3938.png","name":"3938"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3938.png","name":"3938"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6743.png","name":"6743"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3817.png","name":"3817"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8176.png","name":"8176"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/249.png","name":"249"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":725.2320038091165,"rotation_z_degrees":10.652539481830967,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019714447000042386,0.014610966875111663,-0.013024571903956374]},{"name":"camera_2","offset_m":[0.016095147409767734,0.013003969428551743,-0.0014097396261876852]},{"name":"camera_3","offset_m":[-0.0013752323312471552,0.003456983536172121,-0.0024384784040837014]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0017869542653748292,-0.0005101741945326913,0.001336757511487071],"end_effector_yaw_offset_degrees":-0.09969184855430435},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.001155167744730034,0.0011179190278355448,0.00044722169621870317],"end_effector_yaw_offset_degrees":0.8270996167608242},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001254655066475325,-0.00031253044854133677,-0.0009945823484520636],"end_effector_yaw_offset_degrees":-0.03599628712805325},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0009834860417109116,-0.0006188612302840033,0.0006340890708430554],"end_effector_yaw_offset_degrees":0.4865241602179282}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00046187240590717365,-0.0005466738848864368],"position_m":[0.21406187240590718,-0.05424667388488644,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0022124776045396254,0.0009342334170508977],"position_m":[0.24688752239546036,-0.3824657665829491,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0026243952113918587,-0.002563355789199737],"position_m":[0.14312439521139186,0.23213664421080024,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0016471489145406986,-0.0024935156578904448],"position_m":[0.35524714891454073,0.11470648434210956,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"383fcb0cf2ecd23d1be97b26eb4cdd4574cfe8c8253b8e27532eda527a714d8d","episode_index":17,"episode_name":"episode_0017"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0017.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_3938/tex_ceiling_textures_249/tex_floor_textures_8176/tex_table_textures_6743/tex_wall_textures_3817","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":4624229232087516764,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":4624229232087516764,"visual_seed":4624229232087516764,"scene_id":"lab_003","finished_at":"2026-09-05T19:07:29"} +{"episode_id":"ep_000016","started_at":"2026-09-05T19:07:32","dimensions":{"distractor":{"count":23,"items":[{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_0","position":[0.21077975540299276,-1.83864201433652,0.71338606911949],"aabb_xy":[[0.17344847887775014,-1.8732950691313723],[0.2481110319282354,-1.8039889595416678]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_1","position":[0.44569075324083074,-1.1732557892682676,0.71338606911949],"aabb_xy":[[0.3816907568135089,-1.2204254130903642],[0.5096907496681526,-1.1260861654461713]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_2","position":[-0.5143999198647913,0.47135327846147534,0.71338606911949],"aabb_xy":[[-0.5204369328654561,0.4653265773925272],[-0.5083629068641267,0.4773799795304236]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_3","position":[-0.2827484178202361,0.6467618708441245,0.71338606911949],"aabb_xy":[[-0.31618859301625557,0.6133182450131943],[-0.2493082426242164,0.6802054966750545]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_4","position":[-0.15219139051415742,1.1101929803338586,0.71338606911949],"aabb_xy":[[-0.15589465184329626,1.1064909620251406],[-0.14848812918501852,1.1138949986425761]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_5","position":[0.5686638298658959,1.6466639737846207,0.71338606911949],"aabb_xy":[[0.5236712431474455,1.6016639745101717],[0.6136564165843463,1.6916639730590692]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_6","position":[0.5958053802478853,-2.068024482485173,0.71338606911949],"aabb_xy":[[0.5909060879413217,-2.095701401787742],[0.6007046725544487,-2.0403475631826042]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_7","position":[-0.06183119410710225,0.8727100805544414,0.71338606911949],"aabb_xy":[[-0.1118262050665543,0.8227100815188498],[-0.011836183147650222,0.9227100795900333]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_8","position":[0.6432222376083643,-1.536221303731809,0.71338606911949],"aabb_xy":[[0.6261201596499961,-1.5533281092630786],[0.6603243155667324,-1.5191144982005391]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_9","position":[0.21135611783004815,0.9046213759632198,0.71338606911949],"aabb_xy":[[0.16135611681091291,0.8681551602253921],[0.26135611884918347,0.9410875917010479]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_10","position":[0.21792951428359308,-0.9765553321318852,0.71338606911949],"aabb_xy":[[0.19292951473185455,-0.9866978159970198],[0.2429295138353315,-0.9664128482667503]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_11","position":[0.6464849905816827,-1.8072325250871613,0.71338606911949],"aabb_xy":[[0.6121880795639421,-1.8415294112971023],[0.6807819015994232,-1.7729356388772197]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_12","position":[-0.5333413923739884,-0.46903620855354067,0.71338606911949],"aabb_xy":[[-0.55025212481033,-0.4825084141461551],[-0.5164306599376465,-0.45556400296092603]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_13","position":[0.10187115657669454,0.74087004860968,0.71338606911949],"aabb_xy":[[0.0683919893156536,0.707390935238573],[0.1353503238377355,0.774349161980787]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_14","position":[-0.2768214805245876,-0.15786450436604982,0.71338606911949],"aabb_xy":[[-0.3418214831623811,-0.20934410306549675],[-0.21182147788679412,-0.10638490566660283]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_15","position":[-0.48924139417694823,0.6460452852714273,0.71338606911949],"aabb_xy":[[-0.5532413974666563,0.6027103662675096],[-0.4252413908872401,0.6893802042753449]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_16","position":[0.3233103168483358,-0.757668650186377,0.71338606911949],"aabb_xy":[[0.26331031634048285,-0.8145153838722983],[0.3833103173561887,-0.7008219165004557]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_17","position":[0.4070580719310033,-0.5622608176374739,0.71338606911949],"aabb_xy":[[0.3569606079499297,-0.6262608181472857],[0.4571555359120769,-0.4982608171276621]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_18","position":[0.6082290028577502,-0.3904972595376677,0.71338606911949],"aabb_xy":[[0.5382290010490048,-0.411851028301855],[0.6782290046664957,-0.36914349077348024]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_19","position":[-0.07917962430546899,0.28066712907768165,0.71338606911949],"aabb_xy":[[-0.11417962261616443,0.272952114154136],[-0.04417962599477354,0.2883821440012273]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_20","position":[-0.2290070476134627,1.7635820397895636,0.71338606911949],"aabb_xy":[[-0.26580168073836896,1.7266761646929814],[-0.19221241448855644,1.800487914886146]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_21","position":[-0.19349342901015265,1.312421710333986,0.71338606911949],"aabb_xy":[[-0.21116905959875093,1.294741494054583],[-0.17581779842155426,1.3301019266133884]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_22","position":[0.22707683268647183,0.6588236780606413,0.71338606911949],"aabb_xy":[[0.192076832709976,0.6493590620130247],[0.26207683266296766,0.668288294108258]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6894359801838711,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8151.png","name":"8151"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8151.png","name":"8151"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9824.png","name":"9824"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4812.png","name":"4812"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4887.png","name":"4887"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5109.png","name":"5109"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":519.2489762254966,"rotation_z_degrees":150.3923721531714,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012042679495743832,0.01586496269367207,-0.007461553930784586]},{"name":"camera_2","offset_m":[0.006332400795425266,-0.013825686550209153,0.0030976892617396654]},{"name":"camera_3","offset_m":[0.01723492060119382,-0.013856383475000799,-0.014169211784153615]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0017778980115245543,-0.0011814708204530278,0.0016666112953440649],"end_effector_yaw_offset_degrees":-0.29223589573628783},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.001494770088424861,-0.0008659279869751115,0.0010631858938362905],"end_effector_yaw_offset_degrees":-0.35063151254316605},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0009840231371188617,-0.0005953029242246712,-0.0004833711355559274],"end_effector_yaw_offset_degrees":0.9837118422499913},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001866773551102186,-0.001944235093474695,-0.001384786235178194],"end_effector_yaw_offset_degrees":-0.950513475101572}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004442281863720725,-0.0004390828113825969],"position_m":[0.20915771813627929,-0.05413908281138259,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0007071715785661346,-0.002284464421300346],"position_m":[0.24839282842143384,-0.3856844644213004,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002071592810750383,0.003966602005806715],"position_m":[0.1425715928107504,0.2386666020058067,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0008556956914583377,-0.001484410144504783],"position_m":[0.3527443043085417,0.11571558985549521,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d0a0047905a68e17a295743681a10e6c1bf004e79798fd15cef2f58db876f327","episode_index":18,"episode_name":"episode_0018"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0018.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_8151/tex_ceiling_textures_5109/tex_floor_textures_4887/tex_table_textures_9824/tex_wall_textures_4812","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":5245415591852179124,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":5245415591852179124,"visual_seed":5245415591852179124,"scene_id":"lab_003","finished_at":"2026-09-05T19:11:11"} +{"episode_id":"ep_000017","started_at":"2026-09-05T19:11:14","dimensions":{"distractor":{"count":25,"items":[{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_0","position":[0.45377066053132964,1.7426321392640127,0.71338606911949],"aabb_xy":[[0.39377066002347666,1.6857854055780914],[0.5137706610391825,1.799478872949934]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_1","position":[0.16492473094536886,-1.7735442447127072,0.71338606911949],"aabb_xy":[[0.15851091730218392,-1.7799540649603751],[0.1713385445885538,-1.7671344244650384]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_2","position":[0.049320358380545715,-1.956918859618806,0.71338606911949],"aabb_xy":[[-0.014679638731559967,-2.005951229413217],[0.1133203554926514,-1.9078864898243957]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_3","position":[0.5840261934605668,1.1013006903902531,0.71338606911949],"aabb_xy":[[0.5665262600265834,1.0838006904700184],[0.6015261268945501,1.1188006903104875]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_4","position":[-0.4830466853107155,-1.4239870973302915,0.71338606911949],"aabb_xy":[[-0.5430466851572822,-1.4808057195233302],[-0.42304668546414864,-1.3671684751372528]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_5","position":[0.39018998238201275,0.42123573879330944,0.71338606911949],"aabb_xy":[[0.3597918712828691,0.39082883679163993],[0.4205880934811563,0.45164264079497896]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_6","position":[0.5014102621098959,-0.6422408020291446,0.71338606911949],"aabb_xy":[[0.4761894252500562,-0.6674645528820312],[0.5266310989697355,-0.6170170511762577]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_7","position":[-0.47171290159466067,-2.2943314151316607,0.71338606911949],"aabb_xy":[[-0.5367129042324541,-2.3458110138311077],[-0.40671289895686724,-2.2428518164322138]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_8","position":[0.053664599644697164,1.4631820742743327,0.71338606911949],"aabb_xy":[[-0.01033540105877217,1.4171636918014117],[0.11766460034816653,1.509200456747254]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_9","position":[-0.5248817336080781,0.25519117261550806,0.71338606911949],"aabb_xy":[[-0.5948817369996401,0.21987539891207716],[-0.4548817302165162,0.29050694631893886]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_10","position":[-0.16322847700830467,0.8681919841122436,0.71338606911949],"aabb_xy":[[-0.22822847796543186,0.816243772178538],[-0.09822847605117745,0.9201401960459492]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_11","position":[0.6758214017229804,0.15342201300575065,0.71338606911949],"aabb_xy":[[0.658027894788064,0.13562226740995298],[0.6936149086578969,0.1712217586015483]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_12","position":[-0.4289254927558859,-1.9136277724495052,0.71338606911949],"aabb_xy":[[-0.4905162519798787,-1.977627770558552],[-0.36733473353189305,-1.8496277743404583]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_13","position":[0.3552940532424409,-1.5138152007951875,0.71338606911949],"aabb_xy":[[0.3177940531368479,-1.5206373626481684],[0.3927940533480338,-1.5069930389422062]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_14","position":[0.49010112432193553,-1.5497949155412987,0.71338606911949],"aabb_xy":[[0.4558042133041949,-1.58409180175124],[0.5243980353396761,-1.5154980293313574]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_15","position":[0.49481740380430606,0.39734424090816756,0.71338606911949],"aabb_xy":[[0.48565752486042946,0.39081302286463054],[0.5039772827481827,0.40387545895170457]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_16","position":[-0.2521005041075773,-0.18984237937787984,0.71338606911949],"aabb_xy":[[-0.25694409886880726,-0.19469403185686393],[-0.2472569093463473,-0.1849907268988957]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_17","position":[-0.4292103984569714,-2.1509596114215466,0.71338606911949],"aabb_xy":[[-0.43265107469702857,-2.154821044395911],[-0.4257697222169142,-2.147098178447182]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_18","position":[0.6053302740727409,-0.08559062289681885,0.71338606911949],"aabb_xy":[[0.5253302754854213,-0.1649062248349797],[0.6853302726600602,-0.006275020958657936]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_19","position":[-0.11983350834237383,-1.4702198627870364,0.71338606911949],"aabb_xy":[[-0.16981774405055106,-1.5202198616005318],[-0.0698492726341966,-1.4202198639735406]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_20","position":[-0.37404378998209664,0.06364228185254195,0.71338606911949],"aabb_xy":[[-0.41154379149772835,0.052415508836396896],[-0.33654378846646493,0.074869054868687]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_21","position":[-0.43604620133885325,0.6347033277852749,0.71338606911949],"aabb_xy":[[-0.5000462016128315,0.584637227587987],[-0.372046201064875,0.6847694279825629]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_22","position":[-0.5913672262432007,-1.6580247493179434,0.71338606911949],"aabb_xy":[[-0.596002341395434,-1.6618920843950917],[-0.5867321110909672,-1.6541574142407942]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_23","position":[-0.19545735138473735,-0.8979328464239926,0.71338606911949],"aabb_xy":[[-0.2292329105754303,-0.9119713416371574],[-0.16168179219404435,-0.8838943512108274]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_24","position":[0.054654381977708,-2.3810844701175857,0.71338606911949],"aabb_xy":[[-0.005345618273693176,-2.4353657951540497],[0.11465438222910918,-2.326803145081121]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6822362624375841,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9928.png","name":"9928"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9928.png","name":"9928"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6255.png","name":"6255"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2840.png","name":"2840"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9357.png","name":"9357"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4160.png","name":"4160"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":733.7172784402392,"rotation_z_degrees":92.08328135906287,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0011243578960911209,-0.015230683848528291,0.019908975237429603]},{"name":"camera_2","offset_m":[-0.0019730562042560087,0.007846763843917512,-0.006369878446818271]},{"name":"camera_3","offset_m":[0.01033180171730649,0.018451082558160175,-0.000703293361151415]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001835214606943791,-0.0012463098445629273,-0.001911279763134901],"end_effector_yaw_offset_degrees":0.7194169537788351},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.001982463622865467,-0.001902058526744392,0.00012755443454724172],"end_effector_yaw_offset_degrees":-0.3968318491003553},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.000554866195257232,-0.0016856046319015578,0.0015989476990542865],"end_effector_yaw_offset_degrees":-0.5112291282163346},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0012890499333001967,0.0006681750964119396,-0.0001463906753107556],"end_effector_yaw_offset_degrees":-0.2529341595518091}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0019080631391233962,-0.003670547486017849],"position_m":[0.21169193686087662,-0.057370547486017845,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004775223185604014,0.004573064908302429],"position_m":[0.24432477681439596,-0.37882693509169757,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00207702074609033,-0.003338689526407328],"position_m":[0.13842297925390967,0.23136131047359265,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004301494081276578,0.004781939518182238],"position_m":[0.34929850591872347,0.12198193951818223,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4afc4b1cd69d58c130bf39e36e013be17421577aea201566ec96a7d1b7d99d4d","episode_index":19,"episode_name":"episode_0019"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0019.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_9928/tex_ceiling_textures_4160/tex_floor_textures_9357/tex_table_textures_6255/tex_wall_textures_2840","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":7324817755314327650,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":7324817755314327650,"visual_seed":7324817755314327650,"scene_id":"lab_003","finished_at":"2026-09-05T19:14:39"} +{"episode_id":"ep_000018","started_at":"2026-09-05T19:14:43","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_0","position":[0.008541305087544915,0.7099938578190401,0.71338606911949],"aabb_xy":[[-0.00895869517179171,0.6959023156302675],[0.026041305346881545,0.7240854000078127]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_1","position":[-0.591611962869352,-2.1952166562703557,0.71338606911949],"aabb_xy":[[-0.6492424317566228,-2.255216655197066],[-0.5339814939820811,-2.1352166573436446]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_2","position":[-0.21332653216807201,-0.9643710793717812,0.71338606911949],"aabb_xy":[[-0.23660837436620333,-1.049371080669009],[-0.19004468996994064,-0.8793710780745532]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_3","position":[-0.5984668130783082,-1.451178728457071,0.71338606911949],"aabb_xy":[[-0.6247556373987487,-1.477450162111722],[-0.5721779887578674,-1.4249072948024195]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_4","position":[-0.1627622251752716,-1.8960741110740376,0.71338606911949],"aabb_xy":[[-0.17740563072930457,-1.9107328307308218],[-0.1481188196212386,-1.8814153914172533]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_5","position":[-0.3325111647409532,-0.2085042732072675,0.71338606911949],"aabb_xy":[[-0.3359518409810104,-0.21236570618163203],[-0.32907048850089604,-0.20464284023290308]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_6","position":[-0.5907978857928449,1.0857682944637705,0.71338606911949],"aabb_xy":[[-0.6547978830951913,1.0414018674959138],[-0.5267978884904985,1.1301347214316273]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_7","position":[0.614939867783006,-0.5068289231701888,0.71338606911949],"aabb_xy":[[0.5806429567652653,-0.5411258093801301],[0.6492367788007465,-0.4725320369602474]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_8","position":[0.15747231099149028,-2.384281861635659,0.71338606911949],"aabb_xy":[[0.09247231310984248,-2.4354055253422002],[0.2224723088731381,-2.3331581979291185]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_9","position":[0.09369350350978267,-1.942287378671458,0.71338606911949],"aabb_xy":[[0.08354048795563329,-1.978356920244198],[0.10384651906393204,-1.9062178370987173]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_10","position":[-0.1312592205666766,0.7609159147644018,0.71338606911949],"aabb_xy":[[-0.13767303420986152,0.7545060945167333],[-0.12484540692349165,0.76732573501207]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_11","position":[-0.6460703100475115,-1.5700401027868462,0.71338606911949],"aabb_xy":[[-0.6566377897056105,-1.5805851328998546],[-0.6355028303894125,-1.5594950726738375]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_12","position":[0.45018111822272955,0.2406556570301941,0.71338606911949],"aabb_xy":[[0.4438690186863911,0.2348887177769753],[0.456493217759068,0.24642259628341295]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_13","position":[0.3324125767123105,1.7727201517488393,0.71338606911949],"aabb_xy":[[0.2474125780202358,1.7407342883539603],[0.4174125754043851,1.804706015143718]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_14","position":[0.5502766354378685,-0.9788122244279156,0.71338606911949],"aabb_xy":[[0.538707654690932,-1.0038122245448473],[0.5618456161848051,-0.9538122243109839]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_15","position":[-0.4677178911771397,-1.6446759666332254,0.71338606911949],"aabb_xy":[[-0.4982021413041698,-1.6946759664147213],[-0.4372336410501095,-1.5946759668517294]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_16","position":[0.6919095238311697,1.3068970594412637,0.71338606911949],"aabb_xy":[[0.6744095246968024,1.2970174324036756],[0.7094095229655367,1.3167766864788513]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_17","position":[-0.17171163828536562,-0.49002242514537153,0.71338606911949],"aabb_xy":[[-0.20820745891264433,-0.5265063675721291],[-0.13521581765808685,-0.4535384827186139]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_18","position":[0.3873625506243106,1.0169494098884115,0.71338606911949],"aabb_xy":[[0.2973625520298407,1.0006988235749905],[0.4773625492187806,1.0331999962018326]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_19","position":[-0.6379790858548534,-2.418817999038034,0.71338606911949],"aabb_xy":[[-0.6729790849848091,-2.4245632201136975],[-0.6029790867248978,-2.4130727779623693]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_20","position":[-0.48390239999511564,-2.0271456448780887,0.71338606911949],"aabb_xy":[[-0.4892349146497286,-2.0324699731233244],[-0.47856988534050265,-2.021821316632853]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_21","position":[0.1851531930322825,1.0019408674756343,0.71338606911949],"aabb_xy":[[0.167284085277827,0.9881079594984233],[0.203022300786738,1.0157737754528453]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_22","position":[-0.46745103609297506,-0.24337430137464988,0.71338606911949],"aabb_xy":[[-0.5086998471228897,-0.2983743008868672],[-0.42620222506306027,-0.18837430186243237]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_23","position":[0.44047440292849904,-2.346095465629603,0.71338606911949],"aabb_xy":[[0.4031431264032565,-2.3807485204244556],[0.4778056794537417,-2.311442410834751]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6922574304722942,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9934.png","name":"9934"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9934.png","name":"9934"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8299.png","name":"8299"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8990.png","name":"8990"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2296.png","name":"2296"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6330.png","name":"6330"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":602.0210421918678,"rotation_z_degrees":41.359092826347656,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.017523575942340865,0.010084590477546194,-0.005609037387514216]},{"name":"camera_2","offset_m":[0.019785499472706292,-0.008364137147702264,-0.018800203520850527]},{"name":"camera_3","offset_m":[0.001016537319577647,-0.009799376512687377,0.013602191293024226]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.000587164304952012,0.0019496066323491396,0.0007089237391236865],"end_effector_yaw_offset_degrees":0.03363824106636426},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00029447279399964343,0.0019559981752489885,0.0004880966447795591],"end_effector_yaw_offset_degrees":0.15987594626731405},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00010929865385893452,0.00016705771155536278,0.0004335120399029586],"end_effector_yaw_offset_degrees":-0.23358914725363555},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00019278658821818154,0.0018047237742862946,0.0013342584644128602],"end_effector_yaw_offset_degrees":-0.9569867469730675}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0019244165031417869,0.0019378463056220607],"position_m":[0.2155244165031418,-0.051762153694377935,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0036620791960636214,-0.0008370846265471207],"position_m":[0.2527620791960636,-0.38423708462654715,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00045651611323825874,-0.0034008975470191374],"position_m":[0.14004348388676174,0.23129910245298085,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0012289167977787754,-0.004996472758794568],"position_m":[0.3548289167977788,0.11220352724120543,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a247bb396fc6ae9342839333a062f92672eaec7735136c08075dc4861ef50030","episode_index":20,"episode_name":"episode_0020"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0020.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_9934/tex_ceiling_textures_6330/tex_floor_textures_2296/tex_table_textures_8299/tex_wall_textures_8990","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":1333452565150926643,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":1333452565150926643,"visual_seed":1333452565150926643,"scene_id":"lab_003","finished_at":"2026-09-05T19:18:03"} +{"episode_id":"ep_000019","started_at":"2026-09-05T19:18:06","dimensions":{"distractor":{"count":22,"items":[{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_0","position":[0.37323159575104037,-1.3148741866522877,0.71338606911949],"aabb_xy":[[0.365308315512292,-1.337374186890291],[0.38115487598978864,-1.2923741864142844]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_1","position":[-0.05847634024950843,-1.284364431040312,0.71338606911949],"aabb_xy":[[-0.09597634054168325,-1.2884059064409155],[-0.020976339957333612,-1.2803229556397084]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_2","position":[-0.2812007609351213,-0.3745145284839264,0.71338606911949],"aabb_xy":[[-0.3452007582374677,-0.41888095545178317],[-0.2172007636327749,-0.33014810151606966]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_3","position":[-0.32779036965476255,-1.3380506738185336,0.71338606911949],"aabb_xy":[[-0.3382019283352462,-1.343396407154432],[-0.3173788109742788,-1.3327049404826352]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_4","position":[-0.03964573689152795,1.2232555032332386,0.71338606911949],"aabb_xy":[[-0.04355961008695047,1.2145064878266818],[-0.035731863696105426,1.2320045186397954]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_5","position":[-0.04009895094315763,-0.8843544911712984,0.71338606911949],"aabb_xy":[[-0.09522415657274841,-0.9443544926125854],[0.01502625468643314,-0.8243544897300111]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_6","position":[-0.6621567419816896,0.7059245077344176,0.71338606911949],"aabb_xy":[[-0.6772590434427075,0.6908229861033555],[-0.6470544405206713,0.7210260293654791]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_7","position":[0.4673689032240709,-0.5742147013373704,0.71338606911949],"aabb_xy":[[0.4619109575870507,-0.6542147046450295],[0.47282684886109083,-0.4942146980297113]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_8","position":[-0.25226306026862866,-1.0504374090093334,0.71338606911949],"aabb_xy":[[-0.31726306122575587,-1.102385620943039],[-0.18726305931150147,-0.9984891970756279]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_9","position":[-0.29817205761796206,-2.0011348789346357,0.71338606911949],"aabb_xy":[[-0.3481451231504776,-2.0511348787471686],[-0.24819899208544666,-1.9511348791221028]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_10","position":[0.1396660681894898,0.7400561082773676,0.71338606911949],"aabb_xy":[[0.12779398517798868,0.6550561085837171],[0.1515381512009909,0.8250561079710178]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_11","position":[-0.1303966463132903,-2.5260267284143025,0.71338606911949],"aabb_xy":[[-0.18037545482360617,-2.5760267284200213],[-0.0804178378029744,-2.4760267284085837]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_12","position":[0.1001642813960969,-1.4640842846134048,0.71338606911949],"aabb_xy":[[0.06266428157906334,-1.4687224959245466],[0.13766428121313046,-1.459446073302263]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_13","position":[-0.5604848873540031,1.4060742541047047,0.71338606911949],"aabb_xy":[[-0.6404848845135784,1.3945266531468878],[-0.48048489019442786,1.417621855062522]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_14","position":[-0.4490175864093514,-0.046195099979077,0.71338606911949],"aabb_xy":[[-0.47353121050635727,-0.07045969328111346],[-0.42450396231234555,-0.02193050667704055]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_15","position":[-0.2625205613404525,-1.5934821479026766,0.71338606911949],"aabb_xy":[[-0.26736415610168246,-1.598333800381661],[-0.2576769665792225,-1.5886304954236927]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_16","position":[-0.543655940622302,0.8058147064455934,0.71338606911949],"aabb_xy":[[-0.5986559397988914,0.7508250316706357],[-0.48865594144571245,0.860804381220551]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_17","position":[-0.46206214761067455,0.563530844090685,0.71338606911949],"aabb_xy":[[-0.5320621497421041,0.5407688784649892],[-0.39206214547924495,0.5862928097163805]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_18","position":[-0.31436718079446513,-2.200577068960268,0.71338606911949],"aabb_xy":[[-0.3278137074285084,-2.2140469206133595],[-0.30092065416042174,-2.187107217307177]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_19","position":[0.5879944734116616,1.0186268153901925,0.71338606911949],"aabb_xy":[[0.5803702053214834,1.010993591853649],[0.5956187415018399,1.0262600389267365]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_20","position":[0.6791372870607417,-1.436903708077272,0.71338606911949],"aabb_xy":[[0.637888476030827,-1.4919037075894892],[0.7203860980906565,-1.3819037085650543]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_21","position":[-0.47591789173952737,-2.2978189156421323,0.71338606911949],"aabb_xy":[[-0.5259171669079636,-2.3478189169180794],[-0.4259186165710913,-2.247818914366185]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6863190552214222,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9605.png","name":"9605"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9605.png","name":"9605"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/922.png","name":"922"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5958.png","name":"5958"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4084.png","name":"4084"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2660.png","name":"2660"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":589.2162678733398,"rotation_z_degrees":347.9582636668999,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0008538715576484439,-0.016180066244245107,-0.009968697205126355]},{"name":"camera_2","offset_m":[-0.004153590043110951,-0.00916251486842167,-0.01125840176005413]},{"name":"camera_3","offset_m":[-0.018742056823998394,-0.0009387037187214668,0.013221207016697354]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.000824425083631306,0.0017227811184200967,-4.108677884117956e-05],"end_effector_yaw_offset_degrees":-0.014296370507292933},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0010592888697041045,0.0019991157019622306,-0.0005811571076663497],"end_effector_yaw_offset_degrees":-0.07482513835131188},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0011111780857824462,-0.0003115213907735144,-0.0013960429169390886],"end_effector_yaw_offset_degrees":0.05691286471482182},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0006288714896505454,0.00014141889387177817,-5.680269511323748e-05],"end_effector_yaw_offset_degrees":0.6403814005928881}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0030731298134626358,-0.0005952000483217725],"position_m":[0.21667312981346265,-0.05429520004832177,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0013776716315107595,0.0023090300295161847],"position_m":[0.24772232836848923,-0.38109096997048386,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0031189317385023974,0.0040090482214944064],"position_m":[0.13738106826149762,0.23870904822149439,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0021353146798489177,-0.0012048108873121445],"position_m":[0.3557353146798489,0.11599518911268786,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"bc3e560e43c4dfecc04dface0bb9df7fa044c59338ee4685d51fdce2148192f7","episode_index":21,"episode_name":"episode_0021"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0021.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_9605/tex_ceiling_textures_2660/tex_floor_textures_4084/tex_table_textures_922/tex_wall_textures_5958","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":4173128036188780956,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":4173128036188780956,"visual_seed":4173128036188780956,"scene_id":"lab_003","finished_at":"2026-09-05T19:22:04"} +{"episode_id":"ep_000020","started_at":"2026-09-05T19:22:07","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_0","position":[0.2971991646139849,0.7566760435899358,0.71338606911949],"aabb_xy":[[0.29323868084425053,0.7490081790044152],[0.3011596483837192,0.7643439081754564]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_1","position":[-0.5653616206192908,0.8712049422367589,0.71338606911949],"aabb_xy":[[-0.6293616192058633,0.8241979788372502],[-0.5013616220327184,0.9182119056362676]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_2","position":[0.575465893569175,0.6623785153537827,0.71338606911949],"aabb_xy":[[0.560822488015142,0.6477197956969984],[0.590109299123208,0.6770372350105669]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_3","position":[-0.1587142891234785,0.12015213049759454,0.71338606911949],"aabb_xy":[[-0.1962142897880572,0.10446507249737233],[-0.1212142884588998,0.13583918849781668]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_4","position":[-0.38513605070723744,-0.9735033237824016,0.71338606911949],"aabb_xy":[[-0.3905939963442575,-1.0535033270900604],[-0.3796781050702174,-0.8935033204747422]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_5","position":[-0.5832753350884303,-2.2151694534706436,0.71338606911949],"aabb_xy":[[-0.6632753322480056,-2.2267170544284602],[-0.503275337928855,-2.203621852512826]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_6","position":[0.1082674125746067,1.035239340181962,0.71338606911949],"aabb_xy":[[0.07326741344465103,1.0294941191062978],[0.14326741170456236,1.040984561257626]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_7","position":[-0.41065106604087914,1.7099034037375804,0.71338606911949],"aabb_xy":[[-0.4154946608021091,1.7050517512585963],[-0.40580747127964917,1.7147550562165645]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_8","position":[-0.04076844935357182,-1.099992088135572,0.71338606911949],"aabb_xy":[[-0.0775630824784781,-1.1368979632321543],[-0.00397381622866555,-1.0630862130389898]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_9","position":[-0.11729827849279528,0.597599931018379,0.71338606911949],"aabb_xy":[[-0.2072982752284055,0.5444164677010844],[-0.02729828175718506,0.6507833943356734]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_10","position":[0.5134331460079642,0.1654949031617039,0.71338606911949],"aabb_xy":[[0.4960024309289576,0.1482227884978531],[0.5308638610869706,0.1827670178255547]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_11","position":[0.5884993146751203,-1.4042712689800625,0.71338606911949],"aabb_xy":[[0.5733271453934871,-1.419440125908266],[0.6036714839567537,-1.3891024120518594]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_12","position":[0.6277842396442839,-1.1411686867766453,0.71338606911949],"aabb_xy":[[0.5377842399211096,-1.164242039311825],[0.7177842393674579,-1.1180953342414652]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_13","position":[0.48632858809162616,0.00031986510689518965,0.71338606911949],"aabb_xy":[[0.4363285867307389,-0.049658039468520425],[0.5363285894525133,0.050297769682310804]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_14","position":[0.28625165161216104,1.7381478395280063,0.71338606911949],"aabb_xy":[[0.22225165518483914,1.69097821570591],[0.35025164803948294,1.7853174633501028]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_15","position":[0.10369395269253168,-0.954200575546718,0.71338606911949],"aabb_xy":[[0.0995580963598315,-0.991700574991075],[0.10782980902523188,-0.916700576102361]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_16","position":[0.6127816380598508,-1.8355826396632158,0.71338606911949],"aabb_xy":[[0.5882680139628449,-1.8598472329652522],[0.6372952621568566,-1.8113180463611793]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_17","position":[0.636608815019279,-1.7458121430618148,0.71338606911949],"aabb_xy":[[0.6190305128303322,-1.7633866326359195],[0.6541871172082259,-1.7282376534877095]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_18","position":[-0.23057578056404077,-0.5460821434323875,0.71338606911949],"aabb_xy":[[-0.3005757839556027,-0.5813979171358182],[-0.16057577717247878,-0.5107663697289565]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_19","position":[-0.11274799038807248,-2.106495012009041,0.71338606911949],"aabb_xy":[[-0.11871452932880826,-2.1124561566684052],[-0.10678145144733668,-2.100533867349677]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_20","position":[-0.2714242001179844,0.8006662046092865,0.71338606911949],"aabb_xy":[[-0.32641967793864374,0.7456662031753795],[-0.21642872229732496,0.8556662060431933]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_21","position":[-0.5166334542986146,-1.0836484285860029,0.71338606911949],"aabb_xy":[[-0.5240459098400031,-1.0894996390076308],[-0.5092209987572262,-1.077797218164375]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_22","position":[0.7082420959605857,-0.9742658946070029,0.71338606911949],"aabb_xy":[[0.6923576026952606,-0.9886188349058269],[0.7241265892259109,-0.9599129543081788]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_23","position":[0.19746787567187496,0.5914468134115909,0.71338606911949],"aabb_xy":[[0.1729216600491242,0.5611979168625537],[0.22201409129462565,0.6216957099606278]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_24","position":[0.2201382784088015,1.4228078148047918,0.71338606911949],"aabb_xy":[[0.14013827975191556,1.408302955880529],[0.3001382770656876,1.4373126737290547]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_25","position":[0.6852630813227045,-0.41843671957299433,0.71338606911949],"aabb_xy":[[0.6548649702235608,-0.4488436215746638],[0.715661192421848,-0.38802981757132476]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_26","position":[-0.10436926062780583,-2.4582211029927508,0.71338606911949],"aabb_xy":[[-0.12688295245126302,-2.5282211035937583],[-0.08185556880434863,-2.3882211023917432]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_27","position":[-0.3958033971071508,1.6061751805935889,0.71338606911949],"aabb_xy":[[-0.41281349439720144,1.590040692095315],[-0.37879329981710014,1.6223096690918628]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_28","position":[0.6297469398636666,0.30042028705181245,0.71338606911949],"aabb_xy":[[0.5922469393663082,0.296451603503694],[0.6672469403610247,0.3043889705999308]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_29","position":[0.5606607534622381,-1.3068976204589613,0.71338606911949],"aabb_xy":[[0.5525470987888609,-1.3150034369129906],[0.5687744081356151,-1.2987918040049324]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_30","position":[0.0051469377413846384,-2.2619112820434633,0.71338606911949],"aabb_xy":[[-0.0057588383461780746,-2.3419112784422924],[0.01605271382894735,-2.181911285644634]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_31","position":[0.4765844781934958,-1.9841204375419017,0.71338606911949],"aabb_xy":[[0.4265852030250597,-2.034120438817849],[0.526583753361932,-1.9341204362659545]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_32","position":[-0.638667862918754,-1.8085039086396604,0.71338606911949],"aabb_xy":[[-0.6836678643849828,-1.8535037655011413],[-0.5936678614525251,-1.76350405177818]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_33","position":[0.21180618236922322,-2.352520274598594,0.71338606911949],"aabb_xy":[[0.20452386599255948,-2.442520278208102],[0.2190884987458868,-2.262520270989084]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_34","position":[-0.28759072700421295,-0.15301838566477244,0.71338606911949],"aabb_xy":[[-0.3515907262983812,-0.21700452603362663],[-0.22359072771004473,-0.08903224529591824]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6902220558478258,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8196.png","name":"8196"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8196.png","name":"8196"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7024.png","name":"7024"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9094.png","name":"9094"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8153.png","name":"8153"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2700.png","name":"2700"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":738.1704422695531,"rotation_z_degrees":50.310637690996984,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014764234770347526,0.006921197385498689,0.004276026608234677]},{"name":"camera_2","offset_m":[-0.0018783144752858132,-0.012028901229353269,0.011500337455729832]},{"name":"camera_3","offset_m":[-0.009563273813651399,0.007263751779547838,0.012008200265466024]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0010282446914011865,0.001854433395698762,-0.0017304573813901017],"end_effector_yaw_offset_degrees":-0.41014311396408565},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0005262301939412471,-7.521308359757567e-05,-0.0015514746459770756],"end_effector_yaw_offset_degrees":-0.5960938750264846},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00018439663348474673,-0.0009738679259016024,-0.0013845461916240959],"end_effector_yaw_offset_degrees":-0.10242576216125143},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.000737878418723934,-0.0010605121071331008,0.0017040674733358905],"end_effector_yaw_offset_degrees":-0.822780298773063}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-8.77991543643767e-05,-0.0030137466393264723],"position_m":[0.21351220084563563,-0.05671374663932647,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0013589958387112489,-0.004648372418461699],"position_m":[0.24774100416128875,-0.38804837241846174,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0011753821742274584,0.00016384790019617797],"position_m":[0.13932461782577255,0.23486384790019618,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0024410579956198886,-0.0033064292570099785],"position_m":[0.35115894200438014,0.11389357074299002,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f284c6a77fbed08c34214d639d8c584f2b5969bf7649fae60b9c0210cf25ecff","episode_index":22,"episode_name":"episode_0022"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0022.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_8196/tex_ceiling_textures_2700/tex_floor_textures_8153/tex_table_textures_7024/tex_wall_textures_9094","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":5053129917298869882,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":5053129917298869882,"visual_seed":5053129917298869882,"scene_id":"lab_003","finished_at":"2026-09-05T19:25:31"} +{"episode_id":"ep_000021","started_at":"2026-09-05T19:25:34","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_0","position":[-0.2641440333668112,-0.643812186255003,0.71338606911949],"aabb_xy":[[-0.32914403192388403,-0.6735647196688858],[-0.19914403480973836,-0.6140596528411205]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_1","position":[0.5772805359742006,-0.16942287471067896,0.71338606911949],"aabb_xy":[[0.5547814002479735,-0.19192287548894194],[0.5997796717004275,-0.146922873932416]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_2","position":[0.5276940704857531,0.2320680452731847,0.71338606911949],"aabb_xy":[[0.519650710559798,0.14706804417781827],[0.5357374304117083,0.3170680463685511]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_3","position":[0.3086483826563491,-2.213468627366714,0.71338606911949],"aabb_xy":[[0.3022345690131641,-2.219878447614382],[0.31506219629953397,-2.207058807119045]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_4","position":[0.04172163145457719,-1.5570927074607228,0.71338606911949],"aabb_xy":[[-0.015908837432693657,-1.617092706387433],[0.09935210034184802,-1.497092708534012]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_5","position":[0.4524381115259719,-0.5885374015909204,0.71338606911949],"aabb_xy":[[0.44539666057522426,-0.5955641533287149],[0.45947956247671945,-0.5815106498531258]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_6","position":[0.24847092087738765,-0.9995673077122644,0.71338606911949],"aabb_xy":[[0.23523997534270633,-1.0127947267342639],[0.26170186641206894,-0.986339888690265]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_7","position":[0.14173210175271178,1.089710440358068,0.71338606911949],"aabb_xy":[[0.10440082522746916,1.0550573855632157],[0.1790633782779544,1.1243634951529202]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_8","position":[0.24793147345007904,-2.483703609126975,0.71338606911949],"aabb_xy":[[0.18293147081228558,-2.535183207826422],[0.31293147608787253,-2.432224010427528]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_9","position":[-0.586444028228357,-1.303097054312458,0.71338606911949],"aabb_xy":[[-0.6089440287403975,-1.3255889126778562],[-0.5639440277163164,-1.2806051959470595]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_10","position":[0.3117022286416671,1.5876451690797118,0.71338606911949],"aabb_xy":[[0.3029882595917325,1.5651451684205233],[0.32041619769160146,1.6101451697388998]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_11","position":[-0.14962420978269442,-1.5680749008046593,0.71338606911949],"aabb_xy":[[-0.1583221720734097,-1.5801998751121342],[-0.14092624749197913,-1.5559499264971848]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_12","position":[-0.09019351882426274,1.3265077914063879,0.71338606911949],"aabb_xy":[[-0.13144232985417742,1.2715077918941702],[-0.04894470779434799,1.381507790918605]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_13","position":[0.40732941613697005,-1.3032326590235146,0.71338606911949],"aabb_xy":[[0.38232941620445215,-1.310115327244438],[0.43232941606948794,-1.2963499908025913]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_14","position":[-0.38046461990895314,0.7356095055658529,0.71338606911949],"aabb_xy":[[-0.4304646194852879,0.6856289266137472],[-0.3304646203326185,0.7855900845179591]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_15","position":[0.36258536676741593,1.2240280105918457,0.71338606911949],"aabb_xy":[[0.3204009526065852,1.1600280103146345],[0.40476978092824667,1.288028010869057]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_16","position":[0.6233380637973029,0.7958610076533135,0.71338606911949],"aabb_xy":[[0.5858380636254309,0.7631602722704062],[0.6608380639691748,0.8285617430362205]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_17","position":[-0.36906658347178617,0.22499649770311603,0.71338606911949],"aabb_xy":[[-0.3859773159081279,0.2115242921105015],[-0.35215585103544433,0.23846870329573056]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_18","position":[0.263635113056665,-1.7331534801759778,0.71338606911949],"aabb_xy":[[0.22713929242938619,-1.7696374226027354],[0.30013093368394367,-1.6966695377492202]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_19","position":[0.6867433947515469,-0.4713671122117029,0.71338606911949],"aabb_xy":[[0.6775835158076703,-0.4778983302552399],[0.6959032736954235,-0.4648358941681659]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_20","position":[0.5734462000869882,-1.7410410003776717,0.71338606911949],"aabb_xy":[[0.5359462016635879,-1.7542052143455025],[0.6109461985103886,-1.727876786409841]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_21","position":[0.5982181408043188,-0.8830816996852793,0.71338606911949],"aabb_xy":[[0.543225890168808,-0.9380817014285923],[0.6532103914398298,-0.8280816979419667]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_22","position":[0.5054942752235287,0.565686634521009,0.71338606911949],"aabb_xy":[[0.4204942765314541,0.5337007711261301],[0.5904942739156034,0.5976724979158878]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_23","position":[-0.07020535991469534,-0.6698659294224398,0.71338606911949],"aabb_xy":[[-0.08177434066163192,-0.6948659295393715],[-0.05863637916775877,-0.6448659293055081]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.69151721917427,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5413.png","name":"5413"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5413.png","name":"5413"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/610.png","name":"610"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7660.png","name":"7660"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1370.png","name":"1370"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3468.png","name":"3468"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":781.1312859594652,"rotation_z_degrees":25.794114381341235,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.017739104962310095,0.011627373363718881,0.0031855559542145126]},{"name":"camera_2","offset_m":[-0.016088927995470292,-0.0102835573027872,-0.008327906463149489]},{"name":"camera_3","offset_m":[0.018379530311730802,0.0071230719066628576,0.008320088627059158]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001996437317747915,0.0006413831766761192,0.001081724421490419],"end_effector_yaw_offset_degrees":0.6341412225064924},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.001177705817146225,0.0002969295055691959,0.0013780046427856298],"end_effector_yaw_offset_degrees":-0.38761333801195863},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00011269681007487742,0.0001349859693823975,0.0013663648257277645],"end_effector_yaw_offset_degrees":0.7831482741603728},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0016003661759583098,0.001734185401909766,0.001832260186155587],"end_effector_yaw_offset_degrees":-0.3403046435360886}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0022192746372210236,-0.004494633013428585],"position_m":[0.21581927463722103,-0.05819463301342858,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0021388615867414928,-0.0017827291848382075],"position_m":[0.25123886158674147,-0.3851827291848382,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0007598616800894697,-0.0012612437963226207],"position_m":[0.14125986168008947,0.23343875620367738,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0006105239548474493,-0.0016195387484875556],"position_m":[0.3529894760451526,0.11558046125151245,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3b6ebb024038c265a3d2eb7e92946c7f72b8ae397cb17db478432cb346895e20","episode_index":23,"episode_name":"episode_0023"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0023.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_5413/tex_ceiling_textures_3468/tex_floor_textures_1370/tex_table_textures_610/tex_wall_textures_7660","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":4430685064639406531,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":4430685064639406531,"visual_seed":4430685064639406531,"scene_id":"lab_003","finished_at":"2026-09-05T19:29:02"} +{"episode_id":"ep_000022","started_at":"2026-09-05T19:29:06","dimensions":{"distractor":{"count":23,"items":[{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_0","position":[0.43832874792317056,-2.112530366582189,0.71338606911949],"aabb_xy":[[0.426759767176234,-2.137530366699121],[0.44989772867010713,-2.087530366465258]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_1","position":[0.39150174860112186,0.7067429297142,0.71338606911949],"aabb_xy":[[0.3265017476439946,0.6547947177804945],[0.456501749558249,0.7586911416479056]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_2","position":[0.5307733142957611,-0.311982215164198,0.71338606911949],"aabb_xy":[[0.5024436043472209,-0.31644295735791506],[0.5591030242443014,-0.30752147297048094]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_3","position":[-0.431153615579041,-0.9290170951135748,0.71338606911949],"aabb_xy":[[-0.46969930840424207,-0.9675628661697635],[-0.39260792275384,-0.8904713240573863]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_4","position":[-0.2813911205627016,1.579264776471939,0.71338606911949],"aabb_xy":[[-0.2960345261167346,1.5646060568151547],[-0.2667477150086686,1.5939234961287232]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_5","position":[0.33945404228068976,-1.984402763681961,0.71338606911949],"aabb_xy":[[0.3330402286375047,-1.990812583929629],[0.3458678559238746,-1.9779929434342922]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_6","position":[0.027673855879663756,-1.9546596405593712,0.71338606911949],"aabb_xy":[[-0.03732614675812973,-2.006139239258818],[0.09267385851745724,-1.9031800418599243]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_7","position":[0.4300638459433792,1.6056416974773895,0.71338606911949],"aabb_xy":[[0.39256384577150727,1.5729409620944823],[0.46756384611525115,1.6383424328602967]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_8","position":[0.11769577053155655,0.7459301359932975,0.71338606911949],"aabb_xy":[[0.10592758373689906,0.660930136088076],[0.1294639573262141,0.8309301358985193]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_9","position":[0.026983682126535236,-2.4804561558962983,0.71338606911949],"aabb_xy":[[-0.023015593041900925,-2.5304561571722455],[0.0769829572949714,-2.430456154620351]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_10","position":[-0.46469737791092836,0.7284856836597831,0.71338606911949],"aabb_xy":[[-0.4823302135044559,0.71086273764416],[-0.4470645423174007,0.7461086296754059]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_11","position":[-0.4289714231861921,-2.3479009800781507,0.71338606911949],"aabb_xy":[[-0.43974439710755986,-2.3829009782971893],[-0.4181984492648243,-2.3129009818591113]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_12","position":[0.02843675897396114,1.6097761747218535,0.71338606911949],"aabb_xy":[[-0.05656323944346209,1.5249018792595683],[0.11343675739138437,1.6946504701841383]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_13","position":[-0.30930994011884994,-2.247087957018916,0.71338606911949],"aabb_xy":[[-0.32218184361979,-2.327087957432752],[-0.29643803661790974,-2.1670879566050796]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_14","position":[-0.17253161250766313,0.22308667312472785,0.71338606911949],"aabb_xy":[[-0.18920874850075864,0.20638674915079758],[-0.15585447651456763,0.23978659709865813]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_15","position":[0.24990858224768575,-1.309293253809928,0.71338606911949],"aabb_xy":[[0.21991691951381542,-1.3392932531467285],[0.2799002449815561,-1.2792932544731275]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_16","position":[0.24625125389044744,-1.0270420429493905,0.71338606911949],"aabb_xy":[[0.22125125395792955,-1.033924711170314],[0.27125125382296533,-1.0201593747284674]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_17","position":[-0.49290502610865733,-1.271122608492002,0.71338606911949],"aabb_xy":[[-0.5008985159039395,-1.2791207404324776],[-0.4849115363133754,-1.2631244765515264]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_18","position":[0.10095088746627068,-2.095608100696099,0.71338606911949],"aabb_xy":[[0.05595830074782025,-2.1406080999705477],[0.1459434741847211,-2.05060810142165]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_19","position":[-0.15250259635194363,0.4363497043552411,0.71338606911949],"aabb_xy":[[-0.2175025945078627,0.410053459805329],[-0.08750259819602457,0.46264594890515337]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_20","position":[-0.396259739155905,-0.4527069598597917,0.71338606911949],"aabb_xy":[[-0.446259740439745,-0.5026858142504137],[-0.34625973787206504,-0.40272810546916954]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_21","position":[-0.2744063397944886,-1.2504517760983653,0.71338606911949],"aabb_xy":[[-0.29190634005382526,-1.2645433182871382],[-0.256906339535152,-1.236360233909593]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_22","position":[0.36348887032175115,-2.4788280812478525,0.71338606911949],"aabb_xy":[[0.36004819408169403,-2.482689514222217],[0.3669295465618084,-2.474966648273488]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6853694846035789,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1407.png","name":"1407"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1407.png","name":"1407"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1220.png","name":"1220"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/199.png","name":"199"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1827.png","name":"1827"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7533.png","name":"7533"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":820.5279295868902,"rotation_z_degrees":185.78711249044053,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004640341743799018,0.014912342879063182,0.017742642943424255]},{"name":"camera_2","offset_m":[-0.008250666966159477,-0.019033506167150178,0.014819376267880251]},{"name":"camera_3","offset_m":[0.005173854715733468,0.011341280436132032,0.012514221169572338]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0006242829744717341,0.0013291704376719306,0.001329763634734834],"end_effector_yaw_offset_degrees":-0.12532271679386087},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0006205615602053651,0.0008373776682359399,0.0003861981853335852],"end_effector_yaw_offset_degrees":-0.5508839157859855},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00013488732959493184,0.0014619138858992238,-0.0016643078068898007],"end_effector_yaw_offset_degrees":0.13688666566275076},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0002331604583544907,0.0012407116099602436,-0.0006236229258546149],"end_effector_yaw_offset_degrees":-0.45903007655334416}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0009512568833372351,-0.0017093815318872862],"position_m":[0.21264874311666276,-0.055409381531887285,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0033364996772193437,0.0010910901244972938],"position_m":[0.24576350032278063,-0.3823089098755027,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.002120309023277087,0.001706365078409113],"position_m":[0.13837969097672292,0.2364063650784091,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0002236822552645467,0.00224985099188004],"position_m":[0.35382368225526456,0.11944985099188003,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0774307ca1105cb74a23b6d058349cfe43e421b507876dcf3a6b521510b5eaec","episode_index":24,"episode_name":"episode_0024"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0024.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_1407/tex_ceiling_textures_7533/tex_floor_textures_1827/tex_table_textures_1220/tex_wall_textures_199","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":8327539951787594789,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":8327539951787594789,"visual_seed":8327539951787594789,"scene_id":"lab_003","finished_at":"2026-09-05T19:32:36"} +{"episode_id":"ep_000023","started_at":"2026-09-05T19:32:41","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_0","position":[0.14630983300601608,1.2006974403880046,0.71338606911949],"aabb_xy":[[0.08230982978737822,1.1539743284889963],[0.21030983622465393,1.247420552287013]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_1","position":[-0.5851248494724359,-2.3375576409591283,0.71338606911949],"aabb_xy":[[-0.6351248481183571,-2.3874771846185903],[-0.5351248508265147,-2.2876380972996655]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_2","position":[-0.3427013987990616,-1.946331770675167,0.71338606911949],"aabb_xy":[[-0.38770140026529054,-1.9913316275366477],[-0.2977013973328328,-1.9013319138136864]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_3","position":[0.2043425777552158,0.9059816734299262,0.71338606911949],"aabb_xy":[[0.13434257436365382,0.8706658997264953],[0.2743425811467778,0.9412974471333571]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_4","position":[-0.3968546847718952,0.037472929628985074,0.71338606911949],"aabb_xy":[[-0.4608546820575439,-0.004033789323858887],[-0.3328546874862466,0.07897964858182904]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_5","position":[-0.6197153725994755,1.6085605249008377,0.71338606911949],"aabb_xy":[[-0.6273396406896539,1.600927301364294],[-0.6120911045092974,1.6161937484373814]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_6","position":[-0.1375194816966666,0.2942052123658594,0.71338606911949],"aabb_xy":[[-0.18751948127300136,0.24422463341375344],[-0.08751948212033192,0.34418579131796534]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_7","position":[0.25408495674196685,-2.4038752237144507,0.71338606911949],"aabb_xy":[[0.20410072103378957,-2.453875222527946],[0.304069192450144,-2.3538752249009547]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_8","position":[-0.3345157572735574,-0.5512957221829224,0.71338606911949],"aabb_xy":[[-0.39851575366913045,-0.615259010601656],[-0.2705157608779843,-0.4873324337641889]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_9","position":[-0.3724909470770911,0.8654103443778083,0.71338606911949],"aabb_xy":[[-0.3805172177077171,0.8566588494004558],[-0.36446467644646513,0.874161839355161]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_10","position":[-0.6465034350011284,-0.16838614239557614,0.71338606911949],"aabb_xy":[[-0.6608378601272918,-0.18044635795011502],[-0.6321690098749649,-0.15632592684103733]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_11","position":[-0.5614513991300477,-0.33677268622226286,0.71338606911949],"aabb_xy":[[-0.5925983179736308,-0.40677268490907],[-0.5303044802864646,-0.26677268753545563]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_12","position":[-0.5381229325664023,-0.21273326597016196,0.71338606911949],"aabb_xy":[[-0.5580139724467427,-0.22538907725485885],[-0.5182318926860622,-0.20007745468546517]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_13","position":[-0.4537928840237776,-2.242037874832923,0.71338606911949],"aabb_xy":[[-0.4824422163841938,-2.270683434109998],[-0.4251435516633614,-2.2133923155558466]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_14","position":[0.47072519033522675,1.6602540648766024,0.71338606911949],"aabb_xy":[[0.46475865139449096,1.654292920217238],[0.47669172927596254,1.6662152095359664]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_15","position":[-0.1798714700894154,0.7648086339097011,0.71338606911949],"aabb_xy":[[-0.1912332047427015,0.7534401675034129],[-0.16850973543612918,0.7761771003159891]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_16","position":[0.39721676749909696,-2.3875632550332457,0.71338606911949],"aabb_xy":[[0.37221676833346395,-2.3945155007386023],[0.4222167666647302,-2.380611009327889]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_17","position":[0.5464215736921827,-1.6661708594750957,0.71338606911949],"aabb_xy":[[0.5391778076459374,-1.746170857678698],[0.553665339738428,-1.5861708612714933]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_18","position":[-0.6253834739880096,-0.7196055317517818,0.71338606911949],"aabb_xy":[[-0.6357950326684932,-0.72495126508768],[-0.6149719153075258,-0.714259798415883]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_19","position":[-0.2672071364946749,0.5372018757046821,0.71338606911949],"aabb_xy":[[-0.35720713508914487,0.5209512893912611],[-0.17720713790020498,0.5534524620181032]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_20","position":[0.6589941478784276,-1.6325201019563065,0.71338606911949],"aabb_xy":[[0.6091114510007314,-1.6825201012025814],[0.7088768447561238,-1.582520102710032]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_21","position":[0.5781946449229136,0.5657760958979949,0.71338606911949],"aabb_xy":[[0.5704914542488365,0.5580667251992569],[0.5858978355969905,0.5734854665967329]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_22","position":[0.6270893832013398,-1.936453414022271,0.71338606911949],"aabb_xy":[[0.5920893840085214,-1.9474204600199332],[0.6620893823941579,-1.9254863680246082]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_23","position":[0.6191711299571943,-1.3582460604468092,0.71338606911949],"aabb_xy":[[0.5591711294493412,-1.4150927941327303],[0.6791711304650471,-1.3013993267608877]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_24","position":[0.21869884514581073,-2.1398669717967946,0.71338606911949],"aabb_xy":[[0.19958653778783186,-2.1590017506740367],[0.2378111525037896,-2.1207321929195526]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_25","position":[0.47364640638043465,0.835601046010999,0.71338606911949],"aabb_xy":[[0.4628059281539197,0.8184147647203502],[0.4844868846069495,0.8527873273016479]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_26","position":[0.412148659444209,-1.4933417685391634,0.71338606911949],"aabb_xy":[[0.4071926392593279,-1.5158417687412855],[0.41710467962909026,-1.470841768337042]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_27","position":[0.5717504118743018,0.8167532077745925,0.71338606911949],"aabb_xy":[[0.5379748526836087,0.8027147125614273],[0.6055259710649946,0.8307917029877574]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_28","position":[0.449175822110887,0.20388115245536476,0.71338606911949],"aabb_xy":[[0.4267110521394819,0.18138115157650422],[0.47164059208229214,0.22638115333422523]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_29","position":[0.5226886678736189,-0.014181127373938729,0.71338606911949],"aabb_xy":[[0.5173510922076143,-0.039181128303078516],[0.5280262435396235,0.010818873555201057]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_30","position":[-0.2564824594752429,-1.1013507683939068,0.71338606911949],"aabb_xy":[[-0.32148246043237005,-1.1532989803276121],[-0.19148245851811566,-1.049402556460201]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_31","position":[0.7139791771229129,-1.5292435171615746,0.71338606911949],"aabb_xy":[[0.705985687327631,-1.5372416491020504],[0.7219726669181951,-1.5212453852210992]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_32","position":[-0.2614917197277045,1.7200443701139796,0.71338606911949],"aabb_xy":[[-0.3191221886149753,1.6600443711872686],[-0.2038612508404336,1.7800443690406897]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_33","position":[0.03175073886833668,0.814402703107965,0.71338606911949],"aabb_xy":[[-0.009498072161578044,0.7594027035957475],[0.07299954989825141,0.8694027026201824]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6836834794138588,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1774.png","name":"1774"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1774.png","name":"1774"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9854.png","name":"9854"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9151.png","name":"9151"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6091.png","name":"6091"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3749.png","name":"3749"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":770.5556172721151,"rotation_z_degrees":231.54587412320865,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.001390629511683613,0.0016066129997560595,0.00017261659159204662]},{"name":"camera_2","offset_m":[-0.0016235058932596545,-0.0010114795033253597,0.01808232190702937]},{"name":"camera_3","offset_m":[-0.005753026292741442,-0.013130261858129853,-0.009708897233868337]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0011425128780021216,-0.001967050709442901,-0.0009716742140192549],"end_effector_yaw_offset_degrees":0.7215467268910509},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.000837055708066972,-0.0002379243860536793,-0.0006861719432112844],"end_effector_yaw_offset_degrees":-0.9452429758508338},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0014291590472383592,0.00041032526382821927,-0.0016694869154151905],"end_effector_yaw_offset_degrees":0.36470014620861346},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008448525356165638,-0.000654049486343474,-0.0017391975922134689],"end_effector_yaw_offset_degrees":-0.996188323607869}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.000797262036055746,-0.004529653438732207],"position_m":[0.21439726203605575,-0.0582296534387322,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004035438702176204,0.0030757083826116237],"position_m":[0.24506456129782378,-0.3803242916173884,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.001854198898229572,0.003186727876592548],"position_m":[0.1423541988982296,0.23788672787659254,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003943822083277956,0.0014507490190647978],"position_m":[0.357543822083278,0.11865074901906479,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9e4bafddf3720c172ca309520118ebd06f598b6680442fafd8dee5a4b32964e1","episode_index":25,"episode_name":"episode_0025"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0025.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_1774/tex_ceiling_textures_3749/tex_floor_textures_6091/tex_table_textures_9854/tex_wall_textures_9151","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":6544010669797529840,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":6544010669797529840,"visual_seed":6544010669797529840,"scene_id":"lab_003","finished_at":"2026-09-05T19:36:03"} +{"episode_id":"ep_000024","started_at":"2026-09-05T19:36:06","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_0","position":[0.06789003451055264,-1.0471356904736073,0.71338606911949],"aabb_xy":[[0.06255751985593966,-1.0524600187188429],[0.07322254916516563,-1.0418113622283718]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_1","position":[0.22793038761141104,-1.8917362394981128,0.71338606911949],"aabb_xy":[[0.14793039064837185,-1.9688118811418862],[0.3079303845744502,-1.8146605978543393]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_2","position":[0.587732609244533,0.20784309216132302,0.71338606911949],"aabb_xy":[[0.5449659023651129,0.14384308873952056],[0.6304993161239533,0.27184309558312547]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_3","position":[0.628189177978165,-0.7197566376172699,0.71338606911949],"aabb_xy":[[0.578194167018713,-0.7697566366528618],[0.678184188937617,-0.6697566385816782]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_4","position":[-0.48525265719124705,-1.8120669454893057,0.71338606911949],"aabb_xy":[[-0.49156475672758543,-1.8178338847425246],[-0.47894055765490856,-1.8063000062360868]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_5","position":[-0.4837290917087498,-2.5352817055677757,0.71338606911949],"aabb_xy":[[-0.5207632011368095,-2.5696589129014846],[-0.44669498228069004,-2.500904498234066]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_6","position":[0.17093589734172265,-2.399418542859259,0.71338606911949],"aabb_xy":[[0.15538012793145742,-2.414968976103667],[0.18649166675198794,-2.3838681096148524]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_7","position":[-0.4833348425531102,0.5270408443728023,0.71338606911949],"aabb_xy":[[-0.532815263767069,0.4630408464599506],[-0.4338544213391514,0.5910408422856542]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_8","position":[0.6246300853594053,1.6829124484776776,0.71338606911949],"aabb_xy":[[0.6000838697366546,1.6526635519286403],[0.6491763009821561,1.7131613450267145]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_9","position":[-0.5270238994066494,1.1841430455711945,0.71338606911949],"aabb_xy":[[-0.6170239017406685,1.1066606909860819],[-0.43702389707263034,1.2616254001563072]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_10","position":[-0.5440604257566828,-2.2700622112025854,0.71338606911949],"aabb_xy":[[-0.5941578897377564,-2.3340622117123977],[-0.49396296177560917,-2.206062210692774]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_11","position":[0.5361295932949401,-0.9932165636961374,0.71338606911949],"aabb_xy":[[0.4811363819578035,-1.0482165640349312],[0.591122804632077,-0.9382165633573439]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_12","position":[-0.6389189711377943,0.3776646672693835,0.71338606911949],"aabb_xy":[[-0.6614189709516967,0.37319005089890284],[-0.6164189713238919,0.3821392836398642]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_13","position":[0.4276941846525937,-1.2900244993457453,0.71338606911949],"aabb_xy":[[0.392694185522638,-1.2957697204214094],[0.46269418378254934,-1.2842792782700811]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_14","position":[-0.1610435127908274,-0.7667308922924458,0.71338606911949],"aabb_xy":[[-0.24104351137814684,-0.8460464942306067],[-0.08104351420350799,-0.687415290354285]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_15","position":[0.3815774958920435,-0.4338828671229673,0.71338606911949],"aabb_xy":[[0.3596688137526924,-0.455783533943058],[0.40348617803139447,-0.4119822003028765]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_16","position":[0.5335395977013062,-2.042816064387067,0.71338606911949],"aabb_xy":[[0.48836827985313724,-2.106816061531606],[0.5787109155494752,-1.978816067242529]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_17","position":[0.2010966688265905,-1.562490546293695,0.71338606911949],"aabb_xy":[[0.18932848203193303,-1.647490546198917],[0.21286485562124807,-1.4774905463884738]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_18","position":[0.5136868662245937,1.6324816035535368,0.71338606911949],"aabb_xy":[[0.5054723211089096,1.6238050132558952],[0.5219014113402776,1.641158193851178]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_19","position":[0.3789512537416393,-0.9624756817167406,0.71338606911949],"aabb_xy":[[0.3685396950611555,-0.9678214150526387],[0.38936281242212295,-0.9571299483808418]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_20","position":[0.5423142183034062,1.4810302536477757,0.71338606911949],"aabb_xy":[[0.47731421974633337,1.451277720233893],[0.607314216860479,1.5107827870616581]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_21","position":[-0.5642037204746395,-0.20681284282551315,0.71338606911949],"aabb_xy":[[-0.5706175341178243,-0.21322266307318147],[-0.5577899068314545,-0.20040302257784479]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_22","position":[0.4153411816056676,0.8216970075071095,0.71338606911949],"aabb_xy":[[0.39284204587944055,0.7991970067288465],[0.4378403173318945,0.8441970082853725]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_23","position":[-0.6360457947138041,0.9632889821348685,0.71338606911949],"aabb_xy":[[-0.6860450698822403,0.9132889808589212],[-0.586046519545368,1.0132889834108156]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_24","position":[0.5514678832202407,-1.8262626259355152,0.71338606911949],"aabb_xy":[[0.5139678828720128,-1.8380540215165986],[0.5889678835684683,-1.8144712303544315]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_25","position":[-0.14351093014643324,-0.19344017227501498,0.71338606911949],"aabb_xy":[[-0.14909260178056197,-0.20594017209279047],[-0.13792925851230445,-0.18094017245723948]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_26","position":[0.6310097494051419,-0.38560831791840045,0.71338606911949],"aabb_xy":[[0.613509750127055,-0.40294641798474634],[0.6485097486832287,-0.36827021785205444]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_27","position":[-0.06242213630055993,-2.4260780123886563,0.71338606911949],"aabb_xy":[[-0.08625835394116499,-2.516078013197143],[-0.038585918659954865,-2.3360780115801703]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_28","position":[-0.5197548205377618,-1.2434670699900796,0.71338606911949],"aabb_xy":[[-0.5837548227581687,-1.287840154115368],[-0.45575481831735465,-1.1990939858647913]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_29","position":[-0.39788169700030585,-2.3042915532135293,0.71338606911949],"aabb_xy":[[-0.447881695646227,-2.3542110968729917],[-0.3478816983543846,-2.254372009554067]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_30","position":[-0.44202378872040043,-1.8701102176462863,0.71338606911949],"aabb_xy":[[-0.4795237890125753,-1.8741516930468896],[-0.4045237884282257,-1.8660687422456825]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_31","position":[-0.0336500985009166,-1.4499480166293233,0.71338606911949],"aabb_xy":[[-0.0876656947828166,-1.5139480195215802],[0.0203654977809834,-1.3859480137370659]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6861117961165718,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9118.png","name":"9118"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9118.png","name":"9118"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2536.png","name":"2536"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/250.png","name":"250"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8131.png","name":"8131"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7296.png","name":"7296"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":661.1331388801649,"rotation_z_degrees":215.42640205400212,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0048612483761810606,0.003986672596318727,-0.014556882944771813]},{"name":"camera_2","offset_m":[-0.011093789778993534,0.01958142943400026,-0.006756770465520737]},{"name":"camera_3","offset_m":[0.013333136221988399,-0.01539314849491025,-0.00977169463454914]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0014811171080822095,-0.001655710741828305,-0.000975420583147668],"end_effector_yaw_offset_degrees":0.03170953729709369},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0010458134019210928,-0.0016453954285018996,0.00040658640781529934],"end_effector_yaw_offset_degrees":0.6564059367814516},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0017942969966557392,-0.0008780943116986518,2.7222965741105064e-05],"end_effector_yaw_offset_degrees":0.34957882567075105},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0011722110450439857,-0.00010309393466286735,0.0007601869231772087],"end_effector_yaw_offset_degrees":0.46461535563631684}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004722015673256287,-0.002155319040637381],"position_m":[0.20887798432674373,-0.055855319040637376,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00014357109425450643,0.004972998390947932],"position_m":[0.2492435710942545,-0.37842700160905207,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0046983709371606055,-0.0019131465569257001],"position_m":[0.1358016290628394,0.2327868534430743,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004212465629533812,0.004724604035197582],"position_m":[0.35781246562953384,0.12192460403519759,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9c48da57687a45f7c2193b59936d995520bedaf279f91a095eea083b4e5c89de","episode_index":26,"episode_name":"episode_0026"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0026.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_9118/tex_ceiling_textures_7296/tex_floor_textures_8131/tex_table_textures_2536/tex_wall_textures_250","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":4426936333592889714,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":4426936333592889714,"visual_seed":4426936333592889714,"scene_id":"lab_003","finished_at":"2026-09-05T19:39:37"} +{"episode_id":"ep_000025","started_at":"2026-09-05T19:39:42","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_0","position":[-0.0044019051690304956,0.6808624598140671,0.71338606911949],"aabb_xy":[[-0.01904531072306348,0.6662037401572829],[0.010241500385002489,0.6955211794708513]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_1","position":[-0.11379827903431561,-1.9441650042247993,0.71338606911949],"aabb_xy":[[-0.1362947004681797,-1.966665004031547],[-0.0913018576004515,-1.921665004418052]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_2","position":[-0.4192554403802866,-2.259748088234412,0.71338606911949],"aabb_xy":[[-0.46534053163501815,-2.323748085486967],[-0.3731703491255552,-2.1957480909818567]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_3","position":[-0.17251061706106396,-1.7232765369292298,0.71338606911949],"aabb_xy":[[-0.23651061776453333,-1.769294919402151],[-0.10851061635759462,-1.677258154456309]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_4","position":[0.5447284738919478,-0.8185278583684383,0.71338606911949],"aabb_xy":[[0.5268593661374923,-0.8323607663456494],[0.5625975816464033,-0.8046949503912275]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_5","position":[0.07726020811081347,-1.709645947246246,0.71338606911949],"aabb_xy":[[0.05946670117589703,-1.7274456928420436],[0.0950537150457299,-1.6918462016504483]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_6","position":[-0.6179344337722882,-1.924098158035386,0.71338606911949],"aabb_xy":[[-0.681934436990926,-1.9708212699343945],[-0.5539344305536503,-1.8773750461363778]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_7","position":[-0.037723963631658086,-0.7424107531653164,0.71338606911949],"aabb_xy":[[-0.08771879655959969,-0.7924107520605598],[0.012270869296283515,-0.6924107542700727]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_8","position":[0.3567720180498142,1.5541336648694872,0.71338606911949],"aabb_xy":[[0.326287767922784,1.5041336650879913],[0.38725626817684433,1.6041336646509832]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_9","position":[0.048195624262000636,-1.3113111112311644,0.71338606911949],"aabb_xy":[[0.013604541407955409,-1.3763111115161955],[0.08278670711604583,-1.2463111109461333]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_10","position":[0.3865897367943769,-1.3914516790617726,0.71338606911949],"aabb_xy":[[0.3490897369773433,-1.3960898903729144],[0.4240897366114104,-1.3868134677506307]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_11","position":[0.29488218336933214,-0.5931673691427723,0.71338606911949],"aabb_xy":[[0.21488835979077392,-0.673167371735614],[0.37487600694789036,-0.5131673665499309]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_12","position":[0.10901839921976664,0.6864231954081066,0.71338606911949],"aabb_xy":[[0.05913570234207044,0.6364231961618319],[0.15890109609746284,0.7364231946543813]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_13","position":[0.5114631677915813,0.6149449574633481,0.71338606911949],"aabb_xy":[[0.4474631684974131,0.5509588170944939],[0.5754631670857495,0.6789310978322023]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_14","position":[-0.2692710461843692,-0.2837382155927566,0.71338606911949],"aabb_xy":[[-0.31028898957074014,-0.3337382162237139],[-0.22825310279799838,-0.23373821496179925]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_15","position":[0.6229792138769221,-1.8355033431923218,0.71338606911949],"aabb_xy":[[0.5861286659399345,-1.8730033440153553],[0.6598297618139097,-1.7980033423692878]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_16","position":[0.4514640988622769,0.8423999494821102,0.71338606911949],"aabb_xy":[[0.3714640956044339,0.7624034416901262],[0.5314641021201199,0.9223964572740941]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_17","position":[0.44022219273505825,1.7388935549600686,0.71338606911949],"aabb_xy":[[0.40678201753903853,1.705449929129138],[0.47366236793107774,1.7723371807909982]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_18","position":[-0.4058409413419708,1.7922897367305555,0.71338606911949],"aabb_xy":[[-0.4131021889123782,1.7795027264670462],[-0.3985796937715634,1.8050767469940652]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_19","position":[0.2756148113600072,-2.1376956031544125,0.71338606911949],"aabb_xy":[[0.2668127560510345,-2.145506929309341],[0.2844168666689799,-2.129884276999483]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_20","position":[-0.3128174503683848,-0.7887296637213106,0.71338606911949],"aabb_xy":[[-0.3478174503448807,-0.7981942797689272],[-0.27781745039188904,-0.779265047673694]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_21","position":[0.23498887875153762,1.646704001053115,0.71338606911949],"aabb_xy":[[0.1849888770900428,1.5967055587974122],[0.2849888804130323,1.6967024433088176]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_22","position":[0.22284333183948357,-1.185984429050295,0.71338606911949],"aabb_xy":[[0.21559956579323825,-1.2659844272538974],[0.2300870978857289,-1.1059844308466926]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6905521862183516,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1191.png","name":"1191"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1191.png","name":"1191"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5505.png","name":"5505"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6097.png","name":"6097"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4353.png","name":"4353"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8398.png","name":"8398"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":842.5191171922676,"rotation_z_degrees":193.11017395692474,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012872961455111494,0.008285386215851266,0.008631845796698116]},{"name":"camera_2","offset_m":[-0.01779951904901774,0.013339245808772614,-0.0004921080379182499]},{"name":"camera_3","offset_m":[-0.018126507865091977,0.008438247796123507,0.0027627575968951837]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0009897692948141377,-0.0017864165142985721,-0.0010757556922638988],"end_effector_yaw_offset_degrees":-0.5082623620568325},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0017699594306208014,0.0011395703243872578,0.0014846687644514927],"end_effector_yaw_offset_degrees":0.2784422036103964},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0012039446962599115,-0.0010524271218342283,-0.0006210947122783099],"end_effector_yaw_offset_degrees":-0.22946509847890506},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0011703046285434543,0.0018632817792818995,0.0014217178743877548],"end_effector_yaw_offset_degrees":0.9998798641803142}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0036448976449467672,0.004263423729421535],"position_m":[0.20995510235505324,-0.049436576270578465,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00485029778294382,0.0040448130306061985],"position_m":[0.2539502977829438,-0.3793551869693938,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.00019634227870734232,-0.0014783340692869308],"position_m":[0.14069634227870736,0.23322166593071306,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00022455767317579398,0.0002174895497893438],"position_m":[0.35382455767317583,0.11741748954978934,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d13812b4d0663b4f6baaf713a19571d9f6311c6184f008afc625141e79143252","episode_index":27,"episode_name":"episode_0027"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0027.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_1191/tex_ceiling_textures_8398/tex_floor_textures_4353/tex_table_textures_5505/tex_wall_textures_6097","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":1207424927188064974,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":1207424927188064974,"visual_seed":1207424927188064974,"scene_id":"lab_003","finished_at":"2026-09-05T19:43:02"} +{"episode_id":"ep_000026","started_at":"2026-09-05T19:43:05","dimensions":{"distractor":{"count":30,"items":[{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_0","position":[0.6425407938501266,-1.8217750573698965,0.71338606911949],"aabb_xy":[[0.5625407933799108,-1.8300857649842452],[0.7225407943203427,-1.8134643497555487]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_1","position":[-0.5193924126912481,1.5010862834200753,0.71338606911949],"aabb_xy":[[-0.542977536155143,1.4360862811746435],[-0.4958072892273533,1.5660862856655071]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_2","position":[0.626979503283168,-1.5297171671165803,0.71338606911949],"aabb_xy":[[0.6118166303062309,-1.5448826244116993],[0.6421423762601051,-1.5145517098214618]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_3","position":[-0.11306705017895746,0.7992849293498416,0.71338606911949],"aabb_xy":[[-0.12010850112970506,0.7922581776120471],[-0.10602559922820987,0.8063116810876362]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_4","position":[-0.0004705706948148203,-0.668682446307022,0.71338606911949],"aabb_xy":[[-0.017901285773821326,-0.6859545609708727],[0.016960144384191685,-0.6514103316431711]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_5","position":[0.10369126213455249,1.1820026952431388,0.71338606911949],"aabb_xy":[[0.09905614698231907,1.17813536016599],[0.10832637728678585,1.1858700303202876]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_6","position":[0.6304384857367427,1.1287556600445985,0.71338606911949],"aabb_xy":[[0.6225152054979943,1.1062556598065951],[0.638361765975491,1.1512556602826018]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_7","position":[-0.46906817614187907,-2.5612216465568984,0.71338606911949],"aabb_xy":[[-0.48100091050370714,-2.573603799364758],[-0.457135441780051,-2.548839493749039]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_8","position":[0.6441236304151841,-2.286103351292936,0.71338606911949],"aabb_xy":[[0.606623630243312,-2.3188040866758426],[0.6816236305870559,-2.253402615910028]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_9","position":[0.5976649463210932,0.031137481011645374,0.71338606911949],"aabb_xy":[[0.5896215863951381,-0.053862520083721055],[0.6057083062470484,0.1161374821070118]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_10","position":[-0.6549178049997084,0.7742038486461675,0.71338606911949],"aabb_xy":[[-0.6704735744099739,0.7586534154017607],[-0.6393620355894434,0.7897542818905751]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_11","position":[-0.12313267780200032,-0.5831169430382381,0.71338606911949],"aabb_xy":[[-0.15813267607212023,-0.5901910707332263],[-0.0881326795318804,-0.57604281534325]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_12","position":[0.21604687937141798,1.2425206088523915,0.71338606911949],"aabb_xy":[[0.15204687866794867,1.1965022263794707],[0.28004688007488737,1.2885389913253127]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_13","position":[0.31564442139234594,0.8392257740815019,0.71338606911949],"aabb_xy":[[0.235644418134503,0.759229266289518],[0.3956444246501889,0.919222281873486]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_14","position":[0.2395233574060942,-1.1878023478403181,0.71338606911949],"aabb_xy":[[0.2335568184653584,-1.193763492499682],[0.24548989634682997,-1.1818412031809542]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_15","position":[0.29953318166210585,1.5361211187364456,0.71338606911949],"aabb_xy":[[0.2497164021972711,1.4861211202521423],[0.3493499611269406,1.586121117220749]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_16","position":[0.435999748698348,-1.104737165246687,0.71338606911949],"aabb_xy":[[0.3560059251197898,-1.1847371678395286],[0.5159935722769062,-1.0247371626538455]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_17","position":[-0.20584956455928138,1.2434883330276798,0.71338606911949],"aabb_xy":[[-0.2674403237832742,1.1794883349186327],[-0.14425880533528856,1.3074883311367265]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_18","position":[0.09547733715317441,1.067776134493406,0.71338606911949],"aabb_xy":[[0.05984818125321467,1.032143467736553],[0.13110649305313415,1.103408801250259]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_19","position":[0.626896275161374,0.5588861858423142,0.71338606911949],"aabb_xy":[[0.6090271674069185,0.5450532778651033],[0.6447653829158295,0.5727190938195251]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_20","position":[-0.09822324371102809,-0.3286377564958429,0.71338606911949],"aabb_xy":[[-0.10166391995108527,-0.3324991894702074],[-0.09478256747097093,-0.32477632352147845]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_21","position":[-0.011507444561299818,-1.824069187234286,0.71338606911949],"aabb_xy":[[-0.09650744297872305,-1.9089434826965712],[0.07349255385612341,-1.7391948917720013]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_22","position":[-0.3910448181414988,1.8197295997893224,0.71338606911949],"aabb_xy":[[-0.39745863178468366,1.8133197795416536],[-0.3846310044983138,1.8261394200369903]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_23","position":[-0.6698497194310818,-0.29720887009203034,0.71338606911949],"aabb_xy":[[-0.6785476817217971,-0.30933384439950506],[-0.6611517571403666,-0.2850838957845556]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_24","position":[-0.47934651050080246,0.6255399742967054,0.71338606911949],"aabb_xy":[[-0.5593465076603777,0.6139923733388883],[-0.39934651334122717,0.6370875752545224]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_25","position":[0.5003839432538786,-0.6038688151979654,0.71338606911949],"aabb_xy":[[0.49160271610664247,-0.6126485624864957],[0.509165170401115,-0.5950890679094354]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_26","position":[0.10937404560646558,0.7278429608134429,0.71338606911949],"aabb_xy":[[0.05938093349727368,0.6778429601392474],[0.15936715771565746,0.7778429614876388]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_27","position":[-0.17769527882041092,1.3890588708794662,0.71338606911949],"aabb_xy":[[-0.18160915201583347,1.3803098554729094],[-0.17378140562498842,1.397807886286023]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_28","position":[0.462239829757332,-1.9844149134110238,0.71338606911949],"aabb_xy":[[0.4252057203292722,-2.0187921207447337],[0.49927393918539165,-1.9500377060773146]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_29","position":[-0.3795377837976634,1.672134039859523,0.71338606911949],"aabb_xy":[[-0.38869766274154,1.6656028218159862],[-0.3703779048537868,1.6786652579030603]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6883671812170569,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9136.png","name":"9136"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9136.png","name":"9136"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8501.png","name":"8501"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3581.png","name":"3581"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/39.png","name":"39"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2788.png","name":"2788"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":699.9012089985978,"rotation_z_degrees":347.1364958248753,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012352816260292054,1.3497516827394584e-05,0.002102754323045967]},{"name":"camera_2","offset_m":[-0.0021426690356061186,0.0036179752142421716,-0.003521368812676652]},{"name":"camera_3","offset_m":[-0.01372962092183267,0.00011726139048400669,-0.003637390565786422]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0017326556549767968,-0.00015328597757638634,-0.0013262525619924493],"end_effector_yaw_offset_degrees":0.9381108387468344},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00016390246126874114,-0.001959527901249984,0.0019018592944540446],"end_effector_yaw_offset_degrees":-0.9025979435686111},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0012339050878209558,0.0015025858523266687,-0.0016182809842500876],"end_effector_yaw_offset_degrees":-0.21401634009889525},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0002620150512495877,0.0008663882175749919,-0.0015450829519458753],"end_effector_yaw_offset_degrees":-0.6017870916707198}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.001933056682688812,0.004492610508061024],"position_m":[0.2116669433173112,-0.04920738949193897,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0020412554458748545,-0.0023497564605018508],"position_m":[0.24705874455412513,-0.38574975646050186,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0027038689159690466,0.004918116564743602],"position_m":[0.13779613108403096,0.2396181165647436,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00365801450997471,-0.003722172578719555],"position_m":[0.3499419854900253,0.11347782742128044,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"cda9aa7502babc0fba2d18150de2a909402ee7406dab5d639e769ca5db37d636","episode_index":28,"episode_name":"episode_0028"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0028.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_9136/tex_ceiling_textures_2788/tex_floor_textures_39/tex_table_textures_8501/tex_wall_textures_3581","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":5145674691119701325,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":5145674691119701325,"visual_seed":5145674691119701325,"scene_id":"lab_003","finished_at":"2026-09-05T19:46:35"} +{"episode_id":"ep_000027","started_at":"2026-09-05T19:46:39","dimensions":{"distractor":{"count":31,"items":[{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_0","position":[-0.48459617655205856,-1.2757829374514191,0.71338606911949],"aabb_xy":[[-0.5190585239502004,-1.3102768198492412],[-0.45013382915391675,-1.2412890550535958]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_1","position":[-0.41356615253564255,-2.145425767419134,0.71338606911949],"aabb_xy":[[-0.45211184536084353,-2.183971538475323],[-0.37502045971044146,-2.1068799963629457]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_2","position":[0.611789562954266,-0.37979687972249776,0.71338606911949],"aabb_xy":[[0.5417895665443039,-0.40023481537417943],[0.6817895593642275,-0.359358944070816]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_3","position":[0.3598421600095756,-2.4366020901346173,0.71338606911949],"aabb_xy":[[0.35042468543971284,-2.4460182672723363],[0.36925963457943833,-2.4271859129968982]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_4","position":[-0.1784507843410057,0.3024191236675575,0.71338606911949],"aabb_xy":[[-0.228433734528485,0.25241912402499705],[-0.12846783415352633,0.3524191233101179]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_5","position":[0.6313005451357794,0.9476670290723961,0.71338606911949],"aabb_xy":[[0.6240182287591155,0.8576670254628868],[0.6385828615124428,1.0376670326819046]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_6","position":[0.2038525886599173,-2.351370196728002,0.71338606911949],"aabb_xy":[[0.13885258602212383,-2.402849795427449],[0.2688525912977108,-2.299890598028555]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_7","position":[0.5826189235441179,0.4853495572588047,0.71338606911949],"aabb_xy":[[0.5276234457234585,0.43034955582489764],[0.6376144013647773,0.5403495586927115]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_8","position":[-0.352160851568088,-1.0502840307889993,0.71338606911949],"aabb_xy":[[-0.37343885971156027,-1.1152840331150722],[-0.33088284342461577,-0.9852840284629261]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_9","position":[0.6539326947384436,-0.7313891321563641,0.71338606911949],"aabb_xy":[[0.6466889286921983,-0.8113891303599665],[0.661176460784689,-0.6513891339527618]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_10","position":[-0.23786338334339574,-0.95291475285712,0.71338606911949],"aabb_xy":[[-0.2547741157797374,-0.9663869584497344],[-0.2209526509070539,-0.9394425472645054]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_11","position":[0.0929682152471698,0.6508129875750348,0.71338606911949],"aabb_xy":[[0.012968218087594505,0.6392653866172178],[0.1729682124067451,0.6623605885328518]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_12","position":[-0.21544934592926118,-1.5186880527288193,0.71338606911949],"aabb_xy":[[-0.22078186058387417,-1.524012380974055],[-0.2101168312746482,-1.5133637244835838]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_13","position":[0.34510337125450885,0.4902639632220045,0.71338606911949],"aabb_xy":[[0.3101033699030271,0.46990422726518377],[0.3801033726059906,0.5106236991788253]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_14","position":[0.545512003355813,1.7552201150900335,0.71338606911949],"aabb_xy":[[0.5277184964208964,1.7374203694942358],[0.5633055102907293,1.7730198606858312]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_15","position":[0.6612419933773237,-0.9442721188096324,0.71338606911949],"aabb_xy":[[0.6266509105232784,-1.0092721190946632],[0.6958330762313688,-0.8792721185246011]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_16","position":[0.46002882046631366,-0.8094373455872692,0.71338606911949],"aabb_xy":[[0.4354826048435629,-0.8396862421363063],[0.4845750360890643,-0.7791884490382321]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_17","position":[-0.45780701206049584,-0.9664284398278833,0.71338606911949],"aabb_xy":[[-0.49124718725651545,-0.9998720656588134],[-0.42436683686447624,-0.9329848139969532]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_18","position":[-0.08299058290194539,-0.9713741254864976,0.71338606911949],"aabb_xy":[[-0.09389635898950809,-1.0513741218853268],[-0.07208480681438266,-0.8913741290876683]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_19","position":[0.3178255851834857,-1.2880479424080475,0.71338606911949],"aabb_xy":[[0.3105643376130783,-1.300834952671557],[0.3250868327538931,-1.275260932144538]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_20","position":[0.40606324481068534,0.8157926434376295,0.71338606911949],"aabb_xy":[[0.3160632462162155,0.7995420571242084],[0.4960632434051554,0.8320432297510505]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_21","position":[0.5184573835895245,-0.2178725460493971,0.71338606911949],"aabb_xy":[[0.49595738357937624,-0.23196876568900038],[0.5409573835996728,-0.20377632640979382]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_22","position":[0.3288160786277172,1.153716755799398,0.71338606911949],"aabb_xy":[[0.2688160787811504,1.0968981336063592],[0.38881607847428395,1.2105353779924366]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_23","position":[-0.11749716197058868,-2.044471238532434,0.71338606911949],"aabb_xy":[[-0.13214056752462167,-2.059129958189218],[-0.10285375641655568,-2.0298125188756497]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_24","position":[-0.21628144576102176,0.43541141208823,0.71338606911949],"aabb_xy":[[-0.3062814451793926,0.40203591524404025],[-0.12628144634265084,0.4687869089324197]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_25","position":[-0.137443130136625,-1.424764583596789,0.71338606911949],"aabb_xy":[[-0.1466030090805016,-1.431295801640326],[-0.12828325119274842,-1.418233365553252]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_26","position":[-0.26626584058729047,0.7043732562944536,0.71338606911949],"aabb_xy":[[-0.2833679185456586,0.6872664507631839],[-0.24916376262892231,0.7214800618257234]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_27","position":[-0.37202514295314815,-1.8921885781748076,0.71338606911949],"aabb_xy":[[-0.3808063701003845,-1.900968325463338],[-0.363243915805912,-1.8834088308862775]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_28","position":[-0.5571526362312604,1.092215740806616,0.71338606911949],"aabb_xy":[[-0.5727084056415257,1.0766653075622088],[-0.5415968668209952,1.1077661740510232]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_29","position":[0.5024034410854721,-0.6372489092477167,0.71338606911949],"aabb_xy":[[0.44741022974833533,-0.6922489095865103],[0.5573966524226088,-0.5822489089089231]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_30","position":[0.5410701955140582,0.22263434088457723,0.71338606911949],"aabb_xy":[[0.5037389189888156,0.18798128608972495],[0.5784014720393008,0.2572873956794296]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6874443477755343,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9666.png","name":"9666"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9666.png","name":"9666"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5695.png","name":"5695"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5910.png","name":"5910"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5944.png","name":"5944"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4138.png","name":"4138"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":601.0664531848249,"rotation_z_degrees":204.39979332539983,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00026551212419571174,0.01863839442671562,0.012630096936363067]},{"name":"camera_2","offset_m":[-0.0024860808798651685,0.004239769476920091,-0.009542733232946153]},{"name":"camera_3","offset_m":[-0.015605040014492127,-0.0025450713536820622,0.012287762307834214]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0012015080657111332,0.001351708569397131,-0.001506485734980721],"end_effector_yaw_offset_degrees":-0.0066575225705800545},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00011625199296507729,0.0018531459656097237,-0.0004196296582076129],"end_effector_yaw_offset_degrees":-0.6337108225436665},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007012086977232336,0.00010900505593304521,-0.0016873456907135842],"end_effector_yaw_offset_degrees":0.8246949374242831},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00020870884410532226,-0.0006725030463355295,-0.0013892179840369941],"end_effector_yaw_offset_degrees":0.4159674120014696}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.001679424273647008,0.0014801389886811315],"position_m":[0.211920575726353,-0.05221986101131887,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001341783182065297,0.004369140960113396],"position_m":[0.2504417831820653,-0.37903085903988665,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003074148059063405,0.004577730886314454],"position_m":[0.1435741480590634,0.23927773088631443,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004976359954107316,0.0013990821998913954],"position_m":[0.35857635995410736,0.11859908219989139,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"fb11e3de4869686831810f81a41f79e702254c456dc7e17b50762968b7abd58e","episode_index":29,"episode_name":"episode_0029"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0029.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_9666/tex_ceiling_textures_4138/tex_floor_textures_5944/tex_table_textures_5695/tex_wall_textures_5910","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":9092972651211865580,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":9092972651211865580,"visual_seed":9092972651211865580,"scene_id":"lab_003","finished_at":"2026-09-05T19:50:02"} +{"episode_id":"ep_000028","started_at":"2026-09-05T19:50:05","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_0","position":[0.4704874847449547,-2.4893302252102942,0.71338606911949],"aabb_xy":[[0.40889672552096196,-2.5533302233193416],[0.5320782439689475,-2.425330227101248]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_1","position":[-0.4581905100650472,-0.15159610215105745,0.71338606911949],"aabb_xy":[[-0.48273672568779785,-0.1818449987000945],[-0.4336442944422964,-0.12134720560202038]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_2","position":[-0.042017880727162615,-1.5593840321424512,0.71338606911949],"aabb_xy":[[-0.12201788399117575,-1.5729440644513646],[0.03798212253685052,-1.545823999833538]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_3","position":[0.253132067170609,-1.3323905029964425,0.71338606911949],"aabb_xy":[[0.1931320663097961,-1.3838169330029284],[0.3131320680314217,-1.2809640729899556]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_4","position":[0.2635704677087176,-0.5973710086974129,0.71338606911949],"aabb_xy":[[0.2526646916211549,-0.677371005096242],[0.27447624379628033,-0.5173710122985837]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_5","position":[0.4170520279475365,1.2100508306992896,0.71338606911949],"aabb_xy":[[0.3951433458081854,1.188150163879199],[0.4389607100868875,1.2319514975193804]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_6","position":[-0.621750427929179,-1.8535526273734226,0.71338606911949],"aabb_xy":[[-0.6442504274528863,-1.8760485748240434],[-0.5992504284054715,-1.8310566799228019]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_7","position":[0.13354717673421457,1.6417820207051892,0.71338606911949],"aabb_xy":[[0.06854717669991184,1.5950813440248617],[0.1985471767685173,1.6884826973855163]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_8","position":[0.6187323426967912,-1.7096342539620766,0.71338606911949],"aabb_xy":[[0.6116920327632543,-1.7896342533617484],[0.6257726526303283,-1.6296342545624056]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_9","position":[0.08606185881093209,-2.0415112178111166,0.71338606911949],"aabb_xy":[[0.028431389923661225,-2.1015112167378267],[0.14369232769820292,-1.9815112188844055]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_10","position":[-0.033934371741939806,1.1442730203669171,0.71338606911949],"aabb_xy":[[-0.0752389148056758,1.0802730207988],[0.007370171321796182,1.2082730199350342]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_11","position":[-0.4115868590178721,1.402857545153311,0.71338606911949],"aabb_xy":[[-0.4615816919458138,1.3528575462580674],[-0.3615920260899306,1.4528575440485545]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_12","position":[-0.5928642899358458,0.531964336194175,0.71338606911949],"aabb_xy":[[-0.600787570174594,0.5094643359561717],[-0.5849410096970974,0.5544643364321784]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_13","position":[0.4538772067165948,-2.1419874650948567,0.71338606911949],"aabb_xy":[[0.3898772074224266,-2.205973605463711],[0.517877206010763,-2.0780013247260025]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_14","position":[0.22079076157799415,1.027934450356867,0.71338606911949],"aabb_xy":[[0.18394021364100654,0.9904344495338333],[0.25764130951498176,1.0654344511799008]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_15","position":[-0.6029497039343648,-2.385642845042783,0.71338606911949],"aabb_xy":[[-0.6111642490500485,-2.394319435340424],[-0.5947351588186806,-2.3769662547451413]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_16","position":[-0.5213412388153255,-1.6153039204427544,0.71338606911949],"aabb_xy":[[-0.5588412372387257,-1.628468134410585],[-0.483841240391925,-1.6021397064749234]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_17","position":[-0.3160402250249306,-2.0576309379928204,0.71338606911949],"aabb_xy":[[-0.4057273013330461,-2.147630938247271],[-0.22635314871681517,-1.9676309377383698]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_18","position":[0.5071857729292564,1.5468650036308609,0.71338606911949],"aabb_xy":[[0.47155661702929663,1.511232336874008],[0.5428149288292161,1.5824976703877138]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_19","position":[0.22107894650841475,1.359094655944185,0.71338606911949],"aabb_xy":[[0.20353225159229585,1.3215946543799335],[0.2386256414245337,1.396594657508436]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_20","position":[-0.38981979281562174,0.15604299560659385,0.71338606911949],"aabb_xy":[[-0.3986218481245944,0.14823166945166477],[-0.38101773750664897,0.16385432176152293]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_21","position":[-0.2570159144292152,0.18063359998838235,0.71338606911949],"aabb_xy":[[-0.33701591139225434,0.1035579583446089],[-0.177015917466176,0.2577092416321558]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_22","position":[0.5543497555462487,0.05425122263231685,0.71338606911949],"aabb_xy":[[0.4843497539439692,0.04081842943065927],[0.6243497571485281,0.06768401583397443]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_23","position":[0.6877469684468176,-0.648559489451797,0.71338606911949],"aabb_xy":[[0.6803345129054291,-0.654410699873425],[0.6951594239882061,-0.6427082790301691]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_24","position":[-0.3638989198112587,0.659401438319597,0.71338606911949],"aabb_xy":[[-0.39849000266530393,0.5944014380345658],[-0.3293078369572135,0.7244014386046279]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_25","position":[0.26479985379229176,0.5545357413177618,0.71338606911949],"aabb_xy":[[0.24291010620335093,0.4645357440285128],[0.2866896013812325,0.644535738607011]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_26","position":[0.6598559855064683,-1.9872948844833245,0.71338606911949],"aabb_xy":[[0.6446931125295312,-2.002460341778443],[0.6750188584834054,-1.972129427188206]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_27","position":[0.15373256156479786,-0.9286558955816953,0.71338606911949],"aabb_xy":[[0.14569622686351302,-0.936694014886112],[0.1617688962660827,-0.9206177762772785]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_28","position":[0.4093769172405046,-0.9135997794958677,0.71338606911949],"aabb_xy":[[0.3593769159566646,-0.9635786338864898],[0.45937691852434454,-0.8636209251052456]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_29","position":[-0.15176002665901378,-1.1262223953475954,0.71338606911949],"aabb_xy":[[-0.2167600245406616,-1.1773460590541363],[-0.08676002877736598,-1.0750987316410545]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_30","position":[-0.1580218538244027,-0.5956949795223914,0.71338606911949],"aabb_xy":[[-0.1955218541165775,-0.5997364549229949],[-0.12052185353222786,-0.5916535041217876]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_31","position":[-0.08385825538737568,-1.7513135526228392,0.71338606911949],"aabb_xy":[[-0.11832073340046344,-1.7579772298057619],[-0.049395777374287894,-1.7446498754399165]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6909506672142698,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3735.png","name":"3735"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3735.png","name":"3735"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6231.png","name":"6231"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5877.png","name":"5877"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4492.png","name":"4492"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9206.png","name":"9206"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":746.4092767972039,"rotation_z_degrees":15.243604314536391,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00783684176967487,0.01413338004493329,-0.018146557260169727]},{"name":"camera_2","offset_m":[-0.009455236628256203,-0.009736150522366706,-0.015825327172810967]},{"name":"camera_3","offset_m":[0.019103129581844912,0.017151523727250432,-0.004940392179698723]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0013694854825178466,-3.8908832799296796e-05,0.0014276154461739209],"end_effector_yaw_offset_degrees":-0.8587669070197608},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0008444630376622903,-0.0007262962852348767,0.0015059925078883037],"end_effector_yaw_offset_degrees":-0.5426661891794755},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0002466119029842133,-0.0014204991737903853,0.0014218088707737037],"end_effector_yaw_offset_degrees":-0.2935747786808043},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0015304650037285404,-0.0011803810890955258,-0.001387747446916368],"end_effector_yaw_offset_degrees":-0.675003259790455}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.002927958611140021,-0.004564089656300684],"position_m":[0.21652795861114002,-0.058264089656300685,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0018246167386362947,-0.0012340449303830914],"position_m":[0.2509246167386363,-0.3846340449303831,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004349499505134858,-0.003637272838868948],"position_m":[0.13615050049486516,0.23106272716113105,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004939984755532091,0.004317886950348223],"position_m":[0.34866001524446794,0.12151788695034822,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"727308602141d62919188623c392c67d539a7a371b912636031013c46c9e2d35","episode_index":30,"episode_name":"episode_0030"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0030.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_3735/tex_ceiling_textures_9206/tex_floor_textures_4492/tex_table_textures_6231/tex_wall_textures_5877","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":1675624171003150555,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":1675624171003150555,"visual_seed":1675624171003150555,"scene_id":"lab_003","finished_at":"2026-09-05T19:53:28"} +{"episode_id":"ep_000029","started_at":"2026-09-05T19:53:31","dimensions":{"distractor":{"count":28,"items":[{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_0","position":[-0.1347671331214546,0.12713732356909624,0.71338606911949],"aabb_xy":[[-0.16922961113454235,0.12047364638617339],[-0.10030465510836681,0.13380100075201903]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_1","position":[-0.5543550312256663,1.4980887094095219,0.71338606911949],"aabb_xy":[[-0.5996336461068155,1.434088710061338],[-0.509076416344517,1.5620887087577053]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_2","position":[0.14512313834752966,1.7357594357406465,0.71338606911949],"aabb_xy":[[0.13902851045941134,1.7271900411889778],[0.15121776623564798,1.7443288302923152]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_3","position":[0.6258614480224336,-2.328382206406812,0.71338606911949],"aabb_xy":[[0.6055771452990347,-2.34866483154952],[0.6461457507458322,-2.308099581264102]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_4","position":[0.07543849533642955,0.744023299439498,0.71338606911949],"aabb_xy":[[0.011438496042261326,0.6800371590706438],[0.13943849463059776,0.8080094398083522]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_5","position":[0.24586775565140118,1.121317693867086,0.71338606911949],"aabb_xy":[[0.24053017998539664,1.0963176929379461],[0.25120533131740574,1.1463176947962257]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_6","position":[0.21970821145405972,0.9231168589241143,0.71338606911949],"aabb_xy":[[0.21486461669282972,0.9182652064451303],[0.22455180621528967,0.9279685114030986]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_7","position":[-0.3645781204371003,1.2619531644425237,0.71338606911949],"aabb_xy":[[-0.38369042779507917,1.2428183855652817],[-0.34546581307912144,1.2810879433197657]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_8","position":[-0.19106277679855233,-1.3547519723069656,0.71338606911949],"aabb_xy":[[-0.25506277717608594,-1.4044972391577777],[-0.12706277642101868,-1.3050067054561532]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_9","position":[0.1676528237083007,-1.7951705564359943,0.71338606911949],"aabb_xy":[[0.07765282511383076,-1.8114211427494151],[0.25765282230277065,-1.778919970122573]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_10","position":[0.4829154554527255,-1.4687454752329827,0.71338606911949],"aabb_xy":[[0.47155372079943936,-1.4801139416392706],[0.4942771901060117,-1.4573770088266944]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_11","position":[0.44639340860119514,-2.469469744263,0.71338606911949],"aabb_xy":[[0.43083763919093,-2.4850201775074074],[0.4619491780114605,-2.453919311018593]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_12","position":[0.4449850897140992,-1.1382905243164496,0.71338606911949],"aabb_xy":[[0.4389480767134345,-1.144317225385398],[0.45102210271476395,-1.1322638232475013]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_13","position":[0.22066288871736772,0.5795730656289022,0.71338606911949],"aabb_xy":[[0.21722221247731058,0.5757116326545377],[0.22410356495742492,0.5834344986032667]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_14","position":[-0.02684577362928231,1.0359699176498811,0.71338606911949],"aabb_xy":[[-0.06903018779011305,0.9719699173726699],[0.015338640531548431,1.0999699179270923]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_15","position":[0.6168261195736489,0.6198514898214342,0.71338606911949],"aabb_xy":[[0.5993261193143125,0.6057599476326617],[0.6343261198329857,0.633943032010207]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_16","position":[-0.32859781538401894,-2.030662093437195,0.71338606911949],"aabb_xy":[[-0.4185978121196291,-2.083845556754489],[-0.23859781864840868,-1.9774786301198999]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_17","position":[-0.1773115587718156,-0.18749208238331905,0.71338606911949],"aabb_xy":[[-0.18289323040594435,-0.19999208220109455],[-0.17172988713768683,-0.17499208256554355]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_18","position":[0.45073725970723366,0.7276464433904719,0.71338606911949],"aabb_xy":[[0.4057372582410049,0.6826465865289914],[0.49573726117346256,0.7726463002519528]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_19","position":[-0.28296648961919085,0.49944993724425757,0.71338606911949],"aabb_xy":[[-0.2910941778125041,0.4905363288335499],[-0.27483880142587763,0.5083635456549652]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_20","position":[0.671932855585458,-1.2593405552265549,0.71338606911949],"aabb_xy":[[0.6473866399627073,-1.289589451775592],[0.6964790712082087,-1.2290916586775178]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_21","position":[0.24730119870299883,-0.9475209955963253,0.71338606911949],"aabb_xy":[[0.16730120154342354,-0.9590685965541422],[0.3273011958625741,-0.9359733946385081]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_22","position":[0.5021901016292614,-0.19143136791163773,0.71338606911949],"aabb_xy":[[0.4796901016191131,-0.205527587551241],[0.5246901016394097,-0.17733514827203445]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_23","position":[0.6568557592139979,-2.0629645057102826,0.71338606911949],"aabb_xy":[[0.5928557569935908,-2.107337589835571],[0.7208557614344049,-2.0185914215849943]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_24","position":[-0.14365065110531006,-0.8598742027045079,0.71338606911949],"aabb_xy":[[-0.18641735798473025,-0.9238742061263103],[-0.10088394422588987,-0.7958741992827054]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_25","position":[0.4573683999695686,-2.1236107151486348,0.71338606911949],"aabb_xy":[[0.45012463392332325,-2.203610713352237],[0.4646121660158139,-2.0436107169450324]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_26","position":[-0.47775028734339353,-2.361514376677818,0.71338606911949],"aabb_xy":[[-0.5577502887735207,-2.4410315316904274],[-0.39775028591326633,-2.2819972216652085]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_27","position":[-0.5058505379835733,0.4236035533735225,0.71338606911949],"aabb_xy":[[-0.5508431247020236,0.3786035540990737],[-0.46085795126512274,0.4686035526479712]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6890073175731868,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3629.png","name":"3629"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3629.png","name":"3629"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2720.png","name":"2720"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8140.png","name":"8140"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3487.png","name":"3487"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9411.png","name":"9411"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":704.0272181789194,"rotation_z_degrees":150.11773166877967,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006838843325089923,0.010273887645721399,0.017540819097749193]},{"name":"camera_2","offset_m":[0.01675943611756048,0.011589621789545309,-0.002744671920551084]},{"name":"camera_3","offset_m":[0.012693570476688055,-0.010949345176687598,-0.00532840431106087]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0018933623385456878,-0.00042230955604936806,-0.0003232573341490528],"end_effector_yaw_offset_degrees":0.9400588667847232},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.001667493743027547,-0.0005433666531874954,0.0018871639402908073],"end_effector_yaw_offset_degrees":0.0010336206397074665},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0006073472421445497,0.0014484515088190393,-0.0003847233952424154],"end_effector_yaw_offset_degrees":0.8997069998600404},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00158543226090939,-7.147482964012263e-05,-0.0008694107332481039],"end_effector_yaw_offset_degrees":0.9169927768618638}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004192212439253505,-0.00022262174397937994],"position_m":[0.2177922124392535,-0.053922621743979375,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0007615256686682639,0.000671750952329255],"position_m":[0.24986152566866826,-0.3827282490476708,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0031233692750714903,0.00021790161469960843],"position_m":[0.13737663072492853,0.2349179016146996,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0008973038868943005,-0.0024344526967240774],"position_m":[0.35270269611310573,0.11476554730327593,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"99f0f69a5060bd6d46be779fa9dd9fbf3b9ed58d141a8b1459bbcf277ac715b1","episode_index":31,"episode_name":"episode_0031"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0031.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_3629/tex_ceiling_textures_9411/tex_floor_textures_3487/tex_table_textures_2720/tex_wall_textures_8140","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":3497410033440929237,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":3497410033440929237,"visual_seed":3497410033440929237,"scene_id":"lab_003","finished_at":"2026-09-05T19:57:05"} +{"episode_id":"ep_000030","started_at":"2026-09-05T19:57:09","dimensions":{"distractor":{"count":32,"items":[{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_0","position":[0.46122261498201467,-1.799160511037547,0.71338606911949],"aabb_xy":[[0.4262226157891964,-1.8101275570352093],[0.49622261417483293,-1.7881934650398843]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_1","position":[-0.4540684179109636,0.12276691140808538,0.71338606911949],"aabb_xy":[[-0.5340684148740027,0.04569126976431191],[-0.3740684209479244,0.19984255305185883]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_2","position":[-0.6627677484853144,1.3712635380189697,0.71338606911949],"aabb_xy":[[-0.6852668842115415,1.3487635372407067],[-0.6402686127590875,1.3937635387972327]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_3","position":[-0.04165808045815422,1.5354878846199749,0.71338606911949],"aabb_xy":[[-0.101658081318967,1.4840614546134883],[0.018341920402658588,1.586914314626461]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_4","position":[0.5775043660735175,-0.7673090520903862,0.71338606911949],"aabb_xy":[[0.5410085454462387,-0.8037929945171437],[0.6140001867007961,-0.7308251096636286]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_5","position":[-0.1724843956802956,1.6144709399208854,0.71338606911949],"aabb_xy":[[-0.1949491656517007,1.591970939042025],[-0.15001962570889046,1.636970940799746]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_6","position":[-0.3772458844946882,1.3106549268070613,0.71338606911949],"aabb_xy":[[-0.41474588478686303,1.3066134514064578],[-0.3397458842025134,1.3146964022076648]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_7","position":[0.6764882163874444,-1.7484480939917733,0.71338606911949],"aabb_xy":[[0.6705216774467087,-1.7544092386511372],[0.6824547553281801,-1.7424869493324089]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_8","position":[0.05870054809326619,-1.479265713912664,0.71338606911949],"aabb_xy":[[0.05145678204702086,-1.559265712116266],[0.06594431413951152,-1.3992657157090613]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_9","position":[0.24419546486676158,1.178536332867433,0.71338606911949],"aabb_xy":[[0.1801954675811129,1.137029613914589],[0.3081954621524102,1.220043051820277]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_10","position":[0.5073223944034622,-0.90818106596092,0.71338606911949],"aabb_xy":[[0.41732239766785195,-0.9613645292782144],[0.5973223911390724,-0.8549976026436253]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_11","position":[-0.49705308341390375,-0.24148286779649242,0.71338606911949],"aabb_xy":[[-0.5195530832278061,-0.2459574841669731],[-0.4745530836000014,-0.23700825142601173]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_12","position":[-0.09742997247662866,0.9021846766157511,0.71338606911949],"aabb_xy":[[-0.13492997366142143,0.8977664539196905],[-0.05992997129183585,0.9066028993118115]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_13","position":[0.09878955713508908,-2.445422084838305,0.71338606911949],"aabb_xy":[[0.08793795088621348,-2.456281375565956],[0.10964116338396468,-2.4345627941106542]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_14","position":[0.6450295880654238,-1.4513501408835452,0.71338606911949],"aabb_xy":[[0.5900295884436779,-1.5063338336710181],[0.7000295876871696,-1.3963664480960727]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_15","position":[0.6462373153080907,1.2963086578520167,0.71338606911949],"aabb_xy":[[0.601237313841862,1.2513088009905362],[0.6912373167743197,1.3413085147134975]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_16","position":[0.3060366869546176,-1.2756610474151855,0.71338606911949],"aabb_xy":[[0.22603668979504227,-1.2872086483730023],[0.38603668411419284,-1.2641134464573682]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_17","position":[-0.5380010613540306,0.41103383549940187,0.71338606911949],"aabb_xy":[[-0.5755010597774308,0.3978696215315712],[-0.5005010629306301,0.42419804946723244]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_18","position":[-0.5186762622506101,0.961457732875302,0.71338606911949],"aabb_xy":[[-0.5736762614271995,0.9064680581003443],[-0.46367626307402054,1.0164474076502596]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_19","position":[0.2974201422551733,-2.3613545248069148,0.71338606911949],"aabb_xy":[[0.29015889468476597,-2.3741415350704242],[0.3046813898255808,-2.3485675145434053]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_20","position":[0.5878892468149799,0.15813590590231286,0.71338606911949],"aabb_xy":[[0.5657167198383289,0.13596023874618968],[0.6100617737916306,0.18031157305843604]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_21","position":[0.5697575718400336,0.3200589149182864,0.71338606911949],"aabb_xy":[[0.55967586476146,0.24005891702617171],[0.579839278918607,0.400058912810401]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_22","position":[-0.4025292689501985,1.7221803343858881,0.71338606911949],"aabb_xy":[[-0.466529269653668,1.6761619519129674],[-0.33852926824672924,1.7681987168588094]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_23","position":[0.7065491842271914,-1.302664271799382,0.71338606911949],"aabb_xy":[[0.6953041286565737,-1.3139060695234772],[0.7177942397978093,-1.2914224740752867]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_24","position":[-0.4348330443050913,-1.1442608777508692,0.71338606911949],"aabb_xy":[[-0.4698330456565731,-1.1646206137076898],[-0.3998330429536096,-1.123901141794048]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_25","position":[0.41692802521647887,-0.2928914956539841,0.71338606911949],"aabb_xy":[[0.38908298843587175,-0.3236759943922958],[0.444773061997086,-0.2621069969156724]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_26","position":[-0.3784175269623946,-0.7617068550034873,0.71338606911949],"aabb_xy":[[-0.3935198284234126,-0.7768083766345488],[-0.3633152255013764,-0.7466053333724252]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_27","position":[0.25850288998166615,1.5283595573480588,0.71338606911949],"aabb_xy":[[0.2458761026944698,1.518813483646486],[0.2711296772688625,1.5379056310496317]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_28","position":[-0.3177456365966992,-1.799047433804811,0.71338606911949],"aabb_xy":[[-0.3227016567815804,-1.821547434006933],[-0.31278961641181807,-1.7765474336026899]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_29","position":[0.052784394557925274,0.9369854533612623,0.71338606911949],"aabb_xy":[[0.041215413810988706,0.9119854532443306],[0.06435337530486185,0.961985453478194]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_30","position":[-0.41326981703681454,0.694364728884163,0.71338606911949],"aabb_xy":[[-0.42119309727556287,0.6718647286461596],[-0.4053465367980662,0.7168647291221664]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_31","position":[-0.09805029859416137,0.42197324716246687,0.71338606911949],"aabb_xy":[[-0.1880503022710795,0.3605408405853624],[-0.008050294917243196,0.48340565373957106]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6923239776438911,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/757.png","name":"757"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/757.png","name":"757"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3816.png","name":"3816"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4493.png","name":"4493"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/341.png","name":"341"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/608.png","name":"608"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":655.3554518919576,"rotation_z_degrees":169.26410989954073,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008144508437531135,-0.012489664549713973,-0.016463540102568716]},{"name":"camera_2","offset_m":[0.016039434883050523,0.011186948390507816,-0.0070775053223881106]},{"name":"camera_3","offset_m":[-0.007264352525525566,0.00842646298268038,0.005369820072286181]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0019936753366683506,-0.0018293447015559578,0.0007212683369710563],"end_effector_yaw_offset_degrees":0.31369482365114587},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0005909404001267753,0.0011892287516019218,0.0005739693142530048],"end_effector_yaw_offset_degrees":0.29190296331953713},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0009715149666112452,-0.0010071971210847545,-0.0011579138611922703],"end_effector_yaw_offset_degrees":0.1727988390811308},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0018879981761457838,-5.746929624891872e-08,0.0007706338584460796],"end_effector_yaw_offset_degrees":0.3730463840716969}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0034253017001927228,0.004648326155668543],"position_m":[0.21702530170019274,-0.049051673844331456,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0029108235486801004,-0.002080063365820646],"position_m":[0.2520108235486801,-0.3854800633658207,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003875180680759192,-0.0031097529117835613],"position_m":[0.14437518068075922,0.23159024708821643,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0007364223870752161,0.002371281280767635],"position_m":[0.35433642238707524,0.11957128128076763,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4027b3d2cdd3fb1cefc9bb805f8169ad4e11f4b09019fe6fe6c90871110d1d1f","episode_index":32,"episode_name":"episode_0032"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0032.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_757/tex_ceiling_textures_608/tex_floor_textures_341/tex_table_textures_3816/tex_wall_textures_4493","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":5995074269737863952,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":5995074269737863952,"visual_seed":5995074269737863952,"scene_id":"lab_003","finished_at":"2026-09-05T20:00:23"} +{"episode_id":"ep_000031","started_at":"2026-09-05T20:00:26","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_0","position":[-0.6575919494693698,1.5649545392254436,0.71338606911949],"aabb_xy":[[-0.6662899117600852,1.5528295649179689],[-0.6488939871786547,1.5770795135329183]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_1","position":[0.13197177679004035,-1.44250750648813,0.71338606911949],"aabb_xy":[[0.10905606390499048,-1.4654118036245536],[0.15488748967509028,-1.4196032093517066]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_2","position":[0.2335581637637485,1.142757582971473,0.71338606911949],"aabb_xy":[[0.22724606422741006,1.136990643718254],[0.23987026330008693,1.1485245222246918]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_3","position":[-0.439232985752627,-0.2467511663253803,0.71338606911949],"aabb_xy":[[-0.46173298576277527,-0.2608473859649836],[-0.4167329857424787,-0.23265494668577702]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_4","position":[-0.4495888410435939,0.5053764885932166,0.71338606911949],"aabb_xy":[[-0.539588843377613,0.42789413400810394],[-0.35958883870957487,0.5828588431783293]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_5","position":[0.16683378309606334,-0.8229031505717295,0.71338606911949],"aabb_xy":[[0.07683378450159342,-0.8391537368851506],[0.2568337816905333,-0.8066525642583086]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_6","position":[0.3286145511376919,1.3111670860187052,0.71338606911949],"aabb_xy":[[0.2791341299237331,1.2471670881058534],[0.3780949723516507,1.375167083931557]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_7","position":[-0.4200933816976172,-2.438237977542412,0.71338606911949],"aabb_xy":[[-0.4840933808673872,-2.485004664661374],[-0.3560933825278473,-2.391471290423449]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_8","position":[0.38489896234811627,-0.9713712327778863,0.71338606911949],"aabb_xy":[[0.33490585023892444,-1.0213712334520821],[0.43489207445730826,-0.9213712321036909]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_9","position":[-0.1025361400574869,-0.8390784283332842,0.71338606911949],"aabb_xy":[[-0.1400361400012533,-0.8473715183681206],[-0.06503614011372051,-0.8307853382984475]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_10","position":[0.207830844085947,-1.5400691525104697,0.71338606911949],"aabb_xy":[[0.127830847071699,-1.5602037041838808],[0.28783084110019497,-1.5199346008370582]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_11","position":[0.6157193585185514,-1.4670235762415629,0.71338606911949],"aabb_xy":[[0.5257193548416331,-1.528455982818667],[0.7057193621954695,-1.4055911696644585]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_12","position":[0.6363041022344933,-0.6641820208275464,0.71338606911949],"aabb_xy":[[0.6262223951559197,-0.7441820187196608],[0.6463858093130667,-0.5841820229354315]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_13","position":[-0.3493426767688124,1.625601365996435,0.71338606911949],"aabb_xy":[[-0.4133426799874503,1.5788782540974267],[-0.28534267355017456,1.6723244778954434]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_14","position":[-0.3161778301185,-1.7275444761051006,0.71338606911949],"aabb_xy":[[-0.3265893887989837,-1.7328902094409988],[-0.30576627143801627,-1.722198742769202]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_15","position":[-0.33183638726052633,0.15969914562521126,0.71338606911949],"aabb_xy":[[-0.41183638753413326,0.08674959779949455],[-0.2518363869869193,0.23264869345092798]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_16","position":[-0.5134392159453853,0.035284342657526224,0.71338606911949],"aabb_xy":[[-0.5216537610610691,0.026607752359884936],[-0.5052246708297011,0.0439609329551675]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_17","position":[-0.3954964600860801,-1.3311712969428313,0.71338606911949],"aabb_xy":[[-0.4594964593802483,-1.3951574373116855],[-0.33149646079191186,-1.2671851565739771]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_18","position":[0.5398095580356468,-2.32706339840577,0.71338606911949],"aabb_xy":[[0.5048095566841649,-2.3474231343625913],[0.5748095593871284,-2.3067036624489496]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_19","position":[-0.6568524748579485,-1.2012143874807066,0.71338606911949],"aabb_xy":[[-0.6677582509455112,-1.2812143838795358],[-0.6459466987703858,-1.1212143910818775]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6925361606148371,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1246.png","name":"1246"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1246.png","name":"1246"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8659.png","name":"8659"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5204.png","name":"5204"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9769.png","name":"9769"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/160.png","name":"160"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":543.9532627203555,"rotation_z_degrees":344.0507121830543,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014749107938018442,-0.006767931416578303,0.018220956134742197]},{"name":"camera_2","offset_m":[-0.017475360723005928,-0.012619127243835333,-0.007616870868417749]},{"name":"camera_3","offset_m":[-0.012882552074216815,-0.01599786400171469,0.017930130119396533]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0012602694963361558,-0.0001408351883923067,0.00022220351582304685],"end_effector_yaw_offset_degrees":0.2545788795505428},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0003498190018097953,0.0019557575781718644,0.0011020991942355795],"end_effector_yaw_offset_degrees":0.9519092082152396},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001420506850086876,0.0006623355113232672,0.0003404612185635221],"end_effector_yaw_offset_degrees":-0.25720826545509357},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0001368765132566548,0.0008081593054398745,-0.0012049129201483772],"end_effector_yaw_offset_degrees":-0.5335730577337423}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0018163502002807607,-0.0036865363552806476],"position_m":[0.21178364979971925,-0.05738653635528065,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004223710183666451,-0.0004971304150058406],"position_m":[0.25332371018366645,-0.38389713041500584,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00309794154085516,-0.0038990244637343453],"position_m":[0.13740205845914485,0.23080097553626563,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00039632622678463427,0.004105690039992658],"position_m":[0.3532036737732154,0.12130569003999266,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7143b4fc9a4d66daa0aa6d4afeb61b83f72806d3fbca48bd47a6e09d1535d7c8","episode_index":33,"episode_name":"episode_0033"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0033.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_1246/tex_ceiling_textures_160/tex_floor_textures_9769/tex_table_textures_8659/tex_wall_textures_5204","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":4104701358533036683,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":4104701358533036683,"visual_seed":4104701358533036683,"scene_id":"lab_003","finished_at":"2026-09-05T20:03:52"} +{"episode_id":"ep_000032","started_at":"2026-09-05T20:03:55","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_0","position":[0.44254872736725925,1.0104158531369611,0.71338606911949],"aabb_xy":[[0.4299460282301828,0.9978204569120956],[0.4551514265043357,1.0230112493618266]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_1","position":[-0.5487350122782519,-2.026525370134884,0.71338606911949],"aabb_xy":[[-0.5940136271594012,-2.0905253694830677],[-0.5034563973971027,-1.9625253707867003]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_2","position":[0.6600775307009004,-2.173465603772131,0.71338606911949],"aabb_xy":[[0.5960818333058038,-2.2374656020728394],[0.724073228095997,-2.109465605471422]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_3","position":[-0.10460388315121061,0.06535631328331126,0.71338606911949],"aabb_xy":[[-0.14585269418112531,0.010356313771093804],[-0.06335507212129586,0.1203563127955287]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_4","position":[0.16088428812634803,1.7795147386302772,0.71338606911949],"aabb_xy":[[0.09088429171638619,1.7590768029785953],[0.23088428453630977,1.7999526742819587]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_5","position":[0.2512511169597098,-1.5758995359770303,0.71338606911949],"aabb_xy":[[0.18625111600258257,-1.6278477479107358],[0.31625111791683697,-1.5239513240433247]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_6","position":[-0.15789875370023376,-0.15794723195688087,0.71338606911949],"aabb_xy":[[-0.16667998084747002,-0.16672697924541105],[-0.14911752655299756,-0.14916748466835075]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_7","position":[0.17534916158609126,-1.028478320021469,0.71338606911949],"aabb_xy":[[0.11534916099007508,-1.0832907925666926],[0.23534916218210744,-0.9736658474762456]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_8","position":[-0.6746887300414808,0.4089559519877941,0.71338606911949],"aabb_xy":[[-0.6829032751571645,0.40027936169015277],[-0.6664741849257966,0.41763254228543534]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_9","position":[-0.5799659598115835,-0.9717616456838178,0.71338606911949],"aabb_xy":[[-0.5849219799964648,-0.9942616458859396],[-0.5750099396267024,-0.9492616454816963]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_10","position":[0.470401843415722,-0.8739701439934624,0.71338606911949],"aabb_xy":[[0.4479018429036813,-0.8964620023588606],[0.4929018439277625,-0.8514782856280639]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_11","position":[0.3660850967164875,-1.1510635695748486,0.71338606911949],"aabb_xy":[[0.3472007129479773,-1.1699494943552013],[0.3849694804849977,-1.1321776447944958]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_12","position":[0.5439908225455261,0.007091880448840904,0.71338606911949],"aabb_xy":[[0.5324218417985895,-0.017908119668090805],[0.5555598032924627,0.03209188056577261]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_13","position":[0.6743118282417793,0.14650342336138555,0.71338606911949],"aabb_xy":[[0.6243169953138377,0.09650342446614202],[0.7243066611697209,0.1965034222566291]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_14","position":[-0.2810173132620634,-1.4929091868578526,0.71338606911949],"aabb_xy":[[-0.28751894977006803,-1.5026770088841626],[-0.2745156767540588,-1.4831413648315428]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_15","position":[0.14963967019345148,-0.8593931594526292,0.71338606911949],"aabb_xy":[[0.12958125858021116,-0.8794582463617867],[0.16969808180669174,-0.8393280725434716]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_16","position":[-0.45143542108544416,-0.5089932522690734,0.71338606911949],"aabb_xy":[[-0.4623411971730068,-0.5889932486679026],[-0.4405296449978814,-0.4289932558702443]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_17","position":[-0.18807629279573013,-0.873543912185246,0.71338606911949],"aabb_xy":[[-0.243050014832063,-0.9285439117494791],[-0.13310257075939724,-0.8185439126210128]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_18","position":[-0.4367005197485886,-1.8167598181487645,0.71338606911949],"aabb_xy":[[-0.4742005183242094,-1.8294961138123222],[-0.3992005211729678,-1.8040235224852064]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_19","position":[-0.030204332610201945,-1.5272767264630087,0.71338606911949],"aabb_xy":[[-0.06397989180089492,-1.5413152216761739],[0.0035712265804910236,-1.5132382312498436]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_20","position":[0.39991665229529194,0.8495693098271198,0.71338606911949],"aabb_xy":[[0.39028501607486227,0.839931997047411],[0.4095482885157215,0.8592066226068288]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_21","position":[0.026105255419576756,-2.370478104682806,0.71338606911949],"aabb_xy":[[-0.028894743757012734,-2.425467779457763],[0.08110525459616624,-2.3154884299078478]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_22","position":[-0.15110733990590397,-2.560444137137271,0.71338606911949],"aabb_xy":[[-0.24110733962907813,-2.5835174896724498],[-0.06110734018272978,-2.53737078460209]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_23","position":[0.7008317889413873,-0.08237329148384775,0.71338606911949],"aabb_xy":[[0.694737161053269,-0.09094268603551647],[0.7069264168295056,-0.07380389693217904]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_24","position":[-0.2864713999218323,1.0505449309011117,0.71338606911949],"aabb_xy":[[-0.3364664108812843,1.00054493186552],[-0.23647638896238027,1.1005449299367034]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_25","position":[-0.5185153784582395,0.20244545989980223,0.71338606911949],"aabb_xy":[[-0.525927833999628,0.19659424947817425],[-0.511102922916851,0.20829667032143015]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_26","position":[0.3024339979213633,-2.3888414520237613,0.71338606911949],"aabb_xy":[[0.279933997911215,-2.402937671663364],[0.32493399793151156,-2.3747452323841576]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_27","position":[-0.5700650668499133,0.8968271708589257,0.71338606911949],"aabb_xy":[[-0.6340650641522597,0.8524607438910689],[-0.5060650695475669,0.9411935978267824]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6902763521687526,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6331.png","name":"6331"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6331.png","name":"6331"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6799.png","name":"6799"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6091.png","name":"6091"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1492.png","name":"1492"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7722.png","name":"7722"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":504.4831032221693,"rotation_z_degrees":359.65286663875816,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.019986585753037977,0.00440966592884957,-0.018120999116878683]},{"name":"camera_2","offset_m":[-0.012192349313612162,-0.00027299396883425503,0.01944637789580043]},{"name":"camera_3","offset_m":[0.009617191769534059,-0.01618324848266247,-0.017720053229692178]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0011720170404596493,-0.0004740184307919222,-0.00020235527158131515],"end_effector_yaw_offset_degrees":0.2781216347178983},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[7.278438079168616e-05,-0.0008718702748779217,-0.0013040071961433054],"end_effector_yaw_offset_degrees":0.370672023324065},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0006957682277814229,0.0017086752604386557,0.00025110682180185624],"end_effector_yaw_offset_degrees":-0.08584651779339048},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0012636291721740073,0.0005241634087166827,-3.877391780331965e-05],"end_effector_yaw_offset_degrees":0.8041528506717834}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0003544670350759116,-0.001794346796253139],"position_m":[0.21395446703507592,-0.05549434679625314,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0045050960680967774,0.004021914442387617],"position_m":[0.2536050960680968,-0.3793780855576124,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.00032960503999330745,0.003972506619316492],"position_m":[0.1408296050399933,0.2386725066193165,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0009945355950757885,-0.004476680538381746],"position_m":[0.3545945355950758,0.11272331946161826,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6c772692b65a3aa04137cfad1bf44fd4887320f31fc8ec2629b500d127a7afc8","episode_index":34,"episode_name":"episode_0034"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0034.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_6331/tex_ceiling_textures_7722/tex_floor_textures_1492/tex_table_textures_6799/tex_wall_textures_6091","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":4813615969433732051,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":4813615969433732051,"visual_seed":4813615969433732051,"scene_id":"lab_003","finished_at":"2026-09-05T20:07:11"} +{"episode_id":"ep_000033","started_at":"2026-09-05T20:07:16","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_0","position":[-0.4815433592700209,1.3596442902692725,0.71338606911949],"aabb_xy":[[-0.5190433597673791,1.355675606721154],[-0.44404335877266266,1.363612973817391]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_1","position":[-0.0010853472412502008,-1.386685035487566,0.71338606911949],"aabb_xy":[[-0.01871818283477777,-1.404307981503189],[0.01654748835227737,-1.369062089471943]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_2","position":[-0.5609141712488916,-0.297109156341969,0.71338606911949],"aabb_xy":[[-0.5657577660101216,-0.3019608088209531],[-0.5560705764876617,-0.2922575038629849]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_3","position":[-0.6035470623178496,-2.3564032159000208,0.71338606911949],"aabb_xy":[[-0.6675470625783203,-2.401412015252948],[-0.5395470620573787,-2.311394416547092]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_4","position":[0.5191455051490581,1.2567606173994421,0.71338606911949],"aabb_xy":[[0.48351634924909836,1.2211279506425892],[0.5547746610490178,1.292393284156295]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_5","position":[-0.17643231438753804,-1.0884757699712218,0.71338606911949],"aabb_xy":[[-0.25643231297485747,-1.1677913719093826],[-0.09643231580021862,-1.0091601680330609]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_6","position":[0.45577726861555234,0.494565859001725,0.71338606911949],"aabb_xy":[[0.3917815712204557,0.4305658607010163],[0.5197729660106489,0.5585658573024337]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_7","position":[-0.030183851871268708,-1.7778209544479127,0.71338606911949],"aabb_xy":[[-0.08018312703970487,-1.8278209557238598],[0.01981542329716745,-1.7278209531719655]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_8","position":[0.039690884697899276,-2.101372918828427,0.71338606911949],"aabb_xy":[[-0.010309114878435437,-2.151353497780533],[0.089690884274234,-2.051392339876321]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_9","position":[-0.21667058394382016,1.7108289780061532,0.71338606911949],"aabb_xy":[[-0.28667058554609964,1.6973961848044958],[-0.14667058234154068,1.724261771207811]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_10","position":[0.08147249384169519,-1.3537645067337398,0.71338606911949],"aabb_xy":[[0.0713194782875458,-1.38983404830648],[0.09162550939584456,-1.3176949651609993]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_11","position":[-0.1765524220778224,-1.7809851455050971,0.71338606911949],"aabb_xy":[[-0.19088684720398585,-1.793045361059636],[-0.16221799695165895,-1.7689249299505583]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_12","position":[0.3021810825362752,0.6869139312909307,0.71338606911949],"aabb_xy":[[0.24218108202842223,0.6300671976050093],[0.36218108304412805,0.7437606649768519]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_13","position":[-0.37204017244984067,-1.789379779090932,0.71338606911949],"aabb_xy":[[-0.44204016885980235,-1.8098177147426133],[-0.30204017603987876,-1.7689418434392499]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_14","position":[0.22054986455175896,0.9290071226486232,0.71338606911949],"aabb_xy":[[0.18554986457526312,0.9195425066010066],[0.2555498645282548,0.9384717386962398]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_15","position":[-0.15156238212007356,1.6058371804837024,0.71338606911949],"aabb_xy":[[-0.18656238039019343,1.5987630527887142],[-0.11656238384995363,1.6129113081786906]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_16","position":[0.5604496945802244,1.5800617888235515,0.71338606911949],"aabb_xy":[[0.5379496950565169,1.5575658413729303],[0.5829496941039317,1.6025577362741719]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_17","position":[0.6354225904103228,-1.786534785792004,0.71338606911949],"aabb_xy":[[0.5854225890494354,-1.8365126903674198],[0.6854225917712099,-1.7365568812165886]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_18","position":[0.44048043811591797,-1.161081953081885,0.71338606911949],"aabb_xy":[[0.3504804416150461,-1.206993595500343],[0.5304804346167895,-1.1151703106634265]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_19","position":[0.4176892023857275,-1.0370486343242047,0.71338606911949],"aabb_xy":[[0.3931429867629767,-1.0672975308732418],[0.44223541800847815,-1.0067997377751676]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_20","position":[-0.47173889592933504,-1.6906111689999839,0.71338606911949],"aabb_xy":[[-0.48960800368379054,-1.7044440769771947],[-0.45386978817487955,-1.6767782610227726]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_21","position":[0.09519688895577383,1.637478041585799,0.71338606911949],"aabb_xy":[[0.04020463832026288,1.5824780398424865],[0.15018913959128477,1.692478043329112]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_22","position":[-0.187134468902181,-1.4730870170117507,0.71338606911949],"aabb_xy":[[-0.23711188576743455,-1.523087018500999],[-0.13715705203692738,-1.423087015522502]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_23","position":[0.6832248791100108,-0.8816408997998917,0.71338606911949],"aabb_xy":[[0.6520779602664277,-0.9516408984866989],[0.714371797953594,-0.8116409011130845]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_24","position":[-0.5985709207550298,-0.9949082775237303,0.71338606911949],"aabb_xy":[[-0.6320110959510493,-1.0283519033546602],[-0.5651307455590101,-0.9614646516928002]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_25","position":[0.5570894006997351,-0.2711117807118768,0.71338606911949],"aabb_xy":[[0.5388835770384875,-0.28213718129386844],[0.5752952243609829,-0.26008638012988516]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_26","position":[0.28262434722066565,-0.7637861742149605,0.71338606911949],"aabb_xy":[[0.23262434593682565,-0.8137650286055826],[0.33262434850450556,-0.7138073198243384]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_27","position":[-0.5744012289535494,-1.9814395321660865,0.71338606911949],"aabb_xy":[[-0.5804382419542141,-1.9874662332350348],[-0.5683642159528847,-1.9754128310971382]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_28","position":[0.6284565990142152,1.2573255355003141,0.71338606911949],"aabb_xy":[[0.6188249627937856,1.2476882227206052],[0.6380882352346449,1.266962848280023]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_29","position":[0.47017202211516995,-1.7921668123936039,0.71338606911949],"aabb_xy":[[0.45411009465665225,-1.8771668142061957],[0.48623394957368754,-1.707166810581012]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6888624535499127,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6703.png","name":"6703"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6703.png","name":"6703"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8091.png","name":"8091"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5900.png","name":"5900"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6594.png","name":"6594"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5917.png","name":"5917"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":701.5484408261937,"rotation_z_degrees":254.25353141682223,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004075943375758527,-0.01260033171483471,0.015190663644494003]},{"name":"camera_2","offset_m":[0.0031437361990740327,-0.0009938434729566646,0.011954178534907666]},{"name":"camera_3","offset_m":[-0.017203990508097584,-0.0040114066440337486,0.007240903366548531]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0015930449888580593,0.00044585637229320766,0.0007091243230513133],"end_effector_yaw_offset_degrees":0.31910226533873165},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0013230233528614037,-0.0010603903146889477,0.0009160405647782271],"end_effector_yaw_offset_degrees":-0.24038783063287328},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0010877384067320946,-0.0016055110329037299,0.0013905381363291539],"end_effector_yaw_offset_degrees":-0.991977888937251},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[4.8834300315178745e-05,-0.0015085727658456101,0.001993769062324931],"end_effector_yaw_offset_degrees":-0.1686596437611234}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0035383107721006076,0.003839180500668722],"position_m":[0.2171383107721006,-0.04986081949933128,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0021745228942451665,0.003057701640773237],"position_m":[0.2512745228942452,-0.3803422983592268,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0024818694638780504,0.0010144008949079884],"position_m":[0.13801813053612197,0.23571440089490797,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004666161619791634,-0.0011545609393100397],"position_m":[0.35826616161979163,0.11604543906068995,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"99039c3651f002074c9105e7b52a5b8077803f92a8cab43df61236d177fa6423","episode_index":35,"episode_name":"episode_0035"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0035.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_6703/tex_ceiling_textures_5917/tex_floor_textures_6594/tex_table_textures_8091/tex_wall_textures_5900","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":1581497534520960682,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":1581497534520960682,"visual_seed":1581497534520960682,"scene_id":"lab_003","finished_at":"2026-09-05T20:10:45"} +{"episode_id":"ep_000034","started_at":"2026-09-05T20:10:49","dimensions":{"distractor":{"count":29,"items":[{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_0","position":[0.5652654250930726,-0.3552255854966937,0.71338606911949],"aabb_xy":[[0.5427654250829244,-0.369321805136297],[0.5877654251032209,-0.3411293658570904]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_1","position":[-0.07329288509764265,0.8725241415417724,0.71338606911949],"aabb_xy":[[-0.1382928832535617,0.8462278969918602],[-0.008292886941723587,0.8988203860916846]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_2","position":[-0.4683618333556203,0.009352680623486709,0.71338606911949],"aabb_xy":[[-0.4815927788903016,-0.0038747383985127115],[-0.455130887820939,0.02258009964548613]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_3","position":[0.6808628558464809,-0.8127253503706875,0.71338606911949],"aabb_xy":[[0.6458628566536625,-0.8236923963683501],[0.715862855039299,-0.8017583043730249]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_4","position":[-0.48045785757626447,-0.8286825412107013,0.71338606911949],"aabb_xy":[[-0.4918195922295505,-0.8400510076169891],[-0.4690961229229782,-0.817314074804413]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_5","position":[0.4272049081629037,0.4542064047983021,0.71338606911949],"aabb_xy":[[0.3897049080573107,0.44738424294532103],[0.4647049082684966,0.4610285666512833]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_6","position":[-0.03464535554921566,-1.6727119763422251,0.71338606911949],"aabb_xy":[[-0.12464535496758655,-1.7060874731864148],[0.055354643869155236,-1.6393364794980354]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_7","position":[0.6472826663717837,1.3777496952000425,0.71338606911949],"aabb_xy":[[0.5921574607421928,1.3177496937587552],[0.7024078720013743,1.4377496966413295]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_8","position":[-0.3178919263944217,1.1357209866235252,0.71338606911949],"aabb_xy":[[-0.33980060853377275,1.1138203198034342],[-0.29598324425507067,1.1576216534436157]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_9","position":[-0.0667824991799244,1.7722455890872317,0.71338606911949],"aabb_xy":[[-0.10357713230483068,1.7353397139906492],[-0.02998786605501813,1.8091514641838138]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_10","position":[0.5869319438342948,-1.523421703199883,0.71338606911949],"aabb_xy":[[0.5219319428337943,-1.5742080683545576],[0.6519319448347953,-1.4726353380452077]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_11","position":[-0.20061356359579668,1.0112047725720261,0.71338606911949],"aabb_xy":[[-0.25059779930397386,0.9612047737585305],[-0.15062932788761943,1.0612047713855217]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_12","position":[0.39166871508846657,1.4508884981884154,0.71338606911949],"aabb_xy":[[0.38621076945144656,1.370888494880756],[0.3971266607254867,1.5308885014960742]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_13","position":[0.11523899246209646,-2.2773491633232745,0.71338606911949],"aabb_xy":[[0.06023899328550694,-2.3323388380982317],[0.17023899163868592,-2.2223594885483164]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_14","position":[-0.5315824277798729,-0.19779058452475118,0.71338606911949],"aabb_xy":[[-0.581465124657569,-0.24779058377102592],[-0.48169973090217666,-0.1477905852784764]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_15","position":[0.4570857119915246,-2.411116883834808,0.71338606911949],"aabb_xy":[[0.42058989136424585,-2.4476008262615654],[0.49358153261880333,-2.3746329414080503]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_16","position":[0.37081370023373617,-0.9471539222643812,0.71338606911949],"aabb_xy":[[0.3158137006119903,-1.002137615051854],[0.425813699855482,-0.8921702294769085]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_17","position":[-0.10058613820268736,0.2895042451495935,0.71338606911949],"aabb_xy":[[-0.15058613764288298,0.23953632066527714],[-0.050586138762491725,0.33947216963390975]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_18","position":[-0.39512084657633956,-2.514010614903095,0.71338606911949],"aabb_xy":[[-0.4237701789367557,-2.5426561741801703],[-0.3664715142159233,-2.4853650556260187]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_19","position":[0.3054067920623389,1.5857631813172843,0.71338606911949],"aabb_xy":[[0.29196026542829556,1.572293329664193],[0.3188533186963822,1.5992330329703757]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_20","position":[-0.34913862792578965,0.649755324870561,0.71338606911949],"aabb_xy":[[-0.3741386274775282,0.6396128410054263],[-0.3241386283740512,0.6598978087356957]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_21","position":[0.26601572000392815,1.2281273703223854,0.71338606911949],"aabb_xy":[[0.20201572070975993,1.1641412299535312],[0.33001571929809637,1.2921135106912396]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_22","position":[-0.002085133046550447,-1.2036167143981662,0.71338606911949],"aabb_xy":[[-0.06367589227054327,-1.2676167125072133],[0.05950562617744237,-1.1396167162891195]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_23","position":[0.624425467591883,1.1388289204355289,0.71338606911949],"aabb_xy":[[0.5885119631668932,1.1029154122187743],[0.6603389720168725,1.1747424286522834]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_24","position":[-0.526335565115406,0.3810408362995408,0.71338606911949],"aabb_xy":[[-0.5903355665233966,0.329251884775616],[-0.4623355637074153,0.43282978782346543]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_25","position":[-0.657187331846444,-1.4475851037074896,0.71338606911949],"aabb_xy":[[-0.6946873316634775,-1.4522233150186314],[-0.6196873320294104,-1.4429468923963478]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_26","position":[-0.2818347143143851,-0.3487875103674223,0.71338606911949],"aabb_xy":[[-0.28553797564352396,-0.3524895286761401],[-0.27813145298524616,-0.34508549205870437]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_27","position":[0.6810308570109469,-0.07986635054254476,0.71338606911949],"aabb_xy":[[0.6708778414567973,-0.11593589211528507],[0.6911838725650961,-0.04379680896980442]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_28","position":[-0.19913374858474508,1.6881030246559106,0.71338606911949],"aabb_xy":[[-0.20954530726522877,1.6827572913200117],[-0.18872218990426134,1.6934487579918085]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6881032402239168,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9185.png","name":"9185"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9185.png","name":"9185"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6240.png","name":"6240"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2972.png","name":"2972"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2323.png","name":"2323"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3976.png","name":"3976"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":697.67919928529,"rotation_z_degrees":60.92153483753996,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00735505686726667,0.0016471716381583484,0.01880532554641744]},{"name":"camera_2","offset_m":[0.00852707049250272,0.008454960831495863,0.017624098717505646]},{"name":"camera_3","offset_m":[0.011790438717502284,0.003974153021983423,0.009961742096455829]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00030372733710003837,-0.0013459571701931834,-0.0009595366953245926],"end_effector_yaw_offset_degrees":0.05191806470159377},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0007950277733959946,-0.0019888433746099643,-0.001578353910553052],"end_effector_yaw_offset_degrees":-0.6219828378911121},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0013916035719571725,-0.00047126835202943246,0.0017292451103110805],"end_effector_yaw_offset_degrees":-0.7846204324339963},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0014333761457460056,0.0003605761000313279,-0.001021180043693922],"end_effector_yaw_offset_degrees":0.8277912309028983}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00038388282043411593,0.0022519227465074175],"position_m":[0.21398388282043412,-0.05144807725349258,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0014259599910836362,-0.0009665206950936244],"position_m":[0.24767404000891635,-0.38436652069509364,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002413412637015419,-0.004093924464110279],"position_m":[0.14291341263701543,0.23060607553588972,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0012674628908402883,0.003234445007135436],"position_m":[0.3548674628908403,0.12043444500713543,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"13ee2abedffb9a3b84d1a51fbdd0ac5079f61692afd770e93f0f08a424d9dd9e","episode_index":36,"episode_name":"episode_0036"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0036.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_9185/tex_ceiling_textures_3976/tex_floor_textures_2323/tex_table_textures_6240/tex_wall_textures_2972","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":9031360825345068818,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":9031360825345068818,"visual_seed":9031360825345068818,"scene_id":"lab_003","finished_at":"2026-09-05T20:14:11"} +{"episode_id":"ep_000035","started_at":"2026-09-05T20:14:17","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_0","position":[-0.19789001085771268,1.5185090708204503,0.71338606911949],"aabb_xy":[[-0.2130528838346498,1.5033436135253317],[-0.1827271378807756,1.5336745281155693]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_1","position":[0.2867899463346354,-0.5448330835738435,0.71338606911949],"aabb_xy":[[0.26968786837626724,-0.5619398891051134],[0.30389202429300355,-0.5277262780425739]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_2","position":[-0.13011005959695776,0.6737919650607824,0.71338606911949],"aabb_xy":[[-0.1364221591332962,0.6680250258075637],[-0.12379796006061933,0.6795589043140013]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_3","position":[0.28762251951769613,-1.222963436938421,0.71338606911949],"aabb_xy":[[0.2651225199939886,-1.2454593843890416],[0.3101225190414034,-1.2004674894878]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_4","position":[-0.3746457774649217,0.29503047577498176,0.71338606911949],"aabb_xy":[[-0.4244625569297565,0.24503047729067834],[-0.32482899800008697,0.34503047425928507]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_5","position":[0.49363405062134236,1.6106968081665163,0.71338606911949],"aabb_xy":[[0.48279357239482745,1.5935105268758676],[0.5044745288478573,1.627883089457165]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_6","position":[-0.3625364434103374,-0.15481779785093241,0.71338606911949],"aabb_xy":[[-0.38753644257597053,-0.161770043556289],[-0.3375364442447043,-0.14786555214557584]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_7","position":[-0.5655423890800918,0.10287372403496553,0.71338606911949],"aabb_xy":[[-0.6011715449800515,0.06724105727811258],[-0.5299132331801321,0.13850639079181848]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_8","position":[0.15575956437642724,-1.7501562275648048,0.71338606911949],"aabb_xy":[[0.12231938918040759,-1.7835998533957345],[0.1891997395724468,-1.7167126017338743]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_9","position":[-0.3466854714414278,1.049304810710729,0.71338606911949],"aabb_xy":[[-0.35059934463685033,1.0405557953041722],[-0.3427715982460053,1.0580538261172858]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_10","position":[-0.2407951910410564,-2.224104100197115,0.71338606911949],"aabb_xy":[[-0.3207951932038189,-2.3040592838232583],[-0.1607951888782939,-2.144148916570971]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_11","position":[-0.510283763355383,0.31128161988926006,0.71338606911949],"aabb_xy":[[-0.5515883064191188,0.24728162032114298],[-0.46897922029164685,0.37528161945737715]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_12","position":[-0.47835037279526815,-1.6425882003942038,0.71338606911949],"aabb_xy":[[-0.5583503732654842,-1.6508989080085523],[-0.3983503723250523,-1.6342774927798558]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_13","position":[-0.4121921602249866,0.8673385658489652,0.71338606911949],"aabb_xy":[[-0.43469216023513485,0.853242346209362],[-0.38969216021483827,0.8814347854885686]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_14","position":[0.2557799348166927,-1.9713205595990075,0.71338606911949],"aabb_xy":[[0.2307799355447304,-1.9876659231951697],[0.2807799340886549,-1.954975196002845]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_15","position":[-0.012793335762638192,1.7653668840504513,0.71338606911949],"aabb_xy":[[-0.027895637223656282,1.750265362419389],[0.002308965698379907,1.7804684056815128]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_16","position":[-0.24957786533100612,0.12333346987253391,0.71338606911949],"aabb_xy":[[-0.2869091418562487,0.08868041507768158],[-0.21224658880576347,0.15798652466738622]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_17","position":[-0.5881552121026818,-2.4413854567119264,0.71338606911949],"aabb_xy":[[-0.6531552132086251,-2.4663508297800547],[-0.5231552109967386,-2.416420083643798]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_18","position":[0.2504784224179475,-1.501170686896021,0.71338606911949],"aabb_xy":[[0.22797842190590684,-1.5236625452614194],[0.27297842292998803,-1.4786788285306227]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_19","position":[-0.33069074493329637,-1.858250229381596,0.71338606911949],"aabb_xy":[[-0.33839393560737335,-1.8659596000803338],[-0.32298755425921927,-1.8505408586828576]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_20","position":[0.43340640599361024,-1.5459350740324298,0.71338606911949],"aabb_xy":[[0.4246043506846374,-1.5537464001873589],[0.44220846130258284,-1.5381237478775007]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_21","position":[0.5294696642537324,-1.1283595873312136,0.71338606911949],"aabb_xy":[[0.5119696640086829,-1.1458593751707804],[0.5469696644987817,-1.1108597994916467]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_22","position":[0.011027696908563311,0.8735780064226408,0.71338606911949],"aabb_xy":[[-0.010880985230787732,0.8516773396025501],[0.032936379047914355,0.8954786732427316]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_23","position":[0.12872440418786912,-1.5640401785611506,0.71338606911949],"aabb_xy":[[0.07372440456612331,-1.6190238713486234],[0.183724403809615,-1.509056485773678]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_24","position":[-0.6067344291406559,0.7546533759893785,0.71338606911949],"aabb_xy":[[-0.6545405967544244,0.6896533732823195],[-0.5589282615268871,0.8196533786964373]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_25","position":[-0.5344683354564826,-1.501127409876817,0.71338606911949],"aabb_xy":[[-0.5844683341024038,-1.5510469535362794],[-0.48446833681056145,-1.4512078662173546]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_26","position":[-0.6766426572027142,0.997593053236288,0.71338606911949],"aabb_xy":[[-0.687887712773332,0.9863512555121925],[-0.6653976016320964,1.008834850960383]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_27","position":[0.4326787365164455,-0.4074806939967588,0.71338606911949],"aabb_xy":[[0.37267873626504433,-0.4617620190332234],[0.4926787367678467,-0.3531993689602941]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_28","position":[0.5340355262383134,-1.5182529024485627,0.71338606911949],"aabb_xy":[[0.4965355247226817,-1.5294796754647078],[0.5715355277539451,-1.5070261294324176]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_29","position":[0.23567979348398593,1.5664054890869745,0.71338606911949],"aabb_xy":[[0.1856797924648507,1.529939273349147],[0.28567979450312125,1.602871704824803]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_30","position":[0.24169420541183195,-0.8630823754935482,0.71338606911949],"aabb_xy":[[0.23356651721851876,-0.8719959839042559],[0.2498218936051452,-0.8541687670828406]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_31","position":[0.5807500515064778,0.9060372498303555,0.71338606911949],"aabb_xy":[[0.5594720433630055,0.8410372475042823],[0.60202805964995,0.9710372521564284]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_32","position":[0.23471683268134058,0.600528110974945,0.71338606911949],"aabb_xy":[[0.19195012580192042,0.5365281075531424],[0.2774835395607608,0.6645281143967473]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_33","position":[0.6375131579198923,-1.8462488071242706,0.71338606911949],"aabb_xy":[[0.6004790484918325,-1.88062601445798],[0.674547267347952,-1.8118715997905612]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_34","position":[-0.6473617450471105,-0.49887776226262215,0.71338606911949],"aabb_xy":[[-0.6848617451527034,-0.5056999241156033],[-0.6098617449415175,-0.492055600409641]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.693404790461794,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2701.png","name":"2701"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2701.png","name":"2701"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9646.png","name":"9646"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4407.png","name":"4407"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5587.png","name":"5587"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9823.png","name":"9823"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":829.4899513475202,"rotation_z_degrees":65.87265452639201,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01590265735810244,-0.005522374131080886,0.0005157473559019889]},{"name":"camera_2","offset_m":[0.002580487962948883,0.013946668541681428,-0.01154246220184028]},{"name":"camera_3","offset_m":[0.014760925910133369,-0.00097770273924766,-0.01811260837201897]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.000441821142135539,0.001375643719109934,0.00034518924642426693],"end_effector_yaw_offset_degrees":-0.48683432283772143},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0009612587313057122,0.0011953651788466587,0.00012754054542270894],"end_effector_yaw_offset_degrees":-0.5341534209641925},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0016084404642350524,0.00011157071066437117,0.0010826316308943248],"end_effector_yaw_offset_degrees":-0.43191088971283986},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00024783930572213416,0.00028335410830587337,-0.0008125700266803308],"end_effector_yaw_offset_degrees":-0.7885821093070269}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004859165194156997,-0.0023397960832038955],"position_m":[0.20874083480584302,-0.05603979608320389,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00293099934537172,-0.0039878640841516325],"position_m":[0.2520309993453717,-0.38738786408415166,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004695727235879428,2.7084960323092017e-05],"position_m":[0.13580427276412058,0.23472708496032307,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004318200234655769,-0.0011584897652898683],"position_m":[0.3579182002346558,0.11604151023471013,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f4dc03b7b63d0ca17588fcabeb76be40e335846923ca23f447fe8cee49c1a60c","episode_index":37,"episode_name":"episode_0037"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0037.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_2701/tex_ceiling_textures_9823/tex_floor_textures_5587/tex_table_textures_9646/tex_wall_textures_4407","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":500269075459162998,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":500269075459162998,"visual_seed":500269075459162998,"scene_id":"lab_003","finished_at":"2026-09-05T20:17:35"} +{"episode_id":"ep_000036","started_at":"2026-09-05T20:17:39","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_0","position":[-0.23231690841344899,-1.3523062465683624,0.71338606911949],"aabb_xy":[[-0.24981690865849834,-1.369806034407929],[-0.21481690816839957,-1.3348064587287953]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_1","position":[-0.5962312696636459,-0.4728720125002268,0.71338606911949],"aabb_xy":[[-0.6053911486075225,-0.4794032305437638],[-0.5870713907197693,-0.4663407944566898]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_2","position":[0.034917106775367746,-1.9316534326033516,0.71338606911949],"aabb_xy":[[0.022290319488171388,-1.941199506304924],[0.04754389406256409,-1.9221073589017783]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_3","position":[-0.5461819621664025,0.36555624098543005,0.71338606911949],"aabb_xy":[[-0.5636819614444893,0.3482181409190841],[-0.5286819628883156,0.382894341051776]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_4","position":[0.5258393995348161,-0.17525183815910905,0.71338606911949],"aabb_xy":[[0.46183939719201444,-0.22019268940324152],[0.5898394018776175,-0.13031098691497653]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_5","position":[-0.3336262744540306,0.19413251123555852,0.71338606911949],"aabb_xy":[[-0.35690811665216193,0.10913250993833044],[-0.31034443225589925,0.27913251253278654]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_6","position":[-0.22222640144118788,1.0395921451342414,0.71338606911949],"aabb_xy":[[-0.2292667113747249,0.9595921457345702],[-0.21518609150765092,1.119592144533913]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_7","position":[-0.4505059291827792,-0.045780233463961206,0.71338606911949],"aabb_xy":[[-0.4880059292883721,-0.05260239531694234],[-0.4130059290771862,-0.03895807161098009]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_8","position":[0.41397567930672263,-1.3705405800208008,0.71338606911949],"aabb_xy":[[0.40989752139967284,-1.3746215602690643],[0.4180538372137723,-1.3664595997725377]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_9","position":[-0.20401098826995373,1.276397236839828,0.71338606911949],"aabb_xy":[[-0.2690109892704542,1.2256108716851528],[-0.13901098726945318,1.3271836019945027]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_10","position":[0.24541493293802052,-2.426733703585146,0.71338606911949],"aabb_xy":[[0.23800247739663208,-2.432584914006774],[0.252827388479409,-2.4208824931635182]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_11","position":[0.3709898281303945,0.6598057101422894,0.71338606911949],"aabb_xy":[[0.34740470466649964,0.5948057078968576],[0.39457495159428935,0.7248057123877212]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_12","position":[-0.5543148400704115,0.9547492823271408,0.71338606911949],"aabb_xy":[[-0.6343148405406276,0.9464385747127926],[-0.4743148396001957,0.9630599899414893]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_13","position":[-0.42344097061823277,-1.8182848769207502,0.71338606911949],"aabb_xy":[[-0.453925220745263,-1.868284876702246],[-0.39295672049120267,-1.768284877139254]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_14","position":[0.11229334950321623,-1.1886595163102125,0.71338606911949],"aabb_xy":[[0.062320283970700774,-1.2386595161227454],[0.1622664150357317,-1.1386595164976796]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_15","position":[-0.4786284760116277,0.5809801669795633,0.71338606911949],"aabb_xy":[[-0.48987353158224556,0.569738369255468],[-0.4673834204410099,0.5922219647036585]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_16","position":[0.5542276364979393,-0.41478639316803134,0.71338606911949],"aabb_xy":[[0.531727636487791,-0.4288826128076346],[0.5767276365080876,-0.40069017352842806]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_17","position":[-0.3903908527685708,-0.39602052722037007,0.71338606911949],"aabb_xy":[[-0.44538406410570763,-0.45102052755916366],[-0.3353976414314341,-0.3410205268815764]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_18","position":[0.39119415063175156,-2.10661255785441,0.71338606911949],"aabb_xy":[[0.3271941542361784,-2.1705758462731435],[0.4551941470273246,-2.0426492694356764]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_19","position":[-0.3618528719941442,-0.9172153001446788,0.71338606911949],"aabb_xy":[[-0.37226443067462783,-0.922561033480577],[-0.3514413133136604,-0.9118695668087801]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_20","position":[-0.1323369984370154,0.6232175417087986,0.71338606911949],"aabb_xy":[[-0.19633699572266405,0.5817108227559548],[-0.06833700115136676,0.6647242606616427]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_21","position":[-0.5099735472484419,-0.31357222795158135,0.71338606911949],"aabb_xy":[[-0.5201265628025911,-0.34964176952432163],[-0.4998205316942923,-0.27750268637884096]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6876164775095306,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6520.png","name":"6520"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6520.png","name":"6520"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7597.png","name":"7597"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7931.png","name":"7931"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2925.png","name":"2925"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9861.png","name":"9861"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":767.9983976670298,"rotation_z_degrees":325.0699079806375,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005318927781041323,-0.00027433470372976304,0.0020005979400835594]},{"name":"camera_2","offset_m":[-0.006317288412109021,-0.0002838035603779411,-0.004598277386019131]},{"name":"camera_3","offset_m":[-0.0033145338411356036,0.019162766769255563,0.0019442413241457443]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0015759686216333855,-0.0014330111176360312,-0.0005801221804430593],"end_effector_yaw_offset_degrees":0.501217928022383},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0014608482318902096,-0.0018813463689092043,0.0005798714559742792],"end_effector_yaw_offset_degrees":0.9152193730832505},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00013132274383821077,-0.0012949033606178867,-0.0014688595710954408],"end_effector_yaw_offset_degrees":0.512064910188702},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0017953207868453417,-0.0009172488750134389,0.0012348938103158027],"end_effector_yaw_offset_degrees":-0.6992279794722436}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.002541793744264126,-0.0015129748183383574],"position_m":[0.21105820625573588,-0.05521297481833835,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0031387471779381095,-0.0026312431693192697],"position_m":[0.24596125282206188,-0.3860312431693193,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0010940038692898637,-0.002861437907307013],"position_m":[0.13940599613071014,0.231838562092693,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0014791775533666706,0.004751535097086988],"position_m":[0.35212082244663334,0.12195153509708699,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6eb9a0c1578c4f3fccf2d3634421dc8393e886b5abcdb8130606df6e2eaff51c","episode_index":38,"episode_name":"episode_0038"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0038.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_6520/tex_ceiling_textures_9861/tex_floor_textures_2925/tex_table_textures_7597/tex_wall_textures_7931","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":6994847981826130069,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":6994847981826130069,"visual_seed":6994847981826130069,"scene_id":"lab_003","finished_at":"2026-09-05T20:21:06"} +{"episode_id":"ep_000037","started_at":"2026-09-05T20:21:11","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_0","position":[0.2864068828400663,1.142246033844788,0.71338606911949],"aabb_xy":[[0.2224068806196593,1.0978729497194997],[0.35040688506047335,1.1866191179700762]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_1","position":[-0.5534118448162659,0.7429876336444718,0.71338606911949],"aabb_xy":[[-0.5573723285860003,0.7353197690589512],[-0.5494513610465316,0.7506554982299924]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_2","position":[0.6399591681453822,-1.9834309708827695,0.71338606911949],"aabb_xy":[[0.6329177171946346,-1.990457722620564],[0.6470006190961298,-1.976404219144975]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_3","position":[0.45772459914822106,-2.484761741597386,0.71338606911949],"aabb_xy":[[0.44255242986658777,-2.499930598525589],[0.47289676842985445,-2.469592884669183]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_4","position":[-0.23678291039949523,0.12591108872583012,0.71338606911949],"aabb_xy":[[-0.29678291065089635,0.07162976368936547],[-0.17678291014809402,0.18019241376229478]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_5","position":[-0.403905589785776,-0.8357242535771958,0.71338606911949],"aabb_xy":[[-0.4118288700245244,-0.8582242538151993],[-0.39598230954702773,-0.8132242533391926]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_6","position":[-0.2412983378835989,1.6506596879364888,0.71338606911949],"aabb_xy":[[-0.26758716220403955,1.6243882542818375],[-0.21500951356315823,1.67693112159114]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_7","position":[0.3372788768118711,0.4563788238976585,0.71338606911949],"aabb_xy":[[0.2997788766399991,0.42367808851475136],[0.37477887698374296,0.48907955928056573]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_8","position":[-0.5889573737414937,1.6878207975874369,0.71338606911949],"aabb_xy":[[-0.6194416238685237,1.6378207978059411],[-0.5584731236144634,1.737820797368933]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_9","position":[0.4304639476569123,-0.3450057049173534,0.71338606911949],"aabb_xy":[[0.41853121329508425,-0.35738785772521275],[0.4423966820187404,-0.332623552109494]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_10","position":[0.29791545131324015,0.7173963182508936,0.71338606911949],"aabb_xy":[[0.24291545169149437,0.6624126254634208],[0.35291545093498605,0.7723800110383663]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_11","position":[-0.2626035002384618,1.7388520232111744,0.71338606911949],"aabb_xy":[[-0.342603497398037,1.727304422253357],[-0.18260350307888645,1.750399624168991]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_12","position":[0.7089923223785093,1.387078301779522,0.71338606911949],"aabb_xy":[[0.7041487276172793,1.382226649300538],[0.7138359171397393,1.3919299542585062]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_13","position":[0.09034563953541208,-2.2592426547215214,0.71338606911949],"aabb_xy":[[0.026345636245703973,-2.302577573725439],[0.1543456428251202,-2.215907735717604]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_14","position":[0.2364362273330527,1.5118247468348662,0.71338606911949],"aabb_xy":[[0.18645741882273678,1.4618247468291476],[0.2864150358433686,1.5618247468405853]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_15","position":[-0.14664583691281607,-2.3180642063416332,0.71338606911949],"aabb_xy":[[-0.21064583620698432,-2.3820503467104874],[-0.08264583761864788,-2.254078065972779]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_16","position":[-0.3296751385408134,-0.5917219274602912,0.71338606911949],"aabb_xy":[[-0.39367514175945123,-0.6384450393592995],[-0.2656751353221755,-0.5449988155612828]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_17","position":[0.28258003183966707,-0.6793857002035235,0.71338606911949],"aabb_xy":[[0.22258003019674522,-0.7313858494954677],[0.3425800334825889,-0.6273855509115793]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_18","position":[0.553213050458994,-0.1984763259553488,0.71338606911949],"aabb_xy":[[0.5455887823688159,-0.20610954949189253],[0.5608373185491724,-0.1908431024188051]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_19","position":[-0.41013546108115106,0.8843340972486153,0.71338606911949],"aabb_xy":[[-0.46023292506222474,0.8203340967388035],[-0.3600379971000775,0.9483340977584271]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_20","position":[-0.44298488296723715,1.590711601549199,0.71338606911949],"aabb_xy":[[-0.4471207392999374,1.553211602104842],[-0.438849026634537,1.628211600993556]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_21","position":[-0.6659504882964772,-0.9132440067497707,0.71338606911949],"aabb_xy":[[-0.6860088999097174,-0.9333090936589281],[-0.6458920766832368,-0.893178919840613]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_22","position":[0.3367359410511235,0.5747767956761618,0.71338606911949],"aabb_xy":[[0.3275760621072468,0.5682455776326247],[0.345895819995,0.5813080137196989]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_23","position":[-0.6420311059189775,-0.46937878928804233,0.71338606911949],"aabb_xy":[[-0.6754712811149969,-0.5028224151189723],[-0.6085909307229577,-0.4359351634571122]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_24","position":[0.5521229755757291,-1.602300005248184,0.71338606911949],"aabb_xy":[[0.5461564366349932,-1.6082611499075476],[0.5580895145164647,-1.5963388605888198]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_25","position":[0.16122423094038185,-1.2707405325140682,0.71338606911949],"aabb_xy":[[0.1312566740305562,-1.300740532811954],[0.19119178785020752,-1.2407405322161824]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_26","position":[-0.5355685386156862,-1.3335458738074188,0.71338606911949],"aabb_xy":[[-0.5705685368858061,-1.340620001502407],[-0.5005685403455663,-1.3264717461124307]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_27","position":[0.45852129984481516,1.6494682182784612,0.71338606911949],"aabb_xy":[[0.40852646691687355,1.5994682193832175],[0.5085161327727568,1.6994682171737046]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_28","position":[0.5624890460160046,-0.34354240577556405,0.71338606911949],"aabb_xy":[[0.5249890453514258,-0.3592294637757862],[0.5999890466805832,-0.3278553477753418]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_29","position":[0.01816600000008528,1.0325419502691124,0.71338606911949],"aabb_xy":[[-0.051834002636501064,1.012437085273247],[0.08816600263667163,1.052646815264978]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_30","position":[-0.5687624108165783,-0.795208178419579,0.71338606911949],"aabb_xy":[[-0.5862624110616276,-0.8127079662591459],[-0.5512624105715288,-0.7777083905800122]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_31","position":[0.5380375906012329,1.2851970853118053,0.71338606911949],"aabb_xy":[[0.5005375898092375,1.2788292443536151],[0.5755375913932284,1.2915649262699955]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_32","position":[-0.13521369333850852,0.7292244198918874,0.71338606911949],"aabb_xy":[[-0.15767846330991364,0.7067244190130268],[-0.1127489233671034,0.7517244207707479]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_33","position":[-0.1064092497661725,-0.8263054247030526,0.71338606911949],"aabb_xy":[[-0.11174176442078548,-0.8316297529482881],[-0.10107673511155951,-0.820981096457817]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_34","position":[-0.602722911875209,-1.914634806365105,0.71338606911949],"aabb_xy":[[-0.6061635881152663,-1.9184962393394696],[-0.5992822356351519,-1.9107733733907406]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6929783739725228,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/520.png","name":"520"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/520.png","name":"520"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/991.png","name":"991"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5105.png","name":"5105"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1558.png","name":"1558"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9155.png","name":"9155"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":750.012773882905,"rotation_z_degrees":112.43813498025006,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.019783239328819622,0.013753896079391845,-0.013358787801994426]},{"name":"camera_2","offset_m":[-0.016413543016843547,-0.011853219215558881,0.003220126332030962]},{"name":"camera_3","offset_m":[-0.015476324882621944,0.018541641978666663,-0.01625523736703773]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0006243558778829708,-0.001985168099881495,-0.00023999809733591792],"end_effector_yaw_offset_degrees":0.7711358477607135},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0008735368055243068,0.0013001567568585075,0.00033453806840472774],"end_effector_yaw_offset_degrees":0.8352772442997665},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0010221933681167936,-0.0014531734495990684,-0.001211458527220031],"end_effector_yaw_offset_degrees":-0.5242847510230795},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008932449406818931,0.0016202961056728691,0.00021684859703752484],"end_effector_yaw_offset_degrees":0.12588047613823927}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.00012531489231715296,0.002722148326473075],"position_m":[0.21347468510768286,-0.05097785167352692,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0022671837388213434,-0.004209663408685177],"position_m":[0.25136718373882133,-0.3876096634086852,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003381536571306021,-0.0030292231723566534],"position_m":[0.137118463428694,0.23167077682764334,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0029248412829159486,0.0020913186847513407],"position_m":[0.3506751587170841,0.11929131868475135,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a7bf0d440245b9791b0b8bfde956319c9fa73167bc9c8fd2aed1ba5510ec9f76","episode_index":39,"episode_name":"episode_0039"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0039.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_520/tex_ceiling_textures_9155/tex_floor_textures_1558/tex_table_textures_991/tex_wall_textures_5105","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":8244725886945071372,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":8244725886945071372,"visual_seed":8244725886945071372,"scene_id":"lab_003","finished_at":"2026-09-05T20:24:29"} +{"episode_id":"ep_000038","started_at":"2026-09-05T20:24:32","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_0","position":[-0.3600994429509902,-1.8067260581242375,0.71338606911949],"aabb_xy":[[-0.4240994448633326,-1.862637207382248],[-0.29609944103864794,-1.750814908866227]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_1","position":[0.10832211389249491,-2.5194108887372675,0.71338606911949],"aabb_xy":[[0.10190830024930994,-2.525820708984935],[0.11473592753567982,-2.513001068489598]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_2","position":[0.5394122268932562,0.4463298767876336,0.71338606911949],"aabb_xy":[[0.4894122258741209,0.40986366104980565],[0.5894122279123915,0.4827960925254615]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_3","position":[0.26415895899584296,-1.970032604176253,0.71338606911949],"aabb_xy":[[0.2266589586476152,-1.9818239997573364],[0.3016589593440707,-1.9582412085951693]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_4","position":[0.5984694253425178,1.3757711431226993,0.71338606911949],"aabb_xy":[[0.5888377891220881,1.3661338303429904],[0.6081010615629473,1.3854084559024082]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_5","position":[0.16318496174263752,-2.1513143432470163,0.71338606911949],"aabb_xy":[[0.08318496458306224,-2.1628619442048334],[0.2431849589022128,-2.1397667422891993]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_6","position":[-0.3889750555425142,-1.1884661485463905,0.71338606911949],"aabb_xy":[[-0.39988083163007687,-1.2684661449452197],[-0.37806927945495145,-1.1084661521475614]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_7","position":[0.12131336467642218,-1.8663579959304082,0.71338606911949],"aabb_xy":[[0.1031075410151745,-1.8773833965123998],[0.13951918833766985,-1.8553325953484165]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_8","position":[-0.06656183969491569,-2.5372866897369915,0.71338606911949],"aabb_xy":[[-0.08906183970506398,-2.5513829093765943],[-0.0440618396847674,-2.5231904700973877]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_9","position":[0.2371133693561469,0.9873724063702856,0.71338606911949],"aabb_xy":[[0.19961336784051517,0.9761456333541404],[0.2746133708717786,0.9985991793864305]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_10","position":[-0.08959086602301614,0.23644736299726166,0.71338606911949],"aabb_xy":[[-0.1270908658400497,0.23180915168611976],[-0.05209086620598259,0.2410855743084035]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_11","position":[0.6968437068216917,1.1493091627080831,0.71338606911949],"aabb_xy":[[0.6888073721204069,1.1412710434036664],[0.7048800415229766,1.1573472820125]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_12","position":[-0.07454335163612225,1.3466400840306778,0.71338606911949],"aabb_xy":[[-0.13454335148268903,1.289821461837639],[-0.014543351789555459,1.4034587062237163]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_13","position":[0.31574147486282733,-2.2773331121313842,0.71338606911949],"aabb_xy":[[0.26574147621690614,-2.3272526557908466],[0.3657414735087485,-2.227413568471922]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_14","position":[0.5166273674948916,-2.497766741029498,0.71338606911949],"aabb_xy":[[0.4526273701925452,-2.542133167997355],[0.580627364797238,-2.4534003140616414]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_15","position":[-0.338712128699401,1.3835095248318323,0.71338606911949],"aabb_xy":[[-0.41870595227795926,1.303509522238991],[-0.2587183051208428,1.463509527424674]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_16","position":[0.391289708430568,0.6154651812617637,0.71338606911949],"aabb_xy":[[0.3413164144273075,0.5654651807072164],[0.4412630024338284,0.6654651818163111]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_17","position":[0.5411361871039424,1.503727479262714,0.71338606911949],"aabb_xy":[[0.45613618841186776,1.4717416158678351],[0.626136185796017,1.5357133426575929]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_18","position":[-0.3904933380777007,-2.339918537216236,0.71338606911949],"aabb_xy":[[-0.4544933387811701,-2.385936919689157],[-0.32649333737423136,-2.293900154743315]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_19","position":[0.06814845072303843,-2.3957717440482296,0.71338606911949],"aabb_xy":[[-0.011851546240000732,-2.472847385692003],[0.1481484476860776,-2.318696102404456]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_20","position":[0.5448646147111318,-0.6215979241306337,0.71338606911949],"aabb_xy":[[0.46486461443752486,-0.6945474719563504],[0.6248646149847388,-0.5486483763049169]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_21","position":[-0.17929444647787196,-1.5846683573927705,0.71338606911949],"aabb_xy":[[-0.21608907960277823,-1.6215742324893527],[-0.1424998133529657,-1.5477624822961882]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_22","position":[0.48076047025333035,0.08445556210192207,0.71338606911949],"aabb_xy":[[0.4655975972763934,0.06929010480680331],[0.49592334323026754,0.09962101939704084]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_23","position":[-0.5818025411440968,-2.3626323159073124,0.71338606911949],"aabb_xy":[[-0.6318025405842924,-2.4126002403916287],[-0.5318025417039012,-2.312664391422996]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6901356901209292,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4956.png","name":"4956"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4956.png","name":"4956"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5793.png","name":"5793"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7143.png","name":"7143"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4824.png","name":"4824"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4245.png","name":"4245"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":722.6795523745584,"rotation_z_degrees":152.66918174495953,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004781054940642852,-0.015389082219374108,-0.011457171434555585]},{"name":"camera_2","offset_m":[0.008538115163995993,0.0055543827675805305,0.014334672395710745]},{"name":"camera_3","offset_m":[-0.01581527532350727,-0.0017427179840325616,-0.0043749586041480285]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0012080024487513082,0.0008527803204623897,-0.0005840998164762664],"end_effector_yaw_offset_degrees":-0.13049679920823976},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0002111450724065259,0.0012283075912115095,0.0016853841034984874],"end_effector_yaw_offset_degrees":-0.09195792464204078},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0011473677187942952,-0.000553390313198182,-0.0010907238698733136],"end_effector_yaw_offset_degrees":0.3909825338907069},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00198228273553963,-0.00023338553539423179,-0.00025490476795298725],"end_effector_yaw_offset_degrees":-0.8774009841029862}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0023519680647962893,0.003004839900813916],"position_m":[0.21124803193520372,-0.05069516009918608,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0036181688798182675,0.002932282092102099],"position_m":[0.25271816887981824,-0.3804677179078979,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004235518643361199,-0.004090391718700693],"position_m":[0.1447355186433612,0.2306096082812993,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00041450423433030386,-0.004529226891024549],"position_m":[0.35401450423433034,0.11267077310897546,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"2a7fb1b9a3163de33aaa243c6cd9183b9b3ca8b668aae03b9560749593b0b7b8","episode_index":40,"episode_name":"episode_0040"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0040.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_4956/tex_ceiling_textures_4245/tex_floor_textures_4824/tex_table_textures_5793/tex_wall_textures_7143","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":2627652652090569887,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":2627652652090569887,"visual_seed":2627652652090569887,"scene_id":"lab_003","finished_at":"2026-09-05T20:27:58"} +{"episode_id":"ep_000039","started_at":"2026-09-05T20:28:02","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_0","position":[-0.054083811734913834,0.6421233896683431,0.71338606911949],"aabb_xy":[[-0.06211008236553984,0.6333718946909904],[-0.04605754110428784,0.6508748846456957]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_1","position":[-0.5755522658091083,-2.0605583398122147,0.71338606911949],"aabb_xy":[[-0.6005522657416262,-2.0674410080331382],[-0.5505522658765905,-2.053675671591291]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_2","position":[0.5229438583731911,-0.3800126105182735,0.71338606911949],"aabb_xy":[[0.5183087432209578,-0.3838799455954221],[0.5275789735254245,-0.3761452754411248]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_3","position":[-0.16380497617102563,-2.226466569519937,0.71338606911949],"aabb_xy":[[-0.2338049777733051,-2.2398993627215944],[-0.09380497456874615,-2.2130337763182792]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_4","position":[-0.560483205068609,1.741951828480396,0.71338606911949],"aabb_xy":[[-0.6244832067466064,1.6934344370010819],[-0.4964832033906117,1.7904692199597103]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_5","position":[0.008281295022054658,-1.978659111357702,0.71338606911949],"aabb_xy":[[-0.02519787223898628,-2.012138224728809],[0.041760462283095594,-1.9451799979865947]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_6","position":[0.2909467242500344,-2.306277349778232,0.71338606911949],"aabb_xy":[[0.27344672497194755,-2.323615449844578],[0.3084467235281213,-2.288939249711886]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_7","position":[0.25875342598494633,-1.113458098558829,0.71338606911949],"aabb_xy":[[0.18875342259338437,-1.1487738722622598],[0.3287534293765083,-1.078142324855398]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_8","position":[0.5592300858911594,1.0512815742151416,0.71338606911949],"aabb_xy":[[0.4952300844831687,0.999492622691217],[0.62323008729915,1.1030705257390663]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_9","position":[-0.2645974039229068,-1.4408003362432489,0.71338606911949],"aabb_xy":[[-0.2710990404309115,-1.4505681582695586],[-0.25809576741490226,-1.4310325142169391]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_10","position":[-0.22770333595826164,-1.6062861696655832,0.71338606911949],"aabb_xy":[[-0.2611435111542812,-1.639729795496513],[-0.194263160762242,-1.572842543834653]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_11","position":[-0.4869547867656613,0.00021725045385778685,0.71338606911949],"aabb_xy":[[-0.550954783877767,-0.048815119340552826],[-0.4229547896535556,0.0492496202482684]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_12","position":[-0.1545625481105185,-0.023634295584413767,0.71338606911949],"aabb_xy":[[-0.20455566021971042,-0.07363429625860941],[-0.10456943600132662,0.026365705089781876]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_13","position":[0.5260476812731305,-1.843910464323712,0.71338606911949],"aabb_xy":[[0.4847988702432157,-1.8989104638359293],[0.5672964923030451,-1.7889104648114944]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_14","position":[0.7124995468585682,-0.017149694135973448,0.71338606911949],"aabb_xy":[[0.7065330079178325,-0.023110838795337485],[0.7184660857993039,-0.01118854947660941]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_15","position":[0.20210406332937403,-0.8516794625585589,0.71338606911949],"aabb_xy":[[0.18467334825036746,-0.8689515772224096],[0.21953477840838048,-0.8344073478947079]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_16","position":[-0.27651992648448714,0.6068605048977953,0.71338606911949],"aabb_xy":[[-0.28255693948515187,0.6008338038288471],[-0.2704829134838224,0.6128872059667435]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_17","position":[-0.3570140409428726,1.245265509219076,0.71338606911949],"aabb_xy":[[-0.3991984551037034,1.1812655089418649],[-0.3148296267820419,1.3092655094962873]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_18","position":[-0.3526243703895669,0.5084204922818212,0.71338606911949],"aabb_xy":[[-0.36449645340106795,0.4234204925881708],[-0.34075228737806573,0.5934204919754715]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_19","position":[-0.18958523923739878,1.1169299265722685,0.71338606911949],"aabb_xy":[[-0.23475655708556778,1.0529299294277303],[-0.14441392138922982,1.1809299237168072]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_20","position":[-0.6133793740465201,-2.460036358586452,0.71338606911949],"aabb_xy":[[-0.693379374320127,-2.532985906412169],[-0.533379373772913,-2.3870868107607355]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_21","position":[-0.09711389137817494,1.7222348522795552,0.71338606911949],"aabb_xy":[[-0.17711388853775023,1.710687251321738],[-0.017113894218599657,1.733782453237372]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_22","position":[-0.040189940056910456,1.4752561810452227,0.71338606911949],"aabb_xy":[[-0.10418994033088869,1.4251900808479347],[0.023810060217067774,1.5253222812425107]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_23","position":[-0.09210725670638786,-1.1091358383972099,0.71338606911949],"aabb_xy":[[-0.1621072585151333,-1.1304896071613975],[-0.022107254897642425,-1.0877820696330227]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_24","position":[-0.02079350254170409,0.7749595090576222,0.71338606911949],"aabb_xy":[[-0.07077645272918341,0.7249595094150617],[0.029189447645775243,0.8249595087001825]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_25","position":[0.6005467880619708,0.22246880366557953,0.71338606911949],"aabb_xy":[[0.5365467916663977,0.15850551524684597],[0.6645467844575439,0.2864320920843131]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_26","position":[-0.38435393888437785,-2.286261525537451,0.71338606911949],"aabb_xy":[[-0.39525971497194057,-2.3662615219362797],[-0.37344816279681514,-2.2062615291386214]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_27","position":[-0.08237896714493231,0.3871694164622985,0.71338606911949],"aabb_xy":[[-0.14737896810205953,0.3352212045285929],[-0.01737896618780511,0.43911762839600404]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_28","position":[0.1030609601093273,-1.4526412270778157,0.71338606911949],"aabb_xy":[[0.023060956851484335,-1.5326377348697995],[0.18306096336717026,-1.3726447192858315]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_29","position":[0.36946691214121263,0.544240508477698,0.71338606911949],"aabb_xy":[[0.35659500864027255,0.4642405080638618],[0.38233881564215283,0.624240508891534]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6929990434807337,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7674.png","name":"7674"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7674.png","name":"7674"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8080.png","name":"8080"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5350.png","name":"5350"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2598.png","name":"2598"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7759.png","name":"7759"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":673.2788274270347,"rotation_z_degrees":296.70457547623107,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.003994748697067941,-7.986220957123535e-05,0.019711614632460964]},{"name":"camera_2","offset_m":[-0.012845873898451675,-0.0035713491212784436,-0.018844882036137864]},{"name":"camera_3","offset_m":[0.004139628390512115,-0.002292566774320628,0.015000990292614907]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0017612337219120873,-0.0009474523528320384,0.0011299795346234906],"end_effector_yaw_offset_degrees":-0.13855927534143841},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0012296484207811177,-0.0016248993679248143,0.000566069612191009],"end_effector_yaw_offset_degrees":0.4602855498397387},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0019227716290384517,-0.0019602753307384484,-0.0012713621370624754],"end_effector_yaw_offset_degrees":-0.8636453855600279},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.000503656026621718,-0.0005164610489969733,0.0010198878847754748],"end_effector_yaw_offset_degrees":0.011085691423963207}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003936662059032544,-0.000750719950090779],"position_m":[0.21753666205903255,-0.05445071995009078,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002591390299720946,-0.003765767403475643],"position_m":[0.25169139029972093,-0.38716576740347564,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0032652703937250767,-0.0025802869561326403],"position_m":[0.14376527039372508,0.23211971304386736,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0027231791747409683,-0.0026207550502663347],"position_m":[0.356323179174741,0.11457924494973366,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0167dabe3d0715b402548e11cc19da9801c231189d56ba8dd671f4b2829233bd","episode_index":41,"episode_name":"episode_0041"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0041.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_7674/tex_ceiling_textures_7759/tex_floor_textures_2598/tex_table_textures_8080/tex_wall_textures_5350","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":8466382633540606999,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":8466382633540606999,"visual_seed":8466382633540606999,"scene_id":"lab_003","finished_at":"2026-09-05T20:31:23"} +{"episode_id":"ep_000040","started_at":"2026-09-05T20:31:26","dimensions":{"distractor":{"count":32,"items":[{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_0","position":[-0.5666327531044999,1.124540766386489,0.71338606911949],"aabb_xy":[[-0.6166327526808346,1.0745601874343833],[-0.5166327535281652,1.1745213453385952]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_1","position":[-0.3989777479805364,-0.43129065568502156,0.71338606911949],"aabb_xy":[[-0.46397774586218427,-0.4824143193915625],[-0.33397775009888864,-0.38016699197848075]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_2","position":[-0.2955748933208493,-1.156414932055372,0.71338606911949],"aabb_xy":[[-0.34557416848928546,-1.2064149333313192],[-0.24557561815241313,-1.1064149307794249]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_3","position":[0.34707214352307947,-1.9397070528979719,0.71338606911949],"aabb_xy":[[0.3095721423382866,-1.9441252755940324],[0.3845721447078722,-1.9352888302019113]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_4","position":[-0.2980744326385381,-1.9832823697899018,0.71338606911949],"aabb_xy":[[-0.3480744329991041,-2.0332623569995043],[-0.24807443227797202,-1.9333023825802989]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_5","position":[0.687173857372819,0.3376597618101873,0.71338606911949],"aabb_xy":[[0.6720016880911857,0.32249090488198395],[0.7023460266544523,0.35282861873839066]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_6","position":[-0.5707850413979967,-1.5904958361512138,0.71338606911949],"aabb_xy":[[-0.6607850437320157,-1.6679781907363265],[-0.4807850390639776,-1.5130134815661012]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_7","position":[0.0912545454391237,1.7016948077990484,0.71338606911949],"aabb_xy":[[0.03125454484310752,1.6468823352538249],[0.15125454603513988,1.7565072803442718]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_8","position":[-0.05817978557113712,-0.42540600191161326,0.71338606911949],"aabb_xy":[[-0.06902026379765203,-0.44259228320226207],[-0.04733930734462222,-0.40821972062096445]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_9","position":[-0.37294511383819184,-1.3941626196898997,0.71338606911949],"aabb_xy":[[-0.3808683940769401,-1.4166626199279033],[-0.36502183359944346,-1.3716626194518966]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_10","position":[-0.4111285579180597,1.5797469747332618,0.71338606911949],"aabb_xy":[[-0.43612855708369275,1.572794729027905],[-0.3861285587524265,1.586699220438618]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_11","position":[0.24756864995071626,-2.1634458714436353,0.71338606911949],"aabb_xy":[[0.23954237932009032,-2.1721973664209884],[0.2555949205813423,-2.154694376466283]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_12","position":[-0.3436624660326677,-0.01693027882771103,0.71338606911949],"aabb_xy":[[-0.356289253319864,-0.026476352529283927],[-0.3310356787454713,-0.007384205126138129]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_13","position":[0.5329211049387035,1.307983429340271,0.71338606911949],"aabb_xy":[[0.4679211038327602,1.2830180562721427],[0.5979211060446468,1.3329488024083993]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_14","position":[-0.45844123862586017,-2.1952335910577796,0.71338606911949],"aabb_xy":[[-0.5062474062396288,-2.260233593764838],[-0.4106350710120915,-2.13023358835072]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_15","position":[-0.4244446903963057,0.888335867211477,0.71338606911949],"aabb_xy":[[-0.504444688983625,0.809020265273316],[-0.34444469180898624,0.9676514691496378]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_16","position":[0.2544217776777201,-2.474172908290488,0.71338606911949],"aabb_xy":[[0.2244301149438498,-2.504172907627288],[0.28441344041159045,-2.444172908953687]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_17","position":[0.46223825055939494,-0.6370698753310142,0.71338606911949],"aabb_xy":[[0.39823825028541665,-0.6871359755283021],[0.5262382508333732,-0.5870037751337261]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_18","position":[0.6668643432798111,0.11368538793588856,0.71338606911949],"aabb_xy":[[0.6344026423978835,0.08355255582098593],[0.6993260441617384,0.14381822005079115]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_19","position":[0.09013260029847125,-1.7793060784341184,0.71338606911949],"aabb_xy":[[0.06763260048456887,-1.7837806948045989],[0.11263260011237364,-1.7748314620636374]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_20","position":[-0.34064195759125016,0.059397875533690137,0.71338606911949],"aabb_xy":[[-0.35379320356253957,0.034397875777003595],[-0.32749071161996085,0.08439787529037668]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_21","position":[-0.05709549946493819,-2.516006843564848,0.71338606911949],"aabb_xy":[[-0.08160912356194404,-2.5402714368668846],[-0.03258187536793232,-2.4917422502628117]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_22","position":[0.16608151176523733,-0.9570366939082342,0.71338606911949],"aabb_xy":[[0.12858151165964432,-0.9638588557612153],[0.20358151187083023,-0.9502145320552531]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_23","position":[0.154896576242469,1.2514458999020266,0.71338606911949],"aabb_xy":[[0.11739657557789028,1.2357588419018042],[0.19239657690704767,1.2671329579022486]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_24","position":[-0.19250612639980147,-1.6479899497581738,0.71338606911949],"aabb_xy":[[-0.22750612629582034,-1.656364185270114],[-0.1575061265037826,-1.639615714246234]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_25","position":[-0.3193897026387612,-0.6749125092999502,0.71338606911949],"aabb_xy":[[-0.3247272783047658,-0.6999125102290898],[-0.31405212697275664,-0.6499125083708103]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_26","position":[-0.1469616101378377,1.7005659162841522,0.71338606911949],"aabb_xy":[[-0.18287511456282737,1.6646524080673974],[-0.111048105712848,1.7364794245009065]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_27","position":[-0.5612864267563084,-0.7639401092319746,0.71338606911949],"aabb_xy":[[-0.6107668479702671,-0.8279401071448265],[-0.5118060055423496,-0.6999401113191228]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_28","position":[-0.5312162906968473,-2.358946296804511,0.71338606911949],"aabb_xy":[[-0.542785271443784,-2.383946296921443],[-0.5196473099499108,-2.3339462966875795]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_29","position":[0.4772423758907225,-1.6366198668069831,0.71338606911949],"aabb_xy":[[0.41324237518725326,-1.6826382492799044],[0.5412423765941919,-1.5906014843340623]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_30","position":[0.3819985635473968,1.7069580849336483,0.71338606911949],"aabb_xy":[[0.36912666004645667,1.6269580845198122],[0.39487046704833695,1.7869580853474845]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_31","position":[0.6163322757054259,1.018952938602006,0.71338606911949],"aabb_xy":[[0.5813322774353059,1.0118788109070176],[0.6513322739755457,1.026027066296994]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6906124008195387,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5489.png","name":"5489"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5489.png","name":"5489"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/130.png","name":"130"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1057.png","name":"1057"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9075.png","name":"9075"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/832.png","name":"832"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":682.9091394821692,"rotation_z_degrees":246.71763143550356,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0182735468623134,-0.018556475680249797,-0.0017288070271634162]},{"name":"camera_2","offset_m":[-0.010657991366651376,-0.012206534974787204,0.018933563353398675]},{"name":"camera_3","offset_m":[0.008544643365322485,-0.009178329638868967,-0.006750439718065309]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0013982125554037566,0.0006110580322960225,-0.001669942508006534],"end_effector_yaw_offset_degrees":0.7376131602772784},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[1.170479636382251e-05,-5.40936456656497e-05,0.00028707432650724443],"end_effector_yaw_offset_degrees":0.49423002593773435},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00016629912034212642,0.001308271512084722,0.0019076122834857387],"end_effector_yaw_offset_degrees":-0.6271663431339891},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0015532907259531022,-0.0013844776715796852,0.0016200259666460776],"end_effector_yaw_offset_degrees":0.9943820343017009}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.001106141697526286,0.0009059410885461604],"position_m":[0.21249385830247372,-0.052794058911453834,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0004804960607880972,-0.004049188632950509],"position_m":[0.2486195039392119,-0.3874491886329505,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.002759514070281225,-0.003594137934278409],"position_m":[0.1377404859297188,0.2311058620657216,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0019223679886640342,0.003005608594104317],"position_m":[0.351677632011336,0.12020560859410431,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"07baed93adece571206892638801c171c917d6ca8180e643313b2c64e3043d3e","episode_index":42,"episode_name":"episode_0042"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0042.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_5489/tex_ceiling_textures_832/tex_floor_textures_9075/tex_table_textures_130/tex_wall_textures_1057","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":696479658649189450,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":696479658649189450,"visual_seed":696479658649189450,"scene_id":"lab_003","finished_at":"2026-09-05T20:34:56"} +{"episode_id":"ep_000041","started_at":"2026-09-05T20:35:00","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_0","position":[0.38711123484553345,-1.8143782784618054,0.71338606911949],"aabb_xy":[[0.34183261996438413,-1.8783782778099891],[0.43238984972668265,-1.7503782791136218]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_1","position":[0.5371425537128163,-2.4979067380669333,0.71338606911949],"aabb_xy":[[0.48704508973174276,-2.5619067385767447],[0.58724001769389,-2.433906737557121]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_2","position":[-0.027910703504284706,-2.3959883188788393,0.71338606911949],"aabb_xy":[[-0.06541070367615665,-2.428689054261746],[0.009589296667587236,-2.3632875834959317]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_3","position":[0.6007482849744401,1.6525282603901075,0.71338606911949],"aabb_xy":[[0.5507749909711795,1.6025282598355597],[0.6507215789777004,1.7025282609446544]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_4","position":[-0.099280199486534,-2.2672275941109907,0.71338606911949],"aabb_xy":[[-0.13428019779722944,-2.2749426090345364],[-0.06428020117583855,-2.259512579187445]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_5","position":[-0.31760487819466954,0.8714621637621911,0.71338606911949],"aabb_xy":[[-0.32391697773100797,0.8656952245089724],[-0.3112927786583311,0.87722910301541]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_6","position":[0.5664958899732364,-0.5981692126737099,0.71338606911949],"aabb_xy":[[0.5584525300472812,-0.6831692137690764],[0.5745392498991916,-0.5131692115783435]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_7","position":[-0.5144336165545607,-1.0364571097007345,0.71338606911949],"aabb_xy":[[-0.5326394402158083,-1.0474825102827263],[-0.496227792893313,-1.025431709118743]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_8","position":[-0.15149391094078468,-1.5045871807940263,0.71338606911949],"aabb_xy":[[-0.1986232899426203,-1.568587181838428],[-0.10436453193894896,-1.4405871797496241]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_9","position":[-0.09501619535181693,-1.934929307217272,0.71338606911949],"aabb_xy":[[-0.13356188817701797,-1.973475078273461],[-0.056470502526615916,-1.8963835361610835]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_10","position":[-0.45072479640004026,0.12312535894911791,0.71338606911949],"aabb_xy":[[-0.5307247985628027,0.04317017532297429],[-0.3707247942372777,0.20308054257526154]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_11","position":[-0.35423760056279086,-2.454921466329777,0.71338606911949],"aabb_xy":[[-0.38870007857587857,-2.4615851435126994],[-0.31977512254970303,-2.448257789146854]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_12","position":[-0.637514158259902,1.1714364827864436,0.71338606911949],"aabb_xy":[[-0.6874929667702178,1.1214364827807248],[-0.587535349749586,1.2214364827921624]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_13","position":[-0.6130667447290038,0.01308364378021487,0.71338606911949],"aabb_xy":[[-0.6169806179244264,0.00433462837365811],[-0.6091528715335812,0.02183265918677163]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_14","position":[-0.4550816889663628,-0.4662634253538531,0.71338606911949],"aabb_xy":[[-0.5190816908787053,-0.5221745746118636],[-0.3910816870540205,-0.41035227609584274]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_15","position":[-0.5564907080017616,-2.071463864922314,0.71338606911949],"aabb_xy":[[-0.5939907095173932,-2.082690637938459],[-0.5189907064861298,-2.0602370919061688]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_16","position":[-0.012048880790517691,1.7557534127501797,0.71338606911949],"aabb_xy":[[-0.02451623890025334,1.7432880881168564],[0.0004184773192179563,1.7682187373835034]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_17","position":[0.621278139644645,0.8027546785413437,0.71338606911949],"aabb_xy":[[0.6084062361437047,0.7227546781275077],[0.634150043145585,0.88275467895518]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_18","position":[-0.4219411885660236,-0.9071191805272445,0.71338606911949],"aabb_xy":[[-0.44552631202991844,-0.9721191827726764],[-0.39835606510212873,-0.8421191782818128]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_19","position":[-0.25209243263203096,1.2335508597627358,0.71338606911949],"aabb_xy":[[-0.26079039492274625,1.2214258854552613],[-0.24339447034131567,1.2456758340702108]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_20","position":[-0.3527214749690933,-2.3053780669319837,0.71338606911949],"aabb_xy":[[-0.416721472081199,-2.3544104367263947],[-0.2887214778569876,-2.2563456971375735]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_21","position":[-0.07063856380459699,1.1963028268446854,0.71338606911949],"aabb_xy":[[-0.12063856482373227,1.1598366111068577],[-0.020638562785461712,1.2327690425825135]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_22","position":[-0.5447176677336457,1.3525084558438083,0.71338606911949],"aabb_xy":[[-0.5908027589883772,1.2885084585912532],[-0.4986325764789143,1.4165084530963634]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_23","position":[0.6264572187772366,1.5121233220980606,0.71338606911949],"aabb_xy":[[0.6184208840759517,1.5040852027936438],[0.6344935534785214,1.5201614414024773]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_24","position":[0.4429966080650214,-2.3811735057458163,0.71338606911949],"aabb_xy":[[0.43836149291278803,-2.385040840822964],[0.44763172321725475,-2.3773061706686667]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_25","position":[-0.6111717147138587,0.5490220817578715,0.71338606911949],"aabb_xy":[[-0.6287500169028056,0.5314475921837666],[-0.5935934125249119,0.5665965713319764]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_26","position":[0.4521356272222672,-0.38631911681242315,0.71338606911949],"aabb_xy":[[0.4440219725488901,-0.3944249332664522],[0.4602492818956443,-0.37821330035839407]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_27","position":[0.2617819951966446,-2.4999903534501176,0.71338606911949],"aabb_xy":[[0.21180892966412912,-2.5499903532626504],[0.31175506072916004,-2.4499903536375847]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_28","position":[-0.11843350296916944,0.007345729890480879,0.71338606911949],"aabb_xy":[[-0.16842661507836132,-0.04265427078371476],[-0.06844039085997755,0.057345730564676525]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_29","position":[0.5179647602241237,-1.6715962736783812,0.71338606911949],"aabb_xy":[[0.5099707716464202,-1.6795963537734713],[0.525958748801827,-1.6635961935832906]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6895142843636599,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1900.png","name":"1900"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1900.png","name":"1900"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/190.png","name":"190"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/190.png","name":"190"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6627.png","name":"6627"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3766.png","name":"3766"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":587.5540125826607,"rotation_z_degrees":1.9577541392505982,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01129021140990712,0.00015755419642772897,-0.00043945949114576263]},{"name":"camera_2","offset_m":[0.018121141913970223,0.018756779249525606,0.013406328488409714]},{"name":"camera_3","offset_m":[0.005163323480146115,-0.018828099190862178,0.0043990717084456885]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0011384607874472302,0.0008076939995299852,0.0017489036425653776],"end_effector_yaw_offset_degrees":-0.121408546725424},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0010020229588814872,0.0011815597747574231,-0.0013084636184965972],"end_effector_yaw_offset_degrees":-0.1862556025897273},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0003218733158996479,-0.0016981616723308543,-0.0009215760253839895],"end_effector_yaw_offset_degrees":0.9983921863045684},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0019794178114065676,0.0008950468682496072,0.0003134168626958969],"end_effector_yaw_offset_degrees":-0.9302975042156891}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.001527898353091488,0.0002302418710998103],"position_m":[0.2120721016469085,-0.05346975812890019,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0007679716263042759,-0.00023052151136071074],"position_m":[0.24986797162630425,-0.38363052151136073,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0026528984403736185,0.00012530125215977263],"position_m":[0.14315289844037363,0.23482530125215975,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0020601197578945596,0.0015227975759348807],"position_m":[0.3515398802421055,0.11872279757593487,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"577218bc4b1159cfc39e07dbfa9875ac1d15699a7467e1f87f7b5fbbaf10a2b6","episode_index":43,"episode_name":"episode_0043"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0043.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_1900/tex_ceiling_textures_3766/tex_floor_textures_6627/tex_table_textures_190/tex_wall_textures_190","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":5222658076727439515,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":5222658076727439515,"visual_seed":5222658076727439515,"scene_id":"lab_003","finished_at":"2026-09-05T20:38:20"} +{"episode_id":"ep_000042","started_at":"2026-09-05T20:38:23","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_0","position":[-0.03770445676260592,-1.784218263675364,0.71338606911949],"aabb_xy":[[-0.10270445679690865,-1.8309189403556914],[0.02729554327169681,-1.7375175869950368]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_1","position":[0.3174063406539116,-0.8893617799681295,0.71338606911949],"aabb_xy":[[0.30732463357533807,-0.9693617778602442],[0.327488047732485,-0.809361782076015]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_2","position":[0.5603387843272356,-0.39909138255049337,0.71338606911949],"aabb_xy":[[0.47033878460406137,-0.42216473508567315],[0.6503387840504097,-0.3760180300153135]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_3","position":[-0.09064547734663031,1.6964940524384455,0.71338606911949],"aabb_xy":[[-0.17564547603870495,1.6645081890435662],[-0.005645478654555669,1.728479915833324]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_4","position":[-0.03480872471543439,0.9831165352886151,0.71338606911949],"aabb_xy":[[-0.05230865814941776,0.9656165353683804],[-0.017308791281451012,1.0006165352088496]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_5","position":[0.2943487332605592,-1.611622428319933,0.71338606911949],"aabb_xy":[[0.2443756677280438,-1.661622428132466],[0.34432179879307473,-1.5616224285074003]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_6","position":[-0.641468268519481,1.1097030185903418,0.71338606911949],"aabb_xy":[[-0.6718663796186245,1.079296116588672],[-0.6110701574203373,1.140109920592011]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_7","position":[0.47557052262622457,1.7415262637783786,0.71338606911949],"aabb_xy":[[0.468529071675477,1.7344995120405842],[0.4826119735769722,1.748553015516173]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_8","position":[0.09023089058721867,-1.7797654345071068,0.71338606911949],"aabb_xy":[[0.08142883527824596,-1.7875767606620356],[0.09903294589619138,-1.7719541083521775]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_9","position":[-0.46167262499779993,-0.9504011036939228,0.71338606911949],"aabb_xy":[[-0.5516726273318189,-1.0278834582790357],[-0.3716726226637808,-0.8729187491088103]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_10","position":[0.01965273497269837,-1.6020821971774384,0.71338606911949],"aabb_xy":[[0.002152734713361745,-1.6161737393662114],[0.037152735232034995,-1.5879906549886662]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_11","position":[-0.19849432620883112,-0.6534112812828079,0.71338606911949],"aabb_xy":[[-0.2131377317628641,-0.6680700009395921],[-0.18385092065479813,-0.6387525616260237]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_12","position":[0.5872863090908997,0.35336808602083236,0.71338606911949],"aabb_xy":[[0.545101894930069,0.2893680857436212],[0.6294707232517305,0.4173680862980436]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_13","position":[-0.4914026837981864,0.6852569738036887,0.71338606911949],"aabb_xy":[[-0.528253231735174,0.647756972980655],[-0.45455213586119886,0.7227569746267225]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_14","position":[0.6542880122526333,1.726693463086352,0.71338606911949],"aabb_xy":[[0.6317880124387308,1.7222188467158712],[0.6767880120665356,1.7311680794568327]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_15","position":[0.48111912156108705,1.4881018786617743,0.71338606911949],"aabb_xy":[[0.40111912358030194,1.4805003376999222],[0.561119119541872,1.495703419623626]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_16","position":[-0.5580362876635825,-2.267477575328878,0.71338606911949],"aabb_xy":[[-0.5926273705176276,-2.332477575613909],[-0.5234452048095372,-2.202477575043847]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_17","position":[-0.07806366332048464,0.8228870428211295,0.71338606911949],"aabb_xy":[[-0.11306366251330291,0.8119199968234668],[-0.04306366412766638,0.8338540888187921]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_18","position":[0.3517667796932791,0.75426146125537,0.71338606911949],"aabb_xy":[[0.2877710822981825,0.6902614629546612],[0.41576247708837566,0.8182614595560785]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_19","position":[-0.5869882852122896,-0.4826057914623232,0.71338606911949],"aabb_xy":[[-0.6207638444029825,-0.49664428667548816],[-0.5532127260215965,-0.4685672962491581]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_20","position":[0.3913612874993333,-2.5326250179657173,0.71338606911949],"aabb_xy":[[0.3463687007808829,-2.577625017240166],[0.4363538742177837,-2.4876250186912685]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_21","position":[-0.09650843115608454,0.46596476032102974,0.71338606911949],"aabb_xy":[[-0.1605084325640752,0.41417580879710497],[-0.03250842974809388,0.5177537118449543]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_22","position":[-0.6341132465234279,1.310082964933645,0.71338606911949],"aabb_xy":[[-0.6415257020648164,1.304231754512017],[-0.6267007909820395,1.315934175355273]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_23","position":[-0.5938990573589558,0.3770192776800956,0.71338606911949],"aabb_xy":[[-0.673899054518531,0.3654716767222785],[-0.5138990601993805,0.38856687863791256]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_24","position":[-0.23212930614461263,1.4974699905119864,0.71338606911949],"aabb_xy":[[-0.24016564084589742,1.4894318712075696],[-0.22409297144332774,1.5055081098164032]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_25","position":[0.48739108531560005,1.1194113435600057,0.71338606911949],"aabb_xy":[[0.4523910861856444,1.1136661224843416],[0.5223910844455557,1.1251565646356698]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_26","position":[0.4423396032197391,0.09278674631955441,0.71338606911949],"aabb_xy":[[0.42532950592968843,0.07665225782128048],[0.45934970050978974,0.10892123481782832]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_27","position":[-0.3357086659148519,1.745261985271521,0.71338606911949],"aabb_xy":[[-0.35482097327283074,1.726127206394279],[-0.316596358556873,1.764396764148763]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_28","position":[-0.12067868202857424,0.7336688276251806,0.71338606911949],"aabb_xy":[[-0.13145165594994201,0.6986688294061415],[-0.10990570810720646,0.7686688258442195]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_29","position":[0.5626235495466128,-1.7031799504241625,0.71338606911949],"aabb_xy":[[0.4926235474151831,-1.7259419160498581],[0.6326235516780422,-1.6804179847984668]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_30","position":[-0.22799272677048554,-2.2237838037529247,0.71338606911949],"aabb_xy":[[-0.2829927263922314,-2.2787674965403975],[-0.1729927271487397,-2.168800110965452]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_31","position":[0.6525050846503333,-2.149256978958996,0.71338606911949],"aabb_xy":[[0.6053757056484976,-2.2132569800033974],[0.699634463652169,-2.0852569779145935]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_32","position":[-0.2797992437787435,-2.4938728934291707,0.71338606911949],"aabb_xy":[[-0.34379924294851344,-2.540639580548133],[-0.21579924460897357,-2.4471062063102083]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.694390036519515,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/315.png","name":"315"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/315.png","name":"315"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1249.png","name":"1249"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8520.png","name":"8520"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1327.png","name":"1327"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7637.png","name":"7637"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":542.291046726066,"rotation_z_degrees":279.7289502362559,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01636811747913632,0.013112391253025425,-0.014774268079282522]},{"name":"camera_2","offset_m":[-0.017747249169710776,-0.015249293485382717,-0.0010730094361597435]},{"name":"camera_3","offset_m":[0.019092755799074015,0.0029167600926404656,0.01148560660081788]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0012127805310942943,-2.4216467085520083e-06,-0.000740459984767472],"end_effector_yaw_offset_degrees":0.011278231893633084},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0016171804766164852,-0.0012453965375293454,-0.0004894774970841159],"end_effector_yaw_offset_degrees":0.29458152356791945},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0014660198700911287,0.00026765575132774253,-0.00044596583411916284],"end_effector_yaw_offset_degrees":0.6735497347070631},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[4.8481174125495664e-05,0.0011390623035354647,0.0007382641685125969],"end_effector_yaw_offset_degrees":0.3972094120525189}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004146311332420287,-0.0019218556925189546],"position_m":[0.2094536886675797,-0.05562185569251895,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0045414624560109204,-0.0033580029128971556],"position_m":[0.25364146245601094,-0.3867580029128972,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0028242870907587087,0.002885418651628449],"position_m":[0.14332428709075873,0.23758541865162844,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003907565150753326,0.003961603326545522],"position_m":[0.3575075651507533,0.12116160332654552,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"db337cecccb883166aa3fb3be3e62a0cc9d17e690e54c4ec3cc2100789050991","episode_index":44,"episode_name":"episode_0044"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0044.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_315/tex_ceiling_textures_7637/tex_floor_textures_1327/tex_table_textures_1249/tex_wall_textures_8520","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":7880111959704518969,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":7880111959704518969,"visual_seed":7880111959704518969,"scene_id":"lab_003","finished_at":"2026-09-05T20:41:50"} +{"episode_id":"ep_000043","started_at":"2026-09-05T20:41:53","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_0","position":[0.35704164178449704,-1.4368067647513338,0.71338606911949],"aabb_xy":[[0.34270721665833354,-1.4488669803058727],[0.37137606691066044,-1.424746549196795]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_1","position":[0.1567620909888532,1.6026281997679361,0.71338606911949],"aabb_xy":[[0.13896858405393672,1.5848284541721385],[0.1745555979237696,1.6204279453637338]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_2","position":[-0.5936403210130771,0.8157603272913239,0.71338606911949],"aabb_xy":[[-0.6576403212870552,0.7656942270940359],[-0.5296403207390987,0.8658264274886118]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_3","position":[0.15521225900598234,-2.389809424662914,0.71338606911949],"aabb_xy":[[0.09121226041940989,-2.436816388062422],[0.2192122575925548,-2.3428024612634046]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_4","position":[0.4726488627567582,1.6497242032262291,0.71338606911949],"aabb_xy":[[0.46661184975609354,1.6436975021572813],[0.478685875757423,1.6557509042951775]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_5","position":[-0.4852833458157907,1.067564120913287,0.71338606911949],"aabb_xy":[[-0.4972160801776188,1.0551819681054275],[-0.4733506114539627,1.0799462737211463]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_6","position":[0.08514581965832979,-1.9926025132568284,0.71338606911949],"aabb_xy":[[0.0211458232310079,-2.0397721370789252],[0.1491458160856517,-1.9454328894347324]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_7","position":[0.5459163715607047,-1.4413847771476371,0.71338606911949],"aabb_xy":[[0.5284163713013682,-1.4554763193364098],[0.5634163718200415,-1.4272932349588645]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_8","position":[-0.564854758312568,0.6515679671339685,0.71338606911949],"aabb_xy":[[-0.654854761989486,0.590135560556864],[-0.47485475463564963,0.7130003737110727]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_9","position":[0.35178164054771277,1.1944033120081459,0.71338606911949],"aabb_xy":[[0.30465226154587705,1.1304033109637437],[0.3989110195495484,1.2584033130525476]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_10","position":[0.05851046971012119,1.0806580314742904,0.71338606911949],"aabb_xy":[[0.05088620161994296,1.0730248079377467],[0.06613473780029944,1.0882912550108341]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_11","position":[-0.1257603985636928,-0.6864405525861093,0.71338606911949],"aabb_xy":[[-0.14487270592167167,-0.7055753314633512],[-0.10664809120571395,-0.6673057737088671]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_12","position":[0.5528275329511863,-2.393602203522014,0.71338606911949],"aabb_xy":[[0.50294483607349,-2.4436022027682887],[0.6027102298288824,-2.343602204275739]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_13","position":[-0.1384884007731364,0.3490242472303442,0.71338606911949],"aabb_xy":[[-0.18846720928345229,0.2990242472246254],[-0.08850959226282051,0.399024247236063]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_14","position":[0.5543007843807561,1.2831925718120565,0.71338606911949],"aabb_xy":[[0.5463775041420078,1.2606925715740531],[0.5622240646195045,1.3056925720500598]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_15","position":[-0.15922724268526067,-1.8680517802138976,0.71338606911949],"aabb_xy":[[-0.16727060261121585,-1.953051781309264],[-0.1511838827593055,-1.7830517791185312]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_16","position":[-0.4582793009449698,0.30567675695464525,0.71338606911949],"aabb_xy":[[-0.4957793012931975,0.29388536137356164],[-0.420779300596742,0.31746815253572874]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_17","position":[-0.4146246057599449,-2.0452971109454046,0.71338606911949],"aabb_xy":[[-0.4365143533488858,-2.1352971082346537],[-0.3927348581710042,-1.9552971136561557]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_18","position":[-0.24285045409261374,-1.4753347657333784,0.71338606911949],"aabb_xy":[[-0.29784593191327313,-1.5303347671672851],[-0.18785497627195433,-1.4203347642994713]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_19","position":[-0.03433731153085029,-0.36214473372287337,0.71338606911949],"aabb_xy":[[-0.045582367101468124,-0.3733865314469687],[-0.023092255960232455,-0.35090293599877814]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_20","position":[-0.09898246930263987,1.1758824025168266,0.71338606911949],"aabb_xy":[[-0.1489824705864798,1.1259035481262045],[-0.048982468018799886,1.2258612569074487]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_21","position":[0.24316016384955885,-1.2457711445747353,0.71338606911949],"aabb_xy":[[0.19318274698430526,-1.2957711460639836],[0.29313758071481244,-1.1957711430854865]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_22","position":[-0.49192053706820454,-0.9196993944555967,0.71338606911949],"aabb_xy":[[-0.5094205363462914,-0.9370374945219425],[-0.4744205377901176,-0.9023612943892506]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_23","position":[-0.15538482592174652,-0.2842142463956856,0.71338606911949],"aabb_xy":[[-0.20538482728263374,-0.3341921509711012],[-0.1053848245608593,-0.23423634182027]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_24","position":[-0.09820812467219242,-1.9106379424695874,0.71338606911949],"aabb_xy":[[-0.11081082380926888,-1.9232333386944531],[-0.08560542553511596,-1.8980425462447221]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_25","position":[-0.3823485839323597,1.501651438025068,0.71338606911949],"aabb_xy":[[-0.3903849186336445,1.493613318720651],[-0.3743122492310748,1.5096895573294846]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_26","position":[-0.13063641828711792,-2.056076896482119,0.71338606911949],"aabb_xy":[[-0.16813641810415147,-2.060715107793261],[-0.09313641847008436,-2.0514386851709774]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6859200106124571,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5054.png","name":"5054"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5054.png","name":"5054"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8578.png","name":"8578"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7461.png","name":"7461"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6175.png","name":"6175"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4059.png","name":"4059"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":773.932117695117,"rotation_z_degrees":155.89388962022852,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012886021112249738,0.0005596130028372656,-9.19557231638772e-05]},{"name":"camera_2","offset_m":[0.0037736140325400173,-0.0016025589661360327,-0.011185484510402506]},{"name":"camera_3","offset_m":[0.015725651618384167,0.015724422168353142,0.007085954396646669]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00039015097150272996,0.0010627425389356051,-0.0017092038815790139],"end_effector_yaw_offset_degrees":-0.750164348346515},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0013242284767983744,0.0005533445242630565,0.0015183853744253207],"end_effector_yaw_offset_degrees":0.7122893430470785},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0012194838574052516,0.001726488584377172,-0.0008670800195749741],"end_effector_yaw_offset_degrees":-0.6214889084020996},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[4.025744883453001e-05,0.001550507120435092,-0.00186924314317857],"end_effector_yaw_offset_degrees":0.7214121759220362}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0013579304061255492,-0.003754353201485645],"position_m":[0.21495793040612557,-0.05745435320148564,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0033087842297539636,0.00014618472326756622],"position_m":[0.245791215770246,-0.38325381527673247,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003173241067593834,0.0022544312212990046],"position_m":[0.13732675893240617,0.236954431221299,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004523446815195527,0.002790995810127389],"position_m":[0.35812344681519553,0.11999099581012738,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"2aa594254d293db0a2876cb58712a8ecb76489664349418b5a49fc95f56f4865","episode_index":45,"episode_name":"episode_0045"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0045.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_5054/tex_ceiling_textures_4059/tex_floor_textures_6175/tex_table_textures_8578/tex_wall_textures_7461","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":5485391724802336639,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":5485391724802336639,"visual_seed":5485391724802336639,"scene_id":"lab_003","finished_at":"2026-09-05T20:45:11"} +{"episode_id":"ep_000044","started_at":"2026-09-05T20:45:16","dimensions":{"distractor":{"count":34,"items":[{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_0","position":[0.3177868109725004,0.6203538041963905,0.71338606911949],"aabb_xy":[[0.2628130889361675,0.5653538046321573],[0.3727605330088333,0.6753538037606237]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_1","position":[0.27388447276459094,0.9346859144456117,0.71338606911949],"aabb_xy":[[0.23708983963968466,0.8977800393490294],[0.3106791058894972,0.9715917895421939]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_2","position":[0.07119916357280598,-2.2327494790827243,0.71338606911949],"aabb_xy":[[0.04873439360140085,-2.2552494799615848],[0.09366393354421108,-2.2102494782038637]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_3","position":[0.4933540338417226,0.9006349005129355,0.71338606911949],"aabb_xy":[[0.48393655927185986,0.8912187233752165],[0.5027715084115854,0.9100510776506545]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_4","position":[0.6174356057392063,-1.2603355779263414,0.71338606911949],"aabb_xy":[[0.5955269235998553,-1.2822362447464322],[0.6393442878785573,-1.2384349111062507]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_5","position":[-0.4413555383670132,-2.5658032576477563,0.71338606911949],"aabb_xy":[[-0.45005350065772853,-2.577928231955231],[-0.43265757607629796,-2.5536782833402816]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_6","position":[0.6417504819486695,-0.0449313298702636,0.71338606911949],"aabb_xy":[[0.6265876089717326,-0.06009678716538237],[0.6569133549256068,-0.029765872575144854]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_7","position":[0.26130600607977217,-1.1847695428317069,0.71338606911949],"aabb_xy":[[0.19730600416742988,-1.2406806920897173],[0.32530600799211457,-1.1288583935736964]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_8","position":[-0.5246217827394983,-0.4423256835135545,0.71338606911949],"aabb_xy":[[-0.5397240842005162,-0.4574272051446162],[-0.50951948127848,-0.42722416188249257]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_9","position":[0.4194937836946018,1.5157211483134758,0.71338606911949],"aabb_xy":[[0.39116407374606155,1.511260406119759],[0.447823493643142,1.520181890507193]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_10","position":[-0.09146648394677492,-0.8370727556656483,0.71338606911949],"aabb_xy":[[-0.13365089810760566,-0.9010727559428595],[-0.04928206978594418,-0.7730727553884371]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_11","position":[0.07942974983913809,-0.7816064539646159,0.71338606911949],"aabb_xy":[[0.06901819115865436,-0.7869521873005143],[0.08984130851962178,-0.7762607206287173]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_12","position":[-0.27323465326403074,-1.9571977042515019,0.71338606911949],"aabb_xy":[[-0.3348254124880236,-2.021197702360549],[-0.21164389404003797,-1.8931977061424552]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_13","position":[0.00451921707551628,1.216112157925147,0.71338606911949],"aabb_xy":[[-0.0055624900030571975,1.1361121600330322],[0.014600924154089756,1.2961121558172615]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_14","position":[-0.5310472141338498,1.7360135996628743,0.71338606911949],"aabb_xy":[[-0.5660472141103458,1.7265489836152579],[-0.4960472141573541,1.745478215710491]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_15","position":[0.2466178958332086,1.3609825150074975,0.71338606911949],"aabb_xy":[[0.216219784734065,1.3305756130058277],[0.2770160069323522,1.3913894170091667]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_16","position":[-0.01670940501177809,1.3807144580029784,0.71338606911949],"aabb_xy":[[-0.023970652582185503,1.3679274477394692],[-0.009448157441370675,1.3935014682664881]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_17","position":[-0.3978314485478335,1.2884314084571948,0.71338606911949],"aabb_xy":[[-0.461831450890635,1.2434905572130623],[-0.33383144620503186,1.3333722597013273]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_18","position":[-0.5400554609201491,-1.5510254177437315,0.71338606911949],"aabb_xy":[[-0.6200554595770352,-1.5655302766679942],[-0.4600554622632632,-1.5365205588194688]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_19","position":[-0.1301116894019746,-2.318479343812079,0.71338606911949],"aabb_xy":[[-0.16511168859479283,-2.3294463898097417],[-0.0951116902091563,-2.3075122978144167]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_20","position":[0.6400978285451397,-0.5867415842434602,0.71338606911949],"aabb_xy":[[0.5900978275260046,-0.6232077999812883],[0.6900978295642751,-0.5502753685056324]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_21","position":[0.6310330727253246,0.12787613704426004,0.71338606911949],"aabb_xy":[[0.5812162932604898,0.07787613855995665],[0.6808498521901594,0.17787613552856338]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_22","position":[-0.17636234529010053,-0.34389090401721845,0.71338606911949],"aabb_xy":[[-0.19390904020621946,-0.38139090558146976],[-0.1588156503739816,-0.30639090245296724]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_23","position":[0.48388846766707405,-0.25937356688520063,0.71338606911949],"aabb_xy":[[0.4706575221323927,-0.27260098590720006],[0.4971194132017553,-0.24614614786320121]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_24","position":[-0.5544225002498354,0.7291626655085537,0.71338606911949],"aabb_xy":[[-0.6043999171150889,0.679162664019305],[-0.5044450833845817,0.7791626669978021]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_25","position":[0.5762122366591897,0.30853398246357555,0.71338606911949],"aabb_xy":[[0.5301271454044583,0.24453398521102046],[0.6222973279139212,0.37253397971613067]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_26","position":[-0.2690062428161466,0.18252978090772043,0.71338606911949],"aabb_xy":[[-0.35869331912426206,0.09252978065326986],[-0.17931916650803115,0.27252978116217097]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_27","position":[-0.36512226511949253,-0.15450579667060005,0.71338606911949],"aabb_xy":[[-0.4150953306520081,-0.204505796483133],[-0.3151491995869771,-0.10450579685806718]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_28","position":[-0.1818914564018258,-1.5609014778989228,0.71338606911949],"aabb_xy":[[-0.2193914549774466,-1.5736377735624807],[-0.144391457826205,-1.5481651822353648]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_29","position":[0.2299719744061015,-2.2187637524239774,0.71338606911949],"aabb_xy":[[0.21247197414676494,-2.232855294612751],[0.2474719746654382,-2.2046722102352057]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_30","position":[0.3381180652813496,-1.4137694735997108,0.71338606911949],"aabb_xy":[[0.25811806787775615,-1.4937620447978937],[0.418118062684943,-1.333776902401528]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_31","position":[0.0914904250627887,-1.206618890846969,0.71338606911949],"aabb_xy":[[0.027490427950683016,-1.2556512606413799],[0.1554904221748944,-1.1575865210525587]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_32","position":[-0.043085873274149145,-1.7974753132030046,0.71338606911949],"aabb_xy":[[-0.10071634216141997,-1.8574753121297147],[0.014544595613121703,-1.7374753142762935]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_33","position":[-0.5517086470030225,1.3732923219764794,0.71338606911949],"aabb_xy":[[-0.589208647667601,1.357605263976257],[-0.5142086463384435,1.3889793799767014]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6887427843715277,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7288.png","name":"7288"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7288.png","name":"7288"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4045.png","name":"4045"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8711.png","name":"8711"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3755.png","name":"3755"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2449.png","name":"2449"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":566.0735422341251,"rotation_z_degrees":346.1070019644665,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010125306712701926,-0.004950736518959347,0.007737223762875171]},{"name":"camera_2","offset_m":[0.006642681665705755,0.006869306910480377,-8.56553061415917e-05]},{"name":"camera_3","offset_m":[-0.017331369666048646,-0.0068148175560086306,0.00412133099243658]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0014427483233188934,-0.0005614220738138368,0.000560207574941787],"end_effector_yaw_offset_degrees":0.3569677180579576},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0005532679205685815,-0.00040359093228200475,-0.0005757098828922565],"end_effector_yaw_offset_degrees":-0.9005078468154117},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0009914248101987153,0.0003879763296081198,0.0011557044215953789],"end_effector_yaw_offset_degrees":-0.8572800115090558},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0010303070313618158,-0.00012692336825762636,0.0003098624498905451],"end_effector_yaw_offset_degrees":-0.650661436799191}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.003690772975073452,0.002219657236844601],"position_m":[0.20990922702492656,-0.0514803427631554,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0006416080842465924,-0.0009465122589436149],"position_m":[0.2484583919157534,-0.3843465122589436,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.00431373536259671,0.0036340042145621186],"position_m":[0.14481373536259673,0.2383340042145621,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0013201727393701377,-0.004352573913263312],"position_m":[0.35492017273937015,0.11284742608673669,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"283a0c76ab0692f25d44606b2e22553f2a4bd869aa7bb6a2f065e6b42ec0b97e","episode_index":46,"episode_name":"episode_0046"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0046.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_7288/tex_ceiling_textures_2449/tex_floor_textures_3755/tex_table_textures_4045/tex_wall_textures_8711","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":3252763441573953782,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":3252763441573953782,"visual_seed":3252763441573953782,"scene_id":"lab_003","finished_at":"2026-09-05T20:48:39"} +{"episode_id":"ep_000045","started_at":"2026-09-05T20:48:42","dimensions":{"distractor":{"count":28,"items":[{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_0","position":[-0.3950109729862562,-1.1333487547580718,0.71338606911949],"aabb_xy":[[-0.43251097365083485,-1.1490358127582938],[-0.35751097232167744,-1.1176616967578494]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_1","position":[0.4946596056212309,-2.266828858216054,0.71338606911949],"aabb_xy":[[0.477081303432284,-2.284403347790159],[0.5122379078101778,-2.249254368641949]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_2","position":[-0.3929522344042363,0.2887574120101166,0.71338606911949],"aabb_xy":[[-0.4629522360065158,0.27532461880845904],[-0.32295223280195684,0.3021902052117742]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_3","position":[0.5294173340206572,-0.18869825645309257,0.71338606911949],"aabb_xy":[[0.5233803210199925,-0.19472495752204083],[0.535454347021322,-0.1826715553841444]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_4","position":[-0.5950620500825032,1.2828293655119993,0.71338606911949],"aabb_xy":[[-0.6163400582259756,1.217829363185926],[-0.5737840419390311,1.3478293678380722]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_5","position":[0.5275273414827457,0.24554873842438818,0.71338606911949],"aabb_xy":[[0.44752733822490276,0.16555223063240423],[0.6075273447405887,0.32554524621637215]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_6","position":[0.2275291290057848,0.8217702744274038,0.71338606911949],"aabb_xy":[[0.1862245859420488,0.7577702748592867],[0.2688336720695208,0.8857702739955209]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_7","position":[-0.6028279995283156,-1.3658986479786226,0.71338606911949],"aabb_xy":[[-0.667828000528816,-1.4166850131332975],[-0.5378279985278149,-1.3151122828239477]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_8","position":[0.5478081910508827,0.9091167100383966,0.71338606911949],"aabb_xy":[[0.5303082576168993,0.8916167101181619],[0.565308124484866,0.926616709958631]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_9","position":[0.3658450267843252,1.16831865886282,0.71338606911949],"aabb_xy":[[0.3312539439302799,1.1033186585777888],[0.40043610963837034,1.2333186591478509]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_10","position":[0.05012067833092493,0.7782535265281876,0.71338606911949],"aabb_xy":[[0.025120678779186438,0.7681110426630529],[0.07512067788266341,0.7883960103933223]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_11","position":[0.49331326640339723,-0.9810462036718248,0.71338606911949],"aabb_xy":[[0.4383132667816514,-1.0360298964592976],[0.5483132660251431,-0.9260625108843522]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_12","position":[0.16998980012905784,-2.426902539375201,0.71338606911949],"aabb_xy":[[0.1653546849768244,-2.4307698744523494],[0.17462491528129118,-2.423035204298052]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_13","position":[0.7087936113163238,-1.1744369842691267,0.71338606911949],"aabb_xy":[[0.6941502057622908,-1.1890957039259107],[0.7234370168703568,-1.1597782646123422]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_14","position":[0.4741356972369428,1.1298101944807635,0.71338606911949],"aabb_xy":[[0.4598012721107794,1.1177499789262244],[0.48847012236310633,1.141870410035302]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_15","position":[-0.14091498617062026,-1.0737705371218929,0.71338606911949],"aabb_xy":[[-0.15284772053244833,-1.0861526899297522],[-0.1289822518087922,-1.0613883843140335]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_16","position":[0.5156745336465358,1.760480972351775,0.71338606911949],"aabb_xy":[[0.45167453338606506,1.7154721729988467],[0.5796745339070066,1.8054897717047027]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_17","position":[0.4088652590269777,-0.731073874461426,0.71338606911949],"aabb_xy":[[0.3959933555260375,-0.8110738748752622],[0.42173716252791776,-0.6510738740475899]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_18","position":[-0.5605036568865159,-1.0276658344599843,0.71338606911949],"aabb_xy":[[-0.6405036601505291,-1.0412258667688976],[-0.4805036536225028,-1.014105802151071]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_19","position":[0.18446628135110588,-1.2070937176107925,0.71338606911949],"aabb_xy":[[0.17647279155582385,-1.2150918495512681],[0.19245977114638793,-1.199095585670317]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_20","position":[-0.16197340234202873,0.9659593541557316,0.71338606911949],"aabb_xy":[[-0.21196823526997033,0.9159593552604882],[-0.11197856941408713,1.0159593530509752]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_21","position":[0.12653976429913216,1.1680724863943488,0.71338606911949],"aabb_xy":[[0.08435535013830142,1.1040724861171376],[0.1687241784599629,1.23207248667156]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_22","position":[0.049630458280852996,-2.262986626184006,0.71338606911949],"aabb_xy":[[0.038724682193290276,-2.3429866225828353],[0.0605362343684157,-2.182986629785177]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_23","position":[-0.4861672029763667,-2.11612859963526,0.71338606911949],"aabb_xy":[[-0.5761672026995406,-2.1392019521704393],[-0.3961672032531924,-2.0930552471000796]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_24","position":[-0.026065576797130507,1.6355453873098065,0.71338606911949],"aabb_xy":[[-0.06291612473411812,1.5980453864867727],[0.010784971139857102,1.6730453881328402]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_25","position":[0.5207215053571221,-1.6543122265561527,0.71338606911949],"aabb_xy":[[0.47072150399623486,-1.7042901311315681],[0.5707215067180093,-1.6043343219807369]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_26","position":[0.3177197197501549,-1.599541845051558,0.71338606911949],"aabb_xy":[[0.2802197198063885,-1.6078349350863947],[0.3552197196939213,-1.5912487550167216]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_27","position":[-0.0059000604845549365,-1.4265392201646028,0.71338606911949],"aabb_xy":[[-0.014681287631791166,-1.435318967453133],[0.0028811666626812897,-1.417759472876073]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6893165525532832,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4090.png","name":"4090"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4090.png","name":"4090"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/579.png","name":"579"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6272.png","name":"6272"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1931.png","name":"1931"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/496.png","name":"496"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":670.4904256334894,"rotation_z_degrees":249.6522162557657,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005122165681701714,0.004020807320095004,-0.011216579322773037]},{"name":"camera_2","offset_m":[0.0005056896671990115,0.007159059524201247,0.011838751796374048]},{"name":"camera_3","offset_m":[0.0076176692771534014,-0.01539589038081552,-0.007472005076103589]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0017929855032968716,0.000996148648734838,-4.6295951883161286e-05],"end_effector_yaw_offset_degrees":-0.37831866418752735},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.001099129706266229,0.0010810316146086948,-8.838352735409988e-05],"end_effector_yaw_offset_degrees":-0.321675634353888},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0014697163427911213,-0.0015092756304851496,-0.00026881928478160607],"end_effector_yaw_offset_degrees":-0.6922558768910767},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.000280105253416071,0.0010787789440316119,0.0012070034026061861],"end_effector_yaw_offset_degrees":0.2436549437451252}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0016334818720192736,5.6089176385275795e-05],"position_m":[0.21196651812798073,-0.05364391082361472,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0010079655134643895,-0.002516483995945599],"position_m":[0.2480920344865356,-0.38591648399594564,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0007586997553156874,1.0056884546954387e-05],"position_m":[0.1397413002446843,0.23471005688454694,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0034424501182810712,-0.0030250234622834784],"position_m":[0.3570424501182811,0.11417497653771652,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ea3f7ea4e8ae1835234be9c04923ac7cc3517de294fe4e06843e287f795d6d83","episode_index":47,"episode_name":"episode_0047"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0047.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_4090/tex_ceiling_textures_496/tex_floor_textures_1931/tex_table_textures_579/tex_wall_textures_6272","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":8605894254823996623,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":8605894254823996623,"visual_seed":8605894254823996623,"scene_id":"lab_003","finished_at":"2026-09-05T20:52:07"} +{"episode_id":"ep_000046","started_at":"2026-09-05T20:52:11","dimensions":{"distractor":{"count":31,"items":[{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_0","position":[-0.13130605348356383,0.03805754451412069,0.71338606911949],"aabb_xy":[[-0.16630605337958268,0.029683309002180743],[-0.09630605358754495,0.046431780026060625]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_1","position":[0.5078317340464198,0.19362942843341457,0.71338606911949],"aabb_xy":[[0.41783173432324555,0.17055607589823477],[0.5978317337695939,0.21670278096859444]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_2","position":[-0.5254993468368069,1.201675827882977,0.71338606911949],"aabb_xy":[[-0.5327431128830522,1.1216758296793745],[-0.5182555807905616,1.2816758260865793]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_3","position":[-0.27745736634317275,-1.642377925712103,0.71338606911949],"aabb_xy":[[-0.2868748409130355,-1.651794102849822],[-0.26803989177331,-1.632961748574384]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_4","position":[-0.016898493540032367,-0.9201781361193269,0.71338606911949],"aabb_xy":[[-0.07689849518295422,-0.972178285411271],[0.043101508102889485,-0.8681779868273827]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_5","position":[0.14427321387771452,1.2557113468063656,0.71338606911949],"aabb_xy":[[0.09429026369023517,1.205711347163805],[0.19425616406519383,1.3057113464489258]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_6","position":[-0.5997373134102904,-1.267088299174471,0.71338606911949],"aabb_xy":[[-0.6297289761441607,-1.2970882985112715],[-0.56974565067642,-1.2370882998376704]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_7","position":[0.48960754111173554,1.3635739657297363,0.71338606911949],"aabb_xy":[[0.48158127048110955,1.354822470752384],[0.49763381174236154,1.3723254607070892]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_8","position":[0.3088355800012428,-2.371521030855461,0.71338606911949],"aabb_xy":[[0.27383558169054734,-2.3792360457790065],[0.34383557831193823,-2.363806015931915]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_9","position":[-0.06835008537497833,1.6909258521730979,0.71338606911949],"aabb_xy":[[-0.10335008535147418,1.6814612361254815],[-0.03335008539848251,1.7003904682207147]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_10","position":[0.4702814551075196,1.778208254660544,0.71338606911949],"aabb_xy":[[0.40028145297608997,1.7554462890348481],[0.540281457238949,1.8009702202862394]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_11","position":[-0.4899120489010531,-0.6976596584786157,0.71338606911949],"aabb_xy":[[-0.5309299922874241,-0.747659659109573],[-0.44889410551468234,-0.6476596578476583]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_12","position":[0.16255353052430221,1.5522526324593255,0.71338606911949],"aabb_xy":[[0.14968162702336207,1.472252632045489],[0.17542543402524235,1.6322526328731612]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_13","position":[0.11779526567860765,-1.9639281070863164,0.71338606911949],"aabb_xy":[[0.10771355860003416,-2.043928104978431],[0.12787697275718113,-1.8839281091942017]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_14","position":[-0.14107514834782298,-1.3986040364864873,0.71338606911949],"aabb_xy":[[-0.16607514789956143,-1.4087465203516218],[-0.11607514879608447,-1.3884615526213524]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_15","position":[-0.42013817501126344,-1.2767691876527234,0.71338606911949],"aabb_xy":[[-0.43925048236924236,-1.2959039665299654],[-0.40102586765328463,-1.2576344087754814]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_16","position":[0.30680312043780034,-1.772998448229451,0.71338606911949],"aabb_xy":[[0.24280312401047843,-1.8201680720515476],[0.37080311686512224,-1.7258288244073547]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_17","position":[0.3696274465574956,-1.595416761146044,0.71338606911949],"aabb_xy":[[0.29962744474875014,-1.6167705299102313],[0.439627448366241,-1.5740629923818565]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_18","position":[0.5414020257811794,-0.20800206572717217,0.71338606911949],"aabb_xy":[[0.5343605748304318,-0.21502881746496672],[0.548443476731927,-0.20097531398937762]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_19","position":[0.4822162602693383,1.2444226493126238,0.71338606911949],"aabb_xy":[[0.44471626009746634,1.2117219139297166],[0.5197162604412102,1.277123384695531]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_20","position":[0.49233874699455016,-1.754439657424888,0.71338606911949],"aabb_xy":[[0.4548387484189293,-1.7671759530884457],[0.5298387455701709,-1.7417033617613298]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_21","position":[-0.5821990982114668,1.4132611484992545,0.71338606911949],"aabb_xy":[[-0.5861129714068893,1.4045121330926977],[-0.5782852250160442,1.4220101639058114]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_22","position":[0.2881137637204735,0.44883481602102027,0.71338606911949],"aabb_xy":[[0.2682227238401333,0.43617900473632354],[0.3080048036008138,0.4614906273057172]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_23","position":[0.6633774588049197,1.2299339484075293,0.71338606911949],"aabb_xy":[[0.6134043932724044,1.1799339485949967],[0.7133505243374353,1.2799339482200625]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_24","position":[0.4344752234540845,-0.8199664880100002,0.71338606911949],"aabb_xy":[[0.3974411140260247,-0.8543436953437095],[0.4715093328821442,-0.7855892806762906]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_25","position":[0.3636590252820826,0.5961994893505063,0.71338606911949],"aabb_xy":[[0.35189083848742514,0.5111994894452848],[0.37542721207674024,0.6811994892557279]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_26","position":[-0.557352417822836,-1.6324023540324115,0.71338606911949],"aabb_xy":[[-0.6223524178571387,-1.6791030307127388],[-0.4923524177885332,-1.5857016773520842]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_27","position":[-0.2294624557240592,-1.055108954771525,0.71338606911949],"aabb_xy":[[-0.2370867238142375,-1.062742178308069],[-0.22183818763388102,-1.0474757312349816]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_28","position":[-0.2572162890271384,-0.21012013580802424,0.71338606911949],"aabb_xy":[[-0.2747629839432574,-0.2476201373722755],[-0.2396695941110195,-0.17262013424377298]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_29","position":[0.07914059736439616,0.9278536406774136,0.71338606911949],"aabb_xy":[[0.07304596947627784,0.9192842461257448],[0.08523522525251448,0.9364230352290822]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_30","position":[0.42242738569567084,-0.6805063452245363,0.71338606911949],"aabb_xy":[[0.4005187035563197,-0.702407012044627],[0.4443360678350218,-0.6586056784044455]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6916420295394101,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9639.png","name":"9639"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9639.png","name":"9639"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5197.png","name":"5197"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9407.png","name":"9407"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8384.png","name":"8384"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7939.png","name":"7939"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":845.8196749713456,"rotation_z_degrees":154.35577463170205,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015901115057767732,0.010346534883107127,-0.005436966166735445]},{"name":"camera_2","offset_m":[0.013184823294969703,0.0031771238272093015,-0.0007533525143383069]},{"name":"camera_3","offset_m":[0.009119353830396634,-0.016392349192087506,0.004310745693311784]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0007076391502286792,0.0016128789950057244,0.0007783680868135227],"end_effector_yaw_offset_degrees":-0.6531167760786263},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0003376945043111071,0.0016888081637067846,-0.0016975922838352777],"end_effector_yaw_offset_degrees":0.8249552713102577},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007248858949151149,0.0006236209574922986,0.0013103694522861977],"end_effector_yaw_offset_degrees":-0.0635839846262245},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0017232404549373903,-0.0018323176768766096,-0.0012602835155351903],"end_effector_yaw_offset_degrees":0.4783730221512421}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004851091569819212,0.003081250278962929],"position_m":[0.2087489084301808,-0.05061874972103707,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0038937422680132934,0.0006211371900386054],"position_m":[0.2529937422680133,-0.38277886280996143,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004399458757327686,0.004994678764869565],"position_m":[0.1448994587573277,0.23969467876486955,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00021118729180489865,0.000557248325289644],"position_m":[0.3533888127081951,0.11775724832528964,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ee5a92df51205ad2a436e7c5b7999d6bca51d4a55591ad53a5ed445af7e18cf5","episode_index":48,"episode_name":"episode_0048"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0048.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_9639/tex_ceiling_textures_7939/tex_floor_textures_8384/tex_table_textures_5197/tex_wall_textures_9407","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":5339507719650430274,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":5339507719650430274,"visual_seed":5339507719650430274,"scene_id":"lab_003","finished_at":"2026-09-05T20:55:36"} +{"episode_id":"ep_000047","started_at":"2026-09-05T20:55:40","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_0","position":[0.35324193159966155,-1.2152333237291693,0.71338606911949],"aabb_xy":[[0.3472753926589257,-1.2211944683885334],[0.3592084705403973,-1.209272179069805]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_1","position":[-0.4219988040003028,0.09755602779000005,0.71338606911949],"aabb_xy":[[-0.5119988005011746,0.051644385371541805],[-0.33199880749943106,0.14346767020845827]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_2","position":[-0.23371827230372755,-1.7863619151196781,0.71338606911949],"aabb_xy":[[-0.29771827159789577,-1.8503480554885323],[-0.16971827300955933,-1.722375774750824]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_3","position":[0.5166095605325296,-1.4359736650930293,0.71338606911949],"aabb_xy":[[0.4526095613627597,-1.4827403522119917],[0.5806095597022995,-1.3892069779740668]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_4","position":[0.543316255343048,1.42397927157305,0.71338606911949],"aabb_xy":[[0.5338987807731852,1.414563094435331],[0.5527337299129107,1.433395448710769]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_5","position":[-0.5617655720213881,-0.3562507930315273,0.71338606911949],"aabb_xy":[[-0.5788676499797563,-0.37335759856279704],[-0.54466349406302,-0.33914398750025754]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_6","position":[0.5672826959777839,0.4779018142394107,0.71338606911949],"aabb_xy":[[0.4772826962546097,0.45482846170423086],[0.657282695700958,0.5009751667745905]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_7","position":[-0.5861986489600234,-1.5335910699556514,0.71338606911949],"aabb_xy":[[-0.6218278048599832,-1.5692237367125041],[-0.5505694930600638,-1.4979584031987982]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_8","position":[-0.04139570499823164,-2.2227591985527004,0.71338606911949],"aabb_xy":[[-0.09087612621219043,-2.2867591964655523],[0.00808471621572715,-2.1587592006398486]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_9","position":[-0.011303268300087543,1.1508306175543748,0.71338606911949],"aabb_xy":[[-0.033803268310235834,1.1367343979147715],[0.011196731710060748,1.164926837193978]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_10","position":[0.5437414867913724,-0.8766765373395615,0.71338606911949],"aabb_xy":[[0.4787414867570696,-0.9233772140198887],[0.6087414868256751,-0.8299758606592341]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_11","position":[-0.21473183241440957,-0.2933097895229637,0.71338606911949],"aabb_xy":[[-0.2599031502625786,-0.3573097866675022],[-0.16956051456624063,-0.22930979237842536]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_12","position":[0.15359213691029328,1.084386231434387,0.71338606911949],"aabb_xy":[[0.14709050040228866,1.0746184094080773],[0.1600937734182979,1.0941540534606968]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_13","position":[0.6525237674448987,-0.5261435084844885,0.71338606911949],"aabb_xy":[[0.6225562105350732,-0.5561435087823744],[0.6824913243547245,-0.4961435081866029]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_14","position":[-0.47578772258563706,1.3153962826319456,0.71338606911949],"aabb_xy":[[-0.555787719599885,1.2952617309585344],[-0.395787725571389,1.335530834305357]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_15","position":[0.6585784408050044,-1.9469294672414128,0.71338606911949],"aabb_xy":[[0.6494185618611278,-1.95346068528495],[0.667738319748881,-1.940398249197876]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_16","position":[-0.6426854585661606,-1.1588386971068694,0.71338606911949],"aabb_xy":[[-0.6559164041008416,-1.1720661161288684],[-0.629454513031479,-1.1456112780848695]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_17","position":[0.3179989810549928,0.5846563206733935,0.71338606911949],"aabb_xy":[[0.31007570081624447,0.5621563204353901],[0.32592226129374113,0.6071563209113968]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_18","position":[-0.3959188918226758,-1.4433210061582715,0.71338606911949],"aabb_xy":[[-0.48591889415669487,-1.5208033607433842],[-0.30591888948865675,-1.3658386515731589]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_19","position":[0.5804203244871213,-1.205265534343022,0.71338606911949],"aabb_xy":[[0.5525752877065142,-1.2360500330813338],[0.6082653612677285,-1.1744810356047104]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_20","position":[-0.6229669790491281,0.25869139262898777,0.71338606911949],"aabb_xy":[[-0.6282994937037412,0.25336706438375217],[-0.6176344643945151,0.26401572087422337]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_21","position":[-0.3656415405132197,-0.8802923527877979,0.71338606911949],"aabb_xy":[[-0.3764820187397346,-0.8974786340784467],[-0.35480106228670477,-0.8631060714971491]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_22","position":[0.4475024862876593,-0.5359596017650632,0.71338606911949],"aabb_xy":[[0.39752942075514397,-0.5859596015775962],[0.4974755518201749,-0.4859596019525304]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6845908948879518,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9342.png","name":"9342"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9342.png","name":"9342"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3809.png","name":"3809"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2169.png","name":"2169"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7634.png","name":"7634"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2260.png","name":"2260"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":792.0147079645695,"rotation_z_degrees":325.82885609918964,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.018966337162983755,0.013619576824062545,-0.003054022728860479]},{"name":"camera_2","offset_m":[0.009314003442948846,-0.0013828395781459689,-0.0076673352809714015]},{"name":"camera_3","offset_m":[0.016036383115016536,0.013996286056817072,-0.0156004036736869]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0009785907751805475,0.0011194140415970678,0.0014716917066614414],"end_effector_yaw_offset_degrees":-0.03621192920740812},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0005571796508137528,-0.0010617863339650025,-0.0008745351952936878],"end_effector_yaw_offset_degrees":-0.6730004205058975},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0017055879826139838,-0.0007995987315400673,-0.00032117095386575436],"end_effector_yaw_offset_degrees":0.43441828406495486},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0006029594799831519,-0.00027310387323407296,0.0008057300703659277],"end_effector_yaw_offset_degrees":-0.9759574061233423}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004800356458632373,0.0022266550349782513],"position_m":[0.21840035645863237,-0.05147334496502175,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002053069379591035,0.004412179441161803],"position_m":[0.24704693062040894,-0.37898782055883823,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004485522714658919,0.004289873717167024],"position_m":[0.1360144772853411,0.238989873717167,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00289995314991033,0.0001001473383669205],"position_m":[0.35649995314991034,0.11730014733836693,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4899992ce3416bd3a750cbd554a27d3602c0ca9c02f0184699a2283d1dd214b5","episode_index":49,"episode_name":"episode_0049"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0049.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_9342/tex_ceiling_textures_2260/tex_floor_textures_7634/tex_table_textures_3809/tex_wall_textures_2169","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":3861917925358085609,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":3861917925358085609,"visual_seed":3861917925358085609,"scene_id":"lab_003","finished_at":"2026-09-05T20:59:00"} +{"episode_id":"ep_000048","started_at":"2026-09-05T20:59:03","dimensions":{"distractor":{"count":31,"items":[{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_0","position":[0.047451759134013116,-1.977348273985392,0.71338606911949],"aabb_xy":[[0.03952847889526479,-1.9998482742233958],[0.055375039372761455,-1.9548482737473891]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_1","position":[-0.48588066538656216,-1.919998081440688,0.71338606911949],"aabb_xy":[[-0.5196562245772551,-1.934036576653853],[-0.4521051061958692,-1.9059595862275232]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_2","position":[0.3838694129907687,1.3816372165795938,0.71338606911949],"aabb_xy":[[0.3198694144041962,1.334630253180085],[0.4478694115773411,1.4286441799791025]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_3","position":[0.0809654200473281,-1.8288181307894935,0.71338606911949],"aabb_xy":[[0.01696541813498577,-1.884729280047504],[0.14496542195967044,-1.772906981531483]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_4","position":[0.5472835016398472,1.726388498403511,0.71338606911949],"aabb_xy":[[0.5129865906221065,1.6920916121935694],[0.5815804126575876,1.760685384613452]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_5","position":[0.5042378276461108,1.0679202203043578,0.71338606911949],"aabb_xy":[[0.4866049920525832,1.0502972742887347],[0.5218706632396383,1.0855431663199806]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_6","position":[0.2906028544994328,-2.46051081284347,0.71338606911949],"aabb_xy":[[0.28256651979814795,-2.468548932147887],[0.29863918920071764,-2.452472693539053]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_7","position":[-0.24355575256343404,-0.8068897790879213,0.71338606911949],"aabb_xy":[[-0.29352904656669443,-0.8568897796424684],[-0.19358245856017356,-0.7568897785333737]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_8","position":[-0.2873491449986295,0.9880870341650492,0.71338606911949],"aabb_xy":[[-0.3449796138859003,0.9280870352383385],[-0.2297186761113586,1.0480870330917598]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_9","position":[-0.5915448836370663,0.3784267748702703,0.71338606911949],"aabb_xy":[[-0.5949855598771234,0.37456534189590585],[-0.5881042073970091,0.38228820784463485]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_10","position":[0.6057072770370882,-0.8191171409678533,0.71338606911949],"aabb_xy":[[0.5557072753755933,-0.8691155832235558],[0.6557072786985828,-0.7691186987121503]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_11","position":[0.028857954419596155,1.1300430927865412,0.71338606911949],"aabb_xy":[[-0.008642045397437403,1.1254048814753994],[0.06635795423662971,1.134681304097683]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_12","position":[-0.03196099049253509,-1.2644033125590248,0.71338606911949],"aabb_xy":[[-0.11196098907985452,-1.3437189144971857],[0.04803900809478433,-1.185087710620864]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_13","position":[0.473953111854043,-2.52693875829135,0.71338606911949],"aabb_xy":[[0.3839531132595731,-2.5431893446047718],[0.5639531104485129,-2.5106881719779293]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_14","position":[0.2823953020051575,-1.4333721773617616,0.71338606911949],"aabb_xy":[[0.2585590843645525,-1.5233721781702485],[0.3062315196457626,-1.3433721765532753]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_15","position":[0.10059324398287939,-0.7337870072200625,0.71338606911949],"aabb_xy":[[0.05059324269903943,-0.7837658616106845],[0.15059324526671936,-0.6838081528294403]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_16","position":[-0.5543251198466763,-0.024015818772157083,0.71338606911949],"aabb_xy":[[-0.6243251219781056,-0.04677778439785274],[-0.48432511771524656,-0.001253853146461422]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_17","position":[-0.42993015644590427,-1.645732591801475,0.71338606911949],"aabb_xy":[[-0.43871138359314055,-1.6545123390900052],[-0.4211489292986681,-1.636952844512945]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_18","position":[-0.4542263654239779,0.7328142287824813,0.71338606911949],"aabb_xy":[[-0.48922636531999675,0.7244399932705413],[-0.419226365527959,0.7411884642944212]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_19","position":[0.5191894771661307,-0.9352922602387976,0.71338606911949],"aabb_xy":[[0.5003050933976205,-0.9541781850191503],[0.5380738609346409,-0.9164063354584447]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_20","position":[0.3044384030464323,1.0302833222614467,0.71338606911949],"aabb_xy":[[0.2951447848092817,0.9927833237733126],[0.31373202128358285,1.0677833207495804]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_21","position":[-0.5283688814931946,-1.1202275178131165,0.71338606911949],"aabb_xy":[[-0.5618480487542356,-1.1537066311842235],[-0.49488971423215367,-1.0867484044420095]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_22","position":[-0.31611483893654835,0.33106488262830513,0.71338606911949],"aabb_xy":[[-0.353614839601127,0.31537782462808295],[-0.2786148382719696,0.3467519406285273]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_23","position":[0.6045657888569924,1.0926352913857476,0.71338606911949],"aabb_xy":[[0.5745982319471667,1.0626352910878618],[0.6345333457668181,1.1226352916836333]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_24","position":[-0.6294572757310986,-0.720110239023062,0.71338606911949],"aabb_xy":[[-0.6669572758366914,-0.726932400876043],[-0.5919572756255055,-0.7132880771700808]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_25","position":[0.23519883713095735,-1.7881131452625505,0.71338606911949],"aabb_xy":[[0.2153077972506172,-1.8007689565472478],[0.2550898770112977,-1.775457333977854]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_26","position":[0.0931973033560296,-2.53176990507527,0.71338606911949],"aabb_xy":[[0.06535226657542248,-2.5625544038135817],[0.12104234013663673,-2.5009854063369583]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_27","position":[-0.02964232915814402,-1.4600389887395706,0.71338606911949],"aabb_xy":[[-0.07964232951871007,-1.5100189759491733],[0.020357671202422038,-1.4100590015299674]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_28","position":[-0.5258725676045106,-0.16976139561710335,0.71338606911949],"aabb_xy":[[-0.5808657789416474,-0.22476139595589698],[-0.47087935626737387,-0.11476139527830975]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_29","position":[-0.021145331809518608,0.33302393021127585,0.71338606911949],"aabb_xy":[[-0.03720725926803625,0.24802392839868406],[-0.005083404351000967,0.4180239320238677]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_30","position":[0.05512533649902562,-2.409351435223659,0.71338606911949],"aabb_xy":[[0.005142386311546287,-2.4593514348662193],[0.10510828668650495,-2.3593514355810985]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6922641453289644,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1685.png","name":"1685"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1685.png","name":"1685"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3542.png","name":"3542"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9286.png","name":"9286"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5769.png","name":"5769"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8939.png","name":"8939"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":596.4381572536748,"rotation_z_degrees":326.1517351725541,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01727712811563012,0.018860440699112437,-0.015368220464950452]},{"name":"camera_2","offset_m":[-0.004429683545388587,-0.008294420490739522,-0.010225038015140485]},{"name":"camera_3","offset_m":[-0.017377540031979256,0.004824142923092106,-0.0038887694692544723]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0013212831993217784,0.0016955763066158506,-0.0012530889486550767],"end_effector_yaw_offset_degrees":0.8165215265674386},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.001986704090466699,-0.0012594666969114679,-0.0016868093635949628],"end_effector_yaw_offset_degrees":0.28446411568829877},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001318253891120987,-7.51118699461881e-05,0.0014566070565299244],"end_effector_yaw_offset_degrees":0.5197660953389733},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-3.2796541189118126e-05,-0.0010045468918400884,0.0019144223114300717],"end_effector_yaw_offset_degrees":0.9512332477131811}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0024347906882266346,-0.004007526636405481],"position_m":[0.21116520931177338,-0.05770752663640548,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004922118355115616,0.001045782280263999],"position_m":[0.2540221183551156,-0.38235421771973604,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0037869908442401366,0.0025610122160130214],"position_m":[0.13671300915575987,0.237261012216013,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0033929527624657506,0.0006826308399072471],"position_m":[0.3569929527624658,0.11788263083990724,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7350ee68ac022461ef2b9d532a1cb32d7986305ae8ddade59573c4903d9cef6c","episode_index":50,"episode_name":"episode_0050"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0050.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_1685/tex_ceiling_textures_8939/tex_floor_textures_5769/tex_table_textures_3542/tex_wall_textures_9286","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":6891197839898825167,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":6891197839898825167,"visual_seed":6891197839898825167,"scene_id":"lab_003","finished_at":"2026-09-05T21:02:30"} +{"episode_id":"ep_000049","started_at":"2026-09-05T21:02:36","dimensions":{"distractor":{"count":32,"items":[{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_0","position":[0.5376965019842559,-2.429048824922087,0.71338606911949],"aabb_xy":[[0.5151965017407405,-2.4412534595818585],[0.5601965022277713,-2.4168441902623146]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_1","position":[-0.1844345756899628,-1.3301198943428547,0.71338606911949],"aabb_xy":[[-0.2394300535106222,-1.3851198957767616],[-0.1294390978693034,-1.2751198929089478]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_2","position":[-0.4945983162031511,1.7249038963496468,0.71338606911949],"aabb_xy":[[-0.4985121893985736,1.71615488094309],[-0.49068444300772857,1.7336529117562036]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_3","position":[-0.13900469047288666,-2.464270194992341,0.71338606911949],"aabb_xy":[[-0.149157706027036,-2.500339736565081],[-0.12885167491873725,-2.4282006534196]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_4","position":[0.6229158177901373,1.5268551514800008,0.71338606911949],"aabb_xy":[[0.5929482608803117,1.496855151182115],[0.652883374699963,1.5568551517778866]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_5","position":[0.03154914919830398,-1.969528580457257,0.71338606911949],"aabb_xy":[[-0.03245085220968667,-2.0213175319811816],[0.09554915060629465,-1.9177396289333324]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_6","position":[-0.11624233256365435,0.9555639146665578,0.71338606911949],"aabb_xy":[[-0.1305767576898178,0.9435036991120187],[-0.10190790743749088,0.9676241302210964]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_7","position":[-0.21470943400251025,0.5155498105428973,0.71338606911949],"aabb_xy":[[-0.2646923841899895,0.4655498109003368],[-0.16472648381503086,0.5655498101854576]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_8","position":[0.43058371835017195,-0.46754694786707063,0.71338606911949],"aabb_xy":[[0.3892791752864359,-0.5315469474351877],[0.4718882614139079,-0.40354694829895355]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_9","position":[0.6269276996728175,0.506072193966475,0.71338606911949],"aabb_xy":[[0.6044629297014124,0.48357219308761445],[0.6493924696442226,0.5285721948453355]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_10","position":[0.5976398318013327,-2.276985801641109,0.71338606911949],"aabb_xy":[[0.5176398285434898,-2.356982309433093],[0.6776398350591757,-2.196989293849125]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_11","position":[-0.11626011755443211,-0.4374011968770528,0.71338606911949],"aabb_xy":[[-0.12022060132416648,-0.4450690614625734],[-0.11229963378469773,-0.4297333322915322]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_12","position":[-0.6295870298859385,1.4342591862977083,0.71338606911949],"aabb_xy":[[-0.6664375778229261,1.3967591854746744],[-0.5927364819489509,1.4717591871207418]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_13","position":[0.3600138566437945,-1.1843504226711492,0.71338606911949],"aabb_xy":[[0.34222034970887805,-1.2021501682669469],[0.3778073635787109,-1.1665506770753515]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_14","position":[0.20798232981161835,0.7546638482935797,0.71338606911949],"aabb_xy":[[0.19048239637763498,0.737163848373345],[0.22548226324560172,0.7721638482138141]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_15","position":[-0.15655910334375,-0.08196308827005971,0.71338606911949],"aabb_xy":[[-0.19405910485938171,-0.09318986128620477],[-0.1190591018281183,-0.07073631525391466]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_16","position":[-0.33827173238633085,1.312474460533231,0.71338606911949],"aabb_xy":[[-0.36941865122991396,1.2424744618464236],[-0.30712481354274773,1.382474459220038]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_17","position":[-0.25593311486316866,1.6227715342627076,0.71338606911949],"aabb_xy":[[-0.2685358140002451,1.610176138037842],[-0.2433304157260922,1.635366930487573]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_18","position":[0.3231526096930941,1.7531812565118057,0.71338606911949],"aabb_xy":[[0.27798129184492515,1.6891812593672675],[0.3683239275412631,1.8171812536563443]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_19","position":[-0.3812256742993126,0.6158098448796725,0.71338606911949],"aabb_xy":[[-0.445225672885885,0.5688028814801638],[-0.3172256757127401,0.6628168082791812]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_20","position":[0.574222433038039,-1.7150111826250551,0.71338606911949],"aabb_xy":[[0.5270930540362032,-1.779011183669457],[0.6213518120398746,-1.6510111815806532]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_21","position":[0.6041119688310865,-0.041326008864998265,0.71338606911949],"aabb_xy":[[0.5401119717189808,-0.09035837865940888],[0.6681119659431922,0.007706360929412355]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_22","position":[0.5522557842377962,-0.47903838246492736,0.71338606911949],"aabb_xy":[[0.5152216748097365,-0.5134155897986368],[0.5892898936658559,-0.4446611751312179]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_23","position":[0.0659286455869944,-1.5420248118740114,0.71338606911949],"aabb_xy":[[0.0009286445864938875,-1.5928111770286861],[0.13092864658749492,-1.4912384467193363]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_24","position":[-0.04169111026011463,1.436373452336738,0.71338606911949],"aabb_xy":[[-0.09570670654201463,1.3723734494444808],[0.012324486021785382,1.5003734552289951]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_25","position":[-0.10292565791074526,1.241848028167332,0.71338606911949],"aabb_xy":[[-0.15789937994707814,1.186848028603099],[-0.04795193587441239,1.2968480277315653]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_26","position":[-0.6574595123672461,-2.4594044182401955,0.71338606911949],"aabb_xy":[[-0.6949595126594209,-2.4634458936407992],[-0.6199595120750713,-2.4553629428395918]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_27","position":[-0.5535315999896289,0.7117253705833475,0.71338606911949],"aabb_xy":[[-0.5607928475600364,0.698938360319838],[-0.5462703524192215,0.724512380846857]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_28","position":[-0.5310426501698438,0.040178435675799484,0.71338606911949],"aabb_xy":[[-0.59504264747219,-0.004187991292057269],[-0.46704265286749724,0.08454486264365624]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_29","position":[-0.37779937860882007,-1.310695068780588,0.71338606911949],"aabb_xy":[[-0.3848396885423572,-1.3906950681802595],[-0.37075906867528313,-1.2306950693809167]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_30","position":[0.19199760032284718,-0.7897116567179416,0.71338606911949],"aabb_xy":[[0.1854959638148426,-0.7994794787442514],[0.19849923683085186,-0.7799438346916319]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_31","position":[0.24692692061584898,-1.5793550402035663,0.71338606911949],"aabb_xy":[[0.22905781286139348,-1.5931879481807771],[0.26479602837030447,-1.565522132226355]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6847237729801966,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6087.png","name":"6087"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6087.png","name":"6087"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4453.png","name":"4453"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4064.png","name":"4064"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3733.png","name":"3733"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1525.png","name":"1525"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":770.2922498883277,"rotation_z_degrees":233.1182610860702,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0054480002763569145,0.0049058193110072465,0.001134316652126089]},{"name":"camera_2","offset_m":[0.014026224766492821,-0.018930084123236067,-0.010976828177567106]},{"name":"camera_3","offset_m":[-0.012183389549522717,0.007388957593831503,-0.01769506938501266]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0017579508100757043,-0.0018686732130101,3.5382807370017665e-05],"end_effector_yaw_offset_degrees":-0.8746076446493338},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0016244185988868605,0.0006197974503771618,-0.0019462790112066211],"end_effector_yaw_offset_degrees":-0.6967140366482647},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0010214495705916607,0.00109813294065188,-0.0016286548178979375],"end_effector_yaw_offset_degrees":0.9960323488575693},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0002656854921072251,-0.0014015493392689898,0.0004815934500769026],"end_effector_yaw_offset_degrees":-0.8710624314657387}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0009296018552090914,0.0034626280604619824],"position_m":[0.2126703981447909,-0.05023737193953801,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002796397122019377,0.003057121046786509],"position_m":[0.24630360287798062,-0.3803428789532135,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0021479010015592794,-0.0014589547670174497],"position_m":[0.13835209899844073,0.23324104523298253,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0028835959798157807,-0.0014177525818523128],"position_m":[0.3507164040201842,0.11578224741814769,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8d8133662a924f266855c3f9f49d308d9f97e7fedbc1b3db9f4128caf9d18be9","episode_index":51,"episode_name":"episode_0051"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0051.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_6087/tex_ceiling_textures_1525/tex_floor_textures_3733/tex_table_textures_4453/tex_wall_textures_4064","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":1082509870486080496,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":1082509870486080496,"visual_seed":1082509870486080496,"scene_id":"lab_003","finished_at":"2026-09-05T21:06:16"} +{"episode_id":"ep_000050","started_at":"2026-09-05T21:06:20","dimensions":{"distractor":{"count":25,"items":[{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_0","position":[-0.11364764217898626,1.1670606835892183,0.71338606911949],"aabb_xy":[[-0.11860366236386748,1.144560683387097],[-0.10869162199410508,1.1895606837913402]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_1","position":[-0.3236683381417983,1.0312272563187896,0.71338606911949],"aabb_xy":[[-0.3592974940417581,0.9955945895619367],[-0.2880391822418386,1.0668599230756426]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_2","position":[-0.32678432919445793,-0.8431509419077967,0.71338606911949],"aabb_xy":[[-0.3371958878749416,-0.8484966752436951],[-0.31637277051397417,-0.8378052085718981]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_3","position":[0.5128837797060719,0.7937584424528845,0.71338606911949],"aabb_xy":[[0.5079844873995084,0.7660815231503156],[0.5177830720126354,0.8214353617554532]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_4","position":[-0.6573705941421971,1.0054849889777357,0.71338606911949],"aabb_xy":[[-0.6698379522519328,0.9930196643444122],[-0.6449032360324615,1.0179503136110593]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_5","position":[0.15745752583005945,-2.2295225714918923,0.71338606911949],"aabb_xy":[[0.1324575258975416,-2.2364052397128154],[0.18245752576257737,-2.222639903270969]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_6","position":[-0.09877291194690085,-2.0697187397843706,0.71338606911949],"aabb_xy":[[-0.10221358818695804,-2.0735801727587355],[-0.0953322357068437,-2.0658573068100066]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_7","position":[-0.16916579830406075,0.6244829009972803,0.71338606911949],"aabb_xy":[[-0.1910744804434118,0.6025822341771895],[-0.1472571161647097,0.6463835678173709]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_8","position":[-0.4067604539331182,-0.2794408338957899,0.71338606911949],"aabb_xy":[[-0.43540978629353444,-0.3080863931728656],[-0.378111121572702,-0.25079527461871404]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_9","position":[-0.15808404122319053,-2.465653889501604,0.71338606911949],"aabb_xy":[[-0.1830840404951528,-2.4819992530977664],[-0.13308404195122825,-2.4493085259054417]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_10","position":[0.012673689166681323,-2.446486617722558,0.71338606911949],"aabb_xy":[[0.007092017532552563,-2.458986617540334],[0.01825536080081008,-2.4339866179047824]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_11","position":[0.06183429037190713,-1.356141008390889,0.71338606911949],"aabb_xy":[[0.03933429036175884,-1.3702372280304922],[0.08433429038205542,-1.3420447887512856]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_12","position":[-0.40707955153783804,-0.49093163559167463,0.71338606911949],"aabb_xy":[[-0.44411366096589777,-0.525308842925384],[-0.3700454421097783,-0.4565544282579651]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_13","position":[-0.4771967644389087,0.5093194398459686,0.71338606911949],"aabb_xy":[[-0.5146967647871363,0.49752804426488495],[-0.43969676409068087,0.521110835427052]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_14","position":[0.4776198321698555,0.18760508671179021,0.71338606911949],"aabb_xy":[[0.4513310078494147,0.16133365305713895],[0.5039086564902959,0.21387652036644142]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_15","position":[0.267165848894412,0.635870463540479,0.71338606911949],"aabb_xy":[[0.21717083793496,0.5858704645048873],[0.31716085985386405,0.6858704625760708]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_16","position":[-0.276587555716943,-0.5864768681267614,0.71338606911949],"aabb_xy":[[-0.31408755429256374,-0.5992131637903193],[-0.23908755714132215,-0.5737405724632034]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_17","position":[0.21065784653335007,1.0726375915577995,0.71338606911949],"aabb_xy":[[0.18565784736771698,1.065685345852443],[0.2356578456989832,1.079589837263156]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_18","position":[0.27591357381377224,-1.2869977265004338,0.71338606911949],"aabb_xy":[[0.2415972966391543,-1.3369977264736115],[0.3102298509883902,-1.236997726527256]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_19","position":[0.22564773017344786,0.9236454167444355,0.71338606911949],"aabb_xy":[[0.18915190954616912,0.8871614743176779],[0.2621435508007266,0.960129359171193]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_20","position":[-0.5985683119522168,-1.349467833233582,0.71338606911949],"aabb_xy":[[-0.6485683132360567,-1.399446687624204],[-0.5485683106683767,-1.2994889788429598]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_21","position":[0.29820251194099634,-2.3237707527211993,0.71338606911949],"aabb_xy":[[0.2698728019924561,-2.3282314949149168],[0.32653222188953657,-2.3193100105274826]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_22","position":[-0.565448358313716,-0.6589961329121754,0.71338606911949],"aabb_xy":[[-0.620440608949227,-0.7139961346554882],[-0.5104561076782052,-0.6039961311688626]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_23","position":[-0.3958436338357156,1.3550565605501212,0.71338606911949],"aabb_xy":[[-0.4183436333594229,1.3325606130995002],[-0.37334363431200807,1.3775525080007418]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_24","position":[-0.6499480255179093,-2.2516221372620744,0.71338606911949],"aabb_xy":[[-0.6651201947995427,-2.266790994190278],[-0.634775856236276,-2.236453280333871]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6853670636447633,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7950.png","name":"7950"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7950.png","name":"7950"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7463.png","name":"7463"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7387.png","name":"7387"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8867.png","name":"8867"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5713.png","name":"5713"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":689.7097132840137,"rotation_z_degrees":323.42569345488056,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01859708967318752,0.01883521339575742,0.006954019932299653]},{"name":"camera_2","offset_m":[-0.014111534757427813,-0.005530071757046229,0.002834711408116884]},{"name":"camera_3","offset_m":[-0.01106882453930843,-0.004397929472490186,0.009081186071122422]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0013506474203925545,0.0007210680778107883,0.00048810481939799526],"end_effector_yaw_offset_degrees":0.799189638803445},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0010379085491966152,0.0014782939536943204,-0.001923247686995904],"end_effector_yaw_offset_degrees":-0.7212866325551233},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0016570283722543845,0.001528052159779949,-0.0007432825881587993],"end_effector_yaw_offset_degrees":0.9776326354646794},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00025125758144782886,-0.0014749935995296052,0.00035764832478606384],"end_effector_yaw_offset_degrees":0.6673731249325683}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0019791483839424837,-0.003478800139228202],"position_m":[0.2155791483839425,-0.0571788001392282,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002243447205890046,0.0027267841712358774],"position_m":[0.24685655279410995,-0.3806732158287641,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0008776557427170482,-0.00463571194999458],"position_m":[0.14137765574271707,0.23006428805000542,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004609219549047041,-0.0005577555106620656],"position_m":[0.35820921954904705,0.11664224448933794,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"62f2674f412eeeb78a45cf1ed5980d5f72379ab57582de3d57655da97afef256","episode_index":52,"episode_name":"episode_0052"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0052.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_7950/tex_ceiling_textures_5713/tex_floor_textures_8867/tex_table_textures_7463/tex_wall_textures_7387","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":8466344270603479796,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":8466344270603479796,"visual_seed":8466344270603479796,"scene_id":"lab_003","finished_at":"2026-09-05T21:09:45"} +{"episode_id":"ep_000051","started_at":"2026-09-05T21:09:49","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_0","position":[-0.5629448077295671,-0.3198201986109015,0.71338606911949],"aabb_xy":[[-0.6269448081071008,-0.36956546546171376],[-0.4989448073520336,-0.27007493176008923]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_1","position":[0.37133485533590327,-2.4611155196947045,0.71338606911949],"aabb_xy":[[0.31133485447509035,-2.5125419497011907],[0.43133485619671597,-2.4096890896882175]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_2","position":[0.03363161105476675,1.2713454133152098,0.71338606911949],"aabb_xy":[[0.017747117789441602,1.2569924730163857],[0.0495161043200919,1.2856983536140338]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_3","position":[0.05530661508204093,-2.0700781581913956,0.71338606911949],"aabb_xy":[[0.0053117821540993315,-2.1200781570866387],[0.10530144800998253,-2.0200781592961516]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_4","position":[0.1931052946247137,1.5735283293720577,0.71338606911949],"aabb_xy":[[0.17877086949855028,1.5614681138175188],[0.2074397197508772,1.5855885449265965]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_5","position":[-0.5037781419936411,0.4040455714299678,0.71338606911949],"aabb_xy":[[-0.593778141412012,0.370670074585778],[-0.41377814257527024,0.43742106827415744]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_6","position":[-0.39461929382737065,-2.3087615821627026,0.71338606911949],"aabb_xy":[[-0.47461929084161864,-2.328896133836114],[-0.3146192968131227,-2.288627030489291]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_7","position":[-0.07024551682673175,1.5911679354064625,0.71338606911949],"aabb_xy":[[-0.1402455202182937,1.5558521617030316],[-0.00024551343516976404,1.6264837091098934]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_8","position":[0.5320950530570372,-1.941427797530512,0.71338606911949],"aabb_xy":[[0.49354936023183615,-1.9799735685867008],[0.5706407458822382,-1.9028820264743234]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_9","position":[0.4923299035621129,-0.49626372641387784,0.71338606911949],"aabb_xy":[[0.48411535844642883,-0.5049403167115191],[0.5005444486777968,-0.4875871361162365]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_10","position":[0.5732408049734687,1.3468098009998104,0.71338606911949],"aabb_xy":[[0.5132408043774526,1.291997328454587],[0.6332408055694849,1.4016222735450339]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_11","position":[0.11236873994906504,-1.3985858639641755,0.71338606911949],"aabb_xy":[[0.1089280637090079,-1.40244729693854],[0.11580941618912224,-1.394724430989811]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_12","position":[-0.12532888519734764,1.2617372423267437,0.71338606911949],"aabb_xy":[[-0.15991996805139286,1.1967372420417122],[-0.09073780234330243,1.3267372426117743]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_13","position":[0.6323528787966584,1.0186066331846986,0.71338606911949],"aabb_xy":[[0.5845467111828896,0.9536066304776396],[0.6801590464104269,1.0836066358917575]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_14","position":[-0.45797317714385694,-1.8346006537098454,0.71338606911949],"aabb_xy":[[-0.5379731774174639,-1.907550201535562],[-0.37797317687024995,-1.7616511058841287]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_15","position":[-0.6014862346668136,1.1340030406681367,0.71338606911949],"aabb_xy":[[-0.6514862341070092,1.0840351161838202],[-0.551486235226618,1.1839709651524528]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_16","position":[-0.4078460309849386,-1.5219614031107718,0.71338606911949],"aabb_xy":[[-0.41388304398560344,-1.5279881041797205],[-0.401809017984274,-1.515934702041824]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_17","position":[-0.22784005103438765,-1.6093552123769603,0.71338606911949],"aabb_xy":[[-0.2778131165669031,-1.6593552121894939],[-0.1778669855018722,-1.559355212564428]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_18","position":[-0.17879938695333675,0.7333901235819167,0.71338606911949],"aabb_xy":[[-0.19397155623497012,0.7182212666537132],[-0.16362721767170343,0.7485589805101199]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_19","position":[-0.35972332918186745,1.5991897506346437,0.71338606911949],"aabb_xy":[[-0.4237233294558457,1.5491236504373558],[-0.2957233289078892,1.6492558508319317]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_20","position":[-0.5061178249242624,-0.033307704997661336,0.71338606911949],"aabb_xy":[[-0.5411178232349578,-0.041022719921206985],[-0.47111782661356694,-0.025592690074115687]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_21","position":[-0.08329638893866032,0.477693150283518,0.71338606911949],"aabb_xy":[[-0.16329639036878751,0.3981759952709084],[-0.0032963875085331162,0.5572103052961274]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_22","position":[-0.6230192571635481,1.4174963135335887,0.71338606911949],"aabb_xy":[[-0.6480192567152866,1.407353829668454],[-0.5980192576118096,1.4276387973987235]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_23","position":[0.13124596033375435,-1.1327051222743847,0.71338606911949],"aabb_xy":[[0.0512459570759114,-1.2127016300663687],[0.2112459635915973,-1.0527086144824007]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_24","position":[0.2515305528178411,1.745501489223669,0.71338606911949],"aabb_xy":[[0.23485341682474553,1.7288015652497388],[0.26820768881093654,1.7622014131975994]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_25","position":[-0.5887826398841387,-0.49387689101726506,0.71338606911949],"aabb_xy":[[-0.6527826390539087,-0.5406435781362274],[-0.5247826407143688,-0.4471102038983025]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_26","position":[0.42180427488722017,-0.5186926602828601,0.71338606911949],"aabb_xy":[[0.4085733293525388,-0.5319200793048594],[0.4350352204219014,-0.5054652412608606]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6897863033428613,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5657.png","name":"5657"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5657.png","name":"5657"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7892.png","name":"7892"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9789.png","name":"9789"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/303.png","name":"303"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1577.png","name":"1577"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":690.0029851383333,"rotation_z_degrees":271.386408509198,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0016558983228397751,0.0015344630047129972,0.01884528967290534]},{"name":"camera_2","offset_m":[-0.015424832976260752,-0.01658733067969035,0.004126400132296652]},{"name":"camera_3","offset_m":[-0.018427838199870747,0.010336741131841024,-0.01708698581999915]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0007354625429770584,0.0005811808608404689,0.001706839280485576],"end_effector_yaw_offset_degrees":-0.9256782258044907},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0001336689089213145,0.0005543622440030414,0.0017750251531006875],"end_effector_yaw_offset_degrees":0.14094166066475466},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0011876015628516248,0.0011999981965900453,-0.0013120900788813296],"end_effector_yaw_offset_degrees":0.16173797701956105},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-9.519867811001834e-05,0.0018990684421994332,-6.925817008285751e-06],"end_effector_yaw_offset_degrees":-0.8234734005211028}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0036022544873702588,0.004304134616983244],"position_m":[0.21720225448737027,-0.049395865383016754,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00018663397672238034,-0.001584867551623125],"position_m":[0.24928663397672238,-0.38498486755162314,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0012303935985795954,0.002069643212213113],"position_m":[0.1417303935985796,0.2367696432122131,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0010708855015793871,0.0009772491767489145],"position_m":[0.35467088550157944,0.11817724917674892,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6ebff6f532a695a3747ff757c8109428dfdebc3ab44c6da3bf077efbdb7b8fe9","episode_index":53,"episode_name":"episode_0053"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0053.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_5657/tex_ceiling_textures_1577/tex_floor_textures_303/tex_table_textures_7892/tex_wall_textures_9789","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":3693709063881715064,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":3693709063881715064,"visual_seed":3693709063881715064,"scene_id":"lab_003","finished_at":"2026-09-05T21:13:11"} +{"episode_id":"ep_000052","started_at":"2026-09-05T21:13:16","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_0","position":[-0.5422233834153323,-0.5162172408807608,0.71338606911949],"aabb_xy":[[-0.6062233856357393,-0.5605903250060491],[-0.47822338119492525,-0.47184415675547253]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_1","position":[-0.3742109396733867,0.543520873494229,0.71338606911949],"aabb_xy":[[-0.404202602407257,0.5135208741574284],[-0.3442192769395163,0.5735208728310295]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_2","position":[0.5293482572489765,0.6289449354849523,0.71338606911949],"aabb_xy":[[0.4643482590930573,0.6026486909350403],[0.5943482554048954,0.6552411800348646]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_3","position":[-0.40160139043998366,-1.063605596777343,0.71338606911949],"aabb_xy":[[-0.4816013926027461,-1.1435607804034864],[-0.3216013882772211,-0.9836504131511992]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_4","position":[0.19138746782457905,1.2794838203280925,0.71338606911949],"aabb_xy":[[0.18209384958742844,1.2419838218399586],[0.2006810860617296,1.3169838188162264]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_5","position":[-0.25100755150265835,-1.024368944974058,0.71338606911949],"aabb_xy":[[-0.2739232643877083,-1.0472732421104818],[-0.2280918386176085,-1.0014646478376348]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_6","position":[-0.6336776534128061,-1.6163202630643698,0.71338606911949],"aabb_xy":[[-0.6375915266082286,-1.6250692784709269],[-0.6297637802173837,-1.6075712476578132]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_7","position":[-0.09569844137423922,0.8983538984795159,0.71338606911949],"aabb_xy":[[-0.13319844147983215,0.8915317366265347],[-0.058198441268646255,0.905176060332497]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_8","position":[-0.3748726368275152,-1.4733574297931433,0.71338606911949],"aabb_xy":[[-0.4123726369993871,-1.5060581651760505],[-0.3373726366556432,-1.4406566944102361]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_9","position":[-0.07788272094956794,-2.335950527030963,0.71338606911949],"aabb_xy":[[-0.08751435716999756,-2.3455878398106713],[-0.06825108472913832,-2.3263132142512535]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_10","position":[0.5774359269068934,-0.3209978483021021,0.71338606911949],"aabb_xy":[[0.5719779812698733,-0.4009978516097612],[0.5828938725439134,-0.240997844994443]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_11","position":[0.18961776086576398,-0.9528090427667673,0.71338606911949],"aabb_xy":[[0.1849826457135306,-0.9566763778439158],[0.19425287601799737,-0.9489417076896185]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_12","position":[-0.22684793139388493,-0.3902270152589544,0.71338606911949],"aabb_xy":[[-0.24240370080415022,-0.40577744850336167],[-0.2112921619836197,-0.37467658201454723]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_13","position":[-0.08104649296086841,0.14743700397583615,0.71338606911949],"aabb_xy":[[-0.08714112084898673,0.1388676094241674],[-0.07495186507275009,0.15600639852750484]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_14","position":[0.41759484421217663,-2.105815025014641,0.71338606911949],"aabb_xy":[[0.3338726187120941,-2.1958150285493363],[0.5013170697122591,-2.0158150214799444]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_15","position":[0.6308317073730558,-1.3558532883845935,0.71338606911949],"aabb_xy":[[0.6161883018190228,-1.3705120080413777],[0.6454751129270888,-1.3411945687278093]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_16","position":[0.014272599133148711,-1.7256334192367033,0.71338606911949],"aabb_xy":[[0.0014006956322085704,-1.8056334196505393],[0.02714450263408885,-1.645633418822867]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_17","position":[0.07015936591919425,-0.6816014063295959,0.71338606911949],"aabb_xy":[[0.06412235291852952,-0.6876281073985442],[0.07619637891985898,-0.6755747052606478]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_18","position":[0.5953355558086117,-1.8154764193166977,0.71338606911949],"aabb_xy":[[0.5578355550166163,-1.8218442602748877],[0.6328355566006072,-1.8091085783585072]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_19","position":[0.1111947207383428,0.8206773891377295,0.71338606911949],"aabb_xy":[[0.0886947207281945,0.8065811694981263],[0.1336947207484911,0.8347736087773329]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_20","position":[-0.326644115191292,-1.7233111467243711,0.71338606911949],"aabb_xy":[[-0.33485866030697586,-1.731987737022012],[-0.3184295700756079,-1.7146345564267294]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_21","position":[-0.14544890471328298,0.7134026487841671,0.71338606911949],"aabb_xy":[[-0.19153399596801443,0.6494026515316119],[-0.09936381345855148,0.7774026460367222]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_22","position":[0.5413269879349474,-1.2447761904182655,0.71338606911949],"aabb_xy":[[0.5038269872703686,-1.2604632484184874],[0.578826988599526,-1.229089132418043]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_23","position":[0.29823504033175374,-0.8738745516308479,0.71338606911949],"aabb_xy":[[0.29024105175405035,-0.8818746317259382],[0.30622902890945713,-0.8658744715357575]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_24","position":[0.010527508343855296,-1.919376903699423,0.71338606911949],"aabb_xy":[[-0.02193419253807216,-1.9495097358143254],[0.04298920922578275,-1.8892440715845202]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_25","position":[0.6106177567685904,-2.232329939983047,0.71338606911949],"aabb_xy":[[0.5741219361413116,-2.268813882409804],[0.647113577395869,-2.195845997556289]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_26","position":[-0.10122302179238174,-0.7688470393966111,0.71338606911949],"aabb_xy":[[-0.16522302508208983,-0.8121819584005286],[-0.037223018502673615,-0.7255121203926934]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_27","position":[-0.5829105438831699,0.9373244654265225,0.71338606911949],"aabb_xy":[[-0.5882430585377829,0.9320001371812868],[-0.5775780292285568,0.9426487936717579]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_28","position":[0.5928219012026146,0.4659831231395888,0.71338606911949],"aabb_xy":[[0.5228218985660281,0.4458782581437232],[0.6628219038392008,0.48608798813545423]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_29","position":[-0.3254447476604241,-2.5596563697495913,0.71338606911949],"aabb_xy":[[-0.3604447476369199,-2.569120985797208],[-0.29044474768392825,-2.5501917537019745]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_30","position":[0.32680050293801277,1.1762556582340462,0.71338606911949],"aabb_xy":[[0.31887722269926444,1.1537556579960428],[0.3347237831767611,1.1987556584720496]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_31","position":[-0.6087440714625427,-0.2494757305997899,0.71338606911949],"aabb_xy":[[-0.6163683395527211,-0.2571089541363336],[-0.6011198033723646,-0.2418425070632462]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_32","position":[-0.06385489627794438,-2.25259288737594,0.71338606911949],"aabb_xy":[[-0.09885489547076264,-2.2635599333736023],[-0.028854897085126105,-2.2416258413782773]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6922756164917865,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2556.png","name":"2556"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2556.png","name":"2556"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5557.png","name":"5557"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8896.png","name":"8896"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5632.png","name":"5632"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5909.png","name":"5909"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":648.4600107964925,"rotation_z_degrees":42.11354941372015,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010284613013290258,0.014972210754299619,0.01678185864149864]},{"name":"camera_2","offset_m":[0.01048612370246746,-0.0008929202829096421,-0.018852332898370308]},{"name":"camera_3","offset_m":[0.003153261703169777,0.012677198483115663,0.009598048979300177]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00158436729512952,-0.001090951561780229,0.0016405299232020278],"end_effector_yaw_offset_degrees":0.6415407533410278},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0013889783745879218,-0.0009589838483122443,0.001998413214446277],"end_effector_yaw_offset_degrees":-0.29484475097657303},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00031012228823218283,0.0008171582865354691,-0.0005427776284502072],"end_effector_yaw_offset_degrees":-0.8656244011509555},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005367021010798338,0.0012705266987918882,-0.001018169835221705],"end_effector_yaw_offset_degrees":-0.25742330912250666}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003346662869125325,0.00016716475372524978],"position_m":[0.21694666286912534,-0.05353283524627475,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0010359154774774752,-0.004776232656026317],"position_m":[0.2501359154774775,-0.38817623265602635,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.000977159996892448,-0.0047854427474285114],"position_m":[0.13952284000310758,0.22991455725257148,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0004998176095358164,0.004992562205697938],"position_m":[0.3531001823904642,0.12219256220569794,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0dd5ae5c187f09a65eb1b88f013507afc90e1f492b947cd655d9e19a9d524246","episode_index":54,"episode_name":"episode_0054"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0054.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_2556/tex_ceiling_textures_5909/tex_floor_textures_5632/tex_table_textures_5557/tex_wall_textures_8896","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":2997073241902386268,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":2997073241902386268,"visual_seed":2997073241902386268,"scene_id":"lab_003","finished_at":"2026-09-05T21:16:39"} +{"episode_id":"ep_000053","started_at":"2026-09-05T21:16:43","dimensions":{"distractor":{"count":21,"items":[{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_0","position":[-0.2646560493933522,-1.264592780320852,0.71338606911949],"aabb_xy":[[-0.2725793296321005,-1.2870927805588555],[-0.25673276915460386,-1.2420927800828487]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_1","position":[0.28576017374527696,0.512224228140882,0.71338606911949],"aabb_xy":[[0.2776324855519638,0.5033106197301744],[0.29388786193859023,0.5211378365515897]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_2","position":[0.7071705716578911,-0.49311901210201325,0.71338606911949],"aabb_xy":[[0.6962647955703284,-0.5731190085008424],[0.7180763477454538,-0.41311901570318416]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_3","position":[-0.271873631619462,0.6574942954803187,0.71338606911949],"aabb_xy":[[-0.3358736287315677,0.6084619256859081],[-0.2078736345073563,0.7065266652747293]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_4","position":[-0.20069741760732557,0.44911423109030757,0.71338606911949],"aabb_xy":[[-0.26469311500242215,0.38511423278959883],[-0.13670172021222898,0.5131142293910163]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_5","position":[0.27942815916131003,-1.1052340844245607,0.71338606911949],"aabb_xy":[[0.2745288668547465,-1.1329110037271295],[0.28432745146787347,-1.077557165121992]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_6","position":[-0.37688152846655837,-0.338007974208383,0.71338606911949],"aabb_xy":[[-0.38151664361879173,-0.3418753092855316],[-0.3722464133143249,-0.3341406391312343]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_7","position":[-0.3675020149941366,0.10829476671011973,0.71338606911949],"aabb_xy":[[-0.4018182921687545,0.058294766736942005],[-0.3331857378195186,0.15829476668329745]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_8","position":[0.32468968092551687,-1.8669482620363098,0.71338606911949],"aabb_xy":[[0.2746948479975753,-1.9169482609315536],[0.3746845138534585,-1.8169482631410665]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_9","position":[0.614266453477637,-1.4803916606780643,0.71338606911949],"aabb_xy":[[0.5492664508398435,-1.5318712593775115],[0.6792664561154305,-1.4289120619786175]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_10","position":[-0.13568805387470584,0.01530300126301709,0.71338606911949],"aabb_xy":[[-0.1531880541340425,0.00121145907424447],[-0.11818805361536924,0.02939454345178972]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_11","position":[-0.6440435207662496,0.4887253449257405,0.71338606911949],"aabb_xy":[[-0.6692643576260892,0.46350159407285374],[-0.6188226839064098,0.5139490957786272]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_12","position":[0.5671245619686132,1.0017731454470882,0.71338606911949],"aabb_xy":[[0.4971245585770511,0.9664573717436572],[0.637124565360175,1.0370889191505188]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_13","position":[0.02843696844292587,0.9551421438754759,0.71338606911949],"aabb_xy":[[-0.036563030114146966,0.9253896104615933],[0.0934369669999987,0.9848946772893585]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_14","position":[0.1746690379914505,0.5466693716529654,0.71338606911949],"aabb_xy":[[0.16857441010333216,0.5380999771012966],[0.1807636658795688,0.5552387662046341]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_15","position":[0.464503761639407,-0.9292231621732374,0.71338606911949],"aabb_xy":[[0.41450875067995496,-0.9792231612088292],[0.514498772598859,-0.8792231631376458]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_16","position":[0.6201199994790938,0.30850265321117787,0.71338606911949],"aabb_xy":[[0.5988419913356214,0.2435026508851048],[0.6413980076225659,0.3735026555372509]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_17","position":[-0.6012374817878173,-1.3105720160635506,0.71338606911949],"aabb_xy":[[-0.6812374839505797,-1.3905271996896942],[-0.5212374796250547,-1.230616832437407]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_18","position":[0.48793658430169073,0.15970119488587287,0.71338606911949],"aabb_xy":[[0.44293658283546194,0.1147013380243922],[0.5329365857679196,0.20470105174735356]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_19","position":[0.34810359833333737,1.1734167052071145,0.71338606911949],"aabb_xy":[[0.2841035951146995,1.1266935933081061],[0.41210360155197523,1.2201398171061228]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_20","position":[0.3511659864919301,-1.316597569523986,0.71338606911949],"aabb_xy":[[0.3356102170816649,-1.3321480027683932],[0.3667217559021954,-1.3010471362795788]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6825812559801117,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3627.png","name":"3627"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3627.png","name":"3627"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3061.png","name":"3061"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6218.png","name":"6218"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8264.png","name":"8264"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5681.png","name":"5681"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":804.9436701988222,"rotation_z_degrees":340.0061027202748,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0018941561851501879,0.015021570797559985,0.01560328874491754]},{"name":"camera_2","offset_m":[0.01727050303671108,0.005149009116143039,-0.013225646683460037]},{"name":"camera_3","offset_m":[-0.01802877037144865,-0.016124893161020126,0.010448391938887386]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0001273065261041819,0.0007103713902992382,-0.0016303755525718974],"end_effector_yaw_offset_degrees":-0.40296664462332155},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0009808601225436001,-0.0007903529911955087,-0.0019734570616324536],"end_effector_yaw_offset_degrees":0.4943307878118648},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0006796989494284337,6.25623885029381e-05,-0.0008248587437796196],"end_effector_yaw_offset_degrees":-0.32739164834721124},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0016606818128508105,-0.00031257682678135406,0.0014846836707064649],"end_effector_yaw_offset_degrees":0.5918093410486929}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004743885622009394,-0.0048490174265568495],"position_m":[0.20885611437799062,-0.05854901742655685,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0044978731454787335,0.00436716635196037],"position_m":[0.24460212685452126,-0.37903283364803964,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0013514561226663432,0.0033419936587793823],"position_m":[0.14185145612266636,0.23804199365877937,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0028932394523135197,0.00033218125353848965],"position_m":[0.35649323945231354,0.11753218125353848,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f2d93d4c158a068e849ea3c7966b62597b8ba35c13bc7da970cf9e92e26c8089","episode_index":55,"episode_name":"episode_0055"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0055.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_3627/tex_ceiling_textures_5681/tex_floor_textures_8264/tex_table_textures_3061/tex_wall_textures_6218","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":3869527200095101116,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":3869527200095101116,"visual_seed":3869527200095101116,"scene_id":"lab_003","finished_at":"2026-09-05T21:20:06"} +{"episode_id":"ep_000054","started_at":"2026-09-05T21:20:13","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_0","position":[0.5523469262759326,-0.27131314438645227,0.71338606911949],"aabb_xy":[[0.5391159807412512,-0.2845405634084517],[0.5655778718106138,-0.25808572536445284]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_1","position":[0.24015809840019653,-1.4206058557480339,0.71338606911949],"aabb_xy":[[0.15015809472327835,-1.482038262325138],[0.3301581020771147,-1.3591734491709293]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_2","position":[-0.1580577980351907,-0.8717064984082221,0.71338606911949],"aabb_xy":[[-0.16447161167837562,-0.8781163186558903],[-0.15164398439200574,-0.8652966781605537]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_3","position":[-0.2236065453503882,1.0039255022327929,0.71338606911949],"aabb_xy":[[-0.26877786319855723,0.9399255050882545],[-0.17843522750221924,1.0679254993773313]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_4","position":[0.6459800116151697,1.4580006900495834,0.71338606911949],"aabb_xy":[[0.6351395333886548,1.4408144087589347],[0.6568204898416846,1.4751869713402321]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_5","position":[0.6169329240139634,-0.6579823055748448,0.71338606911949],"aabb_xy":[[0.5529329269018577,-0.7070146753692554],[0.6809329211260691,-0.6089499357804342]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_6","position":[-0.157041351318718,-1.8868285610471198,0.71338606911949],"aabb_xy":[[-0.23704135239183832,-1.896606607384504],[-0.07704135024559766,-1.8770505147097352]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_7","position":[0.23391399206467312,0.5412326585725755,0.71338606911949],"aabb_xy":[[0.2076251677442324,0.5149612249179242],[0.26020281638511367,0.5675040922272266]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_8","position":[-0.6088041570848713,0.7415871904199363,0.71338606911949],"aabb_xy":[[-0.6182216316547341,0.7321710132822171],[-0.5993866825150086,0.7510033675576552]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_9","position":[-0.19154518883721294,0.7829584398780014,0.71338606911949],"aabb_xy":[[-0.19758220183787772,0.7769317388090533],[-0.18550817583654824,0.7889851409469497]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_10","position":[-0.1746900060529054,-0.031828729748600626,0.71338606911949],"aabb_xy":[[-0.2117241154809651,-0.06620593708231007],[-0.13765589662484568,0.002548477585108823]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_11","position":[0.466829345637753,-1.274599678338433,0.71338606911949],"aabb_xy":[[0.4539574421368128,-1.3545996787522692],[0.4797012491386931,-1.1945996779245969]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_12","position":[-0.21538671895521094,-2.1839245689601983,0.71338606911949],"aabb_xy":[[-0.22279917449659944,-2.189775779381826],[-0.2079742634138225,-2.1780733585385703]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_13","position":[0.3630461621882124,-1.9602578193460583,0.71338606911949],"aabb_xy":[[0.35908567841847805,-1.967925683931579],[0.36700664595794674,-1.9525899547605379]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_14","position":[-0.035564208664452535,0.36945218797192103,0.71338606911949],"aabb_xy":[[-0.04597576734493624,0.3641064546360225],[-0.025152649983968815,0.37479792130781947]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_15","position":[0.18973963509565317,-2.349741653683329,0.71338606911949],"aabb_xy":[[0.13973963644973197,-2.3996611973427915],[0.23973963374157437,-2.2998221100238667]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_16","position":[0.5849739337978617,-1.5505204438366058,0.71338606911949],"aabb_xy":[[0.5349951252875458,-1.6005204438423244],[0.6349527423081776,-1.5005204438308868]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_17","position":[-0.4829457003391817,-1.2395332009224036,0.71338606911949],"aabb_xy":[[-0.5329456997793773,-1.28950112540672],[-0.43294570089898604,-1.1895652764380873]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_18","position":[0.5610511790465076,0.2360350847254491,0.71338606911949],"aabb_xy":[[0.4960511764087142,0.18455548602600214],[0.6260511816843012,0.28751468342489606]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_19","position":[-0.3000010265173782,-1.8438672965521437,0.71338606911949],"aabb_xy":[[-0.30934803409967343,-1.858170918769788],[-0.29065401893508297,-1.8295636743344998]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_20","position":[-0.12583051874665863,-0.30362303218837816,0.71338606911949],"aabb_xy":[[-0.16316179527190122,-0.33827608698323053],[-0.08849924222141597,-0.2689699773935259]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_21","position":[-0.1313300416042732,-1.1713406199712089,0.71338606911949],"aabb_xy":[[-0.1538437334277304,-1.2413406205722162],[-0.108816349780816,-1.1013406193702011]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_22","position":[-0.6141612357188306,-2.2686043671862905,0.71338606911949],"aabb_xy":[[-0.6377463591827255,-2.3336043694317223],[-0.5905761122549358,-2.2036043649408588]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_23","position":[0.06994022889091156,-1.5108193960409781,0.71338606911949],"aabb_xy":[[0.06030859267048194,-1.5204567088206868],[0.07957186511134118,-1.501182083261269]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_24","position":[-0.2771557442697516,1.6280245989011228,0.71338606911949],"aabb_xy":[[-0.3116182222828393,1.6213609217182003],[-0.24269326625666376,1.6346882760840458]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_25","position":[-0.29476119420535646,-1.427427923236812,0.71338606911949],"aabb_xy":[[-0.3180430364034878,-1.51242792453404],[-0.2714793520072251,-1.3424279219395838]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_26","position":[-0.5922969109140411,0.10671189596121389,0.71338606911949],"aabb_xy":[[-0.6101660186684966,0.09287898798400296],[-0.5744278031595856,0.12054480393842482]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_27","position":[0.1994136244011374,-2.0494176476651536,0.71338606911949],"aabb_xy":[[0.14441362522454793,-2.1044073224401108],[0.2544136235777269,-1.9944279728901955]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_28","position":[0.40891138992092224,-0.6584468042346114,0.71338606911949],"aabb_xy":[[0.3449113935253491,-0.722410092653345],[0.47291138631649526,-0.5944835158158779]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_29","position":[0.4550541518222697,-1.126815498306137,0.71338606911949],"aabb_xy":[[0.3850541491856833,-1.1469203633020022],[0.5250541544588561,-1.1067106333102712]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_30","position":[0.3457839710088675,1.355270743676678,0.71338606911949],"aabb_xy":[[0.3287738737188168,1.339136255178404],[0.3627940682989181,1.371405232174952]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_31","position":[-0.4652064118956408,1.6445218621537,0.71338606911949],"aabb_xy":[[-0.4897200359926467,1.6202572688516637],[-0.44069278779863497,1.6687864554557366]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_32","position":[-0.26937200980248555,0.832746286827375,0.71338606911949],"aabb_xy":[[-0.2918367797738906,0.8102462859485144],[-0.24690723983108037,0.8552462877062355]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_33","position":[-0.0979955646902928,-1.3713911044728215,0.71338606911949],"aabb_xy":[[-0.10670953374022726,-1.3938911051320095],[-0.08928159564035829,-1.348891103813633]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_34","position":[0.6316631234222185,-1.4250688811019825,0.71338606911949],"aabb_xy":[[0.6038180866416114,-1.4558533798402942],[0.6595081602028257,-1.3942843823636708]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6867359996424114,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8933.png","name":"8933"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8933.png","name":"8933"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7319.png","name":"7319"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/520.png","name":"520"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8495.png","name":"8495"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9570.png","name":"9570"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":567.8296687503847,"rotation_z_degrees":77.4962312171142,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0075079306954759645,0.003600008424652995,0.018904910284866506]},{"name":"camera_2","offset_m":[0.009099783095817625,0.011428651447243105,-0.0017431837621072303]},{"name":"camera_3","offset_m":[-0.007232139489497023,0.016101346047573743,0.01873862338488808]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0007745086896264047,6.318185295663007e-05,0.00021412075547623966],"end_effector_yaw_offset_degrees":0.8743154888957798},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0012362134978499352,0.001727604400433948,7.261406363891307e-05],"end_effector_yaw_offset_degrees":0.5097822678539521},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001827125541227778,-0.00174638157824553,-0.0019779646146684112],"end_effector_yaw_offset_degrees":-0.2842850980284022},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00018924865936556382,-0.0012818883005870484,0.0017634625275097437],"end_effector_yaw_offset_degrees":-0.5576024067771574}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004156996811862595,-0.002624242717800195],"position_m":[0.2177569968118626,-0.05632424271780019,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0030089374499406843,-0.0008685445311534439],"position_m":[0.2460910625500593,-0.38426854453115344,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.002607024395267511,-0.0014734813052981154],"position_m":[0.13789297560473252,0.23322651869470187,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0030987248155963775,-0.004608253503893258],"position_m":[0.35050127518440366,0.11259174649610675,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b1b3f3478551d7ecd20fb94430fa97592207c463e82bbdcf1f4a81b484651850","episode_index":56,"episode_name":"episode_0056"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0056.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_8933/tex_ceiling_textures_9570/tex_floor_textures_8495/tex_table_textures_7319/tex_wall_textures_520","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":6813674269443815734,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":6813674269443815734,"visual_seed":6813674269443815734,"scene_id":"lab_003","finished_at":"2026-09-05T21:23:38"} +{"episode_id":"ep_000055","started_at":"2026-09-05T21:23:43","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_0","position":[-0.09163945509206117,1.2591329157419229,0.71338606911949],"aabb_xy":[[-0.10042068223929741,1.2503531684533928],[-0.08285822794482495,1.2679126630304534]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_1","position":[-0.2507880949196433,-0.9425903410496246,0.71338606911949],"aabb_xy":[[-0.3057803455551543,-0.9975903427929373],[-0.19579584428413244,-0.8875903393063118]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_2","position":[0.6476025022279612,0.7312920229480468,0.71338606911949],"aabb_xy":[[0.6101025007123295,0.7200652499319017],[0.6851025037435929,0.7425187959641918]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_3","position":[-0.13359621099611563,0.33748861585437817,0.71338606911949],"aabb_xy":[[-0.17887482587726486,0.27348861650619444],[-0.08831759611496634,0.4014886152025618]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_4","position":[-0.2746844129240752,1.4764439728813978,0.71338606911949],"aabb_xy":[[-0.3157023563104461,1.4264439722504405],[-0.2336664695377043,1.5264439735123552]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_5","position":[-0.2580288858999935,-0.1083550643666662,0.71338606911949],"aabb_xy":[[-0.27557558081611244,-0.14585506593091746],[-0.24048219098387458,-0.07085506280241492]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_6","position":[-0.6723601516584782,-0.18978244843960157,0.71338606911949],"aabb_xy":[[-0.6848275097682139,-0.20224777307292507],[-0.6598927935487426,-0.17731712380627807]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_7","position":[-0.01683295978615662,0.3420318365799986,0.71338606911949],"aabb_xy":[[-0.02496064797946984,0.33311822816929093],[-0.0087052715928434,0.35094544499070623]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_8","position":[-0.19073525929467527,-1.4546246929681723,0.71338606911949],"aabb_xy":[[-0.2275858072316629,-1.492124693791206],[-0.1538847113576877,-1.4171246921451386]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_9","position":[-0.508709918575444,-2.363663162243656,0.71338606911949],"aabb_xy":[[-0.5727099218651521,-2.4069980812475733],[-0.44470991528573595,-2.320328243239738]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_10","position":[0.002371248550189664,-2.2178538457238473,0.71338606911949],"aabb_xy":[[-0.02262875100154882,-2.227996329588982],[0.027371248101928147,-2.2077113618587125]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_11","position":[-0.11683509867572628,-1.1060753578025966,0.71338606911949],"aabb_xy":[[-0.13433509893506293,-1.1201668999913696],[-0.09933509841638968,-1.0919838156138244]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_12","position":[0.3967324930819436,1.4767875939093256,0.71338606911949],"aabb_xy":[[0.34960311408010786,1.4127875928649236],[0.4438618720837792,1.5407875949537275]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_13","position":[-0.11726983920196332,0.12658205830046132,0.71338606911949],"aabb_xy":[[-0.18126983650430972,0.08221563133260457],[-0.05326984189961692,0.17094848526831807]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_14","position":[0.6303773556327112,-1.0181926910270704,0.71338606911949],"aabb_xy":[[0.607877355389196,-1.0303973256868424],[0.6528773558762268,-1.0059880563672985]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_15","position":[0.5869468187644773,1.587491370053312,0.71338606911949],"aabb_xy":[[0.5787322736487932,1.5788147797556702],[0.5951613638801612,1.5961679603509529]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_16","position":[-0.5590655554298667,1.3407139288604983,0.71338606911949],"aabb_xy":[[-0.5873952653784069,1.3362531866667815],[-0.5307358454813265,1.3451746710542156]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_17","position":[0.14569867789326696,1.0608681590099756,0.71338606911949],"aabb_xy":[[0.0957055657840751,1.01086815833578],[0.1956917900024589,1.1108681596841712]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_18","position":[0.4905659512266507,0.6076135780299716,0.71338606911949],"aabb_xy":[[0.454936795326691,0.5719809112731186],[0.5261951071266104,0.6432462447868245]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_19","position":[-0.6462839070725767,-2.143816398176505,0.71338606911949],"aabb_xy":[[-0.6644897307338243,-2.1548417987584965],[-0.628078083411329,-2.132790997594513]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_20","position":[0.20083387619703175,1.180669933691222,0.71338606911949],"aabb_xy":[[0.11083387647385755,1.1575965811560418],[0.2908338759202059,1.2037432862264015]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_21","position":[0.665286111910373,1.2469348919382202,0.71338606911949],"aabb_xy":[[0.6153086950451193,1.1969348904489714],[0.7152635287756265,1.2969348934274685]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_22","position":[-0.39169282060493604,-0.14366307734678507,0.71338606911949],"aabb_xy":[[-0.429192820776808,-0.17636381272969223],[-0.3541928204330641,-0.11096234196387786]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_23","position":[0.4719042485268681,1.2565335109312095,0.71338606911949],"aabb_xy":[[0.4069042474209248,1.2315681378630812],[0.5369042496328114,1.2814988839993378]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_24","position":[0.46239856948112723,-0.4421048722027514,0.71338606911949],"aabb_xy":[[0.3923985678788478,-0.455537665404409],[0.5323985710834067,-0.42867207900109383]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_25","position":[0.5628542749567842,-1.249567316080925,0.71338606911949],"aabb_xy":[[0.49285427156522216,-1.2848830897843557],[0.6328542783483461,-1.214251542377494]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_26","position":[0.33244743080229666,-0.9327561832111559,0.71338606911949],"aabb_xy":[[0.2684474284594951,-0.9776970344552883],[0.3964474331450982,-0.8878153319670233]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_27","position":[-0.2744892994844522,1.0950332074997848,0.71338606911949],"aabb_xy":[[-0.28320326853438665,1.0725332068405962],[-0.2657753304345177,1.1175332081589726]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_28","position":[-0.2472952460938168,-0.723605897338994,0.71338606911949],"aabb_xy":[[-0.3022689681301497,-0.7786058969032272],[-0.19232152405748396,-0.6686058977747609]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_29","position":[0.6490107240195193,1.4715376012107586,0.71338606911949],"aabb_xy":[[0.5991939445546846,1.4215376027264552],[0.6988275034843541,1.521537599695062]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_30","position":[-0.31225675661826285,0.5671271311796948,0.71338606911949],"aabb_xy":[[-0.37725675449991075,0.5160034674731541],[-0.24725675873661512,0.6182507948862358]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_31","position":[0.28021244474244955,1.501221626853908,0.71338606911949],"aabb_xy":[[0.27317099379170195,1.4941948751161136],[0.28725389569319715,1.5082483785917025]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_32","position":[-0.580671686931651,-0.24166887739752685,0.71338606911949],"aabb_xy":[[-0.6118186057752341,-0.311668876084334],[-0.5495247680880678,-0.17166887871071967]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_33","position":[-0.12676837684743025,-1.6016046764773004,0.71338606911949],"aabb_xy":[[-0.1717683783136591,-1.6466045333387813],[-0.0817683753812014,-1.55660481961582]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6938066180317912,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6584.png","name":"6584"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6584.png","name":"6584"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4801.png","name":"4801"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2785.png","name":"2785"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2917.png","name":"2917"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2439.png","name":"2439"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":821.4835338429478,"rotation_z_degrees":177.11603941844936,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0070989685354415685,-0.007297101257155382,-0.013930525517856776]},{"name":"camera_2","offset_m":[0.0050905064366415405,0.005904878707109207,-0.0072574155006741945]},{"name":"camera_3","offset_m":[0.0011737800335734558,-0.004182701363388115,-0.01166706091066362]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0002645870537044562,0.0013119161976938233,0.0011058406533950927],"end_effector_yaw_offset_degrees":0.9340893882960972},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00030354145131443857,-0.001321137058235172,-0.0009048196654003237],"end_effector_yaw_offset_degrees":0.5475847653495112},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0006667223071365582,-0.0015955716089340656,0.0011078738767324047],"end_effector_yaw_offset_degrees":0.9858002709242097},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005383290849534609,-0.001025702369992128,-0.0009667642138085398],"end_effector_yaw_offset_degrees":-0.7684546720240713}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0018332893200576914,-0.004673553739925743],"position_m":[0.2154332893200577,-0.05837355373992574,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004511916010251382,-0.0023537391488638814],"position_m":[0.25361191601025135,-0.3857537391488639,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0011314000622478556,0.0020015957879291916],"position_m":[0.14163140006224786,0.23670159578792918,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0038985953724104067,-0.0032505506154794986],"position_m":[0.3574985953724104,0.11394944938452051,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"320ead24a7aca6b9888622b9dc30d74e98b7ae2b629b071784efcd2339302e44","episode_index":57,"episode_name":"episode_0057"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0057.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_6584/tex_ceiling_textures_2439/tex_floor_textures_2917/tex_table_textures_4801/tex_wall_textures_2785","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":6725686260498562737,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":6725686260498562737,"visual_seed":6725686260498562737,"scene_id":"lab_003","finished_at":"2026-09-05T21:27:04"} +{"episode_id":"ep_000056","started_at":"2026-09-05T21:27:08","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_0","position":[0.6172461472277844,-1.3210335580073163,0.71338606911949],"aabb_xy":[[0.6126110320755509,-1.3249008930844648],[0.6218812623800176,-1.3171662229301673]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_1","position":[-0.40066539572618015,-1.5600109603437005,0.71338606911949],"aabb_xy":[[-0.4181653291601635,-1.5775109602639348],[-0.3831654622921968,-1.5425109604234657]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_2","position":[0.5342161919532387,-1.7521493653963085,0.71338606911949],"aabb_xy":[[0.4692161940715909,-1.8032730291028496],[0.5992161898348864,-1.7010257016897679]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_3","position":[0.48471983164926424,0.3279451515661247,0.71338606911949],"aabb_xy":[[0.4656075242912853,0.3088103726888827],[0.5038321390072431,0.3470799304433667]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_4","position":[-0.03436158694977165,1.0708349175524727,0.71338606911949],"aabb_xy":[[-0.046988374236968,1.0612888438508998],[-0.0217347996625753,1.0803809912540456]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_5","position":[-0.049057332566845524,-1.0949535553692318,0.71338606911949],"aabb_xy":[[-0.08335424358458614,-1.1292504415791729],[-0.01476042154910489,-1.0606566691592902]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_6","position":[0.3778822817456371,1.060551225554855,0.71338606911949],"aabb_xy":[[0.3403822813974092,1.0487598299737713],[0.41538228209386474,1.0723426211359384]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_7","position":[-0.45340452276801857,1.4696882575653913,0.71338606911949],"aabb_xy":[[-0.5334045260258615,1.3896917497734076],[-0.3734045195101756,1.5496847653573755]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_8","position":[0.36281702026961704,-1.0668382991403673,0.71338606911949],"aabb_xy":[[0.3324189091704734,-1.0972452011420368],[0.3932151313687606,-1.0364313971386978]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_9","position":[-0.462597717811345,-0.43049611249917863,0.71338606911949],"aabb_xy":[[-0.552597721488263,-0.4919285190762829],[-0.37259771413442677,-0.3690637059220742]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_10","position":[-0.11410336346084893,-0.38657421823816973,0.71338606911949],"aabb_xy":[[-0.1841033650631284,-0.4000070114398273],[-0.04410336185856946,-0.37314142503651215]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_11","position":[0.521447339670938,-0.5598106860758665,0.71338606911949],"aabb_xy":[[0.4414535160923799,-0.639810688668708],[0.6014411632494964,-0.4798106834830249]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_12","position":[0.6855588749758792,-0.34389775053358873,0.71338606911949],"aabb_xy":[[0.6758028854667052,-0.35366028459282317],[0.695314864485053,-0.3341352164743543]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_13","position":[-0.5660443350490625,-1.6064978787935882,0.71338606911949],"aabb_xy":[[-0.6300443314763844,-1.6536675026156848],[-0.5020443386217406,-1.559328254971492]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_14","position":[0.18382269420062736,-2.177088341320691,0.71338606911949],"aabb_xy":[[0.13384962866811193,-2.2270883411332245],[0.23379575973314287,-2.1270883415081587]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_15","position":[0.05929715914981626,1.6150488527918658,0.71338606911949],"aabb_xy":[[0.047728178402879684,1.5900488526749341],[0.07086613989675283,1.6400488529087975]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_16","position":[-0.1935254708717763,0.2922498793705155,0.71338606911949],"aabb_xy":[[-0.231025472387408,0.2810231063543704],[-0.15602546935614459,0.3034766523866605]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_17","position":[0.2449933071590351,-1.732320279366928,0.71338606911949],"aabb_xy":[[0.2279832098689845,-1.7484547678652016],[0.26200340444908576,-1.7161857908686537]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_18","position":[0.670275892115415,1.7397301832571288,0.71338606911949],"aabb_xy":[[0.6327758921716486,1.7314370932222922],[0.7077758920591815,1.7480232732919654]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_19","position":[0.15418716796248155,-2.5261427864570583,0.71338606911949],"aabb_xy":[[0.1410359219911922,-2.5511427862137452],[0.1673384139337709,-2.501142786700372]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_20","position":[0.6115018944876951,-0.9484370468013057,0.71338606911949],"aabb_xy":[[0.6044604435369475,-0.9554637985391002],[0.6185433454384427,-0.9414102950635111]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_21","position":[0.18186253404757846,1.772502797446339,0.71338606911949],"aabb_xy":[[0.1643625347694916,1.7551646973799928],[0.19936253332566534,1.7898408975126847]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_22","position":[0.21283833231172233,0.792246517613235,0.71338606911949],"aabb_xy":[[0.17065391815089162,0.7282465173360239],[0.2550227464725531,0.8562465178904463]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_23","position":[-0.40410859423368173,-0.9784879909028334,0.71338606911949],"aabb_xy":[[-0.4591085934102711,-1.033477665677791],[-0.34910859505709213,-0.9234983161278757]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.689702028951144,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/890.png","name":"890"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/890.png","name":"890"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8601.png","name":"8601"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1587.png","name":"1587"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8095.png","name":"8095"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8658.png","name":"8658"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":820.0864585665855,"rotation_z_degrees":238.64623264755664,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004738604007942633,-0.006951376032763711,0.007903872881314417]},{"name":"camera_2","offset_m":[0.008732394112357201,-0.015403659744493522,0.01740691996979837]},{"name":"camera_3","offset_m":[-0.004118647006158414,-0.004224511302936454,-0.019313555552028974]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0006991987675266623,-0.0010305693706886294,0.00014948242634021383],"end_effector_yaw_offset_degrees":0.49646675025660447},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0013042997744156337,0.0015684190074860484,7.18602740879949e-05],"end_effector_yaw_offset_degrees":-0.015299424559895636},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007455081883592255,0.000743372267736736,-0.0006586600834181042],"end_effector_yaw_offset_degrees":-0.6879015355682747},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0014422204154877468,0.0010462049558129286,-0.00025315906473491706],"end_effector_yaw_offset_degrees":-0.6668264375618791}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0028167724442640053,-0.0016947272372461876],"position_m":[0.21641677244426402,-0.055394727237246186,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004257467168879792,0.004690708582135795],"position_m":[0.2533574671688798,-0.37870929141786425,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.00468369814807642,0.00037714991940427083],"position_m":[0.14518369814807644,0.23507714991940426,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001624302333176503,0.0023935011004018007],"position_m":[0.35522430233317653,0.1195935011004018,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b8d1e5542752ec8f9a9418478faf65438ac2dce3574d23d9bef1d784722bfd7b","episode_index":58,"episode_name":"episode_0058"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0058.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_890/tex_ceiling_textures_8658/tex_floor_textures_8095/tex_table_textures_8601/tex_wall_textures_1587","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":5318618549588830010,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":5318618549588830010,"visual_seed":5318618549588830010,"scene_id":"lab_003","finished_at":"2026-09-05T21:30:35"} +{"episode_id":"ep_000057","started_at":"2026-09-05T21:30:40","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_0","position":[0.14876230659823164,1.059286575928049,0.71338606911949],"aabb_xy":[[0.08476230929588521,1.0149201489601922],[0.21276230390057801,1.1036530028959057]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_1","position":[-0.30487882302255925,1.1539184336758743,0.71338606911949],"aabb_xy":[[-0.3386543822132523,1.1398799384627092],[-0.27110326383186634,1.167956928889039]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_2","position":[0.3292225737803409,-1.7469639153171141,0.71338606911949],"aabb_xy":[[0.23922257727946913,-1.7928755577355722],[0.4192225702812126,-1.7010522728986557]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_3","position":[-0.2771957484586831,-2.3981484560619344,0.71338606911949],"aabb_xy":[[-0.34219574634033095,-2.4492721197684757],[-0.21219575057703538,-2.347024792355394]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_4","position":[0.10835224487361539,-2.2384550265831593,0.71338606911949],"aabb_xy":[[0.07335224489711956,-2.2479196426307753],[0.14335224485011122,-2.2289904105355425]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_5","position":[-0.34949450487192574,-0.9430883731127893,0.71338606911949],"aabb_xy":[[-0.36136658788342685,-1.0280883728064396],[-0.3376224218604246,-0.8580883734191389]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_6","position":[0.08369063723913606,-1.053087740287908,0.71338606911949],"aabb_xy":[[0.06614394232301712,-1.090587741852159],[0.10123733215525499,-1.0155877387236565]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_7","position":[-0.4451835966893851,-1.0331515333998382,0.71338606911949],"aabb_xy":[[-0.48372928951458616,-1.071697304456027],[-0.4066379038641841,-0.9946057623436496]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_8","position":[-0.029108109565196827,0.6754055278478046,0.71338606911949],"aabb_xy":[[-0.05162180138865402,0.605405527246797],[-0.00659441774173963,0.745405528448812]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_9","position":[0.4206236868855968,-2.365391004236265,0.71338606911949],"aabb_xy":[[0.40073264700525657,-2.3780468155209618],[0.44051472676593706,-2.352735192951568]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_10","position":[-0.30011988127204,-0.804274406719226,0.71338606911949],"aabb_xy":[[-0.31832570493328766,-0.8152998073012176],[-0.2819140576107923,-0.7932490061372344]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_11","position":[0.16297284186560623,0.8230398606764888,0.71338606911949],"aabb_xy":[[0.15120465507094874,0.7380398607712674],[0.17474102866026378,0.9080398605817106]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_12","position":[-0.6500930178776848,0.5438308253987798,0.71338606911949],"aabb_xy":[[-0.6869435658146723,0.5063308245757461],[-0.6132424699406971,0.5813308262218135]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_13","position":[0.696632410139262,-0.5793499232421291,0.71338606911949],"aabb_xy":[[0.6720861945165113,-0.6095988197911661],[0.7211786257620127,-0.549101026693092]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_14","position":[0.5978087761270836,0.6442246462176486,0.71338606911949],"aabb_xy":[[0.5728087769614505,0.6372724005122921],[0.6228087752927167,0.6511768919230052]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_15","position":[-0.026551301574625708,-2.4931720522702534,0.71338606911949],"aabb_xy":[[-0.03584491981177629,-2.5306720507583873],[-0.017257683337475127,-2.4556720537821195]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_16","position":[0.4697213283645518,-1.0148808952225032,0.71338606911949],"aabb_xy":[[0.45192782142963545,-1.032680640818301],[0.4875148352994683,-0.9970811496267056]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_17","position":[-0.17025796421579398,0.7806578276332061,0.71338606911949],"aabb_xy":[[-0.215429282063963,0.7166578304886678],[-0.12508664636762504,0.8446578247777448]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_18","position":[0.5611794600082427,0.9671562990381619,0.71338606911949],"aabb_xy":[[0.5261794616975471,0.9594412841146163],[0.596179458318938,0.9748713139617076]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_19","position":[-0.30812774212252164,-0.5590237781723784,0.71338606911949],"aabb_xy":[[-0.3881277425927377,-0.5673344857867268],[-0.22812774165230576,-0.5507130705580301]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_20","position":[0.599182133247,-0.7163172788244159,0.71338606911949],"aabb_xy":[[0.5441821350452551,-0.7568392454508533],[0.6541821314487448,-0.6757953121979782]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_21","position":[-0.5281183378174181,-0.7130255101024305,0.71338606911949],"aabb_xy":[[-0.5656183383147764,-0.716994193650549],[-0.4906183373200599,-0.7090568265543121]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_22","position":[0.5001065477351521,1.367469758212144,0.71338606911949],"aabb_xy":[[0.4451328256988192,1.3124697586479108],[0.555080269771485,1.4224697577763772]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_23","position":[0.038544330809248684,1.3938606871063182,0.71338606911949],"aabb_xy":[[0.030550841013966656,1.3858625551658428],[0.04653782060453071,1.401858819046794]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_24","position":[0.5598078444102859,0.8215950143494921,0.71338606911949],"aabb_xy":[[0.5348078451383235,0.8052496507533298],[0.584807843682248,0.8379403779456545]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_25","position":[0.045322369680612984,1.679681929368987,0.71338606911949],"aabb_xy":[[0.002555662801192793,1.6156819259471844],[0.08808907656003317,1.7436819327907893]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_26","position":[-0.409047897892888,-0.9239065737300716,0.71338606911949],"aabb_xy":[[-0.4151425257810063,-0.9324759682817403],[-0.40295327000476966,-0.9153371791784028]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_27","position":[0.547697449831281,-1.1372526096137525,0.71338606911949],"aabb_xy":[[0.5214086255108402,-1.1635240432684035],[0.5739862741517215,-1.110981175959101]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6863733421242393,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5040.png","name":"5040"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5040.png","name":"5040"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2856.png","name":"2856"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7012.png","name":"7012"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3499.png","name":"3499"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3219.png","name":"3219"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":626.6168935618099,"rotation_z_degrees":10.79982541380251,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005214538219365704,0.010303858466998363,-0.014695212222542105]},{"name":"camera_2","offset_m":[-0.019200744692712875,0.0050374041655975935,0.0015723151865816715]},{"name":"camera_3","offset_m":[0.015455136443551686,-0.007493442505416477,-0.008595259656435155]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0002141295526555992,-0.00028181334999852095,0.0018821517823835762],"end_effector_yaw_offset_degrees":0.025326576603371453},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0006849730608474752,-0.0016575100377827462,-0.0016898967653680452],"end_effector_yaw_offset_degrees":0.29844099931539203},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001334885294945349,-0.0014369058493607341,0.0007665643971393604],"end_effector_yaw_offset_degrees":0.6128481989575507},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00017508251479094643,-0.0019252885526128362,0.0004957245233247255],"end_effector_yaw_offset_degrees":0.8953842569482107}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004414458095436404,-0.0029014770891290843],"position_m":[0.2180144580954364,-0.05660147708912908,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0011995220580289577,0.0024781619929349144],"position_m":[0.24790047794197104,-0.3809218380070651,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.001548937179178516,-0.0018291240456584524],"position_m":[0.14204893717917852,0.23287087595434153,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.001145149328827868,-0.004762654159956659],"position_m":[0.35245485067117216,0.11243734584004333,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"565ffba38876c73bda67018b153815c62c2511d8d9d63b9004e932b9c5eb787f","episode_index":59,"episode_name":"episode_0059"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0059.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_5040/tex_ceiling_textures_3219/tex_floor_textures_3499/tex_table_textures_2856/tex_wall_textures_7012","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":7823949944198867578,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":7823949944198867578,"visual_seed":7823949944198867578,"scene_id":"lab_003","finished_at":"2026-09-05T21:34:04"} +{"episode_id":"ep_000058","started_at":"2026-09-05T21:34:07","dimensions":{"distractor":{"count":26,"items":[{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_0","position":[0.40981968222862486,-1.4036760433877362,0.71338606911949],"aabb_xy":[[0.39719289494142856,-1.4132221170893091],[0.42244646951582127,-1.3941299696861633]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_1","position":[-0.24797985981393067,1.4506620738004314,0.71338606911949],"aabb_xy":[[-0.28297985970994954,1.4422878382884914],[-0.21297985991791182,1.4590363093123715]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_2","position":[0.08757069230318315,-1.5634258055257997,0.71338606911949],"aabb_xy":[[0.0698950617145848,-1.5811060218052022],[0.10524632289178147,-1.5457455892463967]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_3","position":[0.15505570764130927,-1.778549049948123,0.71338606911949],"aabb_xy":[[0.1391712143759841,-1.792901990246947],[0.1709402009066344,-1.7641961096492988]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_4","position":[0.2443114871633445,-0.6211557448016931,0.71338606911949],"aabb_xy":[[0.23885354152632443,-0.7011557481093521],[0.24976943280036457,-0.5411557414940339]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_5","position":[-0.1644611011271101,-0.5735157010438336,0.71338606911949],"aabb_xy":[[-0.1725747558004872,-0.5816215174978627],[-0.156347446453733,-0.5654098845898046]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_6","position":[-0.5896461099378595,-2.1056389870990606,0.71338606911949],"aabb_xy":[[-0.6696461110109798,-2.1154170334364446],[-0.5096461088647392,-2.0958609407616757]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_7","position":[-0.5057696924691604,0.5840170407348242,0.71338606911949],"aabb_xy":[[-0.5136929727079087,0.5615170404968207],[-0.49784641223041204,0.6065170409728274]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_8","position":[-0.6257016154825193,-0.8428061552775798,0.71338606911949],"aabb_xy":[[-0.663201616147098,-0.858493213277802],[-0.5882016148179406,-0.8271190972773577]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_9","position":[0.27420646108674285,-1.8216987139666032,0.71338606911949],"aabb_xy":[[0.22420645942524806,-1.8716971562223055],[0.32420646274823756,-1.7717002717109]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_10","position":[0.40453875250071736,1.7577294907069452,0.71338606911949],"aabb_xy":[[0.35456545849745685,1.7077294901523974],[0.45451204650397775,1.807729491261492]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_11","position":[-0.26928766789469005,-0.41548287182139587,0.71338606911949],"aabb_xy":[[-0.28678766815402673,-0.42957441401016855],[-0.2517876676353535,-0.4013913296326233]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_12","position":[-0.10843923930174515,-1.1428127625311066,0.71338606911949],"aabb_xy":[[-0.11251739720879489,-1.1468937427793702],[-0.10436108139469541,-1.1387317822828436]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_13","position":[0.4477250519806648,1.0902103161078118,0.71338606911949],"aabb_xy":[[0.3777250555707029,1.0697723804561297],[0.5177250483906264,1.110648251759493]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_14","position":[-0.38702807469677086,0.6574909656755348,0.71338606911949],"aabb_xy":[[-0.45102807109234394,0.5935276772568012],[-0.3230280783011978,0.7214542540942683]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_15","position":[-0.39817791701797983,1.7193316286839324,0.71338606911949],"aabb_xy":[[-0.42201413465858495,1.6293316278754464],[-0.37434169937737477,1.8093316294924193]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_16","position":[-0.39781998070664065,0.14365713119036005,0.71338606911949],"aabb_xy":[[-0.43485409013470033,0.10927992385665056],[-0.36078587127858086,0.17803433852406944]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_17","position":[0.04048484145009046,-1.647960902897339,0.71338606911949],"aabb_xy":[[0.01548484151757256,-1.6548435711182623],[0.06548484138260835,-1.6410782346764157]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_18","position":[0.358900125485093,-1.1865102371643603,0.71338606911949],"aabb_xy":[[0.3089001260448973,-1.2364781616486764],[0.40890012492528854,-1.1365423126800438]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_19","position":[-0.6471646273132569,-1.399237567865117,0.71338606911949],"aabb_xy":[[-0.6520082220744868,-1.4040892203441013],[-0.6423210325520269,-1.394385915386133]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_20","position":[0.2509624956535339,1.5024860593657734,0.71338606911949],"aabb_xy":[[0.2134624958365003,1.4978478480546313],[0.2884624954705674,1.507124270676915]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_21","position":[0.10661853123526543,-2.5262041971101326,0.71338606911949],"aabb_xy":[[0.09899426314508722,-2.5338374206466763],[0.1142427993254437,-2.518570973573589]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_22","position":[0.36602127331604883,-0.825125031735142,0.71338606911949],"aabb_xy":[[0.3010212723155483,-0.8759113968898168],[0.43102127431654935,-0.7743386665804669]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_23","position":[0.19195980985027394,-1.4692601387353088,0.71338606911949],"aabb_xy":[[0.17190139823703363,-1.4893252256444662],[0.2120182214635142,-1.4491950518261514]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_24","position":[0.1552026653478893,-1.36250271206242,0.71338606911949],"aabb_xy":[[0.14870102883988467,-1.3722705340887298],[0.1617043018558939,-1.3527348900361102]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_25","position":[0.09290572359934157,1.0574509062449722,0.71338606911949],"aabb_xy":[[0.04292691508902567,1.0074509062392534],[0.14288453210965746,1.107450906250691]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6918226159502473,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6085.png","name":"6085"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6085.png","name":"6085"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8132.png","name":"8132"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8400.png","name":"8400"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8299.png","name":"8299"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6348.png","name":"6348"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":512.4228836623234,"rotation_z_degrees":255.6074946685458,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005394022754440271,0.018434291608838322,-0.015841026012047954]},{"name":"camera_2","offset_m":[0.016153570445689224,0.015963296761223735,-0.019092011248251068]},{"name":"camera_3","offset_m":[-0.0027515122285310355,-0.004405074963221716,-0.001287355204563495]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0008211711933271259,-0.00024517292165252653,0.0012181461837497565],"end_effector_yaw_offset_degrees":0.1592481050569161},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0007679598865282574,-0.001526826774175513,-0.0008960575943181817],"end_effector_yaw_offset_degrees":0.32126522197126595},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0009576211381131577,-0.0009618497787479781,0.0001580085146188309],"end_effector_yaw_offset_degrees":-0.9232813367565684},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.000890957928039533,0.0005432348757977283,0.00024124139489615712],"end_effector_yaw_offset_degrees":0.8032804366787134}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0018149168468851139,0.00335506573018081],"position_m":[0.2117850831531149,-0.05034493426981919,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0017827059639925731,-0.002860458000545265],"position_m":[0.25088270596399254,-0.38626045800054526,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0023403085482019796,-0.0037797733698024336],"position_m":[0.14284030854820198,0.23092022663019757,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004560561614647037,-0.0018293165298981606],"position_m":[0.35816056161464704,0.11537068347010183,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d06b945aa032af0a7be666aec49e3071a911172d4cbcdb22fb2da271ed193e35","episode_index":60,"episode_name":"episode_0060"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0060.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_6085/tex_ceiling_textures_6348/tex_floor_textures_8299/tex_table_textures_8132/tex_wall_textures_8400","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":5327703807855001784,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":5327703807855001784,"visual_seed":5327703807855001784,"scene_id":"lab_003","finished_at":"2026-09-05T21:37:25"} +{"episode_id":"ep_000059","started_at":"2026-09-05T21:37:29","dimensions":{"distractor":{"count":28,"items":[{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_0","position":[-0.05344475067894261,1.3565999055594258,0.71338606911949],"aabb_xy":[[-0.08722030986963558,1.3425614103462609],[-0.019669191488249638,1.3706384007725907]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_1","position":[0.3189086952737221,-1.6311084280805,0.71338606911949],"aabb_xy":[[0.30714050847906466,-1.7161084279857217],[0.3306768820683797,-1.5461084281752786]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_2","position":[-0.39418467300738697,-1.044924651276136,0.71338606911949],"aabb_xy":[[-0.4581846762260249,-1.0916477631751447],[-0.33018466978874916,-0.998201539377128]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_3","position":[0.3028261208738472,1.435197680057008,0.71338606911949],"aabb_xy":[[0.2728585639640215,1.4051976797591226],[0.33279367778367286,1.465197680354894]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_4","position":[-0.6188498045158589,-0.8238605843632276,0.71338606911949],"aabb_xy":[[-0.6367189122703144,-0.8376934923404386],[-0.6009806967614034,-0.8100276763860167]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_5","position":[0.3555345223997459,-1.0310901225679179,0.71338606911949],"aabb_xy":[[0.29153452310557765,-1.0950762629367723],[0.4195345216939141,-0.9671039821990639]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_6","position":[-0.4829210171315381,-0.42682585600324696,0.71338606911949],"aabb_xy":[[-0.5175120999855833,-0.49182585628827796],[-0.4483299342774929,-0.36182585571821585]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_7","position":[-0.5626893452491168,-1.3496144736208715,0.71338606911949],"aabb_xy":[[-0.612673580957294,-1.3996144724343673],[-0.5127051095409395,-1.2996144748073761]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_8","position":[-0.48098650886940353,0.2596891293359933,0.71338606911949],"aabb_xy":[[-0.5259790955878539,0.21468913006154455],[-0.4359939221509531,0.30468912861044206]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_9","position":[-0.19096828580098024,1.7367620953511218,0.71338606911949],"aabb_xy":[[-0.25496828771332264,1.6808509460931114],[-0.12696828388863796,1.7926732446091322]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_10","position":[-0.3900475247504088,0.4262743785337624,0.71338606911949],"aabb_xy":[[-0.40265022388748534,0.4136789823088969],[-0.3774448256133324,0.4388697747586279]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_11","position":[0.12772698931485937,-1.5026455549755187,0.71338606911949],"aabb_xy":[[0.07773387720566748,-1.5526455556497147],[0.17772010142405126,-1.4526455543013232]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_12","position":[-0.6394137793752888,0.6753046913290093,0.71338606911949],"aabb_xy":[[-0.6632499970158939,0.5853046905205229],[-0.6155775617346838,0.765304692137496]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_13","position":[0.4658026032869782,-0.3492833895492291,0.71338606911949],"aabb_xy":[[0.4408026033544603,-0.3561660577701525],[0.4908026032194961,-0.34240072132830585]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_14","position":[0.5419930728247468,0.9220394961214429,0.71338606911949],"aabb_xy":[[0.4868678671951561,0.8620394946801557],[0.5971182784543376,0.98203949756273]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_15","position":[-0.3947470617926555,1.0118011266946971,0.71338606911949],"aabb_xy":[[-0.4160250699361277,0.9468011243686241],[-0.3734690536491832,1.0768011290207702]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_16","position":[0.11025104118398055,-1.298977650071236,0.71338606911949],"aabb_xy":[[0.055251042007391046,-1.3539673248461934],[0.16525104036057003,-1.2439879752962781]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_17","position":[0.4909468214479391,-1.8248192969352441,0.71338606911949],"aabb_xy":[[0.48536514981381035,-1.8373192967530196],[0.49652849308206787,-1.8123192971174686]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_18","position":[0.06454988933408179,-0.9936666607632048,0.71338606911949],"aabb_xy":[[0.05298090858714523,-1.0186666608801365],[0.07611887008101838,-0.968666660646273]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_19","position":[-0.4749455422791996,0.020127904371548766,0.71338606911949],"aabb_xy":[[-0.5349455425306008,-0.03415342066491589],[-0.41494554202779843,0.07440922940801342]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_20","position":[-0.41224944174214084,1.2203112974798151,0.71338606911949],"aabb_xy":[[-0.46213213861983704,1.1703112982335406],[-0.3623667448644446,1.2703112967260901]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_21","position":[0.1285257770397359,1.66787917002538,0.71338606911949],"aabb_xy":[[0.1171640423864497,1.656510703619092],[0.13988751169302202,1.6792476364316682]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_22","position":[-0.6155983526084311,0.9190484375182582,0.71338606911949],"aabb_xy":[[-0.6459964637075747,0.8886415355165885],[-0.5852002415092875,0.9494553395199276]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_23","position":[-0.3425774295668072,-2.303115555349052,0.71338606911949],"aabb_xy":[[-0.4065731269619038,-2.367115553649761],[-0.2785817321717106,-2.2391155570483434]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_24","position":[-0.5435233763802374,-2.138490961256072,0.71338606911949],"aabb_xy":[[-0.5563952798811775,-2.218490961669908],[-0.5306514728792973,-2.0584909608422355]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_25","position":[-0.20409405220317317,0.5765710821653371,0.71338606911949],"aabb_xy":[[-0.23841032937779108,0.5265710821921593],[-0.1697777750285552,0.6265710821385148]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_26","position":[-0.340309409328901,0.7679036949246791,0.71338606911949],"aabb_xy":[[-0.3442698930986354,0.7602358303391585],[-0.3363489255591666,0.7755715595101997]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_27","position":[-0.6732141856348294,-1.750472207973428,0.71338606911949],"aabb_xy":[[-0.6883164870958473,-1.7655737296044896],[-0.6581118841738111,-1.7353706863423657]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6898194595091427,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2321.png","name":"2321"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2321.png","name":"2321"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7369.png","name":"7369"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4636.png","name":"4636"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/319.png","name":"319"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7842.png","name":"7842"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":530.4675933405381,"rotation_z_degrees":281.97050833740485,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011713927261833661,0.0045893047550185605,0.004289424220448274]},{"name":"camera_2","offset_m":[0.015925772910426714,-0.0034212347500662647,0.007656610660260719]},{"name":"camera_3","offset_m":[0.008607641998322021,0.014053388413967114,0.01245619908778969]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0002951887531541823,0.0016937177486921278,0.0004135320136727646],"end_effector_yaw_offset_degrees":0.6320629739775241},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0008536956203427635,-0.00018985784065387668,-0.00034837677366931184],"end_effector_yaw_offset_degrees":-0.28803979151971415},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0018235625416126947,-0.00046495037658150513,-0.0015921931706585034],"end_effector_yaw_offset_degrees":0.8619617639930977},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00032344747305843046,0.0006821642062772798,0.0007744953884375539],"end_effector_yaw_offset_degrees":-0.637664635964464}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0039101843238531185,-0.0006510650039895016],"position_m":[0.2096898156761469,-0.0543510650039895,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001715538008793236,0.0006381313737674468],"position_m":[0.25081553800879325,-0.38276186862623257,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0025799440855474986,0.001080698652800762],"position_m":[0.13792005591445253,0.23578069865280074,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.001317008279226687,-0.0027075926076579517],"position_m":[0.3522829917207733,0.11449240739234205,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9101b339cead5e7ecf3ff4884394245fa23770f07e3541552309c6320cb55aef","episode_index":61,"episode_name":"episode_0061"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0061.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_2321/tex_ceiling_textures_7842/tex_floor_textures_319/tex_table_textures_7369/tex_wall_textures_4636","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":5505422374722493578,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":5505422374722493578,"visual_seed":5505422374722493578,"scene_id":"lab_003","finished_at":"2026-09-05T21:40:48"} +{"episode_id":"ep_000060","started_at":"2026-09-05T21:40:52","dimensions":{"distractor":{"count":20,"items":[{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_0","position":[-0.13717323268358594,0.08453702565118393,0.71338606911949],"aabb_xy":[[-0.17217323095370585,0.07746289795619575],[-0.10217323441346604,0.09161115334617208]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_1","position":[0.15311125146057847,-0.8033452609338154,0.71338606911949],"aabb_xy":[[0.10311624050112644,-0.8533452599694074],[0.20310626242003052,-0.7533452618982239]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_2","position":[0.12517175888726306,-1.332635187392951,0.71338606911949],"aabb_xy":[[0.11582475130496786,-1.346938809610595],[0.13451876646955832,-1.318331565175307]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_3","position":[0.22600352454604977,1.5709236772567636,0.71338606911949],"aabb_xy":[[0.20932638855295427,1.5542237532828334],[0.24268066053914528,1.587623601230694]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_4","position":[0.15964115372541632,1.11526080465024,0.71338606911949],"aabb_xy":[[0.1417720459709608,1.1014278966730289],[0.17751026147987178,1.129093712627451]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_5","position":[0.20963726284482842,-2.4081566096515665,0.71338606911949],"aabb_xy":[[0.1871372623327878,-2.4306484680169644],[0.232137263356869,-2.3856647512861677]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_6","position":[-0.32821807011876863,1.3245874472725498,0.71338606911949],"aabb_xy":[[-0.34015080448059665,1.3122052944646907],[-0.3162853357569405,1.3369696000804094]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_7","position":[0.2991443827454989,-1.5592149741128865,0.71338606911949],"aabb_xy":[[0.26536882355480595,-1.5732534693260516],[0.3329199419361919,-1.5451764788997213]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_8","position":[-0.4263107980625437,-1.850265239480817,0.71338606911949],"aabb_xy":[[-0.43074142741738397,-1.8557136112155],[-0.4218801687077036,-1.8448168677461345]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_9","position":[0.7002372721624208,0.5629068227795742,0.71338606911949],"aabb_xy":[[0.691435216853448,0.555095496624645],[0.7090393274713934,0.5707181489345031]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_10","position":[-0.670580659077123,1.549410007333257,0.71338606911949],"aabb_xy":[[-0.6785039393158715,1.5269100070952537],[-0.6626573788383748,1.5719100075712604]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_11","position":[0.40786339543899497,1.0964090642720388,0.71338606911949],"aabb_xy":[[0.4015512959026566,1.0906421250188199],[0.41417549497533346,1.1021760035252577]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_12","position":[-0.4471988796851749,1.6994980105950392,0.71338606911949],"aabb_xy":[[-0.5071988802811911,1.6446855380498158],[-0.38719887908915873,1.7543104831402627]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_13","position":[-0.6068541509208712,-0.08060964664937798,0.71338606911949],"aabb_xy":[[-0.661854149122616,-0.12113161327581556],[-0.5518541527191263,-0.04008768002294039]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_14","position":[0.6760221392203318,-1.547188818654653,0.71338606911949],"aabb_xy":[[0.6547441310768595,-1.612188820980726],[0.697300147363804,-1.48218881632858]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_15","position":[0.10414458011829575,1.4471723053961658,0.71338606911949],"aabb_xy":[[0.0961082454170109,1.4391341860917488],[0.11218091481958059,1.4552104247005824]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_16","position":[-0.006737979826030194,-2.014891303066609,0.71338606911949],"aabb_xy":[[-0.05386735882786586,-2.0788913041110106],[0.040391399175805476,-1.9508913020222067]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_17","position":[-0.3292289565427334,-2.2974536398054886,0.71338606911949],"aabb_xy":[[-0.4092289579728606,-2.3769707948180976],[-0.24922895511260618,-2.2179364847928786]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_18","position":[-0.3555266360888676,-0.3682430985275249,0.71338606911949],"aabb_xy":[[-0.3774353182282186,-0.3901437653476156],[-0.3336179539495165,-0.3463424317074341]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_19","position":[-0.25744355088567106,0.6559142813866292,0.71338606911949],"aabb_xy":[[-0.3124435505074169,0.6009305885991566],[-0.20244355126392521,0.710897974174102]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6909446349757793,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6884.png","name":"6884"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6884.png","name":"6884"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9463.png","name":"9463"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8136.png","name":"8136"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2002.png","name":"2002"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7228.png","name":"7228"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":602.5566883907977,"rotation_z_degrees":161.22632508163753,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0072903447311245435,0.0032168217495188133,0.0048694725653605185]},{"name":"camera_2","offset_m":[-0.0014909809989261669,-0.004929715476550469,0.00016699805390737663]},{"name":"camera_3","offset_m":[0.01874084273953244,-0.01993063703961482,0.009849527233892368]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0007912960653394822,-0.0006229994390908665,0.00012560415472795232],"end_effector_yaw_offset_degrees":-0.5807308331007903},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0006764785844821928,-0.0014394463355656734,0.0016452987876576998],"end_effector_yaw_offset_degrees":0.8358252991379647},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0019225626790085526,-0.0007144019640306673,-0.00036113361347164244],"end_effector_yaw_offset_degrees":-0.30296464841966797},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0013985614922529886,0.001850692400480611,0.0011675234620185616],"end_effector_yaw_offset_degrees":-0.3854143547518232}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004297606532440655,-0.003354393044279558],"position_m":[0.20930239346755936,-0.057054393044279554,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00021347316773539203,-0.003616714380570152],"position_m":[0.2493134731677354,-0.38701671438057017,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002850222969722889,-8.68474952775344e-05],"position_m":[0.1433502229697229,0.23461315250472245,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004673351142433268,0.0001304118129682461],"position_m":[0.3582733511424333,0.11733041181296824,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f92201fd7c0b5d26563e092eb1e9d60ef6c24e03a40a86c0d4064b848b923cb7","episode_index":62,"episode_name":"episode_0062"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0062.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_6884/tex_ceiling_textures_7228/tex_floor_textures_2002/tex_table_textures_9463/tex_wall_textures_8136","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":6366638249344820175,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":6366638249344820175,"visual_seed":6366638249344820175,"scene_id":"lab_003","finished_at":"2026-09-05T21:43:40"} +{"episode_id":"ep_000061","started_at":"2026-09-05T21:43:44","dimensions":{"distractor":{"count":22,"items":[{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_0","position":[0.5386319785101303,-2.004874045543,0.71338606911949],"aabb_xy":[[0.5041695004970425,-2.0115377227259224],[0.573094456523218,-1.998210368360077]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_1","position":[0.21843675753744207,-1.5301625175472333,0.71338606911949],"aabb_xy":[[0.21102430199605357,-1.5360137279688613],[0.22584921307883052,-1.5243113071256054]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_2","position":[-0.2998725369104216,-0.08787810466298351,0.71338606911949],"aabb_xy":[[-0.3248725360760547,-0.09483035036834009],[-0.2748725377447885,-0.08092585895762694]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_3","position":[0.015021203297080232,-0.9686711139357196,0.71338606911949],"aabb_xy":[[0.0006867781709167815,-0.9807313294902583],[0.029355628423243685,-0.9566108983811806]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_4","position":[-0.25689139764776653,-0.6858106945826385,0.71338606911949],"aabb_xy":[[-0.29439139607116677,-0.6989749085504691],[-0.21939139922436607,-0.6726464806148078]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_5","position":[-0.3562974674220034,0.8116856279299083,0.71338606911949],"aabb_xy":[[-0.3713997688830214,0.7965841062988462],[-0.3411951659609852,0.8267871495609699]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_6","position":[0.6918068786910889,-0.5747826353509695,0.71338606911949],"aabb_xy":[[0.6685250364929576,-0.6597826366481976],[0.7150887208892203,-0.4897826340537415]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_7","position":[0.09073135314873271,-1.503429543503576,0.71338606911949],"aabb_xy":[[0.07556848017179564,-1.518595000798695],[0.10589422612566982,-1.4882640862084573]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_8","position":[0.4980561565552981,-0.14037046757007765,0.71338606911949],"aabb_xy":[[0.4528848387071292,-0.20437046471461612],[0.5432274744034671,-0.07637047042553925]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_9","position":[0.4803792093363224,-1.447825822683162,0.71338606911949],"aabb_xy":[[0.4706232198271485,-1.4575883567423964],[0.4901351988454963,-1.4380632886239275]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_10","position":[0.15953213995006665,-1.2215358114838255,0.71338606911949],"aabb_xy":[[0.13947372833682634,-1.2416008983929834],[0.17959055156330692,-1.201470724574668]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_11","position":[0.48478834410672356,0.4476551822054593,0.71338606911949],"aabb_xy":[[0.46777824681667285,0.4315206937071854],[0.5017984413967742,0.4637896707037332]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_12","position":[0.21755035835226844,0.7475715298824386,0.71338606911949],"aabb_xy":[[0.15355035630253644,0.7074770467931307],[0.28155036040200043,0.7876660129717467]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_13","position":[-0.6599386488159263,-0.685234837742065,0.71338606911949],"aabb_xy":[[-0.6731695943506075,-0.6984622567640643],[-0.6467077032812449,-0.6720074187200654]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_14","position":[0.6763743966618228,1.3747664079655317,0.71338606911949],"aabb_xy":[[0.6388743965562297,1.3679442461125504],[0.7138743967674156,1.3815885698185126]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_15","position":[-0.46320274975683906,1.1761389402905107,0.71338606911949],"aabb_xy":[[-0.5272027516691814,1.1202277910325005],[-0.3992027478444967,1.2320500895485214]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_16","position":[-0.08403471798717432,-1.8594682697636364,0.71338606911949],"aabb_xy":[[-0.16403471657449373,-1.9387838717017971],[-0.0040347193998548905,-1.7801526678254753]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_17","position":[0.46364779896108566,-2.411350817409656,0.71338606911949],"aabb_xy":[[0.43981158132048065,-2.501350818218143],[0.4874840166016908,-2.32135081660117]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_18","position":[0.5819294617754711,-1.250290049437895,0.71338606911949],"aabb_xy":[[0.5684829351414278,-1.2637599010909861],[0.5953759884095144,-1.236820197784804]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_19","position":[-0.20316501278004967,-0.569424197674723,0.71338606911949],"aabb_xy":[[-0.21357657146053333,-0.5747699310106215],[-0.1927534540995659,-0.5640784643388245]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_20","position":[-0.6665660378979704,1.5973672771486407,0.71338606911949],"aabb_xy":[[-0.6746023725992553,1.589329157844224],[-0.6585297031966856,1.6054053964530575]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_21","position":[0.0008584302273918487,-1.2053610211294166,0.71338606911949],"aabb_xy":[[-0.008435188009758732,-1.2428610196175505],[0.01015204846454243,-1.1678610226412827]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6877241946761203,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4413.png","name":"4413"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4413.png","name":"4413"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8710.png","name":"8710"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7072.png","name":"7072"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1932.png","name":"1932"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/853.png","name":"853"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":603.2885326506811,"rotation_z_degrees":80.03409563568312,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019222183291972707,0.011917518978977307,-0.015844752989734805]},{"name":"camera_2","offset_m":[-0.014712005252088179,-0.0035034055329909337,0.002054348615285244]},{"name":"camera_3","offset_m":[-0.004760493742877103,0.012005104953278643,-0.018038954622268722]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001814689801975369,-0.0007331857112836224,0.0011494620922941233],"end_effector_yaw_offset_degrees":0.8725704668738401},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0008176837234278554,-0.00039608943139893835,0.00038292787084138807],"end_effector_yaw_offset_degrees":-0.772345497118663},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.000983144348259163,0.00018788401074290497,-0.00024382485381155652],"end_effector_yaw_offset_degrees":0.7270910828333033},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001057154875679344,0.00012474251449574566,0.0010968579492664147],"end_effector_yaw_offset_degrees":0.5395230813240501}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0031701469339939477,0.0001726480155833498],"position_m":[0.21677014693399396,-0.053527351984416646,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0036595081000489636,-0.0035891924248277474],"position_m":[0.245440491899951,-0.38698919242482777,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004819680101714674,0.0024813234998915757],"position_m":[0.1453196801017147,0.23718132349989157,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00044171488050322866,-0.002510256701990297],"position_m":[0.35404171488050323,0.1146897432980097,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9e0765a840e29e1aeeb0df48fc79890f9d0c7f0109c96185527c2d091db6b67f","episode_index":63,"episode_name":"episode_0063"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0063.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_4413/tex_ceiling_textures_853/tex_floor_textures_1932/tex_table_textures_8710/tex_wall_textures_7072","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":8998275406288202357,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":8998275406288202357,"visual_seed":8998275406288202357,"scene_id":"lab_003","finished_at":"2026-09-05T21:46:59"} +{"episode_id":"ep_000062","started_at":"2026-09-05T21:47:04","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_0","position":[0.3952206520171233,-0.8240676958272695,0.71338606911949],"aabb_xy":[[0.37772071858313994,-0.8415676957475039],[0.4127205854511067,-0.8065676959070348]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_1","position":[0.6015977518389926,-2.2640797216893387,0.71338606911949],"aabb_xy":[[0.537602054443896,-2.3280797199900474],[0.6655934492340891,-2.20007972338863]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_2","position":[-0.4461054840595262,-0.9423435420539508,0.71338606911949],"aabb_xy":[[-0.48360548440775397,-0.9541349376350342],[-0.40860548371129846,-0.9305521464728671]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_3","position":[0.15861534436781854,-2.4048286958123835,0.71338606911949],"aabb_xy":[[0.07489311886773606,-2.494828699347079],[0.24233756986790098,-2.314828692277687]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_4","position":[-0.5409362284439725,0.6994117479697097,0.71338606911949],"aabb_xy":[[-0.567225052764413,0.6731403143150583],[-0.5146474041235317,0.7256831816243607]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_5","position":[-0.5161114948266226,1.3461815789319616,0.71338606911949],"aabb_xy":[[-0.5312137962876404,1.3310800573008992],[-0.5010091933656042,1.361283100563023]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_6","position":[0.5839820730353515,1.4595439762791833,0.71338606911949],"aabb_xy":[[0.5039820758757763,1.4479963753213663],[0.6639820701949268,1.4710915772370003]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_7","position":[0.534625191106286,-0.12089560328702076,0.71338606911949],"aabb_xy":[[0.5145667794930457,-0.1409606901961783],[0.5546836027195263,-0.10083051637786321]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_8","position":[0.5997848331418147,-0.24052454349273278,0.71338606911949],"aabb_xy":[[0.5297848305052283,-0.2606294084885983],[0.669784835778401,-0.22041967849686725]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_9","position":[0.03402946125637074,-0.8366116124887857,0.71338606911949],"aabb_xy":[[-0.003004648171688981,-0.8709888198224951],[0.07106357068443045,-0.8022344051550763]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_10","position":[-0.13904090334130959,1.0379557692400772,0.71338606911949],"aabb_xy":[[-0.20304090045341527,0.9889233994456665],[-0.0750409062292039,1.0869881390344878]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_11","position":[0.6445226312499317,-1.396117575699081,0.71338606911949],"aabb_xy":[[0.564522633846338,-1.4761101468972637],[0.7245226286535249,-1.316125004500898]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_12","position":[-0.12102538998800771,-2.3599036722820528,0.71338606911949],"aabb_xy":[[-0.15142350108715127,-2.390310574283722],[-0.09062727888886411,-2.329496770280383]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_13","position":[0.45658803432034656,0.1757062438971242,0.71338606911949],"aabb_xy":[[0.4488848436462694,0.1679968731983862],[0.4642912249944235,0.1834156145958622]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_14","position":[0.2862695962429894,-1.235537058928552,0.71338606911949],"aabb_xy":[[0.2754291180164745,-1.2527233402192008],[0.2971100744695043,-1.218350777637903]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_15","position":[0.4275286723934184,0.49760290318688627,0.71338606911949],"aabb_xy":[[0.3775293972249823,0.4476029019109391],[0.4775279475618546,0.5476029044628334]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_16","position":[0.45873369293876,-1.9022975072076955,0.71338606911949],"aabb_xy":[[0.4408645851843045,-1.9161304151849063],[0.4766028006932155,-1.8884645992304847]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_17","position":[0.3195809593290331,0.9271875933495926,0.71338606911949],"aabb_xy":[[0.26458095970728723,0.8722039005621199],[0.3745809589507789,0.9821712861370654]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_18","position":[0.3082935484995164,-0.5427460935159814,0.71338606911949],"aabb_xy":[[0.2382935463680868,-0.565508059141677],[0.3782935506309459,-0.5199841278902857]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_19","position":[-0.03492029746713743,1.300895517774693,0.71338606911949],"aabb_xy":[[-0.05742029728103981,1.2964209014042123],[-0.012420297653235046,1.3053701341451738]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_20","position":[-0.22855736694326845,-2.490959730409624,0.71338606911949],"aabb_xy":[[-0.24605736720260513,-2.505051272598397],[-0.21105736668393188,-2.476868188220852]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_21","position":[-0.5035853464560008,1.685839345054983,0.71338606911949],"aabb_xy":[[-0.5210160615350072,1.6685672303911319],[-0.4861546313769943,1.7031114597188335]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_22","position":[0.4802092537240703,-0.853576908734416,0.71338606911949],"aabb_xy":[[0.45831950613512956,-0.9435769060236652],[0.5020990013130111,-0.7635769114451669]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_23","position":[0.01083317382510729,-1.9748644228814418,0.71338606911949],"aabb_xy":[[-0.03926429015596633,-2.038864423391254],[0.06093063780618091,-1.91086442237163]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_24","position":[0.394005827714226,0.6042058599812488,0.71338606911949],"aabb_xy":[[0.35900582781820706,0.5958316244693087],[0.4290058276102448,0.6125800954931886]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_25","position":[-0.21510926616924875,-1.6100202346172139,0.71338606911949],"aabb_xy":[[-0.3051092698461669,-1.671452641194318],[-0.12510926249233054,-1.5485878280401093]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_26","position":[-0.09190508252356488,0.7917956144484424,0.71338606911949],"aabb_xy":[[-0.09993135315419088,0.7830441194710898],[-0.08387881189293889,0.800547109425795]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_27","position":[0.04102245187615994,0.8560760954740276,0.71338606911949],"aabb_xy":[[0.03452081536815533,0.8463082734477181],[0.04752408838416457,0.8658439175003376]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_28","position":[0.5860309866725035,-2.4760413278108944,0.71338606911949],"aabb_xy":[[0.5360480364850241,-2.5260413274534543],[0.6360139368599828,-2.4260413281683335]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_29","position":[-0.5223440169836613,0.27532396945624615,0.71338606911949],"aabb_xy":[[-0.5723170825161769,0.22532396964371332],[-0.47237095145114594,0.3253239692687791]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_30","position":[0.018600524074778524,1.702473360062768,0.71338606911949],"aabb_xy":[[-0.00028385969373167716,1.683587435282415],[0.03748490784328873,1.7213592848431205]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_31","position":[-0.4867727781498168,-0.007538019888718495,0.71338606911949],"aabb_xy":[[-0.4992401362595525,-0.020003344522042],[-0.4743054200400812,0.004927304744605009]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_32","position":[-0.148070043657485,-0.9138349470288281,0.71338606911949],"aabb_xy":[[-0.17261625928023572,-0.9440838435778651],[-0.12352382803473429,-0.883586050479791]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.688370224491303,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7747.png","name":"7747"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7747.png","name":"7747"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9363.png","name":"9363"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9453.png","name":"9453"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4965.png","name":"4965"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8181.png","name":"8181"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":577.8286688006317,"rotation_z_degrees":312.9411012744516,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0034978403055967965,0.00822930646444868,-0.012508330388707814]},{"name":"camera_2","offset_m":[0.01279152895837751,-0.01304785705208356,-3.0496797930549407e-05]},{"name":"camera_3","offset_m":[-0.0023362135316982967,0.005309715531857991,-0.01639621735300486]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001025977869564347,0.00038345690035617884,0.00022257651478141405],"end_effector_yaw_offset_degrees":0.7913562611841545},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0016488744917977603,0.0007613880932494346,0.0004770475943740443],"end_effector_yaw_offset_degrees":-0.85192826351813},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008446302202757448,-0.0013860415568993348,-0.0009068365797528096],"end_effector_yaw_offset_degrees":0.378749392397401},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0003664898754016507,-0.00179235162836461,0.0007321033460214125],"end_effector_yaw_offset_degrees":0.32458605523207695}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004414980689627709,0.004683420166755743],"position_m":[0.2180149806896277,-0.049016579833244256,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0008562789321985556,-0.0005980760135777773],"position_m":[0.24824372106780143,-0.38399807601357777,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0022921123764900243,-0.0003018033914366728],"position_m":[0.13820788762351,0.23439819660856331,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0017461311699089577,-0.0010993726177390127],"position_m":[0.35185386883009107,0.11610062738226098,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5634be83b49c64e686e9c024394d04a49bd0837f028e2b7a21797475c6fbb7a3","episode_index":64,"episode_name":"episode_0064"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0064.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_7747/tex_ceiling_textures_8181/tex_floor_textures_4965/tex_table_textures_9363/tex_wall_textures_9453","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":7247904176525875500,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":7247904176525875500,"visual_seed":7247904176525875500,"scene_id":"lab_003","finished_at":"2026-09-05T21:50:22"} +{"episode_id":"ep_000063","started_at":"2026-09-05T21:50:26","dimensions":{"distractor":{"count":26,"items":[{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_0","position":[-0.04410019429044043,1.7144590557818975,0.71338606911949],"aabb_xy":[[-0.06189370122535686,1.6966593101860998],[-0.026306687355523987,1.7322588013776952]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_1","position":[-0.12202355143583754,0.47809107867480805,0.71338606911949],"aabb_xy":[[-0.2020235546936805,0.3980945708828241],[-0.042023548177994585,0.558087586466792]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_2","position":[0.04713372308538555,0.9786897237803842,0.71338606911949],"aabb_xy":[[0.01281744591076761,0.9286897238072064],[0.08145000026000349,1.028689723753562]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_3","position":[0.17980452302784444,-1.2989028222512535,0.71338606911949],"aabb_xy":[[0.08980451935092625,-1.3603352288283577],[0.26980452670476257,-1.237470415674149]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_4","position":[0.4311962938596552,0.4293329363398599,0.71338606911949],"aabb_xy":[[0.3961962938831594,0.4198683202922433],[0.4661962938361511,0.43879755238747653]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_5","position":[-0.002088992556465663,1.1065997809947183,0.71338606911949],"aabb_xy":[[-0.038584813183744404,1.0701158385679606],[0.03440682807081308,1.1430837234214757]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_6","position":[-0.48553827631300106,0.9877686445061982,0.71338606911949],"aabb_xy":[[-0.5705382747304244,0.9028943490439131],[-0.4005382778955779,1.0726429399684831]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_7","position":[0.4494866075458277,-2.317474462183531,0.71338606911949],"aabb_xy":[[0.4343237345688907,-2.33263991947865],[0.46464948052276484,-2.3023090048884125]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_8","position":[-0.4907971071568228,-1.8662857098097478,0.71338606911949],"aabb_xy":[[-0.5082278222358292,-1.8835578244735984],[-0.4733663920778162,-1.8490135951458968]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_9","position":[0.5052573248075016,-0.068730246171127,0.71338606911949],"aabb_xy":[[0.4702573265373816,-0.07580437386611516],[0.5402573230776214,-0.06165611847613883]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_10","position":[-0.2421913884391816,1.6181098059239356,0.71338606911949],"aabb_xy":[[-0.27922549786724127,1.583732598590226],[-0.20515727901112182,1.6524870132576448]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_11","position":[-0.1561655952635922,-2.004179374783825,0.71338606911949],"aabb_xy":[[-0.18067921936059805,-2.0284439680858615],[-0.13165197116658633,-1.9799147814817886]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_12","position":[0.31171520448096035,-1.1726161276283875,0.71338606911949],"aabb_xy":[[0.29924784637122476,-1.1850814522617112],[0.32418256259069606,-1.1601508029950642]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_13","position":[-0.4344766108711359,1.6699702070700728,0.71338606911949],"aabb_xy":[[-0.48947661049288177,1.6149865142826003],[-0.3794766112493901,1.7249538998575458]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_14","position":[0.5169640632204613,1.2216090503786217,0.71338606911949],"aabb_xy":[[0.502629638094298,1.2095488348240828],[0.5312984883466249,1.2336692659331605]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_15","position":[0.36929818007272575,1.6391817064237695,0.71338606911949],"aabb_xy":[[0.3534136868074006,1.6248287661249454],[0.3851826733380509,1.6535346467225935]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_16","position":[0.48418098102870144,-0.5254265153719118,0.71338606911949],"aabb_xy":[[0.47483397344640627,-0.5397301375895558],[0.4935279886109967,-0.5111228931542677]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_17","position":[0.5369056455304153,0.327565414892363,0.71338606911949],"aabb_xy":[[0.5314476998933951,0.24756541158470385],[0.5423635911674353,0.40756541820002207]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_18","position":[-0.5559194344517634,-0.9478364473711525,0.71338606911949],"aabb_xy":[[-0.5809194343842814,-0.9547191155920758],[-0.5309194345192456,-0.9409537791502292]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_19","position":[-0.4341534244788674,1.5349940637599953,0.71338606911949],"aabb_xy":[[-0.45665342448901564,1.5208978441203915],[-0.41165342446871905,1.549090283399598]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_20","position":[0.549942730898382,1.5010981913770114,0.71338606911949],"aabb_xy":[[0.4849427282605885,1.4496185926775644],[0.6149427335361755,1.5525777900764584]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_21","position":[0.2848112478916097,1.6648589148437405,0.71338606911949],"aabb_xy":[[0.26694214013715417,1.6510260068665294],[0.30268035564606516,1.6786918228209515]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_22","position":[-0.46354547583238837,-1.2815742895304816,0.71338606911949],"aabb_xy":[[-0.4836038874456286,-1.3016393764396392],[-0.443487064219148,-1.261509202621324]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_23","position":[-0.08541554677989283,-1.869861108212795,0.71338606911949],"aabb_xy":[[-0.13551301076096645,-1.933861108722607],[-0.03531808279881919,-1.8058611077029834]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_24","position":[0.10869936285998849,-1.6489777276154736,0.71338606911949],"aabb_xy":[[0.0446993625995177,-1.6939865269684016],[0.1726993631204593,-1.6039689282625456]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_25","position":[-0.1397628339706053,-1.2397643646035026,0.71338606911949],"aabb_xy":[[-0.17476283310056095,-1.2455095856791665],[-0.10476283484064963,-1.2340191435278383]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.68877161133914,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4441.png","name":"4441"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4441.png","name":"4441"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5674.png","name":"5674"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6389.png","name":"6389"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6794.png","name":"6794"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5426.png","name":"5426"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":559.2109189298169,"rotation_z_degrees":120.0128368595232,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016830789576419022,-0.014834025226916809,0.00012711167216258867]},{"name":"camera_2","offset_m":[-0.013656334741470894,-0.008807225051867946,0.005032014125885168]},{"name":"camera_3","offset_m":[-0.014762777052552578,0.0015509844377939834,0.0083920384943264]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0018457427693682265,-0.0011165150732850865,0.001144092706200004],"end_effector_yaw_offset_degrees":0.6954773767030735},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0003454754871897096,0.0011609688827910664,0.0018067974745852975],"end_effector_yaw_offset_degrees":0.27442018110106603},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00030573564763890465,-0.0018286210260305498,-0.0017893698312115799],"end_effector_yaw_offset_degrees":-0.8970383919483638},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0007419353396063788,0.0009073485642733321,-0.001749875468119571],"end_effector_yaw_offset_degrees":-0.20941256338780967}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004238719187566005,-0.0014038400925005011],"position_m":[0.217838719187566,-0.0551038400925005,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0014349830087459301,0.002107398441955962],"position_m":[0.25053498300874594,-0.38129260155804406,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0044659387768050405,-0.0010523509327655823],"position_m":[0.14496593877680505,0.2336476490672344,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0034396608019516073,-0.003648547906980748],"position_m":[0.3501603391980484,0.11355145209301926,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6beb3ac31bb6f73941d858a79ee955fda803e4a78cfdf978bcebc8222d495134","episode_index":65,"episode_name":"episode_0065"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0065.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_4441/tex_ceiling_textures_5426/tex_floor_textures_6794/tex_table_textures_5674/tex_wall_textures_6389","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":6816897728210842567,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":6816897728210842567,"visual_seed":6816897728210842567,"scene_id":"lab_003","finished_at":"2026-09-05T21:53:49"} +{"episode_id":"ep_000064","started_at":"2026-09-05T21:57:42","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_0","position":[-0.5941894833379414,-0.11611868469072828,0.71338606911949],"aabb_xy":[[-0.6116894835829908,-0.1336184725302951],[-0.576689483092892,-0.09861889685116142]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_1","position":[-0.1651067579089993,1.1795030722846631,0.71338606911949],"aabb_xy":[[-0.17770945704607574,1.1669076760597978],[-0.15250405877192283,1.1920984685095288]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_2","position":[0.5744736421442191,1.2581651988422706,0.71338606911949],"aabb_xy":[[0.49447364416343403,1.2505636578804185],[0.6544736401250041,1.2657667398041224]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_3","position":[-0.10415063027809834,0.1369161759397879,0.71338606911949],"aabb_xy":[[-0.14148190680334094,0.10226312114493558],[-0.0668193537528557,0.1715692307346402]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_4","position":[0.2637656039677446,1.437044687052444,0.71338606911949],"aabb_xy":[[0.2603249277276875,1.4331832540780796],[0.26720628020780185,1.4409061200268085]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_5","position":[0.056901219711957385,0.7005713217156853,0.71338606911949],"aabb_xy":[[0.041738346735020304,0.6854058644205664],[0.07206409268889447,0.7157367790108039]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_6","position":[0.09639946184919435,1.103005441282884,0.71338606911949],"aabb_xy":[[0.032399461145725,1.056987058809963],[0.16039946255266369,1.149023823755805]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_7","position":[0.5184025114361199,-1.848488897489871,0.71338606911949],"aabb_xy":[[0.49588881961266273,-1.9184888980908783],[0.5409162032595771,-1.7784888968888632]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_8","position":[-0.6549456902044497,-0.5275393803981419,0.71338606911949],"aabb_xy":[[-0.6748367300847901,-0.5401951916828388],[-0.6350546503241096,-0.5148835691134451]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_9","position":[0.23514455025367287,-1.7842649307968084,0.71338606911949],"aabb_xy":[[0.19296013609284215,-1.8482649310740196],[0.2773289644145036,-1.7202649305195972]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_10","position":[-0.47039345235687463,-0.10493761768685683,0.71338606911949],"aabb_xy":[[-0.48002508857730414,-0.11457493046656572],[-0.4607618161364449,-0.09530030490714789]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_11","position":[0.07104049419682756,-0.8446064315739761,0.71338606911949],"aabb_xy":[[0.05586832491519422,-0.8597752885021797],[0.0862126634784609,-0.829437574645773]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_12","position":[-0.11297063591427436,1.749630333145022,0.71338606911949],"aabb_xy":[[-0.1679706355360202,1.694646640357549],[-0.05797063629252852,1.8046140259324945]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_13","position":[0.09283810692249406,-0.6970928334637532,0.71338606911949],"aabb_xy":[[0.08674347903437575,-0.705662228015422],[0.09893273481061239,-0.6885234389120846]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_14","position":[0.5448308683022693,-2.139939268056095,0.71338606911949],"aabb_xy":[[0.5411276069731303,-2.143641286364812],[0.5485341296314081,-2.1362372497473765]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_15","position":[0.660219677045002,1.559609138216381,0.71338606911949],"aabb_xy":[[0.6102196753835072,1.5096106959606783],[0.7102196787064967,1.6096075804720837]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_16","position":[0.6858503763436714,-0.5113746773033085,0.71338606911949],"aabb_xy":[[0.6655660736202725,-0.5316573024460172],[0.7061346790670701,-0.49109205216059953]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_17","position":[0.4603927383350337,-1.3574609233497525,0.71338606911949],"aabb_xy":[[0.4531104219583699,-1.447460926959261],[0.46767505471169724,-1.267460919740243]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_18","position":[0.5139279072689842,0.8518902367256387,0.71338606911949],"aabb_xy":[[0.4641111278041494,0.8018902382413353],[0.563744686733819,0.901890235209942]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_19","position":[0.22122426411335017,-0.9364806093490747,0.71338606911949],"aabb_xy":[[0.21065678445525116,-0.9470256394620832],[0.23179174377144918,-0.9259355792360661]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_20","position":[-0.03091930110139307,-2.0711518442068435,0.71338606911949],"aabb_xy":[[-0.09491929821349876,-2.120184214001254],[0.03308069601071262,-2.022119474412433]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_21","position":[-0.323188984340673,-1.6875177609349201,0.71338606911949],"aabb_xy":[[-0.35910248876566264,-1.7234312691516744],[-0.28727547991568325,-1.6516042527181654]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6910227919302842,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1865.png","name":"1865"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1865.png","name":"1865"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8799.png","name":"8799"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1141.png","name":"1141"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4301.png","name":"4301"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3056.png","name":"3056"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":630.2457356143767,"rotation_z_degrees":125.40526765866588,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004933076827811571,0.010728090721431306,0.0062338366529771025]},{"name":"camera_2","offset_m":[0.0006699424983011189,-0.013126841299102052,-0.019195551692962356]},{"name":"camera_3","offset_m":[0.006107173824460677,-0.01906539175769468,-0.014655871898038271]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00040996539359388793,0.001122320468535866,-0.0018924535829271862],"end_effector_yaw_offset_degrees":-0.4437817772816597},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0005896531035245883,-0.0004062281880730244,-0.0011643064790621202],"end_effector_yaw_offset_degrees":0.7538695468128154},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001407428126263527,-0.00014416287668086178,-0.0018734018194610717],"end_effector_yaw_offset_degrees":0.8159628014388038},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0005937903344809719,0.001987290141354233,7.898544656953672e-05],"end_effector_yaw_offset_degrees":-0.6730728404126178}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-8.005596380824837e-05,-0.0008795841766455707],"position_m":[0.21351994403619176,-0.05457958417664557,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0035872334768397946,0.0012789329316759612],"position_m":[0.2526872334768398,-0.38212106706832405,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.001130102781933028,-0.0021629422459167737],"position_m":[0.13936989721806697,0.23253705775408323,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003237190807895162,0.0021651496570805184],"position_m":[0.3503628091921049,0.11936514965708052,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"70bbabaa325429b83ce7c556c1a49ec3329fe3c72a8fcc94df3ca2b758305969","episode_index":67,"episode_name":"episode_0067"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0067.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_1865/tex_ceiling_textures_3056/tex_floor_textures_4301/tex_table_textures_8799/tex_wall_textures_1141","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":483414577791261478,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":483414577791261478,"visual_seed":483414577791261478,"scene_id":"lab_003","finished_at":"2026-09-05T22:01:05"} +{"episode_id":"ep_000065","started_at":"2026-09-05T22:01:10","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_0","position":[0.22805128696038302,1.1100844311306868,0.71338606911949],"aabb_xy":[[0.16305128692608026,1.0633837544503595],[0.29305128699468574,1.156785107811014]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_1","position":[0.07731401661891013,-2.370958261445976,0.71338606911949],"aabb_xy":[[0.03600947355517414,-2.4349582610140925],[0.11861855968264612,-2.3069582618778584]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_2","position":[-0.31171098779181894,-1.868173131214563,0.71338606911949],"aabb_xy":[[-0.37571099013462045,-1.9131139824586954],[-0.24771098544901735,-1.8232322799704304]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_3","position":[-0.6525906319320091,-1.5365026347029322,0.71338606911949],"aabb_xy":[[-0.6875906332834909,-1.5568623706597529],[-0.6175906305805274,-1.5161428987461112]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_4","position":[-0.3934556909160447,0.31498897596409137,0.71338606911949],"aabb_xy":[[-0.411131321504643,0.2973087596846885],[-0.3757800603274463,0.332669192243494]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_5","position":[0.18695521558289807,1.2238024739501148,0.71338606911949],"aabb_xy":[[0.1713994461726328,1.2082520407057076],[0.20251098499316336,1.239352907194522]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_6","position":[0.12838084737376498,1.7268404823692642,0.71338606911949],"aabb_xy":[[0.07840778184124954,1.6768404825567316],[0.17835391290628047,1.7768404821817974]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_7","position":[-0.5909153053015334,0.9855847076747226,0.71338606911949],"aabb_xy":[[-0.6085481408950608,0.9679617616590998],[-0.5732824697080057,1.0032076536903456]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_8","position":[-0.36896340856037374,0.7203604638741448,0.71338606911949],"aabb_xy":[[-0.4062946850856164,0.6857074090792924],[-0.3316321320351311,0.7550135186689969]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_9","position":[0.6321438442626568,0.5846957481853376,0.71338606911949],"aabb_xy":[[0.5521500206840986,0.5046957455924961],[0.712137667841215,0.6646957507781792]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_10","position":[-0.07558535082016671,-0.08958301563410709,0.71338606911949],"aabb_xy":[[-0.1005853507526846,-0.0964656838550304],[-0.05058535088764882,-0.08270034741318377]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_11","position":[-0.4111731816151136,-1.5185584001038999,0.71338606911949],"aabb_xy":[[-0.43617318116685216,-1.5287008839690344],[-0.3861731820633752,-1.508415916238765]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_12","position":[0.5626239052290074,1.5023543985402488,0.71338606911949],"aabb_xy":[[0.5525421981504339,1.4223544006481341],[0.5727056123075809,1.5823543964323634]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_13","position":[0.4897843140483542,-0.9136213405476941,0.71338606911949],"aabb_xy":[[0.4247843114105607,-0.965100939247141],[0.5547843166861477,-0.8621417418482471]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_14","position":[0.5290414688276981,-0.5181815872671209,0.71338606911949],"aabb_xy":[[0.45904146543613616,-0.5534973609705518],[0.5990414722192601,-0.4828658135636901]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_15","position":[0.22689081992472782,0.6377320250194458,0.71338606911949],"aabb_xy":[[0.21713483041555393,0.6279694909602113],[0.2366468094339017,0.6474945590786801]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_16","position":[-0.545974559070483,-1.3247439344704919,0.71338606911949],"aabb_xy":[[-0.5722633833909235,-1.351015368125143],[-0.5196857347500422,-1.2984725008158404]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_17","position":[-0.1254191016797651,1.1660897092162146,0.71338606911949],"aabb_xy":[[-0.1894147990748617,1.1020897109155054],[-0.061423404284668526,1.2300897075169228]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_18","position":[-0.23086645057198096,-0.31595759079803365,0.71338606911949],"aabb_xy":[[-0.28585870120749196,-0.37095759254134647],[-0.17587419993647005,-0.26095758905472094]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_19","position":[-0.5091483414745859,1.5939092924712681,0.71338606911949],"aabb_xy":[[-0.5591257583398394,1.5439092909820196],[-0.45917092460933223,1.6439092939605167]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_20","position":[0.5863318378052556,-2.376510610670816,0.71338606911949],"aabb_xy":[[0.5513318378287597,-2.3859752267184327],[0.6213318377817514,-2.367045994623199]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_21","position":[0.5773787453409736,-0.28562908107289475,0.71338606911949],"aabb_xy":[[0.5736754840118345,-0.2893310993816126],[0.5810820066701123,-0.2819270627641769]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_22","position":[-0.22403706330762713,1.0121153759719186,0.71338606911949],"aabb_xy":[[-0.24858327893037788,0.9818664794228814],[-0.19949084768487643,1.0423642725209554]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_23","position":[0.28056582972873334,-0.7442029106032022,0.71338606911949],"aabb_xy":[[0.27712515348867617,-0.7480643435775667],[0.2840065059687905,-0.7403414776288377]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6874463855893376,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3542.png","name":"3542"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3542.png","name":"3542"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1203.png","name":"1203"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2263.png","name":"2263"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2178.png","name":"2178"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2531.png","name":"2531"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":811.7837852455494,"rotation_z_degrees":248.75224378852678,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0032485640821556493,0.010362090373949383,0.0073064975205090615]},{"name":"camera_2","offset_m":[0.004310975807927796,-0.006401168366106736,-0.00619711508759822]},{"name":"camera_3","offset_m":[0.0027010282389675414,-0.007224728200612863,-0.015363713337508633]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0013784792663894588,0.0007805511181649951,0.0014876984945298918],"end_effector_yaw_offset_degrees":0.5093313326834927},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0003862095262398761,1.6465696973112266e-05,0.00014713859597307146],"end_effector_yaw_offset_degrees":-0.772567805779935},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0014928961891925137,0.0011460747682154656,-0.0007215908278911565],"end_effector_yaw_offset_degrees":0.140435163857497},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0014883397074163076,0.0014396520864993936,0.001983140439744296],"end_effector_yaw_offset_degrees":0.44737857889410737}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004437432543020093,0.001676862537046916],"position_m":[0.2180374325430201,-0.05202313746295308,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0008251734917203886,0.003584949608625979],"position_m":[0.2499251734917204,-0.37981505039137403,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0032659344400070697,0.002930243270880266],"position_m":[0.14376593444000707,0.23763024327088025,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002935005458929844,-0.0018043910022087551],"position_m":[0.35653500545892985,0.11539560899779125,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0cab461ba9f0cb0a9dd0d421251a57b46197216407330c76e63d8fe6237f42a1","episode_index":68,"episode_name":"episode_0068"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0068.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_3542/tex_ceiling_textures_2531/tex_floor_textures_2178/tex_table_textures_1203/tex_wall_textures_2263","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":8544003300009944280,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":8544003300009944280,"visual_seed":8544003300009944280,"scene_id":"lab_003","finished_at":"2026-09-05T22:04:39"} +{"episode_id":"ep_000066","started_at":"2026-09-05T22:04:42","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_0","position":[-0.6178186929019036,-0.3817268482926286,0.71338606911949],"aabb_xy":[[-0.6353186921799905,-0.39906494835897455],[-0.6003186936238167,-0.36438874822628264]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_1","position":[-0.6292679224964777,-2.0484010755195543,0.71338606911949],"aabb_xy":[[-0.6720346293758979,-2.1124010789413568],[-0.5865012156170575,-1.9844010720977519]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_2","position":[-0.05569817609286254,-2.1987930725907736,0.71338606911949],"aabb_xy":[[-0.07819817561656993,-2.221289020041394],[-0.03319817656915513,-2.1762971251401524]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_3","position":[-0.5676524418015698,-0.93309103769545,0.71338606911949],"aabb_xy":[[-0.5976199987113955,-0.9630910379933357],[-0.5376848848917442,-0.9030910373975642]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_4","position":[-0.21777691693246765,-0.5734836855096579,0.71338606911949],"aabb_xy":[[-0.27777691677903443,-0.6303023077026967],[-0.15777691708590086,-0.5166650633166193]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_5","position":[-0.06023772420324114,-2.080449584645366,0.71338606911949],"aabb_xy":[[-0.09727183363130085,-2.1148267919790755],[-0.023203614775181423,-2.0460723773116567]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_6","position":[0.3022649694001317,1.7192025410062874,0.71338606911949],"aabb_xy":[[0.2903928863886306,1.634202541312637],[0.3141370524116328,1.8042025406999378]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_7","position":[0.5839062671433368,-2.2795938488835565,0.71338606911949],"aabb_xy":[[0.5687340978617035,-2.2947627058117597],[0.5990784364249702,-2.2644249919553534]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_8","position":[0.33408813042747254,-0.713943012014667,0.71338606911949],"aabb_xy":[[0.3212162269265324,-0.7939430124285032],[0.3469600339284127,-0.6339430116008309]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_9","position":[-0.34725006712598244,0.44546347890193694,0.71338606911949],"aabb_xy":[[-0.41125006355330435,0.39829385507984055],[-0.28325007069866054,0.49263310272403343]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_10","position":[-0.06296570739801366,0.10765329372730781,0.71338606911949],"aabb_xy":[[-0.11293900140127411,0.05765329317276047],[-0.01299241339475321,0.15765329428185515]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_11","position":[-0.4068706344449464,-0.7387437620282011,0.71338606911949],"aabb_xy":[[-0.4257550182134566,-0.757629686808554],[-0.3879862506764362,-0.7198578372478485]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_12","position":[-0.5655748713367426,-2.340037651158695,0.71338606911949],"aabb_xy":[[-0.5826769492951107,-2.357144456689965],[-0.5484727933783744,-2.3229308456274254]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_13","position":[0.5539264598344058,1.4180046870448746,0.71338606911949],"aabb_xy":[[0.4899264625320594,1.3736382600770178],[0.6179264571367522,1.4623711140127313]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_14","position":[-0.36976494315233727,-2.214191121184243,0.71338606911949],"aabb_xy":[[-0.40406185417007784,-2.248488007394184],[-0.3354680321345966,-2.1798942349743013]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_15","position":[-0.25048069036579224,-1.4926602075756081,0.71338606911949],"aabb_xy":[[-0.3004806898059878,-1.542628132059924],[-0.20048069092559656,-1.4426922830912914]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_16","position":[-0.30641809342586024,1.597513700395655,0.71338606911949],"aabb_xy":[[-0.31273019296219867,1.591746761142436],[-0.3001059938895218,1.603280639648874]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_17","position":[-0.6284256862318135,-1.7687098296887183,0.71338606911949],"aabb_xy":[[-0.6924256885746151,-1.8136506809328508],[-0.5644256838890119,-1.7237689784445858]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_18","position":[-0.037773431427090776,1.6483735059084323,0.71338606911949],"aabb_xy":[[-0.05564253918154626,1.6345405979312213],[-0.019904323672635275,1.6622064138856434]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_19","position":[-0.3711399442153638,-0.04915668136135398,0.71338606911949],"aabb_xy":[[-0.3888155748039621,-0.06683689764075673],[-0.35346431362676545,-0.03147646508195123]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_20","position":[0.3172225189879194,0.5035863123491078,0.71338606911949],"aabb_xy":[[0.25322251981814947,0.45681962523014535],[0.38122251815768937,0.5503529994680703]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_21","position":[-0.5198470127121565,0.004379715898716885,0.71338606911949],"aabb_xy":[[-0.5573470142277882,-0.006847057117428168],[-0.4823470111965248,0.015606488914861938]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_22","position":[-0.10890582448134423,-1.1849932226398765,0.71338606911949],"aabb_xy":[[-0.13755515684176045,-1.213638781916952],[-0.080256492120928,-1.1563476633628005]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_23","position":[0.07837061755175234,-0.794059685656693,0.71338606911949],"aabb_xy":[[0.04390813953866457,-0.8007233628396159],[0.11283309556484011,-0.7873960084737702]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_24","position":[0.6491835638559409,-0.43959970943117455,0.71338606911949],"aabb_xy":[[0.6266835640420385,-0.4440743258016553],[0.6716835636698433,-0.4351250930606939]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.69014207633207,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8222.png","name":"8222"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8222.png","name":"8222"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1685.png","name":"1685"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6937.png","name":"6937"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8736.png","name":"8736"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9733.png","name":"9733"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":602.0848349500314,"rotation_z_degrees":74.2547485307991,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006319619388647186,0.005686185083082086,0.0009307003016143199]},{"name":"camera_2","offset_m":[-0.00024407222731755857,0.0014132361366282452,-0.011021895097618377]},{"name":"camera_3","offset_m":[0.006171663855228028,-0.013102761060583994,-0.014180840230857323]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0006027314570040683,-0.0005821864034461647,-5.7738816038432894e-05],"end_effector_yaw_offset_degrees":-0.7102221885765003},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0009096336520530018,-0.0009760102297269727,-0.0008149948321109935],"end_effector_yaw_offset_degrees":-0.6097458351642717},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007872163934019261,0.0012888843344409794,-0.001442399144265456],"end_effector_yaw_offset_degrees":0.8951905122760118},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0013210555269183018,0.0019332394414964139,0.0008470799048579951],"end_effector_yaw_offset_degrees":0.9451703595313137}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0026282224344406184,0.003061726143483782],"position_m":[0.21622822243444062,-0.05063827385651622,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0005462537679286027,-0.0033074652142809115],"position_m":[0.24855374623207138,-0.38670746521428095,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0006281305876723094,-0.003745383427043707],"position_m":[0.14112813058767232,0.2309546165729563,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0003975052537663051,-0.004597226429669614],"position_m":[0.35399750525376633,0.11260277357033038,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"84034b5f7408062d3922c57db13e1d516b9b1f335704d4a55871c330bc0f46e5","episode_index":69,"episode_name":"episode_0069"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0069.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_8222/tex_ceiling_textures_9733/tex_floor_textures_8736/tex_table_textures_1685/tex_wall_textures_6937","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":1237946063648205308,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":1237946063648205308,"visual_seed":1237946063648205308,"scene_id":"lab_003","finished_at":"2026-09-05T22:08:06"} +{"episode_id":"ep_000067","started_at":"2026-09-05T22:08:13","dimensions":{"distractor":{"count":25,"items":[{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_0","position":[0.5647514315832773,-2.371166221287627,0.71338606911949],"aabb_xy":[[0.4847514346202382,-2.4482418629314],[0.6447514285463165,-2.294090579643853]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_1","position":[-0.4165106428780953,0.8953590522670827,0.71338606911949],"aabb_xy":[[-0.4340105763120787,0.8778590523468481],[-0.39901070944411193,0.9128590521873172]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_2","position":[-0.18242343047833653,-1.3808140325002582,0.71338606911949],"aabb_xy":[[-0.23240638066581581,-1.4308140321428184],[-0.13244048029085714,-1.3308140328576976]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_3","position":[-0.5444534409418269,-0.11179755973886296,0.71338606911949],"aabb_xy":[[-0.5994534391435716,-0.15231952636530055],[-0.489453442740082,-0.07127559311242537]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_4","position":[-0.30806852397204554,-2.461233970644848,0.71338606911949],"aabb_xy":[[-0.33921544281562865,-2.5312339693316552],[-0.2769216051284624,-2.391233971958041]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_5","position":[0.0449694119710895,-1.2641940302533459,0.71338606911949],"aabb_xy":[[-0.010026065849569887,-1.3191940316872528],[0.09996488979174889,-1.209194028819439]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_6","position":[-0.31557407709555324,-0.7654009872545253,0.71338606911949],"aabb_xy":[[-0.36958967337745324,-0.8294009901467824],[-0.26155848081365324,-0.701400984362268]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_7","position":[-0.12835867558809388,-1.6233275451548748,0.71338606911949],"aabb_xy":[[-0.140230758599595,-1.708327544848525],[-0.11648659257659277,-1.5383275454612242]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_8","position":[0.16204731827581798,-2.140625973706848,0.71338606911949],"aabb_xy":[[0.12454731833205157,-2.1489190637416846],[0.19954731821958438,-2.1323328836720115]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_9","position":[0.62801273475502,-0.7492404275506508,0.71338606911949],"aabb_xy":[[0.5480189111764617,-0.8292404301434922],[0.7080065583335782,-0.6692404249578091]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_10","position":[-0.2689728576376458,0.4970726380093584,0.71338606911949],"aabb_xy":[[-0.33297285622421824,0.45006567460984964],[-0.20497285905107332,0.5440796014088671]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_11","position":[0.5585288516224545,-0.9818936079933469,0.71338606911949],"aabb_xy":[[0.4735288529303797,-1.0138794713882258],[0.643528850314529,-0.949907744598468]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_12","position":[-0.48413838206320514,-1.2778698716069148,0.71338606911949],"aabb_xy":[[-0.48805225525862767,-1.2866188870134716],[-0.4802245088677826,-1.269120856200358]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_13","position":[-0.04280062384844274,0.12203319659510559,0.71338606911949],"aabb_xy":[[-0.05295363940259211,0.08596365502236525],[-0.032647608294293355,0.15810273816784592]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_14","position":[-0.05898300836575254,0.6530654945170844,0.71338606911949],"aabb_xy":[[-0.06778506367472525,0.6452541683621552],[-0.05018095305677983,0.6608768206720134]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_15","position":[0.3185963790407107,-0.6016702392713176,0.71338606911949],"aabb_xy":[[0.29609637951700324,-0.6241661867219384],[0.34109637856441805,-0.5791742918206968]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_16","position":[-0.5520073725908392,1.3470770756514998,0.71338606911949],"aabb_xy":[[-0.6320073696050872,1.3269425239780883],[-0.4720073755765912,1.3672116273249109]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_17","position":[-0.5807243573749624,1.6149924529069195,0.71338606911949],"aabb_xy":[[-0.6607243606328054,1.5349959451149355],[-0.5007243541171195,1.6949889606989035]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_18","position":[-0.31911196603711905,1.7107420259630248,0.71338606911949],"aabb_xy":[[-0.3261522759706561,1.6307420265633537],[-0.3120716561035821,1.7907420253626964]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_19","position":[-0.09083589112868795,-0.06711040088198539,0.71338606911949],"aabb_xy":[[-0.1283358914769157,-0.07890179646306894],[-0.05333589078046019,-0.055319005300901836]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_20","position":[0.0424123959279068,-1.4147052861497287,0.71338606911949],"aabb_xy":[[-0.021587601357741848,-1.4562120051025729],[0.10641239321355545,-1.373198567196885]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_21","position":[-0.5202101860492131,-1.7367076891873385,0.71338606911949],"aabb_xy":[[-0.553689353310254,-1.7701868025584457],[-0.48673101878817215,-1.7032285758162318]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_22","position":[-0.5487851230423026,0.995388551270632,0.71338606911949],"aabb_xy":[[-0.6127851194378757,0.9314252628518984],[-0.48478512664672957,1.0593518396893655]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_23","position":[-0.481652922084164,-0.7536410672397613,0.71338606911949],"aabb_xy":[[-0.5516529247207502,-0.7737459322356267],[-0.4116529194475776,-0.7335362022438957]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_24","position":[0.5206246018137755,-1.5403371243017172,0.71338606911949],"aabb_xy":[[0.49063293907990513,-1.5703371236385175],[0.5506162645476458,-1.5103371249649165]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.685467641030438,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4861.png","name":"4861"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4861.png","name":"4861"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3130.png","name":"3130"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8228.png","name":"8228"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5443.png","name":"5443"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/115.png","name":"115"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":841.8809794536977,"rotation_z_degrees":54.697594074371075,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011600719181423224,0.0197637596006047,0.015251994065452548]},{"name":"camera_2","offset_m":[-0.004058953728642116,-0.014605531663028897,-0.014642176772999983]},{"name":"camera_3","offset_m":[0.010079695106473174,0.011522330505306894,-0.003841971320125981]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0016967657794692784,-0.0014247338897164764,1.1212021410554347e-05],"end_effector_yaw_offset_degrees":-0.4446364337374096},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0017346562700817393,0.0013985264642476032,-0.0018184055337399682],"end_effector_yaw_offset_degrees":0.8591557808930437},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0013813914298205,-0.0003795169994683673,-0.0007668429995615319],"end_effector_yaw_offset_degrees":0.8413213612221222},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0018548436072527235,0.0017569966708521076,0.00169212407920752],"end_effector_yaw_offset_degrees":0.38435967169477925}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0049046477832789025,-0.004795109265164234],"position_m":[0.20869535221672111,-0.058495109265164234,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004099281391478097,-0.00021678783289847108],"position_m":[0.24500071860852188,-0.3836167878328985,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0006331957504463366,-0.0011338756707678032],"position_m":[0.13986680424955367,0.23356612432923218,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0044519535369096285,0.004982406308266306],"position_m":[0.35805195353690966,0.12218240630826631,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6c08493bbcaacd542787d3afe6d0e906625b891e596dc294769f55c25dc0df9f","episode_index":70,"episode_name":"episode_0070"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0070.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_4861/tex_ceiling_textures_115/tex_floor_textures_5443/tex_table_textures_3130/tex_wall_textures_8228","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":6618802295120652634,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":6618802295120652634,"visual_seed":6618802295120652634,"scene_id":"lab_003","finished_at":"2026-09-05T22:11:37"} +{"episode_id":"ep_000068","started_at":"2026-09-05T22:11:42","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_0","position":[0.28384444813254595,-2.132639927094986,0.71338606911949],"aabb_xy":[[0.27970859179984575,-2.1701399265393433],[0.28798030446524614,-2.0951399276506293]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_1","position":[-0.6080753501503928,1.592157775472566,0.71338606911949],"aabb_xy":[[-0.6227187557044258,1.5774990558157818],[-0.5934319445963598,1.6068164951293502]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_2","position":[0.4958306548942877,0.5080029301612341,0.71338606911949],"aabb_xy":[[0.4505520400131383,0.4440029308130504],[0.5411092697754368,0.5720029295094178]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_3","position":[-0.547151487107137,-1.9985921392770658,0.71338606911949],"aabb_xy":[[-0.6271514885372641,-2.0781092942896753],[-0.4671514856770097,-1.9190749842644563]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_4","position":[-0.5886062972656929,1.1139183759908104,0.71338606911949],"aabb_xy":[[-0.6062391328592204,1.0962954299751873],[-0.5709734616721652,1.1315413220064332]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_5","position":[0.6699302373805218,-2.256627906064021,0.71338606911949],"aabb_xy":[[0.649645934657123,-2.2769105312067297],[0.6902145401039205,-2.2363452809213116]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_6","position":[-0.4891835573942622,0.47315931101139697,0.71338606911949],"aabb_xy":[[-0.5191752201281326,0.4431593116745963],[-0.4591918946603919,0.5031593103481974]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_7","position":[0.3159892016109498,0.4434177004707909,0.71338606911949],"aabb_xy":[[0.289700377290509,0.4171462668161396],[0.34227802593139034,0.46968913412544205]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_8","position":[-0.28771204967618547,0.28723722195380796,0.71338606911949],"aabb_xy":[[-0.310212050188226,0.2647453635884096],[-0.2652120491641448,0.3097290803192063]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_9","position":[0.4599679502870033,-2.46361183935805,0.71338606911949],"aabb_xy":[[0.39496795213108427,-2.489908083907962],[0.5249679484429224,-2.4373155948081378]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_10","position":[-0.20782405655178365,-1.2110621558710633,0.71338606911949],"aabb_xy":[[-0.21586039125306844,-1.21910027517548],[-0.19978772185049876,-1.2030240365666465]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_11","position":[0.08590187208128153,-0.9644734538744872,0.71338606911949],"aabb_xy":[[0.021901868791573405,-1.0078083728784049],[0.14990187537098962,-0.9211385348705696]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_12","position":[-0.27869589084368346,0.09928456543863895,0.71338606911949],"aabb_xy":[[-0.3686958894381534,0.08303397912521793],[-0.18869589224921351,0.11553515175205997]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_13","position":[0.6586149251885507,0.406100651072999,0.71338606911949],"aabb_xy":[[0.6173661141586357,0.35110065156078146],[0.6998637362184652,0.4611006505852164]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_14","position":[0.6984816370166984,0.08700206382744469,0.71338606911949],"aabb_xy":[[0.6759816374929909,0.0645061163768239],[0.7209816365404057,0.10949801127806545]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_15","position":[0.280644315696834,1.3053047954148123,0.71338606911949],"aabb_xy":[[0.2166443153193004,1.2555595285639998],[0.34464431607436763,1.3550500622656243]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_16","position":[0.107067288057477,1.542096510646355,0.71338606911949],"aabb_xy":[[0.043067291630155116,1.4949268868242584],[0.1710672844847989,1.5892661344684513]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_17","position":[0.3653080357551437,0.8695411333291365,0.71338606911949],"aabb_xy":[[0.347102212093896,0.8585157327471449],[0.3835138594163914,0.8805665339111282]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_18","position":[-0.09055761722637079,1.447906969402109,0.71338606911949],"aabb_xy":[[-0.1079883323053773,1.430634854738258],[-0.07312690214736428,1.4651790840659595]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_19","position":[0.1604413144729604,-1.68982785608517,0.71338606911949],"aabb_xy":[[0.09044131266421496,-1.7111816248493572],[0.23044131628170583,-1.6684740873209825]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_20","position":[0.5364148020841619,1.1121827514881835,0.71338606911949],"aabb_xy":[[0.5077654697237456,1.0835371922111074],[0.565064134444578,1.140828310765259]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_21","position":[-0.1602340691171137,-1.654502883082392,0.71338606911949],"aabb_xy":[[-0.2252340669987615,-1.7056265467889329],[-0.0952340712354659,-1.6033792193758512]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6868405229181715,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4664.png","name":"4664"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4664.png","name":"4664"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4913.png","name":"4913"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2919.png","name":"2919"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7552.png","name":"7552"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2503.png","name":"2503"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":819.0738509392759,"rotation_z_degrees":182.44721845524862,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016312775623366107,0.013087033342886311,0.01354980089302275]},{"name":"camera_2","offset_m":[0.01661406028251212,0.015013482187882742,0.010355899034710622]},{"name":"camera_3","offset_m":[0.01961246160394819,0.011008274982868573,0.0009557218756058548]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.000782940228145782,0.00017787549091943886,0.0010661651842480938],"end_effector_yaw_offset_degrees":0.5296521326409245},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.001909739311036157,-0.000791950859625052,-0.0006074414949132274],"end_effector_yaw_offset_degrees":-0.484439911933205},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0012187484786584891,-0.0015167422071758253,0.0006052887351647778],"end_effector_yaw_offset_degrees":-0.9506681067600289},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0013477162302198411,0.00014014485120446198,-0.0008908023707344071],"end_effector_yaw_offset_degrees":-0.6228206717864533}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00331078559756461,-0.003138956581934379],"position_m":[0.21691078559756463,-0.05683895658193438,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0031590519201629766,-0.001277440291916415],"position_m":[0.24594094807983702,-0.3846774402919164,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0022752225174576205,-0.0011020884532261612],"position_m":[0.14277522251745764,0.23359791154677384,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0008122358869192747,0.00113640277695665],"position_m":[0.3544122358869193,0.11833640277695665,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7eca6fc9bbb1a6444a9971b174e2b6909a17da6d52af7f11b1dda57808b54a13","episode_index":71,"episode_name":"episode_0071"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0071.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_4664/tex_ceiling_textures_2503/tex_floor_textures_7552/tex_table_textures_4913/tex_wall_textures_2919","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":3241619581007211815,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":3241619581007211815,"visual_seed":3241619581007211815,"scene_id":"lab_003","finished_at":"2026-09-05T22:15:14"} +{"episode_id":"ep_000069","started_at":"2026-09-05T22:15:18","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_0","position":[0.19229682956825533,1.177513515838462,0.71338606911949],"aabb_xy":[[0.14229755439981917,1.1275135145625148],[0.2422961047366915,1.2275135171144091]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_1","position":[-0.4074748440866793,-2.4266633308369507,0.71338606911949],"aabb_xy":[[-0.43612417644709545,-2.4553088901140265],[-0.378825511726263,-2.398017771559875]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_2","position":[0.2993309233440339,1.3906784452235215,0.71338606911949],"aabb_xy":[[0.2353309262319282,1.3416460754291109],[0.36333092045613957,1.439710815017932]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_3","position":[0.5319584086017988,-1.1373957539914372,0.71338606911949],"aabb_xy":[[0.4519584053439558,-1.2173922617834212],[0.6119584118596417,-1.0573992461994532]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_4","position":[0.5324077527046229,1.1054807014982604,0.71338606911949],"aabb_xy":[[0.5198050535675465,1.0928853052733951],[0.5450104518416994,1.118076097723126]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_5","position":[0.6036240889515909,-0.03530399846017218,0.71338606911949],"aabb_xy":[[0.5386240907956719,-0.061600243010084384],[0.66862408710751,-0.009007753910259993]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_6","position":[-0.048121783423391795,1.4838347303368074,0.71338606911949],"aabb_xy":[[-0.09420687467812328,1.419834733084252],[-0.002036692168660321,1.5478347275893622]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_7","position":[0.6101156527669302,-2.07593885296308,0.71338606911949],"aabb_xy":[[0.5201156533485594,-2.1093143498072693],[0.7001156521853011,-2.04256335611889]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_8","position":[-0.5533000129636177,-0.9785080642649668,0.71338606911949],"aabb_xy":[[-0.5707999463976011,-0.9960080641852014],[-0.5358000795296344,-0.9610080643447323]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_9","position":[-0.2860322902792368,1.2884534978415894,0.71338606911949],"aabb_xy":[[-0.3660322882600219,1.2808519568797372],[-0.2060322922984518,1.296055038803441]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_10","position":[-0.5201508926378005,-1.3650641376429327,0.71338606911949],"aabb_xy":[[-0.5701338428252797,-1.4150641372854929],[-0.47016794245032106,-1.315064138000372]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_11","position":[0.37233917116190485,0.9093323626470964,0.71338606911949],"aabb_xy":[[0.2873391724698302,0.8773464992522175],[0.4573391698539795,0.9413182260419752]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_12","position":[0.5461786013731624,-0.5089056761928483,0.71338606911949],"aabb_xy":[[0.5295014653800669,-0.5256056001667786],[0.5628557373662579,-0.49220575221891805]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_13","position":[0.2244768519210678,-2.2668392006553444,0.71338606911949],"aabb_xy":[[0.16047685164708955,-2.3169053008526324],[0.28847685219504604,-2.2167731004580564]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_14","position":[-0.6419173219705273,-2.4173880588784473,0.71338606911949],"aabb_xy":[[-0.6512643295528225,-2.4316916810960914],[-0.6325703143882321,-2.4030844366608033]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_15","position":[-0.41857909884986716,-2.558205498611279,0.71338606911949],"aabb_xy":[[-0.42249297204528974,-2.566954514017836],[-0.4146652256544447,-2.549456483204722]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_16","position":[-0.288833662195786,-1.3893036445062572,0.71338606911949],"aabb_xy":[[-0.36883366545979906,-1.4028636768151705],[-0.2088336589317728,-1.3757436121973439]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_17","position":[0.5312739566675044,-1.366483816442093,0.71338606911949],"aabb_xy":[[0.4937739564956324,-1.399184551825],[0.5687739568393763,-1.3337830810591855]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_18","position":[-0.5487092866269878,0.31085834042706484,0.71338606911949],"aabb_xy":[[-0.6387092852214578,0.2946077541136438],[-0.45870928803251787,0.32710892674048586]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_19","position":[0.2137163030510203,-0.9158743497273485,0.71338606911949],"aabb_xy":[[0.19608346745749272,-0.9334972957429715],[0.23134913864454787,-0.8982514037117255]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_20","position":[-0.13378068132385146,-2.47056651514091,0.71338606911949],"aabb_xy":[[-0.15900151818369107,-2.4957902659937963],[-0.10855984446401175,-2.4453427642880223]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_21","position":[0.38739884774819755,1.1144147725785007,0.71338606911949],"aabb_xy":[[0.3258080885242048,1.050414774469454],[0.4489896069721904,1.1784147706875479]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_22","position":[-0.498565058034102,-0.731082319329222,0.71338606911949],"aabb_xy":[[-0.5625650584116355,-0.7808275861800341],[-0.43456505765656833,-0.6813370524784096]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_23","position":[-0.3207677988565543,0.9452459278648959,0.71338606911949],"aabb_xy":[[-0.332336779603491,0.9202459277479643],[-0.30919881810961786,0.9702459279818277]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_24","position":[-0.6561067086560977,-2.1992798094102084,0.71338606911949],"aabb_xy":[[-0.678606708179805,-2.2217757568608287],[-0.6336067091323901,-2.176783861959587]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_25","position":[-0.5225736536400932,-1.6990492443621619,0.71338606911949],"aabb_xy":[[-0.5343418404347509,-1.7840492442673839],[-0.5108054668454358,-1.6140492444569408]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_26","position":[-0.14033689347738232,0.5043749637524981,0.71338606911949],"aabb_xy":[[-0.1444727498100825,0.46687496430814124],[-0.13620103714468212,0.5418749631968552]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_27","position":[-0.08728101069404637,-0.9557235651762317,0.71338606911949],"aabb_xy":[[-0.15128101210203704,-1.0075125167001562],[-0.02328100928605571,-0.9039346136523069]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_28","position":[0.6712074847048588,-1.2941793070093581,0.71338606911949],"aabb_xy":[[0.665240945764123,-1.3001404516687223],[0.6771740236455944,-1.288218162349994]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6912843457183601,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9092.png","name":"9092"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9092.png","name":"9092"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8795.png","name":"8795"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5738.png","name":"5738"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2969.png","name":"2969"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1835.png","name":"1835"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":596.1676650095361,"rotation_z_degrees":352.22440770591294,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015378203663931944,0.009509678146183517,-0.0034872053020857108]},{"name":"camera_2","offset_m":[-0.006644187792238543,0.01981438473982949,0.017031144621663646]},{"name":"camera_3","offset_m":[0.011501309929915719,0.013868678503207551,0.014239355544393217]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0007214046948494949,0.0002610007210659842,-0.0016652486929345939],"end_effector_yaw_offset_degrees":0.6298505903088902},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0008285900103927361,0.0011765185127382578,0.001994783834522203],"end_effector_yaw_offset_degrees":0.7395412560446613},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0016126572053820221,0.0010150598024246146,-0.0001041633398676915],"end_effector_yaw_offset_degrees":-0.8763078715305106},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0016267348216256082,-0.00014023593826113507,-0.0012529983228174242],"end_effector_yaw_offset_degrees":0.6304928918890806}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003990856548131707,-0.004840911582424909],"position_m":[0.2175908565481317,-0.05854091158242491,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0032998958532234396,0.00037411169667605007],"position_m":[0.2523998958532234,-0.38302588830332396,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0010429160601551166,0.004737421262130806],"position_m":[0.14154291606015512,0.2394374212621308,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.001911537733711016,0.0006975520005239374],"position_m":[0.351688462266289,0.11789755200052393,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b25f218473dc92b63f9f3d7a92c3b73b9a38344d16444cacb012d56f2a97a7a2","episode_index":72,"episode_name":"episode_0072"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0072.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_9092/tex_ceiling_textures_1835/tex_floor_textures_2969/tex_table_textures_8795/tex_wall_textures_5738","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":5788231944777535972,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":5788231944777535972,"visual_seed":5788231944777535972,"scene_id":"lab_003","finished_at":"2026-09-05T22:18:44"} +{"episode_id":"ep_000070","started_at":"2026-09-05T22:18:48","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_0","position":[0.1401771742609219,-1.8710347279527206,0.71338606911949],"aabb_xy":[[0.11766348243746469,-1.941034728553728],[0.16269086608437908,-1.8010347273517129]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_1","position":[0.31881396159915854,-1.1821843487787336,0.71338606911949],"aabb_xy":[[0.2838139632884631,-1.1898993637022792],[0.353813959909854,-1.174469333855188]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_2","position":[0.46429110831904774,0.6723236818630451,0.71338606911949],"aabb_xy":[[0.4603772351236252,0.6635746664564883],[0.46820498151447026,0.681072697269602]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_3","position":[-0.5940809827614839,0.43055985224078963,0.71338606911949],"aabb_xy":[[-0.6119500905159394,0.41672694426357865],[-0.5762118750070284,0.4443927602180005]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_4","position":[-0.15846926676290685,0.820214532885605,0.71338606911949],"aabb_xy":[[-0.1959692672602651,0.8162458493374866],[-0.1209692662655486,0.8241832164337234]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_5","position":[-0.2680959037611199,1.519130330441811,0.71338606911949],"aabb_xy":[[-0.35809590235558986,1.50287974412839],[-0.17809590516664997,1.5353809167552321]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_6","position":[-0.3186025733712413,0.9066598713704108,0.71338606911949],"aabb_xy":[[-0.3826025719578138,0.8596529079709021],[-0.25460257478466886,0.9536668347699195]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_7","position":[-0.401069151173521,-1.078937546343667,0.71338606911949],"aabb_xy":[[-0.40899243141226943,-1.1014375465816704],[-0.39314587093477277,-1.0564375461056636]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_8","position":[-0.15873570149428828,1.7126617040390575,0.71338606911949],"aabb_xy":[[-0.21370942353062117,1.6576617044748243],[-0.1037619794579554,1.7676617036032907]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_9","position":[-0.6481009892764885,-0.21906233018409305,0.71338606911949],"aabb_xy":[[-0.6522368456091888,-0.2565623296284501],[-0.6439651329437884,-0.1815623307397361]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_10","position":[0.4756999398713151,-0.22628329530889424,0.71338606911949],"aabb_xy":[[0.42572687433879963,-0.2762832951214272],[0.5256730054038306,-0.17628329549636138]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_11","position":[-0.43126690757302244,-2.421114947040434,0.71338606911949],"aabb_xy":[[-0.4662669074690413,-2.4294891825523734],[-0.39626690767700357,-2.4127407115284933]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_12","position":[0.16561123867492777,-1.566648920657918,0.71338606911949],"aabb_xy":[[0.14039040181508805,-1.5918726715108045],[0.1908320755347674,-1.541425169805031]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_13","position":[0.434301732762828,1.3372074854513003,0.71338606911949],"aabb_xy":[[0.3643017301262416,1.3171026204554346],[0.5043017353994144,1.3573123504471656]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_14","position":[-0.5601856758685708,0.9953113448858835,0.71338606911949],"aabb_xy":[[-0.5826856756824732,0.9908367285154028],[-0.5376856760546684,0.9997859612563643]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_15","position":[-0.06166329013944116,0.21704597588849195,0.71338606911949],"aabb_xy":[[-0.07256906622700388,0.13704597948966277],[-0.05075751405187844,0.2970459722873211]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_16","position":[0.38035990322044544,-1.386575867845512,0.71338606911949],"aabb_xy":[[0.3468807359594045,-1.420054981216619],[0.4138390704814864,-1.353096754474405]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_17","position":[-0.3974556540601693,-0.42670770480685905,0.71338606911949],"aabb_xy":[[-0.413517581518687,-0.5117077066194508],[-0.3813937266016517,-0.34170770299426717]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_18","position":[-0.11024760400463052,-2.09510937647236,0.71338606911949],"aabb_xy":[[-0.1218165847515671,-2.1201093765892915],[-0.09867862325769396,-2.070109376355428]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_19","position":[-0.5099784612064984,-0.6504995569630363,0.71338606911949],"aabb_xy":[[-0.5749784622069989,-0.7012859221177111],[-0.44497846020599785,-0.5997131918083612]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_20","position":[0.5948483179391242,-2.439374702344101,0.71338606911949],"aabb_xy":[[0.5868220473084982,-2.448126197321454],[0.6028745885697502,-2.430623207366749]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_21","position":[-0.027660204890813223,1.4463870689608798,0.71338606911949],"aabb_xy":[[-0.03902193954409938,1.4350186025545915],[-0.01629847023752706,1.4577555353671676]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6875189673155706,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7158.png","name":"7158"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7158.png","name":"7158"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/63.png","name":"63"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4115.png","name":"4115"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/287.png","name":"287"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4861.png","name":"4861"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":534.1438698076364,"rotation_z_degrees":248.7813677172421,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006255360309048923,-0.01489167079082655,-0.00560716333649082]},{"name":"camera_2","offset_m":[0.014320847389372626,0.005201810632638727,-0.005931531305275484]},{"name":"camera_3","offset_m":[-0.006843651424149453,0.013150032269253955,0.0178880536242326]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001841831438899797,-0.00016562688540634968,0.0006382901613807964],"end_effector_yaw_offset_degrees":-0.47258348346992207},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0017085563350212117,-0.0019126824421873327,-0.0013115638540229279],"end_effector_yaw_offset_degrees":-0.7547948777974927},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001873672254977476,-0.001720144665183209,-0.0014646552100925905],"end_effector_yaw_offset_degrees":-0.4275547173526957},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005618665310045796,-0.0009932224927289837,0.00170538142462306],"end_effector_yaw_offset_degrees":0.12389987482768405}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0023383747704936396,0.0020474595855869797],"position_m":[0.21126162522950637,-0.051652540414413015,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0020241981376998763,-0.000808801446335483],"position_m":[0.2470758018623001,-0.3842088014463355,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0029823397496375305,0.003458794066394352],"position_m":[0.14348233974963753,0.23815879406639434,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0035824775058173833,0.0021293161463359625],"position_m":[0.35001752249418266,0.11932931614633596,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b9b712cb978c2ad5862317fe1cd50476fedcf64d70302df7e41fdaee393090a4","episode_index":73,"episode_name":"episode_0073"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0073.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_7158/tex_ceiling_textures_4861/tex_floor_textures_287/tex_table_textures_63/tex_wall_textures_4115","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":2743559959117282352,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":2743559959117282352,"visual_seed":2743559959117282352,"scene_id":"lab_003","finished_at":"2026-09-05T22:22:09"} +{"episode_id":"ep_000071","started_at":"2026-09-05T22:22:13","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_0","position":[-0.1330501110135418,-2.537493649537348,0.71338606911949],"aabb_xy":[[-0.1509192187679973,-2.551326557514559],[-0.11518100325908631,-2.523660741560137]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_1","position":[-0.3831793302304277,-1.5819349851024662,0.71338606911949],"aabb_xy":[[-0.42067933141522046,-1.5863532077985265],[-0.34567932904563486,-1.5775167624064055]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_2","position":[-0.271997848648738,-1.2275825768071262,0.71338606911949],"aabb_xy":[[-0.2780924765368563,-1.236151971358795],[-0.2659032207606197,-1.2190131822554575]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_3","position":[0.14545773010127938,-2.3895016515882768,0.71338606911949],"aabb_xy":[[0.13733004190796616,-2.398415259998985],[0.1535854182945926,-2.3805880431775694]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_4","position":[0.647077746400047,1.6370362820666453,0.71338606911949],"aabb_xy":[[0.62457861067382,1.6145362812883826],[0.669576882126274,1.6595362828449085]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_5","position":[-0.12677103633300346,0.4742635081611426,0.71338606911949],"aabb_xy":[[-0.15673859324282913,0.4442635078632569],[-0.0968034794231778,0.5042635084590283]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_6","position":[0.44902971142623227,1.67730447292085,0.71338606911949],"aabb_xy":[[0.3890297097833104,1.6253043236289058],[0.5090297130691541,1.7293046222127941]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_7","position":[0.39929492678631284,0.44679657829830477,0.71338606911949],"aabb_xy":[[0.3192949265127058,0.373847030472588],[0.4792949270599198,0.5197461261240214]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_8","position":[0.527955608331035,-1.6478998327555179,0.71338606911949],"aabb_xy":[[0.457955604939473,-1.6832156064589487],[0.5979556117225969,-1.612584059052087]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_9","position":[-0.06506947325256829,-1.9323373638209491,0.71338606911949],"aabb_xy":[[-0.12906947466055893,-1.9841263153448734],[-0.0010694718445776184,-1.880548412297024]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_10","position":[0.013094982355026819,-1.3159172966297272,0.71338606911949],"aabb_xy":[[0.005051622429071645,-1.4009172977250934],[0.021138342280981992,-1.2309172955343606]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_11","position":[0.2509894621382813,1.2909305759723457,0.71338606911949],"aabb_xy":[[0.16098946563740954,1.2450189335538873],[0.34098945863915303,1.3368422183908037]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_12","position":[0.5707876710069295,-0.773856753449665,0.71338606911949],"aabb_xy":[[0.5670844096777906,-0.7775587717583827],[0.5744909323360684,-0.770154735140947]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_13","position":[-0.34952118024356643,-1.9957450163020707,0.71338606911949],"aabb_xy":[[-0.3745211795155287,-2.0120903798982326],[-0.32452118097160415,-1.9793996527059083]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_14","position":[0.6247651490527297,0.2812714991408054,0.71338606911949],"aabb_xy":[[0.6077550517626791,0.2651370106425314],[0.6417752463427804,0.2974059876390793]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_15","position":[-0.5063791442494681,0.26500572432041514,0.71338606911949],"aabb_xy":[[-0.5413791433794237,0.25926050324475103],[-0.4713791451195124,0.27075094539607925]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_16","position":[-0.6485543514499754,-1.5788291391311804,0.71338606911949],"aabb_xy":[[-0.671054351962016,-1.6013209974965787],[-0.6260543509379348,-1.556337280765782]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_17","position":[0.28102017230161047,-1.5600343438685464,0.71338606911949],"aabb_xy":[[0.2170201690829726,-1.6067574557675548],[0.34502017552024833,-1.513311231969538]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_18","position":[0.4218795536049358,-0.69071642756433,0.71338606911949],"aabb_xy":[[0.3618795533535346,-0.7449977526007947],[0.48187955385633696,-0.6364351025278654]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_19","position":[0.10780053079191498,1.7596882257080222,0.71338606911949],"aabb_xy":[[0.09030053053257837,1.7455966835192498],[0.12530053105125163,1.773779767896795]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_20","position":[0.25216596765862476,1.1101117342542328,0.71338606911949],"aabb_xy":[[0.24820548388889038,1.1024438696687122],[0.2561264514283591,1.1177795988397534]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_21","position":[-0.15222031309152628,-1.0622243125759412,0.71338606911949],"aabb_xy":[[-0.19749892797267554,-1.1262243119241249],[-0.10694169821037702,-0.9982243132277575]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_22","position":[-0.5997789665723798,1.728281786662094,0.71338606911949],"aabb_xy":[[-0.6597789664189466,1.6714631644690554],[-0.539778966725813,1.7851004088551328]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_23","position":[-0.370114998138255,1.3750307031212574,0.71338606911949],"aabb_xy":[[-0.38147673279154115,1.3636622367149691],[-0.35875326348496883,1.3863991695275453]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6857616703826744,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4021.png","name":"4021"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4021.png","name":"4021"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5953.png","name":"5953"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8906.png","name":"8906"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4559.png","name":"4559"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5810.png","name":"5810"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":841.2935394851697,"rotation_z_degrees":283.01826338113096,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00696283923503155,-0.0025734996312689815,0.014906549711044891]},{"name":"camera_2","offset_m":[-0.004193307190183182,-0.015685591492714663,0.00839996857060557]},{"name":"camera_3","offset_m":[-0.016127339942685552,0.016559490480129873,-0.005036312797363695]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0004425927328239503,0.001428879682447099,0.0015140963851370984],"end_effector_yaw_offset_degrees":-0.9092420164500403},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00015390838672387115,-0.0009614399002953365,0.0019053009552325324],"end_effector_yaw_offset_degrees":0.9312342498631279},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0017577395092757994,-0.00023761220603023096,0.0015723471089982215],"end_effector_yaw_offset_degrees":-0.0006708304299707368},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001015104044957349,0.00028586286208040707,-9.806988440926555e-07],"end_effector_yaw_offset_degrees":0.7879691932165953}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0026915619818758075,0.003396822139582219],"position_m":[0.2109084380181242,-0.050303177860417776,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0019842386768456387,0.0024044293136953176],"position_m":[0.24711576132315435,-0.3809955706863047,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004694975866869288,-0.0007332839859198748],"position_m":[0.1451949758668693,0.23396671601408012,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0036336256831107153,-0.00450916823473925],"position_m":[0.3499663743168893,0.11269083176526075,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9ce7a6b4f66d036b4a1f8c9f162eb4de362a27bfc06e079067549571534e0161","episode_index":74,"episode_name":"episode_0074"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0074.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_4021/tex_ceiling_textures_5810/tex_floor_textures_4559/tex_table_textures_5953/tex_wall_textures_8906","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":4890922047788385086,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":4890922047788385086,"visual_seed":4890922047788385086,"scene_id":"lab_003","finished_at":"2026-09-05T22:25:33"} +{"episode_id":"ep_000072","started_at":"2026-09-05T22:25:38","dimensions":{"distractor":{"count":29,"items":[{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_0","position":[-0.5634729246569071,1.7001112759399732,0.71338606911949],"aabb_xy":[[-0.6434729249305141,1.6271617281142565],[-0.4834729243833002,1.77306082376569]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_1","position":[0.08504951856168319,-1.3208089428129017,0.71338606911949],"aabb_xy":[[0.08108903479194882,-1.3284768073984226],[0.08901000233141756,-1.3131410782273814]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_2","position":[-0.4772306253981856,-1.079033758607588,0.71338606911949],"aabb_xy":[[-0.4853583135914988,-1.0879473670182958],[-0.46910293720487234,-1.0701201501968807]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_3","position":[-0.3918832314188543,1.4942910544550583,0.71338606911949],"aabb_xy":[[-0.40938323069694116,1.4769529543887123],[-0.3743832321407674,1.5116291545214042]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_4","position":[0.26581131291763604,-2.4783830016511303,0.71338606911949],"aabb_xy":[[0.18581131148750885,-2.55790015666374],[0.34581131434776324,-2.398865846638521]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_5","position":[0.5195822457755004,1.6137669485639816,0.71338606911949],"aabb_xy":[[0.5115559751448744,1.605015453586629],[0.5276085164061264,1.6225184435413342]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_6","position":[0.4146115448061882,0.2356611751539246,0.71338606911949],"aabb_xy":[[0.4099764296539548,0.23179384007677592],[0.41924665995842153,0.23952851023107322]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_7","position":[0.5523043168622175,1.1252198419924215,0.71338606911949],"aabb_xy":[[0.497308839041558,1.0702198405585146],[0.6072997946828768,1.1802198434263285]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_8","position":[-0.536555901879876,-1.380562018827524,0.71338606911949],"aabb_xy":[[-0.5740559030646687,-1.3849802415235841],[-0.49905590069508315,-1.376143796131463]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_9","position":[-0.4298051980865535,-0.30268285195437805,0.71338606911949],"aabb_xy":[[-0.46439628094059865,-0.3676828522394091],[-0.3952141152325082,-0.23768285166934702]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_10","position":[0.2091204654004577,-1.6723750042690368,0.71338606911949],"aabb_xy":[[0.1866204655865553,-1.6768496206395178],[0.23162046521436006,-1.6679003878985563]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_11","position":[0.2036408569067859,-1.0534471744780607,0.71338606911949],"aabb_xy":[[0.1436408566553847,-1.1077284995145253],[0.2636408571581871,-0.999165849441596]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_12","position":[-0.20483903957694044,-1.6579829073902972,0.71338606911949],"aabb_xy":[[-0.2698390381340132,-1.6877354408041796],[-0.13983904101986758,-1.6282303739764143]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_13","position":[-0.21292131049977847,-1.0185655757216436,0.71338606911949],"aabb_xy":[[-0.22333286918026216,-1.023911309057542],[-0.20250975181929473,-1.0132198423857453]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_14","position":[0.1251962297368754,1.5896885817706754,0.71338606911949],"aabb_xy":[[0.11272887162713974,1.577223257137352],[0.13766358784661104,1.602153906403999]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_15","position":[-0.1077338848443321,1.6644828868505974,0.71338606911949],"aabb_xy":[[-0.11577724477028728,1.579482885755231],[-0.09969052491837693,1.7494828879459638]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_16","position":[0.614076154766722,-1.3800879970021698,0.71338606911949],"aabb_xy":[[0.5662699871529533,-1.4450879997092287],[0.6618823223804906,-1.3150879942951108]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_17","position":[0.2868720505889891,0.8856949718622298,0.71338606911949],"aabb_xy":[[0.25638780046195897,0.8356949720807338],[0.3173563007160193,0.9356949716437257]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_18","position":[-0.013659990187270932,1.382515682205264,0.71338606911949],"aabb_xy":[[-0.10365998692288114,1.3293322188879693],[0.07634000654833928,1.4356991455225583]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_19","position":[-0.23806128362157775,-1.8579693506616062,0.71338606911949],"aabb_xy":[[-0.2755612837934497,-1.8906700860445134],[-0.2005612834497058,-1.825268615278699]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_20","position":[-0.45946716350581573,-1.561577584265958,0.71338606911949],"aabb_xy":[[-0.5094602756150077,-1.6115775849401541],[-0.40947405139662396,-1.5115775835917629]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_21","position":[0.38726811342387335,-1.7050224368112536,0.71338606911949],"aabb_xy":[[0.3232681169965515,-1.75219206063335],[0.4512681098511953,-1.6578528129891572]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_22","position":[-0.14634987375549047,0.3974153804311791,0.71338606911949],"aabb_xy":[[-0.2263498770195036,0.38385534812226574],[-0.06634987049147734,0.4109754127400924]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_23","position":[0.5322939052384932,-2.014300489647355,0.71338606911949],"aabb_xy":[[0.5036445728780767,-2.04294604892443],[0.5609432375989092,-1.9856549303702784]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_24","position":[-0.6532287253324446,-1.6056302540567713,0.71338606911949],"aabb_xy":[[-0.6731197652127849,-1.6182860653414686],[-0.6333376854521044,-1.592974442772075]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_25","position":[-0.6175375126722487,0.3810395074040085,0.71338606911949],"aabb_xy":[[-0.6825375153100421,0.32955990870456153],[-0.5525375100344552,0.43251910610345545]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_26","position":[-0.2061599068726815,-0.7660782296962316,0.71338606911949],"aabb_xy":[[-0.24365990697827442,-0.7729003915492128],[-0.1686599067670885,-0.7592560678432505]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_27","position":[-0.12726949099481177,0.5779764193733161,0.71338606911949],"aabb_xy":[[-0.2072694920679321,0.5681983730359317],[-0.04726948992169144,0.5877544657107006]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_28","position":[0.5996197368796334,0.7029660258529549,0.71338606911949],"aabb_xy":[[0.5793354341562346,0.6826834007102459],[0.6199040396030321,0.7232486509956636]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6879403022796649,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1885.png","name":"1885"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1885.png","name":"1885"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3073.png","name":"3073"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5401.png","name":"5401"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3937.png","name":"3937"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/208.png","name":"208"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":626.1122117287601,"rotation_z_degrees":215.6907468929267,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019932310121740928,-0.004217261668358247,-0.013655103595002053]},{"name":"camera_2","offset_m":[-0.006542661569271942,-0.001572375206859853,0.007730387883199054]},{"name":"camera_3","offset_m":[0.013324587317553666,-0.013608243177668636,-0.009111815185192254]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001711444481853463,-0.0006757919814442378,0.0014809606290631374],"end_effector_yaw_offset_degrees":-0.45787044006511524},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.001128362646761109,-0.000616923551456931,-0.0014840292721897356],"end_effector_yaw_offset_degrees":-0.9665959535328017},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00029776388631487906,0.0019684961025943134,1.2144261190919544e-05],"end_effector_yaw_offset_degrees":0.005295401103079023},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0019566804892581537,-0.0013175863413883433,0.00047057402022815257],"end_effector_yaw_offset_degrees":0.03421998220427058}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-7.842790497453091e-05,0.002604292730314343],"position_m":[0.21352157209502548,-0.05109570726968565,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.000708492181352491,0.00039354311901721936],"position_m":[0.2483915078186475,-0.3830064568809828,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004958285794939381,-2.2050512417809594e-05],"position_m":[0.14545828579493938,0.2346779494875822,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004441448808092254,0.004960600857275265],"position_m":[0.3580414488080923,0.12216060085727526,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d8b6d692bc9d9622a10dbbfdac7ced083599eca0bdd14cd8fc90f7fd492df3b7","episode_index":75,"episode_name":"episode_0075"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0075.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_1885/tex_ceiling_textures_208/tex_floor_textures_3937/tex_table_textures_3073/tex_wall_textures_5401","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":3761810142625494825,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":3761810142625494825,"visual_seed":3761810142625494825,"scene_id":"lab_003","finished_at":"2026-09-05T22:29:03"} +{"episode_id":"ep_000073","started_at":"2026-09-05T22:32:33","dimensions":{"distractor":{"count":34,"items":[{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_0","position":[-0.17473709678335714,1.5223011397339143,0.71338606911949],"aabb_xy":[[-0.18650528357801466,1.4373011398286932],[-0.16296890998869962,1.6073011396391366]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_1","position":[0.6617017460135239,1.6212747622240795,0.71338606911949],"aabb_xy":[[0.6203972029497878,1.5572747626559622],[0.7030062890772598,1.6852747617921964]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_2","position":[0.3451972164874928,1.196884967152347,0.71338606911949],"aabb_xy":[[0.3410812663754201,1.1927694121195012],[0.3493131665995654,1.2010005221851923]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_3","position":[-0.3848383624856528,0.06933958732815704,0.71338606911949],"aabb_xy":[[-0.3928323510633562,0.06133950723306669],[-0.3768443739079494,0.07733966742324738]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_4","position":[0.41189932010521213,-1.6174308021621429,0.71338606911949],"aabb_xy":[[0.3468993191480849,-1.6693790140958484],[0.47689932106233934,-1.5654825902284373]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_5","position":[-0.5897127999000941,-0.22928526057514587,0.71338606911949],"aabb_xy":[[-0.6066235323364357,-0.24275746616776037],[-0.5728020674637522,-0.2158130549825313]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_6","position":[0.4212404778065504,1.4031991770165684,0.71338606911949],"aabb_xy":[[0.3412404763764231,1.323682022003959],[0.5012404792366775,1.4827163320291779]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_7","position":[-0.5167145469149027,-0.7659770605065281,0.71338606911949],"aabb_xy":[[-0.5537486563429624,-0.8003542678402374],[-0.47968043748684297,-0.7315998531728186]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_8","position":[-0.5995910761322808,-1.7199018886383737,0.71338606911949],"aabb_xy":[[-0.6895910747267509,-1.736152474951795],[-0.509591077537811,-1.7036513023249529]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_9","position":[0.03352097378972074,-0.8528559604731534,0.71338606911949],"aabb_xy":[[-0.0021081821102390055,-0.8884886272300064],[0.06915012968968048,-0.8172232937163005]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_10","position":[0.1596596402534901,-2.42925829570083,0.71338606911949],"aabb_xy":[[0.12215963990526232,-2.441049691281913],[0.19715964060171784,-2.417466900119746]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_11","position":[0.6985265129365315,0.8930397444531879,0.71338606911949],"aabb_xy":[[0.6866544299250303,0.8080397447595374],[0.7103985959480326,0.9780397441468381]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_12","position":[0.41815541742861617,-0.9724073036933971,0.71338606911949],"aabb_xy":[[0.3822419130036265,-1.0083208119101517],[0.45406892185360587,-0.9364937954766425]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_13","position":[-0.17882817347467028,-1.8734281347421469,0.71338606911949],"aabb_xy":[[-0.25882817673251324,-1.953424642534131],[-0.0988281702168273,-1.7934316269501631]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_14","position":[0.46895124053805026,-2.338449074940357,0.71338606911949],"aabb_xy":[[0.378951240814876,-2.361522427475536],[0.5589512402612243,-2.3153757224051765]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_15","position":[-0.37141433474512037,-1.4392746415631135,0.71338606911949],"aabb_xy":[[-0.40891433553711576,-1.4456424825213035],[-0.33391433395312486,-1.432906800604923]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_16","position":[0.22238161403518708,1.152744657238972,0.71338606911949],"aabb_xy":[[0.17240854850267168,1.1027446574264392],[0.27235467956770265,1.202744657051505]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_17","position":[-0.17686635022201436,1.01099685028673,0.71338606911949],"aabb_xy":[[-0.23845710944600718,0.946996852177683],[-0.11527559099802154,1.0749968483957768]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_18","position":[0.5854733709830957,-1.1786685075113763,0.71338606911949],"aabb_xy":[[0.576179752745945,-1.2161685059995102],[0.5947669892202462,-1.1411685090232424]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_19","position":[0.3859053322123478,-2.1158623829103504,0.71338606911949],"aabb_xy":[[0.32190532899371,-2.162585494809359],[0.4499053354309857,-2.069139271011342]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_20","position":[-0.6080955577739493,-0.5298822286305351,0.71338606911949],"aabb_xy":[[-0.612173715680999,-0.5339632088787984],[-0.6040173998668996,-0.5258012483822718]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_21","position":[-0.31748273604276855,0.7345819431997938,0.71338606911949],"aabb_xy":[[-0.3517796470605091,0.7002850569898523],[-0.28318582502502787,0.768878829409735]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_22","position":[-0.010500086167817169,-2.186321175230627,0.71338606911949],"aabb_xy":[[-0.09050008663803312,-2.1946318828449756],[0.06949991430239878,-2.178010467616279]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_23","position":[0.05097563781215897,1.4056831927894073,0.71338606911949],"aabb_xy":[[0.0185139369302315,1.3755503606745045],[0.0834373386940864,1.4358160249043097]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_24","position":[-0.6030764090735843,0.8225537908732741,0.71338606911949],"aabb_xy":[[-0.6530712420015259,0.7725537919780306],[-0.5530815761456427,0.8725537897685177]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_25","position":[-0.4241306405613499,-1.3748015112860084,0.71338606911949],"aabb_xy":[[-0.4591306397541682,-1.3857685572836707],[-0.38913064136853165,-1.3638344652883456]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_26","position":[-0.5309577144825429,-1.959779027051964,0.71338606911949],"aabb_xy":[[-0.5762363293636921,-2.023779026400147],[-0.48567909960139355,-1.89577902770378]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_27","position":[-0.08756049679555389,-1.265984687640337,0.71338606911949],"aabb_xy":[[-0.1515604932228758,-1.3131543114624336],[-0.023560500368232,-1.2188150638182407]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_28","position":[-0.518398952912295,1.509035030292258,0.71338606911949],"aabb_xy":[[-0.5223594366820293,1.5013671657067376],[-0.5144384691425606,1.5167028948777788]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_29","position":[-0.38555814394221755,-0.43651726147253544,0.71338606911949],"aabb_xy":[[-0.3935844145728435,-0.44526875644988806],[-0.3775318733115915,-0.42776576649518283]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_30","position":[-0.2860289075810221,1.273562607971178,0.71338606911949],"aabb_xy":[[-0.3360289089419093,1.2235847033957623],[-0.23602890622013487,1.3235405125465936]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_31","position":[0.36899068428713244,-1.1715798117297218,0.71338606911949],"aabb_xy":[[0.3561187807861923,-1.2515798121435577],[0.3818625877880726,-1.0915798113158854]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_32","position":[0.25082040954249596,0.9962058117009773,0.71338606911949],"aabb_xy":[[0.24212244725178067,0.9840808373935026],[0.25951837183321125,1.008330786008452]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_33","position":[-0.47791358904898,1.244068303056038,0.71338606911949],"aabb_xy":[[-0.500412724775207,1.221568302277775],[-0.45541445332275304,1.266568303834301]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6874501913917043,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2671.png","name":"2671"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2671.png","name":"2671"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3635.png","name":"3635"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8869.png","name":"8869"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3063.png","name":"3063"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3742.png","name":"3742"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":521.8614346171233,"rotation_z_degrees":309.2830642645721,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012199375155592797,-0.001157277779189201,-0.014989654460508635]},{"name":"camera_2","offset_m":[0.019420702033578586,-0.014912167884013337,0.001572926304228478]},{"name":"camera_3","offset_m":[0.006502350406325793,-0.015652554885644713,0.015464246523258184]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0018818254276069296,0.00020547203977039873,-0.000310914045855145],"end_effector_yaw_offset_degrees":0.6250768452747522},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0017528703695491132,0.0015920953217669707,-0.0009290182392524527],"end_effector_yaw_offset_degrees":0.48624988492110166},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0017915476197174862,0.0013743719767802792,-0.0007540089402760315],"end_effector_yaw_offset_degrees":0.59621639828524},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00015997325496983463,-3.564675588949191e-05,-0.0019178387707772231],"end_effector_yaw_offset_degrees":-0.2426070974844794}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[1.8328486741436834e-05,-0.0008494281974350338],"position_m":[0.21361832848674145,-0.05454942819743503,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0030078918081963535,-0.00214187397567281],"position_m":[0.24609210819180363,-0.38554187397567286,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0038325541377438642,0.00430222953545602],"position_m":[0.14433255413774387,0.23900222953545602,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00353603197211515,-0.002949641760226117],"position_m":[0.3571360319721152,0.11425035823977388,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"506dd9c20bb955e734f3852faf6b06bf7456078dfd753081f4becb073f65dde6","episode_index":77,"episode_name":"episode_0077"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0077.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_2671/tex_ceiling_textures_3742/tex_floor_textures_3063/tex_table_textures_3635/tex_wall_textures_8869","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":7016319688507304344,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":7016319688507304344,"visual_seed":7016319688507304344,"scene_id":"lab_003","finished_at":"2026-09-05T22:35:24"} +{"episode_id":"ep_000074","started_at":"2026-09-05T22:35:28","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_0","position":[-0.16399182871211615,-2.1206527639909294,0.71338606911949],"aabb_xy":[[-0.17333883629441138,-2.1349563862085734],[-0.15464482112982092,-2.1063491417732854]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_1","position":[-0.38756662524960783,-2.078581580052467,0.71338606911949],"aabb_xy":[[-0.42256662351972774,-2.085655707747455],[-0.35256662697948793,-2.0715074523574786]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_2","position":[-0.6072962975150492,1.394668647187745,0.71338606911949],"aabb_xy":[[-0.6322962970667877,1.3845261633226102],[-0.5822962979633107,1.4048111310528797]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_3","position":[-0.6813263946344252,0.006259651041044645,0.71338606911949],"aabb_xy":[[-0.686908066268554,-0.006240348776730851],[-0.6757447230002964,0.01875965085882014]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_4","position":[0.3519329788577956,-1.1409618432966826,0.71338606911949],"aabb_xy":[[0.33637720944753036,-1.1565122765410898],[0.3674887482680609,-1.1254114100522754]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_5","position":[-0.381701249668328,1.3424029089068519,0.71338606911949],"aabb_xy":[[-0.40954628644893515,1.3116184101685402],[-0.3538562128877209,1.3731874076451636]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_6","position":[0.48355518901148087,1.3237104838802316,0.71338606911949],"aabb_xy":[[0.4524082701678977,1.2537104851934242],[0.514702107855064,1.3937104825670386]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_7","position":[0.6607615240220672,-2.1530257620427333,0.71338606911949],"aabb_xy":[[0.5967615218016602,-2.197398846168022],[0.7247615262424743,-2.1086526779174455]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_8","position":[-0.6638818794507523,-1.2046032626728096,0.71338606911949],"aabb_xy":[[-0.6711431270211596,-1.2173902729363193],[-0.6566206318803449,-1.1918162524093003]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_9","position":[-0.5433745624233061,-1.884850309303495,0.71338606911949],"aabb_xy":[[-0.5933738375917422,-1.9348503105794423],[-0.4933752872548699,-1.834850308027548]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_10","position":[0.4508497293051661,-1.869499847424881,0.71338606911949],"aabb_xy":[[0.3808497328952042,-1.8899377830765625],[0.5208497257151277,-1.849061911773199]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_11","position":[0.6490836521431431,0.943945998489125,0.71338606911949],"aabb_xy":[[0.5939584465135522,0.8839459970478378],[0.7042088577727338,1.0039459999304121]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_12","position":[0.11067240506489129,-2.495083249958841,0.71338606911949],"aabb_xy":[[0.050672403421969436,-2.547083399250785],[0.17067240670781314,-2.4430831006668967]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_13","position":[-0.5502114649652852,1.128072713709705,0.71338606911949],"aabb_xy":[[-0.5607789446233842,1.1175276835966963],[-0.5396439853071862,1.1386177438227134]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_14","position":[-0.24898534541127554,-2.1413241586718836,0.71338606911949],"aabb_xy":[[-0.26486983867660063,-2.155677098970708],[-0.23310085214595033,-2.1269712183730594]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_15","position":[0.28328840099532204,-2.3578413836266843,0.71338606911949],"aabb_xy":[[0.2657884007359855,-2.371932925815458],[0.3007884012546587,-2.3437498414379125]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_16","position":[-0.47975384754206274,0.5649045998082158,0.71338606911949],"aabb_xy":[[-0.5447538486480061,0.5399392267400875],[-0.4147538464361195,0.5898699728763441]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_17","position":[0.1461406666349624,-0.882238188732104,0.71338606911949],"aabb_xy":[[0.1282715588805069,-0.896071096709315],[0.16400977438941788,-0.8684052807548931]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_18","position":[-0.3006051780728305,1.606920605690847,0.71338606911949],"aabb_xy":[[-0.3806051783464374,1.5339710578651302],[-0.22060517779922348,1.6798701535165637]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_19","position":[0.26095367539835,-1.5486326759321039,0.71338606911949],"aabb_xy":[[0.2521516200893773,-1.5564440020870327],[0.2697557307073227,-1.5408213497771746]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_20","position":[-0.3719232387397205,-1.9685696507662584,0.71338606911949],"aabb_xy":[[-0.4062395159143384,-2.018569650739436],[-0.3376069615651025,-1.9185696507930805]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_21","position":[0.01101972528290962,1.3852785301411408,0.71338606911949],"aabb_xy":[[-0.023571357571135598,1.3202785298561095],[0.04561080813695483,1.4502785304261716]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_22","position":[-0.08310967220751186,-1.7947341696742354,0.71338606911949],"aabb_xy":[[-0.16310967437027435,-1.874689353300379],[-0.0031096700447493797,-1.7147789860480918]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_23","position":[-0.6400447377417133,-2.0832106538291657,0.71338606911949],"aabb_xy":[[-0.6652655746015529,-2.108434404682052],[-0.6148239008818736,-2.0579869029762787]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_24","position":[0.5266646861830027,0.4038663147985808,0.71338606911949],"aabb_xy":[[0.5187414059442543,0.38136631456057746],[0.534587966421751,0.4263663150365842]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_25","position":[-0.378772331470523,0.46765733263373344,0.71338606911949],"aabb_xy":[[-0.3939445007521564,0.45248847570553],[-0.36360016218888974,0.48282618956193674]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6887931716928873,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4288.png","name":"4288"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4288.png","name":"4288"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1935.png","name":"1935"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2140.png","name":"2140"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9275.png","name":"9275"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7216.png","name":"7216"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":830.3951971932485,"rotation_z_degrees":308.241210990926,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.002031329950067041,0.016940492725151243,-0.010869362439542125]},{"name":"camera_2","offset_m":[-0.010837032744851056,0.01602854468336824,-0.0032104317898227486]},{"name":"camera_3","offset_m":[0.012810981057749266,0.014196222528678758,-0.0064489516173981305]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00023256864787049364,-0.00021353356537027503,7.571162924478302e-05],"end_effector_yaw_offset_degrees":0.5259322122350056},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0006419669603716339,9.52747212138675e-06,-0.0018316826807831977],"end_effector_yaw_offset_degrees":-0.21208385828740517},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0013331312146411018,0.0011226741801150723,-0.0012937602387913185],"end_effector_yaw_offset_degrees":-0.5586322708202962},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-1.534087692039261e-05,0.0011984411666955616,0.0015353567030900713],"end_effector_yaw_offset_degrees":-0.10399928450254325}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0018639354715727142,0.003927850701776629],"position_m":[0.2117360645284273,-0.04977214929822337,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001575513173305404,-0.0024215297366489363],"position_m":[0.2475244868266946,-0.38582152973664896,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0003979692630446188,0.003675839112960852],"position_m":[0.1401020307369554,0.23837583911296084,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004176307202026059,0.003135145743417775],"position_m":[0.3577763072020261,0.12033514574341778,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"44d971968982c0d3ca263988c8d0e44127fa4cd295eef2caaac80cd36956f706","episode_index":78,"episode_name":"episode_0078"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0078.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_4288/tex_ceiling_textures_7216/tex_floor_textures_9275/tex_table_textures_1935/tex_wall_textures_2140","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":6541411606689559276,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":6541411606689559276,"visual_seed":6541411606689559276,"scene_id":"lab_003","finished_at":"2026-09-05T22:38:56"} +{"episode_id":"ep_000075","started_at":"2026-09-05T22:39:00","dimensions":{"distractor":{"count":24,"items":[{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_0","position":[0.32348789994400007,-1.0933889748259251,0.71338606911949],"aabb_xy":[[0.24348789667998688,-1.1069490071348385],[0.40348790320801314,-1.0798289425170118]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_1","position":[-0.03744402139673786,-1.9498562211643953,0.71338606911949],"aabb_xy":[[-0.07494402291236957,-1.9610829941805406],[5.598011889385024e-05,-1.9386294481482504]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_2","position":[-0.27210345641263706,0.32120557775150216,0.71338606911949],"aabb_xy":[[-0.3571034548300603,0.23633128228921718],[-0.18710345799521383,0.40607987321378713]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_3","position":[-0.6082229042824994,0.8220279785898046,0.71338606911949],"aabb_xy":[[-0.6432229025526192,0.8149538508948163],[-0.5732229060123794,0.8291021062847926]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_4","position":[0.47454835268358364,-1.3001448891307834,0.71338606911949],"aabb_xy":[[0.4370483541079628,-1.3128811847943411],[0.5120483512592043,-1.2874085934672252]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_5","position":[0.15694820173867174,-1.076675512453279,0.71338606911949],"aabb_xy":[[0.1426137766125083,-1.0887357280078178],[0.1712826268648352,-1.0646152968987401]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_6","position":[-0.6300586035992624,-1.2706054203809545,0.71338606911949],"aabb_xy":[[-0.6363707031356008,-1.2763723596341736],[-0.6237465040629241,-1.2648384811277358]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_7","position":[-0.1931926431353176,1.388725722892345,0.71338606911949],"aabb_xy":[[-0.19814866332019887,1.3662257226902235],[-0.18823662295043647,1.4112257230944667]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_8","position":[-0.6292999555160819,-0.629903750193104,0.71338606911949],"aabb_xy":[[-0.6663340649441416,-0.6642809575268133],[-0.5922658460880221,-0.5955265428593944]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_9","position":[-0.6460372545393869,0.9088496864183893,0.71338606911949],"aabb_xy":[[-0.6810372536693425,0.9031044653427251],[-0.6110372554094312,0.9145949074940534]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_10","position":[0.12215618202034417,-0.8258742941819461,0.71338606911949],"aabb_xy":[[0.11565454551233957,-0.835642116208256],[0.1286578185283488,-0.8161064721556365]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_11","position":[0.049260795191006124,0.8282117395341229,0.71338606911949],"aabb_xy":[[0.02542457755040107,0.7382117387256364],[0.0730970128316112,0.9182117403426094]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_12","position":[0.5652417642140559,-0.7695307560193185,0.71338606911949],"aabb_xy":[[0.495241760822494,-0.8048465297227494],[0.6352417676056179,-0.7342149823158877]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_13","position":[0.059992102952300286,-2.068144254840681,0.71338606911949],"aabb_xy":[[0.0525796474109118,-2.073995465262309],[0.06740455849368875,-2.0622930444190533]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_14","position":[0.09198423922422205,-2.3844491313832306,0.71338606911949],"aabb_xy":[[0.056984239328203186,-2.39282336689517],[0.12698423912024093,-2.37607489587129]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_15","position":[-0.27200537340683545,-2.3360237768884833,0.71338606911949],"aabb_xy":[[-0.2807193424567698,-2.3585237775476706],[-0.26329140435690085,-2.313523776229294]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_16","position":[-0.4864786258038281,-1.0208334107188926,0.71338606911949],"aabb_xy":[[-0.49589610037369086,-1.0302495878566114],[-0.47706115123396536,-1.0114172335811733]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_17","position":[-0.5741863671118802,-1.7421407146333592,0.71338606911949],"aabb_xy":[[-0.6541863650926653,-1.7497422555952111],[-0.4941863691310952,-1.7345391736715072]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_18","position":[0.4180212446991731,-2.1985677730806015,0.71338606911949],"aabb_xy":[[0.33802124422895724,-2.2068784806949497],[0.49802124516938917,-2.190257065466253]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_19","position":[-0.6420865699088393,-1.1964816702352865,0.71338606911949],"aabb_xy":[[-0.6795865707008347,-1.2028495111934765],[-0.6045865691168438,-1.1901138292770965]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_20","position":[0.3499770998331573,1.1577091532448072,0.71338606911949],"aabb_xy":[[0.2699770976703948,1.0777539696186635],[0.42997710199591976,1.2376643368709508]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_21","position":[-0.3610150235381968,1.2620664980466563,0.71338606911949],"aabb_xy":[[-0.3810734351514371,1.2420014111374988],[-0.3409566119249565,1.2821315849558137]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_22","position":[-0.04600814160361144,-0.9429081553181802,0.71338606911949],"aabb_xy":[[-0.0960081428874514,-0.9928870097088023],[0.003991859680228526,-0.8929293009275581]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_23","position":[0.2335337953914779,1.0277164726392276,0.71338606911949],"aabb_xy":[[0.22869020063024798,1.0228648201602435],[0.23837739015270792,1.0325681251182117]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6855879826455596,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3824.png","name":"3824"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3824.png","name":"3824"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1940.png","name":"1940"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5899.png","name":"5899"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8155.png","name":"8155"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1049.png","name":"1049"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":543.1645972710182,"rotation_z_degrees":317.33573231535553,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010377462573685353,-0.004289421371358116,-0.008004665492449993]},{"name":"camera_2","offset_m":[0.015191276994051903,0.012882916014583096,-0.00483895534473267]},{"name":"camera_3","offset_m":[0.01493021912511638,-0.007158944966699865,0.011386961845971436]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0012790570439250135,0.0004479155248963318,0.0009456430941928466],"end_effector_yaw_offset_degrees":-0.22942031206754088},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0006098247054415764,-0.0013383953977447636,0.001922927021213633],"end_effector_yaw_offset_degrees":0.21350499204366868},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0018819832661248642,-0.001317103266318789,0.0010543789672280892],"end_effector_yaw_offset_degrees":-0.5927188536923931},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0004471661657430763,-1.2973939108096733e-05,-0.0004516695101011972],"end_effector_yaw_offset_degrees":0.7128030699712256}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003602668672878809,-0.003143619171413089],"position_m":[0.21720266867287882,-0.05684361917141309,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003419242708588832,0.0005765781655101302],"position_m":[0.24568075729141114,-0.38282342183448986,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002309856594945917,-0.0028684903630157477],"position_m":[0.14280985659494594,0.23183150963698423,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0027203891533742718,-0.002188505167413768],"position_m":[0.3508796108466258,0.11501149483258623,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c93d041e9d1a6d5c06c21f0eb5a6534e1184312532ea07b47ee746d53b3b7e6f","episode_index":79,"episode_name":"episode_0079"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0079.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_3824/tex_ceiling_textures_1049/tex_floor_textures_8155/tex_table_textures_1940/tex_wall_textures_5899","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":9173452897052618499,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":9173452897052618499,"visual_seed":9173452897052618499,"scene_id":"lab_003","finished_at":"2026-09-05T22:42:22"} +{"episode_id":"ep_000076","started_at":"2026-09-05T22:42:26","dimensions":{"distractor":{"count":28,"items":[{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_0","position":[0.6303121751907983,0.51541950260714,0.71338606911949],"aabb_xy":[[0.5503121766034789,0.43610390066897914],[0.7103121737781177,0.5947351045453009]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_1","position":[0.058741941655926944,-1.1726976915402085,0.71338606911949],"aabb_xy":[[0.0426800141974093,-1.2576976933528001],[0.07480386911444459,-1.0876976897276165]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_2","position":[-0.4971740791044934,-0.47176153181057856,0.71338606911949],"aabb_xy":[[-0.5521478011408263,-0.5267615313748117],[-0.4422003570681605,-0.41676153224634543]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_3","position":[-0.3448174907889509,-0.9166053194632524,0.71338606911949],"aabb_xy":[[-0.3614946267820464,-0.9333052434371826],[-0.3281403547958554,-0.899905395489322]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_4","position":[0.580458395741206,-0.40778095576515927,0.71338606911949],"aabb_xy":[[0.5304795872308901,-0.4577809557708781],[0.6304372042515218,-0.35778095575944047]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_5","position":[-0.6085039112563062,1.2430821153050315,0.71338606911949],"aabb_xy":[[-0.663497122593443,1.188082114966238],[-0.5535106999191695,1.2980821156438251]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_6","position":[-0.19793775826028415,-1.4540238262625744,0.71338606911949],"aabb_xy":[[-0.21138428489432748,-1.4674936779156653],[-0.18449123162624081,-1.440553974609483]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_7","position":[-0.26773422435798233,0.49439677651115366,0.71338606911949],"aabb_xy":[[-0.27909595901126844,0.48302831010486563],[-0.2563724897046961,0.5057652429174417]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_8","position":[-0.08921545690665067,1.7458118932638391,0.71338606911949],"aabb_xy":[[-0.1442154551083955,1.7052899266374015],[-0.03421545870490584,1.7863338598902767]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_9","position":[-0.03274513068501461,-1.6126697511572763,0.71338606911949],"aabb_xy":[[-0.09674512985478456,-1.6594364382762388],[0.031254868484755324,-1.5659030640383138]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_10","position":[0.5809622413061823,-1.7506611934986713,0.71338606911949],"aabb_xy":[[0.5434622413624159,-1.7589542835335077],[0.6184622412499488,-1.7423681034638345]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_11","position":[-0.5617196009320886,0.008315983861141962,0.71338606911949],"aabb_xy":[[-0.5735916839435897,-0.07668401583250839],[-0.5498475179205875,0.09331598355479231]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_12","position":[-0.6360598818573162,1.0582234097557084,0.71338606911949],"aabb_xy":[[-0.685876661322151,1.008223411271405],[-0.5862431023924815,1.1082234082400118]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_13","position":[-0.27189490042072234,-0.35460730919268135,0.71338606911949],"aabb_xy":[[-0.27735284605774235,-0.43460731250034046],[-0.2664369547837022,-0.27460730588502225]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_14","position":[0.22826381812072927,-0.6943262441569122,0.71338606911949],"aabb_xy":[[0.14826382071713579,-0.7743188153550952],[0.3082638155243226,-0.6143336729587295]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_15","position":[0.22967520251872342,0.9807168029997668,0.71338606911949],"aabb_xy":[[0.14967520555568423,0.9036411613559933],[0.3096751994817626,1.0577924446435403]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_16","position":[0.012812001552076069,1.6355576653836033,0.71338606911949],"aabb_xy":[[-0.02468799911250263,1.6198706073833806],[0.050312002216654765,1.651244723383825]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_17","position":[0.3258536052327943,1.4719484708210477,0.71338606911949],"aabb_xy":[[0.31270235926150497,1.4469484710643614],[0.3390048512040837,1.4969484705777345]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_18","position":[0.47646433237948327,1.0000083707509666,0.71338606911949],"aabb_xy":[[0.46704685780962046,0.9905921936132474],[0.48588180694934596,1.0094245478886854]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_19","position":[0.4646692263091756,0.1093117222184592,0.71338606911949],"aabb_xy":[[0.4582554126659906,0.10290190197079083],[0.4710830399523605,0.11572154246612751]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_20","position":[0.5568156153751518,0.26163242820124566,0.71338606911949],"aabb_xy":[[0.5335337731770204,0.17663242690401756],[0.5800974575732831,0.34663242949847367]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_21","position":[-0.5055493257900833,-0.67375452091948,0.71338606911949],"aabb_xy":[[-0.5695493243766557,-0.7207614843189887],[-0.4415493272035108,-0.6267475575199712]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_22","position":[-0.23353968859268426,-1.7917622767630994,0.71338606911949],"aabb_xy":[[-0.29753968589503066,-1.836128703730956],[-0.16953969129033786,-1.7473958497952424]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_23","position":[0.6398916185314576,0.818925139614672,0.71338606911949],"aabb_xy":[[0.5758916221041358,0.7717555157925756],[0.7038916149587796,0.8660947634367685]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_24","position":[0.21529326863584264,-2.3982578372445933,0.71338606911949],"aabb_xy":[[0.1302932702184194,-2.4831321327068783],[0.30029326705326587,-2.3133835417823083]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_25","position":[-0.17301648160655214,0.28272621236943696,0.71338606911949],"aabb_xy":[[-0.23701648482519,0.23600310047042866],[-0.10901647838791428,0.32944932426844536]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_26","position":[0.4153809606889518,-1.6168866319250401,0.71338606911949],"aabb_xy":[[0.3809184826758639,-1.623550309107963],[0.44984343870203947,-1.6102229547421172]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_27","position":[-0.48406199699003694,-0.9650034025223326,0.71338606911949],"aabb_xy":[[-0.5065619965137442,-0.9874993499729533],[-0.4615619974663295,-0.9425074550717117]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6924636043190853,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8700.png","name":"8700"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8700.png","name":"8700"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8546.png","name":"8546"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5499.png","name":"5499"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5909.png","name":"5909"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3011.png","name":"3011"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":845.7437036402863,"rotation_z_degrees":305.2093253249955,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.000318157121527194,-0.004218385502480274,-0.008635509882816712]},{"name":"camera_2","offset_m":[-0.003179011762959375,0.01741918012539916,0.01087490836370155]},{"name":"camera_3","offset_m":[0.008309623742612082,-0.006557201256316692,0.009990006951238296]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0011433129333267024,-0.0005173154997882422,-0.0001711341579866126],"end_effector_yaw_offset_degrees":0.7293199850480807},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00021194507794384436,0.0017881332320149731,-0.000997969540532554],"end_effector_yaw_offset_degrees":0.3924392056108743},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0007155716105792746,-0.001663794446641241,0.0018078708313854133],"end_effector_yaw_offset_degrees":0.49497401826107734},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00020664267225692606,-0.0005528301689175126,-0.001209681364284977],"end_effector_yaw_offset_degrees":-0.6048603724970985}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004975723368021619,-0.0018048572309411646],"position_m":[0.21857572336802164,-0.05550485723094116,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0012404493440198797,-0.004809455814009938],"position_m":[0.2503404493440199,-0.38820945581400995,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.002481860738568854,0.0006826869397679207],"position_m":[0.13801813926143117,0.2353826869397679,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0018698394652986094,0.0031997095165307654],"position_m":[0.35546983946529864,0.12039970951653077,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f4c22617b9cf8398218a60d6d639e2706ebf786ced51fe2714050449a1524201","episode_index":80,"episode_name":"episode_0080"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0080.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_8700/tex_ceiling_textures_3011/tex_floor_textures_5909/tex_table_textures_8546/tex_wall_textures_5499","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":5808868485154276438,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":5808868485154276438,"visual_seed":5808868485154276438,"scene_id":"lab_003","finished_at":"2026-09-05T22:45:52"} +{"episode_id":"ep_000077","started_at":"2026-09-05T22:45:55","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_0","position":[0.09474094052049231,-2.382775386656159,0.71338606911949],"aabb_xy":[[0.02474093712893034,-2.41809116035959],[0.1647409439120543,-2.3474596129527283]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_1","position":[-0.4158357107279191,-1.1593554476097647,0.71338606911949],"aabb_xy":[[-0.5058357074635293,-1.212538910927059],[-0.3258357139923088,-1.10617198429247]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_2","position":[0.21579506205123633,1.0507696287915924,0.71338606911949],"aabb_xy":[[0.16798889443746767,0.9857696260845334],[0.263601229665005,1.1157696314986514]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_3","position":[-0.4135009360518407,-0.4914695833033429,0.71338606911949],"aabb_xy":[[-0.44694111124786023,-0.524913209134273],[-0.380060760855821,-0.4580259574724128]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_4","position":[0.48398264716811146,-1.6365545336949783,0.71338606911949],"aabb_xy":[[0.44898264803815574,-1.6422997547706424],[0.5189826462980671,-1.6308093126193142]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_5","position":[-0.614446040156457,1.3361525435946549,0.71338606911949],"aabb_xy":[[-0.6639264613704158,1.272152545681803],[-0.5649656189424982,1.4001525415075067]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_6","position":[-0.3050551936652467,-1.6188432319468415,0.71338606911949],"aabb_xy":[[-0.3690551960080482,-1.663784083190974],[-0.2410551913224451,-1.573902380702709]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_7","position":[0.11999581836080675,-1.703114904436306,0.71338606911949],"aabb_xy":[[0.09753104838940162,-1.7256149053151666],[0.14246058833221187,-1.6806149035574456]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_8","position":[-0.375170735255531,-0.8551353027447777,0.71338606911949],"aabb_xy":[[-0.3807524068896597,-0.8676353025625531],[-0.3695890636214022,-0.8426353029270021]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_9","position":[-0.27357291332878303,0.4282080666900234,0.71338606911949],"aabb_xy":[[-0.2799867269719679,0.42179824644235503],[-0.26715909968559803,0.4346178869376917]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_10","position":[-0.5384976535525023,-1.526974036040017,0.71338606911949],"aabb_xy":[[-0.5476575324963789,-1.5335052540835539],[-0.5293377746086257,-1.5204428179964797]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_11","position":[-0.60899735959329,0.6794259312763864,0.71338606911949],"aabb_xy":[[-0.6264973588713769,0.6620878312100406],[-0.5914973603152032,0.6967640313427325]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_12","position":[0.4724417092169684,-1.0611219578936457,0.71338606911949],"aabb_xy":[[0.4643280545435912,-1.0692277743476748],[0.4805553638903454,-1.0530161414396166]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_13","position":[-0.45344019857293394,-0.06104307123733488,0.71338606911949],"aabb_xy":[[-0.5034190070832498,-0.11104307124305368],[-0.40346139006261805,-0.011043071231616068]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_14","position":[-0.27834458269507417,-2.0553441302235957,0.71338606911949],"aabb_xy":[[-0.34834458482650366,-2.0781060958492907],[-0.20834458056364458,-2.0325821645979]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_15","position":[-0.20428897197982093,1.7730394240217433,0.71338606911949],"aabb_xy":[[-0.2742889737885664,1.7516856552575562],[-0.13428897017107552,1.794393192785931]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_16","position":[-0.3017516913717804,0.5775137274867248,0.71338606911949],"aabb_xy":[[-0.3196207991262358,0.5636808195095138],[-0.2838825836173248,0.5913466354639356]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_17","position":[0.4504027185371393,-0.9228741561440155,0.71338606911949],"aabb_xy":[[0.38640272125149067,-0.9643808750968594],[0.514402715822788,-0.8813674371911715]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_18","position":[-0.04235581094868035,1.0233802150276365,0.71338606911949],"aabb_xy":[[-0.06735581050041883,1.0132377311625018],[-0.017355811396941867,1.0335226988927713]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_19","position":[-0.5837183928725275,-1.6179033405610868,0.71338606911949],"aabb_xy":[[-0.6637183915294135,-1.6324081994853494],[-0.5037183942156415,-1.603398481636824]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_20","position":[0.57122534414855,-1.505074092850054,0.71338606911949],"aabb_xy":[[0.5537253450141828,-1.5149537198876415],[0.5887253432829171,-1.4951944658124658]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6884807491990104,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5978.png","name":"5978"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5978.png","name":"5978"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3239.png","name":"3239"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3986.png","name":"3986"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2737.png","name":"2737"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/439.png","name":"439"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":582.329184554451,"rotation_z_degrees":59.58412941994798,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0029796384633665636,0.015007139897063555,-0.011369611434312206]},{"name":"camera_2","offset_m":[0.005757283968560824,-0.017832902938694828,0.01759544886300077]},{"name":"camera_3","offset_m":[-0.003895810073757996,0.0038267744226849892,0.019397400548978216]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[4.961388584473524e-05,0.0012799156057191124,-0.0014299762326766227],"end_effector_yaw_offset_degrees":0.13262257041989556},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0012480893654221643,0.0009238577112884289,0.0006171115989750276],"end_effector_yaw_offset_degrees":0.5603265754238269},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0004996105166870726,-0.0013763850406406696,-0.0006644450636482256],"end_effector_yaw_offset_degrees":0.04067278174817979},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0011652455560426894,0.0016335216205295234,-2.5970362094915843e-05],"end_effector_yaw_offset_degrees":-0.26366566454176676}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0006545332804383363,-0.0005956722389551285],"position_m":[0.2129454667195617,-0.05429567223895512,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0014949920592945412,0.0027234691438539193],"position_m":[0.25059499205929453,-0.3806765308561461,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002331614914684592,0.004272781267643252],"position_m":[0.1428316149146846,0.23897278126764324,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0036855652834054805,0.004844271359415225],"position_m":[0.3572855652834055,0.12204427135941523,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8278992af55ca2adb46156f6edc46014c4f97a48adedea39dcbec84e099c1ba9","episode_index":81,"episode_name":"episode_0081"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0081.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_5978/tex_ceiling_textures_439/tex_floor_textures_2737/tex_table_textures_3239/tex_wall_textures_3986","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":8263277318938027598,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":8263277318938027598,"visual_seed":8263277318938027598,"scene_id":"lab_003","finished_at":"2026-09-05T22:49:22"} +{"episode_id":"ep_000078","started_at":"2026-09-05T22:49:26","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_0","position":[-0.032891835510875156,-1.839446480076012,0.71338606911949],"aabb_xy":[[-0.0750762496717059,-1.9034464803532234],[0.009292578649955585,-1.775446479798801]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_1","position":[-0.33568831292625234,0.7766984242794122,0.71338606911949],"aabb_xy":[[-0.3532666151151992,0.7591239347053074],[-0.3181100107373055,0.7942729138535172]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_2","position":[0.49460909171223544,1.6960754616551488,0.71338606911949],"aabb_xy":[[0.43961684107672455,1.6410754599118362],[0.5496013423477464,1.7510754633984618]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_3","position":[-0.4053776552909953,-0.2994942707520889,0.71338606911949],"aabb_xy":[[-0.43984013330408306,-0.30615794793501167],[-0.3709151772779075,-0.292830593569166]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_4","position":[0.19179271210755022,1.28319733118283,0.71338606911949],"aabb_xy":[[0.15429271161019198,1.2792286476347114],[0.22929271260490847,1.2871660147309485]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_5","position":[-0.3153451976485233,-1.3908624637017635,0.71338606911949],"aabb_xy":[[-0.3793451949341719,-1.4323691826546074],[-0.2513452003628746,-1.3493557447489195]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_6","position":[0.6285926868115645,0.517220393052825,0.71338606911949],"aabb_xy":[[0.578619392808304,0.4672203924982776],[0.6785659808148249,0.5672203936073723]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_7","position":[0.10890695763384295,-1.6330102024477169,0.71338606911949],"aabb_xy":[[0.09374408465690587,-1.648175659742836],[0.12406983061078004,-1.6178447451525986]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_8","position":[0.3198327585119134,-2.355563894714864,0.71338606911949],"aabb_xy":[[0.27484017179346293,-2.400563893989313],[0.36482534523036375,-2.3105638954404153]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_9","position":[0.24258176396420028,-1.250033726471166,0.71338606911949],"aabb_xy":[[0.1785817622862029,-1.2985511179504803],[0.30658176564219763,-1.2015163349918518]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_10","position":[-0.1635250921166509,-1.0762017406021036,0.71338606911949],"aabb_xy":[[-0.2535250915350218,-1.1095772374462933],[-0.07352509269827998,-1.0428262437579139]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_11","position":[-0.29359712840649016,1.4900189433016524,0.71338606911949],"aabb_xy":[[-0.3309284049317328,1.4553658885068004],[-0.2562658518812475,1.5246719980965049]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_12","position":[-0.28958962824677825,-2.2996621959106323,0.71338606911949],"aabb_xy":[[-0.32458962743959646,-2.3106292419082948],[-0.25458962905395993,-2.2886951499129697]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_13","position":[-0.10715793221837788,-1.4761775016951915,0.71338606911949],"aabb_xy":[[-0.12843594036185013,-1.5411775040212643],[-0.08587992407490562,-1.4111774993691182]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_14","position":[0.5438556410202318,-1.6399776898833371,0.71338606911949],"aabb_xy":[[0.5361524503461547,-1.6476870605820753],[0.5515588316943086,-1.632268319184599]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_15","position":[-0.05605686777251839,-2.500281424499755,0.71338606911949],"aabb_xy":[[-0.07392597552697389,-2.514114332476966],[-0.03818776001806289,-2.486448516522544]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_16","position":[-0.4339817425736388,-1.4901427226578352,0.71338606911949],"aabb_xy":[[-0.4410231935243863,-1.4971694743956299],[-0.4269402916228911,-1.4831159709200405]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_17","position":[0.13254430743906354,1.587742141402027,0.71338606911949],"aabb_xy":[[0.10469927065845641,1.5569576426637153],[0.16038934421967066,1.6185266401403386]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_18","position":[0.1691793416793308,-2.1182865104901962,0.71338606911949],"aabb_xy":[[0.16096479656364676,-2.1269631007878367],[0.17739388679501472,-2.109609920192554]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_19","position":[-0.41289072338052274,-2.3463621366441836,0.71338606911949],"aabb_xy":[[-0.4503907231975563,-2.3510003479553254],[-0.3753907235634892,-2.3417239253330417]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_20","position":[-0.020164839716487193,0.8708901206315471,0.71338606911949],"aabb_xy":[[-0.08416483997695799,0.8258813212786191],[0.043835160543983606,0.9158989199844751]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_21","position":[-0.1312915178674059,-0.4343138880425763,0.71338606911949],"aabb_xy":[[-0.1681420658043935,-0.47181388886561],[-0.09444096993041828,-0.3968138872195425]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_22","position":[0.17090816503006645,-1.0126936587172974,0.71338606911949],"aabb_xy":[[0.1159149536929297,-1.0676936590560913],[0.22590137636720323,-0.9576936583785041]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_23","position":[-0.3665328094336003,-1.960051521830661,0.71338606911949],"aabb_xy":[[-0.3741570775237786,-1.967684745367205],[-0.3589085413434221,-1.9524182982941176]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_24","position":[0.6400132047234302,-2.2123313705554213,0.71338606911949],"aabb_xy":[[0.5760132015047924,-2.2590544824544296],[0.7040132079420681,-2.165608258656413]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_25","position":[-0.6388786068313486,-0.048114143923138286,0.71338606911949],"aabb_xy":[[-0.6734696896853938,-0.11311414420816933],[-0.6042875239773033,0.016885856361892767]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_26","position":[0.45325758445534103,-0.5617857991153921,0.71338606911949],"aabb_xy":[[0.4157575832705482,-0.5662040218114524],[0.4907575856401338,-0.5573675764193313]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_27","position":[-0.47711301278892804,-0.105265622034179,0.71338606911949],"aabb_xy":[[-0.5071046755227984,-0.13526562137097953],[-0.4471213500550577,-0.07526562269737846]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_28","position":[-0.46689207821883444,0.8933637362555533,0.71338606911949],"aabb_xy":[[-0.516886911146776,0.8433637373603099],[-0.4168972452908928,0.943363735150797]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_29","position":[-0.5214588603318657,0.508923354075792,0.71338606911949],"aabb_xy":[[-0.571441810519345,0.45892335443323157],[-0.47147591014438633,0.5589233537183523]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_30","position":[-0.31503209748048316,-0.7691738857806054,0.71338606911949],"aabb_xy":[[-0.3199881176653644,-0.7916738859827273],[-0.31007607729560194,-0.7466738855784839]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6887015086725434,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5156.png","name":"5156"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5156.png","name":"5156"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9336.png","name":"9336"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/409.png","name":"409"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5271.png","name":"5271"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6468.png","name":"6468"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":559.5052134759176,"rotation_z_degrees":123.71030489622868,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01497556541288465,-0.009416326111569227,0.011215804258088088]},{"name":"camera_2","offset_m":[-0.007214268290188288,-0.00036516033967112435,-0.003837538699060866]},{"name":"camera_3","offset_m":[0.005192687781775635,0.010555459383511753,-0.007475229474663428]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0002732493009426945,-0.00024722054291149835,-0.0007815324286765458],"end_effector_yaw_offset_degrees":-0.5068938423985603},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.001103000934050137,-0.0011834264274259607,-0.00015362797840578818],"end_effector_yaw_offset_degrees":0.1285417399752744},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0005702613247507049,0.00035222374014386507,-0.0017124118049730447],"end_effector_yaw_offset_degrees":-0.8339751718978723},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0005588762539494654,-0.0017160949680226692,0.001343937862976086],"end_effector_yaw_offset_degrees":-0.64371523134671}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0036306391433007846,0.0031760038750447235],"position_m":[0.20996936085669923,-0.05052399612495528,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002332440960451412,-0.0033753726675201804],"position_m":[0.24676755903954858,-0.3867753726675202,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0010973786419286868,-0.002257380194640579],"position_m":[0.1415973786419287,0.2324426198053594,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.000572276303003794,3.92034722365717e-05],"position_m":[0.3541722763030038,0.11723920347223657,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"dd6a63327c3d91a931932f4f9533a966c6ead58446ee6380e8f45c566c69f902","episode_index":82,"episode_name":"episode_0082"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0082.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_5156/tex_ceiling_textures_6468/tex_floor_textures_5271/tex_table_textures_9336/tex_wall_textures_409","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":3661002035665626374,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":3661002035665626374,"visual_seed":3661002035665626374,"scene_id":"lab_003","finished_at":"2026-09-05T22:52:58"} +{"episode_id":"ep_000079","started_at":"2026-09-05T22:53:02","dimensions":{"distractor":{"count":23,"items":[{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_0","position":[0.06149680143171432,1.6145929074457102,0.71338606911949],"aabb_xy":[[0.04632463215008098,1.5994240505175068],[0.07666897071334766,1.6297617643739135]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_1","position":[0.6981248816613965,-1.1323571848175253,0.71338606911949],"aabb_xy":[[0.688043174582823,-1.2123571827096395],[0.70820658873997,-1.0523571869254102]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_2","position":[-0.6309620925027417,-2.1281570195432784,0.71338606911949],"aabb_xy":[[-0.6382233400731492,-2.140944029806788],[-0.6237008449323342,-2.115370009279769]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_3","position":[-0.5592781052760076,1.3828940516687012,0.71338606911949],"aabb_xy":[[-0.5710462920706652,1.2978940517634796],[-0.5475099184813501,1.4678940515739227]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_4","position":[-0.46456266097989446,-1.3459943816927633,0.71338606911949],"aabb_xy":[[-0.47398013554975715,-1.3554105588304821],[-0.45514518641003165,-1.336578204555044]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_5","position":[-0.24723599124897805,-2.3560021573719627,0.71338606911949],"aabb_xy":[[-0.32723599267910525,-2.4355193123845718],[-0.16723598981885085,-2.276485002359353]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_6","position":[0.2955563310056114,-0.7892195675910092,0.71338606911949],"aabb_xy":[[0.20586925469749595,-0.8792195678454596],[0.38524340731372686,-0.6992195673365585]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_7","position":[-0.05078658170624906,0.3330450458098615,0.71338606911949],"aabb_xy":[[-0.06865568946070455,0.31921213783265057],[-0.03291747395179356,0.3468779537870724]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_8","position":[0.47879293885327545,-1.9734897934137914,0.71338606911949],"aabb_xy":[[0.47345536318727083,-1.9984897943429314],[0.48413051451927996,-1.9484897924846518]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_9","position":[-0.18155252731308047,-1.8754447054961085,0.71338606911949],"aabb_xy":[[-0.1992281579016788,-1.8931249217755113],[-0.16387689672448214,-1.8577644892167058]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_10","position":[-0.4672740893904534,-2.2055288891822844,0.71338606911949],"aabb_xy":[[-0.4897388593618585,-2.2280288900611445],[-0.4448093194190483,-2.1830288883034235]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_11","position":[0.1311542969378774,-1.6794817542104097,0.71338606911949],"aabb_xy":[[0.12625500463131387,-1.7071586735129785],[0.13605358924444086,-1.651804834907841]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_12","position":[0.040969603462166715,1.097577271537428,0.71338606911949],"aabb_xy":[[-0.023030395124405745,1.050570308137919],[0.10496960204873917,1.1445842349369364]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_13","position":[-0.4064228053295986,1.0596043988442339,0.71338606911949],"aabb_xy":[[-0.4283314874689497,1.037703732024143],[-0.38451412319024764,1.0815050656643244]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_14","position":[-0.6160685226155856,-1.6398039730277274,0.71338606911949],"aabb_xy":[[-0.6269201288644614,-1.6506632637553782],[-0.6052169163667102,-1.6289446823000762]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_15","position":[0.6148934022538157,-0.22904629297443657,0.71338606911949],"aabb_xy":[[0.6109795290583933,-0.2377953083809933],[0.6188072754492382,-0.22029727756787978]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_16","position":[-0.2560641200355047,-1.011109457504727,0.71338606911949],"aabb_xy":[[-0.30123543788367374,-1.0751094546492654],[-0.2108928021873358,-0.9471094603601886]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_17","position":[0.48889167586062854,-1.7903703797469963,0.71338606911949],"aabb_xy":[[0.40889167787984354,-1.7979719207088483],[0.5688916738414136,-1.7827688387851444]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_18","position":[0.5786062368249649,0.8173452681269677,0.71338606911949],"aabb_xy":[[0.5705699021236801,0.8093071488225508],[0.5866425715262498,0.8253833874313844]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_19","position":[0.10788667039391764,-1.4611799826971748,0.71338606911949],"aabb_xy":[[0.07748855929477404,-1.491586884698844],[0.1382847814930612,-1.430773080695505]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_20","position":[-0.3799387989807658,-0.06846318486149716,0.71338606911949],"aabb_xy":[[-0.3886367612714812,-0.08058815916897188],[-0.3712408366900506,-0.05633821055402244]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_21","position":[0.5815507822919657,-1.5377723758061363,0.71338606911949],"aabb_xy":[[0.5115507804832202,-1.5591261445703235],[0.6515507841007111,-1.5164186070419488]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_22","position":[-0.23751409621479752,0.9126414229721611,0.71338606911949],"aabb_xy":[[-0.27501409700679297,0.9062735820139711],[-0.20001409542280207,0.9190092639303513]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6905897668506017,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7271.png","name":"7271"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7271.png","name":"7271"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/512.png","name":"512"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/642.png","name":"642"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9058.png","name":"9058"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8804.png","name":"8804"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":769.2594716044518,"rotation_z_degrees":71.52404487749406,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019508242528485004,0.008604342703590916,0.010794657427587815]},{"name":"camera_2","offset_m":[-0.00475194579417213,-0.014857271432770403,0.0006817213465950961]},{"name":"camera_3","offset_m":[-0.019228137473011317,0.002648665130707252,-0.0012270368198871694]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0003262042264738263,-0.001828489857822341,-0.0017545216179331287],"end_effector_yaw_offset_degrees":0.15370717197975847},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0009042019665362218,0.0006012356544667112,0.0009647021777691111],"end_effector_yaw_offset_degrees":0.2819961879840871},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0011156192840835926,0.0006221454257940126,-0.0004986504103249216],"end_effector_yaw_offset_degrees":0.3671912678006459},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00030032194895045715,0.0016184058750357611,-0.001455229310030215],"end_effector_yaw_offset_degrees":-0.2535164010276729}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0029196129567292334,-0.00077455950289623],"position_m":[0.21651961295672925,-0.05447455950289623,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0011350990760941636,-0.0016140515866789017],"position_m":[0.25023509907609415,-0.3850140515866789,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0032885777288016783,0.001904040159563641],"position_m":[0.13721142227119834,0.23660404015956363,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0015304994475628998,-0.004716966493077504],"position_m":[0.35206950055243713,0.1124830335069225,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f7facf090ac7ef4121c0953839fb560547f926719ad5cd7907af4f984a716b08","episode_index":83,"episode_name":"episode_0083"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0083.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_7271/tex_ceiling_textures_8804/tex_floor_textures_9058/tex_table_textures_512/tex_wall_textures_642","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":4389592239401673950,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":4389592239401673950,"visual_seed":4389592239401673950,"scene_id":"lab_003","finished_at":"2026-09-05T22:56:21"} +{"episode_id":"ep_000080","started_at":"2026-09-05T22:56:24","dimensions":{"distractor":{"count":29,"items":[{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_0","position":[0.6932455624926159,0.7449584832208362,0.71338606911949],"aabb_xy":[[0.6680247256327762,0.7197347323679494],[0.7184663993524555,0.7701822340737229]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_1","position":[-0.5541970518810786,-0.1291650208928532,0.71338606911949],"aabb_xy":[[-0.5916970533967102,-0.14039179390899825],[-0.5166970503654468,-0.11793824787670815]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_2","position":[-0.052431696418031914,-1.4386399448774891,0.71338606911949],"aabb_xy":[[-0.11643169558780186,-1.4854066319964518],[0.01156830275173802,-1.3918732577585269]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_3","position":[-0.5221809439867013,0.6404107710436273,0.71338606911949],"aabb_xy":[[-0.5303954891023852,0.6317341807459859],[-0.5139663988710172,0.6490873613412685]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_4","position":[-0.2842504749903096,-2.1171839935084784,0.71338606911949],"aabb_xy":[[-0.2907521114983142,-2.1269518155347886],[-0.27774883848230497,-2.107416171482169]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_5","position":[-0.6600092077294738,-1.5234608301895547,0.71338606911949],"aabb_xy":[[-0.6641450640621741,-1.5609608296339117],[-0.6558733513967737,-1.4859608307451977]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_6","position":[0.6674258954885572,0.5785890908946532,0.71338606911949],"aabb_xy":[[0.6495567877341017,0.5647561829174422],[0.6852950032430127,0.5924219988718641]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_7","position":[0.607440571770548,-2.315117229792953,0.71338606911949],"aabb_xy":[[0.5424405691327544,-2.3665968284923995],[0.6724405744083414,-2.2636376310935056]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_8","position":[0.16556137800120974,-2.110718271541421,0.71338606911949],"aabb_xy":[[0.14967688473588456,-2.125071211840245],[0.18144587126653486,-2.0963653312425974]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_9","position":[-0.37525695374039125,-2.3613370144237082,0.71338606911949],"aabb_xy":[[-0.41275695408861895,-2.3731284100047914],[-0.33775695339216344,-2.3495456188426243]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_10","position":[-0.5132096628378067,-1.5921001252722782,0.71338606911949],"aabb_xy":[[-0.5332680744510468,-1.6121652121814356],[-0.49315125122456627,-1.5720350383631208]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_11","position":[-0.36079158125318644,0.12334606453352048,0.71338606911949],"aabb_xy":[[-0.4068766725079179,0.05934606728096537],[-0.31470648999845496,0.1873460617860756]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_12","position":[0.023502733424111577,1.7492115607402696,0.71338606911949],"aabb_xy":[[-0.04049726695342204,1.6994662938894574],[0.0875027338016452,1.7989568275910819]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_13","position":[0.36342275214342434,-0.8375063825199536,0.71338606911949],"aabb_xy":[[0.34587605722730536,-0.8750063840842048],[0.3809694470595432,-0.8000063809557023]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_14","position":[-0.18757015593316806,-0.8233429414449898,0.71338606911949],"aabb_xy":[[-0.2154151927137752,-0.8541274401833013],[-0.15972511915256096,-0.792558442706678]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_15","position":[-0.110397843068201,-0.6032988813009104,0.71338606911949],"aabb_xy":[[-0.1328978433117164,-0.6155035159606823],[-0.08789784282468559,-0.5910942466411384]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_16","position":[-0.18700969302499082,1.4678424940483663,0.71338606911949],"aabb_xy":[[-0.21697724993481646,1.4378424937504806],[-0.15704213611516513,1.497842494346252]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_17","position":[-0.6348773052785809,1.4054406478089412,0.71338606911949],"aabb_xy":[[-0.648108250813262,1.3922132287869415],[-0.6216463597438994,1.4186680668309404]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_18","position":[0.48076162084309293,-1.6255129640353339,0.71338606911949],"aabb_xy":[[0.41576161973714965,-1.650478337103462],[0.5457616219490362,-1.6005475909672053]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_19","position":[0.5310176118414658,-0.34974139149061756,0.71338606911949],"aabb_xy":[[0.49351761104947023,-0.35610923244880766],[0.5685176126334611,-0.34337355053242746]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_20","position":[0.5742151614967868,-1.8053181828890668,0.71338606911949],"aabb_xy":[[0.5192151632950419,-1.845840149515504],[0.6292151596985316,-1.7647962162626287]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_21","position":[0.2767606788040189,-1.1726167244179904,0.71338606911949],"aabb_xy":[[0.2676007998601423,-1.1791479424615274],[0.2859205577478955,-1.1660855063744533]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_22","position":[-0.2507287773972152,0.879783228211346,0.71338606911949],"aabb_xy":[[-0.34072877599168516,0.8635326418979251],[-0.16072877880274528,0.8960338145247672]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_23","position":[0.23213892767173983,-1.630240933656275,0.71338606911949],"aabb_xy":[[0.15213893065749182,-1.6503754853296864],[0.3121389246859878,-1.6101063819828638]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_24","position":[-0.4463123028026208,-1.325517564923035,0.71338606911949],"aabb_xy":[[-0.5359993791107363,-1.4155175651774856],[-0.3566252264945053,-1.2355175646685845]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_25","position":[0.4295258828101618,0.8346628707214769,0.71338606911949],"aabb_xy":[[0.41944417573158826,0.7546628728293622],[0.4396075898887352,0.9146628686135915]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_26","position":[-0.369155887054618,1.667658372036168,0.71338606911949],"aabb_xy":[[-0.44915588445821136,1.5876658008379851],[-0.2891558896510245,1.7476509432343508]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_27","position":[0.7089374163180233,-0.8413072638139159,0.71338606911949],"aabb_xy":[[0.6985258576375396,-0.8466529971498141],[0.719348974998507,-0.8359615304780171]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_28","position":[-0.40870317434680425,-1.7156739210926892,0.71338606911949],"aabb_xy":[[-0.4737031725027233,-1.7419701656426014],[-0.3437031761908852,-1.689377676542777]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6910789342667952,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8415.png","name":"8415"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8415.png","name":"8415"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5072.png","name":"5072"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3205.png","name":"3205"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4544.png","name":"4544"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5775.png","name":"5775"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":632.350334527998,"rotation_z_degrees":134.32088532969667,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007904737857419573,0.019108574466747987,0.00706873321618464]},{"name":"camera_2","offset_m":[0.010695763113755339,-0.008680313693203582,-0.016025243568636625]},{"name":"camera_3","offset_m":[-0.0010307313340877922,0.019559047514293885,-0.012263645572045552]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0006324332210868025,0.0003046983933289089,0.0013197279788203192],"end_effector_yaw_offset_degrees":-0.46397439885645175},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0010664202641608557,-0.0017887925491375243,-0.001940240926701899],"end_effector_yaw_offset_degrees":0.8161361957348927},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0009229063793288702,-0.0009499383235441927,0.0016269530560295742],"end_effector_yaw_offset_degrees":0.8195667785751422},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0018185418578989115,-0.0013819715747119985,-0.0006482529064799141],"end_effector_yaw_offset_degrees":0.2608343196460159}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004111164995512885,0.0012522542387518121],"position_m":[0.20948883500448712,-0.052447745761248186,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004157146144610183,0.002037265851395127],"position_m":[0.25325714614461015,-0.3813627341486049,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0032490362235359175,0.0013073462746077055],"position_m":[0.1372509637764641,0.2360073462746077,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00010454194294890265,0.00360898789386],"position_m":[0.3537045419429489,0.12080898789385999,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"61bdd8858136ccb27d67f9b22078fd80ea404a4d7f2e3aa31b230d20b096d2b5","episode_index":84,"episode_name":"episode_0084"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0084.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_8415/tex_ceiling_textures_5775/tex_floor_textures_4544/tex_table_textures_5072/tex_wall_textures_3205","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":2368962120530720961,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":2368962120530720961,"visual_seed":2368962120530720961,"scene_id":"lab_003","finished_at":"2026-09-05T22:59:49"} +{"episode_id":"ep_000081","started_at":"2026-09-05T22:59:53","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_0","position":[-0.39486281222323705,-0.7948902961910085,0.71338606911949],"aabb_xy":[[-0.45886281292670644,-0.8409086786639296],[-0.3308628115197677,-0.7488719137180875]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_1","position":[-0.4460557271243726,1.37028161964473,0.71338606911949],"aabb_xy":[[-0.48105572847585426,1.349921883687909],[-0.4110557257728908,1.3906413556015507]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_2","position":[0.005607996054137754,0.8822113749653258,0.71338606911949],"aabb_xy":[[-0.009947773356127513,0.8666609417209188],[0.02116376546440302,0.8977618082097332]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_3","position":[0.5035628513739194,0.29624863609556185,0.71338606911949],"aabb_xy":[[0.4998595900447805,0.29254661778684393],[0.5072661127030582,0.29995065440427965]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_4","position":[-0.4401528963137035,0.28408227015358545,0.71338606911949],"aabb_xy":[[-0.4901528976745908,0.23410436557816985],[-0.39015289495281635,0.33406017472900107]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_5","position":[0.16646606817344223,1.4833529406031682,0.71338606911949],"aabb_xy":[[0.1024660648837341,1.4400180215992504],[0.23046607146315032,1.5266878596070856]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_6","position":[0.21717703681748945,-0.9508413528128603,0.71338606911949],"aabb_xy":[[0.18271468941934763,-0.9853352352106828],[0.2516393842156312,-0.9163474704150374]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_7","position":[-0.22512723485837016,-2.461377132733665,0.71338606911949],"aabb_xy":[[-0.23325492305168338,-2.470290741144373],[-0.21699954666505694,-2.4524635243229573]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_8","position":[-0.5684926745620222,-0.7047672609771805,0.71338606911949],"aabb_xy":[[-0.5934926744945402,-0.7116499291981038],[-0.5434926746295045,-0.6978845927562571]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_9","position":[-0.42425424548646434,-2.1550597285696003,0.71338606911949],"aabb_xy":[[-0.4322482340641677,-2.16305980866469],[-0.4162602569087609,-2.1470596484745097]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_10","position":[0.5750601865495955,-0.7504761643514282,0.71338606911949],"aabb_xy":[[0.5110601848715981,-0.7989935558307423],[0.6390601882275928,-0.7019587728721138]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_11","position":[0.6310585048666597,1.61139835278875,0.71338606911949],"aabb_xy":[[0.6024091725062433,1.5827527935116743],[0.6597078372270757,1.640043912065826]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_12","position":[0.6623056996978369,1.763653444475032,0.71338606911949],"aabb_xy":[[0.6344606629172298,1.7328689457367206],[0.690150736478444,1.794437943213344]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_13","position":[-0.3412762233476609,-1.0392405653390513,0.71338606911949],"aabb_xy":[[-0.4012762242084736,-1.0906669953455375],[-0.28127622248684797,-0.9878141353325648]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_14","position":[-0.5288471689394998,-1.7478534935351147,0.71338606911949],"aabb_xy":[[-0.536890528865455,-1.8328534946304809],[-0.5208038090135446,-1.662853492439748]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_15","position":[0.12857285552250297,-1.3473026314970242,0.71338606911949],"aabb_xy":[[0.09411037750941517,-1.353966308679947],[0.16303533353559072,-1.340638954314101]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_16","position":[0.6094523363730393,-1.8506387667134987,0.71338606911949],"aabb_xy":[[0.5494523357770231,-1.9054512392587222],[0.6694523369690555,-1.7958262941682752]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_17","position":[-0.39699598159450444,-2.0952322337905165,0.71338606911949],"aabb_xy":[[-0.4016310967467377,-2.099099568867665],[-0.392360866442271,-2.0913648987133673]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_18","position":[0.6031504770398377,-0.5240080866151393,0.71338606911949],"aabb_xy":[[0.5981944568549566,-0.546508086817261],[0.608106497224719,-0.5015080864130178]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_19","position":[0.02959099022029421,-1.0439705774330914,0.71338606911949],"aabb_xy":[[0.015256565094130755,-1.0560307929876303],[0.043925415346457664,-1.0319103618785526]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_20","position":[-0.07948911580875595,-1.5015394219308806,0.71338606911949],"aabb_xy":[[-0.14348911606922674,-1.5465482212838086],[-0.015489115548285136,-1.4565306225779526]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_21","position":[-0.3147648822007146,-1.7854872618006972,0.71338606911949],"aabb_xy":[[-0.3947648854647277,-1.7990472941096105],[-0.23476487893670145,-1.7719272294917838]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_22","position":[0.09632788403498926,-2.4394463408223634,0.71338606911949],"aabb_xy":[[0.0843951496731612,-2.451828493630223],[0.10826061839681733,-2.427064188014504]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_23","position":[0.6268588737465843,1.2188837194976108,0.71338606911949],"aabb_xy":[[0.5718666231110735,1.163883717754298],[0.6818511243820954,1.2738837212409235]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_24","position":[-0.015877213559178593,-2.221765454829673,0.71338606911949],"aabb_xy":[[-0.0533772150748103,-2.232992227845818],[0.021622787956453116,-2.210538681813528]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_25","position":[-0.32171719068058563,-1.3826722825749864,0.71338606911949],"aabb_xy":[[-0.3867171917865289,-1.407637655643115],[-0.25671718957464235,-1.3577069095068584]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6918573042534236,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2782.png","name":"2782"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2782.png","name":"2782"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4677.png","name":"4677"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4526.png","name":"4526"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3661.png","name":"3661"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9357.png","name":"9357"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":571.7355172061433,"rotation_z_degrees":339.3134546035324,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013763787980689928,0.015709177057277122,-0.009138507089367774]},{"name":"camera_2","offset_m":[0.011185631680494905,-0.01363018359349602,0.007152119590616141]},{"name":"camera_3","offset_m":[0.005903402534380181,0.007457166400277455,-0.018358299499376028]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0011664099445002135,-0.0016088014700242912,-0.0003996060321445954],"end_effector_yaw_offset_degrees":0.16773744790326828},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0006005419966705556,0.0017568357658285703,0.0017483377782225224],"end_effector_yaw_offset_degrees":-0.06748534708677978},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0009235425498994262,-0.0008313335163339488,0.0007592639125553612],"end_effector_yaw_offset_degrees":-0.8224838950246833},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0016390768099236244,-0.0008796190883039042,-0.000368609490590162],"end_effector_yaw_offset_degrees":0.5918937213916373}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0004279111775234981,-0.003042394318712731],"position_m":[0.2131720888224765,-0.05674239431871273,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001161457643289657,-0.0038439347934723644],"position_m":[0.25026145764328966,-0.3872439347934724,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0007879261940545281,0.001073117696563949],"position_m":[0.1397120738059455,0.23577311769656395,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004216311885699489,0.0006363434874161137],"position_m":[0.3578163118856995,0.11783634348741612,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"94fae08e2876b4b6ac1bc01be1c00ff1ca18eefe471cfd3a632febfd0ac9f0f8","episode_index":85,"episode_name":"episode_0085"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0085.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_2782/tex_ceiling_textures_9357/tex_floor_textures_3661/tex_table_textures_4677/tex_wall_textures_4526","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":760069745845518948,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":760069745845518948,"visual_seed":760069745845518948,"scene_id":"lab_003","finished_at":"2026-09-05T23:03:12"} +{"episode_id":"ep_000082","started_at":"2026-09-05T23:03:17","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_0","position":[-0.5054755141140903,-1.4078217312406793,0.71338606911949],"aabb_xy":[[-0.5694712115091868,-1.471821729541388],[-0.4414798167189936,-1.3438217329399706]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_1","position":[-0.1428173337997477,1.7060171694571653,0.71338606911949],"aabb_xy":[[-0.16781733335148616,1.6958746855920306],[-0.11781733424800919,1.7161596533223]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_2","position":[-0.5632219895048983,-2.16564064797823,0.71338606911949],"aabb_xy":[[-0.5882219894374163,-2.172523316199153],[-0.5382219895723805,-2.158757979757307]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_3","position":[0.5755541898175773,-0.4808288500996465,0.71338606911949],"aabb_xy":[[0.5055541880088319,-0.5021826188638339],[0.6455541916263228,-0.45947508133545906]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_4","position":[0.461443865770115,-0.63265651135367,0.71338606911949],"aabb_xy":[[0.4161652508889657,-0.6966565107018536],[0.5067224806512642,-0.5686565120054863]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_5","position":[-0.5759548877043491,0.0002925196509306893,0.71338606911949],"aabb_xy":[[-0.5838781679430975,-0.02220748058707267],[-0.5680316074656009,0.02279251988893405]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_6","position":[0.6360844897281586,-2.3064591272788726,0.71338606911949],"aabb_xy":[[0.6115382741054077,-2.3367080238279097],[0.6606307053509092,-2.2762102307298355]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_7","position":[-0.3041027352516176,-1.3313472798247592,0.71338606911949],"aabb_xy":[[-0.39410273497479176,-1.3544206323599386],[-0.21410273552844342,-1.308273927289579]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_8","position":[-0.49187319263347723,-2.3696992876497713,0.71338606911949],"aabb_xy":[[-0.5418724678019133,-2.4196992889257185],[-0.4418739174650411,-2.319699286373824]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_9","position":[-0.43217226281710547,1.5278474472929688,0.71338606911949],"aabb_xy":[[-0.4664691738348461,1.4935505610830278],[-0.39787535179936484,1.5621443335029104]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_10","position":[-0.14853739064978788,-1.4358504175541291,0.71338606911949],"aabb_xy":[[-0.1655474879398385,-1.451984906052403],[-0.1315272933597372,-1.4197159290558552]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_11","position":[-0.5337718185961191,-1.236693348257319,0.71338606911949],"aabb_xy":[[-0.5712718190934772,-1.2406620318054373],[-0.49627181809876075,-1.2327246647092007]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_12","position":[0.5946139474011833,-1.420022480095342,0.71338606911949],"aabb_xy":[[0.5873316310245196,-1.5100224837048506],[0.6018962637778469,-1.3300224764858326]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_13","position":[0.4582333770766749,-2.099651912285526,0.71338606911949],"aabb_xy":[[0.4489397588395243,-2.13715191077366],[0.46752699531382547,-2.062151913797392]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_14","position":[-0.32601949047370177,1.3369815787176003,0.71338606911949],"aabb_xy":[[-0.34351949073303845,1.3228900365288276],[-0.3085194902143652,1.3510731209063729]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_15","position":[-0.3281889966906024,0.6928875914028141,0.71338606911949],"aabb_xy":[[-0.3527026207876083,0.6686229981007776],[-0.30367537259359656,0.7171521847048505]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_16","position":[-0.4579639338282502,-0.6078242597214696,0.71338606911949],"aabb_xy":[[-0.5229639349341935,-0.6327896327895979],[-0.3929639327223069,-0.5828588866533413]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_17","position":[0.5222785098929301,-1.1683764737937756,0.71338606911949],"aabb_xy":[[0.4970576730330903,-1.193600224646662],[0.5474993467527696,-1.1431527229408884]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_18","position":[-0.1737302317382785,-0.3845160884044563,0.71338606911949],"aabb_xy":[[-0.22370329727079402,-0.4345160882169892],[-0.12375716620576308,-0.3345160885919234]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_19","position":[0.14859152942506149,-1.8030480198616894,0.71338606911949],"aabb_xy":[[0.0985915281412215,-1.8530268742523113],[0.19859153070890143,-1.753069165471067]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_20","position":[0.6261471179067342,-2.4829987308967287,0.71338606911949],"aabb_xy":[[0.5461471176331271,-2.5559482787224455],[0.706147118180341,-2.410049183071012]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6874657951094889,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7574.png","name":"7574"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7574.png","name":"7574"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8595.png","name":"8595"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2878.png","name":"2878"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/469.png","name":"469"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5080.png","name":"5080"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":621.7865688300137,"rotation_z_degrees":202.30586294811582,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004095798358015802,0.0031051737788688645,0.008188863552639983]},{"name":"camera_2","offset_m":[-0.01778869276588302,0.0069620915749278554,0.010100565853673943]},{"name":"camera_3","offset_m":[0.019218439462221914,0.01984604720676574,0.005627770973761288]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0001894120331017977,0.0011514314420304856,9.768665262469955e-06],"end_effector_yaw_offset_degrees":-0.6994571751834697},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0007580491212352651,0.0004254454551409774,0.0012322014264040762],"end_effector_yaw_offset_degrees":-0.7574872149772789},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0008927604619599445,0.0016633077618640412,-8.826771455782193e-05],"end_effector_yaw_offset_degrees":-0.16903675359298842},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006134746353293865,-0.0018371746402963455,-0.0018177821678468722],"end_effector_yaw_offset_degrees":-0.16901396187252127}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0018839636244144331,-0.0021627910705711273],"position_m":[0.21548396362441444,-0.05586279107057113,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0010791524777838835,0.003933209394099082],"position_m":[0.2501791524777839,-0.37946679060590094,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0011528700152986016,0.00150661095207352],"position_m":[0.13934712998470142,0.23620661095207351,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0018402456881651853,-0.0028839940955757417],"position_m":[0.35544024568816524,0.11431600590442426,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"df960f427057f4fb594b89fc5171c732cc4b10ae445297cf7bfd14e98890dceb","episode_index":86,"episode_name":"episode_0086"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0086.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_7574/tex_ceiling_textures_5080/tex_floor_textures_469/tex_table_textures_8595/tex_wall_textures_2878","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":1746873001667157103,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":1746873001667157103,"visual_seed":1746873001667157103,"scene_id":"lab_003","finished_at":"2026-09-05T23:06:34"} +{"episode_id":"ep_000083","started_at":"2026-09-05T23:06:39","dimensions":{"distractor":{"count":27,"items":[{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_0","position":[0.18735695583301248,1.5602213372745264,0.71338606911949],"aabb_xy":[[0.14985695548478473,1.5484299416934426],[0.22485695618124024,1.5720127328556097]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_1","position":[0.1903877376147577,0.8182615000651827,0.71338606911949],"aabb_xy":[[0.1728877373554211,0.8041699578764103],[0.20788773787409437,0.8323530422539556]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_2","position":[-0.2919531823207764,1.2038621090596777,0.71338606911949],"aabb_xy":[[-0.33975934993454504,1.1388621063526188],[-0.24414701470700773,1.2688621117667367]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_3","position":[-0.022562621412393846,-0.9017683281595379,0.71338606911949],"aabb_xy":[[-0.08256262166379502,-0.9560496531960023],[0.03743737883900733,-0.847487003123073]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_4","position":[-0.45678507380055544,-2.487010454261847,0.71338606911949],"aabb_xy":[[-0.5367850707635946,-2.56408609590562],[-0.3767850768375163,-2.409934812618073]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_5","position":[0.47615250017651034,-0.5992419568176024,0.71338606911949],"aabb_xy":[[0.41215249947304106,-0.6452603392905235],[0.5401525008799797,-0.5532235743446815]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_6","position":[-0.4107093977315117,1.0620160284305742,0.71338606911949],"aabb_xy":[[-0.423336185018708,1.052469954729001],[-0.3980826104443153,1.0715621021321469]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_7","position":[-0.6127157661950877,-2.12562837004477,0.71338606911949],"aabb_xy":[[-0.6767157634974341,-2.169994797012626],[-0.5487157688927413,-2.0812619430769126]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_8","position":[0.4219935862401727,-2.3996310416999824,0.71338606911949],"aabb_xy":[[0.4132123590929365,-2.408410788988513],[0.430774813387409,-2.3908512944114526]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_9","position":[0.06273574234175616,-1.6571882055812612,0.71338606911949],"aabb_xy":[[0.04605860634866066,-1.6738881295551915],[0.07941287833485167,-1.640488281607331]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_10","position":[-0.5950451786105961,1.1080370848329744,0.71338606911949],"aabb_xy":[[-0.6079170821115362,1.028037084419138],[-0.5821732751096559,1.1880370852468103]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_11","position":[-0.4608983466065824,1.3396952914159708,0.71338606911949],"aabb_xy":[[-0.4983983467784543,1.3069945560330634],[-0.4233983464347104,1.3723960267988777]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_12","position":[0.3806611974550671,-1.59601245052214,0.71338606911949],"aabb_xy":[[0.34634492028044916,-1.6460124504953177],[0.41497747462968504,-1.5460124505489623]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_13","position":[-0.2472930792026593,-0.6665473521554843,0.71338606911949],"aabb_xy":[[-0.31129307648830795,-0.7080540711083283],[-0.18329308191701066,-0.6250406332026404]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_14","position":[0.1954934676135781,-1.8876574761804106,0.71338606911949],"aabb_xy":[[0.1846418613647025,-1.8985167669080616],[0.2063450738624537,-1.8767981854527596]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_15","position":[-0.22668253109940012,-1.7475066808640225,0.71338606911949],"aabb_xy":[[-0.2353804933901154,-1.7596316551714972],[-0.21798456880868483,-1.7353817065565478]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_16","position":[0.5973281451730195,1.7114031667365235,0.71338606911949],"aabb_xy":[[0.5855599583783619,1.626403166831302],[0.609096331967677,1.796403166641745]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_17","position":[0.47942972759152447,-2.3392626130939806,0.71338606911949],"aabb_xy":[[0.4730159139483395,-2.3456724333416488],[0.48584354123470935,-2.3328527928463116]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_18","position":[0.5430466652142649,0.7488423287789985,0.71338606911949],"aabb_xy":[[0.47804666425713765,0.6968941168452929],[0.608046666171392,0.8007905407127041]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_19","position":[0.22231600972027232,-1.0914326767469733,0.71338606911949],"aabb_xy":[[0.13262893341215687,-1.1814326770014238],[0.3120030860283878,-1.0014326764925228]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_20","position":[-0.039779845258615554,1.0248764384418676,0.71338606911949],"aabb_xy":[[-0.10377984563614917,0.9751311715910553],[0.024220155118918063,1.0746217052926799]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_21","position":[0.5938827709456922,-0.2751294894640157,0.71338606911949],"aabb_xy":[[0.508882772528269,-0.3600037849263007],[0.6788827693631154,-0.19025519400173074]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_22","position":[-0.07596021751636128,-2.2354977981565516,0.71338606911949],"aabb_xy":[[-0.15596021549714634,-2.2430993391184035],[0.004039780464423755,-2.2278962571946996]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_23","position":[-0.3379398643532818,-0.03797078217681493,0.71338606911949],"aabb_xy":[[-0.3456430550273588,-0.04568015287555294],[-0.33023667367920473,-0.030261411478076927]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_24","position":[-0.25983131395872233,0.9606180749961788,0.71338606911949],"aabb_xy":[[-0.2749336154197403,0.9455165533651166],[-0.24472901249770415,0.9757195966272403]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_25","position":[-0.5598779764967894,-0.36430141050073495,0.71338606911949],"aabb_xy":[[-0.5948779748074847,-0.37201642542428065],[-0.5248779781860938,-0.35658639557718935]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_26","position":[0.49486462759915173,1.5317041413787424,0.71338606911949],"aabb_xy":[[0.4048646281807809,1.4983286445345525],[0.5848646270175226,1.565079638222932]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6863479689881591,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7960.png","name":"7960"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7960.png","name":"7960"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3808.png","name":"3808"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/462.png","name":"462"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9059.png","name":"9059"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6214.png","name":"6214"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":828.8092000419073,"rotation_z_degrees":299.02220743229697,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00947253708765727,-0.01606033056214097,-0.004377636285070978]},{"name":"camera_2","offset_m":[-0.003717003960159615,0.009963509779278575,-0.01365789146503725]},{"name":"camera_3","offset_m":[-0.007496193921389982,0.014944765068461218,0.00789674155323217]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00153662247367205,0.0014293334509655918,0.0013685235667853916],"end_effector_yaw_offset_degrees":-0.611372032216865},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0014605156319194598,0.0011043901888127291,-0.00027459910293698136],"end_effector_yaw_offset_degrees":-0.581178234502022},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0005393882559804699,0.0018666743534084531,-0.0016625106268933019],"end_effector_yaw_offset_degrees":0.7120728676533923},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0005313384803672318,0.00020621330169624764,0.0017432412424221613],"end_effector_yaw_offset_degrees":-0.5631056029207078}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00047215757404807726,-0.004699250879042513],"position_m":[0.2140721575740481,-0.05839925087904251,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0006071943563010721,0.0034133114363444758],"position_m":[0.2484928056436989,-0.37998668856365553,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0048421376659534806,0.0007034773418644266],"position_m":[0.1453421376659535,0.23540347734186443,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00411450483328538,-0.0031488650330456546],"position_m":[0.3494854951667146,0.11405113496695435,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e96c26781ef3b41d96df23ba5839bf03bba7ae74ea711625aed0c0d261ca4f9a","episode_index":87,"episode_name":"episode_0087"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0087.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_7960/tex_ceiling_textures_6214/tex_floor_textures_9059/tex_table_textures_3808/tex_wall_textures_462","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":1081797071045279520,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":1081797071045279520,"visual_seed":1081797071045279520,"scene_id":"lab_003","finished_at":"2026-09-05T23:10:11"} +{"episode_id":"ep_000084","started_at":"2026-09-05T23:10:14","dimensions":{"distractor":{"count":32,"items":[{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_0","position":[-0.03051944889991476,1.339177660753557,0.71338606911949],"aabb_xy":[[-0.05301944871381714,1.3347030443830763],[-0.008019449086012376,1.3436522771240378]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_1","position":[0.23250437476605446,-2.1940910941913456,0.71338606911949],"aabb_xy":[[0.18253130923353902,-2.244091094003879],[0.28247744029856997,-2.144091094378813]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_2","position":[-0.3109206989210805,1.181853298409059,0.71338606911949],"aabb_xy":[[-0.3241516444557617,1.1686258793870594],[-0.29768975338639914,1.1950807174310583]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_3","position":[-0.6333445508087971,-0.3683143480112703,0.71338606911949],"aabb_xy":[[-0.6708445519935898,-0.37273257070733073],[-0.5958445496240042,-0.3638961253152097]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_4","position":[-0.4733282521727453,-2.171330976090088,0.71338606911949],"aabb_xy":[[-0.5194133434274768,-2.2353309733426427],[-0.42724316091801384,-2.1073309788375325]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_5","position":[-0.45692985535469766,-2.4476311225392218,0.71338606911949],"aabb_xy":[[-0.5022084702358469,-2.511631121887405],[-0.4116512404735484,-2.3836311231910376]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_6","position":[0.2586641660123028,0.5940052145180599,0.71338606911949],"aabb_xy":[[0.24260223855378513,0.509005212705468],[0.2747260934708204,0.6790052163306516]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_7","position":[-0.28223069178289695,-2.3428660456845214,0.71338606911949],"aabb_xy":[[-0.30473069179304524,-2.3569622653241247],[-0.25973069177274866,-2.328769826044918]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_8","position":[0.4971155149511923,0.297257730378524,0.71338606911949],"aabb_xy":[[0.43211551491688954,0.25055705369819664],[0.5621155149854951,0.3439584070588512]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_9","position":[0.4648481355685059,-2.256721680155147,0.71338606911949],"aabb_xy":[[0.4398481362965436,-2.2730670437513094],[0.4898481348404682,-2.2403763165589847]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_10","position":[0.6307388404960395,-0.9724597235439649,0.71338606911949],"aabb_xy":[[0.6024091305474992,-0.9769204657376821],[0.6590685504445797,-0.967998981350248]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_11","position":[0.008087967301741994,0.9820910837370365,0.71338606911949],"aabb_xy":[[-0.05591203000060441,0.9377246567691795],[0.0720879646040884,1.026457510704893]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_12","position":[-0.41613306703108777,0.03580549680971501,0.71338606911949],"aabb_xy":[[-0.4961330681042081,0.02602745047233057],[-0.33613306595796744,0.04558354314709945]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_13","position":[-0.4560170151559376,0.3933137493257308,0.71338606911949],"aabb_xy":[[-0.536017013743257,0.31399814738756987],[-0.37601701656861825,0.47262935126389166]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_14","position":[0.05486607001233279,-2.292549413201668,0.71338606911949],"aabb_xy":[[0.04523443379190316,-2.302186725981377],[0.0644977062327624,-2.2829121004219592]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_15","position":[-0.08003890736386554,-1.1598711660417207,0.71338606911949],"aabb_xy":[[-0.15003891075542747,-1.1951869397451516],[-0.010038903972303543,-1.1245553923382898]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_16","position":[0.23672673896777674,1.3555605259886279,0.71338606911949],"aabb_xy":[[0.23126879333075664,1.2755605226809685],[0.24218468460479678,1.4355605292962867]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_17","position":[0.6495348769301446,-1.329434704922138,0.71338606911949],"aabb_xy":[[0.6413203318144605,-1.3381112952197791],[0.6577494220458284,-1.3207581146244964]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_18","position":[-0.1962501851448778,-1.884309840091152,0.71338606911949],"aabb_xy":[[-0.23187934104483754,-1.919942506848005],[-0.16062102924491806,-1.848677173334299]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_19","position":[-0.2169183831104572,0.7027376514010437,0.71338606911949],"aabb_xy":[[-0.29691838358067313,0.6944269437866953],[-0.13691838264024125,0.7110483590153921]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_20","position":[0.5779120013647643,-1.1554944849952122,0.71338606911949],"aabb_xy":[[0.569130774217528,-1.1642742322837427],[0.5866932285120006,-1.1467147377066826]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_21","position":[-0.6286648952762259,-1.2395443528034469,0.71338606911949],"aabb_xy":[[-0.6784816747410607,-1.2895443512877502],[-0.5788481158113912,-1.1895443543191435]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_22","position":[0.3939058974132885,1.3702115180619976,0.71338606911949],"aabb_xy":[[0.3589058975172696,1.3618372825500573],[0.42890589730930734,1.3785857535739374]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_23","position":[0.4595520175383383,-0.35620044713366905,0.71338606911949],"aabb_xy":[[0.4502583993011876,-0.3937004456218029],[0.46884563577548877,-0.3187004486455351]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_24","position":[-0.11855380655579495,-1.3995202995315883,0.71338606911949],"aabb_xy":[[-0.14105380607950233,-1.4220162469822089],[-0.09605380703208753,-1.3770243520809673]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_25","position":[-0.6046891724325656,0.11124330447707864,0.71338606911949],"aabb_xy":[[-0.6123923631066426,0.10353393377834062],[-0.5969859817584886,0.11895267517581663]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_26","position":[-0.6528167147269266,-1.4748840918182207,0.71338606911949],"aabb_xy":[[-0.6814660470873427,-1.5035296510952962],[-0.6241673823665103,-1.4462385325411447]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_27","position":[0.41896530089532047,1.5833332897625962,0.71338606911949],"aabb_xy":[[0.3953801774314256,1.5183332875171647],[0.4425504243592153,1.6483332920080283]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_28","position":[0.5059716001673975,-2.0044033779287576,0.71338606911949],"aabb_xy":[[0.49041583075713235,-2.0199538111731647],[0.5215273695776629,-1.9888529446843504]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_29","position":[0.5637881204208306,0.489593399580734,0.71338606911949],"aabb_xy":[[0.4837881217639446,0.47508854065647127],[0.6437881190777166,0.5040982585049969]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_30","position":[0.3560360959189812,0.7084796053389613,0.71338606911949],"aabb_xy":[[0.3260444331851109,0.6784796060021607],[0.38602775865285155,0.7384796046757618]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_31","position":[0.42824325867696356,1.7066339869545986,0.71338606911949],"aabb_xy":[[0.410812543597957,1.6893618722907475],[0.44567397375597,1.7239061016184491]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6886707029722287,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1091.png","name":"1091"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1091.png","name":"1091"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9952.png","name":"9952"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8423.png","name":"8423"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5724.png","name":"5724"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7245.png","name":"7245"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":826.0126176625844,"rotation_z_degrees":127.04093115369184,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01809420580855896,-0.006027119946004911,0.010067661047421943]},{"name":"camera_2","offset_m":[0.004151886941212952,0.019605362185274682,-0.012681805680127337]},{"name":"camera_3","offset_m":[-0.018496023250491295,-0.004150884759152908,0.011119952010188384]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0019587654968356754,-0.0016160496148954328,0.0010252044760528357],"end_effector_yaw_offset_degrees":-0.5847923909398958},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00036089039134830207,0.0005133871996708525,-0.0010120758718576597],"end_effector_yaw_offset_degrees":-0.8275697579281369},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0008277440177905716,0.0011653911245073506,0.00031858623816127677],"end_effector_yaw_offset_degrees":0.6027350203321595},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00027812150937668524,0.0008466065792696754,0.0013668097285380399],"end_effector_yaw_offset_degrees":0.3975978138648484}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0029269231736078895,-0.004909568816121456],"position_m":[0.21067307682639214,-0.058609568816121456,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0009055727639141658,0.0014941195324050995],"position_m":[0.25000557276391416,-0.38190588046759494,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.00044635991891537295,0.0015972539999263213],"position_m":[0.14094635991891538,0.23629725399992632,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004608190151545275,0.002978830611178437],"position_m":[0.3582081901515453,0.12017883061117844,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1350fdf89d02a869fe7b81ddc8bf72de9a16b82320d60e7151ce2bedf6ca2d3a","episode_index":88,"episode_name":"episode_0088"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0088.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_1091/tex_ceiling_textures_7245/tex_floor_textures_5724/tex_table_textures_9952/tex_wall_textures_8423","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":1596640195871224028,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":1596640195871224028,"visual_seed":1596640195871224028,"scene_id":"lab_003","finished_at":"2026-09-05T23:13:41"} +{"episode_id":"ep_000085","started_at":"2026-09-05T23:13:46","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_0","position":[0.5460108983644458,1.6623431720455,0.71338606911949],"aabb_xy":[[0.4959134343833722,1.5983431715356882],[0.5961083623455194,1.7263431725553118]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_1","position":[0.7118612416764538,1.6108984423578145,0.71338606911949],"aabb_xy":[[0.7012937620183548,1.600353412244806],[0.7224287213345528,1.621443472470823]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_2","position":[0.5896126190615141,0.5526222553847555,0.71338606911949],"aabb_xy":[[0.5196126169300844,0.5298602897590597],[0.6596126211929435,0.5753842210104511]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_3","position":[0.6735418377725582,-2.2356794728038754,0.71338606911949],"aabb_xy":[[0.6561111226935517,-2.2529515874677255],[0.6909725528515647,-2.2184073581400234]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_4","position":[-0.40059033024392626,0.068350275618549,0.71338606911949],"aabb_xy":[[-0.4180903295220131,0.051012175552203054],[-0.38309033096583933,0.08568837568489496]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_5","position":[-0.3081298826617168,0.8828144973879302,0.71338606911949],"aabb_xy":[[-0.37212988406970743,0.8310255458640053],[-0.24412988125372612,0.9346034489118548]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_6","position":[-0.19978915032922667,-2.3624738452308653,0.71338606911949],"aabb_xy":[[-0.21302009586390794,-2.3757012642528643],[-0.18655820479454535,-2.3492464262088655]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_7","position":[0.057722466940061334,1.6610118689553226,0.71338606911949],"aabb_xy":[[-0.022277531040723702,1.6534103279934707],[0.1377224649208464,1.6686134099171746]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_8","position":[-0.3813986255125275,-2.4904951786566487,0.71338606911949],"aabb_xy":[[-0.40431433839757747,-2.5133994757930727],[-0.3584829126274776,-2.4675908815202257]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_9","position":[-0.4402627940841693,1.2292198531060174,0.71338606911949],"aabb_xy":[[-0.4473042450349169,1.2221931013682232],[-0.4332213431334217,1.236246604843812]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_10","position":[-0.2958290435996245,-0.1466409691746242,0.71338606911949],"aabb_xy":[[-0.3101634687257879,-0.15870118472916306],[-0.281494618473461,-0.13458075362008537]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_11","position":[0.24207907413683327,-0.9595824800811728,0.71338606911949],"aabb_xy":[[0.19207907549091205,-1.0095020237406351],[0.29207907278275447,-0.9096629364217104]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_12","position":[-0.18931164740637985,-0.7157687502318302,0.71338606911949],"aabb_xy":[[-0.22681164582978017,-0.7289329641996606],[-0.15181164898297947,-0.7026045362639993]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_13","position":[0.32714710539052994,-1.5993810654143108,0.71338606911949],"aabb_xy":[[0.31986478901386617,-1.6893810690238193],[0.3344294217671935,-1.5093810618048014]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_14","position":[-0.6715323719858308,0.1389541830987837,0.71338606911949],"aabb_xy":[[-0.6934410541251819,0.11705351627869298],[-0.6496236898464798,0.16085484991887444]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_15","position":[-0.6428452630025046,-0.44317885560033643,0.71338606911949],"aabb_xy":[[-0.6803452628195381,-0.4478170669114782],[-0.605345263185471,-0.43854064428919454]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_16","position":[0.48462461121838984,0.23946237123958758,0.71338606911949],"aabb_xy":[[0.43853951996365825,0.1754623739870325],[0.5307097024731211,0.3034623684921427]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_17","position":[-0.24345344877244146,-2.4699107346604503,0.71338606911949],"aabb_xy":[[-0.2809534491206692,-2.4817021302415343],[-0.2059534484242137,-2.458119339079367]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_18","position":[0.41213975115396373,-0.9404494393174121,0.71338606911949],"aabb_xy":[[0.39325536738545364,-0.959335364097765],[0.43102413492247404,-0.9215635145370594]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_19","position":[0.5843180662758933,-1.9367452750897183,0.71338606911949],"aabb_xy":[[0.5343180652567581,-1.9732114908275464],[0.6343180672950286,-1.9002790593518906]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_20","position":[0.3198680537347518,-0.5145552472392989,0.71338606911949],"aabb_xy":[[0.29997701385441156,-0.5272110585239959],[0.33975909361509204,-0.5018994359546022]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_21","position":[0.5275651491830675,-2.2159798490058518,0.71338606911949],"aabb_xy":[[0.46356515059649506,-2.2629868124053605],[0.59156514776964,-2.168972885606343]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_22","position":[0.602989985522312,0.748157976859011,0.71338606911949],"aabb_xy":[[0.5942087583750758,0.7393782295704808],[0.6117712126695484,0.7569377241475412]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_23","position":[-0.31616603493734213,1.5733107159163224,0.71338606911949],"aabb_xy":[[-0.35366603488110854,1.5650176258814859],[-0.27866603499357573,1.581603805951159]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_24","position":[0.0458331934949332,-1.58765280216657,0.71338606911949],"aabb_xy":[[0.011370846096791397,-1.6221466845643921],[0.08029554089307499,-1.5531589197687468]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_25","position":[-0.4985834203458407,-2.495200848489888,0.71338606911949],"aabb_xy":[[-0.5062076884360189,-2.5028340720264324],[-0.4909591522556625,-2.487567624953345]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_26","position":[0.4273240574734849,-0.2452890227156872,0.71338606911949],"aabb_xy":[[0.4104133250371431,-0.25876122830830167],[0.4442347899098267,-0.23181681712307264]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_27","position":[-0.40372907030398086,0.3315954382865267,0.71338606911949],"aabb_xy":[[-0.4270109125021122,0.24659543698929867],[-0.3804472281058495,0.4165954395837548]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6883423516158941,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6824.png","name":"6824"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6824.png","name":"6824"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9318.png","name":"9318"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1316.png","name":"1316"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7582.png","name":"7582"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6596.png","name":"6596"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":749.0056222450686,"rotation_z_degrees":110.63191870429523,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.002454838167012075,0.011346509360700387,-0.011805562208934398]},{"name":"camera_2","offset_m":[0.0007493264196904471,0.008878670419842482,0.0005279037138130292]},{"name":"camera_3","offset_m":[-0.014852513987833374,0.010949483163902669,-0.016831921105962634]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0017416365314934868,-0.0007242603467330971,-0.0006046380335054012],"end_effector_yaw_offset_degrees":0.5788819924904087},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0001981303192518857,-0.0016479314487021545,-0.0007586748656133748],"end_effector_yaw_offset_degrees":-0.08220153073076486},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0015492892648746777,-0.0006587190039752248,-0.001772633520874765],"end_effector_yaw_offset_degrees":-0.3998079091861826},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0006948819819788308,0.0008880501686629326,0.0019549418936367947],"end_effector_yaw_offset_degrees":0.428424526425486}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0025096251491602732,0.001229538310147331],"position_m":[0.2161096251491603,-0.052470461689852664,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0011812745847060934,-0.0010312453543362202],"position_m":[0.2479187254152939,-0.38443124535433626,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0008998632886218242,0.004798703617877838],"position_m":[0.1396001367113782,0.23949870361787784,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0027838052578173676,0.001417464538345005],"position_m":[0.3563838052578174,0.118617464538345,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3334e14aa0d74fee496fcd6578f7db1735b5a91f38d239fc89d278112ea6b7ee","episode_index":89,"episode_name":"episode_0089"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0089.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_6824/tex_ceiling_textures_6596/tex_floor_textures_7582/tex_table_textures_9318/tex_wall_textures_1316","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":2885898506970129910,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":2885898506970129910,"visual_seed":2885898506970129910,"scene_id":"lab_003","finished_at":"2026-09-05T23:17:27"} +{"episode_id":"ep_000086","started_at":"2026-09-05T23:17:31","dimensions":{"distractor":{"count":31,"items":[{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_0","position":[0.12401166105005834,0.9023894120277935,0.71338606911949],"aabb_xy":[[0.06401166045404216,0.8475769394825701],[0.18401166164607452,0.957201884573017]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_1","position":[0.6079126083586675,-1.1880586203947605,0.71338606911949],"aabb_xy":[[0.5579126069977802,-1.238036524970176],[0.6579126097195547,-1.1380807158193447]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_2","position":[0.009031217917260137,-0.8231826102026738,0.71338606911949],"aabb_xy":[[-0.012877464222090908,-0.8450832770227645],[0.03093990005661118,-0.8012819433825831]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_3","position":[-0.5745018144571025,0.8193553446434914,0.71338606911949],"aabb_xy":[[-0.6088180916317204,0.7693553446703135],[-0.5401855372824845,0.869355344616669]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_4","position":[-0.07658085153371963,1.599819697603245,0.71338606911949],"aabb_xy":[[-0.09847059912266043,1.509819700313996],[-0.054691103944778836,1.6898196948924942]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_5","position":[0.19450903526618935,-2.4824432059316366,0.71338606911949],"aabb_xy":[[0.15349109187981846,-2.5324432065625944],[0.23552697865256023,-2.4324432053006797]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_6","position":[0.6373235397461499,-1.4857572022043486,0.71338606911949],"aabb_xy":[[0.6202214617877817,-1.5028640077356183],[0.654425617704518,-1.4686503966730788]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_7","position":[-0.5076049249311892,-2.065049242918222,0.71338606911949],"aabb_xy":[[-0.5426049248272081,-2.0734234784301617],[-0.47260492503517043,-2.0566750074062816]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_8","position":[0.5003764393655268,-1.3656156177499503,0.71338606911949],"aabb_xy":[[0.49267324869144974,-1.3733249884486887],[0.5080796300396038,-1.3579062470512124]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_9","position":[-0.3523791747856606,1.1322128848650905,0.71338606911949],"aabb_xy":[[-0.4173791774234541,1.0807332861656433],[-0.2873791721478671,1.1836924835645373]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_10","position":[0.3323203260421368,-1.036777416432414,0.71338606911949],"aabb_xy":[[0.2978579786439949,-1.0712712988302362],[0.3667826734402785,-1.0022835340345908]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_11","position":[-0.07800277385320264,0.2780441313225488,0.71338606911949],"aabb_xy":[[-0.1420027752611933,0.22625517979862406],[-0.014002772445211973,0.32983308284647345]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_12","position":[0.06537865849302682,-2.2234614344337804,0.71338606911949],"aabb_xy":[[-0.004621344143559539,-2.2435662994296455],[0.13537866112961316,-2.2033565694379145]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_13","position":[0.2940026337559727,-1.7066208610020164,0.71338606911949],"aabb_xy":[[0.2340026335045715,-1.7609021860384806],[0.35400263400737386,-1.6523395359655513]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_14","position":[0.33536160371765456,-1.5500864819823252,0.71338606911949],"aabb_xy":[[0.28536232854921845,-1.6000864832582726],[0.3853608788860908,-1.5000864807063783]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_15","position":[0.626001071935202,0.7221339476785134,0.71338606911949],"aabb_xy":[[0.5885010721181685,0.7174957363673715],[0.6635010717522356,0.7267721589896552]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_16","position":[-0.3578455111967638,-1.134976863885007,0.71338606911949],"aabb_xy":[[-0.39534551136863566,-1.167677599267914],[-0.3203455110248918,-1.1022761285020997]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_17","position":[0.49469893130084786,-1.874324822922122,0.71338606911949],"aabb_xy":[[0.4772682162218413,-1.8915969375859727],[0.5121296463798543,-1.857052708258271]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_18","position":[0.4571417674535594,-0.511099877971315,0.71338606911949],"aabb_xy":[[0.43946613686496094,-0.5287800942507177],[0.4748173980421576,-0.49341966169191226]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_19","position":[-0.4960755951174766,0.25645283251992357,0.71338606911949],"aabb_xy":[[-0.5460755960680094,0.22490368551640216],[-0.4460755941669437,0.288001979523445]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_20","position":[-0.4289452350975829,-1.8011633141057204,0.71338606911949],"aabb_xy":[[-0.4664452350413492,-1.809456404140557],[-0.3914452351538164,-1.7928702240708838]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_21","position":[0.14414009136912131,1.1538598120860186,0.71338606911949],"aabb_xy":[[0.1129931725255382,1.0838598133992114],[0.17528701021270443,1.2238598107728258]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_22","position":[-0.39085138157730653,-1.4098640117230568,0.71338606911949],"aabb_xy":[[-0.43865754919107514,-1.4748640144301155],[-0.3430452139635379,-1.3448640090159976]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_23","position":[-0.4027266006434705,-0.392855602958635,0.71338606911949],"aabb_xy":[[-0.4252257363696975,-0.41535560373689795],[-0.3802274649172436,-0.370355602180372]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_24","position":[0.39380073133162385,1.1721923395602984,0.71338606911949],"aabb_xy":[[0.37351642860822504,1.1519097144175896],[0.41408503405502256,1.1924749647030073]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_25","position":[0.08922541516965632,-1.0385370656844597,0.71338606911949],"aabb_xy":[[0.02522541325731399,-1.0944482149424701],[0.15322541708199866,-0.9826259164264493]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_26","position":[0.3816826000980502,-1.2736563121114695,0.71338606911949],"aabb_xy":[[0.31768260151147776,-1.3206632755109782],[0.4456825986846227,-1.2266493487119607]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_27","position":[-0.1935057891954589,-0.7193577078499893,0.71338606911949],"aabb_xy":[[-0.2005472401462065,-0.7263844595877839],[-0.18646433824471131,-0.7123309561121948]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_28","position":[-0.14062341435904602,-2.391705253239169,0.71338606911949],"aabb_xy":[[-0.22062341132208516,-2.468780894882942],[-0.06062341739600682,-2.3146296115953953]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_29","position":[-0.6209675588711914,-0.8159646125186872,0.71338606911949],"aabb_xy":[[-0.6270045718718562,-0.8219913135876356],[-0.6149305458705268,-0.8099379114497391]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_30","position":[-0.24599021012777433,-1.4344779071422589,0.71338606911949],"aabb_xy":[[-0.270536425750525,-1.4647268036912957],[-0.22144399450502358,-1.4042290105932216]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6900372218672242,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7244.png","name":"7244"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7244.png","name":"7244"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9393.png","name":"9393"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2387.png","name":"2387"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8319.png","name":"8319"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5923.png","name":"5923"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":605.0636315297616,"rotation_z_degrees":220.2813083809901,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013787109961170368,-0.008582526085440483,0.018446532007054987]},{"name":"camera_2","offset_m":[-0.013581870903013625,-0.007240332631707017,0.01574359759269452]},{"name":"camera_3","offset_m":[-0.001834183847872775,-0.016546423864551022,-0.016733790912012075]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0013283099423537924,0.0007598913460616862,0.0009274621074635168],"end_effector_yaw_offset_degrees":0.6704384488632513},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0006775041889496075,0.001395774966019225,0.0001645584559549977],"end_effector_yaw_offset_degrees":-0.9935036277808915},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0008206194563967722,-0.0005440358887183958,-0.0006715178399403418],"end_effector_yaw_offset_degrees":-0.9456662775719078},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0007420260163576201,-0.0012781345011939887,-0.00024773067887655484],"end_effector_yaw_offset_degrees":-0.5720568394186136}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0033370385549210723,0.004034490111369246],"position_m":[0.21693703855492108,-0.04966550988863075,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0005821359165991682,-0.0014463139114397538],"position_m":[0.24968213591659916,-0.38484631391143975,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0038251581134148716,-0.0031422626777892993],"position_m":[0.13667484188658513,0.2315577373222107,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0023896623427788347,-0.004379785281294758],"position_m":[0.35598966234277885,0.11282021471870524,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"69199debb5b73e5f05bd548adeb278d0ad5bc7d824eb57dc9729d947b9c66b90","episode_index":90,"episode_name":"episode_0090"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0090.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_7244/tex_ceiling_textures_5923/tex_floor_textures_8319/tex_table_textures_9393/tex_wall_textures_2387","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":7247549274814272479,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":7247549274814272479,"visual_seed":7247549274814272479,"scene_id":"lab_003","finished_at":"2026-09-05T23:20:53"} +{"episode_id":"ep_000087","started_at":"2026-09-05T23:20:56","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_0","position":[0.5010636232585013,-1.9322963223280523,0.71338606911949],"aabb_xy":[[0.4310636268485392,-1.9527342579797333],[0.5710636196684628,-1.9118583866763699]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_1","position":[-0.3507311374321142,0.751892973632311,0.71338606911949],"aabb_xy":[[-0.38722695805939294,0.7154090312055533],[-0.31423531680483546,0.7883769160590685]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_2","position":[0.5238200193745535,-1.8191817927977991,0.71338606911949],"aabb_xy":[[0.5140640298653795,-1.8289443268570333],[0.5335760088837272,-1.8094192587385645]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_3","position":[-0.19674774140341678,-2.1465689029601775,0.71338606911949],"aabb_xy":[[-0.2517477396051616,-2.187090869586615],[-0.14174774320167194,-2.10604693633374]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_4","position":[0.6311781885999697,-0.6501323132502912,0.71338606911949],"aabb_xy":[[0.6136781893218828,-0.6674704133166373],[0.6486781878780565,-0.6327942131839454]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_5","position":[0.07257686386022377,-0.9653228746867601,0.71338606911949],"aabb_xy":[[-0.017423132640647983,-1.0112345171052182],[0.1625768603610955,-0.9194112322683019]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_6","position":[0.6726173990394448,0.3553449195152343,0.71338606911949],"aabb_xy":[[0.6557066666031031,0.34187271392261964],[0.6895281314757866,0.3688171251078487]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_7","position":[0.046875926555985936,-2.4525564904780968,0.71338606911949],"aabb_xy":[[-0.017124072738182276,-2.516542630846951],[0.11087592585015416,-2.3885703501092426]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_8","position":[-0.2061515300356297,1.5055280711525518,0.71338606911949],"aabb_xy":[[-0.25115153150185854,1.4605282142910714],[-0.16115152856940082,1.550527928014033]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_9","position":[0.41038659761369933,1.1464622150735613,0.71338606911949],"aabb_xy":[[0.3632572186118636,1.0824622140291589],[0.45751597661553495,1.2104622161179628]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_10","position":[-0.566493529495351,-2.0022691483528656,0.71338606911949],"aabb_xy":[[-0.6032881626202573,-2.039175023449448],[-0.5296988963704448,-1.9653632732562833]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_11","position":[0.41580141833438145,-0.6837764178333485,0.71338606911949],"aabb_xy":[[0.3933014178223408,-0.7062682761987468],[0.438301418846422,-0.6612845594679501]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_12","position":[-0.2081576653528211,-0.1282448688470308,0.71338606911949],"aabb_xy":[[-0.21619400005410594,-0.13628298815144757],[-0.20012133065153626,-0.12020674954261401]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_13","position":[-0.41570894258820196,-1.0394577258573734,0.71338606911949],"aabb_xy":[[-0.4419977669086425,-1.0657291595120244],[-0.3894201182677612,-1.013186292202722]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_14","position":[-0.3275658669493393,-1.908456736353168,0.71338606911949],"aabb_xy":[[-0.3394379499608404,-1.993456736046818],[-0.3156937839378382,-1.8234567366595174]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_15","position":[-0.3151637123393798,-0.8750612013842758,0.71338606911949],"aabb_xy":[[-0.3227879804295581,-0.8826944249208197],[-0.3075394442492016,-0.8674279778477323]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_16","position":[0.4082916860808574,-1.2237889351326825,0.71338606911949],"aabb_xy":[[0.3182916824039392,-1.2852213417097864],[0.4982916897577755,-1.1623565285555777]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_17","position":[0.5528661926039968,-2.1603587910909097,0.71338606911949],"aabb_xy":[[0.5385317674778334,-2.1724190066454483],[0.5672006177301603,-2.148298575536371]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_18","position":[-0.3306938814164732,-1.6142865820992316,0.71338606911949],"aabb_xy":[[-0.3806938830779679,-1.664285024354934],[-0.2806938797549784,-1.5642881398435287]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_19","position":[-0.07401190336278374,-1.7986193430865225,0.71338606911949],"aabb_xy":[[-0.12401190464662369,-1.8485981974771446],[-0.024011902078943766,-1.7486404886959004]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_20","position":[-0.043728722759768135,1.1207162190299265,0.71338606911949],"aabb_xy":[[-0.1337287250937872,1.0432338644448138],[0.04627127957425092,1.1981985736150391]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_21","position":[-0.47269688849580793,-0.7895383944447736,0.71338606911949],"aabb_xy":[[-0.5101968887879826,-0.7935798698453771],[-0.43519688820363306,-0.7854969190441699]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_22","position":[-0.024993393033484246,-0.7901356830421531,0.71338606911949],"aabb_xy":[[-0.03786529653442438,-0.8701356834559892],[-0.012121489532544103,-0.7101356826283169]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_23","position":[0.5661913910219418,-0.33594359551585473,0.71338606911949],"aabb_xy":[[0.4961913876303799,-0.37125936921928554],[0.6361913944135038,-0.3006278218124238]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_24","position":[0.5237299209305368,0.44005282000109247,0.71338606911949],"aabb_xy":[[0.46372992042268396,0.38320608631517117],[0.5837299214383898,0.4968995536870138]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_25","position":[-0.5973609736626367,-0.17102625361010126,0.71338606911949],"aabb_xy":[[-0.6873609722571067,-0.1872768399235223],[-0.5073609750681668,-0.15477566729668024]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_26","position":[0.553041572071971,-1.00665405569901,0.71338606911949],"aabb_xy":[[0.5292053544313661,-1.0966540565074967],[0.5768777897125762,-0.9166540548905238]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_27","position":[0.41151800956168794,-2.0563873586768717,0.71338606911949],"aabb_xy":[[0.38286867720127166,-2.085032917953947],[0.4401673419221041,-2.0277417993997955]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_28","position":[0.1091356574711676,-1.9972983895447545,0.71338606911949],"aabb_xy":[[0.045135655793170235,-2.0458157810240687],[0.17313565914916496,-1.9487809980654403]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_29","position":[-0.27234962687038494,-0.23043126246651946,0.71338606911949],"aabb_xy":[[-0.3223496263105805,-0.28039918695083577],[-0.22234962743018927,-0.18046333798220318]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_30","position":[0.04662163561286414,-1.898533345295811,0.71338606911949],"aabb_xy":[[0.04052700772474582,-1.9071027398474798],[0.05271626350098246,-1.8899639507441424]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6941997450097759,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1316.png","name":"1316"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1316.png","name":"1316"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5518.png","name":"5518"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7743.png","name":"7743"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8980.png","name":"8980"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3738.png","name":"3738"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":793.3288524443367,"rotation_z_degrees":263.8169143762379,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0024104533461257772,0.01619723830457002,-0.013400271467107788]},{"name":"camera_2","offset_m":[0.015150497047524188,-0.003354650699508195,-0.003231497800551472]},{"name":"camera_3","offset_m":[-0.01468167276756982,0.013164092300270814,0.005662279316699558]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0012775376530705092,0.0014724944317592403,-0.00032656728495785705],"end_effector_yaw_offset_degrees":0.051356049197251785},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.001529584456647581,0.001036138772723163,-0.001630125182362515],"end_effector_yaw_offset_degrees":0.06374825855886379},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0010875330005957005,0.0007265002548394813,5.209210313815091e-05],"end_effector_yaw_offset_degrees":-0.3702486543535821},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[1.3429030971491129e-05,-0.0016874576441540086,0.0015592562120457397],"end_effector_yaw_offset_degrees":-0.7139685514745235}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0007167585459069651,-0.00031422965276068325],"position_m":[0.21431675854590698,-0.05401422965276068,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004984160279184501,-0.0023547443040166415],"position_m":[0.2540841602791845,-0.3857547443040167,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0026594539376528824,-0.0014385046115434953],"position_m":[0.1431594539376529,0.2332614953884565,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002596522217951303,-0.0007702058351750484],"position_m":[0.3510034777820487,0.11642979416482495,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"199bb3d5013feddf193ed5679aa4566ab86c31cd68ca0439023adcf662ac97cd","episode_index":91,"episode_name":"episode_0091"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0091.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_1316/tex_ceiling_textures_3738/tex_floor_textures_8980/tex_table_textures_5518/tex_wall_textures_7743","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":8500109786750003687,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":8500109786750003687,"visual_seed":8500109786750003687,"scene_id":"lab_003","finished_at":"2026-09-05T23:24:29"} +{"episode_id":"ep_000088","started_at":"2026-09-05T23:24:33","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_0","position":[-0.5535835440024961,0.27134652039130236,0.71338606911949],"aabb_xy":[[-0.5622815062932114,0.25922154608382764],[-0.5448855817117808,0.2834714946987771]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_1","position":[-0.44789905246636663,0.8598718370105489,0.71338606911949],"aabb_xy":[[-0.4637835457316917,0.8455188967117249],[-0.4320145592010414,0.874224777309373]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_2","position":[-0.337309614744446,-1.6436875461079556,0.71338606911949],"aabb_xy":[[-0.3417402440992862,-1.6491359178426386],[-0.33287898538960586,-1.6382391743732736]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_3","position":[0.09481097652884263,0.7908745657826448,0.71338606911949],"aabb_xy":[[0.030810980101520724,0.7437049419605484],[0.15881097295616453,0.8380441896047413]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_4","position":[-0.17770306323827012,-0.9100568059440968,0.71338606911949],"aabb_xy":[[-0.21520306305530365,-0.9146950172552387],[-0.14020306342123653,-0.905418594632955]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_5","position":[-0.6097248976247573,-1.2254670180846698,0.71338606911949],"aabb_xy":[[-0.6347248971764958,-1.2356095019498046],[-0.5847248980730189,-1.2153245342195351]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_6","position":[-0.5291565176573693,-0.6338793884582414,0.71338606911949],"aabb_xy":[[-0.534738189291498,-0.6463793882760169],[-0.5235748460232406,-0.6213793886404659]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_7","position":[0.5824099648000662,-1.0547321047358107,0.71338606911949],"aabb_xy":[[0.5174099669184186,-1.1058557684423516],[0.6474099626817141,-1.0036084410292698]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_8","position":[-0.351678284942963,1.3166536595815415,0.71338606911949],"aabb_xy":[[-0.4316782871057254,1.236698475955398],[-0.27167828278020045,1.3966088432076853]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_9","position":[-0.028892466080404633,1.5864071138399773,0.71338606911949],"aabb_xy":[[-0.11889246841442369,1.5089247592548647],[0.061107536253614425,1.66388946842509]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_10","position":[0.6902446496959114,1.1948377776767396,0.71338606911949],"aabb_xy":[[0.6720388260346637,1.183812377094748],[0.708450473357159,1.2058631782587312]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_11","position":[0.5060196089220514,0.5724814223597692,0.71338606911949],"aabb_xy":[[0.44201961161970504,0.5281149953919124],[0.5700196062243978,0.6168478493276259]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_12","position":[-0.47529808858469946,-1.9639229207660915,0.71338606911949],"aabb_xy":[[-0.49857993078283075,-2.048922922063319],[-0.45201624638656807,-1.8789229194688635]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_13","position":[-0.4852414428436758,-0.014665083424949543,0.71338606911949],"aabb_xy":[[-0.4926538983850643,-0.020516293846577494],[-0.47782898730228734,-0.008813873003321593]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_14","position":[0.3767105837946887,1.1670654921747206,0.71338606911949],"aabb_xy":[[0.3067105819859432,1.1457117234105332],[0.4467105856034341,1.188419260938908]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_15","position":[-0.15711104775446705,0.14740140976957194,0.71338606911949],"aabb_xy":[[-0.2121065255751264,0.09240140833566499],[-0.10211556993380763,0.20240141120347885]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_16","position":[-0.19414843667026405,-1.7912061545849922,0.71338606911949],"aabb_xy":[[-0.20177270476044232,-1.798839378121536],[-0.1865241685800858,-1.7835729310484485]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_17","position":[-0.45691891959122044,0.24751337332330303,0.71338606911949],"aabb_xy":[[-0.4649124093865025,0.23951524138282743],[-0.44892542979593847,0.25551150526377875]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_18","position":[-0.4428947897060245,-1.5267513499015168,0.71338606911949],"aabb_xy":[[-0.4653947897161728,-1.54084756954112],[-0.42039478969587624,-1.5126551302619133]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_19","position":[-0.4854745350416859,0.16294886518084573,0.71338606911949],"aabb_xy":[[-0.5033436427961415,0.14911595720363477],[-0.4676054272872305,0.17678177315805663]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_20","position":[0.30620828274472545,-2.465726379814498,0.71338606911949],"aabb_xy":[[0.2949632271741076,-2.4769681775385934],[0.3174533383153433,-2.454484582090403]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_21","position":[0.4514939022302453,0.41790436819284116,0.71338606911949],"aabb_xy":[[0.37149390176002944,0.4095936605784929],[0.5314939027004614,0.42621507580718965]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_22","position":[0.2502062984073835,1.597547060249282,0.71338606911949],"aabb_xy":[[0.18620629813340533,1.547480960051994],[0.3142062986813618,1.64761316044657]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_23","position":[-0.5407530523443055,0.800287191025923,0.71338606911949],"aabb_xy":[[-0.5513205320024045,0.7897421609129145],[-0.5301855726862065,0.8108322211389316]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_24","position":[-0.21746299402817987,1.5455712633289402,0.71338606911949],"aabb_xy":[[-0.2674561061373718,1.4955712626547446],[-0.16746988191898798,1.595571264003136]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_25","position":[0.22369599099644366,-1.601213438148629,0.71338606911949],"aabb_xy":[[0.17359852701537004,-1.6652134386584405],[0.2737934549775173,-1.537213437638817]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_26","position":[0.3665355693722212,-0.9729075647313663,0.71338606911949],"aabb_xy":[[0.34436304239557036,-0.9950832318874893],[0.388708096348872,-0.9507318975752429]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_27","position":[-0.505691988367611,-0.974679484422531,0.71338606911949],"aabb_xy":[[-0.5856858119461692,-1.0546794870153726],[-0.42569816478905276,-0.8946794818296896]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_28","position":[-0.12203831814497312,-0.00254186377029475,0.71338606911949],"aabb_xy":[[-0.17203831950586035,-0.052519768345710365],[-0.07203831678408591,0.047436040805120865]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_29","position":[0.40079286100337463,-1.0659076070124271,0.71338606911949],"aabb_xy":[[0.3632928625799743,-1.0790718209802577],[0.438292859426775,-1.0527433930445962]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_30","position":[-0.05707151379204922,-1.0159581713915937,0.71338606911949],"aabb_xy":[[-0.1370715108062972,-1.036092723065005],[0.022928483222198766,-0.9958236197181825]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6875979081045989,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2766.png","name":"2766"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2766.png","name":"2766"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/199.png","name":"199"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2752.png","name":"2752"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1114.png","name":"1114"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6766.png","name":"6766"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":834.569897966406,"rotation_z_degrees":143.22836973836772,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0027998147416876673,-0.011786216262635811,0.017367279239169742]},{"name":"camera_2","offset_m":[-0.0023010470416774675,0.002888215247575966,0.008511675580199243]},{"name":"camera_3","offset_m":[-0.013144428338027571,-0.01270441973640513,-0.015831949274875516]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0017086736644501706,-0.001030675466402868,0.001180577418237178],"end_effector_yaw_offset_degrees":0.6145875927836533},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.001857909862704001,0.0012551907607839699,0.0009773922071715123],"end_effector_yaw_offset_degrees":-0.287251112698937},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001960416661828714,-0.0015768639363419395,-0.0006828592194325904],"end_effector_yaw_offset_degrees":-0.9782539677667204},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00043181191818140617,-0.001681343293620219,-0.0005146545313162933],"end_effector_yaw_offset_degrees":0.3582531475650086}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003045572499689242,0.004222680182606189],"position_m":[0.21664557249968924,-0.04947731981739381,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0019309816947500093,0.004983049494435471],"position_m":[0.25103098169475,-0.37841695050556456,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0024593356739423455,0.0009482640480301128],"position_m":[0.13804066432605766,0.2356482640480301,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.000937126942519421,7.519880027485534e-05],"position_m":[0.3526628730574806,0.11727519880027486,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"92d87060161e494cda80468ef187e2cca727cb4345d56d7f3d3166356c393091","episode_index":92,"episode_name":"episode_0092"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0092.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_2766/tex_ceiling_textures_6766/tex_floor_textures_1114/tex_table_textures_199/tex_wall_textures_2752","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":1594000611050283103,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":1594000611050283103,"visual_seed":1594000611050283103,"scene_id":"lab_003","finished_at":"2026-09-05T23:27:59"} +{"episode_id":"ep_000089","started_at":"2026-09-05T23:28:02","dimensions":{"distractor":{"count":20,"items":[{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_0","position":[0.5274924214340868,1.5924878843411476,0.71338606911949],"aabb_xy":[[0.47749242007319964,1.542509979765732],[0.577492422794974,1.6424657889165633]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_1","position":[0.16621871975402136,-2.118866449585401,0.71338606911949],"aabb_xy":[[0.11220312347212133,-2.1828664524776586],[0.22023431603592133,-2.0548664466931443]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_2","position":[0.016462095557342793,1.3015194243566226,0.71338606911949],"aabb_xy":[[-0.03351096997517267,1.2515194245440897],[0.06643516108985827,1.3515194241691555]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_3","position":[0.15772296596152913,-1.274273447110444,0.71338606911949],"aabb_xy":[[0.12022296614449554,-1.2789116584215856],[0.19522296577856266,-1.269635235799302]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_4","position":[0.032932450255589996,1.0328050749869657,0.71338606911949],"aabb_xy":[[0.020305662968393638,1.0232590012853928],[0.04555923754278634,1.0423511486885386]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_5","position":[-0.011434191213476441,-0.9724739759119181,0.71338606911949],"aabb_xy":[[-0.048934191710834685,-0.9764426594600365],[0.026065809283881802,-0.9685052923637997]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_6","position":[-0.5092012192349191,-0.03504014784731746,0.71338606911949],"aabb_xy":[[-0.5268340548284467,-0.05266309386294043],[-0.4915683836413916,-0.01741720183169448]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_7","position":[0.2083897076999296,1.2286899094097143,0.71338606911949],"aabb_xy":[[0.19797814901944585,1.223344176073816],[0.21880126638041328,1.2340356427456127]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_8","position":[0.6210333609489311,0.14197422044953978,0.71338606911949],"aabb_xy":[[0.6149387330608128,0.13340482589787106],[0.6271279888370495,0.1505436150012085]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_9","position":[0.19146580843997307,-0.972806674776223,0.71338606911949],"aabb_xy":[[0.1689658086260707,-0.9772812911467035],[0.21396580825387546,-0.968332058405742]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_10","position":[-0.26652666290351845,0.7556863246383938,0.71338606911949],"aabb_xy":[[-0.2745529335341445,0.7469348296610412],[-0.2585003922728925,0.7644378196157464]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_11","position":[-0.18017726068178241,0.923777716088718,0.71338606911949],"aabb_xy":[[-0.22517726214801131,0.8787778592272374],[-0.1351772592155536,0.9687775729501987]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_12","position":[-0.24391089698303425,-1.394289373919687,0.71338606911949],"aabb_xy":[[-0.31391089858531374,-1.407722167121345],[-0.1739108953807548,-1.3808565807180297]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_13","position":[-0.47661287372403577,0.29890171321642134,0.71338606911949],"aabb_xy":[[-0.49411280715801914,0.28140171329618674],[-0.4591129402900524,0.3164017131366558]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_14","position":[-0.4138809015936673,-2.3854160330483443,0.71338606911949],"aabb_xy":[[-0.4638809011700021,-2.43539661200045],[-0.36388090201733264,-2.3354354540962383]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_15","position":[-0.6708904038917259,-1.9203649018100912,0.71338606911949],"aabb_xy":[[-0.6859927053527439,-1.9354664234411527],[-0.6557881024307077,-1.9052633801790289]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_16","position":[-0.43948128452034807,-1.0445949102516885,0.71338606911949],"aabb_xy":[[-0.472960451781389,-1.0780740236227955],[-0.4060021172593071,-1.0111157968805815]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_17","position":[-0.3849225866289891,-0.11761004133462949,0.71338606911949],"aabb_xy":[[-0.4649225837885644,-0.12915764229244653],[-0.3049225894694138,-0.10606244037681245]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_18","position":[0.1860771341995583,0.6587453408494328,0.71338606911949],"aabb_xy":[[0.17796347952618116,0.6506395243954036],[0.19419078887293537,0.6668511573034618]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_19","position":[-0.04271192624855202,-1.043391280273719,0.71338606911949],"aabb_xy":[[-0.046672410018286405,-1.0510591448592397],[-0.038751442478817656,-1.0357234156881985]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6835352858585857,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2932.png","name":"2932"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2932.png","name":"2932"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9032.png","name":"9032"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1952.png","name":"1952"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1219.png","name":"1219"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/802.png","name":"802"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":603.7934776622786,"rotation_z_degrees":64.21854639740432,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01788823966884071,0.001660456601299501,0.010949635940169337]},{"name":"camera_2","offset_m":[0.006279059434093494,-0.009828786739447284,0.008823906668935268]},{"name":"camera_3","offset_m":[-0.018554525850214172,0.012818055984879066,-0.016412621980243368]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0009173519737507951,0.0010706120108048265,-0.00026335975580560333],"end_effector_yaw_offset_degrees":-0.37387440745526357},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00012449250135131065,0.001664377679725285,0.00018555097500582828],"end_effector_yaw_offset_degrees":0.6308346464743673},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0010227873618292244,0.00033753287617004253,-0.0009485967820380492],"end_effector_yaw_offset_degrees":0.9930160919275366},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0013357565384730097,0.0007812311691621377,-0.0002096559176191404],"end_effector_yaw_offset_degrees":-0.14214391285338834}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0022966546629111717,0.0021989906128205353],"position_m":[0.2158966546629112,-0.05150100938717946,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004818194951883283,0.0021746859327599934],"position_m":[0.2442818050481167,-0.38122531406724003,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0017361570545599237,0.0014202676656357308],"position_m":[0.14223615705455994,0.23612026766563574,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0016342969208469151,0.003623286817978158],"position_m":[0.3519657030791531,0.12082328681797816,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"fa2007c96f9cd725e374f4cb8a393642df07e972f2c7a06da7be61b5bb5ecec4","episode_index":93,"episode_name":"episode_0093"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0093.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_2932/tex_ceiling_textures_802/tex_floor_textures_1219/tex_table_textures_9032/tex_wall_textures_1952","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":5910279711206889967,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":5910279711206889967,"visual_seed":5910279711206889967,"scene_id":"lab_003","finished_at":"2026-09-05T23:31:34"} +{"episode_id":"ep_000090","started_at":"2026-09-05T23:31:39","dimensions":{"distractor":{"count":26,"items":[{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_0","position":[-0.42586411882010095,0.09130153722985446,0.71338606911949],"aabb_xy":[[-0.4487798317051509,0.06839724009343096],[-0.4029484059350511,0.11420583436627797]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_1","position":[0.3009395241421138,-0.645079365284112,0.71338606911949],"aabb_xy":[[0.2509395231915809,-0.6766285122876333],[0.35093952509264653,-0.6135302182805905]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_2","position":[-0.3553940834156634,0.6431551519461731,0.71338606911949],"aabb_xy":[[-0.4453940820101334,0.6269045656327521],[-0.26539408482119353,0.6594057382595941]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_3","position":[-0.06401713340978077,-1.4513876392431955,0.71338606911949],"aabb_xy":[[-0.073364140992076,-1.4656912614608393],[-0.05467012582748554,-1.4370840170255512]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_4","position":[0.5442162956274492,-2.3301749452334555,0.71338606911949],"aabb_xy":[[0.4542162988918389,-2.38335840855075],[0.6342162923630593,-2.276991481916161]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_5","position":[0.4883026396782355,0.6424945479331687,0.71338606911949],"aabb_xy":[[0.4033026412608123,0.5576202524708838],[0.5733026380956587,0.7273688433954537]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_6","position":[0.24682781968262024,-0.9816682651891926,0.71338606911949],"aabb_xy":[[0.23674611260404677,-1.061668263081307],[0.2569095267611937,-0.9016682672970778]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_7","position":[-0.3193465098874182,-1.9996158168974167,0.71338606911949],"aabb_xy":[[-0.3301194838087859,-2.0346158151164557],[-0.30857353596605036,-1.9646158186783778]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_8","position":[0.470465395723187,-2.0587420252871245,0.71338606911949],"aabb_xy":[[0.4064653964290188,-2.122728165655979],[0.5344653950173552,-1.9947558849182707]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_9","position":[-0.2007364922404119,-1.2265143883228886,0.71338606911949],"aabb_xy":[[-0.21250467903506945,-1.3115143882281104],[-0.1889683054457544,-1.1415143884176673]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_10","position":[0.48966018330136185,0.0993112352258092,0.71338606911949],"aabb_xy":[[0.4546601833248661,0.08984661917819259],[0.5246601832778577,0.10877585127342582]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_11","position":[-0.24616273628897622,-2.2804048688017415,0.71338606911949],"aabb_xy":[[-0.26944457848710757,-2.365404870098969],[-0.22288089409084488,-2.195404867504513]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_12","position":[-0.20101519640152898,0.1723166764192512,0.71338606911949],"aabb_xy":[[-0.2385151966937038,0.16827520101864762],[-0.16351519610935417,0.1763581518198548]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_13","position":[0.3841695857795664,-1.5517888234802593,0.71338606911949],"aabb_xy":[[0.33889097089841713,-1.615788822828443],[0.42944820066071565,-1.4877888241320756]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_14","position":[0.03765875913997874,1.376135712975826,0.71338606911949],"aabb_xy":[[-0.052341243194040314,1.2986533583907134],[0.1276587614739978,1.4536180675609387]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_15","position":[0.6824402219690748,-1.6860435680689063,0.71338606911949],"aabb_xy":[[0.6599402224453673,-1.7085395155195269],[0.7049402214927821,-1.6635476206182853]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_16","position":[-0.00711021166105219,-1.2159119085564933,0.71338606911949],"aabb_xy":[[-0.07111020877315788,-1.264944278350904],[0.0568897854510535,-1.1668795387620827]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_17","position":[-0.12194328591842718,0.6742796200695027,0.71338606911949],"aabb_xy":[[-0.1320963014725765,0.6382100784967621],[-0.11179027036427776,0.7103491616422428]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_18","position":[-0.51325658995116,-0.900347510754242,0.71338606911949],"aabb_xy":[[-0.5205178375215673,-0.9131345210177515],[-0.5059953423807526,-0.8875605004907325]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_19","position":[0.3244163498771677,0.6765376296148036,0.71338606911949],"aabb_xy":[[0.31561429456819495,0.6687263034598744],[0.3332184051861404,0.6843489557697325]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_20","position":[-0.43815996837326693,-2.3073039014636083,0.71338606911949],"aabb_xy":[[-0.4831599698394958,-2.3523037583250894],[-0.3931599669070381,-2.262304044602128]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_21","position":[0.5390392548480396,-1.7310087485146939,0.71338606911949],"aabb_xy":[[0.5329446269599213,-1.7395781430663628],[0.5451338827361579,-1.7224393539630254]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_22","position":[-0.48250614627746213,-2.10870789459275,0.71338606911949],"aabb_xy":[[-0.486209407606601,-2.1124099129014673],[-0.4788028849483232,-2.105005876284032]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_23","position":[-0.14530704020948815,-0.6432119403877603,0.71338606911949],"aabb_xy":[[-0.1678070400233905,-0.647686556758241],[-0.12280704039558574,-0.6387373240172796]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_24","position":[-0.19074505666461605,0.994138548692225,0.71338606911949],"aabb_xy":[[-0.2212293067916462,0.944138548910729],[-0.1602608065375859,1.044138548473721]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_25","position":[0.03606127068365528,-1.5053645848961947,0.71338606911949],"aabb_xy":[[0.015776967960256513,-1.5256472100389034],[0.05634557340705403,-1.4850819597534857]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6859196553703808,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9226.png","name":"9226"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9226.png","name":"9226"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7977.png","name":"7977"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4477.png","name":"4477"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8530.png","name":"8530"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1944.png","name":"1944"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":595.6665088447052,"rotation_z_degrees":8.918223565951182,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007676771314086776,-0.01006704530254309,0.019350446299070862]},{"name":"camera_2","offset_m":[-0.0041996849518636595,0.011610997886868455,0.0004680567512862707]},{"name":"camera_3","offset_m":[-0.003299055152126383,0.0070329473595154325,0.0057352715661387055]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0002747608883001602,0.0011894443022074453,0.0008468496259216468],"end_effector_yaw_offset_degrees":-0.6654964962439007},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0013409785238626798,-0.001876811858945095,-0.000974874010329168],"end_effector_yaw_offset_degrees":0.04109865143835356},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001762119153574751,0.0006509189128007355,0.0015919014211172615],"end_effector_yaw_offset_degrees":-0.07833873402375668},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008797356578679923,-0.0002706078720313757,-0.0010315212654612438],"end_effector_yaw_offset_degrees":0.8740500083992426}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.000691493900399678,0.0013775634109705667],"position_m":[0.2142914939003997,-0.05232243658902943,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0001724451346830436,0.004843547453589228],"position_m":[0.24892755486531695,-0.3785564525464108,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0022265025925052584,-0.0011270839485903262],"position_m":[0.14272650259250527,0.23357291605140967,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002308660574862391,-0.002249775584049625],"position_m":[0.3559086605748624,0.11495022441595037,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0ccc7197c0ec795614d1276a5f97bc85a822536e28ecca8cee50171718fa7ba4","episode_index":94,"episode_name":"episode_0094"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0094.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_9226/tex_ceiling_textures_1944/tex_floor_textures_8530/tex_table_textures_7977/tex_wall_textures_4477","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":7853041304467996277,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":7853041304467996277,"visual_seed":7853041304467996277,"scene_id":"lab_003","finished_at":"2026-09-05T23:34:55"} +{"episode_id":"ep_000091","started_at":"2026-09-05T23:34:58","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_0","position":[0.0562828782810616,-1.5987033520604965,0.71338606911949],"aabb_xy":[[-0.008717122676065612,-1.650651563994202],[0.1212828792381888,-1.546755140126791]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_1","position":[-0.45272144859378793,-1.897506604069919,0.71338606911949],"aabb_xy":[[-0.46362722468135065,-1.977506600468748],[-0.4418156725062252,-1.8175066076710897]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_2","position":[0.6546556931209428,0.9584089799623463,0.71338606911949],"aabb_xy":[[0.6394928201440059,0.9432435226672277],[0.66981856609788,0.9735744372574652]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_3","position":[-0.04313389281793989,-1.3600450748961317,0.71338606911949],"aabb_xy":[[-0.10076436170521072,-1.420045073822842],[0.014496576069330965,-1.3000450759694209]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_4","position":[-0.5642882197496483,-1.4374127720399315,0.71338606911949],"aabb_xy":[[-0.5942798824835186,-1.4674127713767315],[-0.5342965570157779,-1.4074127727031305]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_5","position":[0.013291980448043361,-2.3058345659173436,0.71338606911949],"aabb_xy":[[0.003138964893893978,-2.3419041074900835],[0.023444996002192735,-2.269765024344603]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_6","position":[-0.34728482489730117,0.0567524342922372,0.71338606911949],"aabb_xy":[[-0.35905301169195875,-0.028247565612984374],[-0.3355166381026437,0.14175243419745878]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_7","position":[-0.1307297536230656,-1.2143980563893872,0.71338606911949],"aabb_xy":[[-0.15364546650811553,-1.2373023535258107],[-0.10781404073801573,-1.1914937592529637]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_8","position":[-0.2627907717529433,-1.8943978423792776,0.71338606911949],"aabb_xy":[[-0.2802907710310302,-1.9117359424456235],[-0.24529077247485642,-1.8770597423129316]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_9","position":[-0.28650119619169334,1.2762721354220616,0.71338606911949],"aabb_xy":[[-0.29063705252439354,1.2387721359777046],[-0.28236533985899315,1.3137721348664186]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_10","position":[-0.05708564378676828,0.277507973027725,0.71338606911949],"aabb_xy":[[-0.09208564291672394,0.2717627519520609],[-0.022085644656812627,0.2832531941033891]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_11","position":[-0.19148073985844605,0.40325340717071034,0.71338606911949],"aabb_xy":[[-0.19960842805175927,0.3943397987600027],[-0.18335305166513283,0.412167015581418]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_12","position":[0.6541114880932228,-1.6915457629784947,0.71338606911949],"aabb_xy":[[0.6291114888212604,-1.7078911265746566],[0.679111487365185,-1.675200399382332]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_13","position":[-0.39713926466153904,1.6224549699878206,0.71338606911949],"aabb_xy":[[-0.46113926671127103,1.5823604868985126],[-0.33313926261180704,1.6625494530771285]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_14","position":[0.6788903569452096,-0.6267570937056335,0.71338606911949],"aabb_xy":[[0.6442992740911644,-0.6917570939906643],[0.7134814397992548,-0.5617570934206022]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_15","position":[-0.07743215341195808,0.5471925020869621,0.71338606911949],"aabb_xy":[[-0.08621338055919432,0.538412754798432],[-0.06865092626472187,0.5559722493754923]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_16","position":[-0.4838826916808596,-0.009107865513143576,0.71338606911949],"aabb_xy":[[-0.5676049171809421,-0.09910786904783953],[-0.4001604661807772,0.08089213802155237]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_17","position":[-0.3616103953066215,-0.9891574311263789,0.71338606911949],"aabb_xy":[[-0.36811203181462615,-0.9989252531526888],[-0.3551087587986169,-0.9793896091000692]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_18","position":[0.6923505338395017,1.6843307508169434,0.71338606911949],"aabb_xy":[[0.6829330592696391,1.6749145736792241],[0.7017680084093646,1.6937469279546622]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_19","position":[-0.6197917459826121,1.4651697021362282,0.71338606911949],"aabb_xy":[[-0.6837917478949544,1.409258552878218],[-0.5557917440702698,1.5210808513942389]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_20","position":[-0.2077420062913682,-0.896507583657413,0.71338606911949],"aabb_xy":[[-0.2302384277252323,-0.9190075834641603],[-0.1852455848575041,-0.8740075838506655]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_21","position":[-0.1944969446998881,-0.3889667704340951,0.71338606911949],"aabb_xy":[[-0.21833316234049321,-0.47896677124258163],[-0.17066072705928306,-0.29896676962560864]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_22","position":[-0.0012953601901609657,1.4080539788922302,0.71338606911949],"aabb_xy":[[-0.018795293624144338,1.3905539789719954],[0.016204573243822407,1.4255539788124645]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_23","position":[0.04497366982535833,1.2482956527598228,0.71338606911949],"aabb_xy":[[0.015006112915532673,1.218295652461937],[0.074941226735184,1.2782956530577085]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_24","position":[0.06916856531200177,-0.8531537847179635,0.71338606911949],"aabb_xy":[[0.034168563960520044,-0.8735135206747844],[0.10416856666348351,-0.8327940487611427]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_25","position":[0.3332757245189606,-1.0424033857621484,0.71338606911949],"aabb_xy":[[0.2998355493229409,-1.0758470115930783],[0.3667158997149801,-1.0089597599312181]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_26","position":[0.5417554043469182,-0.5521165395513581,0.71338606911949],"aabb_xy":[[0.4817554027039963,-0.6041166888433023],[0.60175540598984,-0.5001163902594139]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_27","position":[-0.16723928364391816,0.9227366593887654,0.71338606911949],"aabb_xy":[[-0.1797066417536538,0.9102713347554419],[-0.1547719255341825,0.9352019840220889]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_28","position":[-0.6231239928855197,-0.7593019143676332,0.71338606911949],"aabb_xy":[[-0.6684026077666688,-0.8233019137158168],[-0.5778453780043703,-0.6953019150194495]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_29","position":[0.418926495803676,-1.82659866685117,0.71338606911949],"aabb_xy":[[0.35892649520765985,-1.8814111393963933],[0.4789264963996922,-1.7717861943059463]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6937616194137878,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5672.png","name":"5672"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5672.png","name":"5672"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9217.png","name":"9217"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9329.png","name":"9329"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3225.png","name":"3225"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6085.png","name":"6085"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":700.7570504919199,"rotation_z_degrees":350.62046621343956,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01571141389734954,-0.013243158500270115,0.0006636355076057518]},{"name":"camera_2","offset_m":[-0.0002794578368540933,-0.013613007753655829,-0.0005039379599239037]},{"name":"camera_3","offset_m":[0.016737422845452998,-0.013935559453048363,-0.01520151673107471]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001325371792675408,-0.0008828574102381025,0.0018835372456992355],"end_effector_yaw_offset_degrees":-0.09063404637611239},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00058562249698921,0.0016393477258440934,0.0009502753742757315],"end_effector_yaw_offset_degrees":-0.3683993532596639},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0010877225973987851,0.00033795392961877106,-0.0008191894957567745],"end_effector_yaw_offset_degrees":-0.7101122953087808},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0016584718820010008,0.0005732525896770895,-0.0004100324407373152],"end_effector_yaw_offset_degrees":-0.46911997360629387}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004294010355381644,-0.002659016444477177],"position_m":[0.21789401035538167,-0.056359016444477175,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0026812477914513458,-0.004996089339362607],"position_m":[0.25178124779145133,-0.38839608933936265,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.00435101798584944,-0.0008890399707184218],"position_m":[0.14485101798584946,0.23381096002928156,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003939061749989246,-0.0025927831807798585],"position_m":[0.34966093825001077,0.11460721681922013,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"fe39e32126c608363d6e9f4a662a641c0fa6ea8db6a05b1c54d2f0d8417d1c18","episode_index":95,"episode_name":"episode_0095"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0095.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_5672/tex_ceiling_textures_6085/tex_floor_textures_3225/tex_table_textures_9217/tex_wall_textures_9329","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":7906000114945426447,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":7906000114945426447,"visual_seed":7906000114945426447,"scene_id":"lab_003","finished_at":"2026-09-05T23:38:19"} +{"episode_id":"ep_000092","started_at":"2026-09-05T23:38:25","dimensions":{"distractor":{"count":33,"items":[{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_0","position":[-0.5588066511205312,-1.7125571833941313,0.71338606911949],"aabb_xy":[[-0.5947201555455208,-1.7484706916108859],[-0.5228931466955415,-1.6766436751773768]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_1","position":[0.0551354157742755,0.9186525794223539,0.71338606911949],"aabb_xy":[[-0.009864585182851706,0.8667043674886482],[0.12013541673140271,0.9706007913560594]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_2","position":[0.5334700950477287,-1.9002385384723492,0.71338606911949],"aabb_xy":[[0.5297668337185897,-1.9039405567810668],[0.5371733563768675,-1.8965365201636313]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_3","position":[-0.06681891963428466,-2.2660147479216386,0.71338606911949],"aabb_xy":[[-0.11663569909911942,-2.316014746405942],[-0.017002140169449897,-2.2160147494373352]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_4","position":[-0.1550437652832647,-0.9253710286293444,0.71338606911949],"aabb_xy":[[-0.1800437652157826,-0.9322536968502676],[-0.13004376535074683,-0.918488360408421]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_5","position":[-0.40392065106368413,-2.4916157041731206,0.71338606911949],"aabb_xy":[[-0.42178975881813957,-2.5054486121503317],[-0.3860515433092286,-2.4777827961959096]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_6","position":[0.10164272567553334,-0.8759135148758317,0.71338606911949],"aabb_xy":[[0.02164272827193991,-0.9559060860740145],[0.18164272307912674,-0.7959209436776489]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_7","position":[-0.5596368093467805,-2.4983775225321443,0.71338606911949],"aabb_xy":[[-0.6236368096072512,-2.5433863218850723],[-0.49563680908630964,-2.4533687231792163]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_8","position":[-0.2324493625902918,1.4544665651298048,0.71338606911949],"aabb_xy":[[-0.3124493647530543,1.3745113815036611],[-0.1524493604275293,1.5344217487559484]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_9","position":[-0.4566370389825207,-0.5584039525250772,0.71338606911949],"aabb_xy":[[-0.46535100803245516,-0.5809039531842654],[-0.4479230699325862,-0.5359039518658889]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_10","position":[0.49168292359810106,-0.6289657740647461,0.71338606911949],"aabb_xy":[[0.4216829214666714,-0.6517277396904416],[0.5616829257295305,-0.6062038084390503]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_11","position":[-0.010188206909792497,-2.0519185112483354,0.71338606911949],"aabb_xy":[[-0.10018820341066424,-2.0978301536667936],[0.07981178959107925,-2.006006868829877]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_12","position":[-0.25084150272050254,-2.3354323173280536,0.71338606911949],"aabb_xy":[[-0.2961201176016518,-2.399432316676237],[-0.20556288783935328,-2.2714323179798694]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_13","position":[0.10131791350801256,-1.6337474156418845,0.71338606911949],"aabb_xy":[[0.09598033784200799,-1.6587474165710243],[0.10665548917401713,-1.6087474147127447]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_14","position":[0.054043845594184625,1.533840863694207,0.71338606911949],"aabb_xy":[[0.04794921770606631,1.5252714691425384],[0.06013847348230295,1.5424102582458759]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_15","position":[0.19227567404853096,1.715495712237312,0.71338606911949],"aabb_xy":[[0.1272756761668832,1.6643720485307714],[0.2572756719301788,1.766619375943853]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_16","position":[0.5035867836436252,-0.799331919041681,0.71338606911949],"aabb_xy":[[0.43958678035391713,-0.8426668380455985],[0.5675867869333333,-0.7559970000377633]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_17","position":[-0.2912531480617974,-0.23430406699457462,0.71338606911949],"aabb_xy":[[-0.3488836169490682,-0.29430406592128516],[-0.2336226791745265,-0.174304068067864]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_18","position":[-0.5635496187863323,-0.9568225200153395,0.71338606911949],"aabb_xy":[[-0.623549619647145,-1.0082489500218257],[-0.5035496179255193,-0.905396090008853]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_19","position":[-0.6418780075926991,0.7830373331959373,0.71338606911949],"aabb_xy":[[-0.6879630988474306,0.719037335943382],[-0.5957929163379676,0.8470373304484923]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_20","position":[-0.2361544288797573,0.6223610210364594,0.71338606911949],"aabb_xy":[[-0.2496009555138006,0.6088911693833682],[-0.22270790224571393,0.6358308726895506]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_21","position":[0.41088704296025047,1.3047143025802899,0.71338606911949],"aabb_xy":[[0.3858870436882882,1.2883689389841275],[0.43588704223221275,1.3210596661764522]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_22","position":[0.14776243809204404,-1.0921478711658532,0.71338606911949],"aabb_xy":[[0.14179589915130825,-1.098109015825217],[0.15372897703277982,-1.086186726506489]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_23","position":[-0.41590295085674156,-1.5992256669502152,0.71338606911949],"aabb_xy":[[-0.4534029520415343,-1.6036438896462752],[-0.3784029496719487,-1.5948074442541542]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_24","position":[-0.6026754685752677,-1.4592693539571404,0.71338606911949],"aabb_xy":[[-0.6119690868124181,-1.496769352445274],[-0.593381850338117,-1.4217693554690063]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_25","position":[-0.5500218769250637,-2.3017473193216524,0.71338606911949],"aabb_xy":[[-0.5799894338348892,-2.3317473196195384],[-0.5200543200152379,-2.2717473190237674]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_26","position":[-0.645018871065835,-0.7708954751509969,0.71338606911949],"aabb_xy":[[-0.6574862291755708,-0.7833607997843205],[-0.6325515129560995,-0.7584301505176735]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_27","position":[0.3264464687869306,-1.422916380079829,0.71338606911949],"aabb_xy":[[0.2464464718238914,-1.4999920217236022],[0.40644646574996973,-1.3458407384360553]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_28","position":[-0.09968127320955089,0.36635984492028495,0.71338606911949],"aabb_xy":[[-0.16368127391302026,0.320341462447364],[-0.03568127250608156,0.41237822739320606]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_29","position":[0.02984153676144008,-1.514543812546763,0.71338606911949],"aabb_xy":[[-0.02015846490005468,-1.5645422548024654],[0.07984153842293483,-1.46454537029106]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_30","position":[-0.24868502601903725,-1.7798103485387187,0.71338606911949],"aabb_xy":[[-0.3086850266150534,-1.8346228210839421],[-0.18868502542302107,-1.7249978759934952]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_31","position":[-0.3363838201822257,-0.6635067114042865,0.71338606911949],"aabb_xy":[[-0.40638382281881197,-0.6836115764001519],[-0.2663838175456393,-0.6434018464084209]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_32","position":[0.023225847928664667,-1.2044880170310186,0.71338606911949],"aabb_xy":[[-0.00923585295326279,-1.234620849145921],[0.05568754881059212,-1.1743551849161158]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6898467245831374,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5367.png","name":"5367"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5367.png","name":"5367"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2509.png","name":"2509"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/178.png","name":"178"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6672.png","name":"6672"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9678.png","name":"9678"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":680.5443834271331,"rotation_z_degrees":292.8665593449629,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005451560169376712,-0.0068321965340414174,0.012383141082718433]},{"name":"camera_2","offset_m":[-0.012340529510267043,-0.002641707028448702,-0.015012697437320154]},{"name":"camera_3","offset_m":[0.011732189229111258,0.014960995530678926,0.009769772552677788]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00046297343752168185,-0.0009483258337097112,0.0011286326921647852],"end_effector_yaw_offset_degrees":0.06866411936675099},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0009601320261272868,0.0010265293869885263,0.0005661863553492303],"end_effector_yaw_offset_degrees":0.967984724793983},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00011996516774137904,-0.0011396986454396928,-0.001585015551233981],"end_effector_yaw_offset_degrees":-0.7324891061692205},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0019841082079596426,0.00015884241681382496,-0.0011152299552241928],"end_effector_yaw_offset_degrees":0.9880566678133194}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.003328259474917371,0.002457493840862703],"position_m":[0.21027174052508263,-0.051242506159137294,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00045692468280493764,-0.0026478721764366677],"position_m":[0.24864307531719504,-0.3860478721764367,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00015169650525319062,-0.002610139930011892],"position_m":[0.14034830349474683,0.2320898600699881,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0025989406095160107,-0.00020273364183669672],"position_m":[0.356198940609516,0.11699726635816331,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a2c83ee1ef0c3ebfb5f16f74ff763b974fb5699e9333ade3c294ddfa385b930c","episode_index":96,"episode_name":"episode_0096"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0096.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_5367/tex_ceiling_textures_9678/tex_floor_textures_6672/tex_table_textures_2509/tex_wall_textures_178","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":5003777208403364237,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":5003777208403364237,"visual_seed":5003777208403364237,"scene_id":"lab_003","finished_at":"2026-09-05T23:41:53"} +{"episode_id":"ep_000093","started_at":"2026-09-05T23:41:57","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_0","position":[-0.5091040221089924,-1.2861706017388297,0.71338606911949],"aabb_xy":[[-0.579104018518954,-1.306608537390511],[-0.43910402569903045,-1.2657326660871475]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_1","position":[0.2753326272949681,-1.5950105159959787,0.71338606911949],"aabb_xy":[[0.19533263033192894,-1.6720861576397519],[0.35533262425800727,-1.517934874352205]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_2","position":[0.3510316484338556,0.7334232339366733,0.71338606911949],"aabb_xy":[[0.281031646302426,0.7106612683109775],[0.4210316505652851,0.7561851995623688]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_3","position":[0.0835400374252061,-2.08738572483713,0.71338606911949],"aabb_xy":[[0.042235494361470116,-2.151385724405247],[0.12484458048894209,-2.0233857252690126]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_4","position":[-0.0388618600127727,0.5658859867307457,0.71338606911949],"aabb_xy":[[-0.0758959694408324,0.5315087793970363],[-0.0018277505847129755,0.6002631940644552]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_5","position":[0.19810248385981077,1.2530167604345288,0.71338606911949],"aabb_xy":[[0.13410248657416213,1.2115100414816848],[0.2621024811454594,1.2945234793873728]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_6","position":[-0.6057460211403948,0.8607512837235549,0.71338606911949],"aabb_xy":[[-0.6894682466404771,0.770751280188859],[-0.5220237956403122,0.9507512872582509]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_7","position":[0.5523224991922979,0.2852975261770241,0.71338606911949],"aabb_xy":[[0.5390915536576165,0.2720701071550246],[0.5655534447269791,0.29852494519902345]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_8","position":[0.5512776850970744,1.0576457936389354,0.71338606911949],"aabb_xy":[[0.4612776883614641,1.004462330321641],[0.6412776818326845,1.11082925695623]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_9","position":[0.4787683681130288,1.5704758696845889,0.71338606911949],"aabb_xy":[[0.39876837095345347,1.5589282687267716],[0.5587683652726041,1.5820234706424057]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_10","position":[-0.3721687549235534,-1.8259233005505542,0.71338606911949],"aabb_xy":[[-0.43616875131912647,-1.889886588969288],[-0.3081687585279803,-1.7619600121318209]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_11","position":[-0.32816553749916544,0.4042119967791753,0.71338606911949],"aabb_xy":[[-0.36566553731619894,0.3995737854680334],[-0.2906655376821318,0.4088502080903171]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_12","position":[-0.1879593570792053,-1.2591093376474565,0.71338606911949],"aabb_xy":[[-0.2307260639586255,-1.323109341069259],[-0.1451926501997851,-1.195109334225654]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_13","position":[-0.09340088367139254,-0.9791341185932108,0.71338606911949],"aabb_xy":[[-0.15340088426740872,-1.0339465911384342],[-0.033400883075376364,-0.9243216460479873]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_14","position":[0.4891843067001207,-1.1936521223936833,0.71338606911949],"aabb_xy":[[0.43920549818980475,-1.243652122399402],[0.5391631152104366,-1.1436521223879643]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_15","position":[0.4668869949606749,-0.4590030939841676,0.71338606911949],"aabb_xy":[[0.3768869955423039,-0.4923785908283573],[0.5568869943790458,-0.42562759713997783]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_16","position":[-0.26478742283888995,-2.07528621605244,0.71338606911949],"aabb_xy":[[-0.28084935029740754,-2.160286217865032],[-0.24872549538037228,-1.9902862142398485]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_17","position":[-0.1050980558431186,0.8967039502998828,0.71338606911949],"aabb_xy":[[-0.1121395067938662,0.8896771985620882],[-0.098056604892371,0.9037307020376772]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_18","position":[0.2322175235653794,0.8291555038340728,0.71338606911949],"aabb_xy":[[0.2245932554752012,0.8215222802975292],[0.2398417916555577,0.8367887273706166]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_19","position":[-0.08644896847420769,-2.031969690032929,0.71338606911949],"aabb_xy":[[-0.1714489671662823,-2.063955553427808],[-0.0014489697821330194,-1.9999838266380503]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_20","position":[-0.2525633741803808,-1.0492667909329048,0.71338606911949],"aabb_xy":[[-0.2900633756960125,-1.0604935639490498],[-0.21506337266474906,-1.0380400179167597]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_21","position":[-0.5874039882835747,-0.2172819089081326,0.71338606911949],"aabb_xy":[[-0.6474039881301413,-0.2741005311011713],[-0.5274039884370078,-0.1604632867150939]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6894682221501779,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5316.png","name":"5316"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5316.png","name":"5316"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5653.png","name":"5653"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3166.png","name":"3166"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4774.png","name":"4774"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8204.png","name":"8204"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":817.06451376893,"rotation_z_degrees":135.83334557436066,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0063805085079993995,-0.01986976679352305,0.009740539550769513]},{"name":"camera_2","offset_m":[0.012310596994526354,-0.0027001338202077077,-0.0013264600384401727]},{"name":"camera_3","offset_m":[-0.0020730784745529307,0.005665160599571686,-0.01569779305270824]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0007053425872275056,0.0011810712651918842,0.0007435768983599968],"end_effector_yaw_offset_degrees":0.9989866251942521},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0016621186856287606,-0.0012035923847915778,-0.00016375081132880887],"end_effector_yaw_offset_degrees":-0.3366270373416711},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0014400094314283357,0.0014726078873910013,0.0009679288200311253],"end_effector_yaw_offset_degrees":-0.48323377486166175},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0012260485353360303,-0.0016914506461771196,0.0003408461705449741],"end_effector_yaw_offset_degrees":0.32739430062557795}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.003906315811544809,0.004231945047214522],"position_m":[0.20969368418845521,-0.04946805495278547,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0018608204611220616,0.0014897572381471162],"position_m":[0.25096082046112206,-0.3819102427618529,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0014062309903667518,0.0030381924357906426],"position_m":[0.14190623099036676,0.23773819243579064,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003299649403900683,-3.1793776725588807e-07],"position_m":[0.3503003505960993,0.11719968206223275,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"14b3d0358ca688201afd19c5d3f57eaaff53b1331cd413c5223cd88ae53490a7","episode_index":97,"episode_name":"episode_0097"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0097.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_5316/tex_ceiling_textures_8204/tex_floor_textures_4774/tex_table_textures_5653/tex_wall_textures_3166","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":356916638686063454,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":356916638686063454,"visual_seed":356916638686063454,"scene_id":"lab_003","finished_at":"2026-09-05T23:45:19"} +{"episode_id":"ep_000094","started_at":"2026-09-05T23:45:23","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_0","position":[-0.3991402530675257,0.5650352962941811,0.71338606911949],"aabb_xy":[[-0.436640251490926,0.5518710823263504],[-0.3616402546441253,0.5781995102620117]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_1","position":[0.6541440772212985,-1.2055239556046369,0.71338606911949],"aabb_xy":[[0.6236598270942683,-1.2555239553861326],[0.6846283273483286,-1.1555239558231407]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_2","position":[-0.4131594584118368,-1.386688751319791,0.71338606911949],"aabb_xy":[[-0.43815945834435477,-1.3935714195407143],[-0.388159458479319,-1.3798060830988677]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_3","position":[0.3709325228903275,-1.2692397162866669,0.71338606911949],"aabb_xy":[[0.29093251963248457,-1.3492362240786508],[0.4509325261481705,-1.189243208494683]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_4","position":[-0.1691601767121057,-0.4518475441507843,0.71338606911949],"aabb_xy":[[-0.17260085295216288,-0.45570897712514885],[-0.16571950047204853,-0.4479861111764199]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_5","position":[0.13558826555460557,1.477723910020441,0.71338606911949],"aabb_xy":[[0.09433945452469082,1.4227239105082232],[0.17683707658452028,1.5327239095326581]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_6","position":[-0.3633434414471626,-0.6118212133740459,0.71338606911949],"aabb_xy":[[-0.4183434410689084,-0.6668049061615188],[-0.30834344182541673,-0.5568375205865733]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_7","position":[-0.33894251278042664,-2.562361621257148,0.71338606911949],"aabb_xy":[[-0.34497952578109137,-2.5683883223260966],[-0.3329054997797619,-2.5563349201882004]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_8","position":[-0.3537932483729995,0.02209749321991339,0.71338606911949],"aabb_xy":[[-0.3837608052828252,-0.007902507077972354],[-0.32382569146317386,0.05209749351779913]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_9","position":[0.015299739195757556,1.744137315275721,0.71338606911949],"aabb_xy":[[0.0020687936610762625,1.7309098962537215],[0.02853068473043885,1.7573647342977203]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_10","position":[-0.06619204323474348,-1.9386715762426676,0.71338606911949],"aabb_xy":[[-0.08135491621168058,-1.9538370335377866],[-0.051029170257806414,-1.923506118947549]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_11","position":[0.6550040572536584,1.4458203947150783,0.71338606911949],"aabb_xy":[[0.637504057008609,1.4283206068755112],[0.6725040574987078,1.463320182554645]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_12","position":[0.4849617166920881,-0.31539219874390634,0.71338606911949],"aabb_xy":[[0.4049617181047686,-0.3947078006820672],[0.5649617152794074,-0.23607659680574541]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_13","position":[-0.5531378740013148,-1.4655660869559521,0.71338606911949],"aabb_xy":[[-0.60313787502045,-1.5020323026937803],[-0.5031378729821795,-1.4290998712181242]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_14","position":[-0.21999825218716534,-1.6705134486114805,0.71338606911949],"aabb_xy":[[-0.28999824859712703,-1.6909513842631618],[-0.14999825577720347,-1.6500755129597984]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_15","position":[-0.5750694258688052,-0.4519873001042196,0.71338606911949],"aabb_xy":[[-0.6390694261427833,-0.5020534003015076],[-0.5110694255948268,-0.4019211999069317]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_16","position":[-0.5761166364628023,-0.7038044043926801,0.71338606911949],"aabb_xy":[[-0.626116638124297,-0.7538028466483827],[-0.5261166348013074,-0.6538059621369773]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_17","position":[0.23728982619150196,0.9220560212950186,0.71338606911949],"aabb_xy":[[0.2295866355174249,0.9143466505962804],[0.24499301686557898,0.9297653919937564]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_18","position":[-0.4955005162481854,1.457642479509293,0.71338606911949],"aabb_xy":[[-0.5330005165403602,1.4536010041086893],[-0.4580005159560106,1.4616839549098963]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_19","position":[-0.1519688920941883,-1.8779466579580775,0.71338606911949],"aabb_xy":[[-0.16018343720987221,-1.8866232482557181],[-0.14375434697850425,-1.8692700676604355]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_20","position":[0.10982818735033806,0.7920227454931923,0.71338606911949],"aabb_xy":[[0.02982818627721774,0.7822446991558079],[0.1898281884234584,0.8018007918305767]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_21","position":[-0.550021632436741,-2.385283345804675,0.71338606911949],"aabb_xy":[[-0.5703059351601395,-2.4055659709473836],[-0.529737329713342,-2.3650007206619654]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_22","position":[0.4779388395269706,-1.856403975095366,0.71338606911949],"aabb_xy":[[0.44293884033415226,-1.8673710210930283],[0.5129388387197888,-1.8454369290977033]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_23","position":[-0.04871922664951123,-2.4696913783086214,0.71338606911949],"aabb_xy":[[-0.09869803515982711,-2.51969137831434],[0.0012595818608046663,-2.4196913783029026]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_24","position":[-0.06288721515661788,0.8003087560833664,0.71338606911949],"aabb_xy":[[-0.09636638241765882,0.7668296427122595],[-0.029408047895576946,0.8337878694544735]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_25","position":[0.017056195734214685,1.555551830267905,0.71338606911949],"aabb_xy":[[-0.007457428362791174,1.5312872369658685],[0.041569819831220545,1.5798164235699415]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_26","position":[0.10287334722515151,0.6772856971253893,0.71338606911949],"aabb_xy":[[0.09210037330378373,0.6422856989063503],[0.11364632114651929,0.7122856953444283]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6870037689243577,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9708.png","name":"9708"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9708.png","name":"9708"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9017.png","name":"9017"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1378.png","name":"1378"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/787.png","name":"787"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9671.png","name":"9671"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":804.2748501597218,"rotation_z_degrees":199.50993362769995,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01461673199964381,4.4283503783430767e-05,0.0036756373814430185]},{"name":"camera_2","offset_m":[-0.011473042799483494,-0.0007453107033700695,0.0006090558073888544]},{"name":"camera_3","offset_m":[0.0031665823028519426,-0.012563167680895226,0.007652502848005303]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0008269381966584839,6.984986758706412e-05,0.0007416170200091215],"end_effector_yaw_offset_degrees":0.6090526966891958},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0018240774920284886,0.0016487363019499833,0.0018773441155959512],"end_effector_yaw_offset_degrees":0.28338663835909417},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001136418651312907,0.0014995540619286846,-0.001112989452417386],"end_effector_yaw_offset_degrees":0.4656648048945251},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0016690967249772914,-0.0016184105506033607,-0.00059788124701139],"end_effector_yaw_offset_degrees":-0.6706958366543736}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0020351397411307705,-0.002787393422701534],"position_m":[0.21563513974113077,-0.05648739342270153,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001955508989190531,0.0002160525197664109],"position_m":[0.24714449101080946,-0.3831839474802336,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004159249936061406,0.004788666026348272],"position_m":[0.13634075006393861,0.23948866602634827,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002152276593819581,0.0031001526858576356],"position_m":[0.3557522765938196,0.12030015268585763,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7ff91e91814bea2beeae4387602412b6ae72f8e0571b0b3d3e15afd6a57a3b33","episode_index":98,"episode_name":"episode_0098"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0098.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_9708/tex_ceiling_textures_9671/tex_floor_textures_787/tex_table_textures_9017/tex_wall_textures_1378","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":1367065262752604811,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":1367065262752604811,"visual_seed":1367065262752604811,"scene_id":"lab_003","finished_at":"2026-09-05T23:48:57"} +{"episode_id":"ep_000095","started_at":"2026-09-05T23:49:01","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_0","position":[-0.6402507264829054,1.5367742773671247,0.71338606911949],"aabb_xy":[[-0.6615287346263776,1.4717742750410516],[-0.6189727183394331,1.6017742796931977]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_1","position":[-0.2349803470725449,-0.137821083004106,0.71338606911949],"aabb_xy":[[-0.25688902921189594,-0.1597217498241967],[-0.21307166493319382,-0.11592041618401525]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_2","position":[-0.1879200017017686,-2.490814671170791,0.71338606911949],"aabb_xy":[[-0.25192000028834105,-2.5378216345702995],[-0.12392000311519613,-2.443807707771282]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_3","position":[0.6245084774028826,-0.7231228193371748,0.71338606911949],"aabb_xy":[[0.6147524878937087,-0.7328853533964091],[0.6342644669120565,-0.7133602852779403]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_4","position":[-0.5443782015757314,-0.06335295219636095,0.71338606911949],"aabb_xy":[[-0.5943782002216526,-0.11327249585582333],[-0.49437820292981016,-0.013433408536898561]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_5","position":[-0.4255680326658918,-1.634619498768331,0.71338606911949],"aabb_xy":[[-0.4628993091911344,-1.6692725535631832],[-0.38823675614064923,-1.5999664439734786]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_6","position":[-0.3475828537984062,-1.140512522850355,0.71338606911949],"aabb_xy":[[-0.3936679450531377,-1.20451252010291],[-0.3014977625436747,-1.0765125255977999]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_7","position":[0.5955617328117069,-1.8450489136863497,0.71338606911949],"aabb_xy":[[0.5692729084912661,-1.871320347341001],[0.6218505571321474,-1.8187774800316985]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_8","position":[-0.012575861788481135,0.31900271279878334,0.71338606911949],"aabb_xy":[[-0.02128983083841562,0.296502712139595],[-0.0038618927385466457,0.34150271345797145]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_9","position":[0.5026469073327138,-0.8388782111505335,0.71338606911949],"aabb_xy":[[0.4651469071608417,-0.8715789465334407],[0.5401469075045856,-0.8061774757676263]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_10","position":[-0.40235076821652216,0.848389438207342,0.71338606911949],"aabb_xy":[[-0.49235076495213226,0.7952059748900475],[-0.31235077148091184,0.9015729015246365]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_11","position":[0.6450330838263818,-0.5482607912375692,0.71338606911949],"aabb_xy":[[0.6163837514659655,-0.5769063505146449],[0.6736824161867979,-0.5196152319604933]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_12","position":[-0.5589162135097939,1.4283815453746622,0.71338606911949],"aabb_xy":[[-0.5755933495028895,1.411681621400732],[-0.5422390775166985,1.4450814693485925]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_13","position":[-0.21973534334465628,0.3125775522934138,0.71338606911949],"aabb_xy":[[-0.24223176477852038,0.29007755248666633],[-0.19723892191079218,0.3350775521001612]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_14","position":[0.37880206362082713,-1.5265764712480494,0.71338606911949],"aabb_xy":[[0.31380206506375424,-1.5563290046619322],[0.4438020621778999,-1.496823937834167]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_15","position":[0.07705396162813205,1.2087282591442623,0.71338606911949],"aabb_xy":[[0.03486954746730131,1.144728258867051],[0.11923837578896279,1.2727282594214735]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_16","position":[-0.3036752935819556,0.5457424986398252,0.71338606911949],"aabb_xy":[[-0.32154440133641116,0.5319095906626142],[-0.28580618582750017,0.5595754066170361]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_17","position":[-0.3967857211430501,-0.4763091512249962,0.71338606911949],"aabb_xy":[[-0.43328154177032885,-0.5127930936517537],[-0.36028990051577137,-0.4398252087982386]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_18","position":[0.5976700787935763,-0.415750289471017,0.71338606911949],"aabb_xy":[[0.5336700796238063,-0.4625169765899795],[0.6616700779633462,-0.3689836023520545]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_19","position":[-0.34098581324310306,-2.1108466765943077,0.71338606911949],"aabb_xy":[[-0.40598581588089655,-2.1623262752937547],[-0.2759858106053096,-2.0593670778948607]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_20","position":[-0.6089957421862473,-1.005051855958255,0.71338606911949],"aabb_xy":[[-0.6639694642225802,-1.0600518555224883],[-0.5540220201499144,-0.9500518563940219]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_21","position":[0.6189848167500509,0.5239012293465426,0.71338606911949],"aabb_xy":[[0.5964848167399026,0.5098050097069393],[0.6414848167601992,0.5379974489861459]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_22","position":[-0.39980027430541365,-0.36544407601706475,0.71338606911949],"aabb_xy":[[-0.4373002746536414,-0.3772354715981483],[-0.3623002739571859,-0.3536526804359812]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_23","position":[-0.5144977242656046,-1.3866306123686107,0.71338606911949],"aabb_xy":[[-0.5784977256735953,-1.4384195638925354],[-0.45049772285761397,-1.334841660844686]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_24","position":[-0.38520640881548673,1.1671241049519607,0.71338606911949],"aabb_xy":[[-0.3886470850555439,1.1632626719775963],[-0.38176573257542956,1.1709855379263252]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_25","position":[0.28294267792594885,-1.9211657119127654,0.71338606911949],"aabb_xy":[[0.24794267961525346,-1.928880726836311],[0.31794267623664435,-1.9134506969892198]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_26","position":[0.3308065797480497,-1.7745239048983388,0.71338606911949],"aabb_xy":[[0.2508065811607303,-1.8538395068365],[0.41080657833536915,-1.695208302960178]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_27","position":[0.31644162822935495,-2.1464038341875913,0.71338606911949],"aabb_xy":[[0.27959108029236734,-2.183903835010625],[0.35329217616634256,-2.1089038333645576]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_28","position":[-0.10602948752783359,-0.3143881528990602,0.71338606911949],"aabb_xy":[[-0.14102948887931532,-0.33474788885588097],[-0.07102948617635185,-0.2940284169422393]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_29","position":[-0.17668920285504286,0.8648063779960173,0.71338606911949],"aabb_xy":[[-0.2566892031286498,0.7918568301703007],[-0.09668920258143586,0.9377559258217342]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_30","position":[-0.17317236128295066,1.7919759420284698,0.71338606911949],"aabb_xy":[[-0.186618887916994,1.7785060903753787],[-0.15972583464890733,1.8054457936815613]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_31","position":[-0.31712807341527616,-1.9057326633227905,0.71338606911949],"aabb_xy":[[-0.3546280739126344,-1.9097013468709092],[-0.2796280729179179,-1.9017639797746722]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6839490563464621,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/373.png","name":"373"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/373.png","name":"373"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/917.png","name":"917"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4631.png","name":"4631"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7222.png","name":"7222"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8367.png","name":"8367"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":825.6991778571273,"rotation_z_degrees":169.43943535115997,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.000547864791567744,0.008345807664838972,0.01110460660038589]},{"name":"camera_2","offset_m":[-0.019824386706430743,-0.000977929213013734,0.010650571019185522]},{"name":"camera_3","offset_m":[0.010940831231855457,-0.010914142899237334,-0.008736623535381023]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001412984521065399,0.00026307732532141175,-0.00032850447270197226],"end_effector_yaw_offset_degrees":0.18768517146754293},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[8.038196016918334e-05,0.0009511985276712005,-0.00086745795608255],"end_effector_yaw_offset_degrees":-0.4806009051208424},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001355682015980274,0.000977358108716261,0.0002149519021662099],"end_effector_yaw_offset_degrees":-0.010661555958060287},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010307280419903295,0.00045085721616002633,-0.00017368386842763167],"end_effector_yaw_offset_degrees":0.5334659870008942}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00388344804014303,-0.00011098563928198767],"position_m":[0.21748344804014305,-0.05381098563928199,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003260086264872524,0.0037578165056586675],"position_m":[0.24583991373512745,-0.37964218349434137,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004910242438453397,0.0020907349696747644],"position_m":[0.13558975756154662,0.23679073496967476,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004587005496600508,0.004900595627307374],"position_m":[0.3490129945033995,0.12210059562730738,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5996696b06b10b7a43af1fb78331c352bb4c02471419191e9d85a943012ee026","episode_index":99,"episode_name":"episode_0099"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0099.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_373/tex_ceiling_textures_8367/tex_floor_textures_7222/tex_table_textures_917/tex_wall_textures_4631","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":7917402355942836854,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":7917402355942836854,"visual_seed":7917402355942836854,"scene_id":"lab_003","finished_at":"2026-09-05T23:52:25"} +{"episode_id":"ep_000096","started_at":"2026-09-05T23:52:28","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_0","position":[0.012590626483987566,-1.221093004234185,0.71338606911949],"aabb_xy":[[0.004596637906284172,-1.229093084329275],[0.02058461506169096,-1.2130929241390944]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_1","position":[-0.5499620944545748,-1.5140406018067203,0.71338606911949],"aabb_xy":[[-0.5658465877198999,-1.5283935421055443],[-0.5340776011892496,-1.4996876615078962]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_2","position":[0.059058284322558885,-1.8806746409659174,0.71338606911949],"aabb_xy":[[0.021558284505525334,-1.885312852277059],[0.09655828413959244,-1.8760364296547754]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_3","position":[0.5747886317039774,-1.4571412060558926,0.71338606911949],"aabb_xy":[[0.4947886312337616,-1.465451913670241],[0.6547886321741935,-1.448830498441544]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_4","position":[-0.302132824253144,-0.9729815103575248,0.71338606911949],"aabb_xy":[[-0.33776198015310377,-1.0086141771143777],[-0.2665036683531843,-0.9373488436006718]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_5","position":[-0.6274248840300403,-1.3006712019615372,0.71338606911949],"aabb_xy":[[-0.687424883876607,-1.3574898241545759],[-0.5674248841834735,-1.2438525797684985]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_6","position":[-0.4914190000542983,-0.1442782702834995,0.71338606911949],"aabb_xy":[[-0.5814189994726691,-0.17765376712768918],[-0.40141900063592734,-0.11090277343930974]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_7","position":[-0.648404663557731,-1.7009370956118195,0.71338606911949],"aabb_xy":[[-0.6644665910162485,-1.7859370974244113],[-0.6323427360992132,-1.6159370937992277]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_8","position":[-0.31747971866786745,1.3904849205869714,0.71338606911949],"aabb_xy":[[-0.367457135533121,1.3404849190977226],[-0.2675023018026138,1.4404849220762197]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_9","position":[0.6038370118347043,-2.504765140737316,0.71338606911949],"aabb_xy":[[0.523837010404577,-2.584282295749925],[0.6838370132648314,-2.425247985724706]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_10","position":[0.6464552831478698,-0.24710460060011297,0.71338606911949],"aabb_xy":[[0.6251772750043975,-0.312104602926186],[0.667733291291342,-0.1821045982740399]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_11","position":[0.6464627594520913,1.0872512237843996,0.71338606911949],"aabb_xy":[[0.586462758856075,1.0324387512391762],[0.7064627600481074,1.1420636963296231]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_12","position":[0.5202603025470327,1.3854657323077126,0.71338606911949],"aabb_xy":[[0.5153610102404692,1.3577888130051436],[0.5251595948535962,1.4131426516102812]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_13","position":[0.06832690636904348,0.9105315107370471,0.71338606911949],"aabb_xy":[[0.05517566039775414,0.8855315109803608],[0.08147815234033286,0.9355315104937338]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_14","position":[-0.03274975129198854,0.4923823408376493,0.71338606911949],"aabb_xy":[[-0.036865701404061195,0.4882667858048037],[-0.028633801179915867,0.4964978958704947]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_15","position":[0.03487678997671129,-1.3131066396511786,0.71338606911949],"aabb_xy":[[-0.0021573194513484356,-1.3474838469848878],[0.071910899404771,-1.278729432317469]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_16","position":[-0.40553753996616404,0.4453610259764105,0.71338606911949],"aabb_xy":[[-0.4135310297614462,0.43736289403593487],[-0.3975440501708821,0.4533591579168862]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_17","position":[-0.3296138419676984,-1.7041105338579217,0.71338606911949],"aabb_xy":[[-0.3345698621525796,-1.7266105340600437],[-0.32465782178281727,-1.6816105336558005]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_18","position":[0.5963267723266186,-0.4223736350529803,0.71338606911949],"aabb_xy":[[0.5588267718292603,-0.42634231860109867],[0.6338267728239768,-0.41840495150486184]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_19","position":[-0.639994485584064,-1.0050706285577926,0.71338606911949],"aabb_xy":[[-0.6949944837858089,-1.04559259518423],[-0.5849944873823192,-0.9645486619313549]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_20","position":[-0.08529124130248023,-1.0737614544771796,0.71338606911949],"aabb_xy":[[-0.08899450263161907,-1.0774634727858972],[-0.08158797997334133,-1.0700594361684617]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_21","position":[0.06322151705671308,-1.9686567069914354,0.71338606911949],"aabb_xy":[[-0.006778484545566399,-1.982089500193093],[0.13322151865899257,-1.9552239137897778]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6870591545044691,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7082.png","name":"7082"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7082.png","name":"7082"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8735.png","name":"8735"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3928.png","name":"3928"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5627.png","name":"5627"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/847.png","name":"847"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":626.668065623092,"rotation_z_degrees":121.88359093220373,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012425404778969616,-0.0035191310479503503,-0.005117792833171566]},{"name":"camera_2","offset_m":[-0.017641815557628667,-0.011575421038889014,-0.007743172305709582]},{"name":"camera_3","offset_m":[0.004250644886363144,0.006698244273972143,-0.01044312265895134]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00023820231802457355,0.001403396509136061,0.0008922310165116786],"end_effector_yaw_offset_degrees":0.9530787676963772},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0019530341965958873,-0.0006430688562540658,0.0016425701808656067],"end_effector_yaw_offset_degrees":-0.5578666643983972},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0014362414337570728,-0.0017754106961074402,-0.0018906149601235916],"end_effector_yaw_offset_degrees":0.2363875684258745},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008641746078913771,0.0018237538822237576,-0.00015911429526486824],"end_effector_yaw_offset_degrees":0.6194322986565841}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.001609947656236681,-0.0011256158888638822],"position_m":[0.2152099476562367,-0.05482561588886388,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00393991112606127,-0.0028189836483228405],"position_m":[0.24516008887393873,-0.38621898364832286,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0027638950851427246,-0.0036172766178697215],"position_m":[0.1377361049148573,0.23108272338213026,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0006528672931933608,0.0003571095254378074],"position_m":[0.3542528672931934,0.11755710952543781,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f6975a784b844be3c47dd5279851ff01d36f31d0abf9b6cf641cd3b35df6e81b","episode_index":100,"episode_name":"episode_0100"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0100.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_7082/tex_ceiling_textures_847/tex_floor_textures_5627/tex_table_textures_8735/tex_wall_textures_3928","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":9025452552924045612,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":9025452552924045612,"visual_seed":9025452552924045612,"scene_id":"lab_003","finished_at":"2026-09-05T23:55:58"} +{"episode_id":"ep_000097","started_at":"2026-09-05T23:56:02","dimensions":{"distractor":{"count":33,"items":[{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_0","position":[0.5935777209975779,-1.205700126857645,0.71338606911949],"aabb_xy":[[0.5567830878726716,-1.2426060019542273],[0.6303723541224842,-1.1687942517610628]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_1","position":[0.053087118527539,-2.2724852343259445,0.71338606911949],"aabb_xy":[[0.01558711842194605,-2.279307396178925],[0.09058711863313196,-2.265663072472963]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_2","position":[0.6094883938608087,-1.98785556145214,0.71338606911949],"aabb_xy":[[0.5257661683607262,-2.0778555649868355],[0.6932106193608911,-1.8978555579174439]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_3","position":[0.10081482665328156,-0.7734243530634712,0.71338606911949],"aabb_xy":[[0.05472973539855009,-0.8374243503160264],[0.14689991790801304,-0.7094243558109161]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_4","position":[-0.47801162007209097,-1.7836617120895655,0.71338606911949],"aabb_xy":[[-0.568011619795265,-1.8067350646247453],[-0.38801162034891673,-1.7605883595543856]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_5","position":[-0.31799839613145126,0.8664805700227647,0.71338606911949],"aabb_xy":[[-0.38199839847425276,0.8215397187786321],[-0.25399839378864963,0.9114214212668971]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_6","position":[-0.009886933845865475,0.1620632010127987,0.71338606911949],"aabb_xy":[[-0.018584896136580764,0.14993822670532397],[-0.0011889715551501852,0.17418817532027342]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_7","position":[-0.2125812553058949,-1.409840655415003,0.71338606911949],"aabb_xy":[[-0.28258125743732443,-1.4326026210406984],[-0.14258125317446535,-1.387078689789307]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_8","position":[-0.08477617496092871,0.997034278935641,0.71338606911949],"aabb_xy":[[-0.1487718723560253,0.9330342806349323],[-0.020780477565832123,1.0610342772363497]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_9","position":[-0.5243099045690902,0.397039873768505,0.71338606911949],"aabb_xy":[[-0.5586068155868307,0.3627429875585636],[-0.4900129935513495,0.43133675997844634]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_10","position":[-0.24229480552962307,-1.008633284832612,0.71338606911949],"aabb_xy":[[-0.27277905565665317,-1.058633284614108],[-0.2118105554025929,-0.9586332850511161]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_11","position":[-0.30836550765828347,-1.7477646483563425,0.71338606911949],"aabb_xy":[[-0.31206876898742225,-1.75146666666506],[-0.30466224632914457,-1.7440626300476245]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_12","position":[-0.4258077248486774,1.6499820029111238,0.71338606911949],"aabb_xy":[[-0.5158077285255953,1.588549596334019],[-0.3358077211717591,1.7114144094882278]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_13","position":[-0.2674638487416468,-2.1507177840624125,0.71338606911949],"aabb_xy":[[-0.3009430160026878,-2.1841968974335195],[-0.23398468148060592,-2.1172386706913056]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_14","position":[0.6392528012777636,1.5475652767594217,0.71338606911949],"aabb_xy":[[0.5792528006817476,1.4927528042141982],[0.6992528018737799,1.6023777493046452]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_15","position":[0.43389508140463273,0.37015818236801623,0.71338606911949],"aabb_xy":[[0.4262708133144546,0.36252495883147257],[0.4415193494948111,0.37779140590456006]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_16","position":[0.05986097230916132,1.713117963893389,0.71338606911949],"aabb_xy":[[0.05490495212428013,1.6906179636912677],[0.06481699249404252,1.735617964095511]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_17","position":[0.27321681364530315,1.7523327691194743,0.71338606911949],"aabb_xy":[[0.21821681446871366,1.6973430943445165],[0.32821681282189263,1.8073224438944318]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_18","position":[-0.5534479037771861,-1.6181412862301374,0.71338606911949],"aabb_xy":[[-0.5693323970425113,-1.6324942265289615],[-0.537563410511861,-1.6037883459313134]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_19","position":[0.6465425751085503,-1.4168042447915394,0.71338606911949],"aabb_xy":[[0.5865425752619834,-1.473622866984578],[0.706542574955117,-1.3599856225985005]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_20","position":[0.6212162173488442,-0.3188980721679049,0.71338606911949],"aabb_xy":[[0.5662239667133333,-0.37389807391121765],[0.6762084679843552,-0.2638980704245921]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_21","position":[-0.3753183891828422,1.1173467599646214,0.71338606911949],"aabb_xy":[[-0.4393183905908329,1.0655578084406965],[-0.31131838777485155,1.169135711488546]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_22","position":[0.4916017267619308,-2.2887073535686997,0.71338606911949],"aabb_xy":[[0.4416017281160096,-2.338626897228162],[0.541601725407852,-2.2387878099092373]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_23","position":[0.34242875937455386,-1.7962053915186842,0.71338606911949],"aabb_xy":[[0.29294833816059507,-1.8602053894315362],[0.39190918058851265,-1.7322053936058326]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_24","position":[-0.6776343960228465,-0.4137524125480785,0.71338606911949],"aabb_xy":[[-0.6817702523555467,-0.4512524119924355],[-0.6734985396901463,-0.3762524131037215]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_25","position":[-0.4231904298509881,-1.137513486953017,0.71338606911949],"aabb_xy":[[-0.5031904285078741,-1.1520183458772797],[-0.3431904311941021,-1.1230086280287543]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_26","position":[0.35178678896183513,-1.579545788880771,0.71338606911949],"aabb_xy":[[0.2620997126537197,-1.6695457891352214],[0.4414738652699506,-1.4895457886263204]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_27","position":[0.581218485906263,0.6358512141453674,0.71338606911949],"aabb_xy":[[0.5710654703521134,0.5997816725726269],[0.5913715014604122,0.6719207557181076]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_28","position":[-0.4686762614184255,-0.46620093736932944,0.71338606911949],"aabb_xy":[[-0.4855869938547672,-0.47967314296194397],[-0.45176552898208366,-0.4527287317767149]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_29","position":[-0.49424307038601023,0.6526628625574844,0.71338606911949],"aabb_xy":[[-0.5307388910132889,0.6161789201307268],[-0.45774724975873143,0.689146804984242]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_30","position":[-0.4584737707466592,1.4501343522924413,0.71338606911949],"aabb_xy":[[-0.46932537699553484,1.4392750615647905],[-0.44762216449778364,1.4609936430200925]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_31","position":[0.31603811167936313,-2.4675155446915693,0.71338606911949],"aabb_xy":[[0.2660381122391675,-2.5174834691758856],[0.36603811111955875,-2.417547620207253]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_32","position":[0.6656857592479157,-0.04371547181627511,0.71338606911949],"aabb_xy":[[0.6178795916341471,-0.10871547452333405],[0.7134919268616844,0.021284530890783856]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6902588059073553,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8044.png","name":"8044"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8044.png","name":"8044"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3670.png","name":"3670"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2251.png","name":"2251"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5311.png","name":"5311"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8513.png","name":"8513"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":572.3669448640442,"rotation_z_degrees":348.35136153235595,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005203030481132555,-0.002007350512375175,-0.002402550380224598]},{"name":"camera_2","offset_m":[0.015345956756856658,0.016211797912547617,0.006254517620821659]},{"name":"camera_3","offset_m":[-0.009770453298703656,0.004360550919372094,0.002549216276138213]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00026857004530183876,0.0001926306287122928,-0.0018946803876668996],"end_effector_yaw_offset_degrees":-0.4278340597809327},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00031222422307127786,-0.0015189846392598674,6.99435831607179e-05],"end_effector_yaw_offset_degrees":0.37016528346406696},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0012229634714800157,0.0002881303553467617,0.000943001734617116],"end_effector_yaw_offset_degrees":0.024491141169632913},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001789922854034568,-0.0013570479969628516,-0.0004233499106686422],"end_effector_yaw_offset_degrees":-0.08083129092722485}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003224993526895777,-0.000654270694817348],"position_m":[0.2168249935268958,-0.054354270694817346,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004969546959641919,0.004760811561371693],"position_m":[0.2540695469596419,-0.3786391884386283,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0016224213165745086,-0.0035596532426443906],"position_m":[0.14212242131657452,0.2311403467573556,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002678775349835188,0.004307426979100496],"position_m":[0.3562787753498352,0.1215074269791005,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"58ef20d96ec304e74d53800944deec387e0f306c6234d126c52491bf307001b9","episode_index":101,"episode_name":"episode_0101"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0101.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_8044/tex_ceiling_textures_8513/tex_floor_textures_5311/tex_table_textures_3670/tex_wall_textures_2251","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":7425091841385321272,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":7425091841385321272,"visual_seed":7425091841385321272,"scene_id":"lab_003","finished_at":"2026-09-05T23:59:42"} +{"episode_id":"ep_000098","started_at":"2026-09-05T23:59:48","dimensions":{"distractor":{"count":27,"items":[{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_0","position":[0.028648977870634806,-2.175281455941324,0.71338606911949],"aabb_xy":[[-0.021351023413205158,-2.2252603103319455],[0.07864897915447476,-2.1253026015507013]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_1","position":[-0.24433942713336881,-0.8843993807167172,0.71338606911949],"aabb_xy":[[-0.24841758504041855,-0.8884803609649805],[-0.24026126922631907,-0.8803184004684539]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_2","position":[-0.4012136356794596,-0.8034215491612857,0.71338606911949],"aabb_xy":[[-0.48120745925801783,-0.8834215517541273],[-0.3212198121009014,-0.7234215465684442]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_3","position":[0.20687173305663165,-0.9758775540561673,0.71338606911949],"aabb_xy":[[0.16937173154099988,-0.9871043270723122],[0.2443717345722633,-0.9646507810400221]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_4","position":[0.636171753428882,1.5291870820868279,0.71338606911949],"aabb_xy":[[0.6005425975289223,1.493554415329975],[0.6718009093288417,1.5648197488436808]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_5","position":[0.5549823720102489,-2.1022340031411657,0.71338606911949],"aabb_xy":[[0.4849823686186869,-2.137549776844596],[0.6249823754018108,-2.0669182294377344]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_6","position":[-0.5145697845687784,-0.045829116065822184,0.71338606911949],"aabb_xy":[[-0.5645690597372147,-0.09582911734176935],[-0.4645705094003424,0.004170885210124986]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_7","position":[0.6536046210053903,1.091228720849085,0.71338606911949],"aabb_xy":[[0.6162733444801477,1.0565756660542327],[0.6909358975306329,1.1258817756439372]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_8","position":[-0.389195003822478,0.7925614773673844,0.71338606911949],"aabb_xy":[[-0.453195002992248,0.7457947902484219],[-0.3251950046527081,0.8393281644863468]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_9","position":[-0.6214488934430911,-1.472147861767333,0.71338606911949],"aabb_xy":[[-0.6914488950453705,-1.4855806549689905],[-0.5514488918408116,-1.4587150685656753]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_10","position":[0.18937622091530992,-2.431104659957529,0.71338606911949],"aabb_xy":[[0.15346271649032023,-2.4670181681742838],[0.22528972534029962,-2.3951911517407742]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_11","position":[0.4230069405584014,-0.3121737943055449,0.71338606911949],"aabb_xy":[[0.39671811623796066,-0.3384452279601961],[0.449295764878842,-0.28590236065089364]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_12","position":[-0.024342851954742284,-1.099393512152654,0.71338606911949],"aabb_xy":[[-0.03627558631657035,-1.1117756649605133],[-0.012410117592914216,-1.0870113593447945]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_13","position":[0.48018273088742003,-0.447259506230151,0.71338606911949],"aabb_xy":[[0.46238922395250365,-0.46505925182594865],[0.4979762378223365,-0.4294597606343533]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_14","position":[0.5544622870684599,0.24214197366853218,0.71338606911949],"aabb_xy":[[0.47446228381061695,0.16214546587654818],[0.6344622903263029,0.32213848146051616]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_15","position":[0.6497527637338079,-0.021800310651920896,0.71338606911949],"aabb_xy":[[0.6152902857207201,-0.028463987834843718],[0.6842152417468956,-0.015136633468998073]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_16","position":[0.433507914771347,-1.4703651724663702,0.71338606911949],"aabb_xy":[[0.41833574548971364,-1.4855340293945738],[0.4486800840529803,-1.455196315538167]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_17","position":[0.005298158605206327,1.531411202253015,0.71338606911949],"aabb_xy":[[0.0013376748354719525,1.5237433376674947],[0.009258642374940701,1.539079066838536]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_18","position":[-0.6230563922678956,-0.751730095803399,0.71338606911949],"aabb_xy":[[-0.6605563923734885,-0.75855225765638],[-0.5855563921623026,-0.7449079339504178]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_19","position":[-0.5452714210655694,-0.9965866779129424,0.71338606911949],"aabb_xy":[[-0.6102714220226965,-1.048534889846648],[-0.4802714201084421,-0.944638465979237]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_20","position":[0.35431039130076347,-2.5682903318846795,0.71338606911949],"aabb_xy":[[0.33681039216639624,-2.578169958922267],[0.3718103904351306,-2.558410704847091]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_21","position":[0.17556962032351964,-2.1034377322234925,0.71338606911949],"aabb_xy":[[0.15034878346367994,-2.128661483076378],[0.20079045718335928,-2.078213981370605]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_22","position":[-0.5739785433551313,1.2813479612834686,0.71338606911949],"aabb_xy":[[-0.6239785443742667,1.2448817455456407],[-0.5239785423359962,1.3178141770212966]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_23","position":[-0.30779897810247253,-1.5380945755811648,0.71338606911949],"aabb_xy":[[-0.3209502240737619,-1.5630945753378516],[-0.29464773213118317,-1.5130945758244785]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_24","position":[-0.36024001039084735,-1.959658235956784,0.71338606911949],"aabb_xy":[[-0.4242400136805554,-2.002993154960701],[-0.2962400071011392,-1.916323316952866]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_25","position":[-0.5550746614843075,0.8830634168573201,0.71338606911949],"aabb_xy":[[-0.5666436422312442,0.8580634167403883],[-0.543505680737371,0.9080634169742517]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_26","position":[0.03868005145199527,-1.5663570996596041,0.71338606911949],"aabb_xy":[[0.034766178256572744,-1.575106115066161],[0.04259392464741779,-1.5576080842530473]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6885843761130538,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7172.png","name":"7172"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7172.png","name":"7172"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9160.png","name":"9160"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5985.png","name":"5985"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/418.png","name":"418"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6107.png","name":"6107"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":500.2592342836833,"rotation_z_degrees":319.81087481430563,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016544361765588957,-0.010627444063564218,0.005529455605442827]},{"name":"camera_2","offset_m":[-0.011697063065280653,0.006726237370474782,-0.008402595458195643]},{"name":"camera_3","offset_m":[0.015531933649668653,-0.016098783153481552,0.00949517617824287]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0005628983662589512,-0.00019671107549394358,0.0003397389373159033],"end_effector_yaw_offset_degrees":0.9299494555503476},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0017052976859069262,0.0012139082321349706,-0.0012323682007343289],"end_effector_yaw_offset_degrees":-0.36644770724603193},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0006481606116304044,-0.0009055164237413509,0.0008876711967938347],"end_effector_yaw_offset_degrees":0.8204725683862566},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0002360065242286997,0.0018214055726711704,0.001506942238432439],"end_effector_yaw_offset_degrees":-0.5943031806171739}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.003744168298066706,-0.0022776767168001867],"position_m":[0.2098558317019333,-0.055977676716800186,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0022303003544854485,-0.003016165663707715],"position_m":[0.24686969964551453,-0.38641616566370773,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0009740823917096866,-0.00456385117749365],"position_m":[0.13952591760829033,0.23013614882250635,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0016123377225820126,0.001411215175328706],"position_m":[0.351987662277418,0.1186112151753287,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4389f3623891bf2f24802ce396ea44711b80c946cee88bb54ff96fa0d86368fc","episode_index":102,"episode_name":"episode_0102"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0102.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_7172/tex_ceiling_textures_6107/tex_floor_textures_418/tex_table_textures_9160/tex_wall_textures_5985","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":924602638515455307,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":924602638515455307,"visual_seed":924602638515455307,"scene_id":"lab_003","finished_at":"2026-09-06T00:03:11"} +{"episode_id":"ep_000099","started_at":"2026-09-06T00:03:18","dimensions":{"distractor":{"count":32,"items":[{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_0","position":[0.18932834978744717,1.3115278357796498,0.71338606911949],"aabb_xy":[[0.15199707326220455,1.2768747809847973],[0.2266596263126898,1.3461808905745019]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_1","position":[0.34868717012221095,-0.6667942452969664,0.71338606911949],"aabb_xy":[[0.3065027559613802,-0.7307942455741777],[0.3908715842830417,-0.6027942450197553]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_2","position":[0.6316244739764867,-1.4127997415151652,0.71338606911949],"aabb_xy":[[0.6037794371958796,-1.4435842402534769],[0.6594695107570938,-1.3820152427768535]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_3","position":[0.20680329225905758,1.7459394668773691,0.71338606911949],"aabb_xy":[[0.1948705578972295,1.7335573140695097],[0.21873602662088565,1.7583216196852285]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_4","position":[0.429260696723996,-2.0497776737664273,0.71338606911949],"aabb_xy":[[0.407352014584645,-2.0716783405865176],[0.45116937886334707,-2.027877006946336]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_5","position":[-0.54099944184891,0.7006641550850459,0.71338606911949],"aabb_xy":[[-0.551566921507009,0.6901191249720373],[-0.530431962190811,0.7112091851980544]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_6","position":[0.26382554539306435,-0.8209144094006584,0.71338606911949],"aabb_xy":[[0.24681544810301365,-0.8370488978989322],[0.28083564268311495,-0.8047799209023844]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_7","position":[-0.6448806349275704,-0.563799822684107,0.71338606911949],"aabb_xy":[[-0.655292193608054,-0.5691455560200054],[-0.6344690762470866,-0.5584540893482084]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_8","position":[-0.46582771441489174,-1.7060465086640755,0.71338606911949],"aabb_xy":[[-0.46974158761031426,-1.7147955240706325],[-0.4619138412194692,-1.6972974932575189]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_9","position":[0.24576646223848253,-2.127714392211001,0.71338606911949],"aabb_xy":[[0.1557664636440126,-2.143964978524422],[0.3357664608329525,-2.1114638058975803]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_10","position":[0.02281424142541366,1.6685033135063168,0.71338606911949],"aabb_xy":[[-0.03718575917060252,1.613690840961093],[0.08281424202142984,1.72331578605154]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_11","position":[0.6727860565619226,0.3454124224630366,0.71338606911949],"aabb_xy":[[0.6667490435612579,0.3393857213940884],[0.6788230695625873,0.3514391235319848]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_12","position":[-0.35137514695339983,-0.8130893648138007,0.71338606911949],"aabb_xy":[[-0.4011919264182346,-0.8630893632981039],[-0.30155836748856507,-0.7630893663294972]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_13","position":[-0.5188206520621365,1.1963840085174788,0.71338606911949],"aabb_xy":[[-0.5687939460653969,1.1463840079629315],[-0.468847358058876,1.2463840090720262]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_14","position":[-0.4278676995198821,0.7284959786026644,0.71338606911949],"aabb_xy":[[-0.4778451163851357,0.6784959771134156],[-0.37789028265462854,0.7784959800919127]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_15","position":[-0.08969419813635615,-1.9034298184759721,0.71338606911949],"aabb_xy":[[-0.14468967595701554,-1.9584298199098789],[-0.03469872031569675,-1.848429817042065]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_16","position":[-0.6474396417075929,-0.2586251887173998,0.71338606911949],"aabb_xy":[[-0.6649395751415763,-0.27612518863763436],[-0.6299397082736096,-0.24112518879716527]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_17","position":[-0.17143492584685427,1.5363344292964984,0.71338606911949],"aabb_xy":[[-0.19393492566075665,1.5318598129260177],[-0.1489349260329519,1.5408090456669792]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_18","position":[-0.1871341799938404,0.9106844040401025,0.71338606911949],"aabb_xy":[[-0.23713418094437322,0.8791352570365809],[-0.1371341790433076,0.9422335510436237]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_19","position":[0.5927558752730331,-0.09019527836074959,0.71338606911949],"aabb_xy":[[0.5866612473849148,-0.09876467291241829],[0.5988505031611514,-0.08162588380908085]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_20","position":[-0.13467734103023976,1.298132549108618,0.71338606911949],"aabb_xy":[[-0.1986773427082371,1.2496151576293035],[-0.07067733935224238,1.346649940587932]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_21","position":[-0.3886345303590268,-0.9701453971678329,0.71338606911949],"aabb_xy":[[-0.44363452998077263,-1.0251290899553058],[-0.33363453073728094,-0.9151617043803604]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_22","position":[0.6493294771414775,0.4494107919997252,0.71338606911949],"aabb_xy":[[0.5993344661820255,0.39941079296413357],[0.6993244881009295,0.499410791035317]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_23","position":[-0.2400905889814401,-1.15077397225699,0.71338606911949],"aabb_xy":[[-0.25165956972837666,-1.1757739723739218],[-0.22852160823450354,-1.1257739721400584]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_24","position":[-0.28667073437169927,-1.791128057390883,0.71338606911949],"aabb_xy":[[-0.31706884547084285,-1.8215349593925523],[-0.2562726232725557,-1.7607211553892133]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_25","position":[0.29602092942066827,-1.6592134634723568,0.71338606911949],"aabb_xy":[[0.25922629629576194,-1.6961193385689393],[0.3328155625455745,-1.6223075883757747]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_26","position":[0.3528829551452992,1.14074874951881,0.71338606911949],"aabb_xy":[[0.31725379924533953,1.105116082761957],[0.388512111045259,1.176381416275663]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_27","position":[0.5686795462627439,-1.6141570891074242,0.71338606911949],"aabb_xy":[[0.5652388700226868,-1.6180185220817886],[0.5721202225028011,-1.6102956561330597]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_28","position":[0.11751247985983715,1.4606931830155996,0.71338606911949],"aabb_xy":[[0.0825124785083554,1.4403334470587787],[0.15251248121131886,1.4810529189724204]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_29","position":[0.5646168749040259,0.6235164486108737,0.71338606911949],"aabb_xy":[[0.5447258350236858,0.6108606373261769],[0.5845079147843663,0.6361722598955706]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_30","position":[0.49734963970143564,-0.6109342787836363,0.71338606911949],"aabb_xy":[[0.48719662414728615,-0.6470038203563765],[0.5075026552555849,-0.5748647372108958]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_31","position":[-0.055546052609973695,-1.6694389731529111,0.71338606911949],"aabb_xy":[[-0.06346933284872203,-1.6919389733909145],[-0.04762277237122537,-1.6469389729149078]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6911405984912007,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8368.png","name":"8368"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8368.png","name":"8368"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5254.png","name":"5254"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8281.png","name":"8281"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6864.png","name":"6864"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2522.png","name":"2522"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":761.081318845385,"rotation_z_degrees":63.91666881717059,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011993971008273572,0.010541876710802246,0.0023322400624788166]},{"name":"camera_2","offset_m":[-0.005332814236179994,-0.012734482191931882,0.0027283323764456247]},{"name":"camera_3","offset_m":[0.0159584524376352,-0.0035131360477188185,-0.018526529695319448]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0013325665480910347,0.0018858301628369599,-0.0009231046986807221],"end_effector_yaw_offset_degrees":0.9790650415241566},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.001955061113577773,-0.0015522572085458516,0.0015229919298548086],"end_effector_yaw_offset_degrees":0.6700284404385857},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0011553813633310348,0.0014583251662989229,0.0006301749770537646],"end_effector_yaw_offset_degrees":-0.007842296788003633},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006965703615030194,0.0017182380662675786,-3.0670324351575115e-05],"end_effector_yaw_offset_degrees":-0.15337527388811}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0019120214133032344,-0.002934279210258559],"position_m":[0.21168797858669677,-0.056634279210258556,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-9.289978867580741e-05,-0.004418760934942494],"position_m":[0.2490071002113242,-0.3878187609349425,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003538392569042862,-0.0015718060271493139],"position_m":[0.13696160743095714,0.23312819397285067,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004448303982522922,0.002982476507365119],"position_m":[0.35804830398252296,0.12018247650736512,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c4c88172410bd8c3fae37828af6fa8a761f8deacefecdd41408b99611578c37d","episode_index":103,"episode_name":"episode_0103"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0103.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_8368/tex_ceiling_textures_2522/tex_floor_textures_6864/tex_table_textures_5254/tex_wall_textures_8281","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":9204810470474163280,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":9204810470474163280,"visual_seed":9204810470474163280,"scene_id":"lab_003","finished_at":"2026-09-06T00:06:42"} diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/resolved_config.yaml b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3a1dd4e58e5768e39f76dc838e5487525373b85f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/resolved_config.yaml @@ -0,0 +1,257 @@ +name: lab3_heat_2beaker_s04_pslr_hte_00032 +task_type: workflow +controller_type: workflow +mode: collect +usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd +max_episodes: 100 +infer: + type: local + obs_names: + camera_1_rgb: camera_1_rgb + camera_2_rgb: camera_2_rgb + policy_model_path: '' + policy_config_path: '' + normalizer_path: '' + host: 127.0.0.1 + port: 8000 + n_obs_steps: 1 + timeout: 30 + max_retries: 3 +task: + max_steps: 14000 +workflow: + table_prim_path: /World/table + language_instruction: Pick up beaker b from home. Shake the current contents of + beaker b once. Place beaker b on the heater platform. Press the heater button + to start heating. + layout_id: layout_00032 + reproducibility: + enabled: true + layout_id: layout_00032 + action_seed: 8965520104066671838 + step_seeds: + - 5868908299052723470 + - 1147186024122430536 + - 7048677080094423649 + - 1480185638166204106 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.1405 + - 0.1405 + 'y': + - 0.2347 + - 0.2347 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.2136 + - 0.2136 + 'y': + - -0.0537 + - -0.0537 + z: + - 0.0 + - 0.0 + role: source + - name: inspection_platform + path: /World/target_plat + position_range: + x: + - 0.3536 + - 0.3536 + 'y': + - 0.1172 + - 0.1172 + z: + - 0.0 + - 0.0 + role: placement_target + - name: heat_device + path: /World/heat_device + position_range: + x: + - 0.2491 + - 0.2491 + 'y': + - -0.3834 + - -0.3834 + z: + - 0.0 + - 0.0 + - name: heater_platform + path: /World/heat_device/heat_device/heat_device/plat + parent_object: heat_device + role: placement_target + - name: heat_button + path: /World/heat_device/button + parent_object: heat_device + steps: + - skill: pick + target_object: beaker_b + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.3 + gripper_distances: 0.019 + reset_at_center: false + require_phase_convergence: false + lock_target_position: true + position_only: false + gripper_control_mode: position + gripper_control_params: + smooth_close: true + - skill: shake + target_object: beaker_b + params: + end_effector_euler: + - 0 + - 90 + - 30 + shake_distance: 0.08 + shake_center_offset_z: 0.0 + fallback_height_offset: 0.23 + events_dt: + - 0.04 + - 0.018 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.015 + position_only: true + position_threshold: 0.04 + - skill: place + target_object: heater_platform + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.005 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.045 + retreat_height: 0.15 + retreat_xy: 0.15 + keep_gripper_closed_until_release: true + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 + - skill: press + target_object: heat_button + params: + end_effector_euler: + - 0 + - 90 + - 10 + events_dt: + - 0.004 + - 0.02 + - 0.01 + - 0.02 + - 0.01 + - 0.02 + press_distance: 0.04 + gripper_gap: 0.0 + lock_target_position: true + initial_offset_z: 0.2 + press_z_tcp_offset: 0.025 + position_threshold: 0.01 + recreate_motion_controllers_on_reset: true +cameras: +- prim_path: /World/Camera1 + name: camera_1 + translation: + - 2.129903 + - 0.0 + - 2.075001 + resolution: + - 512 + - 512 + focal_length: 3.5 + orientation: + - 0.61237 + - 0.35355 + - 0.35355 + - 0.61237 + image_type: rgb +- prim_path: /World/Camera2 + name: camera_2 + translation: + - 0.1 + - 0.0 + - 2.65 + resolution: + - 512 + - 512 + focal_length: 2.825 + orientation: + - 0.70711 + - 0 + - 0 + - -0.70711 + image_type: rgb +- prim_path: /World/Camera3 + name: camera_3 + translation: + - 0.2 + - -3.01678 + - 1.16281 + resolution: + - 512 + - 512 + focal_length: 4 + orientation: + - 0.7681 + - 0.63858 + - -0.03028 + - -0.03642 + image_type: rgb + track_end_effector: true +robot: + type: ur5e + position: + - -0.27 + - 0.0 + - 0.71 +collector: + type: default + compression: gzip +multi_run: + run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_0_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3c73aeceebe0db5eb99a69d7ccfccc8dbebdb6e8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_0_success.json @@ -0,0 +1,926 @@ +{ + "episode": 0, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23395011577826846, + -0.05149935275213515, + 1.0471512348410992 + ], + "current_z": 1.0471512348410992, + "required_z": 0.8565863285946312, + "initial_z": 0.7565863285946313, + "lift_margin": 0.19056490624646794, + "gripper_z": 1.0513682446449109, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22932097478570748, + -0.056067552469331206, + 1.0513682446449109 + ], + "object_minus_gripper": [ + 0.004629140992560982, + 0.0045681997171960545, + -0.004217009803811678 + ], + "object_to_gripper_xy": 0.006503644746232576, + "object_to_gripper_z": -0.004217009803811678, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23395011577826846, + -0.07559127455769149, + 1.0471512348410992 + ], + "finger_b": [ + 0.22278121731021772, + -0.05149935275213515, + 1.0471512348410992 + ], + "finger_midpoint": [ + 0.2283656665442431, + -0.06354531365491332, + 1.0471512348410992 + ], + "object_minus_finger_midpoint": [ + 0.005584449234025374, + 0.012045960902778173, + 0.0 + ], + "finger_gap": 0.026554942840734327, + "fingertip_max_gap": 0.09220659912697435, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013277471420367167, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0471512348410992, + "object_top_z": 1.0931018857806798, + "finger_top_clearance": 0.04595065093958062, + "fingertip_min_top_clearance": 0.01378519528187415, + "object_projection_between_fingers": 0.8230991400779294, + "object_to_finger_line_xy": 0.010132962068881474, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048603299563487176, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8925387248912336, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 209, + "max_stable_success_frames": 209, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22582797604532343, + -0.057425443385958064, + 1.2481061361060009 + ], + "held_position": [ + 0.23080103503684776, + -0.05298143680923108, + 1.244157354078529 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007750702528652437, + "max_held_gripper_dist": 0.007752989935710407, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003948782027471953, + "max_held_gripper_z_dist": 0.004228117523586983, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08583116057943727, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.23080103503684776, + -0.07765825891699929, + 1.244157354078529 + ], + "held_grasp_finger_b": [ + 0.22167251842110955, + -0.05298143680923108, + 1.244157354078529 + ], + "held_grasp_midpoint": [ + 0.22623677672897866, + -0.06531984786311518, + 1.244157354078529 + ], + "held_grasp_object_position": [ + 0.23080103503684776, + -0.05298143680923108, + 1.244157354078529 + ], + "held_grasp_finger_gap": 0.026311126257578688, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023863786321473495, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07538146731215672, + -0.9949379701781923, + -0.06645351671330002 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003715384825556012, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03258021082819628, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3084056522108288, + -0.3816113493079447, + 0.8470198208765464 + ], + "target_position": [ + 0.30231285827094356, + -0.3827923727552104, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006206202895240635, + "xy_threshold": 0.08, + "gripper_dist": 0.18577786573328298, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470198208765464, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07522604687502754, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08529965604868799, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15479272650226222, + "release_required_pad_clearance": 0.052649828024343995, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.3582735063016703, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00832366943359375, + "max_z_decrease": 0.00832366943359375, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035010520120033105, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00832366943359375, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02088702625360845, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00832366943359375, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008323898050045665, + "max_button_displacement": 0.12, + "button_start": [ + 0.15801277756690973, + -0.4390538334846497, + 0.7768088579177856 + ], + "button_final": [ + 0.15801277756690973, + -0.4390538334846497, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15646860699836876, + -0.4398031713529942, + 0.8035964061052457 + ], + "closest_button": [ + 0.1580604165792465, + -0.4390279948711396, + 0.7686306834220886 + ], + "closest_ee_minus_button": [ + -0.0015918095808777344, + -0.0007751764818546003, + 0.03496572268315712 + ], + "button_min_z_position": [ + 0.15806744992732996, + -0.43902525305747986, + 0.7684851884841919 + ], + "min_active_finger_to_button": 0.14714164004013663, + "closest_active_finger": [ + 0.015589356422424316, + -0.4250431954860687, + 0.8108099699020386 + ], + "closest_active_finger_button": [ + 0.15801249444484705, + -0.4390558004379273, + 0.7766053080558777 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14242313802242274, + 0.014012604951858576, + 0.03420466184616089 + ], + "min_contact_pad_to_button": 0.02088702625360845, + "closest_contact_pad": [ + 0.15806744992732996, + -0.4408582998886217, + 0.7892916251092791 + ], + "closest_contact_pad_button": [ + 0.15806744992732996, + -0.43902525305747986, + 0.7684851884841919 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0018330468311418269, + 0.020806436625087188 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 0, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e81c7f2492676a9f9b7b12906d1b9ec8ea6502622e04ef7e4d54f56b8cb27616", + "visual_seed": 4641353217609060353, + "episode_index": 0, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_100_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_100_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e7b695337c6545f4b40d3b9a342af2858ad0a896 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_100_success.json @@ -0,0 +1,926 @@ +{ + "episode": 100, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23539350952546845, + -0.05284717693208474, + 1.0465425509054593 + ], + "current_z": 1.0465425509054593, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.18995604349689377, + "gripper_z": 1.0505269564476112, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23109485476901354, + -0.05735214727067199, + 1.0505269564476112 + ], + "object_minus_gripper": [ + 0.004298654756454912, + 0.0045049703385872525, + -0.003984405542151848 + ], + "object_to_gripper_xy": 0.006226812223501153, + "object_to_gripper_z": -0.003984405542151848, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23539350952546845, + -0.07648676126738857, + 1.0465425509054593 + ], + "finger_b": [ + 0.22403517288081992, + -0.05284717693208474, + 1.0465425509054593 + ], + "finger_midpoint": [ + 0.22971434120314418, + -0.06466696909973665, + 1.0465425509054593 + ], + "object_minus_finger_midpoint": [ + 0.005679168322324263, + 0.011819792167651916, + 0.0 + ], + "finger_gap": 0.02622673748065336, + "fingertip_max_gap": 0.09313403672425086, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01311336874032668, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0465425509054593, + "object_top_z": 1.0925341728582276, + "finger_top_clearance": 0.04599162195276829, + "fingertip_min_top_clearance": 0.013797486585830488, + "object_projection_between_fingers": 0.8124396931884443, + "object_to_finger_line_xy": 0.01023788632566324, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04906701836212543, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.6558649866000255, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 207, + "max_stable_success_frames": 207, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2254387017908691, + -0.059829999619414265, + 1.2481965812750297 + ], + "held_position": [ + 0.23016928423421096, + -0.05548084267162271, + 1.2445413538596977 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007392852214644421, + "max_held_gripper_dist": 0.007395329077498941, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003655227415332085, + "max_held_gripper_z_dist": 0.003991320800510678, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0849948226979327, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.23016928423421096, + -0.07988514776757226, + 1.2445413538596977 + ], + "held_grasp_finger_b": [ + 0.22132283389922758, + -0.05548084267162271, + 1.2445413538596977 + ], + "held_grasp_midpoint": [ + 0.22574605906671927, + -0.06768299521959749, + 1.2445413538596977 + ], + "held_grasp_object_position": [ + 0.23016928423421096, + -0.05548084267162271, + 1.2445413538596977 + ], + "held_grasp_finger_gap": 0.02595823165675036, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023547190331433977, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07961903825625156, + -0.9937400841260644, + -0.07836742912889362 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003571895190808227, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03272228393244072, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3029852725486581, + -0.3856144142920365, + 0.8470194870323897 + ], + "target_position": [ + 0.29822454199867127, + -0.3862267979646417, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.004799955117712172, + "xy_threshold": 0.08, + "gripper_dist": 0.18494999183492586, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470194870323897, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07559203704897567, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08538657663958808, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1528158811521499, + "release_required_pad_clearance": 0.05269328831979404, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.43878905200905516, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008631289005279541, + "max_z_decrease": 0.008631289005279541, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035061260375108705, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008631289005279541, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.020860909533575667, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008631289005279541, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008631365846790072, + "max_button_displacement": 0.12, + "button_start": [ + 0.15392446517944336, + -0.4424882531166077, + 0.7768088579177856 + ], + "button_final": [ + 0.15392446517944336, + -0.4424882531166077, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15469322773469354, + -0.44058119237979854, + 0.8031804820281699 + ], + "closest_button": [ + 0.15392599999904633, + -0.44245186448097235, + 0.7681775689125061 + ], + "closest_ee_minus_button": [ + 0.000767227735647219, + 0.0018706721011738092, + 0.035002913115663836 + ], + "button_min_z_position": [ + 0.15392599999904633, + -0.44245186448097235, + 0.7681775689125061 + ], + "min_active_finger_to_button": 0.14430438764641032, + "closest_active_finger": [ + 0.02853378653526306, + -0.5052154660224915, + 0.810768187046051 + ], + "closest_active_finger_button": [ + 0.1539245992898941, + -0.44248777627944946, + 0.7766194343566895 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12539081275463104, + -0.06272768974304199, + 0.03414875268936157 + ], + "min_contact_pad_to_button": 0.020860909533575667, + "closest_contact_pad": [ + 0.15392599999904633, + -0.44245186448097235, + 0.7890384784460818 + ], + "closest_contact_pad_button": [ + 0.15392599999904633, + -0.44245186448097235, + 0.7681775689125061 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.020860909533575667 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 100, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f6975a784b844be3c47dd5279851ff01d36f31d0abf9b6cf641cd3b35df6e81b", + "visual_seed": 9025452552924045612, + "episode_index": 100, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_101_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_101_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3c3ae77b097bad4b62ea9bbd311c9952a78b42f8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_101_success.json @@ -0,0 +1,926 @@ +{ + "episode": 101, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2391861623236668, + -0.0523163582749592, + 1.043786139097715 + ], + "current_z": 1.043786139097715, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.18719963168914944, + "gripper_z": 1.0478306187163455, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23422103906194527, + -0.05703698789657857, + 1.0478306187163455 + ], + "object_minus_gripper": [ + 0.004965123261721521, + 0.004720629621619371, + -0.004044479618630525 + ], + "object_to_gripper_xy": 0.0068510432073224, + "object_to_gripper_z": -0.004044479618630525, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2391861623236668, + -0.07672840242330148, + 1.043786139097715 + ], + "finger_b": [ + 0.227879524233483, + -0.0523163582749592, + 1.043786139097715 + ], + "finger_midpoint": [ + 0.2335328432785749, + -0.06452238034913034, + 1.043786139097715 + ], + "object_minus_finger_midpoint": [ + 0.005653319045091892, + 0.012206022074171138, + 0.0 + ], + "finger_gap": 0.026903307685171487, + "fingertip_max_gap": 0.09216920983891272, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013451653842585743, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.043786139097715, + "object_top_z": 1.0893171097350025, + "finger_top_clearance": 0.045530970637287504, + "fingertip_min_top_clearance": 0.013659291191186234, + "object_projection_between_fingers": 0.823373596702676, + "object_to_finger_line_xy": 0.010259636155409617, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04858460491945636, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3397707531053398, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 207, + "max_stable_success_frames": 207, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23327640696613056, + -0.05740896155510812, + 1.2427938069422138 + ], + "held_position": [ + 0.238532231000384, + -0.05286289057347635, + 1.23891811215912 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00795684973471104, + "max_held_gripper_dist": 0.007958242856142057, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003875694783093797, + "max_held_gripper_z_dist": 0.004041966134672004, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08558343405053781, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.238532231000384, + -0.07785251193397212, + 1.23891811215912 + ], + "held_grasp_finger_b": [ + 0.22897300320783032, + -0.05286289057347635, + 1.23891811215912 + ], + "held_grasp_midpoint": [ + 0.23375261710410716, + -0.06535770125372424, + 1.23891811215912 + ], + "held_grasp_object_position": [ + 0.238532231000384, + -0.05286289057347635, + 1.23891811215912 + ], + "held_grasp_finger_gap": 0.026755560389027124, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02441228405531974, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05303132390218551, + -0.9971828784902829, + -0.05304701246078958 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004164443095378377, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03248714443282921, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3139085075335718, + -0.37675875559412664, + 0.8470199399392775 + ], + "target_position": [ + 0.30713400008437447, + -0.37864700275494717, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007032739759124955, + "xy_threshold": 0.08, + "gripper_dist": 0.1881343753880812, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470199399392775, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07550721905635625, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08656656734427896, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1564896213785254, + "release_required_pad_clearance": 0.053283283672139484, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.585070721655809, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008406460285186768, + "max_z_decrease": 0.008406460285186768, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035032995973963914, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008406460285186768, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020974723985975243, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008406460285186768, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00840665052074404, + "max_button_displacement": 0.12, + "button_start": [ + 0.1628339290618896, + -0.4349084496498108, + 0.7768088579177856 + ], + "button_final": [ + 0.1628339290618896, + -0.4349084496498108, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16112219957918686, + -0.43618201897316833, + 0.8035762100932989 + ], + "closest_button": [ + 0.16287213563919062, + -0.4348844885826111, + 0.7686110138893127 + ], + "closest_ee_minus_button": [ + -0.0017499360600037595, + -0.0012975303905572444, + 0.03496519620398619 + ], + "button_min_z_position": [ + 0.16288055479526514, + -0.4348764419555664, + 0.7684023976325989 + ], + "min_active_finger_to_button": 0.14726248311745202, + "closest_active_finger": [ + 0.02037566900253296, + -0.41998961567878723, + 0.8106600046157837 + ], + "closest_active_finger_button": [ + 0.16283324360847468, + -0.43491092324256897, + 0.7764630317687988 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14245757460594172, + 0.014921307563781738, + 0.03419697284698486 + ], + "min_contact_pad_to_button": 0.020974723985975243, + "closest_contact_pad": [ + 0.16288055479526514, + -0.4373647899717873, + 0.7892289953009175 + ], + "closest_contact_pad_button": [ + 0.16288055479526514, + -0.4348764419555664, + 0.7684023976325989 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002488348016220887, + 0.020826597668318625 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 101, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "58ef20d96ec304e74d53800944deec387e0f306c6234d126c52491bf307001b9", + "visual_seed": 7425091841385321272, + "episode_index": 101, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_102_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_102_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2298a98b8b42a58e771688dfa737739e9727168c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_102_success.json @@ -0,0 +1,926 @@ +{ + "episode": 102, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2295452042517565, + -0.0555008572355848, + 1.0457393225712248 + ], + "current_z": 1.0457393225712248, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.1891529343719488, + "gripper_z": 1.0498159977517156, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22519916805513507, + -0.06003837461392146, + 1.0498159977517156 + ], + "object_minus_gripper": [ + 0.004346036196621439, + 0.0045375173783366585, + -0.0040766751804908186 + ], + "object_to_gripper_xy": 0.006283080023447968, + "object_to_gripper_z": -0.0040766751804908186, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2295452042517565, + -0.07918861324636707, + 1.0457393225712248 + ], + "finger_b": [ + 0.21810840267659154, + -0.0555008572355848, + 1.0457393225712248 + ], + "finger_midpoint": [ + 0.22382680346417402, + -0.06734473524097594, + 1.0457393225712248 + ], + "object_minus_finger_midpoint": [ + 0.005718400787582484, + 0.011843878005391134, + 0.0 + ], + "finger_gap": 0.026304186265612692, + "fingertip_max_gap": 0.09270384052926467, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013152093132806346, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0457393225712248, + "object_top_z": 1.0915480074537611, + "finger_top_clearance": 0.04580868488253631, + "fingertip_min_top_clearance": 0.013742605464760926, + "object_projection_between_fingers": 0.8109575094919811, + "object_to_finger_line_xy": 0.010299203424148496, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04885192026463234, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.468447804223828, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 205, + "max_stable_success_frames": 205, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21866090296886376, + -0.06040828268880698, + 1.2444186344700523 + ], + "held_position": [ + 0.22335612475390737, + -0.05583144554605764, + 1.240798864919634 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007489678059845677, + "max_held_gripper_dist": 0.007491555224303604, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003619769550418317, + "max_held_gripper_z_dist": 0.0041006316237137685, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08546998769894938, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.22335612475390737, + -0.07966273603845851, + 1.240798864919634 + ], + "held_grasp_finger_b": [ + 0.21401674680759109, + -0.05583144554605764, + 1.240798864919634 + ], + "held_grasp_midpoint": [ + 0.21868643578074923, + -0.06774709079225807, + 1.240798864919634 + ], + "held_grasp_object_position": [ + 0.22335612475390737, + -0.05583144554605764, + 1.240798864919634 + ], + "held_grasp_finger_gap": 0.0255959838052249, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02301750415438004, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06564467038908223, + -0.9915780494069409, + -0.11164116258726065 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004104847676986458, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03307839250169576, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.30660027447134686, + -0.3843536539610794, + 0.8470197212210039 + ], + "target_position": [ + 0.2999341527702471, + -0.3864239799800266, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006980216927761118, + "xy_threshold": 0.08, + "gripper_dist": 0.18641824536931886, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470197212210039, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07583838294009264, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0856969620126004, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15417784856249447, + "release_required_pad_clearance": 0.0528484810063002, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.740188703404883, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00840306282043457, + "max_z_decrease": 0.00840306282043457, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03504470078494643, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00840306282043457, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020836758560706548, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00840306282043457, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008403257777335268, + "max_button_displacement": 0.12, + "button_start": [ + 0.15563407540321353, + -0.4426854252815247, + 0.7768088579177856 + ], + "button_final": [ + 0.15563407540321353, + -0.4426854252815247, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15548452090441278, + -0.44073497140710477, + 0.803603363588094 + ], + "closest_button": [ + 0.15567824244499207, + -0.4426584839820862, + 0.7686120271682739 + ], + "closest_ee_minus_button": [ + -0.0001937215405792836, + 0.001923512574981412, + 0.03499133641982011 + ], + "button_min_z_position": [ + 0.1556845158338547, + -0.4426583647727967, + 0.7684057950973511 + ], + "min_active_finger_to_button": 0.14510119257953086, + "closest_active_finger": [ + 0.027959316968917847, + -0.502601683139801, + 0.8105765581130981 + ], + "closest_active_finger_button": [ + 0.1556336879730225, + -0.44268602132797247, + 0.7764631509780884 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12767437100410464, + -0.05991566181182856, + 0.034113407135009766 + ], + "min_contact_pad_to_button": 0.020836758560706548, + "closest_contact_pad": [ + 0.1556845158338547, + -0.4426583647727967, + 0.7892425536580576 + ], + "closest_contact_pad_button": [ + 0.1556845158338547, + -0.4426583647727967, + 0.7684057950973511 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.020836758560706548 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 102, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "4389f3623891bf2f24802ce396ea44711b80c946cee88bb54ff96fa0d86368fc", + "visual_seed": 924602638515455307, + "episode_index": 102, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_103_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_103_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ff1e37a6b54f98b242ee31b2e13bba7775fed264 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_103_success.json @@ -0,0 +1,926 @@ +{ + "episode": 103, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23137604651221258, + -0.054331226243912976, + 1.0442069041628972 + ], + "current_z": 1.0442069041628972, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.18762039675433162, + "gripper_z": 1.0484983609907665, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22713263512411924, + -0.05881306467940471, + 1.0484983609907665 + ], + "object_minus_gripper": [ + 0.004243411388093338, + 0.004481838435491735, + -0.0042914568278693555 + ], + "object_to_gripper_xy": 0.006171986387740274, + "object_to_gripper_z": -0.0042914568278693555, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23137604651221258, + -0.07793997059765087, + 1.0442069041628972 + ], + "finger_b": [ + 0.22002991633688793, + -0.054331226243912976, + 1.0442069041628972 + ], + "finger_midpoint": [ + 0.22570298142455025, + -0.06613559842078193, + 1.0442069041628972 + ], + "object_minus_finger_midpoint": [ + 0.005673065087662327, + 0.01180437217686895, + 0.0 + ], + "finger_gap": 0.026193653428179194, + "fingertip_max_gap": 0.09531378311285163, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013096826714089599, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0442069041628972, + "object_top_z": 1.0914558121659215, + "finger_top_clearance": 0.04724890800302428, + "fingertip_min_top_clearance": 0.014174672400907317, + "object_projection_between_fingers": 0.812369528501197, + "object_to_finger_line_xy": 0.010226442349783038, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05015689155642582, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.96467314241407, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 204, + "max_stable_success_frames": 204, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22028570142807102, + -0.060386650278431334, + 1.2466896981308175 + ], + "held_position": [ + 0.22493566969272927, + -0.05592078102441407, + 1.2428202779441568 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007519215759455426, + "max_held_gripper_dist": 0.007520630073234167, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003869420186660699, + "max_held_gripper_z_dist": 0.004313611580994081, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0857187910649624, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.22493566969272927, + -0.08000429106789025, + 1.2428202779441568 + ], + "held_grasp_finger_b": [ + 0.21594893603319193, + -0.05592078102441407, + 1.2428202779441568 + ], + "held_grasp_midpoint": [ + 0.2204423028629606, + -0.06796253604615216, + 1.2428202779441568 + ], + "held_grasp_object_position": [ + 0.22493566969272927, + -0.05592078102441407, + 1.2428202779441568 + ], + "held_grasp_finger_gap": 0.025705579897790275, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023257952324268027, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0749905484111545, + -0.9937036738672755, + -0.08324317504560841 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0037192678565884235, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03289732871812308, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.30561916694773406, + -0.38812489667292444, + 0.8470193859753691 + ], + "target_position": [ + 0.30207155333605673, + -0.38782657525126135, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0035601345491963242, + "xy_threshold": 0.08, + "gripper_dist": 0.1832974614463252, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470193859753691, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07549364575615082, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08698225171741979, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15148290267234701, + "release_required_pad_clearance": 0.053491125858709895, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.9940222446596307, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008511841297149658, + "max_z_decrease": 0.008511841297149658, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03504064738399532, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008511841297149658, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02082984632868934, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008511841297149658, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008512065069426498, + "max_button_displacement": 0.12, + "button_start": [ + 0.1577714830636978, + -0.44408804178237915, + 0.7768088579177856 + ], + "button_final": [ + 0.1577714830636978, + -0.44408804178237915, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1571025864451475, + -0.44226189255891485, + 0.8033448670344235 + ], + "closest_button": [ + 0.15782411396503443, + -0.44406095147132874, + 0.7683578729629517 + ], + "closest_ee_minus_button": [ + -0.0007215275198869386, + 0.0017990589124138867, + 0.03498699407147188 + ], + "button_min_z_position": [ + 0.1578261256217956, + -0.44405934214591986, + 0.768297016620636 + ], + "min_active_finger_to_button": 0.14557589509578023, + "closest_active_finger": [ + 0.03007822483778, + -0.505103349685669, + 0.8104854226112366 + ], + "closest_active_finger_button": [ + 0.15777114033699036, + -0.4440883100032807, + 0.7763676047325134 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12769291549921036, + -0.06101503968238825, + 0.034117817878723145 + ], + "min_contact_pad_to_button": 0.02082984632868934, + "closest_contact_pad": [ + 0.1578261256217956, + -0.44405934214591986, + 0.7891268629493253 + ], + "closest_contact_pad_button": [ + 0.1578261256217956, + -0.44405934214591986, + 0.768297016620636 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02082984632868934 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 103, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c4c88172410bd8c3fae37828af6fa8a761f8deacefecdd41408b99611578c37d", + "visual_seed": 9204810470474163280, + "episode_index": 103, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_11_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_11_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e0cfd46a47a1877c6a0d2eeeedbc58126200a394 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_11_success.json @@ -0,0 +1,926 @@ +{ + "episode": 11, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.22928557803316338, + -0.05747052663673861, + 1.0452004855370192 + ], + "current_z": 1.0452004855370192, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.18861391852380882, + "gripper_z": 1.0492475281207634, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.225047524768213, + -0.06193575587575317, + 1.0492475281207634 + ], + "object_minus_gripper": [ + 0.004238053264950387, + 0.004465229239014566, + -0.00404704258374422 + ], + "object_to_gripper_xy": 0.006156246229116184, + "object_to_gripper_z": -0.00404704258374422, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.22928557803316338, + -0.08111385553399607, + 1.0452004855370192 + ], + "finger_b": [ + 0.21796828724952694, + -0.05747052663673861, + 1.0452004855370192 + ], + "finger_midpoint": [ + 0.22362693264134514, + -0.06929219108536734, + 1.0452004855370192 + ], + "object_minus_finger_midpoint": [ + 0.0056586453918182344, + 0.011821664448628734, + 0.0 + ], + "finger_gap": 0.02621236486899402, + "fingertip_max_gap": 0.09334230698810578, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013106182434497021, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0452004855370192, + "object_top_z": 1.0914022482153607, + "finger_top_clearance": 0.04620176267834153, + "fingertip_min_top_clearance": 0.013860528803502458, + "object_projection_between_fingers": 0.8135885690696849, + "object_to_finger_line_xy": 0.010208099481322626, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04917115349405289, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.5469506331701275, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 204, + "max_stable_success_frames": 204, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21910298545803736, + -0.06225970129273323, + 1.2428590034627636 + ], + "held_position": [ + 0.22371036349354603, + -0.05774736089701534, + 1.2392951598524802 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00736818359485382, + "max_held_gripper_dist": 0.007370672334900633, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0035638436102833904, + "max_held_gripper_z_dist": 0.004069121981449264, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08514940463522523, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.22371036349354603, + -0.08153491452430059, + 1.2392951598524802 + ], + "held_grasp_finger_b": [ + 0.21457549443753715, + -0.05774736089701534, + 1.2392951598524802 + ], + "held_grasp_midpoint": [ + 0.2191429289655416, + -0.06964113771065797, + 1.2392951598524802 + ], + "held_grasp_object_position": [ + 0.22371036349354603, + -0.05774736089701534, + 1.2392951598524802 + ], + "held_grasp_finger_gap": 0.025481238985602724, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.022943154115159632, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06975323080521084, + -0.9912890209000405, + -0.1117164438893141 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003962477385101018, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03309146127859179, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.309809990676831, + -0.3839549275616166, + 0.8470196839245943 + ], + "target_position": [ + 0.30551162875801524, + -0.3844609398404315, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0043280438550732225, + "xy_threshold": 0.08, + "gripper_dist": 0.1865847334184111, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196839245943, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0752078212111428, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08511915934268487, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15553079789759472, + "release_required_pad_clearance": 0.052559579671342435, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.18557445648854803, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008554637432098389, + "max_z_decrease": 0.008554637432098389, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501274051563221, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008554637432098389, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020853131097837735, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008554637432098389, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008554682823919838, + "max_button_displacement": 0.12, + "button_start": [ + 0.16121155023574824, + -0.44072240591049194, + 0.7768088579177856 + ], + "button_final": [ + 0.16121155023574824, + -0.44072240591049194, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16114246503893487, + -0.43962254382410126, + 0.8036170986904019 + ], + "closest_button": [ + 0.16121166944503784, + -0.440686970949173, + 0.7686206102371216 + ], + "closest_ee_minus_button": [ + -6.920440610297396e-05, + 0.0010644271250717097, + 0.034996488453280294 + ], + "button_min_z_position": [ + 0.16120928525924683, + -0.4406946301460266, + 0.7682542204856873 + ], + "min_active_finger_to_button": 0.14537026787235632, + "closest_active_finger": [ + 0.033969178795814514, + -0.5021722316741943, + 0.8104711174964905 + ], + "closest_active_finger_button": [ + 0.1612119376659393, + -0.44072389602661133, + 0.7763258814811707 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1272427588701248, + -0.06144833564758301, + 0.034145236015319824 + ], + "min_contact_pad_to_button": 0.020853131097837735, + "closest_contact_pad": [ + 0.16120928525924683, + -0.440834204291213, + 0.7891068844795659 + ], + "closest_contact_pad_button": [ + 0.16120928525924683, + -0.4406946301460266, + 0.7682542204856873 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0001395741451863941, + 0.02085266399387864 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 11, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1ed19f8468790ba9d3e1250a38becd922211ba68964a173851049a599621c01e", + "visual_seed": 1997707932087142353, + "episode_index": 11, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_12_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_12_success.json new file mode 100644 index 0000000000000000000000000000000000000000..96bf0244a3e86fff3cfb18d4d5f68d3e4ef6a623 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_12_success.json @@ -0,0 +1,926 @@ +{ + "episode": 12, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23405127623668318, + -0.05074532587383037, + 1.0453511270931515 + ], + "current_z": 1.0453511270931515, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.18876467928923069, + "gripper_z": 1.0493308064324312, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22970924758305913, + -0.055223411886212895, + 1.0493308064324312 + ], + "object_minus_gripper": [ + 0.0043420286536240416, + 0.004478086012382525, + -0.003979679339279674 + ], + "object_to_gripper_xy": 0.006237504882818789, + "object_to_gripper_z": -0.003979679339279674, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23405127623668318, + -0.07452125740582291, + 1.0453511270931515 + ], + "finger_b": [ + 0.22287394727673174, + -0.05074532587383037, + 1.0453511270931515 + ], + "finger_midpoint": [ + 0.22846261175670746, + -0.06263329163982664, + 1.0453511270931515 + ], + "object_minus_finger_midpoint": [ + 0.005588664479975719, + 0.011887965765996274, + 0.0 + ], + "finger_gap": 0.02627218306294637, + "fingertip_max_gap": 0.0924127441411832, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01313609153147319, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0453511270931515, + "object_top_z": 1.0911064022347552, + "finger_top_clearance": 0.04575527514160371, + "fingertip_min_top_clearance": 0.01372658254248108, + "object_projection_between_fingers": 0.8189978462823916, + "object_to_finger_line_xy": 0.010115315024474368, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0487063720705916, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3272931780006059, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 207, + "max_stable_success_frames": 207, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22519535274583274, + -0.05707119143926244, + 1.2444016210716846 + ], + "held_position": [ + 0.22991087967578383, + -0.052719326103855296, + 1.2407161134028948 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007399857627098032, + "max_held_gripper_dist": 0.0074014161268232915, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0036855076687898336, + "max_held_gripper_z_dist": 0.003988399876689419, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08546184019925367, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.22991087967578383, + -0.07713393142508759, + 1.2407161134028948 + ], + "held_grasp_finger_b": [ + 0.22098626870615784, + -0.052719326103855296, + 1.2407161134028948 + ], + "held_grasp_midpoint": [ + 0.22544857419097084, + -0.06492662876447144, + 1.2407161134028948 + ], + "held_grasp_object_position": [ + 0.22991087967578383, + -0.052719326103855296, + 1.2407161134028948 + ], + "held_grasp_finger_gap": 0.025994646255541022, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023588624590395357, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07611438734559775, + -0.9939917343468794, + -0.07865768931952676 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003652344716901703, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03272662137436221, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.30545781113321563, + -0.37801757623635335, + 0.8470192505966128 + ], + "target_position": [ + 0.29960138028809513, + -0.37930335015938355, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005995915011474333, + "xy_threshold": 0.08, + "gripper_dist": 0.18371164093527362, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470192505966128, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07580543969803132, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08595238129343773, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15136444778289038, + "release_required_pad_clearance": 0.052976190646718865, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.9851547835834753, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008550763130187988, + "max_z_decrease": 0.008550763130187988, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.034993180138324795, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008550763130187988, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02088714381502758, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008550763130187988, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008550930539965557, + "max_button_displacement": 0.12, + "button_start": [ + 0.1553013026714325, + -0.43556481599807745, + 0.7768088579177856 + ], + "button_final": [ + 0.1553013026714325, + -0.43556481599807745, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15563506577154665, + -0.43566610698165714, + 0.8035716357560866 + ], + "closest_button": [ + 0.15533822774887085, + -0.43553510308265686, + 0.7685799598693848 + ], + "closest_ee_minus_button": [ + 0.0002968380226757994, + -0.00013100389900028153, + 0.03499167588670182 + ], + "button_min_z_position": [ + 0.155338853597641, + -0.43552669882774353, + 0.7682580947875977 + ], + "min_active_finger_to_button": 0.14540561379392494, + "closest_active_finger": [ + 0.014770269393920898, + -0.4206292927265167, + 0.810924768447876 + ], + "closest_active_finger_button": [ + 0.15530431270599365, + -0.4355632960796356, + 0.7767202258110046 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14053404331207275, + 0.014934003353118896, + 0.03420454263687134 + ], + "min_contact_pad_to_button": 0.02088714381502758, + "closest_contact_pad": [ + 0.155338853597641, + -0.43676473444467667, + 0.7891085155162268 + ], + "closest_contact_pad_button": [ + 0.155338853597641, + -0.43552669882774353, + 0.7682580947875977 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001238035616933142, + 0.020850420728629193 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 12, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "76396390b9bb9eaa37dfff52a5d881758f8e460034ef0dc8012388bf385e6437", + "visual_seed": 875584448536011557, + "episode_index": 12, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_13_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_13_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ef06aa6030147dcab40f75b73fa7db1baa3d1ccc --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_13_success.json @@ -0,0 +1,926 @@ +{ + "episode": 13, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23765291773957417, + -0.054714431647494434, + 1.0469517770648253 + ], + "current_z": 1.0469517770648253, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.19036532926090455, + "gripper_z": 1.0507740283785318, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2333287405302188, + -0.05922262596307082, + 1.0507740283785318 + ], + "object_minus_gripper": [ + 0.004324177209355379, + 0.0045081943155763846, + -0.003822251313706504 + ], + "object_to_gripper_xy": 0.006246785135163823, + "object_to_gripper_z": -0.003822251313706504, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23765291773957417, + -0.07841525392428282, + 1.0469517770648253 + ], + "finger_b": [ + 0.2263533355509051, + -0.054714431647494434, + 1.0469517770648253 + ], + "finger_midpoint": [ + 0.23200312664523964, + -0.06656484278588863, + 1.0469517770648253 + ], + "object_minus_finger_midpoint": [ + 0.0056497910943345275, + 0.011850411138394197, + 0.0 + ], + "finger_gap": 0.026256609343828008, + "fingertip_max_gap": 0.0925871127885903, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013128304671914, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0469517770648253, + "object_top_z": 1.0928371405961816, + "finger_top_clearance": 0.045885363531356305, + "fingertip_min_top_clearance": 0.01376560905940689, + "object_projection_between_fingers": 0.8147972267597379, + "object_to_finger_line_xy": 0.010199694322624412, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048793556394295154, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2339925998886752, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 207, + "max_stable_success_frames": 207, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2285480679584518, + -0.06141117562748144, + 1.2452906109855904 + ], + "held_position": [ + 0.23326151683353138, + -0.05705575617896111, + 1.241761214952349 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007324132387525389, + "max_held_gripper_dist": 0.007325485446051971, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0035293960332414276, + "max_held_gripper_z_dist": 0.003825766259760055, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08568231926856006, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.23326151683353138, + -0.0814397614278502, + 1.241761214952349 + ], + "held_grasp_finger_b": [ + 0.22428285662496839, + -0.05705575617896111, + 1.241761214952349 + ], + "held_grasp_midpoint": [ + 0.22877218672924987, + -0.06924775880340565, + 1.241761214952349 + ], + "held_grasp_object_position": [ + 0.23326151683353138, + -0.05705575617896111, + 1.241761214952349 + ], + "held_grasp_finger_gap": 0.025984534845147473, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023500870059898354, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08118082393699363, + -0.9936745356706187, + -0.0775924673192654 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003614600108605611, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032720894902280154, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3096645275116181, + -0.38327606769465355, + 0.8470194041867675 + ], + "target_position": [ + 0.30371720444673533, + -0.38450849012086236, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006073674067210799, + "xy_threshold": 0.08, + "gripper_dist": 0.18657551214841295, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470194041867675, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07561615955329905, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.085007950625253, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15468707926798858, + "release_required_pad_clearance": 0.0525039753126265, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.07912648706850729, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008574247360229492, + "max_z_decrease": 0.008574247360229492, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035013086127094854, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008574247360229492, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02090878847792364, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008574247360229492, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008574407799066541, + "max_button_displacement": 0.12, + "button_start": [ + 0.1594171375036239, + -0.4407699406147003, + 0.7768088579177856 + ], + "button_final": [ + 0.1594171375036239, + -0.4407699406147003, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1604057643188157, + -0.4413146001141709, + 0.8034870821910396 + ], + "closest_button": [ + 0.15945003926753992, + -0.44073724746704107, + 0.768491804599762 + ], + "closest_ee_minus_button": [ + 0.0009557250512757798, + -0.0005773526471298251, + 0.03499527759127763 + ], + "button_min_z_position": [ + 0.15944884717464441, + -0.44072815775871277, + 0.7682346105575562 + ], + "min_active_finger_to_button": 0.14473766484657657, + "closest_active_finger": [ + 0.019442059099674225, + -0.4271411895751953, + 0.8105776906013489 + ], + "closest_active_finger_button": [ + 0.15941633284091944, + -0.44077035784721375, + 0.7763659954071045 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13997427374124521, + 0.013629168272018433, + 0.034211695194244385 + ], + "min_contact_pad_to_button": 0.02090878847792364, + "closest_contact_pad": [ + 0.15944884717464441, + -0.4423336238858073, + 0.789081670641158 + ], + "closest_contact_pad_button": [ + 0.15944884717464441, + -0.44072815775871277, + 0.7682346105575562 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001605466127094557, + 0.02084706008360182 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 13, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3b99a710ec7585af8a6dc3be1d12e243e6a5084300ec23b1ef41d1f0cd8fa716", + "visual_seed": 833502351442749002, + "episode_index": 13, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_15_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_15_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c3897e3c88263df4817e1c3a0150b567157ab215 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_15_success.json @@ -0,0 +1,926 @@ +{ + "episode": 15, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.22968616432013236, + -0.05651471680974337, + 1.0462863066453194 + ], + "current_z": 1.0462863066453194, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.18969985884139862, + "gripper_z": 1.0503876534213328, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22530785101917783, + -0.061074849955951846, + 1.0503876534213328 + ], + "object_minus_gripper": [ + 0.004378313300954534, + 0.004560133146208477, + -0.00410134677601337 + ], + "object_to_gripper_xy": 0.006321743562694125, + "object_to_gripper_z": -0.00410134677601337, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.22968616432013236, + -0.08020696635781469, + 1.0462863066453194 + ], + "finger_b": [ + 0.21817931561288978, + -0.05651471680974337, + 1.0462863066453194 + ], + "finger_midpoint": [ + 0.22393273996651109, + -0.06836084158377903, + 1.0462863066453194 + ], + "object_minus_finger_midpoint": [ + 0.005753424353621278, + 0.011846124774035661, + 0.0 + ], + "finger_gap": 0.02633875957252839, + "fingertip_max_gap": 0.09228792228899033, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013169379786264191, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0462863066453194, + "object_top_z": 1.0920162951500152, + "finger_top_clearance": 0.045729988504695784, + "fingertip_min_top_clearance": 0.013718996551408702, + "object_projection_between_fingers": 0.8091368135371775, + "object_to_finger_line_xy": 0.010350644278944787, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048643961144495165, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.6418881947580735, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 205, + "max_stable_success_frames": 205, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21889174008462356, + -0.06138911600028159, + 1.2475050580351539 + ], + "held_position": [ + 0.2236545133816053, + -0.05681146549429479, + 1.2438799434969285 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0075352736545301535, + "max_held_gripper_dist": 0.007537628970797636, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003625114538225338, + "max_held_gripper_z_dist": 0.004124965905669908, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08536360207638023, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2236545133816053, + -0.0807161116932442, + 1.2438799434969285 + ], + "held_grasp_finger_b": [ + 0.21432769585597908, + -0.05681146549429479, + 1.2438799434969285 + ], + "held_grasp_midpoint": [ + 0.21899110461879218, + -0.0687637885937695, + 1.2438799434969285 + ], + "held_grasp_object_position": [ + 0.2236545133816053, + -0.05681146549429479, + 1.2438799434969285 + ], + "held_grasp_finger_gap": 0.02565972788346118, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02304363502470735, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06675151620981737, + -0.9900257062576941, + -0.12406988366499117 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004137515798531215, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033055828242209255, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3120268455175332, + -0.3807962143561685, + 0.8470200412787936 + ], + "target_position": [ + 0.3045725203978922, + -0.38341555281048695, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007901132635741675, + "xy_threshold": 0.08, + "gripper_dist": 0.1885979374787461, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470200412787936, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07569694450353433, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08523842865628549, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15665884277579914, + "release_required_pad_clearance": 0.05261921432814275, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.2987055633409974, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008474409580230713, + "max_z_decrease": 0.008474409580230713, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.034992550147895596, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008474409580230713, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020872193078337143, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008474409580230713, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008474568813494681, + "max_button_displacement": 0.12, + "button_start": [ + 0.16027244925498962, + -0.43967700004577637, + 0.7768088579177856 + ], + "button_final": [ + 0.16027244925498962, + -0.43967700004577637, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1598112820035394, + -0.43921801224517754, + 0.8035896575393439 + ], + "closest_button": [ + 0.16030846536159515, + -0.4396514892578125, + 0.7686033248901367 + ], + "closest_ee_minus_button": [ + -0.0004971833580557639, + 0.0004334770126349641, + 0.03498633264920714 + ], + "button_min_z_position": [ + 0.16031357645988464, + -0.4396452605724334, + 0.7683344483375549 + ], + "min_active_finger_to_button": 0.14600678120571253, + "closest_active_finger": [ + 0.032167501747608185, + -0.5008407235145569, + 0.8105571269989014 + ], + "closest_active_finger_button": [ + 0.16027264297008514, + -0.439678430557251, + 0.7764070630073547 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12810514122247696, + -0.06116229295730591, + 0.03415006399154663 + ], + "min_contact_pad_to_button": 0.020872193078337143, + "closest_contact_pad": [ + 0.16031357645988464, + -0.44053103165612656, + 0.7891878378339097 + ], + "closest_contact_pad_button": [ + 0.16031357645988464, + -0.4396452605724334, + 0.7683344483375549 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0008857710836931432, + 0.020853389496354735 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 15, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "64e6a791282cccdf4429709a7a224defa1dd73cfc4976912f716526c185e970d", + "visual_seed": 2027164861600951709, + "episode_index": 15, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_16_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_16_success.json new file mode 100644 index 0000000000000000000000000000000000000000..abe956fd7aafbf6f8c743161d020d03636aa5f8c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_16_success.json @@ -0,0 +1,926 @@ +{ + "episode": 16, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23403589464915933, + -0.048006115311191186, + 1.043794381992969 + ], + "current_z": 1.043794381992969, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.18720781497975858, + "gripper_z": 1.048257426172809, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22901359484972128, + -0.052713380339391394, + 1.048257426172809 + ], + "object_minus_gripper": [ + 0.005022299799438051, + 0.004707265028200208, + -0.004463044179840114 + ], + "object_to_gripper_xy": 0.0068834467616995625, + "object_to_gripper_z": -0.004463044179840114, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23403589464915933, + -0.07248754215941183, + 1.043794381992969 + ], + "finger_b": [ + 0.22278627292190206, + -0.048006115311191186, + 1.043794381992969 + ], + "finger_midpoint": [ + 0.2284110837855307, + -0.06024682873530151, + 1.043794381992969 + ], + "object_minus_finger_midpoint": [ + 0.005624810863628621, + 0.012240713424110324, + 0.0 + ], + "finger_gap": 0.02694242471514317, + "fingertip_max_gap": 0.09394390427599711, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01347121235757158, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.043794381992969, + "object_top_z": 1.0901599527873407, + "finger_top_clearance": 0.04636557079437176, + "fingertip_min_top_clearance": 0.013909671238311544, + "object_projection_between_fingers": 0.8256578157381493, + "object_to_finger_line_xy": 0.010222049214123197, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04947195213799856, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.8573256159853098, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 207, + "max_stable_success_frames": 207, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22764274188986305, + -0.053544074599777544, + 1.2432988436088785 + ], + "held_position": [ + 0.23296959210220683, + -0.0489933225151751, + 1.2390344425284983 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008201816524076172, + "max_held_gripper_dist": 0.008206217624348994, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004264401080380287, + "max_held_gripper_z_dist": 0.004470931453130378, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08439897368886992, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.23296959210220683, + -0.07405694604759287, + 1.2390344425284983 + ], + "held_grasp_finger_b": [ + 0.22353054665522343, + -0.0489933225151751, + 1.2390344425284983 + ], + "held_grasp_midpoint": [ + 0.22825006937871511, + -0.06152513428138399, + 1.2390344425284983 + ], + "held_grasp_object_position": [ + 0.23296959210220683, + -0.0489933225151751, + 1.2390344425284983 + ], + "held_grasp_finger_gap": 0.026782098564619314, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02453410753666213, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.049860615295897505, + -0.9976508032891992, + -0.04697652327206003 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004131760473503033, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032462534583687176, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.30647257553328333, + -0.3837481258353552, + 0.8470196039791482 + ], + "target_position": [ + 0.3006047517710818, + -0.3847757830629938, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00595713312607454, + "xy_threshold": 0.08, + "gripper_dist": 0.18432957698590366, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196039791482, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07567026697222114, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08778919578577125, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15223070858072107, + "release_required_pad_clearance": 0.05389459789288563, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.79883388482191, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008401870727539062, + "max_z_decrease": 0.008401870727539062, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03499755141936167, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008401870727539062, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020905607606644675, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008401870727539062, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00840192775224793, + "max_button_displacement": 0.12, + "button_start": [ + 0.15630467236042017, + -0.4410372376441955, + 0.7768088579177856 + ], + "button_final": [ + 0.15630467236042017, + -0.4410372376441955, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15612352947085098, + -0.4414499356030705, + 0.8037636092061545 + ], + "closest_button": [ + 0.15632595121860499, + -0.4410072565078734, + 0.7687694430351257 + ], + "closest_ee_minus_button": [ + -0.0002024217477540058, + -0.0004426790951970738, + 0.034994166171028795 + ], + "button_min_z_position": [ + 0.15632171928882596, + -0.44101139903068537, + 0.7684069871902466 + ], + "min_active_finger_to_button": 0.14582180127265063, + "closest_active_finger": [ + 0.015510141849517822, + -0.4245685338973999, + 0.8107089400291443 + ], + "closest_active_finger_button": [ + 0.15630424022674558, + -0.44103765487670893, + 0.776506781578064 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14079409837722776, + 0.016469120979309027, + 0.03420215845108032 + ], + "min_contact_pad_to_button": 0.020905607606644675, + "closest_contact_pad": [ + 0.15632171928882596, + -0.4426831121221153, + 0.7892456484894506 + ], + "closest_contact_pad_button": [ + 0.15632171928882596, + -0.44101139903068537, + 0.7684069871902466 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0016717130914299383, + 0.020838661299203975 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 16, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "364d4ae67f04e0c8a62684751a84350dfeec6ed97ba622d4de2734854ad45d5d", + "visual_seed": 3145180025089947331, + "episode_index": 16, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_17_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_17_success.json new file mode 100644 index 0000000000000000000000000000000000000000..dc6b6b967b771f797d7b2f12e149b8e752895240 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_17_success.json @@ -0,0 +1,926 @@ +{ + "episode": 17, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23513273126160159, + -0.05361769581032802, + 1.0472930614864966 + ], + "current_z": 1.0472930614864966, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.19070655407793102, + "gripper_z": 1.0510614803890694, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23051611491020169, + -0.058176301299361965, + 1.0510614803890694 + ], + "object_minus_gripper": [ + 0.004616616351399899, + 0.004558605489033946, + -0.0037684189025728454 + ], + "object_to_gripper_xy": 0.006487991256210457, + "object_to_gripper_z": -0.0037684189025728454, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23513273126160159, + -0.07771105511789812, + 1.0472930614864966 + ], + "finger_b": [ + 0.2240002313681997, + -0.05361769581032802, + 1.0472930614864966 + ], + "finger_midpoint": [ + 0.22956648131490065, + -0.06566437546411308, + 1.0472930614864966 + ], + "object_minus_finger_midpoint": [ + 0.005566249946700935, + 0.012046679653785058, + 0.0 + ], + "finger_gap": 0.02654095922532319, + "fingertip_max_gap": 0.09121721007167582, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013270479612661595, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0472930614864966, + "object_top_z": 1.0926413081760842, + "finger_top_clearance": 0.04534824668958759, + "fingertip_min_top_clearance": 0.013604474006876277, + "object_projection_between_fingers": 0.8240650306371167, + "object_to_finger_line_xy": 0.010105863832807723, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048108605035837915, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0624703161876292, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 209, + "max_stable_success_frames": 209, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22678445211926768, + -0.059406962560017235, + 1.2470975853516584 + ], + "held_position": [ + 0.23171293908892462, + -0.05496916722256253, + 1.2435901219341376 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007502420335628978, + "max_held_gripper_dist": 0.007503218051065811, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0035074634175207287, + "max_held_gripper_z_dist": 0.003782522834691271, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08618098643353699, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.23171293908892462, + -0.07951371480488761, + 1.2435901219341376 + ], + "held_grasp_finger_b": [ + 0.22243878778868392, + -0.05496916722256253, + 1.2435901219341376 + ], + "held_grasp_midpoint": [ + 0.22707586343880426, + -0.06724144101372508, + 1.2435901219341376 + ], + "held_grasp_object_position": [ + 0.23171293908892462, + -0.05496916722256253, + 1.2435901219341376 + ], + "held_grasp_finger_gap": 0.026238229710877532, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02382271685584804, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06441393027721307, + -0.9949297826400911, + -0.07723712321146703 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003955063093281582, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032691482002652726, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3071990575760223, + -0.3803007389326792, + 0.8470194395565347 + ], + "target_position": [ + 0.2999519755201929, + -0.382473580899268, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007565807328745115, + "xy_threshold": 0.08, + "gripper_dist": 0.18503415958169822, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470194395565347, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07547760431126478, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08558648858937977, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1535895752346757, + "release_required_pad_clearance": 0.05279324429468989, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.633035460439599, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008634448051452637, + "max_z_decrease": 0.008634448051452637, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502018271449, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008634448051452637, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.020926920930095544, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008634448051452637, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008634572413166558, + "max_button_displacement": 0.12, + "button_start": [ + 0.1556518971920013, + -0.4387350380420684, + 0.7768088579177856 + ], + "button_final": [ + 0.1556518971920013, + -0.4387350380420684, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1565831423342643, + -0.4392849521345582, + 0.8035459616165918 + ], + "closest_button": [ + 0.155638575553894, + -0.43869909644126887, + 0.7685434222221375 + ], + "closest_ee_minus_button": [ + 0.000944566780370304, + -0.0005858556932893388, + 0.0350025393944543 + ], + "button_min_z_position": [ + 0.15562711656093592, + -0.438695877790451, + 0.768174409866333 + ], + "min_active_finger_to_button": 0.14475628632815446, + "closest_active_finger": [ + 0.015709377825260162, + -0.4246034324169159, + 0.8108247518539429 + ], + "closest_active_finger_button": [ + 0.155651643872261, + -0.4387351274490356, + 0.7766072154045105 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13994226604700083, + 0.014131695032119695, + 0.03421753644943237 + ], + "min_contact_pad_to_button": 0.020926920930095544, + "closest_contact_pad": [ + 0.15562711656093592, + -0.4403327956223845, + 0.7890372121619492 + ], + "closest_contact_pad_button": [ + 0.15562711656093592, + -0.438695877790451, + 0.768174409866333 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001636917831933482, + 0.020862802295616212 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 17, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "383fcb0cf2ecd23d1be97b26eb4cdd4574cfe8c8253b8e27532eda527a714d8d", + "visual_seed": 4624229232087516764, + "episode_index": 17, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_18_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_18_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ba790692573ec97d72fabcca6d9d38a15685e8ff --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_18_success.json @@ -0,0 +1,926 @@ +{ + "episode": 18, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.22963434307364092, + -0.05446937380299824, + 1.0469372327576885 + ], + "current_z": 1.0469372327576885, + "required_z": 0.8565865074085657, + "initial_z": 0.7565865074085657, + "lift_margin": 0.19035072534912278, + "gripper_z": 1.051370124414671, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2248247634425673, + -0.059129032958119276, + 1.051370124414671 + ], + "object_minus_gripper": [ + 0.004809579631073618, + 0.0046596591551210376, + -0.004432891656982463 + ], + "object_to_gripper_xy": 0.006696602098791711, + "object_to_gripper_z": -0.004432891656982463, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.22963434307364092, + -0.07871442326873342, + 1.0469372327576885 + ], + "finger_b": [ + 0.21837857400745736, + -0.05446937380299824, + 1.0469372327576885 + ], + "finger_midpoint": [ + 0.22400645854054912, + -0.06659189853586583, + 1.0469372327576885 + ], + "object_minus_finger_midpoint": [ + 0.005627884533091793, + 0.012122524732867596, + 0.0 + ], + "finger_gap": 0.026730408916947012, + "fingertip_max_gap": 0.09296333471037146, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013365204458473518, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0469372327576885, + "object_top_z": 1.0925389985233556, + "finger_top_clearance": 0.0456017657656671, + "fingertip_min_top_clearance": 0.01368052972970013, + "object_projection_between_fingers": 0.8226875857435202, + "object_to_finger_line_xy": 0.010209221962612647, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048981667355185735, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.9984008592794986, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 208, + "max_stable_success_frames": 208, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22005034769358656, + -0.05965724451989693, + 1.2481468350545093 + ], + "held_position": [ + 0.22515090785070063, + -0.054972383862250264, + 1.2440795394000275 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008031595559966393, + "max_held_gripper_dist": 0.008034650902805416, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004067295654481828, + "max_held_gripper_z_dist": 0.004476804087114594, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0855732122005545, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.22515090785070063, + -0.07938646678321523, + 1.2440795394000275 + ], + "held_grasp_finger_b": [ + 0.2156204207941173, + -0.054972383862250264, + 1.2440795394000275 + ], + "held_grasp_midpoint": [ + 0.22038566432240897, + -0.06717942532273274, + 1.2440795394000275 + ], + "held_grasp_object_position": [ + 0.22515090785070063, + -0.054972383862250264, + 1.2440795394000275 + ], + "held_grasp_finger_gap": 0.026208350356469512, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023884753158239187, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.042051907524925956, + -0.9947344078919123, + -0.09346172922347361 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0044006831558038315, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032857073226320234, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3078449994465302, + -0.3838306137644498, + 0.8470200690094606 + ], + "target_position": [ + 0.3014572815461664, + -0.38569227873761924, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006653475516371424, + "xy_threshold": 0.08, + "gripper_dist": 0.1850134969096024, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470200690094606, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07590991339417771, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08829344701410784, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1525702349191588, + "release_required_pad_clearance": 0.05414672350705392, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.307258276730093, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008640408515930176, + "max_z_decrease": 0.008640408515930176, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03510733221442421, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008640408515930176, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021125234551104842, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008640408515930176, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008640615101047638, + "max_button_displacement": 0.12, + "button_start": [ + 0.15715721249580383, + -0.44195374846458435, + 0.7768088579177856 + ], + "button_final": [ + 0.15715721249580383, + -0.44195374846458435, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15910501293639698, + -0.4437458376018275, + 0.8032820968802857 + ], + "closest_button": [ + 0.15713024139404297, + -0.44191527366638184, + 0.768278181552887 + ], + "closest_ee_minus_button": [ + 0.001974771542354009, + -0.0018305639354456726, + 0.03500391532739877 + ], + "button_min_z_position": [ + 0.1571202427148819, + -0.44190680980682373, + 0.7681684494018555 + ], + "min_active_finger_to_button": 0.14364818678733635, + "closest_active_finger": [ + 0.01863102614879608, + -0.42544662952423096, + 0.8104754090309143 + ], + "closest_active_finger_button": [ + 0.1571570336818695, + -0.44195541739463806, + 0.7762291431427002 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13852600753307343, + 0.016508787870407104, + 0.03424626588821411 + ], + "min_contact_pad_to_button": 0.021125234551104842, + "closest_contact_pad": [ + 0.1571202427148819, + -0.44510626481864735, + 0.7890499968173731 + ], + "closest_contact_pad_button": [ + 0.1571202427148819, + -0.44190680980682373, + 0.7681684494018555 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0031994550118236154, + 0.02088154741551762 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 18, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d0a0047905a68e17a295743681a10e6c1bf004e79798fd15cef2f58db876f327", + "visual_seed": 5245415591852179124, + "episode_index": 18, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_19_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_19_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1c8192f1217aa688be14a60a77e0f705d3d16cc8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_19_success.json @@ -0,0 +1,926 @@ +{ + "episode": 19, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2318337805370825, + -0.05778315455769318, + 1.0434078985352861 + ], + "current_z": 1.0434078985352861, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.1868213315220758, + "gripper_z": 1.0475376743002422, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2271931075736823, + -0.06246786201799903, + 1.0475376743002422 + ], + "object_minus_gripper": [ + 0.004640672963400205, + 0.004684707460305852, + -0.004129775764956101 + ], + "object_to_gripper_xy": 0.006594113249094146, + "object_to_gripper_z": -0.004129775764956101, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2318337805370825, + -0.08169472582316946, + 1.0434078985352861 + ], + "finger_b": [ + 0.22021791605591964, + -0.05778315455769318, + 1.0434078985352861 + ], + "finger_midpoint": [ + 0.22602584829650108, + -0.06973894019043132, + 1.0434078985352861 + ], + "object_minus_finger_midpoint": [ + 0.0058079322405814315, + 0.011955785632738143, + 0.0 + ], + "finger_gap": 0.0265836707026831, + "fingertip_max_gap": 0.09234404267962701, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013291835351341553, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0434078985352861, + "object_top_z": 1.0889418814907952, + "finger_top_clearance": 0.045533982955509034, + "fingertip_min_top_clearance": 0.013660194886652726, + "object_projection_between_fingers": 0.8090704381266169, + "object_to_finger_line_xy": 0.010448277608381852, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04867202133981351, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.5585657760786067, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 203, + "max_stable_success_frames": 203, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2209942107583419, + -0.0632625040545958, + 1.2436357779747051 + ], + "held_position": [ + 0.22600537710281624, + -0.0585891460434548, + 1.239948170663441 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007781420880172002, + "max_held_gripper_dist": 0.007783686765321128, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0036876073112641627, + "max_held_gripper_z_dist": 0.004155210670366172, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08581650312050774, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.22600537710281624, + -0.08271560064159608, + 1.239948170663441 + ], + "held_grasp_finger_b": [ + 0.2164654707567528, + -0.0585891460434548, + 1.239948170663441 + ], + "held_grasp_midpoint": [ + 0.2212354239297845, + -0.07065237334252544, + 1.239948170663441 + ], + "held_grasp_object_position": [ + 0.22600537710281624, + -0.0585891460434548, + 1.239948170663441 + ], + "held_grasp_finger_gap": 0.025944086504786294, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023321481755708032, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06427683260797182, + -0.9920511371303441, + -0.10818054403763311 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004198143054869975, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03292628912465511, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3038194922658449, + -0.3771136236050725, + 0.8470195016718503 + ], + "target_position": [ + 0.29738922993912853, + -0.3788347494080164, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006656616829887952, + "xy_threshold": 0.08, + "gripper_dist": 0.18742497043886083, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195016718503, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.075301108739408, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08510003608203463, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15633952999346656, + "release_required_pad_clearance": 0.05255001804101732, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.16785874261043043, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008389294147491455, + "max_z_decrease": 0.008389294147491455, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03503222661010485, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008389294147491455, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020861607657406855, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008389294147491455, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008389451596242561, + "max_button_displacement": 0.12, + "button_start": [ + 0.15308915078639979, + -0.4350962042808532, + 0.7768088579177856 + ], + "button_final": [ + 0.15308915078639979, + -0.4350962042808532, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15440109483762673, + -0.43432948125008797, + 0.8036255115920938 + ], + "closest_button": [ + 0.15312746167182917, + -0.435068517923355, + 0.7686242461204529 + ], + "closest_ee_minus_button": [ + 0.0012736331657975664, + 0.0007390366732670239, + 0.03500126547164095 + ], + "button_min_z_position": [ + 0.1531304866075515, + -0.43506565690040583, + 0.7684195637702942 + ], + "min_active_finger_to_button": 0.14430911248632805, + "closest_active_finger": [ + 0.027249939739704132, + -0.4969480037689209, + 0.8104024529457092 + ], + "closest_active_finger_button": [ + 0.15308862924575797, + -0.435097187757492, + 0.7762817740440369 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12583868950605384, + -0.06185081601142889, + 0.03412067890167236 + ], + "min_contact_pad_to_button": 0.020861607657406855, + "closest_contact_pad": [ + 0.1531304866075515, + -0.4355558381117447, + 0.7892754117854583 + ], + "closest_contact_pad_button": [ + 0.1531304866075515, + -0.43506565690040583, + 0.7684195637702942 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0004901812113388693, + 0.020855848015164158 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 19, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "4afc4b1cd69d58c130bf39e36e013be17421577aea201566ec96a7d1b7d99d4d", + "visual_seed": 7324817755314327650, + "episode_index": 19, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_1_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_1_success.json new file mode 100644 index 0000000000000000000000000000000000000000..220d4f8d6d1328144db9364524e6a77f1336dc53 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_1_success.json @@ -0,0 +1,926 @@ +{ + "episode": 1, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2316260411679786, + -0.04973975776788108, + 1.043816060547143 + ], + "current_z": 1.043816060547143, + "required_z": 0.8565865670132105, + "initial_z": 0.7565865670132105, + "lift_margin": 0.18722949353393248, + "gripper_z": 1.0479569106476225, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22723597147316904, + -0.054281664154730735, + 1.0479569106476225 + ], + "object_minus_gripper": [ + 0.0043900696948095674, + 0.004541906386849655, + -0.004140850100479598 + ], + "object_to_gripper_xy": 0.00631677334975627, + "object_to_gripper_z": -0.004140850100479598, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2316260411679786, + -0.07347926805704151, + 1.043816060547143 + ], + "finger_b": [ + 0.22026366074313358, + -0.04973975776788108, + 1.043816060547143 + ], + "finger_midpoint": [ + 0.2259448509555561, + -0.06160951291246129, + 1.043816060547143 + ], + "object_minus_finger_midpoint": [ + 0.005681190212422499, + 0.011869755144580212, + 0.0 + ], + "finger_gap": 0.026318587304185903, + "fingertip_max_gap": 0.09219712161879404, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013159293652092943, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.043816060547143, + "object_top_z": 1.089227305514092, + "finger_top_clearance": 0.04541124496694904, + "fingertip_min_top_clearance": 0.013623373490084694, + "object_projection_between_fingers": 0.8136139075366957, + "object_to_finger_line_xy": 0.010248929545016371, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04859856080939702, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.6419707083747799, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 205, + "max_stable_success_frames": 205, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2210997873673068, + -0.0560194378800887, + 1.2456570426211608 + ], + "held_position": [ + 0.22586469474247425, + -0.051560080600520114, + 1.2418553710468347 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007552676108493313, + "max_held_gripper_dist": 0.007554674958894309, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003801671574326093, + "max_held_gripper_z_dist": 0.004156533655221173, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08437905587153463, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.22586469474247425, + -0.07584762115284341, + 1.2418553710468347 + ], + "held_grasp_finger_b": [ + 0.216693870680265, + -0.051560080600520114, + 1.2418553710468347 + ], + "held_grasp_midpoint": [ + 0.22127928271136962, + -0.06370385087668176, + 1.2418553710468347 + ], + "held_grasp_object_position": [ + 0.22586469474247425, + -0.051560080600520114, + 1.2418553710468347 + ], + "held_grasp_finger_gap": 0.02596129118631708, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023523721394275877, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06678455016910952, + -0.9937684180888274, + -0.08924211487822963 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003920856495748062, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03282589490899815, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.30533615640773637, + -0.377968507965897, + 0.8470199517401177 + ], + "target_position": [ + 0.29868087392339787, + -0.37989500196603354, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006928503740267805, + "xy_threshold": 0.08, + "gripper_dist": 0.18375318418957867, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470199517401177, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07540824740953136, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08499783125662518, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15246216064326026, + "release_required_pad_clearance": 0.05249891562831259, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.06851502492473857, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008500277996063232, + "max_z_decrease": 0.008500277996063232, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03504619533497275, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008500277996063232, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020865114323017186, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008500277996063232, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008500323858405778, + "max_button_displacement": 0.12, + "button_start": [ + 0.15438079833984372, + -0.436156451702118, + 0.7768088579177856 + ], + "button_final": [ + 0.15438079833984372, + -0.436156451702118, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15507956482668525, + -0.4346087449751256, + 0.8033149109188493 + ], + "closest_button": [ + 0.15438559651374817, + -0.4361289441585541, + 0.7683085799217224 + ], + "closest_ee_minus_button": [ + 0.0006939683129370822, + 0.0015201991834284945, + 0.03500633099712691 + ], + "button_min_z_position": [ + 0.15438559651374817, + -0.4361289441585541, + 0.7683085799217224 + ], + "min_active_finger_to_button": 0.144500896333375, + "closest_active_finger": [ + 0.02742248773574829, + -0.49612948298454285, + 0.8108641505241394 + ], + "closest_active_finger_button": [ + 0.15438443422317502, + -0.436155766248703, + 0.7767419219017029 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12696194648742673, + -0.059973716735839844, + 0.03412222862243652 + ], + "min_contact_pad_to_button": 0.020865114323017186, + "closest_contact_pad": [ + 0.15438559651374817, + -0.4361289441585541, + 0.7891736942447396 + ], + "closest_contact_pad_button": [ + 0.15438559651374817, + -0.4361289441585541, + 0.7683085799217224 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.020865114323017186 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 1, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "bb16b31ce8e4e0ace43b9f2fec0edccd67dd7544b53bb47c96a192f9f881f5a9", + "visual_seed": 2514856658900460447, + "episode_index": 1, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_20_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_20_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a2f54565c71a8aa4c52c42cc41a6b1b6a2e913a4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_20_success.json @@ -0,0 +1,926 @@ +{ + "episode": 20, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2370099953515582, + -0.048668932478660484, + 1.046333765589832 + ], + "current_z": 1.046333765589832, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.18974725818126637, + "gripper_z": 1.0503248493766768, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23264583650336557, + -0.05308734312431197, + 1.0503248493766768 + ], + "object_minus_gripper": [ + 0.004364158848192634, + 0.004418410645651488, + -0.003991083786844873 + ], + "object_to_gripper_xy": 0.006210332928745806, + "object_to_gripper_z": -0.003991083786844873, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2370099953515582, + -0.0725998891958318, + 1.046333765589832 + ], + "finger_b": [ + 0.22607780910706038, + -0.048668932478660484, + 1.046333765589832 + ], + "finger_midpoint": [ + 0.2315439022293093, + -0.06063441083724614, + 1.046333765589832 + ], + "object_minus_finger_midpoint": [ + 0.005466093122248911, + 0.011965478358585656, + 0.0 + ], + "finger_gap": 0.026309758369918834, + "fingertip_max_gap": 0.09210276533332185, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013154879184959417, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.046333765589832, + "object_top_z": 1.091905847977058, + "finger_top_clearance": 0.0455720823872261, + "fingertip_min_top_clearance": 0.013671624716167863, + "object_projection_between_fingers": 0.8273445368937252, + "object_to_finger_line_xy": 0.009943750610049398, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048551382666660925, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3086326108342077, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 209, + "max_stable_success_frames": 209, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23143831772823253, + -0.05423546357548055, + 1.2455533824208684 + ], + "held_position": [ + 0.23615101352812665, + -0.050031949197422654, + 1.2417335325547236 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007380398893607688, + "max_held_gripper_dist": 0.007384903932421364, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003819849866144809, + "max_held_gripper_z_dist": 0.0039894020489052995, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08622101206312516, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.23615101352812665, + -0.07484793763085427, + 1.2417335325547236 + ], + "held_grasp_finger_b": [ + 0.22738823379458317, + -0.050031949197422654, + 1.2417335325547236 + ], + "held_grasp_midpoint": [ + 0.2317696236613549, + -0.062439943414138464, + 1.2417335325547236 + ], + "held_grasp_object_position": [ + 0.23615101352812665, + -0.050031949197422654, + 1.2417335325547236 + ], + "held_grasp_finger_gap": 0.026317666891022315, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024086918366135877, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07198148958210773, + -0.9960383552942451, + -0.05221359918906399 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003538236568149073, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03252600784464248, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3113690714891676, + -0.38338573332793435, + 0.8470195195248573 + ], + "target_position": [ + 0.30582653232079615, + -0.384244898942866, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005608734793766993, + "xy_threshold": 0.08, + "gripper_dist": 0.1856382493296602, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195195248573, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07540613637411427, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08572401101638903, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1541334724145002, + "release_required_pad_clearance": 0.05286200550819452, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7661681825389276, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008545994758605957, + "max_z_decrease": 0.008545994758605957, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035049426486469526, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008545994758605957, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020876368369222797, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008545994758605957, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008546202361941365, + "max_button_displacement": 0.12, + "button_start": [ + 0.16152645647525787, + -0.44050636887550354, + 0.7768088579177856 + ], + "button_final": [ + 0.16152645647525787, + -0.44050636887550354, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16138794384625216, + -0.4384761266315981, + 0.8032546537596832 + ], + "closest_button": [ + 0.16157789528369906, + -0.44047632813453674, + 0.7682628631591797 + ], + "closest_ee_minus_button": [ + -0.0001899514374469058, + 0.00200020150293867, + 0.0349917906005035 + ], + "button_min_z_position": [ + 0.16157789528369906, + -0.44047632813453674, + 0.7682628631591797 + ], + "min_active_finger_to_button": 0.1450652952937957, + "closest_active_finger": [ + 0.03348754346370697, + -0.4995008409023285, + 0.8104938864707947 + ], + "closest_active_finger_button": [ + 0.16152748465538025, + -0.4405084252357483, + 0.7762943506240845 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12803994119167328, + -0.0589924156665802, + 0.034199535846710205 + ], + "min_contact_pad_to_button": 0.020876368369222797, + "closest_contact_pad": [ + 0.16157789528369906, + -0.44047632813453674, + 0.7891392315284025 + ], + "closest_contact_pad_button": [ + 0.16157789528369906, + -0.44047632813453674, + 0.7682628631591797 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.020876368369222797 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 20, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a247bb396fc6ae9342839333a062f92672eaec7735136c08075dc4861ef50030", + "visual_seed": 1333452565150926643, + "episode_index": 20, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_21_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_21_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0a46e0d956b39f30488810db6d1749f926b7be68 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_21_success.json @@ -0,0 +1,926 @@ +{ + "episode": 21, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23858634885227947, + -0.05102091354212993, + 1.045450792263783 + ], + "current_z": 1.045450792263783, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.18886422525057267, + "gripper_z": 1.0495805904019133, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23369275217347077, + -0.05574712630781971, + 1.0495805904019133 + ], + "object_minus_gripper": [ + 0.004893596678808704, + 0.004726212765689776, + -0.004129798138130303 + ], + "object_to_gripper_xy": 0.006803262126466728, + "object_to_gripper_z": -0.004129798138130303, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23858634885227947, + -0.07527128257060825, + 1.045450792263783 + ], + "finger_b": [ + 0.2271478072228783, + -0.05102091354212993, + 1.045450792263783 + ], + "finger_midpoint": [ + 0.2328670780375789, + -0.06314609805636909, + 1.045450792263783 + ], + "object_minus_finger_midpoint": [ + 0.005719270814700583, + 0.012125184514239155, + 0.0 + ], + "finger_gap": 0.026812695362923213, + "fingertip_max_gap": 0.09090854379935615, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013406347681461603, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.045450792263783, + "object_top_z": 1.0907844287428494, + "finger_top_clearance": 0.04533363647906641, + "fingertip_min_top_clearance": 0.01360009094371989, + "object_projection_between_fingers": 0.8180046187715888, + "object_to_finger_line_xy": 0.010345429726701976, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047954271899678075, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7676962253313122, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 208, + "max_stable_success_frames": 208, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2320404841393535, + -0.05653267400944352, + 1.2437054513588532 + ], + "held_position": [ + 0.23725423859451533, + -0.05200159278083833, + 1.2397592632474483 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007955270782916924, + "max_held_gripper_dist": 0.007959567475516677, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0039461881114049024, + "max_held_gripper_z_dist": 0.004131787728239411, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08555116526804124, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.23725423859451533, + -0.07691411587585512, + 1.2397592632474483 + ], + "held_grasp_finger_b": [ + 0.22775856788937324, + -0.05200159278083833, + 1.2397592632474483 + ], + "held_grasp_midpoint": [ + 0.23250640324194427, + -0.06445785432834672, + 1.2397592632474483 + ], + "held_grasp_object_position": [ + 0.23725423859451533, + -0.05200159278083833, + 1.2397592632474483 + ], + "held_grasp_finger_gap": 0.026660862122224002, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02412403362958408, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07161387586590129, + -0.9956460579332937, + -0.05966892076580277 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003916739031877279, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032458186367877215, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.30826385684290936, + -0.3788369954304916, + 0.847019212198408 + ], + "target_position": [ + 0.3007867814932218, + -0.3810987842868027, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007811680012355758, + "xy_threshold": 0.08, + "gripper_dist": 0.18518758845619027, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.847019212198408, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0755184792844542, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08537592760778999, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15365303261890267, + "release_required_pad_clearance": 0.052687963803895, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.42978087734308057, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008329629898071289, + "max_z_decrease": 0.008329629898071289, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500575218125723, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008329629898071289, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.020864592950015432, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008329629898071289, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008329661783059638, + "max_button_displacement": 0.12, + "button_start": [ + 0.15648670494556433, + -0.43736025691032415, + 0.7768088579177856 + ], + "button_final": [ + 0.15648670494556433, + -0.43736025691032415, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1570625988313886, + -0.4371713049828469, + 0.8034799482981045 + ], + "closest_button": [ + 0.15649299323558813, + -0.4373380839824677, + 0.7684792280197144 + ], + "closest_ee_minus_button": [ + 0.0005696055958004653, + 0.0001667789996208091, + 0.035000720278390185 + ], + "button_min_z_position": [ + 0.15649299323558813, + -0.4373380839824677, + 0.7684792280197144 + ], + "min_active_finger_to_button": 0.1451778580759355, + "closest_active_finger": [ + 0.016146525740623474, + -0.422853946685791, + 0.8107861280441284 + ], + "closest_active_finger_button": [ + 0.15648621320724493, + -0.43736052513122564, + 0.7765671014785767 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14033968746662145, + 0.014506578445434626, + 0.03421902656555176 + ], + "min_contact_pad_to_button": 0.020864592950015432, + "closest_contact_pad": [ + 0.15649299323558813, + -0.4381857537182898, + 0.7893265946397171 + ], + "closest_contact_pad_button": [ + 0.15649299323558813, + -0.4373380839824677, + 0.7684792280197144 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0008476697358221208, + 0.02084736662000275 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 21, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "bc3e560e43c4dfecc04dface0bb9df7fa044c59338ee4685d51fdce2148192f7", + "visual_seed": 4173128036188780956, + "episode_index": 21, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_22_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_22_success.json new file mode 100644 index 0000000000000000000000000000000000000000..406eddba74c2b2f5f3117bdf275940f9852df220 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_22_success.json @@ -0,0 +1,926 @@ +{ + "episode": 22, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23501043446808237, + -0.0537658068130821, + 1.043719791040596 + ], + "current_z": 1.043719791040596, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.1871333432366752, + "gripper_z": 1.0476976718730362, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2302016832904932, + -0.058403689492857305, + 1.0476976718730362 + ], + "object_minus_gripper": [ + 0.004808751177589166, + 0.004637882679775204, + -0.003977880832440217 + ], + "object_to_gripper_xy": 0.0066808714730433195, + "object_to_gripper_z": -0.003977880832440217, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23501043446808237, + -0.07806395250130756, + 1.043719791040596 + ], + "finger_b": [ + 0.22384592574671916, + -0.0537658068130821, + 1.043719791040596 + ], + "finger_midpoint": [ + 0.22942818010740076, + -0.06591487965719484, + 1.043719791040596 + ], + "object_minus_finger_midpoint": [ + 0.005582254360681604, + 0.012149072844112735, + 0.0 + ], + "finger_gap": 0.02674034664838181, + "fingertip_max_gap": 0.09192269540046041, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013370173324190913, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.043719791040596, + "object_top_z": 1.0896111826552441, + "finger_top_clearance": 0.04589139161464817, + "fingertip_min_top_clearance": 0.013767417484394468, + "object_projection_between_fingers": 0.8256808222398133, + "object_to_finger_line_xy": 0.010144852010194985, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04846134770023021, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0962904779736493, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 206, + "max_stable_success_frames": 206, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22730116670996492, + -0.059790987977515656, + 1.2421380301130922 + ], + "held_position": [ + 0.23243405754203705, + -0.05527572096232659, + 1.2384272142882145 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007778454769334829, + "max_held_gripper_dist": 0.00777961858943196, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0037108158248777556, + "max_held_gripper_z_dist": 0.003995757140290435, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08566166052828615, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.23243405754203705, + -0.0800173757328464, + 1.2384272142882145 + ], + "held_grasp_finger_b": [ + 0.2231991704676653, + -0.05527572096232659, + 1.2384272142882145 + ], + "held_grasp_midpoint": [ + 0.22781661400485118, + -0.06764654834758649, + 1.2384272142882145 + ], + "held_grasp_object_position": [ + 0.23243405754203705, + -0.05527572096232659, + 1.2384272142882145 + ], + "held_grasp_finger_gap": 0.026408949620535537, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02394875134426549, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06912929551270705, + -0.9937553817601688, + -0.08758642431688914 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003908454124144553, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032587448056087306, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.30822049234813803, + -0.38602173088112635, + 0.8470199165831245 + ], + "target_position": [ + 0.3008054572860213, + -0.3880561867347806, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007689067277172718, + "xy_threshold": 0.08, + "gripper_dist": 0.18644698864568288, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470199165831245, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07545682028259129, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0862953150953402, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1549195057834379, + "release_required_pad_clearance": 0.053147657547670105, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.3199505039146744, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008650243282318115, + "max_z_decrease": 0.008650243282318115, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035014306441470563, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008650243282318115, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.02098766871338269, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008650243282318115, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0086504034984785, + "max_button_displacement": 0.12, + "button_start": [ + 0.15650537610054016, + -0.44431763887405396, + 0.7768088579177856 + ], + "button_final": [ + 0.15650537610054016, + -0.44431763887405396, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1573346407091556, + -0.44522836397936455, + 0.8035916878094641 + ], + "closest_button": [ + 0.1565363109111786, + -0.4442888796329498, + 0.7685990929603577 + ], + "closest_ee_minus_button": [ + 0.0007983297979770043, + -0.0009394843464147762, + 0.03499259484910644 + ], + "button_min_z_position": [ + 0.15653079748153687, + -0.44427153468132013, + 0.7681586146354675 + ], + "min_active_finger_to_button": 0.14486390763098167, + "closest_active_finger": [ + 0.016780443489551544, + -0.4272705018520355, + 0.810428261756897 + ], + "closest_active_finger_button": [ + 0.15650589764118195, + -0.4443190395832062, + 0.7761982083320618 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1397254541516304, + 0.017048537731170654, + 0.034230053424835205 + ], + "min_contact_pad_to_button": 0.02098766871338269, + "closest_contact_pad": [ + 0.15653079748153687, + -0.44658609561438245, + 0.7890182657761229 + ], + "closest_contact_pad_button": [ + 0.15653079748153687, + -0.44427153468132013, + 0.7681586146354675 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002314560933062315, + 0.020859651140655355 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 22, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f284c6a77fbed08c34214d639d8c584f2b5969bf7649fae60b9c0210cf25ecff", + "visual_seed": 5053129917298869882, + "episode_index": 22, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_23_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_23_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9e03a6b26867e8e291b652c827421ca47d376b5f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_23_success.json @@ -0,0 +1,926 @@ +{ + "episode": 23, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2362459697489704, + -0.05676918263214998, + 1.0467522080723806 + ], + "current_z": 1.0467522080723806, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.19016564105917022, + "gripper_z": 1.050682861094128, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23174667245892858, + -0.061359176737768306, + 1.050682861094128 + ], + "object_minus_gripper": [ + 0.004499297290041837, + 0.004589994105618327, + -0.003930653021747332 + ], + "object_to_gripper_xy": 0.006427419543937427, + "object_to_gripper_z": -0.003930653021747332, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2362459697489704, + -0.08061270120318156, + 1.0467522080723806 + ], + "finger_b": [ + 0.22484708948994797, + -0.05676918263214998, + 1.0467522080723806 + ], + "finger_midpoint": [ + 0.2305465296194592, + -0.06869094191766577, + 1.0467522080723806 + ], + "object_minus_finger_midpoint": [ + 0.005699440129511207, + 0.011921759285515789, + 0.0 + ], + "finger_gap": 0.026428163935594533, + "fingertip_max_gap": 0.09210047434571167, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013214081967797258, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0467522080723806, + "object_top_z": 1.0924435967911528, + "finger_top_clearance": 0.04569138871877221, + "fingertip_min_top_clearance": 0.013707416615631695, + "object_projection_between_fingers": 0.8139668246608164, + "object_to_finger_line_xy": 0.010284082307318731, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04855023717285584, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0978279131055424, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 207, + "max_stable_success_frames": 207, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22625256358768328, + -0.06343902095551429, + 1.2483807079273972 + ], + "held_position": [ + 0.2311506593684182, + -0.05897808644480651, + 1.2447890348262145 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00753600654536845, + "max_held_gripper_dist": 0.007537671974520997, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003591673101182691, + "max_held_gripper_z_dist": 0.003944660891427976, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0852493662420992, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2311506593684182, + -0.08338377857274593, + 1.2447890348262145 + ], + "held_grasp_finger_b": [ + 0.2220073952446709, + -0.05897808644480651, + 1.2447890348262145 + ], + "held_grasp_midpoint": [ + 0.22657902730654456, + -0.07118093250877622, + 1.2447890348262145 + ], + "held_grasp_object_position": [ + 0.2311506593684182, + -0.05897808644480651, + 1.2447890348262145 + ], + "held_grasp_finger_gap": 0.02606217732808156, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02351392561315883, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07945689691043861, + -0.9932281732061233, + -0.08476082516700177 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0037379865037037133, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03271676676432586, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.31054637589067924, + -0.3836213935719568, + 0.8470196779885804 + ], + "target_position": [ + 0.30430331471147404, + -0.38519054350115706, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006437238879178574, + "xy_threshold": 0.08, + "gripper_dist": 0.18676647778098707, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196779885804, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07582214973661758, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08566550889277767, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1544477760848679, + "release_required_pad_clearance": 0.05283275444638884, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7099639682441184, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0086020827293396, + "max_z_decrease": 0.0086020827293396, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03510233531219284, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0086020827293396, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02086901580931133, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.0086020827293396, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008602148887570805, + "max_button_displacement": 0.12, + "button_start": [ + 0.16000324487686154, + -0.44145199656486506, + 0.7768088579177856 + ], + "button_final": [ + 0.16000324487686154, + -0.44145199656486506, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1616630849626279, + -0.43951872735523406, + 0.8032181644399011 + ], + "closest_button": [ + 0.15999948978424067, + -0.4414184689521789, + 0.768206775188446 + ], + "closest_ee_minus_button": [ + 0.0016635951783872394, + 0.0018997415969448372, + 0.03501138925145508 + ], + "button_min_z_position": [ + 0.15999948978424067, + -0.4414184689521789, + 0.768206775188446 + ], + "min_active_finger_to_button": 0.14350885195895483, + "closest_active_finger": [ + 0.034430086612701416, + -0.5019571781158447, + 0.8104009628295898 + ], + "closest_active_finger_button": [ + 0.16000293195247645, + -0.4414536952972412, + 0.7762603759765625 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12557284533977503, + -0.060503482818603516, + 0.034140586853027344 + ], + "min_contact_pad_to_button": 0.02086901580931133, + "closest_contact_pad": [ + 0.15999948978424067, + -0.4414184689521789, + 0.7890757909977574 + ], + "closest_contact_pad_button": [ + 0.15999948978424067, + -0.4414184689521789, + 0.768206775188446 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02086901580931133 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 23, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3b6ebb024038c265a3d2eb7e92946c7f72b8ae397cb17db478432cb346895e20", + "visual_seed": 4430685064639406531, + "episode_index": 23, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_24_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_24_success.json new file mode 100644 index 0000000000000000000000000000000000000000..fbfe744e0d851e1e088d192d614ccffbb3e99cd6 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_24_success.json @@ -0,0 +1,926 @@ +{ + "episode": 24, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23332182668345267, + -0.05327404669674344, + 1.0468858805374237 + ], + "current_z": 1.0468858805374237, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.19029931352421336, + "gripper_z": 1.0510525537884323, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22886931442888891, + -0.057732101073313113, + 1.0510525537884323 + ], + "object_minus_gripper": [ + 0.004452512254563751, + 0.004458054376569674, + -0.004166673251008612 + ], + "object_to_gripper_xy": 0.006300723307803033, + "object_to_gripper_z": -0.004166673251008612, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23332182668345267, + -0.07726990760683107, + 1.0468858805374237 + ], + "finger_b": [ + 0.22235804897379002, + -0.05327404669674344, + 1.0468858805374237 + ], + "finger_midpoint": [ + 0.22783993782862133, + -0.06527197715178726, + 1.0468858805374237 + ], + "object_minus_finger_midpoint": [ + 0.005481888854831335, + 0.011997930455043819, + 0.0 + ], + "finger_gap": 0.02638192112950016, + "fingertip_max_gap": 0.0920778656221207, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013190960564750089, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0468858805374237, + "object_top_z": 1.0924479870672807, + "finger_top_clearance": 0.04556210652985704, + "fingertip_min_top_clearance": 0.013668631958957145, + "object_projection_between_fingers": 0.8272939275128451, + "object_to_finger_line_xy": 0.009972180709614914, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04853893281106035, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3223315012695698, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 209, + "max_stable_success_frames": 209, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2247227498175947, + -0.059108068905473696, + 1.2473429546434236 + ], + "held_position": [ + 0.2294905575411396, + -0.05471375988962524, + 1.2434651302414985 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007555095254702403, + "max_held_gripper_dist": 0.007558065250007682, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0038778244019250785, + "max_held_gripper_z_dist": 0.004184315447820275, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08505660574514126, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2294905575411396, + -0.07916800301698221, + 1.2434651302414985 + ], + "held_grasp_finger_b": [ + 0.22045840388125185, + -0.05471375988962524, + 1.2434651302414985 + ], + "held_grasp_midpoint": [ + 0.22497448071119572, + -0.06694088145330372, + 1.2434651302414985 + ], + "held_grasp_object_position": [ + 0.2294905575411396, + -0.05471375988962524, + 1.2434651302414985 + ], + "held_grasp_finger_gap": 0.026068943336232654, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02377048270109156, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06209928298465839, + -0.9949755075411978, + -0.07853291313791376 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038718547814192233, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03275409334917871, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3046377280979984, + -0.38112524717769825, + 0.8470198009791002 + ], + "target_position": [ + 0.2988279534475132, + -0.38231672419182156, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005930691272069788, + "xy_threshold": 0.08, + "gripper_dist": 0.18485704489488275, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470198009791002, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07555179404575635, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0861703826353246, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15298894838014845, + "release_required_pad_clearance": 0.0530851913176623, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.197449678628407, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008571922779083252, + "max_z_decrease": 0.008571922779083252, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502724256877969, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008571922779083252, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020853493525654465, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008571922779083252, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008571976837365951, + "max_button_displacement": 0.12, + "button_start": [ + 0.15452787280082703, + -0.43857818841934204, + 0.7768088579177856 + ], + "button_final": [ + 0.15452787280082703, + -0.43857818841934204, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15477542015791634, + -0.4372145092285341, + 0.8036069548021969 + ], + "closest_button": [ + 0.15453575551509857, + -0.43853759765624994, + 0.7686055302619934 + ], + "closest_ee_minus_button": [ + 0.00023966464281777178, + 0.001323088427715835, + 0.035001424540203496 + ], + "button_min_z_position": [ + 0.1545313000679016, + -0.4385479390621185, + 0.7682369351387024 + ], + "min_active_finger_to_button": 0.14496317406010528, + "closest_active_finger": [ + 0.027435533702373505, + -0.4993845820426941, + 0.8107931613922119 + ], + "closest_active_finger_button": [ + 0.15452907979488373, + -0.4385781586170196, + 0.7766737937927246 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12709354609251022, + -0.060806423425674494, + 0.034119367599487305 + ], + "min_contact_pad_to_button": 0.020853493525654465, + "closest_contact_pad": [ + 0.1545313000679016, + -0.4385479390621185, + 0.7890904286643569 + ], + "closest_contact_pad_button": [ + 0.1545313000679016, + -0.4385479390621185, + 0.7682369351387024 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.020853493525654465 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 24, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0774307ca1105cb74a23b6d058349cfe43e421b507876dcf3a6b521510b5eaec", + "visual_seed": 8327539951787594789, + "episode_index": 24, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_25_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_25_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1b1e6b054323061634fa3567d41efb048a989537 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_25_success.json @@ -0,0 +1,926 @@ +{ + "episode": 25, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23458251213096237, + -0.05941279345482411, + 1.0444996099970985 + ], + "current_z": 1.0444996099970985, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.18791316219317766, + "gripper_z": 1.0485103886730098, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23010066663547762, + -0.06400355613894392, + 1.0485103886730098 + ], + "object_minus_gripper": [ + 0.004481845495484749, + 0.004590762684119808, + -0.004010778675911375 + ], + "object_to_gripper_xy": 0.006415765041466515, + "object_to_gripper_z": -0.004010778675911375, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23458251213096237, + -0.08322920869087233, + 1.0444996099970985 + ], + "finger_b": [ + 0.22313733742288536, + -0.05941279345482411, + 1.0444996099970985 + ], + "finger_midpoint": [ + 0.22885992477692385, + -0.07132100107284822, + 1.0444996099970985 + ], + "object_minus_finger_midpoint": [ + 0.005722587354038522, + 0.011908207618024115, + 0.0 + ], + "finger_gap": 0.02642373287017328, + "fingertip_max_gap": 0.09226632698084708, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013211866435086648, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0444996099970985, + "object_top_z": 1.0901306487447036, + "finger_top_clearance": 0.0456310387476051, + "fingertip_min_top_clearance": 0.01368931162428153, + "object_projection_between_fingers": 0.8123897714567601, + "object_to_finger_line_xy": 0.010315841241506307, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04863316349042354, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3420089243402076, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 204, + "max_stable_success_frames": 204, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22386711615097948, + -0.0654036247198359, + 1.244510171256019 + ], + "held_position": [ + 0.22871627655049925, + -0.06085204075485414, + 1.2409011278255029 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0075668003577404426, + "max_held_gripper_dist": 0.0075686415070852445, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0036090434305160457, + "max_held_gripper_z_dist": 0.0040335935061712735, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08555234451574359, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.22871627655049925, + -0.08498208279671736, + 1.2409011278255029 + ], + "held_grasp_finger_b": [ + 0.21940622426284517, + -0.06085204075485414, + 1.2409011278255029 + ], + "held_grasp_midpoint": [ + 0.2240612504066722, + -0.07291706177578575, + 1.2409011278255029 + ], + "held_grasp_object_position": [ + 0.22871627655049925, + -0.06085204075485414, + 1.2409011278255029 + ], + "held_grasp_finger_gap": 0.02586379714080938, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023286119374287075, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07073185197375487, + -0.9923164067855241, + -0.10151430411833195 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003988133113871505, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032898648038388975, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.30428062651037335, + -0.37870632097982126, + 0.8470196268617227 + ], + "target_position": [ + 0.29812901442255635, + -0.38033210593370725, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006362822329380127, + "xy_threshold": 0.08, + "gripper_dist": 0.1839290314109126, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196268617227, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07564510880864281, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08536324433206564, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15202808763549822, + "release_required_pad_clearance": 0.052681622166032824, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.41871312712029257, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008573293685913086, + "max_z_decrease": 0.008573293685913086, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035011230418667674, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008573293685913086, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02095761350023808, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008573293685913086, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008573435539161189, + "max_button_displacement": 0.12, + "button_start": [ + 0.1538289338350296, + -0.43659356236457825, + 0.7768088579177856 + ], + "button_final": [ + 0.1538289338350296, + -0.43659356236457825, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15478350925609438, + -0.4371149525472759, + 0.803607957396954 + ], + "closest_button": [ + 0.15386204421520233, + -0.4365660548210144, + 0.7686131596565247 + ], + "closest_ee_minus_button": [ + 0.00092146504089205, + -0.000548897726261488, + 0.03499479774042935 + ], + "button_min_z_position": [ + 0.15385819971561432, + -0.43655386567115784, + 0.7682355642318726 + ], + "min_active_finger_to_button": 0.14476029758174674, + "closest_active_finger": [ + 0.014311641454696655, + -0.4187217950820923, + 0.8108678460121155 + ], + "closest_active_finger_button": [ + 0.15382997691631317, + -0.43659433722496027, + 0.7766516208648682 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13951833546161652, + 0.017872542142867986, + 0.034216225147247314 + ], + "min_contact_pad_to_button": 0.02095761350023808, + "closest_contact_pad": [ + 0.15385819971561432, + -0.4385128817795669, + 0.7891014171862177 + ], + "closest_contact_pad_button": [ + 0.15385819971561432, + -0.43655386567115784, + 0.7682355642318726 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0019590161084090396, + 0.020865852954345177 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 25, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9e4bafddf3720c172ca309520118ebd06f598b6680442fafd8dee5a4b32964e1", + "visual_seed": 6544010669797529840, + "episode_index": 25, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_26_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_26_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3cde84ba8e72ee6ab46adfdfda8fa2b6d2c5fd05 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_26_success.json @@ -0,0 +1,926 @@ +{ + "episode": 26, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.22888242042818352, + -0.05689731700296181, + 1.044504526518234 + ], + "current_z": 1.044504526518234, + "required_z": 0.8565866266178551, + "initial_z": 0.7565866266178551, + "lift_margin": 0.18791789990037888, + "gripper_z": 1.0484918227834166, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2242953637536163, + -0.0614603465765655, + 1.0484918227834166 + ], + "object_minus_gripper": [ + 0.004587056674567214, + 0.0045630295736036955, + -0.003987296265182572 + ], + "object_to_gripper_xy": 0.006470110341043153, + "object_to_gripper_z": -0.003987296265182572, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.22888242042818352, + -0.08093253507556333, + 1.044504526518234 + ], + "finger_b": [ + 0.21766604848394233, + -0.05689731700296181, + 1.044504526518234 + ], + "finger_midpoint": [ + 0.22327423445606293, + -0.06891492603926257, + 1.044504526518234 + ], + "object_minus_finger_midpoint": [ + 0.005608185972120594, + 0.01201760903630076, + 0.0 + ], + "finger_gap": 0.026523550052530147, + "fingertip_max_gap": 0.0921228803465145, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01326177502626507, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.044504526518234, + "object_top_z": 1.0901495116868187, + "finger_top_clearance": 0.04564498516858473, + "fingertip_min_top_clearance": 0.013693495550575434, + "object_projection_between_fingers": 0.8211695369583913, + "object_to_finger_line_xy": 0.010164097382489325, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04856144017325725, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1935563320612366, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 205, + "max_stable_success_frames": 205, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21943152192835702, + -0.061662853451445954, + 1.244827959650069 + ], + "held_position": [ + 0.2243421466709965, + -0.057084624248458934, + 1.2412647654661597 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0076007085715972455, + "max_held_gripper_dist": 0.007603329248609713, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0035631941839093795, + "max_held_gripper_z_dist": 0.004025621912928434, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08590967852303186, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2243421466709965, + -0.08120626930171257, + 1.2412647654661597 + ], + "held_grasp_finger_b": [ + 0.21501168529605238, + -0.057084624248458934, + 1.2412647654661597 + ], + "held_grasp_midpoint": [ + 0.21967691598352446, + -0.06914544677508574, + 1.2412647654661597 + ], + "held_grasp_object_position": [ + 0.2243421466709965, + -0.057084624248458934, + 1.2412647654661597 + ], + "held_grasp_finger_gap": 0.025863318997075366, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023359937375717652, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.062389041260896554, + -0.9925548552996734, + -0.10460624623601977 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004107192984234616, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03293813773824736, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.30760914153223534, + -0.3773197999944673, + 0.8470195677297567 + ], + "target_position": [ + 0.30230802421898706, + -0.3784348159253709, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005417112265311619, + "xy_threshold": 0.08, + "gripper_dist": 0.1868245217526289, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195677297567, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07563894901834352, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08609551388500396, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1547066239762277, + "release_required_pad_clearance": 0.05304775694250198, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.1260351166874594, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008634567260742188, + "max_z_decrease": 0.008634567260742188, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502439921154757, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008634567260742188, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020888746359312167, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008634567260742188, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008634673455395512, + "max_button_displacement": 0.12, + "button_start": [ + 0.15800794959068296, + -0.43469628691673273, + 0.7768088579177856 + ], + "button_final": [ + 0.15800794959068296, + -0.43469628691673273, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15914655863003388, + -0.43470301333805134, + 0.8035491660649324 + ], + "closest_button": [ + 0.15799894928932184, + -0.4346588551998138, + 0.7685436010360718 + ], + "closest_ee_minus_button": [ + 0.0011476093407120358, + -4.415813823754888e-05, + 0.03500556502886065 + ], + "button_min_z_position": [ + 0.15798908472061154, + -0.4346578419208526, + 0.7681742906570435 + ], + "min_active_finger_to_button": 0.144596459888929, + "closest_active_finger": [ + 0.018291659653186798, + -0.4199536442756653, + 0.8108319044113159 + ], + "closest_active_finger_button": [ + 0.15800797939300532, + -0.4346966445446014, + 0.7766247391700745 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13971631973981852, + 0.014743000268936102, + 0.034207165241241455 + ], + "min_contact_pad_to_button": 0.020888746359312167, + "closest_contact_pad": [ + 0.15798908472061154, + -0.4357534178609408, + 0.789034286769775 + ], + "closest_contact_pad_button": [ + 0.15798908472061154, + -0.4346578419208526, + 0.7681742906570435 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0010955759400881893, + 0.020859996112731594 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 26, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9c48da57687a45f7c2193b59936d995520bedaf279f91a095eea083b4e5c89de", + "visual_seed": 4426936333592889714, + "episode_index": 26, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_27_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_27_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d0493d405424c85d1e4e43700c5bb1c214e8e0e1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_27_success.json @@ -0,0 +1,926 @@ +{ + "episode": 27, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23120099002009836, + -0.04995026599216506, + 1.0441451417671717 + ], + "current_z": 1.0441451417671717, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.18755869396325087, + "gripper_z": 1.0486254756556408, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22642281311203988, + -0.05455390996922549, + 1.0486254756556408 + ], + "object_minus_gripper": [ + 0.004778176908058485, + 0.00460364397706043, + -0.004480333888469135 + ], + "object_to_gripper_xy": 0.006635097017544515, + "object_to_gripper_z": -0.004480333888469135, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23120099002009836, + -0.07423812005560032, + 1.0441451417671717 + ], + "finger_b": [ + 0.2201118988482409, + -0.04995026599216506, + 1.0441451417671717 + ], + "finger_midpoint": [ + 0.22565644443416963, + -0.06209419302388269, + 1.0441451417671717 + ], + "object_minus_finger_midpoint": [ + 0.005544545585928734, + 0.012143927031717634, + 0.0 + ], + "finger_gap": 0.02669958422943129, + "fingertip_max_gap": 0.09479609760846136, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013349792114715648, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0441451417671717, + "object_top_z": 1.0905986305166295, + "finger_top_clearance": 0.04645348874945787, + "fingertip_min_top_clearance": 0.013936046624837361, + "object_projection_between_fingers": 0.8275024578771313, + "object_to_finger_line_xy": 0.010087431540649859, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04989804880423068, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.3190464418259777, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 207, + "max_stable_success_frames": 207, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2227496401225617, + -0.05520661638657624, + 1.2453242302360457 + ], + "held_position": [ + 0.22779474806101593, + -0.050635706971530185, + 1.2411054825320316 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008009004880840984, + "max_held_gripper_dist": 0.00801053304999524, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004218747704014092, + "max_held_gripper_z_dist": 0.0045032592651315095, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08582075646693427, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.22779474806101593, + -0.07528266619668456, + 1.2411054825320316 + ], + "held_grasp_finger_b": [ + 0.21832699862490731, + -0.050635706971530185, + 1.2411054825320316 + ], + "held_grasp_midpoint": [ + 0.22306087334296162, + -0.06295918658410737, + 1.2411054825320316 + ], + "held_grasp_object_position": [ + 0.22779474806101593, + -0.050635706971530185, + 1.2411054825320316 + ], + "held_grasp_finger_gap": 0.026402857391414233, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02426983045320623, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.03330429305748042, + -0.9974921015785956, + -0.062452632868905684 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004389697544983998, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032749993037392705, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3128119293685685, + -0.3779354507304783, + 0.8470195645595936 + ], + "target_position": [ + 0.3070147509076764, + -0.37936300128571265, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005970358338925848, + "xy_threshold": 0.08, + "gripper_dist": 0.18636498995676287, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195645595936, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.075408183253345, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08780120344661667, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1548736173643325, + "release_required_pad_clearance": 0.053900601723308336, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.8108341247877853, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008424162864685059, + "max_z_decrease": 0.008424162864685059, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03508229753950058, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008424162864685059, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020858806341042646, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008424162864685059, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008424229124058116, + "max_button_displacement": 0.12, + "button_start": [ + 0.16271467506885523, + -0.43562445044517517, + 0.7768088579177856 + ], + "button_final": [ + 0.16271467506885523, + -0.43562445044517517, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16385833514031534, + -0.43367090676302894, + 0.8033960208884643 + ], + "closest_button": [ + 0.1627338975667953, + -0.4355971217155456, + 0.7683846950531006 + ], + "closest_ee_minus_button": [ + 0.001124437573520043, + 0.0019262149525166583, + 0.035011325835363705 + ], + "button_min_z_position": [ + 0.1627338975667953, + -0.4355971217155456, + 0.7683846950531006 + ], + "min_active_finger_to_button": 0.14391538447707947, + "closest_active_finger": [ + 0.0381210595369339, + -0.49905461072921753, + 0.8106321096420288 + ], + "closest_active_finger_button": [ + 0.16271418333053583, + -0.43562525510787964, + 0.7765013575553894 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12459312379360193, + -0.06342935562133789, + 0.034130752086639404 + ], + "min_contact_pad_to_button": 0.020858806341042646, + "closest_contact_pad": [ + 0.1627338975667953, + -0.4355971217155456, + 0.7892435013941432 + ], + "closest_contact_pad_button": [ + 0.1627338975667953, + -0.4355971217155456, + 0.7683846950531006 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.020858806341042646 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 27, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d13812b4d0663b4f6baaf713a19571d9f6311c6184f008afc625141e79143252", + "visual_seed": 1207424927188064974, + "episode_index": 27, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_28_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_28_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c04c334d0bf5b2835a2758482ed92ec59578e53a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_28_success.json @@ -0,0 +1,926 @@ +{ + "episode": 28, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23174699649666705, + -0.04871776724591846, + 1.044022620642739 + ], + "current_z": 1.044022620642739, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.18743611323417342, + "gripper_z": 1.048082859786199, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22733092535109997, + -0.05329356554056304, + 1.048082859786199 + ], + "object_minus_gripper": [ + 0.00441607114556708, + 0.0045757982946445785, + -0.004060239143460098 + ], + "object_to_gripper_xy": 0.006359214919782344, + "object_to_gripper_z": -0.004060239143460098, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23174699649666705, + -0.0724289546123157, + 1.044022620642739 + ], + "finger_b": [ + 0.22027594667020955, + -0.04871776724591846, + 1.044022620642739 + ], + "finger_midpoint": [ + 0.22601147158343832, + -0.06057336092911708, + 1.044022620642739 + ], + "object_minus_finger_midpoint": [ + 0.0057355249132287345, + 0.01185559368319862, + 0.0 + ], + "finger_gap": 0.026340185846828543, + "fingertip_max_gap": 0.09249649825918924, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013170092923414265, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.044022620642739, + "object_top_z": 1.0898505456000598, + "finger_top_clearance": 0.0458279249573208, + "fingertip_min_top_clearance": 0.013748377487196222, + "object_projection_between_fingers": 0.810343093419057, + "object_to_finger_line_xy": 0.01032613107994304, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04874824912959462, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.7137933431978205, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 205, + "max_stable_success_frames": 205, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22103549310794224, + -0.05528692559673554, + 1.2463335472850954 + ], + "held_position": [ + 0.2258584084349058, + -0.05083289978276179, + 1.2426170932382485 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007543930599159082, + "max_held_gripper_dist": 0.0075459657731996995, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.00371645404684684, + "max_held_gripper_z_dist": 0.004075265274522399, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08545919964159517, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2258584084349058, + -0.0751723772367116, + 1.2426170932382485 + ], + "held_grasp_finger_b": [ + 0.21671422609899904, + -0.05083289978276179, + 1.2426170932382485 + ], + "held_grasp_midpoint": [ + 0.22128631726695241, + -0.0630026385097367, + 1.2426170932382485 + ], + "held_grasp_object_position": [ + 0.2258584084349058, + -0.05083289978276179, + 1.2426170932382485 + ], + "held_grasp_finger_gap": 0.026000504482098803, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02349700390669167, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07232588206159096, + -0.9925588996549196, + -0.09795814156989802 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038732232688368307, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032790361959288465, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.307812196699184, + -0.3833816174422321, + 0.8470197016164647 + ], + "target_position": [ + 0.3001231976788577, + -0.3857575707768207, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008047723913177067, + "xy_threshold": 0.08, + "gripper_dist": 0.18513144818175697, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470197016164647, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0754122642911776, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0849662315374584, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1538725694896605, + "release_required_pad_clearance": 0.0524831157687292, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.039560418197536376, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008451282978057861, + "max_z_decrease": 0.008451282978057861, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035003759166970086, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008451282978057861, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020844358957766682, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008451282978057861, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008451447925972785, + "max_button_displacement": 0.12, + "button_start": [ + 0.1558231264352798, + -0.44201901555061346, + 0.7768088579177856 + ], + "button_final": [ + 0.1558231264352798, + -0.44201901555061346, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1556334909442881, + -0.44101515397617697, + 0.8036199959884515 + ], + "closest_button": [ + 0.155861347913742, + -0.44199243187904363, + 0.7686306238174438 + ], + "closest_ee_minus_button": [ + -0.00022785696945390455, + 0.000977277902866669, + 0.034989372171007616 + ], + "button_min_z_position": [ + 0.15586687624454493, + -0.44198945164680487, + 0.7683575749397278 + ], + "min_active_finger_to_button": 0.14553981161725504, + "closest_active_finger": [ + 0.02808866649866104, + -0.5028583407402039, + 0.8105188012123108 + ], + "closest_active_finger_button": [ + 0.1558226197957992, + -0.44201996922492987, + 0.7763930559158325 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12773395329713816, + -0.06083837151527399, + 0.03412574529647827 + ], + "min_contact_pad_to_button": 0.020844358957766682, + "closest_contact_pad": [ + 0.15586687624454493, + -0.442312513306466, + 0.7891994302200114 + ], + "closest_contact_pad_button": [ + 0.15586687624454493, + -0.44198945164680487, + 0.7683575749397278 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0003230616596611169, + 0.020841855280283594 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 28, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "cda9aa7502babc0fba2d18150de2a909402ee7406dab5d639e769ca5db37d636", + "visual_seed": 5145674691119701325, + "episode_index": 28, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_29_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_29_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5ffb496859cc43db57b73554fb360132ba3a94bb --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_29_success.json @@ -0,0 +1,926 @@ +{ + "episode": 29, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23283761351891674, + -0.049826582706690804, + 1.0439627692958722 + ], + "current_z": 1.0439627692958722, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.18737620228266183, + "gripper_z": 1.0481838031987827, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22818223380567637, + -0.054420791781167044, + 1.0481838031987827 + ], + "object_minus_gripper": [ + 0.004655379713240371, + 0.0045942090744762396, + -0.004221033902910509 + ], + "object_to_gripper_xy": 0.006540589980609534, + "object_to_gripper_z": -0.004221033902910509, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23283761351891674, + -0.0739145488491345, + 1.0439627692958722 + ], + "finger_b": [ + 0.22161707759886637, + -0.049826582706690804, + 1.0439627692958722 + ], + "finger_midpoint": [ + 0.22722734555889157, + -0.06187056577791265, + 1.0439627692958722 + ], + "object_minus_finger_midpoint": [ + 0.005610267960025173, + 0.012043983071221849, + 0.0 + ], + "finger_gap": 0.02657311685167275, + "fingertip_max_gap": 0.09161056452839261, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013286558425836372, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0439627692958722, + "object_top_z": 1.0893335353959896, + "finger_top_clearance": 0.04537076610011748, + "fingertip_min_top_clearance": 0.013611229830035225, + "object_projection_between_fingers": 0.8217037511597765, + "object_to_finger_line_xy": 0.010171177541983848, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04830528226419631, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3033224564591466, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 206, + "max_stable_success_frames": 206, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2240773052490851, + -0.05575168480423341, + 1.243517996938059 + ], + "held_position": [ + 0.229045075295764, + -0.05123794383764288, + 1.2395688955494997 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007787682487574783, + "max_held_gripper_dist": 0.007791370825165987, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003949101388559306, + "max_held_gripper_z_dist": 0.0042341423552954005, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0855385446418515, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.229045075295764, + -0.07579379103417587, + 1.2395688955494997 + ], + "held_grasp_finger_b": [ + 0.21970183901517445, + -0.05123794383764288, + 1.2395688955494997 + ], + "held_grasp_midpoint": [ + 0.22437345715546925, + -0.06351586743590937, + 1.2395688955494997 + ], + "held_grasp_object_position": [ + 0.229045075295764, + -0.05123794383764288, + 1.2395688955494997 + ], + "held_grasp_finger_gap": 0.026273288635692376, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023864457017120238, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.060854612477249284, + -0.9949987000940681, + -0.07921049773457155 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004037478791154668, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032699417434112005, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.30977103141467704, + -0.3774113684953038, + 0.8470196150177178 + ], + "target_position": [ + 0.30350623630679785, + -0.3790386733562055, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006472694867983608, + "xy_threshold": 0.08, + "gripper_dist": 0.18423979268968016, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196150177178, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07583539766196273, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08672308405220401, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15184279873058815, + "release_required_pad_clearance": 0.05336154202610201, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.738613159305733, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008392572402954102, + "max_z_decrease": 0.008392572402954102, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03499321709795405, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008392572402954102, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02090949511296593, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008392572402954102, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008392721001905993, + "max_button_displacement": 0.12, + "button_start": [ + 0.15920616686344152, + -0.4353001415729522, + 0.7768088579177856 + ], + "button_final": [ + 0.15920616686344152, + -0.4353001415729522, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15943521943561167, + -0.4358847195861094, + 0.803615525265944 + ], + "closest_button": [ + 0.15924219787120825, + -0.4352700412273407, + 0.7686282396316528 + ], + "closest_ee_minus_button": [ + 0.00019302156440342833, + -0.0006146783587687166, + 0.03498728563429121 + ], + "button_min_z_position": [ + 0.1592430472373963, + -0.4352664649486542, + 0.7684162855148315 + ], + "min_active_finger_to_button": 0.1454463777052097, + "closest_active_finger": [ + 0.018563024699687958, + -0.421002060174942, + 0.8106604218482971 + ], + "closest_active_finger_button": [ + 0.15920545160770422, + -0.4353008270263672, + 0.7764565944671631 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14064242690801626, + 0.014298766851425171, + 0.03420382738113403 + ], + "min_contact_pad_to_button": 0.02090949511296593, + "closest_contact_pad": [ + 0.1592430472373963, + -0.4369702814922755, + 0.7892562470086738 + ], + "closest_contact_pad_button": [ + 0.1592430472373963, + -0.4352664649486542, + 0.7684162855148315 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0017038165436213393, + 0.020839961493842263 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 29, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "fb11e3de4869686831810f81a41f79e702254c456dc7e17b50762968b7abd58e", + "visual_seed": 9092972651211865580, + "episode_index": 29, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_2_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_2_success.json new file mode 100644 index 0000000000000000000000000000000000000000..191e754752700ce155dc84059cbf507554946198 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_2_success.json @@ -0,0 +1,926 @@ +{ + "episode": 2, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23625360375756113, + -0.05312889921300902, + 1.0469253505752705 + ], + "current_z": 1.0469253505752705, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.1903388431667049, + "gripper_z": 1.05100310086355, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2318903943674448, + -0.05752498346075369, + 1.05100310086355 + ], + "object_minus_gripper": [ + 0.004363209390116335, + 0.0043960842477446666, + -0.0040777502882796135 + ], + "object_to_gripper_xy": 0.006193799552396586, + "object_to_gripper_z": -0.0040777502882796135, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23625360375756113, + -0.0770995596899614, + 1.0469253505752705 + ], + "finger_b": [ + 0.22540854806483046, + -0.05312889921300902, + 1.0469253505752705 + ], + "finger_midpoint": [ + 0.23083107591119578, + -0.0651142294514852, + 1.0469253505752705 + ], + "object_minus_finger_midpoint": [ + 0.005422527846365349, + 0.011985330238476186, + 0.0 + ], + "finger_gap": 0.02630984220172666, + "fingertip_max_gap": 0.0929150030701105, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013154921100863328, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0469253505752705, + "object_top_z": 1.0930432297685648, + "finger_top_clearance": 0.04611787919329435, + "fingertip_min_top_clearance": 0.013835363757988306, + "object_projection_between_fingers": 0.830086812742383, + "object_to_finger_line_xy": 0.009880832650795068, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04895750153505525, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2578980169861214, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 209, + "max_stable_success_frames": 209, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22956779278643133, + -0.05901409197183556, + 1.245048816444243 + ], + "held_position": [ + 0.23425234035965334, + -0.054745289915238866, + 1.2411996744498222 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007415089416682629, + "max_held_gripper_dist": 0.00741982062927056, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0038491419944208793, + "max_held_gripper_z_dist": 0.00408134502737334, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0858115620565588, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.23425234035965334, + -0.0793635570160085, + 1.2411996744498222 + ], + "held_grasp_finger_b": [ + 0.22549292926143305, + -0.054745289915238866, + 1.2411996744498222 + ], + "held_grasp_midpoint": [ + 0.2298726348105432, + -0.06705442346562368, + 1.2411996744498222 + ], + "held_grasp_object_position": [ + 0.23425234035965334, + -0.054745289915238866, + 1.2411996744498222 + ], + "held_grasp_finger_gap": 0.026130180975884217, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02389638769611652, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07020269240416543, + -0.9956558615094488, + -0.06116361190351059 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003586697927973882, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03263709687478252, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3106530936423597, + -0.38514246614107583, + 0.847019560805495 + ], + "target_position": [ + 0.3057954629351129, + -0.3855470115715516, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.004874446952558416, + "xy_threshold": 0.08, + "gripper_dist": 0.18529775649914948, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.847019560805495, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07548900691892571, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08587946078139606, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15343922932687895, + "release_required_pad_clearance": 0.052939730390698034, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.915990967467968, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008721232414245605, + "max_z_decrease": 0.008721232414245605, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03503106600800316, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008721232414245605, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.020897775025712766, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008721232414245605, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008721403957749216, + "max_button_displacement": 0.12, + "button_start": [ + 0.16149538755416867, + -0.4418084621429443, + 0.7768088579177856 + ], + "button_final": [ + 0.16149538755416867, + -0.4418084621429443, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16278838330594067, + -0.44207421550229153, + 0.8034640530802768 + ], + "closest_button": [ + 0.16147723793983454, + -0.44176447391510004, + 0.768458902835846 + ], + "closest_ee_minus_button": [ + 0.0013111453661061312, + -0.00030974158719149214, + 0.03500515024443085 + ], + "button_min_z_position": [ + 0.16146433353424067, + -0.4417634308338165, + 0.76808762550354 + ], + "min_active_finger_to_button": 0.14443045881092467, + "closest_active_finger": [ + 0.021875105798244476, + -0.42781129479408264, + 0.811008632183075 + ], + "closest_active_finger_button": [ + 0.16149526834487912, + -0.4418089985847473, + 0.7767970561981201 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13962016254663465, + 0.013997703790664673, + 0.034211575984954834 + ], + "min_contact_pad_to_button": 0.020897775025712766, + "closest_contact_pad": [ + 0.16146433353424067, + -0.4430748030823739, + 0.7889442144828295 + ], + "closest_contact_pad_button": [ + 0.16146433353424067, + -0.4417634308338165, + 0.76808762550354 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0013113722485574297, + 0.020856588979289437 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 2, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f3608537e7dc65ebb1f5da0810804441951b0836bd8870a44789f2256c128e72", + "visual_seed": 8149693894547717653, + "episode_index": 2, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_30_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_30_success.json new file mode 100644 index 0000000000000000000000000000000000000000..feef7b08ade235334d51c02b4bd32153a5f3c3a4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_30_success.json @@ -0,0 +1,926 @@ +{ + "episode": 30, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23852669102402727, + -0.05649323835413398, + 1.0467252940490313 + ], + "current_z": 1.0467252940490313, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.19013878664046568, + "gripper_z": 1.0511129603052762, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23375340237371048, + -0.06104959284138346, + 1.0511129603052762 + ], + "object_minus_gripper": [ + 0.004773288650316787, + 0.004556354487249482, + -0.004387666256244982 + ], + "object_to_gripper_xy": 0.006598837075782486, + "object_to_gripper_z": -0.004387666256244982, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23852669102402727, + -0.08088724940572564, + 1.0467252940490313 + ], + "finger_b": [ + 0.22762296289866396, + -0.05649323835413398, + 1.0467252940490313 + ], + "finger_midpoint": [ + 0.23307482696134563, + -0.06869024387992981, + 1.0467252940490313 + ], + "object_minus_finger_midpoint": [ + 0.005451864062681638, + 0.012197005525795827, + 0.0 + ], + "finger_gap": 0.026720012391782583, + "fingertip_max_gap": 0.09568417801534704, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013360006195891285, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0467252940490313, + "object_top_z": 1.0934711526832874, + "finger_top_clearance": 0.04674585863425618, + "fingertip_min_top_clearance": 0.014023757590276853, + "object_projection_between_fingers": 0.8334760446031, + "object_to_finger_line_xy": 0.009954548691581591, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05034208900767352, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.7081478770080407, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 209, + "max_stable_success_frames": 209, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23188305719604982, + -0.06096389462540479, + 1.2468130384683604 + ], + "held_position": [ + 0.2368494494298805, + -0.056440818935126875, + 1.2426087847861444 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007924582925597005, + "max_held_gripper_dist": 0.007930328957278935, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004204253682215997, + "max_held_gripper_z_dist": 0.004390338605542388, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08500740159539424, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2368494494298805, + -0.08112992844969388, + 1.2426087847861444 + ], + "held_grasp_finger_b": [ + 0.22723981554228775, + -0.056440818935126875, + 1.2426087847861444 + ], + "held_grasp_midpoint": [ + 0.23204463248608415, + -0.06878537369241038, + 1.2426087847861444 + ], + "held_grasp_object_position": [ + 0.2368494494298805, + -0.056440818935126875, + 1.2426087847861444 + ], + "held_grasp_finger_gap": 0.026493342410421797, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024550747737882635, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.011854569549707431, + -0.9990099398521337, + -0.04287900718798898 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004688255879287996, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03281093302360176, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.30977083557774154, + -0.38324646242848914, + 0.8470195660844978 + ], + "target_position": [ + 0.3039890698633689, + -0.38464185924670197, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005947768241632633, + "xy_threshold": 0.08, + "gripper_dist": 0.1866456825425417, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195660844978, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0753825346065778, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08756701889931572, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15532067105985048, + "release_required_pad_clearance": 0.05378350944965786, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.5760158443653043, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008654475212097168, + "max_z_decrease": 0.008654475212097168, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03505598046187455, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008654475212097168, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.02100835872646155, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008654475212097168, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0086546650493699, + "max_button_displacement": 0.12, + "button_start": [ + 0.15968899428844446, + -0.44090330600738525, + 0.7768088579177856 + ], + "button_final": [ + 0.15968899428844446, + -0.44090330600738525, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1612582333473857, + -0.4418743029242751, + 0.803158867295572 + ], + "closest_button": [ + 0.15965326130390164, + -0.4408584833145141, + 0.7681543827056885 + ], + "closest_ee_minus_button": [ + 0.0016049720434840598, + -0.0010158196097609928, + 0.03500448458988348 + ], + "button_min_z_position": [ + 0.15965326130390164, + -0.4408584833145141, + 0.7681543827056885 + ], + "min_active_finger_to_button": 0.14409486600197374, + "closest_active_finger": [ + 0.02071545273065567, + -0.4242911636829376, + 0.8104589581489563 + ], + "closest_active_finger_button": [ + 0.159689724445343, + -0.4409055709838867, + 0.7762033939361572 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13897427171468732, + 0.016614407300949097, + 0.03425556421279907 + ], + "min_contact_pad_to_button": 0.02100835872646155, + "closest_contact_pad": [ + 0.15965326130390164, + -0.4431788989135176, + 0.7890342009000022 + ], + "closest_contact_pad_button": [ + 0.15965326130390164, + -0.4408584833145141, + 0.7681543827056885 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002320415599003478, + 0.020879818194313726 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 30, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "727308602141d62919188623c392c67d539a7a371b912636031013c46c9e2d35", + "visual_seed": 1675624171003150555, + "episode_index": 30, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_31_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_31_success.json new file mode 100644 index 0000000000000000000000000000000000000000..71ba9c37cf604ae1b51b13ce6e97c724a0649113 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_31_success.json @@ -0,0 +1,926 @@ +{ + "episode": 31, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23849657325235926, + -0.05339974698767514, + 1.045367013736901 + ], + "current_z": 1.045367013736901, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.18878056593298032, + "gripper_z": 1.0492391179645002, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2341036386262156, + -0.05795545155202052, + 1.0492391179645002 + ], + "object_minus_gripper": [ + 0.004392934626143652, + 0.004555704564345377, + -0.0038721042275990936 + ], + "object_to_gripper_xy": 0.006328690125702883, + "object_to_gripper_z": -0.0038721042275990936, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23849657325235926, + -0.07710449001669545, + 1.045367013736901 + ], + "finger_b": [ + 0.22706852214344692, + -0.05339974698767514, + 1.045367013736901 + ], + "finger_midpoint": [ + 0.23278254769790307, + -0.06525211850218529, + 1.045367013736901 + ], + "object_minus_finger_midpoint": [ + 0.005714025554456187, + 0.01185237151451015, + 0.0 + ], + "finger_gap": 0.026315683426804622, + "fingertip_max_gap": 0.092566143144626, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013157841713402315, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.045367013736901, + "object_top_z": 1.0912690958493043, + "finger_top_clearance": 0.04590208211240321, + "fingertip_min_top_clearance": 0.013770624633720946, + "object_projection_between_fingers": 0.8114115715611852, + "object_to_finger_line_xy": 0.010294204048044804, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048783071572313, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.6616925846777473, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 206, + "max_stable_success_frames": 206, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22985533416062345, + -0.059917357696436274, + 1.2466370394987643 + ], + "held_position": [ + 0.23466473148793052, + -0.055576574805327635, + 1.2430268890223175 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007416595258084298, + "max_held_gripper_dist": 0.007419734435017685, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0036101504764467496, + "max_held_gripper_z_dist": 0.0038711074572235216, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08573377496430053, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.23466473148793052, + -0.08014564293714174, + 1.2430268890223175 + ], + "held_grasp_finger_b": [ + 0.22566230183413008, + -0.055576574805327635, + 1.2430268890223175 + ], + "held_grasp_midpoint": [ + 0.2301635166610303, + -0.06786110887123468, + 1.2430268890223175 + ], + "held_grasp_object_position": [ + 0.23466473148793052, + -0.055576574805327635, + 1.2430268890223175 + ], + "held_grasp_finger_gap": 0.026166445087885917, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023712058932304426, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07773545171030007, + -0.993601659491605, + -0.08193254422342976 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003677180886818715, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03264438756403018, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3103436666873778, + -0.3804199055209373, + 0.847019139551423 + ], + "target_position": [ + 0.30292597879340083, + -0.38273606336398963, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007770886747751836, + "xy_threshold": 0.08, + "gripper_dist": 0.1861221592234326, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.847019139551423, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07587209470923746, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08589128338898276, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15378851706453942, + "release_required_pad_clearance": 0.05294564169449138, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.9278765639401645, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00851297378540039, + "max_z_decrease": 0.00851297378540039, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0350338480753829, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00851297378540039, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02087813338064754, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00851297378540039, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008513151565070832, + "max_button_displacement": 0.12, + "button_start": [ + 0.15862590074539182, + -0.4389975070953369, + 0.7768088579177856 + ], + "button_final": [ + 0.15862590074539182, + -0.4389975070953369, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16019418709609967, + -0.43900542379704155, + 0.8035658791943183 + ], + "closest_button": [ + 0.15866562724113464, + -0.43896523118019104, + 0.7685654163360596 + ], + "closest_ee_minus_button": [ + 0.0015285598549650281, + -4.0192616850509566e-05, + 0.03500046285825875 + ], + "button_min_z_position": [ + 0.15866427123546598, + -0.438958078622818, + 0.7682958841323853 + ], + "min_active_finger_to_button": 0.14422967751493568, + "closest_active_finger": [ + 0.019175678491592407, + -0.42538341879844666, + 0.8106326460838318 + ], + "closest_active_finger_button": [ + 0.1586249023675918, + -0.43899765610694885, + 0.7764161825180054 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1394492238759994, + 0.013614237308502197, + 0.034216463565826416 + ], + "min_contact_pad_to_button": 0.02087813338064754, + "closest_contact_pad": [ + 0.15866427123546598, + -0.4399792342688723, + 0.7891490300486886 + ], + "closest_contact_pad_button": [ + 0.15866427123546598, + -0.438958078622818, + 0.7682958841323853 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001021155646054317, + 0.020853145916303384 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 31, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "99f0f69a5060bd6d46be779fa9dd9fbf3b9ed58d141a8b1459bbcf277ac715b1", + "visual_seed": 3497410033440929237, + "episode_index": 31, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_32_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_32_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ee04f67508950733159ad6e110a25566bca4c2da --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_32_success.json @@ -0,0 +1,926 @@ +{ + "episode": 32, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23875734502280063, + -0.04956572693158382, + 1.0462245857356498 + ], + "current_z": 1.0462245857356498, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.18963801872243946, + "gripper_z": 1.0502605340505171, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23422927804208474, + -0.05411492389330694, + 1.0502605340505171 + ], + "object_minus_gripper": [ + 0.004528066980715895, + 0.004549196961723116, + -0.00403594831486731 + ], + "object_to_gripper_xy": 0.006418612278242111, + "object_to_gripper_z": -0.00403594831486731, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23875734502280063, + -0.07352977891856756, + 1.0462245857356498 + ], + "finger_b": [ + 0.22752043138701988, + -0.04956572693158382, + 1.0462245857356498 + ], + "finger_midpoint": [ + 0.23313888820491024, + -0.061547752925075694, + 1.0462245857356498 + ], + "object_minus_finger_midpoint": [ + 0.005618456817890388, + 0.011982025993491872, + 0.0 + ], + "finger_gap": 0.026467792044159152, + "fingertip_max_gap": 0.09220593666094881, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013233896022079587, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0462245857356498, + "object_top_z": 1.0921068701430174, + "finger_top_clearance": 0.045882284407367635, + "fingertip_min_top_clearance": 0.01376468532221029, + "object_projection_between_fingers": 0.8197568957417856, + "object_to_finger_line_xy": 0.010173949609843668, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04860296833047441, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9871769031114327, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 208, + "max_stable_success_frames": 208, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23325684694185733, + -0.05521034390160323, + 1.2452309978060943 + ], + "held_position": [ + 0.23817551726204453, + -0.05092684532995473, + 1.2413642419080844 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007582445443707422, + "max_held_gripper_dist": 0.007585298282773885, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003866755898009888, + "max_held_gripper_z_dist": 0.004032322648902964, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08610849240574293, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.23817551726204453, + -0.07588102581980877, + 1.2413642419080844 + ], + "held_grasp_finger_b": [ + 0.22926195419095252, + -0.05092684532995473, + 1.2413642419080844 + ], + "held_grasp_midpoint": [ + 0.23371873572649854, + -0.06340393557488175, + 1.2413642419080844 + ], + "held_grasp_object_position": [ + 0.23817551726204453, + -0.05092684532995473, + 1.2413642419080844 + ], + "held_grasp_finger_gap": 0.02649835335530393, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024073994116508977, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0854505217733125, + -0.9952505850428907, + -0.04663133389098539 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003425615216661196, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03240155929227214, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.31037329968070737, + -0.38476555642339594, + 0.8470192106271184 + ], + "target_position": [ + 0.30507527667341267, + -0.38548787768213955, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005347036168444812, + "xy_threshold": 0.08, + "gripper_dist": 0.18355136184859505, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470192106271184, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07556044742762866, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08536689721403577, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15164194546595003, + "release_required_pad_clearance": 0.05268344860701789, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.4205754614040654, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008476495742797852, + "max_z_decrease": 0.008476495742797852, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500229293626766, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008476495742797852, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020831560152788038, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008476495742797852, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00847675520593002, + "max_button_displacement": 0.12, + "button_start": [ + 0.16077519953250885, + -0.44174933433532715, + 0.7768088579177856 + ], + "button_final": [ + 0.16077519953250885, + -0.44174933433532715, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15891541282800342, + -0.44166794617164634, + 0.8035741062917403 + ], + "closest_button": [ + 0.16082099080085754, + -0.44172474741935724, + 0.7686237692832947 + ], + "closest_ee_minus_button": [ + -0.0019055779728541222, + 5.680124771090256e-05, + 0.03495033700844563 + ], + "button_min_z_position": [ + 0.16083385050296783, + -0.44171836972236633, + 0.7683323621749878 + ], + "min_active_finger_to_button": 0.14738105714708272, + "closest_active_finger": [ + 0.032443828880786896, + -0.5056800842285156, + 0.8105854988098145 + ], + "closest_active_finger_button": [ + 0.16077549755573273, + -0.4417507350444793, + 0.776450514793396 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12833166867494583, + -0.06392934918403631, + 0.03413498401641846 + ], + "min_contact_pad_to_button": 0.020831560152788038, + "closest_contact_pad": [ + 0.16083385050296783, + -0.4427303683055824, + 0.7891393263280495 + ], + "closest_contact_pad_button": [ + 0.16083385050296783, + -0.44171836972236633, + 0.7683323621749878 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001011998583216045, + 0.020806964153061713 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 32, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "4027b3d2cdd3fb1cefc9bb805f8169ad4e11f4b09019fe6fe6c90871110d1d1f", + "visual_seed": 5995074269737863952, + "episode_index": 32, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_33_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_33_success.json new file mode 100644 index 0000000000000000000000000000000000000000..399913bbe2d8dee8b4363da781bdeec607686895 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_33_success.json @@ -0,0 +1,926 @@ +{ + "episode": 33, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23185963956293026, + -0.05691893139888024, + 1.0456694063142136 + ], + "current_z": 1.0456694063142136, + "required_z": 0.8565864478039209, + "initial_z": 0.7565864478039209, + "lift_margin": 0.18908295851029266, + "gripper_z": 1.049640740067308, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22737580057014664, + -0.061451401269641104, + 1.049640740067308 + ], + "object_minus_gripper": [ + 0.004483838992783623, + 0.0045324698707608635, + -0.0039713337530944415 + ], + "object_to_gripper_xy": 0.00637558587445592, + "object_to_gripper_z": -0.0039713337530944415, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23185963956293026, + -0.08084057132096018, + 1.0456694063142136 + ], + "finger_b": [ + 0.22064945022541088, + -0.05691893139888024, + 1.0456694063142136 + ], + "finger_midpoint": [ + 0.22625454489417057, + -0.06887975135992021, + 1.0456694063142136 + ], + "object_minus_finger_midpoint": [ + 0.005605094668759691, + 0.011960819961039967, + 0.0 + ], + "finger_gap": 0.026418046891181827, + "fingertip_max_gap": 0.09186730569300194, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013209023445590913, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0456694063142136, + "object_top_z": 1.0911504729434403, + "finger_top_clearance": 0.045481066629226685, + "fingertip_min_top_clearance": 0.013644319988768005, + "object_projection_between_fingers": 0.8199369997516981, + "object_to_finger_line_xy": 0.010150868226371077, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048433652846500974, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1688754237052428, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 206, + "max_stable_success_frames": 206, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22178920522694318, + -0.06242054270503339, + 1.246939316220179 + ], + "held_position": [ + 0.22661192300959884, + -0.057915847975192475, + 1.243348992478189 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0075127429073871405, + "max_held_gripper_dist": 0.0075146266304512155, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003590323741989865, + "max_held_gripper_z_dist": 0.004003558585882638, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08553797684993665, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.22661192300959884, + -0.08210250876395253, + 1.243348992478189 + ], + "held_grasp_finger_b": [ + 0.21738602685254457, + -0.057915847975192475, + 1.243348992478189 + ], + "held_grasp_midpoint": [ + 0.2219989749310717, + -0.0700091783695725, + 1.243348992478189 + ], + "held_grasp_object_position": [ + 0.22661192300959884, + -0.057915847975192475, + 1.243348992478189 + ], + "held_grasp_finger_gap": 0.025886516181427194, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02340046048695298, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06661301195929321, + -0.992903709517364, + -0.09851360446339141 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003984188090228924, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03288542999128923, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.31245370237507064, + -0.38244265332663163, + 0.8470196411560672 + ], + "target_position": [ + 0.306388163308399, + -0.3839049447313247, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006239315693372058, + "xy_threshold": 0.08, + "gripper_dist": 0.18502863308469308, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196411560672, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07539723655246058, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08520240080750084, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15374174121575687, + "release_required_pad_clearance": 0.05260120040375042, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.26540797784318293, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00859534740447998, + "max_z_decrease": 0.00859534740447998, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501333489222447, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00859534740447998, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020869002966042268, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00859534740447998, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008595418420313214, + "max_button_displacement": 0.12, + "button_start": [ + 0.16208809614181519, + -0.44016641378402716, + 0.7768088579177856 + ], + "button_final": [ + 0.16208809614181519, + -0.44016641378402716, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16227544756545342, + -0.43912121106224655, + 0.8035799957988602 + ], + "closest_button": [ + 0.16208727657794952, + -0.44012537598609924, + 0.7685815691947937 + ], + "closest_ee_minus_button": [ + 0.0001881709875038995, + 0.0010041649238526906, + 0.03499842660406649 + ], + "button_min_z_position": [ + 0.1620841771364212, + -0.4401316940784455, + 0.7682135105133057 + ], + "min_active_finger_to_button": 0.14517862188166858, + "closest_active_finger": [ + 0.03483591973781586, + -0.5011278986930847, + 0.8104293942451477 + ], + "closest_active_finger_button": [ + 0.16208858788013458, + -0.4401679635047913, + 0.776261031627655 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12725266814231873, + -0.0609599351882934, + 0.034168362617492676 + ], + "min_contact_pad_to_button": 0.020869002966042268, + "closest_contact_pad": [ + 0.1620841771364212, + -0.440385823605805, + 0.7890809661076038 + ], + "closest_contact_pad_button": [ + 0.1620841771364212, + -0.4401316940784455, + 0.7682135105133057 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00025412952735953676, + 0.020867455594298145 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 33, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7143b4fc9a4d66daa0aa6d4afeb61b83f72806d3fbca48bd47a6e09d1535d7c8", + "visual_seed": 4104701358533036683, + "episode_index": 33, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_34_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_34_success.json new file mode 100644 index 0000000000000000000000000000000000000000..cfcd340eef29657a17d75bdf235bee1a527b96dc --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_34_success.json @@ -0,0 +1,926 @@ +{ + "episode": 34, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23456832188988128, + -0.05513045268665358, + 1.0451698779278797 + ], + "current_z": 1.0451698779278797, + "required_z": 0.8565863881992758, + "initial_z": 0.7565863881992758, + "lift_margin": 0.18858348972860395, + "gripper_z": 1.0492312172968423, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2299800448427766, + -0.059723914898550196, + 1.0492312172968423 + ], + "object_minus_gripper": [ + 0.004588277047104683, + 0.004593462211896618, + -0.00406133936896258 + ], + "object_to_gripper_xy": 0.006492471128400175, + "object_to_gripper_z": -0.00406133936896258, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23456832188988128, + -0.07911180802429305, + 1.0451698779278797 + ], + "finger_b": [ + 0.2232601601068083, + -0.05513045268665358, + 1.0451698779278797 + ], + "finger_midpoint": [ + 0.2289142409983448, + -0.06712113035547332, + 1.0451698779278797 + ], + "object_minus_finger_midpoint": [ + 0.005654080891536489, + 0.01199067766881974, + 0.0 + ], + "finger_gap": 0.026513768625796696, + "fingertip_max_gap": 0.0924395455643107, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013256884312898355, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0451698779278797, + "object_top_z": 1.0910891467313315, + "finger_top_clearance": 0.04591926880345176, + "fingertip_min_top_clearance": 0.013775780641035545, + "object_projection_between_fingers": 0.8180964803579204, + "object_to_finger_line_xy": 0.010228083746327082, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04871977278215535, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1197665018507013, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 206, + "max_stable_success_frames": 206, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22500776510058382, + -0.06135048021819829, + 1.2436341477056332 + ], + "held_position": [ + 0.22993925746435637, + -0.05683722116969886, + 1.2398980027698607 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0076581918984775475, + "max_held_gripper_dist": 0.007659758397137754, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0037361449357724563, + "max_held_gripper_z_dist": 0.004080612986552268, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0854493057766122, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.22993925746435637, + -0.0812411832427286, + 1.2398980027698607 + ], + "held_grasp_finger_b": [ + 0.2206909237959881, + -0.05683722116969886, + 1.2398980027698607 + ], + "held_grasp_midpoint": [ + 0.22531509063017224, + -0.06903920220621373, + 1.2398980027698607 + ], + "held_grasp_object_position": [ + 0.22993925746435637, + -0.05683722116969886, + 1.2398980027698607 + ], + "held_grasp_finger_gap": 0.026097606030119853, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02358836207046792, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07224851709733227, + -0.9939591116819592, + -0.08261619745332703 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038679267836056264, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032737865537415874, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.31380005858029236, + -0.3775794253744146, + 0.8470192905661951 + ], + "target_position": [ + 0.30666954919282935, + -0.37938589987393123, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007355781008302388, + "xy_threshold": 0.08, + "gripper_dist": 0.1863632435790397, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470192905661951, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07546351873401962, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08500707519471094, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15488641914187673, + "release_required_pad_clearance": 0.052503537597355474, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.07912927595089742, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008351445198059082, + "max_z_decrease": 0.008351445198059082, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500192549929652, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008351445198059082, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.020809928255472083, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008351445198059082, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008351651748526517, + "max_button_displacement": 0.12, + "button_start": [ + 0.16236947476863856, + -0.4356473684310913, + 0.7768088579177856 + ], + "button_final": [ + 0.16236947476863856, + -0.4356473684310913, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16110008815957397, + -0.4350031845594389, + 0.8035695673869452 + ], + "closest_button": [ + 0.16241459548473355, + -0.4356238543987275, + 0.7685978412628174 + ], + "closest_ee_minus_button": [ + -0.0013145073251595862, + 0.0006206698392885457, + 0.0349717261241278 + ], + "button_min_z_position": [ + 0.16242256760597226, + -0.4356222450733185, + 0.7684574127197266 + ], + "min_active_finger_to_button": 0.1466077163071498, + "closest_active_finger": [ + 0.03513779491186142, + -0.500002920627594, + 0.810655415058136 + ], + "closest_active_finger_button": [ + 0.1623692214488983, + -0.4356482326984406, + 0.7765312194824219 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12723142653703687, + -0.06435468792915339, + 0.03412419557571411 + ], + "min_contact_pad_to_button": 0.020809928255472083, + "closest_contact_pad": [ + 0.16242256760597226, + -0.43597212626926085, + 0.789264399458479 + ], + "closest_contact_pad_button": [ + 0.16242256760597226, + -0.4356222450733185, + 0.7684574127197266 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00034988119594236977, + 0.020806986738752475 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 34, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6c772692b65a3aa04137cfad1bf44fd4887320f31fc8ec2629b500d127a7afc8", + "visual_seed": 4813615969433732051, + "episode_index": 34, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_35_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_35_success.json new file mode 100644 index 0000000000000000000000000000000000000000..65463c4217ba9baf362adaf95731000c10edfad2 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_35_success.json @@ -0,0 +1,926 @@ +{ + "episode": 35, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2389577738931612, + -0.04808201014569991, + 1.0460564967650205 + ], + "current_z": 1.0460564967650205, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.18946998935645498, + "gripper_z": 1.0501349252009975, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2343690935889703, + -0.05266496409733443, + 1.0501349252009975 + ], + "object_minus_gripper": [ + 0.004588680304190906, + 0.004582953951634515, + -0.004078428435976944 + ], + "object_to_gripper_xy": 0.006485326040907424, + "object_to_gripper_z": -0.004078428435976944, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2389577738931612, + -0.07207830979757396, + 1.0460564967650205 + ], + "finger_b": [ + 0.22766080251444198, + -0.04808201014569991, + 1.0460564967650205 + ], + "finger_midpoint": [ + 0.2333092882038016, + -0.06008015997163693, + 1.0460564967650205 + ], + "object_minus_finger_midpoint": [ + 0.005648485689359606, + 0.01199814982593702, + 0.0 + ], + "finger_gap": 0.026522517967080946, + "fingertip_max_gap": 0.09151928846050411, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01326125898354047, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0460564967650205, + "object_top_z": 1.0913569621512846, + "finger_top_clearance": 0.04530046538626409, + "fingertip_min_top_clearance": 0.013590139615879225, + "object_projection_between_fingers": 0.818576077537102, + "object_to_finger_line_xy": 0.010220956799759925, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04825964423025206, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.346343245882946, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 208, + "max_stable_success_frames": 208, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23377428914775134, + -0.05346985134764793, + 1.2452440571476981 + ], + "held_position": [ + 0.23875024871931944, + -0.04916985404708005, + 1.2413168112778565 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00765985708515239, + "max_held_gripper_dist": 0.00766629324196333, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003927245869841611, + "max_held_gripper_z_dist": 0.0040740993563410655, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0860962217576855, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.23875024871931944, + -0.07418485972938789, + 1.2413168112778565 + ], + "held_grasp_finger_b": [ + 0.22974764915308638, + -0.04916985404708005, + 1.2413168112778565 + ], + "held_grasp_midpoint": [ + 0.2342489489362029, + -0.06167735688823397, + 1.2413168112778565 + ], + "held_grasp_object_position": [ + 0.23875024871931944, + -0.04916985404708005, + 1.2413168112778565 + ], + "held_grasp_finger_gap": 0.026585659823217353, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02421674363459994, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07695752268211101, + -0.9957847586072653, + -0.04990244711537373 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0035817415396543874, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03239903538819446, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3104678163576753, + -0.3793719134916052, + 0.8470195300319519 + ], + "target_position": [ + 0.30433897601897775, + -0.38035011267554564, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00620641261444225, + "xy_threshold": 0.08, + "gripper_dist": 0.18762761509744724, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195300319519, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07513134635299663, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08527833575062936, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1568037609923707, + "release_required_pad_clearance": 0.05263916787531468, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.3380408926520493, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008436977863311768, + "max_z_decrease": 0.008436977863311768, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502025425971109, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008436977863311768, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02100413178578096, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008436977863311768, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0084370376553922, + "max_button_displacement": 0.12, + "button_start": [ + 0.16003890335559845, + -0.43661156296730036, + 0.7768088579177856 + ], + "button_final": [ + 0.16003890335559845, + -0.43661156296730036, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16010046201454936, + -0.4379548759816742, + 0.8037301106739692 + ], + "closest_button": [ + 0.16005662083625793, + -0.4365826249122619, + 0.7687367796897888 + ], + "closest_ee_minus_button": [ + 4.3841178291426086e-05, + -0.0013722510694123002, + 0.03499333098418034 + ], + "button_min_z_position": [ + 0.16004981100559235, + -0.43658173084259033, + 0.7683718800544739 + ], + "min_active_finger_to_button": 0.14550145832391, + "closest_active_finger": [ + 0.019414998590946198, + -0.4216298758983612, + 0.8106765151023865 + ], + "closest_active_finger_button": [ + 0.1600389927625656, + -0.4366128742694854, + 0.7764555215835571 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14062399417161942, + 0.014982998371124212, + 0.034220993518829346 + ], + "min_contact_pad_to_button": 0.02100413178578096, + "closest_contact_pad": [ + 0.16004981100559235, + -0.43913856211378555, + 0.7892198095901638 + ], + "closest_contact_pad_button": [ + 0.16004981100559235, + -0.43658173084259033, + 0.7683718800544739 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0025568312711952146, + 0.020847929535689924 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 35, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "99039c3651f002074c9105e7b52a5b8077803f92a8cab43df61236d177fa6423", + "visual_seed": 1581497534520960682, + "episode_index": 35, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_36_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_36_success.json new file mode 100644 index 0000000000000000000000000000000000000000..548f36d712eec099d8aa0e45008bb4ad112d9c80 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_36_success.json @@ -0,0 +1,926 @@ +{ + "episode": 36, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23509744625709403, + -0.0516915015086579, + 1.0448127285628104 + ], + "current_z": 1.0448127285628104, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.18822628075888959, + "gripper_z": 1.0486985471975618, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2306093401547061, + -0.056190122691126124, + 1.0486985471975618 + ], + "object_minus_gripper": [ + 0.004488106102387923, + 0.004498621182468222, + -0.003885818634751459 + ], + "object_to_gripper_xy": 0.006354580153687851, + "object_to_gripper_z": -0.003885818634751459, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23509744625709403, + -0.07567704259687094, + 1.0448127285628104 + ], + "finger_b": [ + 0.224022322895962, + -0.0516915015086579, + 1.0448127285628104 + ], + "finger_midpoint": [ + 0.229559884576528, + -0.06368427205276442, + 1.0448127285628104 + ], + "object_minus_finger_midpoint": [ + 0.005537561680566017, + 0.011992770544106517, + 0.0 + ], + "finger_gap": 0.026419018504831866, + "fingertip_max_gap": 0.09207278381528958, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01320950925241593, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0448127285628104, + "object_top_z": 1.0903152751612153, + "finger_top_clearance": 0.045502546598404914, + "fingertip_min_top_clearance": 0.013650763979521457, + "object_projection_between_fingers": 0.8242627660103704, + "object_to_finger_line_xy": 0.010054984684115949, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04853639190764479, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.331512921844304, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 207, + "max_stable_success_frames": 207, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2273176967074877, + -0.057705461965154, + 1.2426170684809348 + ], + "held_position": [ + 0.23212841453401403, + -0.053334204173150046, + 1.2389775352802561 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007449637750216845, + "max_held_gripper_dist": 0.007451495072766891, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0036395332006786685, + "max_held_gripper_z_dist": 0.003892746781165579, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08568971836317595, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.23212841453401403, + -0.07787223607506759, + 1.2389775352802561 + ], + "held_grasp_finger_b": [ + 0.22307514595225517, + -0.053334204173150046, + 1.2389775352802561 + ], + "held_grasp_midpoint": [ + 0.2276017802431346, + -0.06560322012410882, + 1.2389775352802561 + ], + "held_grasp_object_position": [ + 0.23212841453401403, + -0.053334204173150046, + 1.2389775352802561 + ], + "held_grasp_finger_gap": 0.02615485961791776, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02383378894782152, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06477478678102801, + -0.9951984978863767, + -0.07337695007406553 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038322589943631325, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03269690694984521, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3068052883910355, + -0.3830750819530122, + 0.847020025645966 + ], + "target_position": [ + 0.3007384931336489, + -0.3843743350114125, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006204358403961741, + "xy_threshold": 0.08, + "gripper_dist": 0.18567125898410172, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.847020025645966, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07520186556441176, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08514086582538725, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15488896985883277, + "release_required_pad_clearance": 0.05257043291269363, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.20558243186625638, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008402049541473389, + "max_z_decrease": 0.008402049541473389, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035029077888094694, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008402049541473389, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.020859118035216773, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008402049541473389, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008402188126055648, + "max_button_displacement": 0.12, + "button_start": [ + 0.1564384251832962, + -0.44063580036163325, + 0.7768088579177856 + ], + "button_final": [ + 0.1564384251832962, + -0.44063580036163325, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15782267060944277, + -0.44021199174718056, + 0.8036218771025512 + ], + "closest_button": [ + 0.1564728021621704, + -0.4406052827835082, + 0.768621027469635 + ], + "closest_ee_minus_button": [ + 0.001349868447272362, + 0.0003932910363276254, + 0.035000849632916164 + ], + "button_min_z_position": [ + 0.1564735323190689, + -0.4406026899814605, + 0.7684068083763123 + ], + "min_active_finger_to_button": 0.1444257365492284, + "closest_active_finger": [ + 0.031867481768131256, + -0.5052504539489746, + 0.81072598695755 + ], + "closest_active_finger_button": [ + 0.15643809735774994, + -0.440635859966278, + 0.7765805721282959 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12457061558961868, + -0.06461459398269659, + 0.03414541482925415 + ], + "min_contact_pad_to_button": 0.020859118035216773, + "closest_contact_pad": [ + 0.1564735323190689, + -0.4412044957416515, + 0.789257243264681 + ], + "closest_contact_pad_button": [ + 0.1564735323190689, + -0.4406026899814605, + 0.7684068083763123 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0006018057601909765, + 0.020850434888368796 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 36, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "13ee2abedffb9a3b84d1a51fbdd0ac5079f61692afd770e93f0f08a424d9dd9e", + "visual_seed": 9031360825345068818, + "episode_index": 36, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_37_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_37_success.json new file mode 100644 index 0000000000000000000000000000000000000000..184f7d53e1ea2109e5b0f0e8ebabc7d4e736f9ba --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_37_success.json @@ -0,0 +1,926 @@ +{ + "episode": 37, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.22915888856073044, + -0.05391108670977379, + 1.0455338719378326 + ], + "current_z": 1.0455338719378326, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.18894742413391186, + "gripper_z": 1.049907427028591, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2244284651983605, + -0.05849802989227591, + 1.049907427028591 + ], + "object_minus_gripper": [ + 0.004730423362369951, + 0.004586943182502121, + -0.00437355509075843 + ], + "object_to_gripper_xy": 0.006589154190543588, + "object_to_gripper_z": -0.00437355509075843, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.22915888856073044, + -0.07815247380321175, + 1.0455338719378326 + ], + "finger_b": [ + 0.21808401702243652, + -0.05391108670977379, + 1.0455338719378326 + ], + "finger_midpoint": [ + 0.22362145279158346, + -0.06603178025649277, + 1.0455338719378326 + ], + "object_minus_finger_midpoint": [ + 0.0055374357691469756, + 0.012120693546718977, + 0.0 + ], + "finger_gap": 0.02665140948999908, + "fingertip_max_gap": 0.09311139398031837, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013325704744999547, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0455338719378326, + "object_top_z": 1.0912043004472216, + "finger_top_clearance": 0.04567042850938896, + "fingertip_min_top_clearance": 0.013701128552816721, + "object_projection_between_fingers": 0.8273219918121077, + "object_to_finger_line_xy": 0.01007339773420332, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04905569699015919, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.0218906179896967, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 207, + "max_stable_success_frames": 207, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2198333739969241, + -0.05884904920803914, + 1.2458664255312917 + ], + "held_position": [ + 0.22481752553765783, + -0.05421624392640485, + 1.2418394139049143 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007907052168635026, + "max_held_gripper_dist": 0.007912039282235044, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004027011626377419, + "max_held_gripper_z_dist": 0.0044174892835653345, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08557922458085437, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.22481752553765783, + -0.07856148324808569, + 1.2418394139049143 + ], + "held_grasp_finger_b": [ + 0.21536416153717586, + -0.05421624392640485, + 1.2418394139049143 + ], + "held_grasp_midpoint": [ + 0.22009084353741684, + -0.06638886358724527, + 1.2418394139049143 + ], + "held_grasp_object_position": [ + 0.22481752553765783, + -0.05421624392640485, + 1.2418394139049143 + ], + "held_grasp_finger_gap": 0.026116216581953892, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02387776175746391, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.036881944422987256, + -0.995119410535633, + -0.09152639483118619 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0044193403908284684, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032912685641402775, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3115737116837809, + -0.38565339497910717, + 0.8470195460576456 + ], + "target_position": [ + 0.3050954524701043, + -0.3873956784004705, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006708456898567923, + "xy_threshold": 0.08, + "gripper_dist": 0.18814304266814388, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195460576456, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07533036358881251, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08708065634453109, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15689632010497712, + "release_required_pad_clearance": 0.05354032817226555, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.0920992923003703, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008660614490509033, + "max_z_decrease": 0.008660614490509033, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.034996366724854774, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008660614490509033, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.02087586594189803, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008660614490509033, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008660713395554355, + "max_button_displacement": 0.12, + "button_start": [ + 0.16079537570476524, + -0.44365713000297546, + 0.7768088579177856 + ], + "button_final": [ + 0.16079537570476524, + -0.44365713000297546, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16058719994594636, + -0.4431264304385145, + 0.803511399004754 + ], + "closest_button": [ + 0.16078449785709376, + -0.4436139464378357, + 0.7685189843177795 + ], + "closest_ee_minus_button": [ + -0.0001972979111473927, + 0.0004875159993211753, + 0.03499241468697445 + ], + "button_min_z_position": [ + 0.16078019142150873, + -0.44361862540245056, + 0.7681482434272766 + ], + "min_active_finger_to_button": 0.1457572567801332, + "closest_active_finger": [ + 0.032868124544620514, + -0.5045760273933411, + 0.8110023140907288 + ], + "closest_active_finger_button": [ + 0.16079434752464286, + -0.4436592757701874, + 0.7768086194992065 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12792622298002235, + -0.060916751623153687, + 0.03419369459152222 + ], + "min_contact_pad_to_button": 0.02087586594189803, + "closest_contact_pad": [ + 0.16078019142150873, + -0.4444460949300389, + 0.789007703463553 + ], + "closest_contact_pad_button": [ + 0.16078019142150873, + -0.44361862540245056, + 0.7681482434272766 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0008274695275883315, + 0.020859460036276367 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 37, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f4dc03b7b63d0ca17588fcabeb76be40e335846923ca23f447fe8cee49c1a60c", + "visual_seed": 500269075459162998, + "episode_index": 37, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_38_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_38_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6f0d7b660c4625de4166bce4305e4c75b58254d2 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_38_success.json @@ -0,0 +1,926 @@ +{ + "episode": 38, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23098331353169052, + -0.05601932996028185, + 1.044790449243041 + ], + "current_z": 1.044790449243041, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.1882040014391203, + "gripper_z": 1.0488670205537216, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22652878879011643, + -0.06056736572005822, + 1.0488670205537216 + ], + "object_minus_gripper": [ + 0.004454524741574095, + 0.004548035759776373, + -0.00407657131068051 + ], + "object_to_gripper_xy": 0.006366114980543503, + "object_to_gripper_z": -0.00407657131068051, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23098331353169052, + -0.07986731740068857, + 1.044790449243041 + ], + "finger_b": [ + 0.2196697651923243, + -0.05601932996028185, + 1.044790449243041 + ], + "finger_midpoint": [ + 0.22532653936200742, + -0.06794332368048521, + 1.044790449243041 + ], + "object_minus_finger_midpoint": [ + 0.005656774169683104, + 0.011923993720203363, + 0.0 + ], + "finger_gap": 0.026395508727527356, + "fingertip_max_gap": 0.09243732254996676, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013197754363763678, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.044790449243041, + "object_top_z": 1.0906228246950533, + "finger_top_clearance": 0.04583237545201224, + "fingertip_min_top_clearance": 0.013749712635603638, + "object_projection_between_fingers": 0.8162879682575882, + "object_to_finger_line_xy": 0.010221638896554591, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04871866127498338, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1458226132697586, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 205, + "max_stable_success_frames": 205, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22052818114508396, + -0.06161087651736308, + 1.2455858162983975 + ], + "held_position": [ + 0.2253354069111981, + -0.057072376444125814, + 1.2419173384054036 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007560762695161842, + "max_held_gripper_dist": 0.0075628870860225406, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003668477892993849, + "max_held_gripper_z_dist": 0.00410530149332744, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08585487760935892, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2253354069111981, + -0.08118274606849452, + 1.2419173384054036 + ], + "held_grasp_finger_b": [ + 0.21607706800599408, + -0.057072376444125814, + 1.2419173384054036 + ], + "held_grasp_midpoint": [ + 0.22070623745859608, + -0.06912756125631017, + 1.2419173384054036 + ], + "held_grasp_object_position": [ + 0.2253354069111981, + -0.057072376444125814, + 1.2419173384054036 + ], + "held_grasp_finger_gap": 0.025826861263175117, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023275788315037637, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07062205645851166, + -0.9925037077709071, + -0.09974424896991649 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003958521185676805, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.0329084878754166, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3039913050155526, + -0.38511405619592043, + 0.847019813227058 + ], + "target_position": [ + 0.29902570594679445, + -0.38603905748563816, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005051019847281468, + "xy_threshold": 0.08, + "gripper_dist": 0.18417915169766752, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.847019813227058, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07570546440323124, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08589985294889034, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1519412143758688, + "release_required_pad_clearance": 0.05294992647444517, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.9354373552142623, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008363783359527588, + "max_z_decrease": 0.008363783359527588, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03503249348949185, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008363783359527588, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02093857077421821, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008363783359527588, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00836382752190568, + "max_button_displacement": 0.12, + "button_start": [ + 0.15472562611103058, + -0.44230052828788763, + 0.7768088579177856 + ], + "button_final": [ + 0.15472562611103058, + -0.44230052828788763, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15297528359090207, + -0.44316354273246333, + 0.8034895505218711 + ], + "closest_button": [ + 0.15474030375480652, + -0.44228157401084905, + 0.7685126662254333 + ], + "closest_ee_minus_button": [ + -0.0017650201639044516, + -0.0008819687216142791, + 0.03497688429643775 + ], + "button_min_z_position": [ + 0.15474042296409607, + -0.442277729511261, + 0.7684450745582581 + ], + "min_active_finger_to_button": 0.14730415686810178, + "closest_active_finger": [ + 0.012431025505065918, + -0.4254879057407379, + 0.8107094764709473 + ], + "closest_active_finger_button": [ + 0.15472441911697388, + -0.44230240583419805, + 0.7765279412269592 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14229339361190796, + 0.01681450009346014, + 0.03418153524398804 + ], + "min_contact_pad_to_button": 0.02093857077421821, + "closest_contact_pad": [ + 0.15474042296409607, + -0.4444668189099643, + 0.789268898262646 + ], + "closest_contact_pad_button": [ + 0.15474042296409607, + -0.442277729511261, + 0.7684450745582581 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0021890893987033255, + 0.020823823704387956 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 38, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6eb9a0c1578c4f3fccf2d3634421dc8393e886b5abcdb8130606df6e2eaff51c", + "visual_seed": 6994847981826130069, + "episode_index": 38, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_39_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_39_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4822768832993991a46e5a199a6f826653e31e86 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_39_success.json @@ -0,0 +1,926 @@ +{ + "episode": 39, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23369426765413712, + -0.05219345557019391, + 1.0452488395769555 + ], + "current_z": 1.0452488395769555, + "required_z": 0.8565865074085657, + "initial_z": 0.7565865074085657, + "lift_margin": 0.1886623321683898, + "gripper_z": 1.0492509482015266, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22932157457037297, + -0.0567232470259334, + 1.0492509482015266 + ], + "object_minus_gripper": [ + 0.004372693083764145, + 0.004529791455739486, + -0.004002108624571177 + ], + "object_to_gripper_xy": 0.006295987248818826, + "object_to_gripper_z": -0.004002108624571177, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23369426765413712, + -0.07592452733847664, + 1.0452488395769555 + ], + "finger_b": [ + 0.22235299033539496, + -0.05219345557019391, + 1.0452488395769555 + ], + "finger_midpoint": [ + 0.22802362899476603, + -0.06405899145433527, + 1.0452488395769555 + ], + "object_minus_finger_midpoint": [ + 0.005670638659371091, + 0.01186553588414136, + 0.0 + ], + "finger_gap": 0.02630186948663537, + "fingertip_max_gap": 0.091726947869616, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013150934743317688, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0452488395769555, + "object_top_z": 1.0907240757871233, + "finger_top_clearance": 0.0454752362101678, + "fingertip_min_top_clearance": 0.013642570863050341, + "object_projection_between_fingers": 0.8140694717390028, + "object_to_finger_line_xy": 0.010232758022460127, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048363473934808, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.4999964004492878, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 206, + "max_stable_success_frames": 206, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2235450456169869, + -0.058328311707984096, + 1.2458762364290663 + ], + "held_position": [ + 0.2282867454971237, + -0.053892737072539235, + 1.2422018348509614 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0074605138601219105, + "max_held_gripper_dist": 0.007462085384591691, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0036744015781049466, + "max_held_gripper_z_dist": 0.004013288863723652, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08565768434469752, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2282867454971237, + -0.07816649559562451, + 1.2422018348509614 + ], + "held_grasp_finger_b": [ + 0.21912227938994194, + -0.053892737072539235, + 1.2422018348509614 + ], + "held_grasp_midpoint": [ + 0.22370451244353282, + -0.06602961633408187, + 1.2422018348509614 + ], + "held_grasp_object_position": [ + 0.2282867454971237, + -0.053892737072539235, + 1.2422018348509614 + ], + "held_grasp_finger_gap": 0.025946151773755158, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02346608995657066, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06990938719204995, + -0.9931207045311743, + -0.09393584946087509 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003897636905749539, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03282649777803006, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3120780226071146, + -0.38537220549730344, + 0.8470199688253139 + ], + "target_position": [ + 0.3044316368635539, + -0.38761747772500404, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007969219680483893, + "xy_threshold": 0.08, + "gripper_dist": 0.18558011545398614, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470199688253139, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07529540143570645, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08537190565364271, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15458537396304226, + "release_required_pad_clearance": 0.052685952826821356, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.42612342192257563, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008617699146270752, + "max_z_decrease": 0.008617699146270752, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035054535536703006, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008617699146270752, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020851463385049063, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008617699146270752, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008617929201255382, + "max_button_displacement": 0.12, + "button_start": [ + 0.1601315587759018, + -0.4438789486885071, + 0.7768088579177856 + ], + "button_final": [ + 0.1601315587759018, + -0.4438789486885071, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16102808494116774, + -0.4421282596701693, + 0.8031935668549601 + ], + "closest_button": [ + 0.16018256545066828, + -0.4438420236110687, + 0.7681911587715149 + ], + "closest_ee_minus_button": [ + 0.0008455194904994634, + 0.0017137639408994487, + 0.035002408083445236 + ], + "button_min_z_position": [ + 0.16018256545066828, + -0.4438420236110687, + 0.7681911587715149 + ], + "min_active_finger_to_button": 0.14423188864106284, + "closest_active_finger": [ + 0.03431498259305954, + -0.5055902004241943, + 0.8104272484779358 + ], + "closest_active_finger_button": [ + 0.16013121604919428, + -0.4438798427581787, + 0.7762959599494934 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12581623345613474, + -0.061710357666015625, + 0.03413128852844238 + ], + "min_contact_pad_to_button": 0.020851463385049063, + "closest_contact_pad": [ + 0.16018256545066828, + -0.4438420236110687, + 0.789042622156564 + ], + "closest_contact_pad_button": [ + 0.16018256545066828, + -0.4438420236110687, + 0.7681911587715149 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.020851463385049063 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 39, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a7bf0d440245b9791b0b8bfde956319c9fa73167bc9c8fd2aed1ba5510ec9f76", + "visual_seed": 8244725886945071372, + "episode_index": 39, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_3_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_3_success.json new file mode 100644 index 0000000000000000000000000000000000000000..73cd7d0066f5582c57dc501c1c308620f6bf6aac --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_3_success.json @@ -0,0 +1,926 @@ +{ + "episode": 3, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2383058096111173, + -0.053860557307818684, + 1.0447620317854278 + ], + "current_z": 1.0447620317854278, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.18817558398150702, + "gripper_z": 1.048713105041868, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23376441089292974, + -0.058306116210403824, + 1.048713105041868 + ], + "object_minus_gripper": [ + 0.004541398718187567, + 0.004445558902585141, + -0.003951073256440285 + ], + "object_to_gripper_xy": 0.006355100020763614, + "object_to_gripper_z": -0.003951073256440285, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2383058096111173, + -0.07807584912354106, + 1.0447620317854278 + ], + "finger_b": [ + 0.22752698183025505, + -0.053860557307818684, + 1.0447620317854278 + ], + "finger_midpoint": [ + 0.23291639572068618, + -0.06596820321567987, + 1.0447620317854278 + ], + "object_minus_finger_midpoint": [ + 0.005389413890431127, + 0.012107645907861182, + 0.0 + ], + "finger_gap": 0.026505914171182227, + "fingertip_max_gap": 0.09167105037104939, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01325295708559111, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0447620317854278, + "object_top_z": 1.0901365978546473, + "finger_top_clearance": 0.045374566069219524, + "fingertip_min_top_clearance": 0.01361236982076589, + "object_projection_between_fingers": 0.8346297087218586, + "object_to_finger_line_xy": 0.009847329107734478, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0483355251855247, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.4229366990928956, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 208, + "max_stable_success_frames": 208, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23286902330890877, + -0.059064851059610096, + 1.243892712340498 + ], + "held_position": [ + 0.23768640663911225, + -0.05476570708467246, + 1.2401170193774391 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007479684379615005, + "max_held_gripper_dist": 0.00748501305256559, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0037756929630587965, + "max_held_gripper_z_dist": 0.003952910068423465, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08604293798185966, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.23768640663911225, + -0.07956974705243162, + 1.2401170193774391 + ], + "held_grasp_finger_b": [ + 0.22871742826802108, + -0.05476570708467246, + 1.2401170193774391 + ], + "held_grasp_midpoint": [ + 0.23320191745356667, + -0.06716772706855204, + 1.2401170193774391 + ], + "held_grasp_object_position": [ + 0.23768640663911225, + -0.05476570708467246, + 1.2401170193774391 + ], + "held_grasp_finger_gap": 0.026375802769646562, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02424190071625921, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.053805419775379434, + -0.9967924739118906, + -0.05924306504062747 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003882238318993705, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03259669496146831, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.31153258350535273, + -0.37990104560205706, + 0.847019886192544 + ], + "target_position": [ + 0.3060301329751873, + -0.3808859492523228, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005589901344140598, + "xy_threshold": 0.08, + "gripper_dist": 0.18615284905552223, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.847019886192544, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07559770003993256, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08756270132861031, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15411086448045622, + "release_required_pad_clearance": 0.05378135066430516, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.5717582903420695, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008505463600158691, + "max_z_decrease": 0.008505463600158691, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03504592658581101, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008505463600158691, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02085934683786352, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008505463600158691, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008505640862808807, + "max_button_displacement": 0.12, + "button_start": [ + 0.1617300659418106, + -0.4371474087238311, + 0.7768088579177856 + ], + "button_final": [ + 0.1617300659418106, + -0.4371474087238311, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16332672597822023, + -0.43640067512005437, + 0.8035764936103214 + ], + "closest_button": [ + 0.16177070140838623, + -0.43711668252944946, + 0.7685724496841431 + ], + "closest_ee_minus_button": [ + 0.0015560245698340025, + 0.0007160074093950919, + 0.035004043926178285 + ], + "button_min_z_position": [ + 0.16177105903625488, + -0.4371108710765838, + 0.768303394317627 + ], + "min_active_finger_to_button": 0.14409155280967317, + "closest_active_finger": [ + 0.037373170256614685, + -0.5014363527297974, + 0.8105509281158447 + ], + "closest_active_finger_button": [ + 0.16172972321510315, + -0.4371480941772461, + 0.7764211297035217 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12435655295848846, + -0.06428825855255127, + 0.034129798412323 + ], + "min_contact_pad_to_button": 0.02085934683786352, + "closest_contact_pad": [ + 0.16177105903625488, + -0.43738586347148944, + 0.7891609284404573 + ], + "closest_contact_pad_button": [ + 0.16177105903625488, + -0.4371108710765838, + 0.768303394317627 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00027499239490563765, + 0.020857534122830312 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 3, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "76b4b458d5343b40c919fe3f783a8b8b7d4d79b2024c57597ef93b6e7fc3aab7", + "visual_seed": 1186542445013151168, + "episode_index": 3, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_40_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_40_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b1092af3621b3cea3d42aa8a508fe73d00029d81 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_40_success.json @@ -0,0 +1,926 @@ +{ + "episode": 40, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23242466880675483, + -0.04880274464609997, + 1.0447393936202682 + ], + "current_z": 1.0447393936202682, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.1881528266070579, + "gripper_z": 1.0491185104398755, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22769267716916286, + -0.05340589820043021, + 1.0491185104398755 + ], + "object_minus_gripper": [ + 0.00473199163759197, + 0.00460315355433024, + -0.004379116819607232 + ], + "object_to_gripper_xy": 0.006601573108205609, + "object_to_gripper_z": -0.004379116819607232, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23242466880675483, + -0.07295335034239359, + 1.0447393936202682 + ], + "finger_b": [ + 0.2211919638186232, + -0.04880274464609997, + 1.0447393936202682 + ], + "finger_midpoint": [ + 0.226808316312689, + -0.06087804749424677, + 1.0447393936202682 + ], + "object_minus_finger_midpoint": [ + 0.005616352494065835, + 0.012075302848146806, + 0.0 + ], + "finger_gap": 0.026635041145983748, + "fingertip_max_gap": 0.09440384625833864, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013317520572991877, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0447393936202682, + "object_top_z": 1.0916256549061665, + "finger_top_clearance": 0.046886261285898234, + "fingertip_min_top_clearance": 0.014065878385769453, + "object_projection_between_fingers": 0.8221466861013421, + "object_to_finger_line_xy": 0.010184952506148596, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04970192312916932, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.6455855521950422, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 207, + "max_stable_success_frames": 207, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2241859331083749, + -0.05480289996558538, + 1.246692186083655 + ], + "held_position": [ + 0.22926033248093616, + -0.05032610122260039, + 1.242577408652047 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00791976320915682, + "max_held_gripper_dist": 0.007924941203979489, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004114777431608152, + "max_held_gripper_z_dist": 0.004391222020277308, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0858181671300821, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.22926033248093616, + -0.0750736090924641, + 1.242577408652047 + ], + "held_grasp_finger_b": [ + 0.22005059282011147, + -0.05032610122260039, + 1.242577408652047 + ], + "held_grasp_midpoint": [ + 0.22465546265052383, + -0.06269985515753225, + 1.242577408652047 + ], + "held_grasp_object_position": [ + 0.22926033248093616, + -0.05032610122260039, + 1.242577408652047 + ], + "held_grasp_finger_gap": 0.026405651864499276, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024050836727562207, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0659856689778436, + -0.9964052820939379, + -0.053126314617584644 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00383649049315075, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032567095769398376, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.30987985554532976, + -0.3801599384395119, + 0.8470196198702811 + ], + "target_position": [ + 0.3057826220045508, + -0.38047553222421676, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.004109370039875746, + "xy_threshold": 0.08, + "gripper_dist": 0.18265528464027178, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196198702811, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07565497130221825, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08681871750706692, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1505365902688004, + "release_required_pad_clearance": 0.05340935875353346, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.8332780142383323, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008559882640838623, + "max_z_decrease": 0.008559882640838623, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03506407016432162, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008559882640838623, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020962049886292296, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008559882640838623, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008560018271513608, + "max_button_displacement": 0.12, + "button_start": [ + 0.16148254275321955, + -0.4367370009422302, + 0.7768088579177856 + ], + "button_final": [ + 0.16148254275321955, + -0.4367370009422302, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16354904091801983, + -0.4367719589504899, + 0.8035713499259093 + ], + "closest_button": [ + 0.16151209175586695, + -0.4367106854915619, + 0.7685665488243103 + ], + "closest_ee_minus_button": [ + 0.0020369491621528846, + -6.127345892803504e-05, + 0.03500480110159898 + ], + "button_min_z_position": [ + 0.16150827705860132, + -0.43669626116752625, + 0.768248975276947 + ], + "min_active_finger_to_button": 0.14378773651980123, + "closest_active_finger": [ + 0.023028746247291565, + -0.4186425507068634, + 0.8106092810630798 + ], + "closest_active_finger_button": [ + 0.1614845991134643, + -0.4367398023605346, + 0.7762963175773621 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13845585286617274, + 0.01809725165367121, + 0.03431296348571777 + ], + "min_contact_pad_to_button": 0.020962049886292296, + "closest_contact_pad": [ + 0.16150827705860132, + -0.4381312302220885, + 0.789161851675182 + ], + "closest_contact_pad_button": [ + 0.16150827705860132, + -0.43669626116752625, + 0.768248975276947 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0014349690545622518, + 0.020912876398235025 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 40, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "2a7fb1b9a3163de33aaa243c6cd9183b9b3ca8b668aae03b9560749593b0b7b8", + "visual_seed": 2627652652090569887, + "episode_index": 40, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_41_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_41_success.json new file mode 100644 index 0000000000000000000000000000000000000000..263c41b98bea9a153af43583f630bfd69c189208 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_41_success.json @@ -0,0 +1,926 @@ +{ + "episode": 41, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23956217685128278, + -0.05386132591052296, + 1.0467446053251892 + ], + "current_z": 1.0467446053251892, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.19015809791662364, + "gripper_z": 1.050874947692124, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23478709704601539, + -0.05851175049409117, + 1.050874947692124 + ], + "object_minus_gripper": [ + 0.004775079805267396, + 0.004650424583568215, + -0.004130342366934769 + ], + "object_to_gripper_xy": 0.006665420913500371, + "object_to_gripper_z": -0.004130342366934769, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23956217685128278, + -0.0780926151728311, + 1.0467446053251892 + ], + "finger_b": [ + 0.22830514029581755, + -0.05386132591052296, + 1.0467446053251892 + ], + "finger_midpoint": [ + 0.23393365857355017, + -0.06597697054167703, + 1.0467446053251892 + ], + "object_minus_finger_midpoint": [ + 0.005628518277732614, + 0.012115644631154075, + 0.0 + ], + "finger_gap": 0.026718462742544347, + "fingertip_max_gap": 0.09232294203948949, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013359231371272175, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0467446053251892, + "object_top_z": 1.0923767083938278, + "finger_top_clearance": 0.04563210306863863, + "fingertip_min_top_clearance": 0.013689630920591622, + "object_projection_between_fingers": 0.8224890213451894, + "object_to_finger_line_xy": 0.010209139337103927, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048661471019744745, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3012350265188373, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 209, + "max_stable_success_frames": 209, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2334720313441711, + -0.05977574921679839, + 1.246277038939626 + ], + "held_position": [ + 0.23860322263908296, + -0.055333693934138645, + 1.2423379458890118 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007847128984576582, + "max_held_gripper_dist": 0.007849995514460539, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.00393909305061424, + "max_held_gripper_z_dist": 0.004130207101582517, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08578005189655434, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.23860322263908296, + -0.08032004486361025, + 1.2423379458890118 + ], + "held_grasp_finger_b": [ + 0.22938166062018284, + -0.055333693934138645, + 1.2423379458890118 + ], + "held_grasp_midpoint": [ + 0.2339924416296329, + -0.06782686939887445, + 1.2423379458890118 + ], + "held_grasp_object_position": [ + 0.23860322263908296, + -0.055333693934138645, + 1.2423379458890118 + ], + "held_grasp_finger_gap": 0.026633718081393132, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02426731327405881, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06746567396976741, + -0.9961219323691082, + -0.0564754697991885 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003824711101836869, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032444429432122265, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.31062282420375714, + -0.3861972862746302, + 0.8470196669227285 + ], + "target_position": [ + 0.3047558434244535, + -0.3871735817197945, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005947656367088381, + "xy_threshold": 0.08, + "gripper_dist": 0.18644756791405354, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196669227285, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07517375370758451, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08528131678631833, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15539843969174566, + "release_required_pad_clearance": 0.052640658393159165, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.3403480536408288, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008609950542449951, + "max_z_decrease": 0.008609950542449951, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.034996189208044, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008609950542449951, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020893274304496046, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008609950542449951, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008610027057637464, + "max_button_displacement": 0.12, + "button_start": [ + 0.1604557633399963, + -0.44343504309654236, + 0.7768088579177856 + ], + "button_final": [ + 0.1604557633399963, + -0.44343504309654236, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15994175236348485, + -0.4438035676527605, + 0.8035589237440979 + ], + "closest_button": [ + 0.160465732216835, + -0.44339418411254883, + 0.7685690522193909 + ], + "closest_ee_minus_button": [ + -0.0005239798533501483, + -0.0004093835402116941, + 0.034989871524707006 + ], + "button_min_z_position": [ + 0.1604649871587753, + -0.44339993596076965, + 0.7681989073753357 + ], + "min_active_finger_to_button": 0.14616840656498115, + "closest_active_finger": [ + 0.0191960409283638, + -0.42794668674468994, + 0.8105423450469971 + ], + "closest_active_finger_button": [ + 0.16045586764812464, + -0.4434357285499573, + 0.776323139667511 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14125982671976084, + 0.015489041805267334, + 0.034219205379486084 + ], + "min_contact_pad_to_button": 0.020893274304496046, + "closest_contact_pad": [ + 0.1604649871587753, + -0.4449479184198628, + 0.7890347577652107 + ], + "closest_contact_pad_button": [ + 0.1604649871587753, + -0.44339993596076965, + 0.7681989073753357 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0015479824590931557, + 0.02083585038987501 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 41, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0167dabe3d0715b402548e11cc19da9801c231189d56ba8dd671f4b2829233bd", + "visual_seed": 8466382633540606999, + "episode_index": 41, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_42_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_42_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c1e78f107c471d9d10ea4bb854d737f710f05f8f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_42_success.json @@ -0,0 +1,926 @@ +{ + "episode": 42, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2325523701883337, + -0.05151776655742835, + 1.0437852936108742 + ], + "current_z": 1.0437852936108742, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.18719878620230868, + "gripper_z": 1.0478457416049505, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22817908567162687, + -0.056049714447241536, + 1.0478457416049505 + ], + "object_minus_gripper": [ + 0.004373284516706821, + 0.004531947889813183, + -0.004060447994076233 + ], + "object_to_gripper_xy": 0.006297949598087442, + "object_to_gripper_z": -0.004060447994076233, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2325523701883337, + -0.07525846039885348, + 1.0437852936108742 + ], + "finger_b": [ + 0.22122055274099273, + -0.05151776655742835, + 1.0437852936108742 + ], + "finger_midpoint": [ + 0.2268864614646632, + -0.06338811347814091, + 1.0437852936108742 + ], + "object_minus_finger_midpoint": [ + 0.005665908723670482, + 0.011870346920712559, + 0.0 + ], + "finger_gap": 0.026306475072349428, + "fingertip_max_gap": 0.09193885255974976, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013153237536174712, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0437852936108742, + "object_top_z": 1.089175284640463, + "finger_top_clearance": 0.04538999102958874, + "fingertip_min_top_clearance": 0.013616997308876621, + "object_projection_between_fingers": 0.8144445043942519, + "object_to_finger_line_xy": 0.01022657759902663, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04846942627987488, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.5455180367284937, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 205, + "max_stable_success_frames": 205, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22202604812586557, + -0.05781186885826094, + 1.2446004182490056 + ], + "held_position": [ + 0.2267666326649078, + -0.05334882660774089, + 1.240881611894096 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007498093664862382, + "max_held_gripper_dist": 0.007499429613816101, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0037188063549096206, + "max_held_gripper_z_dist": 0.0040756205814243, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08447015735551766, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2267666326649078, + -0.07758730989500845, + 1.240881611894096 + ], + "held_grasp_finger_b": [ + 0.21757269420760045, + -0.05334882660774089, + 1.240881611894096 + ], + "held_grasp_midpoint": [ + 0.2221696634362541, + -0.06546806825137466, + 1.240881611894096 + ], + "held_grasp_object_position": [ + 0.2267666326649078, + -0.05334882660774089, + 1.240881611894096 + ], + "held_grasp_finger_gap": 0.025923591117434017, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02346023716899902, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06721087584001983, + -0.9933859944851464, + -0.0930965312435128 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0039412909895926, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032852173725176397, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3080382493013595, + -0.3858375586668096, + 0.8470196039646856 + ], + "target_position": [ + 0.30168395706394446, + -0.3874570029492694, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006557410283218862, + "xy_threshold": 0.08, + "gripper_dist": 0.1872319919220857, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196039646856, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07525801612225495, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08527339440535085, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15626540161709346, + "release_required_pad_clearance": 0.05263669720267543, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.3333780446749097, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008540511131286621, + "max_z_decrease": 0.008540511131286621, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03504049611245251, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008540511131286621, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020948247185480596, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008540511131286621, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008540578470727391, + "max_button_displacement": 0.12, + "button_start": [ + 0.15738388895988464, + -0.4437184631824493, + 0.7768088579177856 + ], + "button_final": [ + 0.15738388895988464, + -0.4437184631824493, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1557137073191122, + -0.44506595480130656, + 0.8036094779153391 + ], + "closest_button": [ + 0.15738606452941895, + -0.44368195533752436, + 0.7686362862586975 + ], + "closest_ee_minus_button": [ + -0.0016723572103067574, + -0.001383999463782204, + 0.03497319165664159 + ], + "button_min_z_position": [ + 0.15738391876220703, + -0.4436845481395721, + 0.768268346786499 + ], + "min_active_finger_to_button": 0.14722969004428113, + "closest_active_finger": [ + 0.014696791768074036, + -0.4316604733467102, + 0.8107016086578369 + ], + "closest_active_finger_button": [ + 0.15738265216350555, + -0.4437194168567657, + 0.7764684557914734 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14268586039543152, + 0.012058943510055486, + 0.034233152866363525 + ], + "min_contact_pad_to_button": 0.020948247185480596, + "closest_contact_pad": [ + 0.15738391876220703, + -0.44599316139812234, + 0.7890889943500702 + ], + "closest_contact_pad_button": [ + 0.15738391876220703, + -0.4436845481395721, + 0.768268346786499 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0023086132585502517, + 0.02082064756357116 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 42, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "07baed93adece571206892638801c171c917d6ca8180e643313b2c64e3043d3e", + "visual_seed": 696479658649189450, + "episode_index": 42, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_43_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_43_success.json new file mode 100644 index 0000000000000000000000000000000000000000..fac60035cb1ca2b567f410af389833a6e66a0ea0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_43_success.json @@ -0,0 +1,926 @@ +{ + "episode": 43, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23305168375155405, + -0.05175925496291755, + 1.047128557951514 + ], + "current_z": 1.047128557951514, + "required_z": 0.8565866266178551, + "initial_z": 0.7565866266178551, + "lift_margin": 0.19054193133365882, + "gripper_z": 1.0513125802039445, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2283548038257863, + -0.05637201204175635, + 1.0513125802039445 + ], + "object_minus_gripper": [ + 0.004696879925767755, + 0.004612757078838799, + -0.00418402225243053 + ], + "object_to_gripper_xy": 0.006583176201914814, + "object_to_gripper_z": -0.00418402225243053, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23305168375155405, + -0.07591168298517567, + 1.047128557951514 + ], + "finger_b": [ + 0.22184798382460116, + -0.05175925496291755, + 1.047128557951514 + ], + "finger_midpoint": [ + 0.2274498337880776, + -0.06383546897404661, + 1.047128557951514 + ], + "object_minus_finger_midpoint": [ + 0.005601849963476457, + 0.012076214011129065, + 0.0 + ], + "finger_gap": 0.026624475045032597, + "fingertip_max_gap": 0.0924574077471326, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013312237522516307, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.047128557951514, + "object_top_z": 1.0929989034695113, + "finger_top_clearance": 0.0458703455179974, + "fingertip_min_top_clearance": 0.013761103655399254, + "object_projection_between_fingers": 0.8229235406046638, + "object_to_finger_line_xy": 0.01016345132105032, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0487287038735663, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.585124797288322, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 209, + "max_stable_success_frames": 209, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2244429907214723, + -0.05787673277581282, + 1.2459792475766813 + ], + "held_position": [ + 0.22946933232756733, + -0.0533483985712348, + 1.2420899670551784 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00780361605824219, + "max_held_gripper_dist": 0.0078042640903809735, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003889280521502947, + "max_held_gripper_z_dist": 0.004205217210590417, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08551101181172728, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.22946933232756733, + -0.07794149243240292, + 1.2420899670551784 + ], + "held_grasp_finger_b": [ + 0.22022337611273915, + -0.0533483985712348, + 1.2420899670551784 + ], + "held_grasp_midpoint": [ + 0.22484635422015326, + -0.06564494550181886, + 1.2420899670551784 + ], + "held_grasp_object_position": [ + 0.22946933232756733, + -0.0533483985712348, + 1.2420899670551784 + ], + "held_grasp_finger_gap": 0.026273712565808908, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023874717381710476, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06117150748916243, + -0.9937873859840359, + -0.09297676123914078 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004031536932852962, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032697277195115705, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.30989738822259744, + -0.381648484732414, + 0.8470200147123599 + ], + "target_position": [ + 0.3029324247510368, + -0.3836383358276796, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007243633310811878, + "xy_threshold": 0.08, + "gripper_dist": 0.18560513969846823, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470200147123599, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07591188133237886, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08760548694444341, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15307793865424155, + "release_required_pad_clearance": 0.053802743472221706, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.6134227943888644, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008539021015167236, + "max_z_decrease": 0.008539021015167236, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03509087112241761, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008539021015167236, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020898329003674578, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008539021015167236, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008539085523832242, + "max_button_displacement": 0.12, + "button_start": [ + 0.15863235294818884, + -0.4398998022079467, + 0.7768088579177856 + ], + "button_final": [ + 0.15863235294818884, + -0.4398998022079467, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16067920599973098, + -0.4388077633389436, + 0.8036508144737963 + ], + "closest_button": [ + 0.1586310863494873, + -0.43986591696739197, + 0.7686357498168945 + ], + "closest_ee_minus_button": [ + 0.0020481196502436794, + 0.001058153628448355, + 0.03501506465690174 + ], + "button_min_z_position": [ + 0.1586233526468277, + -0.43986785411834717, + 0.7682698369026184 + ], + "min_active_finger_to_button": 0.1435270455030832, + "closest_active_finger": [ + 0.03280220925807953, + -0.4998858571052551, + 0.81051105260849 + ], + "closest_active_finger_button": [ + 0.1586331129074097, + -0.4399018883705139, + 0.7763274312019348 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12583090364933017, + -0.05998396873474121, + 0.034183621406555176 + ], + "min_contact_pad_to_button": 0.020898329003674578, + "closest_contact_pad": [ + 0.1586233526468277, + -0.44016365481442205, + 0.7891660723792306 + ], + "closest_contact_pad_button": [ + 0.1586233526468277, + -0.43986785411834717, + 0.7682698369026184 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00029580069607487713, + 0.020896235476612235 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 43, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "577218bc4b1159cfc39e07dbfa9875ac1d15699a7467e1f87f7b5fbbaf10a2b6", + "visual_seed": 5222658076727439515, + "episode_index": 43, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_44_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_44_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2cbb51c1be6b306649ab70084d154c8949d0e8ee --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_44_success.json @@ -0,0 +1,926 @@ +{ + "episode": 44, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2295427573895248, + -0.05496557330160969, + 1.044812976053853 + ], + "current_z": 1.044812976053853, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.18822640904064258, + "gripper_z": 1.0487935848197862, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2249307981464713, + -0.05954157862122865, + 1.0487935848197862 + ], + "object_minus_gripper": [ + 0.004611959243053493, + 0.004576005319618957, + -0.003980608765933313 + ], + "object_to_gripper_xy": 0.006496921789953112, + "object_to_gripper_z": -0.003980608765933313, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2295427573895248, + -0.07901534361024783, + 1.044812976053853 + ], + "finger_b": [ + 0.2183218541930103, + -0.05496557330160969, + 1.044812976053853 + ], + "finger_midpoint": [ + 0.22393230579126755, + -0.06699045845592876, + 1.044812976053853 + ], + "object_minus_finger_midpoint": [ + 0.005610451598257238, + 0.012024885154319064, + 0.0 + ], + "finger_gap": 0.026538653327623864, + "fingertip_max_gap": 0.09149843804870061, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013269326663811929, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.044812976053853, + "object_top_z": 1.0901542400041913, + "finger_top_clearance": 0.04534126395033833, + "fingertip_min_top_clearance": 0.013602379185101498, + "object_projection_between_fingers": 0.8212286710014903, + "object_to_finger_line_xy": 0.010168569640673574, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04824921902435031, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.234825644706714, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 206, + "max_stable_success_frames": 206, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21963436721742055, + -0.0600558873338818, + 1.243878350735756 + ], + "held_position": [ + 0.22454611893792187, + -0.05547337958541801, + 1.2402825938632829 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007619327379402741, + "max_held_gripper_dist": 0.0076215596240570916, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003595756872473155, + "max_held_gripper_z_dist": 0.00401925646210155, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08518050940114937, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.22454611893792187, + -0.07963026656633236, + 1.2402825938632829 + ], + "held_grasp_finger_b": [ + 0.21513315197209842, + -0.05547337958541801, + 1.2402825938632829 + ], + "held_grasp_midpoint": [ + 0.21983963545501015, + -0.06755182307587518, + 1.2402825938632829 + ], + "held_grasp_object_position": [ + 0.22454611893792187, + -0.05547337958541801, + 1.2402825938632829 + ], + "held_grasp_finger_gap": 0.025926032008549878, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023435598903457755, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05854226815029377, + -0.9929530803622173, + -0.10303874532913856 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004185087708548672, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.0329313690778788, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3131079311829368, + -0.38492257341325287, + 0.8470196730390555 + ], + "target_position": [ + 0.3067059155807435, + -0.38676581722921605, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006662083122853742, + "xy_threshold": 0.08, + "gripper_dist": 0.1870415700938387, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196730390555, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07577323211181698, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08638078075686172, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1547267566567144, + "release_required_pad_clearance": 0.05319039037843086, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.4038582505181676, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008705437183380127, + "max_z_decrease": 0.008705437183380127, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501209292808521, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008705437183380127, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.020837222439865966, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008705437183380127, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008705714887733227, + "max_button_displacement": 0.12, + "button_start": [ + 0.16240584850311274, + -0.4430272877216339, + 0.7768088579177856 + ], + "button_final": [ + 0.16240584850311274, + -0.4430272877216339, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1624531751628558, + -0.44176905229480556, + 0.8030944688430344 + ], + "closest_button": [ + 0.16245928406715388, + -0.4429827928543091, + 0.7681034207344055 + ], + "closest_ee_minus_button": [ + -6.108904298085527e-06, + 0.0012137405595035178, + 0.03499104810862885 + ], + "button_min_z_position": [ + 0.16245928406715388, + -0.4429827928543091, + 0.7681034207344055 + ], + "min_active_finger_to_button": 0.14517524575657648, + "closest_active_finger": [ + 0.03604499250650406, + -0.5058285593986511, + 0.8108969330787659 + ], + "closest_active_finger_button": [ + 0.162409096956253, + -0.4430262446403504, + 0.7767819166183472 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12636410444974894, + -0.06280231475830073, + 0.0341150164604187 + ], + "min_contact_pad_to_button": 0.020837222439865966, + "closest_contact_pad": [ + 0.16245928406715388, + -0.4429827928543091, + 0.7889406431742715 + ], + "closest_contact_pad_button": [ + 0.16245928406715388, + -0.4429827928543091, + 0.7681034207344055 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.020837222439865966 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 44, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "db337cecccb883166aa3fb3be3e62a0cc9d17e690e54c4ec3cc2100789050991", + "visual_seed": 7880111959704518969, + "episode_index": 44, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_45_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_45_success.json new file mode 100644 index 0000000000000000000000000000000000000000..bb4a948cd01f9fc275e4e77f04dcf772915b30eb --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_45_success.json @@ -0,0 +1,926 @@ +{ + "episode": 45, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23679290965768215, + -0.05480795224208986, + 1.0437338514063987 + ], + "current_z": 1.0437338514063987, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.18714746320712272, + "gripper_z": 1.0478638434362484, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2320117853276148, + -0.05938661032940959, + 1.0478638434362484 + ], + "object_minus_gripper": [ + 0.00478112433006736, + 0.004578658087319727, + -0.0041299920298496495 + ], + "object_to_gripper_xy": 0.006619913877093901, + "object_to_gripper_z": -0.0041299920298496495, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23679290965768215, + -0.0791800022268199, + 1.0437338514063987 + ], + "finger_b": [ + 0.22582847489453234, + -0.05480795224208986, + 1.0437338514063987 + ], + "finger_midpoint": [ + 0.23131069227610723, + -0.06699397723445488, + 1.0437338514063987 + ], + "object_minus_finger_midpoint": [ + 0.005482217381574922, + 0.01218602499236502, + 0.0 + ], + "finger_gap": 0.026724813378834797, + "fingertip_max_gap": 0.09281203600152332, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013362406689417409, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0437338514063987, + "object_top_z": 1.0892309699127474, + "finger_top_clearance": 0.04549711850634863, + "fingertip_min_top_clearance": 0.01364913555190459, + "object_projection_between_fingers": 0.8316771276954109, + "object_to_finger_line_xy": 0.009999162512896455, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048906018000761664, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.0159333446538255, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 206, + "max_stable_success_frames": 206, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22981161934709252, + -0.0596588469092732, + 1.2438913068011894 + ], + "held_position": [ + 0.2348294274678984, + -0.055155260169735036, + 1.239964148174501 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007802773015854238, + "max_held_gripper_dist": 0.007804444947652935, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003927158626688465, + "max_held_gripper_z_dist": 0.004139609090284324, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08515317191282554, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2348294274678984, + -0.07989156992813282, + 1.239964148174501 + ], + "held_grasp_finger_b": [ + 0.22533260669580246, + -0.055155260169735036, + 1.239964148174501 + ], + "held_grasp_midpoint": [ + 0.23008101708185041, + -0.06752341504893393, + 1.239964148174501 + ], + "held_grasp_object_position": [ + 0.2348294274678984, + -0.055155260169735036, + 1.239964148174501 + ], + "held_grasp_finger_gap": 0.026496690835663198, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02438807358590263, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.030578193916784645, + -0.9976617148678204, + -0.06112345493988003 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0044336895987203105, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03271579254569736, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.30529958757607933, + -0.3814637678895426, + 0.8470193876731921 + ], + "target_position": [ + 0.29885566889497855, + -0.3832616295930513, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006690022023400435, + "xy_threshold": 0.08, + "gripper_dist": 0.18446924932395273, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470193876731921, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07525636848184016, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0873280405697222, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15354897129753278, + "release_required_pad_clearance": 0.0536640202848611, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.337707297734697, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008621752262115479, + "max_z_decrease": 0.008621752262115479, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03503282714989778, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008621752262115479, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020851138708492423, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008621752262115479, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008621808965192575, + "max_button_displacement": 0.12, + "button_start": [ + 0.15455558896064758, + -0.4395231008529664, + 0.7768088579177856 + ], + "button_final": [ + 0.15455558896064758, + -0.4395231008529664, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15448921039343338, + -0.43788426680475384, + 0.803552095265808 + ], + "closest_button": [ + 0.1545577049255371, + -0.4394787847995759, + 0.7685556411743164 + ], + "closest_ee_minus_button": [ + -6.849453210372447e-05, + 0.0015945179948220756, + 0.03499645409149155 + ], + "button_min_z_position": [ + 0.15455494821071625, + -0.43949183821678167, + 0.7681871056556702 + ], + "min_active_finger_to_button": 0.14513123864632793, + "closest_active_finger": [ + 0.028460629284381866, + -0.5027406811714172, + 0.8108083009719849 + ], + "closest_active_finger_button": [ + 0.15455619990825653, + -0.43952280282974254, + 0.7766544818878174 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12609557062387466, + -0.0632178783416747, + 0.03415381908416748 + ], + "min_contact_pad_to_button": 0.020851138708492423, + "closest_contact_pad": [ + 0.15455494821071625, + -0.43949183821678167, + 0.7890382443641626 + ], + "closest_contact_pad_button": [ + 0.15455494821071625, + -0.43949183821678167, + 0.7681871056556702 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.020851138708492423 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 45, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "2aa594254d293db0a2876cb58712a8ecb76489664349418b5a49fc95f56f4865", + "visual_seed": 5485391724802336639, + "episode_index": 45, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_46_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_46_success.json new file mode 100644 index 0000000000000000000000000000000000000000..40b295540243f2adcbc5cd7f2637fb519211d227 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_46_success.json @@ -0,0 +1,926 @@ +{ + "episode": 46, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23006894821448037, + -0.05146829255557882, + 1.0459593935207774 + ], + "current_z": 1.0459593935207774, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.1893728861122118, + "gripper_z": 1.0501335063166974, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22553242997692421, + -0.056042503213383985, + 1.0501335063166974 + ], + "object_minus_gripper": [ + 0.004536518237556159, + 0.004574210657805167, + -0.00417411279592006 + ], + "object_to_gripper_xy": 0.006442313316011416, + "object_to_gripper_z": -0.00417411279592006, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23006894821448037, + -0.07539371063159364, + 1.0459593935207774 + ], + "finger_b": [ + 0.21875845407887512, + -0.05146829255557882, + 1.0459593935207774 + ], + "finger_midpoint": [ + 0.22441370114667775, + -0.06343100159358622, + 1.0459593935207774 + ], + "object_minus_finger_midpoint": [ + 0.005655247067802627, + 0.011962709038007405, + 0.0 + ], + "finger_gap": 0.026464181598977468, + "fingertip_max_gap": 0.09257791025737425, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013232090799488729, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0459593935207774, + "object_top_z": 1.091945295397443, + "finger_top_clearance": 0.045985901876665514, + "fingertip_min_top_clearance": 0.01379577056299962, + "object_projection_between_fingers": 0.8173388356292923, + "object_to_finger_line_xy": 0.010225455105368752, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048788955128687125, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1577635887984208, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 207, + "max_stable_success_frames": 207, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21979967199344302, + -0.057772868031594954, + 1.2458093406566073 + ], + "held_position": [ + 0.22469913514982304, + -0.05324380938628825, + 1.242014066216129 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007676015861884391, + "max_held_gripper_dist": 0.007677567861420538, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0037952744404783356, + "max_held_gripper_z_dist": 0.004204898906140508, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08606970912727395, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.22469913514982304, + -0.07754823886452356, + 1.242014066216129 + ], + "held_grasp_finger_b": [ + 0.21553453908998715, + -0.05324380938628825, + 1.242014066216129 + ], + "held_grasp_midpoint": [ + 0.2201168371199051, + -0.0653960241254059, + 1.242014066216129 + ], + "held_grasp_object_position": [ + 0.22469913514982304, + -0.05324380938628825, + 1.242014066216129 + ], + "held_grasp_finger_gap": 0.025974893901659593, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.0234459252376609, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07508562816985871, + -0.9929899696410817, + -0.0912856430910225 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038260386704928244, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03278913289490454, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.30799164584007843, + -0.3829300951297299, + 0.8470192817766193 + ], + "target_position": [ + 0.30152284504048593, + -0.3843543265752625, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006623731500842431, + "xy_threshold": 0.08, + "gripper_dist": 0.18758576184315018, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470192817766193, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07517636208754505, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08573819744990917, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15671820655471722, + "release_required_pad_clearance": 0.052869098724954586, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7793351942932224, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008419513702392578, + "max_z_decrease": 0.008419513702392578, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03499124732101425, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008419513702392578, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020863043719573135, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008419513702392578, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008419746151644139, + "max_button_displacement": 0.12, + "button_start": [ + 0.15722277760505676, + -0.44061577320098877, + 0.7768088579177856 + ], + "button_final": [ + 0.15722277760505676, + -0.44061577320098877, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15621819735170864, + -0.44056296779341025, + 0.8037293808078417 + ], + "closest_button": [ + 0.15724140405654907, + -0.44059479236602783, + 0.7687531113624573 + ], + "closest_ee_minus_button": [ + -0.0010232067048404347, + 3.1824572617578095e-05, + 0.034976269445384456 + ], + "button_min_z_position": [ + 0.15727898478507996, + -0.4405882954597473, + 0.7683893442153931 + ], + "min_active_finger_to_button": 0.14662637090383226, + "closest_active_finger": [ + 0.028659626841545105, + -0.5023091435432434, + 0.8105664849281311 + ], + "closest_active_finger_button": [ + 0.15722285211086273, + -0.44061738252639765, + 0.7764356136322021 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12856322526931763, + -0.06169176101684576, + 0.034130871295928955 + ], + "min_contact_pad_to_button": 0.020863043719573135, + "closest_contact_pad": [ + 0.15727898478507996, + -0.4418517172864978, + 0.789214097720117 + ], + "closest_contact_pad_button": [ + 0.15727898478507996, + -0.4405882954597473, + 0.7683893442153931 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0012634218267504882, + 0.020824753504723903 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 46, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "283a0c76ab0692f25d44606b2e22553f2a4bd869aa7bb6a2f065e6b42ec0b97e", + "visual_seed": 3252763441573953782, + "episode_index": 46, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_47_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_47_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1ed7a542104319f73a838e893187d42acc169db3 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_47_success.json @@ -0,0 +1,926 @@ +{ + "episode": 47, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2333723407480684, + -0.051372775820694154, + 1.0450997064174297 + ], + "current_z": 1.0450997064174297, + "required_z": 0.8565866266178549, + "initial_z": 0.7565866266178549, + "lift_margin": 0.18851307979957477, + "gripper_z": 1.049490213026981, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22841261515425937, + -0.05611676649268445, + 1.049490213026981 + ], + "object_minus_gripper": [ + 0.004959725593809028, + 0.004743990671990293, + -0.0043905066095513146 + ], + "object_to_gripper_xy": 0.006863259099131784, + "object_to_gripper_z": -0.0043905066095513146, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2333723407480684, + -0.07575376051572297, + 1.0450997064174297 + ], + "finger_b": [ + 0.22203696173073945, + -0.051372775820694154, + 1.0450997064174297 + ], + "finger_midpoint": [ + 0.22770465123940392, + -0.06356326816820856, + 1.0450997064174297 + ], + "object_minus_finger_midpoint": [ + 0.005667689508664475, + 0.01219049234751441, + 0.0 + ], + "finger_gap": 0.026887231768364155, + "fingertip_max_gap": 0.09435384714781092, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01344361588418208, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0450997064174297, + "object_top_z": 1.0915468705079712, + "finger_top_clearance": 0.046447164090541504, + "fingertip_min_top_clearance": 0.013934149227162485, + "object_projection_between_fingers": 0.8222621548880521, + "object_to_finger_line_xy": 0.010278771154828427, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04967692357390546, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.867660176590666, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 207, + "max_stable_success_frames": 207, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2248332269771127, + -0.05728674430845916, + 1.2443212290024241 + ], + "held_position": [ + 0.2300872899691185, + -0.05261390923297706, + 1.2401984894969007 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008150923051840482, + "max_held_gripper_dist": 0.008151528741176492, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004122739505523443, + "max_held_gripper_z_dist": 0.004410168276969939, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08525654217808176, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2300872899691185, + -0.07738890747076285, + 1.2401984894969007 + ], + "held_grasp_finger_b": [ + 0.22048948640333946, + -0.05261390923297706, + 1.2401984894969007 + ], + "held_grasp_midpoint": [ + 0.22528838818622898, + -0.06500140835186996, + 1.2401984894969007 + ], + "held_grasp_object_position": [ + 0.2300872899691185, + -0.05261390923297706, + 1.2401984894969007 + ], + "held_grasp_finger_gap": 0.026569124392225838, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024246952413133065, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.046772464837592696, + -0.9968059374174439, + -0.06473221502735016 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004291226415164142, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03262783582944572, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3066536424516764, + -0.3848683515845294, + 0.8470195145386494 + ], + "target_position": [ + 0.3011564876112682, + -0.3859242983122645, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005597654404412461, + "xy_threshold": 0.08, + "gripper_dist": 0.18649939849189764, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195145386494, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07523604290354062, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0867094523903985, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1553707949468803, + "release_required_pad_clearance": 0.05335472619519925, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.725961791269805, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008428037166595459, + "max_z_decrease": 0.008428037166595459, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035009596574604576, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008428037166595459, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020835684822666622, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008428037166595459, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008428230216576509, + "max_button_displacement": 0.12, + "button_start": [ + 0.15685641765594477, + -0.44218575954437245, + 0.7768088579177856 + ], + "button_final": [ + 0.15685641765594477, + -0.44218575954437245, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15655770344034703, + -0.4410094680156779, + 0.8035774767937686 + ], + "closest_button": [ + 0.15689907968044275, + -0.4421572089195251, + 0.7685883641242981 + ], + "closest_ee_minus_button": [ + -0.0003413762400957254, + 0.001147740903847172, + 0.03498911266947047 + ], + "button_min_z_position": [ + 0.1569050401449203, + -0.4421559274196624, + 0.7683808207511902 + ], + "min_active_finger_to_button": 0.1455516499497355, + "closest_active_finger": [ + 0.02994806319475174, + -0.5047537684440613, + 0.8106153607368469 + ], + "closest_active_finger_button": [ + 0.15685601532459253, + -0.44218635559082026, + 0.7764836549758911 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1269079521298408, + -0.06256741285324102, + 0.03413170576095581 + ], + "min_contact_pad_to_button": 0.020835684822666622, + "closest_contact_pad": [ + 0.1569050401449203, + -0.4421559274196624, + 0.7892165055738568 + ], + "closest_contact_pad_button": [ + 0.1569050401449203, + -0.4421559274196624, + 0.7683808207511902 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.020835684822666622 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 47, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ea3f7ea4e8ae1835234be9c04923ac7cc3517de294fe4e06843e287f795d6d83", + "visual_seed": 8605894254823996623, + "episode_index": 47, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_48_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_48_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a31287775babcad8eaddb060212932daab31f9bb --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_48_success.json @@ -0,0 +1,926 @@ +{ + "episode": 48, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.22967927962078552, + -0.04766021715819445, + 1.0457375799524589 + ], + "current_z": 1.0457375799524589, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.18915113214853807, + "gripper_z": 1.0503798106610158, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22492449613600018, + -0.052248803767973195, + 1.0503798106610158 + ], + "object_minus_gripper": [ + 0.004754783484785335, + 0.004588586609778747, + -0.00464223070855696 + ], + "object_to_gripper_xy": 0.006607805464950387, + "object_to_gripper_z": -0.00464223070855696, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.22967927962078552, + -0.0719687440022529, + 1.0457375799524589 + ], + "finger_b": [ + 0.21868164355339453, + -0.04766021715819445, + 1.0457375799524589 + ], + "finger_midpoint": [ + 0.22418046158709004, + -0.05981448058022367, + 1.0457375799524589 + ], + "object_minus_finger_midpoint": [ + 0.0054988180336954795, + 0.012154263422029223, + 0.0 + ], + "finger_gap": 0.02668056364470378, + "fingertip_max_gap": 0.09801899978986886, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013340281822351885, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0457375799524589, + "object_top_z": 1.093391416937352, + "finger_top_clearance": 0.047653836984893116, + "fingertip_min_top_clearance": 0.014296151095467951, + "object_projection_between_fingers": 0.8300940109352497, + "object_to_finger_line_xy": 0.010019890701163159, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05150949989493443, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.425321835754839, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 209, + "max_stable_success_frames": 209, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2206622709006301, + -0.05209638135373389, + 1.2437633978050675 + ], + "held_position": [ + 0.22555490514719748, + -0.04741852586877047, + 1.2393622210299597 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008074067055371432, + "max_held_gripper_dist": 0.008076818339330268, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004401176775107762, + "max_held_gripper_z_dist": 0.004667177119479948, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0857495543736832, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.22555490514719748, + -0.07177073852179823, + 1.2393622210299597 + ], + "held_grasp_finger_b": [ + 0.21583764444505418, + -0.04741852586877047, + 1.2393622210299597 + ], + "held_grasp_midpoint": [ + 0.22069627479612583, + -0.05959463219528435, + 1.2393622210299597 + ], + "held_grasp_object_position": [ + 0.22555490514719748, + -0.04741852586877047, + 1.2393622210299597 + ], + "held_grasp_finger_gap": 0.026219371019376186, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024344342879868846, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.0027099038712888666, + -0.9985955027561028, + -0.052911986319687174 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004933807751164309, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03305438636827141, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3105460527466237, + -0.3817690818133239, + 0.8470197609866699 + ], + "target_position": [ + 0.30605819539274587, + -0.3827866771262803, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00460177833556836, + "xy_threshold": 0.08, + "gripper_dist": 0.18460656895589592, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470197609866699, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07547061825071148, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08841031976797252, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15311688177213015, + "release_required_pad_clearance": 0.05420515988398626, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.4263011076166303, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008685410022735596, + "max_z_decrease": 0.008685410022735596, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03509155265445503, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008685410022735596, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.021051778696948048, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008685410022735596, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008685539107136011, + "max_button_displacement": 0.12, + "button_start": [ + 0.16175812482833862, + -0.43904814124107366, + 0.7768088579177856 + ], + "button_final": [ + 0.16175812482833862, + -0.43904814124107366, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1634872039815403, + -0.4407926673510744, + 0.8034966426694641 + ], + "closest_button": [ + 0.16173939406871798, + -0.43901702761650085, + 0.76849365234375 + ], + "closest_ee_minus_button": [ + 0.0017478099128223068, + -0.0017756397345735642, + 0.03500299032571408 + ], + "button_min_z_position": [ + 0.16172982752323153, + -0.4390101730823517, + 0.76812344789505 + ], + "min_active_finger_to_button": 0.14388702775559237, + "closest_active_finger": [ + 0.02260711044073105, + -0.4260125160217285, + 0.8104193806648254 + ], + "closest_active_finger_button": [ + 0.1617574989795685, + -0.4390491247177124, + 0.776203989982605 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13915038853883746, + 0.013036608695983887, + 0.03421539068222046 + ], + "min_contact_pad_to_button": 0.021051778696948048, + "closest_contact_pad": [ + 0.16172982752323153, + -0.44184433448040467, + 0.7889835753029798 + ], + "closest_contact_pad_button": [ + 0.16172982752323153, + -0.4390101730823517, + 0.76812344789505 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002834161398052981, + 0.02086012740792975 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 48, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ee5a92df51205ad2a436e7c5b7999d6bca51d4a55591ad53a5ed445af7e18cf5", + "visual_seed": 5339507719650430274, + "episode_index": 48, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_49_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_49_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4e18d82bee5181de842b66fc5915bd9594975b05 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_49_success.json @@ -0,0 +1,926 @@ +{ + "episode": 49, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.24084964746173904, + -0.04861183733344039, + 1.0470800037181764 + ], + "current_z": 1.0470800037181764, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.1904934367049661, + "gripper_z": 1.0512183020303338, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23607816900867962, + -0.05325487240094455, + 1.0512183020303338 + ], + "object_minus_gripper": [ + 0.004771478453059419, + 0.004643035067504159, + -0.004138298312157396 + ], + "object_to_gripper_xy": 0.006657685879198841, + "object_to_gripper_z": -0.004138298312157396, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24084964746173904, + -0.07281706748032617, + 1.0470800037181764 + ], + "finger_b": [ + 0.2295467547215056, + -0.04861183733344039, + 1.0470800037181764 + ], + "finger_midpoint": [ + 0.23519820109162232, + -0.06071445240688328, + 1.0470800037181764 + ], + "object_minus_finger_midpoint": [ + 0.0056514463701167195, + 0.012102615073442888, + 0.0 + ], + "finger_gap": 0.02671420129371136, + "fingertip_max_gap": 0.09239728575179967, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01335710064685568, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0470800037181764, + "object_top_z": 1.093026045036043, + "finger_top_clearance": 0.045946041317866504, + "fingertip_min_top_clearance": 0.013783812395359918, + "object_projection_between_fingers": 0.8209827734379868, + "object_to_finger_line_xy": 0.010241336325009995, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04869864287589984, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0293284050081157, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 210, + "max_stable_success_frames": 210, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2366450298048868, + -0.05363905351157344, + 1.2443178463119062 + ], + "held_position": [ + 0.24175322861804377, + -0.04926191007907613, + 1.2402958717012325 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007837688403623679, + "max_held_gripper_dist": 0.007840033537093926, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004021974610673773, + "max_held_gripper_z_dist": 0.004135362739536852, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08525412701491271, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.24175322861804377, + -0.07436791509084767, + 1.2402958717012325 + ], + "held_grasp_finger_b": [ + 0.2325861812681829, + -0.04926191007907613, + 1.2402958717012325 + ], + "held_grasp_midpoint": [ + 0.23716970494311335, + -0.0618149125849619, + 1.2402958717012325 + ], + "held_grasp_object_position": [ + 0.24175322861804377, + -0.04926191007907613, + 1.2402958717012325 + ], + "held_grasp_finger_gap": 0.02672725658883996, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024341029340432186, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07403098230270176, + -0.9965613744132809, + -0.03721344766089163 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0036722804351466748, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032351064775469104, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.30593642303018637, + -0.37787732038804717, + 0.8470196584178367 + ], + "target_position": [ + 0.3001113837451415, + -0.3789956348751571, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005931417196960248, + "xy_threshold": 0.08, + "gripper_dist": 0.18384796149015425, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196584178367, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07566856446626567, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08629364217059797, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15183140093189793, + "release_required_pad_clearance": 0.05314682108529899, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.3181703419325743, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00855410099029541, + "max_z_decrease": 0.00855410099029541, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500156452378429, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00855410099029541, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02092731672899712, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00855410099029541, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008554247310246364, + "max_button_displacement": 0.12, + "button_start": [ + 0.15581130981445307, + -0.4352571070194244, + 0.7768088579177856 + ], + "button_final": [ + 0.15581130981445307, + -0.4352571070194244, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15654464960479314, + -0.4353841881678275, + 0.803632536473641 + ], + "closest_button": [ + 0.15584428608417505, + -0.43523147702217096, + 0.7686383128166199 + ], + "closest_ee_minus_button": [ + 0.0007003635206180858, + -0.00015271114565651445, + 0.034994223657021095 + ], + "button_min_z_position": [ + 0.15584382414817805, + -0.4352190792560577, + 0.7682547569274902 + ], + "min_active_finger_to_button": 0.14502417679984395, + "closest_active_finger": [ + 0.01606832444667816, + -0.41703590750694275, + 0.8109083771705627 + ], + "closest_active_finger_button": [ + 0.15581336617469782, + -0.4352574944496154, + 0.7766839861869812 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13974504172801966, + 0.018221586942672674, + 0.03422439098358154 + ], + "min_contact_pad_to_button": 0.02092731672899712, + "closest_contact_pad": [ + 0.15584382414817805, + -0.43677539569032847, + 0.7891241235837206 + ], + "closest_contact_pad_button": [ + 0.15584382414817805, + -0.4352190792560577, + 0.7682547569274902 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001556316434270788, + 0.020869366656230404 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 49, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "4899992ce3416bd3a750cbd554a27d3602c0ca9c02f0184699a2283d1dd214b5", + "visual_seed": 3861917925358085609, + "episode_index": 49, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_4_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_4_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c2e921d57f2e9422410e91986224e397c59bfff8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_4_success.json @@ -0,0 +1,926 @@ +{ + "episode": 4, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2337805963898806, + -0.053947932427814566, + 1.0444553228554565 + ], + "current_z": 1.0444553228554565, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.1878689346561805, + "gripper_z": 1.0488918189540015, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22899111017372945, + -0.058563586879087415, + 1.0488918189540015 + ], + "object_minus_gripper": [ + 0.004789486216151162, + 0.004615654451272849, + -0.0044364960985450175 + ], + "object_to_gripper_xy": 0.006651574567593514, + "object_to_gripper_z": -0.0044364960985450175, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2337805963898806, + -0.0782281785315933, + 1.0444553228554565 + ], + "finger_b": [ + 0.22265049100119977, + -0.053947932427814566, + 1.0444553228554565 + ], + "finger_midpoint": [ + 0.2282155436955402, + -0.06608805547970394, + 1.0444553228554565 + ], + "object_minus_finger_midpoint": [ + 0.0055650526943404055, + 0.01214012305188937, + 0.0 + ], + "finger_gap": 0.02670972850523204, + "fingertip_max_gap": 0.09300307441490316, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013354864252616014, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0444553228554565, + "object_top_z": 1.0903197789665704, + "finger_top_clearance": 0.045864456111113894, + "fingertip_min_top_clearance": 0.013759336833334185, + "object_projection_between_fingers": 0.8263560701807581, + "object_to_finger_line_xy": 0.010117725380294599, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04900153720745158, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.0863557473986414, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 206, + "max_stable_success_frames": 206, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22534538718275798, + -0.05978900742957871, + 1.245345660824076 + ], + "held_position": [ + 0.23042081545159346, + -0.05523853891682245, + 1.2411802179867009 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00798859498467163, + "max_held_gripper_dist": 0.007995969391465525, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004165442837375188, + "max_held_gripper_z_dist": 0.004460253851050089, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08501372197519447, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.23042081545159346, + -0.07992781240349163, + 1.2411802179867009 + ], + "held_grasp_finger_b": [ + 0.22107128899436224, + -0.05523853891682245, + 1.2411802179867009 + ], + "held_grasp_midpoint": [ + 0.22574605222297783, + -0.06758317566015704, + 1.2411802179867009 + ], + "held_grasp_object_position": [ + 0.23042081545159346, + -0.05523853891682245, + 1.2411802179867009 + ], + "held_grasp_finger_gap": 0.026400262693276604, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024169352368239024, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.04362541669704801, + -0.9954618295725118, + -0.0845728613809209 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0042637521996293885, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032707671794074474, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3087114517365842, + -0.3810296732070878, + 0.8470194655454277 + ], + "target_position": [ + 0.3027783132661421, + -0.38239351444690006, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0060878727842205325, + "xy_threshold": 0.08, + "gripper_dist": 0.1835592802607421, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470194655454277, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07546754126232574, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08732220017721913, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15208402956250014, + "release_required_pad_clearance": 0.05366110008860957, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.3289846284807094, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008403658866882324, + "max_z_decrease": 0.008403658866882324, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.034998749712658386, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008403658866882324, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020873851897646678, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008403658866882324, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008403701758527211, + "max_button_displacement": 0.12, + "button_start": [ + 0.15847824513912198, + -0.4386549592018127, + 0.7768088579177856 + ], + "button_final": [ + 0.15847824513912198, + -0.4386549592018127, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1586173020496614, + -0.4384872862699502, + 0.8037648810938658 + ], + "closest_button": [ + 0.1584912687540054, + -0.43862810730934143, + 0.7687666416168213 + ], + "closest_ee_minus_button": [ + 0.0001260332956559973, + 0.0001408210393912257, + 0.0349982394770445 + ], + "button_min_z_position": [ + 0.15848521888256073, + -0.43862903118133545, + 0.7684051990509033 + ], + "min_active_finger_to_button": 0.1455597424729805, + "closest_active_finger": [ + 0.03170797973871231, + -0.5015255212783813, + 0.8106156587600708 + ], + "closest_active_finger_button": [ + 0.15847778320312497, + -0.43865582346916193, + 0.7764915227890015 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12676980346441266, + -0.06286969780921942, + 0.034124135971069336 + ], + "min_contact_pad_to_button": 0.020873851897646678, + "closest_contact_pad": [ + 0.15848521888256073, + -0.4396478314389594, + 0.7892541735839578 + ], + "closest_contact_pad_button": [ + 0.15848521888256073, + -0.43862903118133545, + 0.7684051990509033 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001018800257623964, + 0.020848974533054454 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 4, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "342943633c665a4f870c671b6efc0cf9a3255d92ac1446bac3515dcfd34b9c33", + "visual_seed": 2151536625652012067, + "episode_index": 4, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_50_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_50_success.json new file mode 100644 index 0000000000000000000000000000000000000000..194a928747acfb7c44fa12849b85bf44673a426c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_50_success.json @@ -0,0 +1,926 @@ +{ + "episode": 50, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2310152711450086, + -0.05535255374089455, + 1.0439355303231335 + ], + "current_z": 1.0439355303231335, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.1873490229145679, + "gripper_z": 1.0482233141937118, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22651843438243432, + -0.05996631767404101, + 1.0482233141937118 + ], + "object_minus_gripper": [ + 0.0044968367625742856, + 0.004613763933146456, + -0.004287783870578377 + ], + "object_to_gripper_xy": 0.006442698076120177, + "object_to_gripper_z": -0.004287783870578377, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2310152711450086, + -0.07915032580697941, + 1.0439355303231335 + ], + "finger_b": [ + 0.2194922751956762, + -0.05535255374089455, + 1.0439355303231335 + ], + "finger_midpoint": [ + 0.2252537731703424, + -0.06725143977393698, + 1.0439355303231335 + ], + "object_minus_finger_midpoint": [ + 0.005761497974666213, + 0.011898886033042427, + 0.0 + ], + "finger_gap": 0.026440752465799067, + "fingertip_max_gap": 0.09349984347100174, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01322037623289954, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0439355303231335, + "object_top_z": 1.090096374122147, + "finger_top_clearance": 0.04616084379901353, + "fingertip_min_top_clearance": 0.013848253139704074, + "object_projection_between_fingers": 0.8100745353104352, + "object_to_finger_line_xy": 0.01037117349346752, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04924992173550087, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.697118789475363, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 204, + "max_stable_success_frames": 204, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21986507040469921, + -0.06092221052959465, + 1.2422534261183937 + ], + "held_position": [ + 0.22470645310811282, + -0.056279853444936585, + 1.2383978629533334 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0077366551624172344, + "max_held_gripper_dist": 0.007738958707508635, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003855563165060305, + "max_held_gripper_z_dist": 0.004312961154409489, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08506280391806306, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.22470645310811282, + -0.0802940398277406, + 1.2383978629533334 + ], + "held_grasp_finger_b": [ + 0.21528991835373798, + -0.056279853444936585, + 1.2383978629533334 + ], + "held_grasp_midpoint": [ + 0.2199981857309254, + -0.0682869466363386, + 1.2383978629533334 + ], + "held_grasp_object_position": [ + 0.22470645310811282, + -0.056279853444936585, + 1.2383978629533334 + ], + "held_grasp_finger_gap": 0.025794423319942604, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023250274010766785, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06279845767658689, + -0.9928138930025096, + -0.10186720558964857 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004134690301167449, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032983744101194666, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3124864351553492, + -0.3811241137319107, + 0.8470190496849096 + ], + "target_position": [ + 0.3070865714798482, + -0.3823620320360549, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005539943090116575, + "xy_threshold": 0.08, + "gripper_dist": 0.1850682687235845, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470190496849096, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07570870434675758, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0859486855554794, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15305789994227068, + "release_required_pad_clearance": 0.0529743427777397, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.9795749373562194, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008603096008300781, + "max_z_decrease": 0.008603096008300781, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.034995949545617966, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008603096008300781, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.0209177693416579, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008603096008300781, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008603359109667185, + "max_button_displacement": 0.12, + "button_start": [ + 0.1627864986658097, + -0.4386234879493714, + 0.7768088579177856 + ], + "button_final": [ + 0.1627864986658097, + -0.4386234879493714, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16278148619458463, + -0.439561780446261, + 0.8035845826792778 + ], + "closest_button": [ + 0.1628312915563584, + -0.4385954141616822, + 0.7686020135879517 + ], + "closest_ee_minus_button": [ + -4.980536177376371e-05, + -0.0009663662845788012, + 0.03498256909132613 + ], + "button_min_z_position": [ + 0.16283895075321203, + -0.4385813474655152, + 0.7682057619094849 + ], + "min_active_finger_to_button": 0.14568180220226734, + "closest_active_finger": [ + 0.021742403507232666, + -0.42599251866340637, + 0.8105214238166809 + ], + "closest_active_finger_button": [ + 0.1627862006425858, + -0.43862381577491766, + 0.776311993598938 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14104379713535314, + 0.012631297111511286, + 0.03420943021774292 + ], + "min_contact_pad_to_button": 0.0209177693416579, + "closest_contact_pad": [ + 0.16283895075321203, + -0.44051314197228125, + 0.7890341378474794 + ], + "closest_contact_pad_button": [ + 0.16283895075321203, + -0.4385813474655152, + 0.7682057619094849 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0019317945067660602, + 0.02082837593799458 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 50, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7350ee68ac022461ef2b9d532a1cb32d7986305ae8ddade59573c4903d9cef6c", + "visual_seed": 6891197839898825167, + "episode_index": 50, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_51_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_51_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b5f205081c026d2bc6ef961fb0c640ac91f354cc --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_51_success.json @@ -0,0 +1,926 @@ +{ + "episode": 51, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23489907736509158, + -0.0504573249081676, + 1.0452439390948576 + ], + "current_z": 1.0452439390948576, + "required_z": 0.8565865074085653, + "initial_z": 0.7565865074085654, + "lift_margin": 0.18865743168629223, + "gripper_z": 1.0495973655403958, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23004617691143273, + -0.055045374355589566, + 1.0495973655403958 + ], + "object_minus_gripper": [ + 0.004852900453658854, + 0.004588049447421964, + -0.0043534264455382665 + ], + "object_to_gripper_xy": 0.006678386073379654, + "object_to_gripper_z": -0.0043534264455382665, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23489907736509158, + -0.07489987770916774, + 1.0452439390948576 + ], + "finger_b": [ + 0.2239253192387975, + -0.0504573249081676, + 1.0452439390948576 + ], + "finger_midpoint": [ + 0.22941219830194454, + -0.06267860130866768, + 1.0452439390948576 + ], + "object_minus_finger_midpoint": [ + 0.005486879063147043, + 0.012221276400500074, + 0.0 + ], + "finger_gap": 0.026792942258066495, + "fingertip_max_gap": 0.0924482132472837, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013396471129033251, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0452439390948576, + "object_top_z": 1.0906947794880701, + "finger_top_clearance": 0.045450840393212566, + "fingertip_min_top_clearance": 0.013635252117963787, + "object_projection_between_fingers": 0.8322471330979868, + "object_to_finger_line_xy": 0.010011093960634106, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04872410662364185, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.8328162279501115, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 208, + "max_stable_success_frames": 208, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2287385330261055, + -0.055513755444502974, + 1.2423279194259575 + ], + "held_position": [ + 0.23383597596923997, + -0.0509997393891443, + 1.2381707100696613 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00797763468320181, + "max_held_gripper_dist": 0.007979207577398135, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004157209356296265, + "max_held_gripper_z_dist": 0.004356742543299319, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08570542662283068, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.23383597596923997, + -0.07584280790867913, + 1.2381707100696613 + ], + "held_grasp_finger_b": [ + 0.22450218750276196, + -0.0509997393891443, + 1.2381707100696613 + ], + "held_grasp_midpoint": [ + 0.22916908173600098, + -0.06342127364891172, + 1.2381707100696613 + ], + "held_grasp_object_position": [ + 0.23383597596923997, + -0.0509997393891443, + 1.2381707100696613 + ], + "held_grasp_finger_gap": 0.026538606983096538, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024421830353786436, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.037947459061468604, + -0.9973012750024985, + -0.06285027628554296 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004265261737387293, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03263511623319748, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.30481853707144446, + -0.379155575332469, + 0.8470195934137232 + ], + "target_position": [ + 0.29936805600271316, + -0.38035069326953236, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005579968706371828, + "xy_threshold": 0.08, + "gripper_dist": 0.18354885379725608, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195934137232, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07591591722753152, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08872043754109836, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1509607834258548, + "release_required_pad_clearance": 0.05436021877054918, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.743579207874141, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008277177810668945, + "max_z_decrease": 0.008277177810668945, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035022416116415815, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008277177810668945, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021018401910591906, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008277177810668945, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008277235971273696, + "max_button_displacement": 0.12, + "button_start": [ + 0.15506798028945917, + -0.43661215901374817, + 0.7768088579177856 + ], + "button_final": [ + 0.15506798028945917, + -0.43661215901374817, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15541290911958736, + -0.4378768837902378, + 0.8035997479512962 + ], + "closest_button": [ + 0.15509352087974543, + -0.4365902543067932, + 0.7686024308204651 + ], + "closest_ee_minus_button": [ + 0.0003193882398419279, + -0.0012866294834446013, + 0.034997317130831096 + ], + "button_min_z_position": [ + 0.15508893132209772, + -0.4365892708301544, + 0.7685316801071167 + ], + "min_active_finger_to_button": 0.14522626309744197, + "closest_active_finger": [ + 0.014933101832866669, + -0.41980206966400146, + 0.810780942440033 + ], + "closest_active_finger_button": [ + 0.15506786108016962, + -0.43661299347877497, + 0.7765711545944214 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14013475924730295, + 0.016810923814773504, + 0.03420978784561157 + ], + "min_contact_pad_to_button": 0.021018401910591906, + "closest_contact_pad": [ + 0.15508893132209772, + -0.439220796952857, + 0.7893846964150926 + ], + "closest_contact_pad_button": [ + 0.15508893132209772, + -0.4365892708301544, + 0.7685316801071167 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0026315261227025655, + 0.02085301630797587 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 51, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8d8133662a924f266855c3f9f49d308d9f97e7fedbc1b3db9f4128caf9d18be9", + "visual_seed": 1082509870486080496, + "episode_index": 51, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_52_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_52_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6041880227e86443e1ec892b15e644ec4537bbbb --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_52_success.json @@ -0,0 +1,926 @@ +{ + "episode": 52, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23596214844101418, + -0.05559715128737691, + 1.0460194525448518 + ], + "current_z": 1.0460194525448518, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.18943294513628628, + "gripper_z": 1.049916010126405, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23133292142994144, + -0.060296231782665924, + 1.049916010126405 + ], + "object_minus_gripper": [ + 0.00462922701107274, + 0.0046990804952890125, + -0.0038965575815530507 + ], + "object_to_gripper_xy": 0.0065962944310613576, + "object_to_gripper_z": -0.0038965575815530507, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23596214844101418, + -0.07948400089782084, + 1.0460194525448518 + ], + "finger_b": [ + 0.22434592764020345, + -0.05559715128737691, + 1.0460194525448518 + ], + "finger_midpoint": [ + 0.2301540380406088, + -0.06754057609259888, + 1.0460194525448518 + ], + "object_minus_finger_midpoint": [ + 0.005808110400405381, + 0.011943424805221967, + 0.0 + ], + "finger_gap": 0.02656159200810737, + "fingertip_max_gap": 0.09238782364386564, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013280796004053692, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0460194525448518, + "object_top_z": 1.0917618427530758, + "finger_top_clearance": 0.045742390208223904, + "fingertip_min_top_clearance": 0.013722717062467204, + "object_projection_between_fingers": 0.8087411615604424, + "object_to_finger_line_xy": 0.01044647170342738, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04869391182193282, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.7759505872012846, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 206, + "max_stable_success_frames": 206, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22530451823024034, + -0.062213085803901544, + 1.2440935514245042 + ], + "held_position": [ + 0.23029892565675825, + -0.05761437656066169, + 1.240547490934291 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007659424080579906, + "max_held_gripper_dist": 0.0076610402169065474, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.00354606049021311, + "max_held_gripper_z_dist": 0.003910918496066396, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08570511845119061, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.23029892565675825, + -0.081915542397711, + 1.240547490934291 + ], + "held_grasp_finger_b": [ + 0.2208493635847593, + -0.05761437656066169, + 1.240547490934291 + ], + "held_grasp_midpoint": [ + 0.22557414462075875, + -0.06976495947918634, + 1.240547490934291 + ], + "held_grasp_object_position": [ + 0.23029892565675825, + -0.05761437656066169, + 1.240547490934291 + ], + "held_grasp_finger_gap": 0.026073758539810355, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02350221083774679, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0651856301397345, + -0.9924703472120766, + -0.10369881160373115 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004124988088586917, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03283314388872959, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3072126290534615, + -0.37829098250898185, + 0.847019158973447 + ], + "target_position": [ + 0.2999210059188425, + -0.380681030145083, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007673336669281681, + "xy_threshold": 0.08, + "gripper_dist": 0.185071069148041, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.847019158973447, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07590763830326527, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08652280295582514, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15274599177293874, + "release_required_pad_clearance": 0.05326140147791257, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.542526905462896, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0086403489112854, + "max_z_decrease": 0.0086403489112854, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501958895040068, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0086403489112854, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02097705973250548, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.0086403489112854, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008640465261866527, + "max_button_displacement": 0.12, + "button_start": [ + 0.15562093257904047, + -0.4369424879550934, + 0.7768088579177856 + ], + "button_final": [ + 0.15562093257904047, + -0.4369424879550934, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15528297022792445, + -0.4383150117334668, + 0.803529579071125 + ], + "closest_button": [ + 0.15561300516128534, + -0.4369000494480133, + 0.7685401439666748 + ], + "closest_ee_minus_button": [ + -0.0003300349333608954, + -0.0014149622854535138, + 0.034989435104450184 + ], + "button_min_z_position": [ + 0.15560619533061978, + -0.43690013885498047, + 0.7681685090065002 + ], + "min_active_finger_to_button": 0.14588604465438496, + "closest_active_finger": [ + 0.014383763074874878, + -0.4241488575935364, + 0.8108595609664917 + ], + "closest_active_finger_button": [ + 0.15562127530574793, + -0.43694227933883667, + 0.7766392230987549 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14123751223087305, + 0.012793421745300293, + 0.034220337867736816 + ], + "min_contact_pad_to_button": 0.02097705973250548, + "closest_contact_pad": [ + 0.15560619533061978, + -0.4393132534092716, + 0.7890063091103733 + ], + "closest_contact_pad_button": [ + 0.15560619533061978, + -0.43690013885498047, + 0.7681685090065002 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002413114554291107, + 0.02083780010387304 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 52, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "62f2674f412eeeb78a45cf1ed5980d5f72379ab57582de3d57655da97afef256", + "visual_seed": 8466344270603479796, + "episode_index": 52, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_53_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_53_success.json new file mode 100644 index 0000000000000000000000000000000000000000..645944c17d27ffd1957ed11f6819f38e3ea00f25 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_53_success.json @@ -0,0 +1,926 @@ +{ + "episode": 53, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.24027948861932996, + -0.04654708241800917, + 1.0467862415326863 + ], + "current_z": 1.0467862415326863, + "required_z": 0.8565865074085657, + "initial_z": 0.7565865074085657, + "lift_margin": 0.1901997341241206, + "gripper_z": 1.0513270413488525, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2354474379950427, + -0.05114034891284061, + 1.0513270413488525 + ], + "object_minus_gripper": [ + 0.004832050624287265, + 0.004593266494831438, + -0.0045407998161661745 + ], + "object_to_gripper_xy": 0.0066668441055881935, + "object_to_gripper_z": -0.0045407998161661745, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24027948861932996, + -0.07104975926011116, + 1.0467862415326863 + ], + "finger_b": [ + 0.22934192649313184, + -0.04654708241800917, + 1.0467862415326863 + ], + "finger_midpoint": [ + 0.2348107075562309, + -0.058798420839060166, + 1.0467862415326863 + ], + "object_minus_finger_midpoint": [ + 0.00546878106309906, + 0.012251338421050993, + 0.0 + ], + "finger_gap": 0.026833028857975103, + "fingertip_max_gap": 0.09552294567063696, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013416514428987551, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0467862415326863, + "object_top_z": 1.093654317822032, + "finger_top_clearance": 0.04686807628934564, + "fingertip_min_top_clearance": 0.014060422886803708, + "object_projection_between_fingers": 0.8338494932139338, + "object_to_finger_line_xy": 0.009987674206931488, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05026147283531848, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.2791431883648428, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 210, + "max_stable_success_frames": 210, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2366423409919529, + -0.05014856478953582, + 1.2463023633144572 + ], + "held_position": [ + 0.2417024743619777, + -0.04568189844747193, + 1.241855314519292 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00808283990441135, + "max_held_gripper_dist": 0.008084402592604619, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004447048795165109, + "max_held_gripper_z_dist": 0.004526662404609638, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08561113677558527, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2417024743619777, + -0.0707704663297041, + 1.241855314519292 + ], + "held_grasp_finger_b": [ + 0.2321248265974346, + -0.04568189844747193, + 1.241855314519292 + ], + "held_grasp_midpoint": [ + 0.23691365047970614, + -0.05822618238858802, + 1.241855314519292 + ], + "held_grasp_object_position": [ + 0.2417024743619777, + -0.04568189844747193, + 1.241855314519292 + ], + "held_grasp_finger_gap": 0.026854563394012362, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024860645130657475, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.02258048017569602, + -0.9995354511205128, + -0.0204695839808271 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004511722923711597, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032553634515004974, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3083727721285735, + -0.3834191189479536, + 0.8470194957150833 + ], + "target_position": [ + 0.3023510871014549, + -0.384992681867942, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006223888722413547, + "xy_threshold": 0.08, + "gripper_dist": 0.1842296639020174, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470194957150833, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07556173999459173, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08782090819470699, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15251132349106983, + "release_required_pad_clearance": 0.0539104540973535, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.830537144549829, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008452117443084717, + "max_z_decrease": 0.008452117443084717, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03505259776700482, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008452117443084717, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02085448560947878, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008452117443084717, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008452300686050894, + "max_button_displacement": 0.12, + "button_start": [ + 0.15805101394653318, + -0.4412541389465332, + 0.7768088579177856 + ], + "button_final": [ + 0.15805101394653318, + -0.4412541389465332, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15805311463831964, + -0.4391814307427885, + 0.8035462246205833 + ], + "closest_button": [ + 0.15809388458728785, + -0.4412298500537873, + 0.7685535550117493 + ], + "closest_ee_minus_button": [ + -4.076994896820563e-05, + 0.002048419310998806, + 0.03499266960883407 + ], + "button_min_z_position": [ + 0.1581000238656997, + -0.4412277638912201, + 0.7683567404747009 + ], + "min_active_finger_to_button": 0.14492880805187766, + "closest_active_finger": [ + 0.030273303389549255, + -0.5005114674568176, + 0.810543954372406 + ], + "closest_active_finger_button": [ + 0.1580509543418884, + -0.4412555396556854, + 0.776397705078125 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12777765095233914, + -0.0592559278011322, + 0.034146249294281006 + ], + "min_contact_pad_to_button": 0.02085448560947878, + "closest_contact_pad": [ + 0.1581000238656997, + -0.4412277638912201, + 0.7892112260841797 + ], + "closest_contact_pad_button": [ + 0.1581000238656997, + -0.4412277638912201, + 0.7683567404747009 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02085448560947878 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 53, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6ebff6f532a695a3747ff757c8109428dfdebc3ab44c6da3bf077efbdb7b8fe9", + "visual_seed": 3693709063881715064, + "episode_index": 53, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_54_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_54_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c11b0782b7a33c89556aa8686b4577caefbfa4dd --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_54_success.json @@ -0,0 +1,926 @@ +{ + "episode": 54, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23778393747698806, + -0.05357882552850813, + 1.0472536500879694 + ], + "current_z": 1.0472536500879694, + "required_z": 0.8565864478039206, + "initial_z": 0.7565864478039206, + "lift_margin": 0.19066720228404888, + "gripper_z": 1.0512047657375223, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2332952493177294, + -0.05815972852911243, + 1.0512047657375223 + ], + "object_minus_gripper": [ + 0.0044886881592586525, + 0.004580903000604299, + -0.003951115649552861 + ], + "object_to_gripper_xy": 0.0064135008920256885, + "object_to_gripper_z": -0.003951115649552861, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23778393747698806, + -0.0774196339185384, + 1.0472536500879694 + ], + "finger_b": [ + 0.22640934128119458, + -0.05357882552850813, + 1.0472536500879694 + ], + "finger_midpoint": [ + 0.2320966393790913, + -0.06549922972352326, + 1.0472536500879694 + ], + "object_minus_finger_midpoint": [ + 0.0056872980978967536, + 0.011920404195015132, + 0.0 + ], + "finger_gap": 0.02641525285337048, + "fingertip_max_gap": 0.0921282654669287, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013207626426685243, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0472536500879694, + "object_top_z": 1.0928709196846618, + "finger_top_clearance": 0.04561726959669232, + "fingertip_min_top_clearance": 0.013685180879007663, + "object_projection_between_fingers": 0.8145775003632666, + "object_to_finger_line_xy": 0.01026602205639224, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048564132733464355, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2289510666348062, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 208, + "max_stable_success_frames": 208, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22931745902766626, + -0.05980970194751417, + 1.2489735227045733 + ], + "held_position": [ + 0.23419940513777948, + -0.05541594743570028, + 1.2452835399258364 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007533554900543922, + "max_held_gripper_dist": 0.007534569909647835, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003689982778736889, + "max_held_gripper_z_dist": 0.003951658508897005, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08576723214729984, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.23419940513777948, + -0.08002136233037752, + 1.2452835399258364 + ], + "held_grasp_finger_b": [ + 0.22507855801639146, + -0.05541594743570028, + 1.2452835399258364 + ], + "held_grasp_midpoint": [ + 0.22963898157708545, + -0.0677186548830389, + 1.2452835399258364 + ], + "held_grasp_object_position": [ + 0.23419940513777948, + -0.05541594743570028, + 1.2452835399258364 + ], + "held_grasp_finger_gap": 0.02624149946841713, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023774424775736235, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07677488037647211, + -0.9946866097229424, + -0.0685869242717376 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0037026767634101474, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032612760631265995, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3106177406685986, + -0.38622594596395493, + 0.8470193130297663 + ], + "target_position": [ + 0.30320036860221006, + -0.3881840469723452, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00767147755848246, + "xy_threshold": 0.08, + "gripper_dist": 0.18638263170154373, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470193130297663, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07517379837094636, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08578005587064767, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15563365053783793, + "release_required_pad_clearance": 0.05289002793532384, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8204324562167415, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008573412895202637, + "max_z_decrease": 0.008573412895202637, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0350169582159422, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008573412895202637, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02083589212690884, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008573412895202637, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008573612339214082, + "max_button_displacement": 0.12, + "button_start": [ + 0.15890029072761538, + -0.44444549083709717, + 0.7768088579177856 + ], + "button_final": [ + 0.15890029072761538, + -0.44444549083709717, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15842492913974718, + -0.44304721212813225, + 0.8035437558501354 + ], + "closest_button": [ + 0.1589404046535492, + -0.44441935420036316, + 0.7685574889183044 + ], + "closest_ee_minus_button": [ + -0.0005154755138020162, + 0.0013721420722309086, + 0.034986266931830934 + ], + "button_min_z_position": [ + 0.1589489579200745, + -0.44441306591033936, + 0.768235445022583 + ], + "min_active_finger_to_button": 0.14562731887952082, + "closest_active_finger": [ + 0.031240932643413544, + -0.505646288394928, + 0.8104416131973267 + ], + "closest_active_finger_button": [ + 0.158900260925293, + -0.44444596767425537, + 0.7763105034828186 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12765932828187945, + -0.06120032072067261, + 0.03413110971450806 + ], + "min_contact_pad_to_button": 0.02083589212690884, + "closest_contact_pad": [ + 0.1589489579200745, + -0.44441306591033936, + 0.7890713371494918 + ], + "closest_contact_pad_button": [ + 0.1589489579200745, + -0.44441306591033936, + 0.768235445022583 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02083589212690884 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 54, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0dd5ae5c187f09a65eb1b88f013507afc90e1f492b947cd655d9e19a9d524246", + "visual_seed": 2997073241902386268, + "episode_index": 54, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_55_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_55_success.json new file mode 100644 index 0000000000000000000000000000000000000000..fefcd6df9db712c53038b50a03e001c17a7cc983 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_55_success.json @@ -0,0 +1,926 @@ +{ + "episode": 55, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2290791788733338, + -0.057015464463080735, + 1.0436973710243338 + ], + "current_z": 1.0436973710243338, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.187110923220413, + "gripper_z": 1.0480350378246448, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22428955385831043, + -0.061653769983874326, + 1.0480350378246448 + ], + "object_minus_gripper": [ + 0.004789625015023363, + 0.004638305520793591, + -0.004337666800311002 + ], + "object_to_gripper_xy": 0.0066674122333002525, + "object_to_gripper_z": -0.004337666800311002, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2290791788733338, + -0.08127383873315258, + 1.0436973710243338 + ], + "finger_b": [ + 0.21788645499211418, + -0.057015464463080735, + 1.0436973710243338 + ], + "finger_midpoint": [ + 0.22348281693272398, + -0.06914465159811665, + 1.0436973710243338 + ], + "object_minus_finger_midpoint": [ + 0.005596361940609806, + 0.01212918713503592, + 0.0 + ], + "finger_gap": 0.026716021225251855, + "fingertip_max_gap": 0.09378525003193827, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013358010612625924, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0436973710243338, + "object_top_z": 1.089853155045044, + "finger_top_clearance": 0.0461557840207103, + "fingertip_min_top_clearance": 0.013846735206213073, + "object_projection_between_fingers": 0.8244794300471477, + "object_to_finger_line_xy": 0.010163088385165667, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04939262501596914, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.8510913869695615, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 205, + "max_stable_success_frames": 205, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21963348278888073, + -0.0615422616001839, + 1.2409333430721612 + ], + "held_position": [ + 0.22465305727379026, + -0.05680223839754935, + 1.2369806793105362 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007955344039294076, + "max_held_gripper_dist": 0.007957985967581658, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003952663761624953, + "max_held_gripper_z_dist": 0.00438329834907325, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08507772566114878, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.22465305727379026, + -0.08097990558758575, + 1.2369806793105362 + ], + "held_grasp_finger_b": [ + 0.21506388716006652, + -0.05680223839754935, + 1.2369806793105362 + ], + "held_grasp_midpoint": [ + 0.2198584722169284, + -0.06889107199256755, + 1.2369806793105362 + ], + "held_grasp_object_position": [ + 0.22465305727379026, + -0.05680223839754935, + 1.2369806793105362 + ], + "held_grasp_finger_gap": 0.026009839949951534, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023694861162148383, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.03682925055563152, + -0.9946378582296586, + -0.09663921191642832 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004502608741273508, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03299963243599768, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.303150807933903, + -0.37783351485938776, + 0.8470197701717533 + ], + "target_position": [ + 0.29766657997925383, + -0.3790406479643585, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005615507687793813, + "xy_threshold": 0.08, + "gripper_dist": 0.18426176274568135, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470197701717533, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07536971330323951, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08695561931170663, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15294536158613062, + "release_required_pad_clearance": 0.05347780965585332, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.9667506655581646, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008332312107086182, + "max_z_decrease": 0.008332312107086182, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035015292801092376, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008332312107086182, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02087724897221612, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008332312107086182, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008332493895688103, + "max_button_displacement": 0.12, + "button_start": [ + 0.15336650609970093, + -0.43530210852622986, + 0.7768088579177856 + ], + "button_final": [ + 0.15336650609970093, + -0.43530210852622986, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1516194625924586, + -0.43564374063920164, + 0.8035847150920423 + ], + "closest_button": [ + 0.1534072309732437, + -0.4352751076221466, + 0.7686170339584351 + ], + "closest_ee_minus_button": [ + -0.0017877683807851208, + -0.00036863301705503115, + 0.034967681133607265 + ], + "button_min_z_position": [ + 0.153413325548172, + -0.43527317047119135, + 0.7684765458106995 + ], + "min_active_finger_to_button": 0.14739810964063269, + "closest_active_finger": [ + 0.010694310069084167, + -0.4211829900741577, + 0.8105942606925964 + ], + "closest_active_finger_button": [ + 0.15336604416370395, + -0.4353029131889343, + 0.7763655185699463 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14267173409461978, + 0.014119923114776611, + 0.034228742122650146 + ], + "min_contact_pad_to_button": 0.02087724897221612, + "closest_contact_pad": [ + 0.153413325548172, + -0.4366826607641323, + 0.7893061608278332 + ], + "closest_contact_pad_button": [ + 0.153413325548172, + -0.43527317047119135, + 0.7684765458106995 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0014094902929409625, + 0.020829615017133762 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 55, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f2d93d4c158a068e849ea3c7966b62597b8ba35c13bc7da970cf9e92e26c8089", + "visual_seed": 3869527200095101116, + "episode_index": 55, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_56_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_56_success.json new file mode 100644 index 0000000000000000000000000000000000000000..dda44cc36ad57dd6207bac2710e5c51d61f1a716 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_56_success.json @@ -0,0 +1,926 @@ +{ + "episode": 56, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23817687580242725, + -0.05559898335968785, + 1.0458125359648034 + ], + "current_z": 1.0458125359648034, + "required_z": 0.8565866266178551, + "initial_z": 0.7565866266178551, + "lift_margin": 0.18922590934694827, + "gripper_z": 1.0497395023305993, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23398961739502547, + -0.060028432312578775, + 1.0497395023305993 + ], + "object_minus_gripper": [ + 0.004187258407401778, + 0.004429448952890928, + -0.003926966365795925 + ], + "object_to_gripper_xy": 0.006095338464484431, + "object_to_gripper_z": -0.003926966365795925, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23817687580242725, + -0.07920274137567729, + 1.0458125359648034 + ], + "finger_b": [ + 0.2269781420204392, + -0.05559898335968785, + 1.0458125359648034 + ], + "finger_midpoint": [ + 0.23257750891143322, + -0.06740086236768257, + 1.0458125359648034 + ], + "object_minus_finger_midpoint": [ + 0.005599366890994023, + 0.011801879007994724, + 0.0 + ], + "finger_gap": 0.02612563933757844, + "fingertip_max_gap": 0.09406149255033353, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013062819668789223, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0458125359648034, + "object_top_z": 1.0925287874820455, + "finger_top_clearance": 0.046716251517242124, + "fingertip_min_top_clearance": 0.014014875455172654, + "object_projection_between_fingers": 0.8162598836696643, + "object_to_finger_line_xy": 0.010117731430798834, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049530746275166765, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.5437847269122473, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 206, + "max_stable_success_frames": 206, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2293788912690007, + -0.06244978699776254, + 1.245646585158063 + ], + "held_position": [ + 0.23398373495394387, + -0.05818573486819799, + 1.2420133557956043 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007251695079540783, + "max_held_gripper_dist": 0.007254467838088394, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0036332293624585787, + "max_held_gripper_z_dist": 0.003927556592379533, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08565165510597922, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.23398373495394387, + -0.08261572306629913, + 1.2420133557956043 + ], + "held_grasp_finger_b": [ + 0.2252977269963163, + -0.05818573486819799, + 1.2420133557956043 + ], + "held_grasp_midpoint": [ + 0.2296407309751301, + -0.07040072896724855, + 1.2420133557956043 + ], + "held_grasp_object_position": [ + 0.23398373495394387, + -0.05818573486819799, + 1.2420133557956043 + ], + "held_grasp_finger_gap": 0.025928190403484208, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023532341880332208, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08674955252282733, + -0.9940999147004814, + -0.06511432046474085 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0033653262953326265, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032680546722110765, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3031193671598035, + -0.38424031947417925, + 0.8470197340772736 + ], + "target_position": [ + 0.29915551567479187, + -0.3842763588474723, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0039640153167786905, + "xy_threshold": 0.08, + "gripper_dist": 0.18449433442712532, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470197340772736, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07538694366837656, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08528091148675508, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15274551803556033, + "release_required_pad_clearance": 0.05264045574337754, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.3403483165027783, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008441686630249023, + "max_z_decrease": 0.008441686630249023, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500752336846818, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008441686630249023, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02099473109299271, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008441686630249023, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008441867036935431, + "max_button_displacement": 0.12, + "button_start": [ + 0.15485544502735135, + -0.44053781032562256, + 0.7768088579177856 + ], + "button_final": [ + 0.15485544502735135, + -0.44053781032562256, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15505051337906586, + -0.4417500388360205, + 0.8037180172243705 + ], + "closest_button": [ + 0.15486924350261688, + -0.44051921367645264, + 0.7687326073646545 + ], + "closest_ee_minus_button": [ + 0.00018126987644898063, + -0.0012308251595678499, + 0.03498540985971599 + ], + "button_min_z_position": [ + 0.15489932894706723, + -0.4405043423175812, + 0.7683671712875366 + ], + "min_active_finger_to_button": 0.14539069616177291, + "closest_active_finger": [ + 0.014470800757408142, + -0.424411803483963, + 0.8106193542480469 + ], + "closest_active_finger_button": [ + 0.15485553443431854, + -0.44053879380226135, + 0.7764067649841309 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1403847336769104, + 0.01612699031829834, + 0.034212589263916016 + ], + "min_contact_pad_to_button": 0.02099473109299271, + "closest_contact_pad": [ + 0.15489932894706723, + -0.44302639711627384, + 0.7892098672086373 + ], + "closest_contact_pad_button": [ + 0.15489932894706723, + -0.4405043423175812, + 0.7683671712875366 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0025220547986926634, + 0.020842695921100662 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 56, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b1b3f3478551d7ecd20fb94430fa97592207c463e82bbdcf1f4a81b484651850", + "visual_seed": 6813674269443815734, + "episode_index": 56, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_57_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_57_success.json new file mode 100644 index 0000000000000000000000000000000000000000..abdc56676e73a55f427f80ab35c6930b7c4a79b0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_57_success.json @@ -0,0 +1,926 @@ +{ + "episode": 57, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23546851365287189, + -0.05635031705953696, + 1.0468481443832576 + ], + "current_z": 1.0468481443832576, + "required_z": 0.8565865670132105, + "initial_z": 0.7565865670132105, + "lift_margin": 0.19026157737004712, + "gripper_z": 1.0508237384715333, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23109235238781634, + -0.0609057368276503, + 1.0508237384715333 + ], + "object_minus_gripper": [ + 0.00437616126505555, + 0.004555419768113335, + -0.003975594088275747 + ], + "object_to_gripper_xy": 0.0063168533845175115, + "object_to_gripper_z": -0.003975594088275747, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23546851365287189, + -0.08004228036301515, + 1.0468481443832576 + ], + "finger_b": [ + 0.22403128946140333, + -0.05635031705953696, + 1.0468481443832576 + ], + "finger_midpoint": [ + 0.2297499015571376, + -0.06819629871127605, + 1.0468481443832576 + ], + "object_minus_finger_midpoint": [ + 0.005718612095734293, + 0.011845981651739092, + 0.0 + ], + "finger_gap": 0.02630815885574798, + "fingertip_max_gap": 0.09236654158970564, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013154079427873992, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0468481443832576, + "object_top_z": 1.0923305553273421, + "finger_top_clearance": 0.04548241094408456, + "fingertip_min_top_clearance": 0.013644723283225368, + "object_projection_between_fingers": 0.8110006296946457, + "object_to_finger_line_xy": 0.010299857824475726, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04868327079485282, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.6705832285982696, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 207, + "max_stable_success_frames": 207, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22451760723547756, + -0.0628513824274021, + 1.245955184659715 + ], + "held_position": [ + 0.22926331036502115, + -0.058364004214327206, + 1.2423431090710322 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007463601776575257, + "max_held_gripper_dist": 0.007465825130040694, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003612075588682817, + "max_held_gripper_z_dist": 0.003990958233497155, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08526526832553132, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.22926331036502115, + -0.08250100832648445, + 1.2423431090710322 + ], + "held_grasp_finger_b": [ + 0.22002265430748336, + -0.058364004214327206, + 1.2423431090710322 + ], + "held_grasp_midpoint": [ + 0.22464298233625224, + -0.07043250627040583, + 1.2423431090710322 + ], + "held_grasp_object_position": [ + 0.22926331036502115, + -0.058364004214327206, + 1.2423431090710322 + ], + "held_grasp_finger_gap": 0.025845399820548447, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023347512250846827, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06725432990765814, + -0.9930389981510197, + -0.09669748321384117 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003977874546932545, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03290499470933051, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3136816516667379, + -0.38370515248806525, + 0.8470197551699562 + ], + "target_position": [ + 0.3066763691349839, + -0.38576155346518276, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007300874490661188, + "xy_threshold": 0.08, + "gripper_dist": 0.18769265145062228, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470197551699562, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07591003875633957, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08613510660616917, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15519603471829668, + "release_required_pad_clearance": 0.05306755330308459, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.1643096278435492, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008701086044311523, + "max_z_decrease": 0.008701086044311523, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.034995115885915945, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008701086044311523, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.020962358889496064, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008701086044311523, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00870132959930051, + "max_button_displacement": 0.12, + "button_start": [ + 0.16237629950046534, + -0.44202300906181335, + 0.7768088579177856 + ], + "button_final": [ + 0.16237629950046534, + -0.44202300906181335, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16197531003728072, + -0.4428902592099989, + 0.803575323642437 + ], + "closest_button": [ + 0.16241277754306788, + -0.44200015068054194, + 0.7685942649841309 + ], + "closest_ee_minus_button": [ + -0.0004374675057871591, + -0.0008901085294569788, + 0.03498105865830614 + ], + "button_min_z_position": [ + 0.16242162883281702, + -0.4419762790203094, + 0.7681077718734741 + ], + "min_active_finger_to_button": 0.14607579259903178, + "closest_active_finger": [ + 0.021398648619651794, + -0.42502284049987793, + 0.8110226392745972 + ], + "closest_active_finger_button": [ + 0.16238100826740262, + -0.4420232772827148, + 0.776772141456604 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14098235964775083, + 0.01700043678283686, + 0.034250497817993164 + ], + "min_contact_pad_to_button": 0.020962358889496064, + "closest_contact_pad": [ + 0.16242162883281702, + -0.44418424087864505, + 0.7889535243099819 + ], + "closest_contact_pad_button": [ + 0.16242162883281702, + -0.4419762790203094, + 0.7681077718734741 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002207961858335661, + 0.02084575243650777 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 57, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "320ead24a7aca6b9888622b9dc30d74e98b7ae2b629b071784efcd2339302e44", + "visual_seed": 6725686260498562737, + "episode_index": 57, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_58_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_58_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8299950b8f2804cbd0578296d06336d5c4eb259a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_58_success.json @@ -0,0 +1,926 @@ +{ + "episode": 58, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23729933071121123, + -0.05538096345094308, + 1.045817879961567 + ], + "current_z": 1.045817879961567, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.18923143215764615, + "gripper_z": 1.0498761677414377, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23270494358823204, + -0.060004874307205094, + 1.0498761677414377 + ], + "object_minus_gripper": [ + 0.004594387122979188, + 0.004623910856262015, + -0.004058287779870717 + ], + "object_to_gripper_xy": 0.006518354442837141, + "object_to_gripper_z": -0.004058287779870717, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23729933071121123, + -0.07931754237894534, + 1.045817879961567 + ], + "finger_b": [ + 0.22588626900939948, + -0.05538096345094308, + 1.045817879961567 + ], + "finger_midpoint": [ + 0.23159279986030534, + -0.0673492529149442, + 1.045817879961567 + ], + "object_minus_finger_midpoint": [ + 0.005706530850905889, + 0.011968289464001122, + 0.0 + ], + "finger_gap": 0.026518253867587962, + "fingertip_max_gap": 0.09219697045891107, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013259126933793981, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.045817879961567, + "object_top_z": 1.0915030581568668, + "finger_top_clearance": 0.045685178195299825, + "fingertip_min_top_clearance": 0.013705553458589948, + "object_projection_between_fingers": 0.8147686540390272, + "object_to_finger_line_xy": 0.01030194723980238, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048598485229455535, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1525638814427592, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 207, + "max_stable_success_frames": 207, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2283179325493574, + -0.061843306894398806, + 1.2461066452268337 + ], + "held_position": [ + 0.23328565686956274, + -0.057359604207182, + 1.2423375785131134 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007680347557330246, + "max_held_gripper_dist": 0.0076818422959537115, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003769066713720237, + "max_held_gripper_z_dist": 0.004066659737751888, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08544723982106517, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.23328565686956274, + -0.08190994864570081, + 1.2423375785131134 + ], + "held_grasp_finger_b": [ + 0.22403607679067547, + -0.057359604207182, + 1.2423375785131134 + ], + "held_grasp_midpoint": [ + 0.2286608668301191, + -0.0696347764264414, + 1.2423375785131134 + ], + "held_grasp_object_position": [ + 0.23328565686956274, + -0.057359604207182, + 1.2423375785131134 + ], + "held_grasp_finger_gap": 0.02623497939175214, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023711061156776878, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07534238043509961, + -0.9941997595622297, + -0.07674870550554824 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003808594163162643, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03264780900625389, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3128240472480741, + -0.377209606114513, + 0.8470196098458178 + ], + "target_position": [ + 0.30642192029361237, + -0.3787171057341831, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0065772170896474975, + "xy_threshold": 0.08, + "gripper_dist": 0.18527114486083401, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196098458178, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07523822764175574, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0854226824780454, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15432616859736972, + "release_required_pad_clearance": 0.0527113412390227, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.47642219832276256, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008303344249725342, + "max_z_decrease": 0.008303344249725342, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502283151773992, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008303344249725342, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.020841312487978277, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008303344249725342, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008303519859925439, + "max_button_displacement": 0.12, + "button_start": [ + 0.16212184727191925, + -0.43497857451438904, + 0.7768088579177856 + ], + "button_final": [ + 0.16212184727191925, + -0.43497857451438904, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1607558079489888, + -0.4337209144708164, + 0.8035464889273151 + ], + "closest_button": [ + 0.1621682494878769, + -0.4349606931209564, + 0.7685741186141968 + ], + "closest_ee_minus_button": [ + -0.0014124415388880873, + 0.001239778650140022, + 0.034972370313118284 + ], + "button_min_z_position": [ + 0.16217248141765594, + -0.4349597990512848, + 0.7685055136680603 + ], + "min_active_finger_to_button": 0.14645735536683613, + "closest_active_finger": [ + 0.033160872757434845, + -0.4954056143760681, + 0.8106914162635803 + ], + "closest_active_finger_button": [ + 0.1621223986148834, + -0.43498048186302185, + 0.7765229344367981 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12896152585744855, + -0.060425132513046265, + 0.03416848182678223 + ], + "min_contact_pad_to_button": 0.020841312487978277, + "closest_contact_pad": [ + 0.16217248141765594, + -0.4350165442684556, + 0.7893467489050103 + ], + "closest_contact_pad_button": [ + 0.16217248141765594, + -0.4349597990512848, + 0.7685055136680603 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -5.674521717080605e-05, + 0.02084123523695003 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 58, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b8d1e5542752ec8f9a9418478faf65438ac2dce3574d23d9bef1d784722bfd7b", + "visual_seed": 5318618549588830010, + "episode_index": 58, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_59_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_59_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b0f7778e3ddf320ac4793c1cea002396d6575208 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_59_success.json @@ -0,0 +1,926 @@ +{ + "episode": 59, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23960437546140276, + -0.05560998775759129, + 1.047513611997115 + ], + "current_z": 1.047513611997115, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.19092710458854933, + "gripper_z": 1.051523572839936, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23497527051472913, + -0.06018555197557389, + 1.051523572839936 + ], + "object_minus_gripper": [ + 0.004629104946673623, + 0.0045755642179826014, + -0.004009960842821014 + ], + "object_to_gripper_xy": 0.00650879409108945, + "object_to_gripper_z": -0.004009960842821014, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23960437546140276, + -0.07969509147586612, + 1.047513611997115 + ], + "finger_b": [ + 0.228406204008548, + -0.05560998775759129, + 1.047513611997115 + ], + "finger_midpoint": [ + 0.23400528973497536, + -0.06765253961672871, + 1.047513611997115 + ], + "object_minus_finger_midpoint": [ + 0.005599085726427394, + 0.01204255185913742, + 0.0 + ], + "finger_gap": 0.026561085538953175, + "fingertip_max_gap": 0.09170764406323703, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013280542769476596, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.047513611997115, + "object_top_z": 1.0931693715594974, + "finger_top_clearance": 0.04565575956238255, + "fingertip_min_top_clearance": 0.013696727868714731, + "object_projection_between_fingers": 0.8222528752553971, + "object_to_finger_line_xy": 0.010154295858935777, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04835382203161852, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8105258913282151, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 209, + "max_stable_success_frames": 209, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.232877629341165, + -0.06153686316903764, + 1.2446659997557494 + ], + "held_position": [ + 0.2378450130427634, + -0.05713309032936054, + 1.240874101596737 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0076450381104808535, + "max_held_gripper_dist": 0.007646679528110285, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0037918981590123746, + "max_held_gripper_z_dist": 0.004012019572858794, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08605289492733562, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2378450130427634, + -0.08188256148622312, + 1.240874101596737 + ], + "held_grasp_finger_b": [ + 0.22876220934434296, + -0.05713309032936054, + 1.240874101596737 + ], + "held_grasp_midpoint": [ + 0.2333036111935532, + -0.06950782590779184, + 1.240874101596737 + ], + "held_grasp_object_position": [ + 0.2378450130427634, + -0.05713309032936054, + 1.240874101596737 + ], + "held_grasp_finger_gap": 0.026363490769782606, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023919224862012232, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07758878644131516, + -0.9949282723008643, + -0.06401338293654722 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0036569114477196323, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032535888818359525, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3074926390485978, + -0.3793582972722438, + 0.8470195565254082 + ], + "target_position": [ + 0.3009649310667036, + -0.38092965232338394, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00671417367913798, + "xy_threshold": 0.08, + "gripper_dist": 0.1878090446562351, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195565254082, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07574911554978951, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08585283444793755, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15552632650148368, + "release_required_pad_clearance": 0.05292641722396878, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8899875709485772, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008328378200531006, + "max_z_decrease": 0.008328378200531006, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502672315175681, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008328378200531006, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02101270307917616, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008328378200531006, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008328555530334392, + "max_button_displacement": 0.12, + "button_start": [ + 0.15666486322879788, + -0.43719109892845154, + 0.7768088579177856 + ], + "button_final": [ + 0.15666486322879788, + -0.43719109892845154, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15640955830879086, + -0.43903734448692866, + 0.803602166409378 + ], + "closest_button": [ + 0.15670590102672577, + -0.4371632933616638, + 0.768626868724823 + ], + "closest_ee_minus_button": [ + -0.00029634271793491096, + -0.0018740511252648417, + 0.034975297684554985 + ], + "button_min_z_position": [ + 0.15670904517173767, + -0.43715944886207575, + 0.7684804797172546 + ], + "min_active_finger_to_button": 0.1458195273815852, + "closest_active_finger": [ + 0.015410661697387695, + -0.42540955543518066, + 0.810832679271698 + ], + "closest_active_finger_button": [ + 0.15666495263576508, + -0.4371911585330963, + 0.7766017913818359 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14125429093837738, + 0.01178160309791565, + 0.03423088788986206 + ], + "min_contact_pad_to_button": 0.02101270307917616, + "closest_contact_pad": [ + 0.15670904517173767, + -0.4399990791593485, + 0.7893004266544692 + ], + "closest_contact_pad_button": [ + 0.15670904517173767, + -0.43715944886207575, + 0.7684804797172546 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002839630297272744, + 0.020819946937214562 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 59, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "565ffba38876c73bda67018b153815c62c2511d8d9d63b9004e932b9c5eb787f", + "visual_seed": 7823949944198867578, + "episode_index": 59, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_5_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_5_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8716540bd5e83362d6bdaa5b75c02daf7ec9cb7f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_5_success.json @@ -0,0 +1,926 @@ +{ + "episode": 5, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2333157157768431, + -0.05090075476964042, + 1.0448564382374042 + ], + "current_z": 1.0448564382374042, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.18826999043348336, + "gripper_z": 1.049172237199838, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22851513510694738, + -0.05551033327637567, + 1.049172237199838 + ], + "object_minus_gripper": [ + 0.004800580669895721, + 0.004609578506735247, + -0.004315798962433837 + ], + "object_to_gripper_xy": 0.006655357900063076, + "object_to_gripper_z": -0.004315798962433837, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2333157157768431, + -0.07522560221176522, + 1.0448564382374042 + ], + "finger_b": [ + 0.22223445612683856, + -0.05090075476964042, + 1.0448564382374042 + ], + "finger_midpoint": [ + 0.22777508595184082, + -0.06306317849070282, + 1.0448564382374042 + ], + "object_minus_finger_midpoint": [ + 0.00554062982500228, + 0.012162423721062403, + 0.0 + ], + "finger_gap": 0.02672999286407432, + "fingertip_max_gap": 0.09258677198788348, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013364996432037167, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0448564382374042, + "object_top_z": 1.0903778701006983, + "finger_top_clearance": 0.04552143186329416, + "fingertip_min_top_clearance": 0.013656429558988215, + "object_projection_between_fingers": 0.8281377169822602, + "object_to_finger_line_xy": 0.010084175922666059, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04879338599394174, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.793558679458632, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 207, + "max_stable_success_frames": 207, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22567866339010356, + -0.056688708118114994, + 1.2442811444717385 + ], + "held_position": [ + 0.23077347916781696, + -0.05216425214847528, + 1.240209257718239 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007937764884611417, + "max_held_gripper_dist": 0.007939275131965212, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004071886753499454, + "max_held_gripper_z_dist": 0.004329777114085109, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08573385190122679, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.23077347916781696, + -0.07693516486597095, + 1.240209257718239 + ], + "held_grasp_finger_b": [ + 0.22143227979679375, + -0.05216425214847528, + 1.240209257718239 + ], + "held_grasp_midpoint": [ + 0.22610287948230534, + -0.06454970850722311, + 1.240209257718239 + ], + "held_grasp_object_position": [ + 0.23077347916781696, + -0.05216425214847528, + 1.240209257718239 + ], + "held_grasp_finger_gap": 0.026473687362114723, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024247706431619297, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.04664006909520228, + -0.9964663352223608, + -0.0698537523924998 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004179988292777018, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03264069756590454, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.30863850809412197, + -0.38152827110243404, + 0.847019634419792 + ], + "target_position": [ + 0.303091675916286, + -0.3825049537953736, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005632162665598728, + "xy_threshold": 0.08, + "gripper_dist": 0.1843415419452505, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.847019634419792, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07543932830649551, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08679306742356362, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15280523124237533, + "release_required_pad_clearance": 0.05339653371178181, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.8070463556444711, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008451402187347412, + "max_z_decrease": 0.008451402187347412, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035026466992438325, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008451402187347412, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021010870156493024, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008451402187347412, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00845159490433723, + "max_button_displacement": 0.12, + "button_start": [ + 0.15879160165786743, + -0.4387664198875427, + 0.7768088579177856 + ], + "button_final": [ + 0.15879160165786743, + -0.4387664198875427, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15850726585616567, + -0.4405857037458821, + 0.8036172334264443 + ], + "closest_button": [ + 0.15882954001426697, + -0.4387395977973938, + 0.76864093542099 + ], + "closest_ee_minus_button": [ + -0.00032227415810129334, + -0.0018461059484882747, + 0.03497629800545432 + ], + "button_min_z_position": [ + 0.15883517265319824, + -0.43872955441474915, + 0.7683574557304382 + ], + "min_active_finger_to_button": 0.1458664222094171, + "closest_active_finger": [ + 0.01748260110616684, + -0.4270498752593994, + 0.8107374906539917 + ], + "closest_active_finger_button": [ + 0.15879134833812714, + -0.438766747713089, + 0.7765093445777893 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1413087472319603, + 0.011716872453689575, + 0.03422814607620239 + ], + "min_contact_pad_to_button": 0.021010870156493024, + "closest_contact_pad": [ + 0.15883517265319824, + -0.44154480523033646, + 0.7891788636458109 + ], + "closest_contact_pad_button": [ + 0.15883517265319824, + -0.43872955441474915, + 0.7683574557304382 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0028152508155873113, + 0.02082140791537268 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 5, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "11a20c3a7f9af4a86e663293359f3ce66a07627a65e4291fbd52ae66c026055e", + "visual_seed": 7289505918369130333, + "episode_index": 5, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_60_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_60_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a53db71a4870aec3067b3841bcbf4c3657ad189f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_60_success.json @@ -0,0 +1,926 @@ +{ + "episode": 60, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23274719782142697, + -0.04970760358508748, + 1.0463863419826647 + ], + "current_z": 1.0463863419826647, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.18979977496945433, + "gripper_z": 1.0506748219372595, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22799981521994309, + -0.054388256022555204, + 1.0506748219372595 + ], + "object_minus_gripper": [ + 0.004747382601483885, + 0.004680652437467722, + -0.004288479954594804 + ], + "object_to_gripper_xy": 0.006666794492501207, + "object_to_gripper_z": -0.004288479954594804, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23274719782142697, + -0.07382462410652323, + 1.0463863419826647 + ], + "finger_b": [ + 0.22135230743454068, + -0.04970760358508748, + 1.0463863419826647 + ], + "finger_midpoint": [ + 0.22704975262798383, + -0.061766113845805354, + 1.0463863419826647 + ], + "object_minus_finger_midpoint": [ + 0.005697445193443146, + 0.012058510260717872, + 0.0 + ], + "finger_gap": 0.026673473822517127, + "fingertip_max_gap": 0.09268685397692375, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013336736911258563, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0463863419826647, + "object_top_z": 1.092350878974162, + "finger_top_clearance": 0.045964536991497384, + "fingertip_min_top_clearance": 0.013789361097449182, + "object_projection_between_fingers": 0.8175007247235876, + "object_to_finger_line_xy": 0.01030277522637709, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04884342698846188, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.6718032300164036, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 208, + "max_stable_success_frames": 208, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22385698227112805, + -0.05637853091805298, + 1.2456420945686244 + ], + "held_position": [ + 0.2289826868133305, + -0.05182263506022913, + 1.2416567112415764 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007931728335287564, + "max_held_gripper_dist": 0.007933512521223532, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003985383327048009, + "max_held_gripper_z_dist": 0.0043078509613245775, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08570700453153737, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2289826868133305, + -0.0765164075111216, + 1.2416567112415764 + ], + "held_grasp_finger_b": [ + 0.2197440789333494, + -0.05182263506022913, + 1.2416567112415764 + ], + "held_grasp_midpoint": [ + 0.22436338287333996, + -0.06416952128567537, + 1.2416567112415764 + ], + "held_grasp_object_position": [ + 0.2289826868133305, + -0.05182263506022913, + 1.2416567112415764 + ], + "held_grasp_finger_gap": 0.026365399170437464, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02389404052886625, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06843904163783128, + -0.993218919750492, + -0.09398018423774876 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0039426813520715455, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03262092323200402, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.31155033577087743, + -0.3842920961412585, + 0.8470198014191832 + ], + "target_position": [ + 0.3039471590887251, + -0.3862682723168641, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007855798364078355, + "xy_threshold": 0.08, + "gripper_dist": 0.18787083854665634, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470198014191832, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07515322809331168, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08537809565530795, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15711584617502733, + "release_required_pad_clearance": 0.052689047827653976, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.4315976308224568, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008564174175262451, + "max_z_decrease": 0.008564174175262451, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03499496575692392, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008564174175262451, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020819112795739225, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008564174175262451, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008564460166626075, + "max_button_displacement": 0.12, + "button_start": [ + 0.15964709222316742, + -0.4425297379493714, + 0.7768088579177856 + ], + "button_final": [ + 0.15964709222316742, + -0.4425297379493714, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1587147328525227, + -0.44191606594869864, + 0.8034777445673094 + ], + "closest_button": [ + 0.15969721972942352, + -0.4425043463706971, + 0.7685015201568604 + ], + "closest_ee_minus_button": [ + -0.0009824868769008344, + 0.0005882804219984328, + 0.03497622441044901 + ], + "button_min_z_position": [ + 0.15970896184444427, + -0.4424970149993897, + 0.7682446837425232 + ], + "min_active_finger_to_button": 0.1463495208941398, + "closest_active_finger": [ + 0.032722607254981995, + -0.5068937540054321, + 0.8104873895645142 + ], + "closest_active_finger_button": [ + 0.15964694321155545, + -0.4425301849842072, + 0.7763446569442749 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12692433595657346, + -0.06436356902122492, + 0.03414273262023926 + ], + "min_contact_pad_to_button": 0.020819112795739225, + "closest_contact_pad": [ + 0.15970896184444427, + -0.4428789156664081, + 0.7890602934977584 + ], + "closest_contact_pad_button": [ + 0.15970896184444427, + -0.4424970149993897, + 0.7682446837425232 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00038190066701837555, + 0.02081560975523522 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 60, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d06b945aa032af0a7be666aec49e3071a911172d4cbcdb22fb2da271ed193e35", + "visual_seed": 5327703807855001784, + "episode_index": 60, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_61_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_61_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3f7c47683e6238117e970fea541b490d9164cc2f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_61_success.json @@ -0,0 +1,926 @@ +{ + "episode": 61, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.22937596532101945, + -0.052184772005439556, + 1.045983098361998 + ], + "current_z": 1.045983098361998, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.18939671016272197, + "gripper_z": 1.050133019437177, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22501299806184819, + -0.05669682277073991, + 1.050133019437177 + ], + "object_minus_gripper": [ + 0.004362967259171263, + 0.004512050765300354, + -0.004149921075178975 + ], + "object_to_gripper_xy": 0.006276470776897468, + "object_to_gripper_z": -0.004149921075178975, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.22937596532101945, + -0.07594099031798665, + 1.045983098361998 + ], + "finger_b": [ + 0.21808970762839375, + -0.052184772005439556, + 1.045983098361998 + ], + "finger_midpoint": [ + 0.2237328364747066, + -0.0640628811617131, + 1.045983098361998 + ], + "object_minus_finger_midpoint": [ + 0.00564312884631285, + 0.011878109156273547, + 0.0 + ], + "finger_gap": 0.026300903429687557, + "fingertip_max_gap": 0.09246451591248817, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013150451714843778, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.045983098361998, + "object_top_z": 1.0915836018573408, + "finger_top_clearance": 0.04560050349534284, + "fingertip_min_top_clearance": 0.013680151048602884, + "object_projection_between_fingers": 0.8158555683373792, + "object_to_finger_line_xy": 0.010194281059373691, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048732257956244085, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.5304886307549912, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 207, + "max_stable_success_frames": 207, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.218555131370684, + -0.05788953173306256, + 1.2457579047578633 + ], + "held_position": [ + 0.22326886915334465, + -0.053372980823792764, + 1.2420134782768217 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007525907631085685, + "max_held_gripper_dist": 0.007527979994194519, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003744426481041563, + "max_held_gripper_z_dist": 0.004179443493294022, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08564402888406616, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.22326886915334465, + -0.07741807006992706, + 1.2420134782768217 + ], + "held_grasp_finger_b": [ + 0.21406551197518586, + -0.053372980823792764, + 1.2420134782768217 + ], + "held_grasp_midpoint": [ + 0.21866719056426526, + -0.0653955254468599, + 1.2420134782768217 + ], + "held_grasp_object_position": [ + 0.22326886915334465, + -0.053372980823792764, + 1.2420134782768217 + ], + "held_grasp_finger_gap": 0.025746224969951027, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023266403544067435, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06489623267101081, + -0.9924549045577855, + -0.10402759924321558 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004016559647723535, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03296975998498885, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.30947160827513903, + -0.38141157044066354, + 0.8470196545460851 + ], + "target_position": [ + 0.3038799911335258, + -0.3827696829425514, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0057541855919119355, + "xy_threshold": 0.08, + "gripper_dist": 0.18306596300191272, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196545460851, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0758561799377348, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08639505360237175, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15068851622102006, + "release_required_pad_clearance": 0.053197526801185877, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.4177281369919017, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008485674858093262, + "max_z_decrease": 0.008485674858093262, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500659715642537, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008485674858093262, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020862956990838077, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008485674858093262, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008485719264674603, + "max_button_displacement": 0.12, + "button_start": [ + 0.15957991778850553, + -0.43903115391731257, + 0.7768088579177856 + ], + "button_final": [ + 0.15957991778850553, + -0.43903115391731257, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15933387742076785, + -0.43817822235150483, + 0.8036841962407849 + ], + "closest_button": [ + 0.15958924591541288, + -0.43899849057197565, + 0.7686881422996521 + ], + "closest_ee_minus_button": [ + -0.0002553684946450252, + 0.0008202682204708212, + 0.03499605394113281 + ], + "button_min_z_position": [ + 0.15958665311336515, + -0.43900454044342035, + 0.7683231830596924 + ], + "min_active_finger_to_button": 0.14562202048210843, + "closest_active_finger": [ + 0.03178416192531586, + -0.49992865324020386, + 0.8104957938194275 + ], + "closest_active_finger_button": [ + 0.15957969427108765, + -0.4390321075916289, + 0.776353657245636 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1277955323457718, + -0.06089654564857494, + 0.034142136573791504 + ], + "min_contact_pad_to_button": 0.020862956990838077, + "closest_contact_pad": [ + 0.15958665311336515, + -0.43946824409026547, + 0.7891809862357093 + ], + "closest_contact_pad_button": [ + 0.15958665311336515, + -0.43900454044342035, + 0.7683231830596924 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.000463703646845115, + 0.02085780317601693 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 61, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9101b339cead5e7ecf3ff4884394245fa23770f07e3541552309c6320cb55aef", + "visual_seed": 5505422374722493578, + "episode_index": 61, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_62_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_62_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c6ecbf5ec0a6424f38cc00fd27040b64bbac5eb4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_62_success.json @@ -0,0 +1,926 @@ +{ + "episode": 62, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23016293862465273, + -0.056337298788398285, + 1.0441496518701168 + ], + "current_z": 1.0441496518701168, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.18756320406619598, + "gripper_z": 1.0497771309923847, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2248509336472935, + -0.061256930673606616, + 1.0497771309923847 + ], + "object_minus_gripper": [ + 0.00531200497735923, + 0.004919631885208331, + -0.005627479122267909 + ], + "object_to_gripper_xy": 0.007240177813109821, + "object_to_gripper_z": -0.005627479122267909, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23016293862465273, + -0.08093823469373601, + 1.0441496518701168 + ], + "finger_b": [ + 0.21854558199800178, + -0.056337298788398285, + 1.0441496518701168 + ], + "finger_midpoint": [ + 0.22435426031132727, + -0.06863776674106714, + 1.0441496518701168 + ], + "object_minus_finger_midpoint": [ + 0.0058086783133254605, + 0.012300467952668856, + 0.0 + ], + "finger_gap": 0.02720604753376215, + "fingertip_max_gap": 0.09407294697669225, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013603023766881064, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0441496518701168, + "object_top_z": 1.0900657636692759, + "finger_top_clearance": 0.04591611179915911, + "fingertip_min_top_clearance": 0.0137748335397477, + "object_projection_between_fingers": 0.8176592495704933, + "object_to_finger_line_xy": 0.010504938117417496, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049536473488346125, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.4897712537199834, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 206, + "max_stable_success_frames": 206, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2202255632245504, + -0.06095613354700195, + 1.246070534227309 + ], + "held_position": [ + 0.22575771067249892, + -0.0558857507300407, + 1.240804528000712 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.009167565591526346, + "max_held_gripper_dist": 0.009169750229416568, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005266006226597009, + "max_held_gripper_z_dist": 0.0056788440708512855, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08513811910056249, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.22575771067249892, + -0.08055542024502853, + 1.240804528000712 + ], + "held_grasp_finger_b": [ + 0.21555542151241402, + -0.0558857507300407, + 1.240804528000712 + ], + "held_grasp_midpoint": [ + 0.22065656609245649, + -0.06822058548753461, + 1.240804528000712 + ], + "held_grasp_object_position": [ + 0.22575771067249892, + -0.0558857507300407, + 1.240804528000712 + ], + "held_grasp_finger_gap": 0.026696053979655972, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.0243767755539041, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.019188516454468004, + -0.9960628914139611, + -0.08654777399989211 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004980214864669156, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.0328160703954372, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.30882119933596475, + -0.3850485491302956, + 0.8470201827569079 + ], + "target_position": [ + 0.30237792629246796, + -0.387024528696889, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006739455672429859, + "xy_threshold": 0.08, + "gripper_dist": 0.18754989783428647, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470201827569079, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0753788948638147, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0878400611592489, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1561814465945582, + "release_required_pad_clearance": 0.05392003057962445, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.847905614916196, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00842905044555664, + "max_z_decrease": 0.00842905044555664, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035068237818098015, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00842905044555664, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02082155754584858, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00842905044555664, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008429130525232588, + "max_button_displacement": 0.12, + "button_start": [ + 0.15807785093784332, + -0.4432860016822815, + 0.7768088579177856 + ], + "button_final": [ + 0.15807785093784332, + -0.4432860016822815, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15669829964559495, + -0.4412608505721596, + 0.8033622407135408 + ], + "closest_button": [ + 0.15810877084732056, + -0.44326615333557134, + 0.768379807472229 + ], + "closest_ee_minus_button": [ + -0.001410471201725605, + 0.002005302763411765, + 0.03498243324131178 + ], + "button_min_z_position": [ + 0.15810877084732056, + -0.44326615333557134, + 0.768379807472229 + ], + "min_active_finger_to_button": 0.146140958706716, + "closest_active_finger": [ + 0.02942640334367752, + -0.5036335587501526, + 0.8105777502059937 + ], + "closest_active_finger_button": [ + 0.15807734429836273, + -0.44328662753105175, + 0.7764549851417542 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1286509409546852, + -0.06034693121910084, + 0.0341227650642395 + ], + "min_contact_pad_to_button": 0.02082155754584858, + "closest_contact_pad": [ + 0.15810877084732056, + -0.44326615333557134, + 0.7892013650180776 + ], + "closest_contact_pad_button": [ + 0.15810877084732056, + -0.44326615333557134, + 0.768379807472229 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02082155754584858 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 62, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f92201fd7c0b5d26563e092eb1e9d60ef6c24e03a40a86c0d4064b848b923cb7", + "visual_seed": 6366638249344820175, + "episode_index": 62, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_63_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_63_success.json new file mode 100644 index 0000000000000000000000000000000000000000..504a33a9634eb68d55f1853dd23f8f83d4c5945a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_63_success.json @@ -0,0 +1,926 @@ +{ + "episode": 63, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23718167628672115, + -0.05341841276771334, + 1.04661415276359 + ], + "current_z": 1.04661415276359, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.19002770495966914, + "gripper_z": 1.0506120095276426, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23285994023816128, + -0.05792577765609741, + 1.0506120095276426 + ], + "object_minus_gripper": [ + 0.004321736048559871, + 0.0045073648883840675, + -0.003997856764052621 + ], + "object_to_gripper_xy": 0.006244496834049915, + "object_to_gripper_z": -0.003997856764052621, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23718167628672115, + -0.07709282858660409, + 1.04661415276359 + ], + "finger_b": [ + 0.2258504282439326, + -0.05341841276771334, + 1.04661415276359 + ], + "finger_midpoint": [ + 0.23151605226532687, + -0.06525562067715872, + 1.04661415276359 + ], + "object_minus_finger_midpoint": [ + 0.005665624021394283, + 0.011837207909445376, + 0.0 + ], + "finger_gap": 0.026246431120686562, + "fingertip_max_gap": 0.09376847903883653, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013123215560343284, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.04661415276359, + "object_top_z": 1.0929559641517859, + "finger_top_clearance": 0.04634181138819593, + "fingertip_min_top_clearance": 0.013902543416458746, + "object_projection_between_fingers": 0.8136132754303047, + "object_to_finger_line_xy": 0.010220843995073075, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04938423951941827, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.664050153984867, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 207, + "max_stable_success_frames": 207, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2279619602319968, + -0.05988190786550546, + 1.246693176286989 + ], + "held_position": [ + 0.23269108301786562, + -0.05552904750952523, + 1.2429845132351998 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007420658814026894, + "max_held_gripper_dist": 0.007424427330730421, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003708663051789296, + "max_held_gripper_z_dist": 0.003997091395203656, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08595420678102189, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.23269108301786562, + -0.07996696241700434, + 1.2429845132351998 + ], + "held_grasp_finger_b": [ + 0.22370996349783565, + -0.05552904750952523, + 1.2429845132351998 + ], + "held_grasp_midpoint": [ + 0.22820052325785062, + -0.06774800496326479, + 1.2429845132351998 + ], + "held_grasp_object_position": [ + 0.23269108301786562, + -0.05552904750952523, + 1.2429845132351998 + ], + "held_grasp_finger_gap": 0.026035978815059996, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.0236286446371751, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07581136960367577, + -0.9947458979457807, + -0.06879850840576007 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003652149074273763, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032705031675835446, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.30298139848110867, + -0.38646946096223267, + 0.8470187135386926 + ], + "target_position": [ + 0.29850494502468355, + -0.3869970067411466, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0045074316518822835, + "xy_threshold": 0.08, + "gripper_dist": 0.1836015025282492, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470187135386926, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07579716280775597, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08635148528796259, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1512028711359429, + "release_required_pad_clearance": 0.0531757426439813, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.3688482178562988, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0083695650100708, + "max_z_decrease": 0.0083695650100708, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500580259153545, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0083695650100708, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.0208411447881819, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.0083695650100708, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008369630218620097, + "max_button_displacement": 0.12, + "button_start": [ + 0.15420487523078913, + -0.44325846433639526, + 0.7768088579177856 + ], + "button_final": [ + 0.15420487523078913, + -0.44325846433639526, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15306910774749447, + -0.4430640974848918, + 0.80349425269897 + ], + "closest_button": [ + 0.15423426032066342, + -0.44323331117630005, + 0.76850825548172 + ], + "closest_ee_minus_button": [ + -0.0011651525731689594, + 0.00016921369140826537, + 0.03498599721725004 + ], + "button_min_z_position": [ + 0.15422867238521573, + -0.4432355463504791, + 0.7684392929077148 + ], + "min_active_finger_to_button": 0.14670715068126172, + "closest_active_finger": [ + 0.026816777884960175, + -0.5075178742408752, + 0.810728907585144 + ], + "closest_active_finger_button": [ + 0.15420472621917722, + -0.4432584047317505, + 0.776581883430481 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12738794833421704, + -0.06425946950912476, + 0.034147024154663086 + ], + "min_contact_pad_to_button": 0.0208411447881819, + "closest_contact_pad": [ + 0.15422867238521573, + -0.4440811499501739, + 0.7892632759713399 + ], + "closest_contact_pad_button": [ + 0.15422867238521573, + -0.4432355463504791, + 0.7684392929077148 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0008456035996947664, + 0.020823983063625096 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 63, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9e0765a840e29e1aeeb0df48fc79890f9d0c7f0109c96185527c2d091db6b67f", + "visual_seed": 8998275406288202357, + "episode_index": 63, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_64_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_64_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3ea0020ce381a5a9a4fd0fec70d57956095a1de2 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_64_success.json @@ -0,0 +1,926 @@ +{ + "episode": 64, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23941190080216454, + -0.047362117123002874, + 1.0459292533413296 + ], + "current_z": 1.0459292533413296, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.18934286514205356, + "gripper_z": 1.0499459187230087, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23501745206767724, + -0.05189899914288777, + 1.0499459187230087 + ], + "object_minus_gripper": [ + 0.0043944487344872996, + 0.004536882019884898, + -0.004016665381679108 + ], + "object_to_gripper_xy": 0.006316207575942379, + "object_to_gripper_z": -0.004016665381679108, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23941190080216454, + -0.07112519220155379, + 1.0459292533413296 + ], + "finger_b": [ + 0.228077492847701, + -0.047362117123002874, + 1.0459292533413296 + ], + "finger_midpoint": [ + 0.23374469682493276, + -0.059243654662278336, + 1.0459292533413296 + ], + "object_minus_finger_midpoint": [ + 0.005667203977231777, + 0.011881537539275462, + 0.0 + ], + "finger_gap": 0.026327790276949824, + "fingertip_max_gap": 0.09278004130947187, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013163895138474923, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0459292533413296, + "object_top_z": 1.0919096868379603, + "finger_top_clearance": 0.045980433496630724, + "fingertip_min_top_clearance": 0.013794130048989233, + "object_projection_between_fingers": 0.8146601273112172, + "object_to_finger_line_xy": 0.010230269398212704, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04889002065473594, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.229739097103774, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 208, + "max_stable_success_frames": 208, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23386831834254942, + -0.052897723364336416, + 1.2453309532148822 + ], + "held_position": [ + 0.23866465970345796, + -0.04863954909690079, + 1.241467687360487 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007487440257120458, + "max_held_gripper_dist": 0.007488640308699603, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003863265854395115, + "max_held_gripper_z_dist": 0.004012014701326061, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08615614352384189, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.23866465970345796, + -0.07349977674169195, + 1.241467687360487 + ], + "held_grasp_finger_b": [ + 0.2297105438691015, + -0.04863954909690079, + 1.241467687360487 + ], + "held_grasp_midpoint": [ + 0.23418760178627973, + -0.06106966291929637, + 1.241467687360487 + ], + "held_grasp_object_position": [ + 0.23866465970345796, + -0.04863954909690079, + 1.241467687360487 + ], + "held_grasp_finger_gap": 0.026423608930763252, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023997151645792632, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08386693162729719, + -0.9954899134417563, + -0.04434151570646482 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0034642836063115984, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03245069492245158, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.307178406809011, + -0.382788303983156, + 0.8470193598690611 + ], + "target_position": [ + 0.301308174192534, + -0.3840058903298966, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0059951770185141095, + "xy_threshold": 0.08, + "gripper_dist": 0.18449672921797336, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470193598690611, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07565040427541343, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0853070725664563, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15248488004740343, + "release_required_pad_clearance": 0.05265353628322815, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.36476795422064434, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008506298065185547, + "max_z_decrease": 0.008506298065185547, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035031030475592966, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008506298065185547, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021030186025074265, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008506298065185547, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008506489598595486, + "max_button_displacement": 0.12, + "button_start": [ + 0.157008096575737, + -0.4402673542499542, + 0.7768088579177856 + ], + "button_final": [ + 0.157008096575737, + -0.4402673542499542, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1573788563524553, + -0.4420041970968102, + 0.8035562900236163 + ], + "closest_button": [ + 0.15704606473445892, + -0.440238356590271, + 0.7685713768005371 + ], + "closest_ee_minus_button": [ + 0.00033279161799637524, + -0.001765840506539218, + 0.03498491322307917 + ], + "button_min_z_position": [ + 0.15704968571662903, + -0.44022825360298157, + 0.7683025598526001 + ], + "min_active_finger_to_button": 0.1452219387507095, + "closest_active_finger": [ + 0.016508787870407104, + -0.4268850088119507, + 0.8106160163879395 + ], + "closest_active_finger_button": [ + 0.15700754523277283, + -0.44026780128479004, + 0.7764047384262085 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14049875736236572, + 0.013382792472839355, + 0.03421127796173096 + ], + "min_contact_pad_to_button": 0.021030186025074265, + "closest_contact_pad": [ + 0.15704968571662903, + -0.443103480159706, + 0.7891352696258566 + ], + "closest_contact_pad_button": [ + 0.15704968571662903, + -0.44022825360298157, + 0.7683025598526001 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002875226556724453, + 0.020832709773256464 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 64, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5634be83b49c64e686e9c024394d04a49bd0837f028e2b7a21797475c6fbb7a3", + "visual_seed": 7247904176525875500, + "episode_index": 64, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_65_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_65_success.json new file mode 100644 index 0000000000000000000000000000000000000000..56f55fa9dcb6352f256ab3aed08e912f4d75d9d0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_65_success.json @@ -0,0 +1,926 @@ +{ + "episode": 65, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23871965736112827, + -0.055191684392083794, + 1.0467625657918596 + ], + "current_z": 1.0467625657918596, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.19017611798793876, + "gripper_z": 1.050608183861356, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23420294740589423, + -0.05978947755959803, + 1.050608183861356 + ], + "object_minus_gripper": [ + 0.004516709955234038, + 0.0045977931675142344, + -0.003845618069496348 + ], + "object_to_gripper_xy": 0.006445181985867493, + "object_to_gripper_z": -0.003845618069496348, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23871965736112827, + -0.07903131868393831, + 1.0467625657918596 + ], + "finger_b": [ + 0.22729017230013024, + -0.055191684392083794, + 1.0467625657918596 + ], + "finger_midpoint": [ + 0.23300491483062924, + -0.06711150153801106, + 1.0467625657918596 + ], + "object_minus_finger_midpoint": [ + 0.0057147425304990285, + 0.011919817145927263, + 0.0 + ], + "finger_gap": 0.02643787608581565, + "fingertip_max_gap": 0.09184185705296466, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013218938042907835, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0467625657918596, + "object_top_z": 1.092462818168476, + "finger_top_clearance": 0.045700252376616346, + "fingertip_min_top_clearance": 0.013710075712984904, + "object_projection_between_fingers": 0.8131039153841192, + "object_to_finger_line_xy": 0.01030622668454802, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04842092852648233, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2823391081263245, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 207, + "max_stable_success_frames": 207, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23014700705899352, + -0.06163986772753895, + 1.2481518806040244 + ], + "held_position": [ + 0.23506733432339583, + -0.057242394996531706, + 1.2445752886160324 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00750595743775179, + "max_held_gripper_dist": 0.0075071329714736365, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003576591987991984, + "max_held_gripper_z_dist": 0.003847729802998856, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08574883308341871, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.23506733432339583, + -0.0818466965546615, + 1.2445752886160324 + ], + "held_grasp_finger_b": [ + 0.22593803484596248, + -0.057242394996531706, + 1.2445752886160324 + ], + "held_grasp_midpoint": [ + 0.23050268458467915, + -0.0695445457755966, + 1.2445752886160324 + ], + "held_grasp_object_position": [ + 0.23506733432339583, + -0.057242394996531706, + 1.2445752886160324 + ], + "held_grasp_finger_gap": 0.02624339467584277, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023720784841946535, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0793581105207155, + -0.9935363839164197, + -0.08116491932397117 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0037148119173772212, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03261534858793064, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3118090250071024, + -0.3788268807443725, + 0.8470192927531582 + ], + "target_position": [ + 0.3035994361334785, + -0.3813004158743629, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00857413118124664, + "xy_threshold": 0.08, + "gripper_dist": 0.18632334945846293, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470192927531582, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07516340706406228, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08584078351748768, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1556633410756919, + "release_required_pad_clearance": 0.05292039175874384, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8784805312330326, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008378922939300537, + "max_z_decrease": 0.008378922939300537, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500882812199574, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008378922939300537, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02084026552080807, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008378922939300537, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008379102206129856, + "max_button_displacement": 0.12, + "button_start": [ + 0.15929935872554782, + -0.4375618696212769, + 0.7768088579177856 + ], + "button_final": [ + 0.15929935872554782, + -0.4375618696212769, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1585759587903831, + -0.43651004239273006, + 0.8037763764476968 + ], + "closest_button": [ + 0.1593129634857178, + -0.4375426769256592, + 0.7687905430793762 + ], + "closest_ee_minus_button": [ + -0.000737004695334692, + 0.001032634532929122, + 0.03498583336832062 + ], + "button_min_z_position": [ + 0.15934693813323975, + -0.4375346601009369, + 0.7684299349784851 + ], + "min_active_finger_to_button": 0.14594500450222167, + "closest_active_finger": [ + 0.03149604797363281, + -0.49921754002571106, + 0.8105916380882263 + ], + "closest_active_finger_button": [ + 0.15929910540580752, + -0.4375631809234619, + 0.7764586210250854 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1278030574321747, + -0.061654359102249146, + 0.03413301706314087 + ], + "min_contact_pad_to_button": 0.02084026552080807, + "closest_contact_pad": [ + 0.15934693813323975, + -0.4377062601388811, + 0.789269494004644 + ], + "closest_contact_pad_button": [ + 0.15934693813323975, + -0.4375346601009369, + 0.7684299349784851 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00017160003794419731, + 0.02083955902615886 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 65, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6beb3ac31bb6f73941d858a79ee955fda803e4a78cfdf978bcebc8222d495134", + "visual_seed": 6816897728210842567, + "episode_index": 65, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_67_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_67_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ebaa53894d4c57e8d2ee311babe4e319ca244817 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_67_success.json @@ -0,0 +1,926 @@ +{ + "episode": 67, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23494893765155833, + -0.05210769054648548, + 1.0435075878781874 + ], + "current_z": 1.0435075878781874, + "required_z": 0.8565865074085657, + "initial_z": 0.7565865074085657, + "lift_margin": 0.18692108046962175, + "gripper_z": 1.0477750859812078, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.230292787183322, + -0.056648915587136486, + 1.0477750859812078 + ], + "object_minus_gripper": [ + 0.004656150468236336, + 0.004541225040651006, + -0.004267498103020406 + ], + "object_to_gripper_xy": 0.006504034290553302, + "object_to_gripper_z": -0.004267498103020406, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23494893765155833, + -0.07631968500263422, + 1.0435075878781874 + ], + "finger_b": [ + 0.22395370589367922, + -0.05210769054648548, + 1.0435075878781874 + ], + "finger_midpoint": [ + 0.2294513217726188, + -0.06421368777455985, + 1.0435075878781874 + ], + "object_minus_finger_midpoint": [ + 0.0054976158789395435, + 0.012105997228074372, + 0.0 + ], + "finger_gap": 0.02659164900780038, + "fingertip_max_gap": 0.0939856269401535, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013295824503900185, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0435075878781874, + "object_top_z": 1.0896652840714638, + "finger_top_clearance": 0.046157696193276365, + "fingertip_min_top_clearance": 0.013847308857982877, + "object_projection_between_fingers": 0.8290306595748005, + "object_to_finger_line_xy": 0.010011281748181463, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04949281347007675, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.0573896860774004, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 206, + "max_stable_success_frames": 206, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22743937217974944, + -0.0574344838649528, + 1.241187435812557 + ], + "held_position": [ + 0.23233979655988182, + -0.052948442712300745, + 1.2371429297011414 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007777965930367771, + "max_held_gripper_dist": 0.007779999259818554, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004044506111415602, + "max_held_gripper_z_dist": 0.00427663510634857, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0849450787078725, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.23233979655988182, + -0.07754093592482894, + 1.2371429297011414 + ], + "held_grasp_finger_b": [ + 0.2230103232111655, + -0.052948442712300745, + 1.2371429297011414 + ], + "held_grasp_midpoint": [ + 0.22767505988552367, + -0.06524468931856484, + 1.2371429297011414 + ], + "held_grasp_object_position": [ + 0.23233979655988182, + -0.052948442712300745, + 1.2371429297011414 + ], + "held_grasp_finger_gap": 0.02630265757243274, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02418805842013732, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.03667524500497504, + -0.997467760953672, + -0.06093432745089887 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004277689662158702, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03276403503491056, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.31107812032847443, + -0.3809038464010256, + 0.8470196050990616 + ], + "target_position": [ + 0.30575168660157237, + -0.3821288813846429, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005465492380212968, + "xy_threshold": 0.08, + "gripper_dist": 0.18532888992154756, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196050990616, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07583608402171897, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08819632231776124, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15275918525949803, + "release_required_pad_clearance": 0.05409816115888062, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.2097249679440853, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008539974689483643, + "max_z_decrease": 0.008539974689483643, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035071046165713146, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008539974689483643, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.0208785862070745, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008539974689483643, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008540174101547072, + "max_button_displacement": 0.12, + "button_start": [ + 0.16145160794258118, + -0.4383903443813324, + 0.7768088579177856 + ], + "button_final": [ + 0.16145160794258118, + -0.4383903443813324, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16210258891708407, + -0.43620997299628567, + 0.8032688605113892 + ], + "closest_button": [ + 0.1615007370710373, + -0.43835884332656866, + 0.768268883228302 + ], + "closest_ee_minus_button": [ + 0.0006018518460467748, + 0.0021488703302829926, + 0.034999977283087236 + ], + "button_min_z_position": [ + 0.1615007370710373, + -0.43835884332656866, + 0.768268883228302 + ], + "min_active_finger_to_button": 0.14429328558630164, + "closest_active_finger": [ + 0.03450669348239899, + -0.49786558747291565, + 0.8104502558708191 + ], + "closest_active_finger_button": [ + 0.1614522784948349, + -0.43839186429977417, + 0.7762706279754639 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1269455850124359, + -0.05947372317314148, + 0.034179627895355225 + ], + "min_contact_pad_to_button": 0.0208785862070745, + "closest_contact_pad": [ + 0.1615007370710373, + -0.43835884332656866, + 0.7891474694353765 + ], + "closest_contact_pad_button": [ + 0.1615007370710373, + -0.43835884332656866, + 0.768268883228302 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.0208785862070745 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 67, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "70bbabaa325429b83ce7c556c1a49ec3329fe3c72a8fcc94df3ca2b758305969", + "visual_seed": 483414577791261478, + "episode_index": 67, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_68_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_68_success.json new file mode 100644 index 0000000000000000000000000000000000000000..11d6d7766ba49fb4aa3e87a3207f566c3f26d93f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_68_success.json @@ -0,0 +1,926 @@ +{ + "episode": 68, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.239555160479467, + -0.04999726249125164, + 1.0472041325055763 + ], + "current_z": 1.0472041325055763, + "required_z": 0.8565865670132101, + "initial_z": 0.7565865670132101, + "lift_margin": 0.1906175654923662, + "gripper_z": 1.0511754743076567, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23502257284497594, + -0.05457841109828325, + 1.0511754743076567 + ], + "object_minus_gripper": [ + 0.004532587634491075, + 0.004581148607031613, + -0.003971341802080364 + ], + "object_to_gripper_xy": 0.006444476179182377, + "object_to_gripper_z": -0.003971341802080364, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.239555160479467, + -0.07390957378594162, + 1.0472041325055763 + ], + "finger_b": [ + 0.22821919161629112, + -0.04999726249125164, + 1.0472041325055763 + ], + "finger_midpoint": [ + 0.23388717604787906, + -0.06195341813859663, + 1.0472041325055763 + ], + "object_minus_finger_midpoint": [ + 0.005667984431587947, + 0.011956155647344993, + 0.0 + ], + "finger_gap": 0.02646323528068803, + "fingertip_max_gap": 0.0920961905157428, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013231617640344015, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0472041325055763, + "object_top_z": 1.0928817011191785, + "finger_top_clearance": 0.04567756861360217, + "fingertip_min_top_clearance": 0.013703270584080685, + "object_projection_between_fingers": 0.8165019672664128, + "object_to_finger_line_xy": 0.010243237964217923, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048548095257871404, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1452016833156549, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 209, + "max_stable_success_frames": 209, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23370364444107325, + -0.05569907638519769, + 1.24654404843483 + ], + "held_position": [ + 0.23862882493586926, + -0.05138620134083844, + 1.2427478461525492 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007567657882236098, + "max_held_gripper_dist": 0.007571552242072988, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003796202282280836, + "max_held_gripper_z_dist": 0.003968717085949036, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08578224192257014, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.23862882493586926, + -0.07627960517569922, + 1.2427478461525492 + ], + "held_grasp_finger_b": [ + 0.22962480546009328, + -0.05138620134083844, + 1.2427478461525492 + ], + "held_grasp_midpoint": [ + 0.2341268151979813, + -0.06383290325826883, + 1.2427478461525492 + ], + "held_grasp_object_position": [ + 0.23862882493586926, + -0.05138620134083844, + 1.2427478461525492 + ], + "held_grasp_finger_gap": 0.026471757047948564, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02403122968087534, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08263153234147005, + -0.9952534322644876, + -0.05140656989780412 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003518565473657955, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032440594198857295, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.309539967519443, + -0.37836727610683196, + 0.8470195832094971 + ], + "target_position": [ + 0.30298962661645296, + -0.3798228647076929, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006710119531002476, + "xy_threshold": 0.08, + "gripper_dist": 0.18471654970223983, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195832094971, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07555352913696005, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08527650149424192, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15299700432896984, + "release_required_pad_clearance": 0.05263825074712096, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.33571721482113026, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008557915687561035, + "max_z_decrease": 0.008557915687561035, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03503562041508328, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008557915687561035, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02080764042215344, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008557915687561035, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008558228053541396, + "max_button_displacement": 0.12, + "button_start": [ + 0.15868955850601194, + -0.4360843300819397, + 0.7768088579177856 + ], + "button_final": [ + 0.15868955850601194, + -0.4360843300819397, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15719172567184775, + -0.43458001411212577, + 0.8033361834507842 + ], + "closest_button": [ + 0.15875051915645594, + -0.4360603392124176, + 0.7683665752410889 + ], + "closest_ee_minus_button": [ + -0.0015587934846081897, + 0.001480325100291835, + 0.0349696082096953 + ], + "button_min_z_position": [ + 0.1587569117546081, + -0.43605586886405945, + 0.7682509422302246 + ], + "min_active_finger_to_button": 0.14641386200645468, + "closest_active_finger": [ + 0.030842140316963196, + -0.4987553358078003, + 0.8107938170433044 + ], + "closest_active_finger_button": [ + 0.15869075059890742, + -0.43608489632606506, + 0.7766739130020142 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12784861028194422, + -0.06267043948173523, + 0.03411990404129028 + ], + "min_contact_pad_to_button": 0.02080764042215344, + "closest_contact_pad": [ + 0.1587569117546081, + -0.43605586886405945, + 0.789058582652378 + ], + "closest_contact_pad_button": [ + 0.1587569117546081, + -0.43605586886405945, + 0.7682509422302246 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02080764042215344 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 68, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0cab461ba9f0cb0a9dd0d421251a57b46197216407330c76e63d8fe6237f42a1", + "visual_seed": 8544003300009944280, + "episode_index": 68, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_69_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_69_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5ab54d321b3546b3b47508f557281ce73bcccc3d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_69_success.json @@ -0,0 +1,926 @@ +{ + "episode": 69, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23890426197931694, + -0.04937582169221006, + 1.0454083122885576 + ], + "current_z": 1.0454083122885576, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.188821804879992, + "gripper_z": 1.0495521505037184, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2341433697979924, + -0.05393169896683579, + 1.0495521505037184 + ], + "object_minus_gripper": [ + 0.0047608921813245275, + 0.004555877274625732, + -0.004143838215160844 + ], + "object_to_gripper_xy": 0.0065895456674681455, + "object_to_gripper_z": -0.004143838215160844, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23890426197931694, + -0.07375039247956809, + 1.0454083122885576 + ], + "finger_b": [ + 0.22794094233029216, + -0.04937582169221006, + 1.0454083122885576 + ], + "finger_midpoint": [ + 0.23342260215480454, + -0.06156310708588908, + 1.0454083122885576 + ], + "object_minus_finger_midpoint": [ + 0.005481659824512403, + 0.012187285393679019, + 0.0 + ], + "finger_gap": 0.026726654837345813, + "fingertip_max_gap": 0.09252335832858274, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013363327418672914, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0454083122885576, + "object_top_z": 1.0910157119331938, + "finger_top_clearance": 0.045607399644636226, + "fingertip_min_top_clearance": 0.013682219893390852, + "object_projection_between_fingers": 0.8317345530561059, + "object_to_finger_line_xy": 0.009998490738024784, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048761679164291374, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.6000466154001547, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 208, + "max_stable_success_frames": 208, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23468496938093805, + -0.05410728079042362, + 1.2434632937712335 + ], + "held_position": [ + 0.23972360679695898, + -0.04972939217929353, + 1.2394485525842833 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007789218349730805, + "max_held_gripper_dist": 0.007790725397754353, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004014741186950221, + "max_held_gripper_z_dist": 0.0041390623000150395, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08621065290571162, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.23972360679695898, + -0.07476696927899067, + 1.2394485525842833 + ], + "held_grasp_finger_b": [ + 0.23056259662593845, + -0.04972939217929353, + 1.2394485525842833 + ], + "held_grasp_midpoint": [ + 0.2351431017114487, + -0.062248180729142094, + 1.2394485525842833 + ], + "held_grasp_object_position": [ + 0.23972360679695898, + -0.04972939217929353, + 1.2394485525842833 + ], + "held_grasp_finger_gap": 0.026660914732559722, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024537840078145436, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0485411603950906, + -0.9978012665826278, + -0.04512635763721428 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004008155866201252, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03248661886264549, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3082656948282183, + -0.38483209095562676, + 0.8470196176017153 + ], + "target_position": [ + 0.30161819935680395, + -0.3867152795305998, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00690909511089429, + "xy_threshold": 0.08, + "gripper_dist": 0.18488095273397517, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196176017153, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07587057753434148, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0883824481245482, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15246569153337886, + "release_required_pad_clearance": 0.0541912240622741, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.398774506851436, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008407771587371826, + "max_z_decrease": 0.008407771587371826, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03507163420625052, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008407771587371826, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.020820750299578528, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008407771587371826, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008407867822386726, + "max_button_displacement": 0.12, + "button_start": [ + 0.15731813013553614, + -0.4429767429828644, + 0.7768088579177856 + ], + "button_final": [ + 0.15731813013553614, + -0.4429767429828644, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15590365438769546, + -0.44095738992934286, + 0.8033856647079981 + ], + "closest_button": [ + 0.1573531031608581, + -0.4429568648338318, + 0.7684010863304138 + ], + "closest_ee_minus_button": [ + -0.001449448773162637, + 0.0019994749044889293, + 0.034984578377584286 + ], + "button_min_z_position": [ + 0.1573531031608581, + -0.4429568648338318, + 0.7684010863304138 + ], + "min_active_finger_to_button": 0.1461488188570605, + "closest_active_finger": [ + 0.030123069882392883, + -0.5063374638557434, + 0.8106887936592102 + ], + "closest_active_finger_button": [ + 0.15731781721115107, + -0.44297620654106135, + 0.776537299156189 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12719474732875818, + -0.06336125731468206, + 0.03415149450302124 + ], + "min_contact_pad_to_button": 0.020820750299578528, + "closest_contact_pad": [ + 0.1573531031608581, + -0.4429568648338318, + 0.7892218366299923 + ], + "closest_contact_pad_button": [ + 0.1573531031608581, + -0.4429568648338318, + 0.7684010863304138 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.020820750299578528 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 69, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "84034b5f7408062d3922c57db13e1d516b9b1f335704d4a55871c330bc0f46e5", + "visual_seed": 1237946063648205308, + "episode_index": 69, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_6_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_6_success.json new file mode 100644 index 0000000000000000000000000000000000000000..eb8a2070c4fc04e200f01d2144c237c9d04b7666 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_6_success.json @@ -0,0 +1,926 @@ +{ + "episode": 6, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.22968523086995188, + -0.05758633968522705, + 1.0453807185223858 + ], + "current_z": 1.0453807185223858, + "required_z": 0.8565864478039209, + "initial_z": 0.7565864478039209, + "lift_margin": 0.18879427071846488, + "gripper_z": 1.049503156696224, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22551675836506013, + -0.06197203252629549, + 1.049503156696224 + ], + "object_minus_gripper": [ + 0.004168472504891746, + 0.004385692841068441, + -0.004122438173838283 + ], + "object_to_gripper_xy": 0.00605065820553743, + "object_to_gripper_z": -0.004122438173838283, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.22968523086995188, + -0.08121428002734961, + 1.0453807185223858 + ], + "finger_b": [ + 0.21854948421762077, + -0.05758633968522705, + 1.0453807185223858 + ], + "finger_midpoint": [ + 0.2241173575437863, + -0.06940030985628833, + 1.0453807185223858 + ], + "object_minus_finger_midpoint": [ + 0.005567873326165568, + 0.011813970171061276, + 0.0 + ], + "finger_gap": 0.026120574616876373, + "fingertip_max_gap": 0.09367162661334258, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013060287308438188, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0453807185223858, + "object_top_z": 1.0918067379383314, + "finger_top_clearance": 0.046426019415945596, + "fingertip_min_top_clearance": 0.013927805824783661, + "object_projection_between_fingers": 0.81825049762824, + "object_to_finger_line_xy": 0.01007308458659533, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04933581330667129, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.5393401141521692, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 205, + "max_stable_success_frames": 205, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2195982285268997, + -0.06252839099763577, + 1.2464198650820355 + ], + "held_position": [ + 0.22413031750129436, + -0.05811130683787808, + 1.2427434814167966 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007318897444304542, + "max_held_gripper_dist": 0.0073225431950280214, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003676383665238925, + "max_held_gripper_z_dist": 0.00414844739298581, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08503331922424859, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.22413031750129436, + -0.08199429648345069, + 1.2427434814167966 + ], + "held_grasp_finger_b": [ + 0.21517159785633194, + -0.05811130683787808, + 1.2427434814167966 + ], + "held_grasp_midpoint": [ + 0.21965095767881315, + -0.07005280166066438, + 1.2427434814167966 + ], + "held_grasp_object_position": [ + 0.22413031750129436, + -0.05811130683787808, + 1.2427434814167966 + ], + "held_grasp_finger_gap": 0.025507956642733344, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023087633643004313, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06924263023606111, + -0.9926713240929587, + -0.099040903073045 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003833746103170342, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033036082832543945, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3021826074169751, + -0.3801345304565259, + 0.8470192737131895 + ], + "target_position": [ + 0.297239925691802, + -0.3808472106787193, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0049937977267271935, + "xy_threshold": 0.08, + "gripper_dist": 0.18638670975328261, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470192737131895, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07547863190451029, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08542052525462616, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15460074849481303, + "release_required_pad_clearance": 0.052710262627313084, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.47146382574144713, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008562266826629639, + "max_z_decrease": 0.008562266826629639, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03499956196474081, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008562266826629639, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020979325920241064, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008562266826629639, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008562490063655134, + "max_button_displacement": 0.12, + "button_start": [ + 0.15293985605239865, + -0.4371086657047272, + 0.7768088579177856 + ], + "button_final": [ + 0.15293985605239865, + -0.4371086657047272, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15254344592507693, + -0.43820397939406985, + 0.8036067448697712 + ], + "closest_button": [ + 0.15298247337341303, + -0.43708524107933044, + 0.7686278223991394 + ], + "closest_ee_minus_button": [ + -0.00043902744833609897, + -0.0011187383147394092, + 0.034978922470631835 + ], + "button_min_z_position": [ + 0.15298789739608762, + -0.43706974387168884, + 0.768246591091156 + ], + "min_active_finger_to_button": 0.14598663587956404, + "closest_active_finger": [ + 0.012045219540596008, + -0.42005234956741333, + 0.8108330368995667 + ], + "closest_active_finger_button": [ + 0.1529404819011688, + -0.4371098279953003, + 0.7766326665878296 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1408952623605728, + 0.017057478427886963, + 0.03420037031173706 + ], + "min_contact_pad_to_button": 0.020979325920241064, + "closest_contact_pad": [ + 0.15298789739608762, + -0.43955310605898107, + 0.789078418382933 + ], + "closest_contact_pad_button": [ + 0.15298789739608762, + -0.43706974387168884, + 0.768246591091156 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0024833621872922262, + 0.020831827291777016 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 6, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "fb5e819fedd06fa4b41a28b9a4739ea4e1941f79ddf6e7840d1f33d4ddc1ea1a", + "visual_seed": 7945291159043093991, + "episode_index": 6, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_70_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_70_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9059449a10d9ce342b6ec5823b9acfc410d4a2eb --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_70_success.json @@ -0,0 +1,926 @@ +{ + "episode": 70, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.22906134050593918, + -0.0591316589567783, + 1.045457785066147 + ], + "current_z": 1.045457785066147, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.18887121805293672, + "gripper_z": 1.0497447377902909, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22418523955974834, + -0.06380923185635014, + 1.0497447377902909 + ], + "object_minus_gripper": [ + 0.004876100946190842, + 0.0046775728995718385, + -0.004286952724143811 + ], + "object_to_gripper_xy": 0.0067569259777099915, + "object_to_gripper_z": -0.004286952724143811, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.22906134050593918, + -0.08345257952068244, + 1.045457785066147 + ], + "finger_b": [ + 0.21779790011543326, + -0.0591316589567783, + 1.045457785066147 + ], + "finger_midpoint": [ + 0.22342962031068622, + -0.07129211923873037, + 1.045457785066147 + ], + "object_minus_finger_midpoint": [ + 0.005631720195252959, + 0.01216046028195207, + 0.0 + ], + "finger_gap": 0.02680246754510143, + "fingertip_max_gap": 0.09375900325558362, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013401233772550715, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.045457785066147, + "object_top_z": 1.091698538919706, + "finger_top_clearance": 0.04624075385355897, + "fingertip_min_top_clearance": 0.01387222615606769, + "object_projection_between_fingers": 0.8233992383259935, + "object_to_finger_line_xy": 0.010220597732384169, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04937950162779181, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.773385327664675, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 206, + "max_stable_success_frames": 206, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22025358103110507, + -0.06354155572203464, + 1.2431981314780844 + ], + "held_position": [ + 0.2253957755645218, + -0.05878399486327698, + 1.2393322610935826 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008001343873003596, + "max_held_gripper_dist": 0.00800412568026358, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0038658703845018128, + "max_held_gripper_z_dist": 0.004336954324967612, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0852289883923075, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2253957755645218, + -0.08302498571392396, + 1.2393322610935826 + ], + "held_grasp_finger_b": [ + 0.21581537083588648, + -0.05878399486327698, + 1.2393322610935826 + ], + "held_grasp_midpoint": [ + 0.22060557320020413, + -0.07090449028860046, + 1.2393322610935826 + ], + "held_grasp_object_position": [ + 0.2253957755645218, + -0.05878399486327698, + 1.2393322610935826 + ], + "held_grasp_finger_gap": 0.026065490445905844, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023675878606137343, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.04393142493476709, + -0.9940501023981428, + -0.0996715798281673 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004424226142787422, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03294140483156137, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3039513613011686, + -0.3823232679499821, + 0.8470196696641399 + ], + "target_position": [ + 0.2980651717332544, + -0.38362460214921734, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006028324670048982, + "xy_threshold": 0.08, + "gripper_dist": 0.18645134765991672, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196696641399, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07584784456207587, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08827628702715005, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1538728486157719, + "release_required_pad_clearance": 0.05413814351357503, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.2904105449539296, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0086442232131958, + "max_z_decrease": 0.0086442232131958, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035104426490282815, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0086442232131958, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020865381498222813, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.0086442232131958, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008644298859907931, + "max_button_displacement": 0.12, + "button_start": [ + 0.15376509726047508, + -0.4398860633373261, + 0.7768088579177856 + ], + "button_final": [ + 0.15376509726047508, + -0.4398860633373261, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15555687605024113, + -0.4380553332336407, + 0.8035474564701591 + ], + "closest_button": [ + 0.15376390516757957, + -0.43984118103981024, + 0.7685343623161316 + ], + "closest_ee_minus_button": [ + 0.0017929708826615598, + 0.001785847806169527, + 0.035013094154027535 + ], + "button_min_z_position": [ + 0.15375691652297968, + -0.43985083699226385, + 0.7681646347045898 + ], + "min_active_finger_to_button": 0.1434214201244156, + "closest_active_finger": [ + 0.029145270586013794, + -0.5021316409111023, + 0.8107612729072571 + ], + "closest_active_finger_button": [ + 0.15376591682434074, + -0.43988525867462164, + 0.7766323089599609 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12462064623832694, + -0.06224638223648066, + 0.03412896394729614 + ], + "min_contact_pad_to_button": 0.020865381498222813, + "closest_contact_pad": [ + 0.15375691652297968, + -0.43985083699226385, + 0.7890300162028127 + ], + "closest_contact_pad_button": [ + 0.15375691652297968, + -0.43985083699226385, + 0.7681646347045898 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.020865381498222813 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 70, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6c08493bbcaacd542787d3afe6d0e906625b891e596dc294769f55c25dc0df9f", + "visual_seed": 6618802295120652634, + "episode_index": 70, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_71_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_71_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5af9f58632219d3b0ed925aa18b1750dc349b54b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_71_success.json @@ -0,0 +1,926 @@ +{ + "episode": 71, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2375821726188712, + -0.05577687481062486, + 1.0466182766254903 + ], + "current_z": 1.0466182766254903, + "required_z": 0.8565864478039206, + "initial_z": 0.7565864478039206, + "lift_margin": 0.19003182882156977, + "gripper_z": 1.0505105532588594, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2331217130395778, + -0.06032556356089282, + 1.0505105532588594 + ], + "object_minus_gripper": [ + 0.004460459579293419, + 0.004548688750267954, + -0.0038922766333691072 + ], + "object_to_gripper_xy": 0.006370735358286723, + "object_to_gripper_z": -0.0038922766333691072, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2375821726188712, + -0.07962343827975672, + 1.0466182766254903 + ], + "finger_b": [ + 0.22628675703080553, + -0.05577687481062486, + 1.0466182766254903 + ], + "finger_midpoint": [ + 0.23193446482483837, + -0.06770015654519079, + 1.0466182766254903 + ], + "object_minus_finger_midpoint": [ + 0.005647707794032841, + 0.01192328173456593, + 0.0 + ], + "finger_gap": 0.026386454907669034, + "fingertip_max_gap": 0.09267468041314031, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013193227453834517, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0466182766254903, + "object_top_z": 1.09247863746413, + "finger_top_clearance": 0.04586036083863965, + "fingertip_min_top_clearance": 0.013758108251591893, + "object_projection_between_fingers": 0.816750694322134, + "object_to_finger_line_xy": 0.010208148297054605, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04883734020657016, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.30589183227366, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 207, + "max_stable_success_frames": 207, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22866873779370062, + -0.06213416679116794, + 1.2459492614219596 + ], + "held_position": [ + 0.23349030395253295, + -0.057718849389276926, + 1.242342401780105 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007466723810311871, + "max_held_gripper_dist": 0.007469077641396371, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0036068596418545873, + "max_held_gripper_z_dist": 0.003897962077190842, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08539296993039275, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.23349030395253295, + -0.0821567110265144, + 1.242342401780105 + ], + "held_grasp_finger_b": [ + 0.22433748896642985, + -0.057718849389276926, + 1.242342401780105 + ], + "held_grasp_midpoint": [ + 0.2289138964594814, + -0.06993778020789566, + 1.242342401780105 + ], + "held_grasp_object_position": [ + 0.23349030395253295, + -0.057718849389276926, + 1.242342401780105 + ], + "held_grasp_finger_gap": 0.02609565296310089, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023640262543594866, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07242024493074536, + -0.9944860154892646, + -0.07584769686982606 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0037974961293713028, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03271724459091396, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3043914328719819, + -0.38379606500821073, + 0.8470198624847295 + ], + "target_position": [ + 0.2990054012045696, + -0.38468525460823527, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0054589371920878505, + "xy_threshold": 0.08, + "gripper_dist": 0.1866830163313558, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470198624847295, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0751453279762181, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08550440755436327, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15580820244264573, + "release_required_pad_clearance": 0.052752203777181636, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5539056362108732, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00843733549118042, + "max_z_decrease": 0.00843733549118042, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035028277454474774, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00843733549118042, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020887989308276036, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00843733549118042, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008437492065780264, + "max_button_displacement": 0.12, + "button_start": [ + 0.15470533072948459, + -0.4409466981887817, + 0.7768088579177856 + ], + "button_final": [ + 0.15470533072948459, + -0.4409466981887817, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15609731263322468, + -0.4406644341796494, + 0.8035761761097859 + ], + "closest_button": [ + 0.15474441647529605, + -0.4409179687499999, + 0.7685749530792236 + ], + "closest_ee_minus_button": [ + 0.0013528961579286347, + 0.00025353457035048876, + 0.0350012230305623 + ], + "button_min_z_position": [ + 0.15474426746368408, + -0.44091314077377314, + 0.7683715224266052 + ], + "min_active_finger_to_button": 0.1444305165567338, + "closest_active_finger": [ + 0.01551228016614914, + -0.4232138693332672, + 0.8106505870819092 + ], + "closest_active_finger_button": [ + 0.15470564365386963, + -0.4409482777118682, + 0.7764325737953186 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1391933634877205, + 0.017734408378600963, + 0.034218013286590576 + ], + "min_contact_pad_to_button": 0.020887989308276036, + "closest_contact_pad": [ + 0.15474426746368408, + -0.44196984093369823, + 0.7892327659685101 + ], + "closest_contact_pad_button": [ + 0.15474426746368408, + -0.44091314077377314, + 0.7683715224266052 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0010567001599250947, + 0.020861243541904884 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 71, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7eca6fc9bbb1a6444a9971b174e2b6909a17da6d52af7f11b1dda57808b54a13", + "visual_seed": 3241619581007211815, + "episode_index": 71, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_72_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_72_success.json new file mode 100644 index 0000000000000000000000000000000000000000..feceed8b2658149b7dcb59a76dc18091ce55a797 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_72_success.json @@ -0,0 +1,926 @@ +{ + "episode": 72, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23821073407861004, + -0.05731386999867263, + 1.0441664589856363 + ], + "current_z": 1.0441664589856363, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.18757995157707075, + "gripper_z": 1.0479837302356685, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23375944452151315, + -0.061871701632395845, + 1.0479837302356685 + ], + "object_minus_gripper": [ + 0.0044512895570968936, + 0.004557831633723218, + -0.0038172712500321726 + ], + "object_to_gripper_xy": 0.00637085613732471, + "object_to_gripper_z": -0.0038172712500321726, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23821073407861004, + -0.08113101228917582, + 1.0441664589856363 + ], + "finger_b": [ + 0.22687083649149892, + -0.05731386999867263, + 1.0441664589856363 + ], + "finger_midpoint": [ + 0.23254078528505448, + -0.06922244114392423, + 1.0441664589856363 + ], + "object_minus_finger_midpoint": [ + 0.005669948793555563, + 0.011908571145251602, + 0.0 + ], + "finger_gap": 0.026378960255708423, + "fingertip_max_gap": 0.09195515426899348, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013189480127854215, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0441664589856363, + "object_top_z": 1.0895699476152687, + "finger_top_clearance": 0.045403488629632394, + "fingertip_min_top_clearance": 0.013621046588889718, + "object_projection_between_fingers": 0.8151995954252751, + "object_to_finger_line_xy": 0.010238612582674222, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04847757713449674, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.4418808965139223, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 205, + "max_stable_success_frames": 205, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22890764566328373, + -0.0634342805867012, + 1.2459206505149794 + ], + "held_position": [ + 0.23373720259541703, + -0.05902955552265987, + 1.2423967604109585 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007425902269470488, + "max_held_gripper_dist": 0.0074289049917596476, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003523890104020877, + "max_held_gripper_z_dist": 0.003823506022242462, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08504137956405784, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.23373720259541703, + -0.08347170196658163, + 1.2423967604109585 + ], + "held_grasp_finger_b": [ + 0.2245857746387157, + -0.05902955552265987, + 1.2423967604109585 + ], + "held_grasp_midpoint": [ + 0.22916148861706637, + -0.07125062874462075, + 1.2423967604109585 + ], + "held_grasp_object_position": [ + 0.23373720259541703, + -0.05902955552265987, + 1.2423967604109585 + ], + "held_grasp_finger_gap": 0.026099179229102428, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02366381590768961, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07009348042441413, + -0.9944000376477694, + -0.0790915237437435 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003834969992664642, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032726861575627486, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.31303660491885166, + -0.38087072104787795, + 0.847019338660066 + ], + "target_position": [ + 0.305464348977956, + -0.3830337026196428, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007875122177733125, + "xy_threshold": 0.08, + "gripper_dist": 0.1882436290682021, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.847019338660066, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07516971905252731, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08552033201282443, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.157447909889458, + "release_required_pad_clearance": 0.052760166006412215, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5692368137978956, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008623361587524414, + "max_z_decrease": 0.008623361587524414, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03503754531389659, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008623361587524414, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02089108669980432, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008623361587524414, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008623557592443957, + "max_button_displacement": 0.12, + "button_start": [ + 0.1611642688512802, + -0.4392951726913452, + 0.7768088579177856 + ], + "button_final": [ + 0.1611642688512802, + -0.4392951726913452, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1628040864972604, + -0.4393191092825602, + 0.8035729194196517 + ], + "closest_button": [ + 0.16120401024818418, + -0.43926364183425903, + 0.7685719728469849 + ], + "closest_ee_minus_button": [ + 0.00160007624907621, + -5.546744830114969e-05, + 0.035000946572666836 + ], + "button_min_z_position": [ + 0.16120246052742004, + -0.43925133347511297, + 0.7681854963302612 + ], + "min_active_finger_to_button": 0.1441803292214905, + "closest_active_finger": [ + 0.021839343011379242, + -0.42496418952941895, + 0.8104909062385559 + ], + "closest_active_finger_button": [ + 0.16116423904895777, + -0.4392963647842407, + 0.7762691378593445 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13932489603757853, + 0.014332175254821777, + 0.034221768379211426 + ], + "min_contact_pad_to_button": 0.02089108669980432, + "closest_contact_pad": [ + 0.16120246052742004, + -0.44035559629342225, + 0.7890473780077811 + ], + "closest_contact_pad_button": [ + 0.16120246052742004, + -0.43925133347511297, + 0.7681854963302612 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0011042628183092762, + 0.0208618816775199 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 72, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b25f218473dc92b63f9f3d7a92c3b73b9a38344d16444cacb012d56f2a97a7a2", + "visual_seed": 5788231944777535972, + "episode_index": 72, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_73_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_73_success.json new file mode 100644 index 0000000000000000000000000000000000000000..691977c9222ba91e006051c3ebed0b0aaf2cbec0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_73_success.json @@ -0,0 +1,926 @@ +{ + "episode": 73, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2326821295498058, + -0.0503988965992248, + 1.045578870391986 + ], + "current_z": 1.045578870391986, + "required_z": 0.8565864478039209, + "initial_z": 0.7565864478039209, + "lift_margin": 0.18899242258806503, + "gripper_z": 1.0502686820418214, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22773380834078133, + -0.05510856512241388, + 1.0502686820418214 + ], + "object_minus_gripper": [ + 0.00494832120902447, + 0.0047096685231890825, + -0.004689811649835507 + ], + "object_to_gripper_xy": 0.006831314689428341, + "object_to_gripper_z": -0.004689811649835507, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2326821295498058, + -0.07477830884503464, + 1.045578870391986 + ], + "finger_b": [ + 0.22140482895556107, + -0.0503988965992248, + 1.045578870391986 + ], + "finger_midpoint": [ + 0.22704347925268342, + -0.06258860272212972, + 1.045578870391986 + ], + "object_minus_finger_midpoint": [ + 0.005638650297122377, + 0.012189706122904924, + 0.0 + ], + "finger_gap": 0.026861370965460703, + "fingertip_max_gap": 0.09671829183275762, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01343068548273036, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.045578870391986, + "object_top_z": 1.0929042496549763, + "finger_top_clearance": 0.04732537926299041, + "fingertip_min_top_clearance": 0.014197613778897104, + "object_projection_between_fingers": 0.8237399195843653, + "object_to_finger_line_xy": 0.010235291436186482, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.050859145916378815, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.8144051539933335, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 208, + "max_stable_success_frames": 208, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22417799641668465, + -0.055516693528921884, + 1.2438177985522396 + ], + "held_position": [ + 0.22936538308958093, + -0.05080494882768667, + 1.239382274048856 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008293575600660805, + "max_held_gripper_dist": 0.008295579837162028, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004435524503383581, + "max_held_gripper_z_dist": 0.004705555285449581, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0857935518415729, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.22936538308958093, + -0.07545051818206931, + 1.239382274048856 + ], + "held_grasp_finger_b": [ + 0.21964800853782518, + -0.05080494882768667, + 1.239382274048856 + ], + "held_grasp_midpoint": [ + 0.22450669581370306, + -0.06312773350487799, + 1.239382274048856 + ], + "held_grasp_object_position": [ + 0.22936538308958093, + -0.05080494882768667, + 1.239382274048856 + ], + "held_grasp_finger_gap": 0.026492101784886663, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024376483739075753, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.023138141933690782, + -0.9982048041548831, + -0.05524305702952903 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0046231172710113465, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03278714110467154, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3054244395088561, + -0.383077048815227, + 0.8470200150285184 + ], + "target_position": [ + 0.3001402549870327, + -0.38421661576265437, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005405665443620002, + "xy_threshold": 0.08, + "gripper_dist": 0.1858261317059509, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470200150285184, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07533165764181153, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08742841363888652, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15442332575448345, + "release_required_pad_clearance": 0.053714206819443264, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.436407846243505, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008376359939575195, + "max_z_decrease": 0.008376359939575195, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03499353021795913, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008376359939575195, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02091932703570629, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008376359939575195, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008376577631695055, + "max_button_displacement": 0.12, + "button_start": [ + 0.15584018826484677, + -0.4404780864715576, + 0.7768088579177856 + ], + "button_final": [ + 0.15584018826484677, + -0.4404780864715576, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15522273628980984, + -0.44136728149382615, + 0.8037716186059598 + ], + "closest_button": [ + 0.1558585315942764, + -0.44046080112457275, + 0.7687956094741821 + ], + "closest_ee_minus_button": [ + -0.0006357953044665576, + -0.0009064803692533929, + 0.034976009131777674 + ], + "button_min_z_position": [ + 0.15589286386966705, + -0.4404485523700714, + 0.7684324979782104 + ], + "min_active_finger_to_button": 0.1462103250265745, + "closest_active_finger": [ + 0.014448828995227814, + -0.4258034825325012, + 0.810744047164917 + ], + "closest_active_finger_button": [ + 0.15584006905555725, + -0.440478801727295, + 0.776529848575592 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14139124006032944, + 0.014675319194793757, + 0.03421419858932495 + ], + "min_contact_pad_to_button": 0.02091932703570629, + "closest_contact_pad": [ + 0.15589286386966705, + -0.4424854051364341, + 0.7892524277195663 + ], + "closest_contact_pad_button": [ + 0.15589286386966705, + -0.4404485523700714, + 0.7684324979782104 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0020368527663626734, + 0.020819929741355825 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 73, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b9b712cb978c2ad5862317fe1cd50476fedcf64d70302df7e41fdaee393090a4", + "visual_seed": 2743559959117282352, + "episode_index": 73, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_74_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_74_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4ca1f47cc11135c01be4b0cd85d6f1ea41f79b1f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_74_success.json @@ -0,0 +1,926 @@ +{ + "episode": 74, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23285337325996916, + -0.047078541995695555, + 1.0465418978853736 + ], + "current_z": 1.0465418978853736, + "required_z": 0.8565865670132105, + "initial_z": 0.7565865670132105, + "lift_margin": 0.1899553308721631, + "gripper_z": 1.0511372359632942, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2279330008931845, + -0.051703629311594404, + 1.0511372359632942 + ], + "object_minus_gripper": [ + 0.004920372366784664, + 0.004625087315898849, + -0.004595338077920674 + ], + "object_to_gripper_xy": 0.006752888041979264, + "object_to_gripper_z": -0.004595338077920674, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23285337325996916, + -0.07155041766946374, + 1.0465418978853736 + ], + "finger_b": [ + 0.22182832914205594, + -0.047078541995695555, + 1.0465418978853736 + ], + "finger_midpoint": [ + 0.22734085120101255, + -0.05931447983257965, + 1.0465418978853736 + ], + "object_minus_finger_midpoint": [ + 0.005512522058956609, + 0.012235937836884092, + 0.0 + ], + "finger_gap": 0.026840720869497896, + "fingertip_max_gap": 0.09618257493234289, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013420360434748948, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0465418978853736, + "object_top_z": 1.093465378347063, + "finger_top_clearance": 0.04692348046168937, + "fingertip_min_top_clearance": 0.01407704413850681, + "object_projection_between_fingers": 0.8312777645856674, + "object_to_finger_line_xy": 0.010052021712203315, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05059128746617145, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.9261071765931095, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 210, + "max_stable_success_frames": 210, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.225866120021946, + -0.05102722728477757, + 1.247629129497436 + ], + "held_position": [ + 0.2309632138613641, + -0.04641821972871127, + 1.2432110045410445 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008169647751892328, + "max_held_gripper_dist": 0.008172798199715225, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004418124956391489, + "max_held_gripper_z_dist": 0.0046015332302662415, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08578760974008222, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2309632138613641, + -0.07114733435047824, + 1.2432110045410445 + ], + "held_grasp_finger_b": [ + 0.22109628190900887, + -0.04641821972871127, + 1.2432110045410445 + ], + "held_grasp_midpoint": [ + 0.22602974788518648, + -0.05878277703959475, + 1.2432110045410445 + ], + "held_grasp_object_position": [ + 0.2309632138613641, + -0.04641821972871127, + 1.2432110045410445 + ], + "held_grasp_finger_gap": 0.026624902931821126, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024673564183092016, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0037568931385544672, + -0.9992526449083503, + -0.038471254172588676 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0049101092630376856, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03282637386531438, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.30511613003688554, + -0.37969613737482855, + 0.8470197649793162 + ], + "target_position": [ + 0.3001802144478869, + -0.38100338500262354, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005106090389142699, + "xy_threshold": 0.08, + "gripper_dist": 0.18713438767831708, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470197649793162, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07549568950661309, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08856309250203663, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15547503533058252, + "release_required_pad_clearance": 0.05428154625101832, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.5802570285996342, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008539199829101562, + "max_z_decrease": 0.008539199829101562, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03499362551425684, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008539199829101562, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020831287586816963, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008539199829101562, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008539450868656259, + "max_button_displacement": 0.12, + "button_start": [ + 0.15588013827800742, + -0.4372648298740387, + 0.7768088579177856 + ], + "button_final": [ + 0.15588013827800742, + -0.4372648298740387, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1548059233886446, + -0.4369467792139802, + 0.803567931049969 + ], + "closest_button": [ + 0.1559247970581054, + -0.43724048137664795, + 0.768593430519104 + ], + "closest_ee_minus_button": [ + -0.0011188736694608126, + 0.00029370216266777494, + 0.03497450053086504 + ], + "button_min_z_position": [ + 0.1559378802776336, + -0.43723395466804504, + 0.7682696580886841 + ], + "min_active_finger_to_button": 0.1466043724070792, + "closest_active_finger": [ + 0.02879968285560608, + -0.5018937587738037, + 0.8109135627746582 + ], + "closest_active_finger_button": [ + 0.15588366985321037, + -0.43726423382759094, + 0.7767737507820129 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1270839869976043, + -0.06462952494621277, + 0.034139811992645264 + ], + "min_contact_pad_to_button": 0.020831287586816963, + "closest_contact_pad": [ + 0.1559378802776336, + -0.4379158583644227, + 0.7890897817644345 + ], + "closest_contact_pad_button": [ + 0.1559378802776336, + -0.43723395466804504, + 0.7682696580886841 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0006819036963776615, + 0.020820123675750368 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 74, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9ce7a6b4f66d036b4a1f8c9f162eb4de362a27bfc06e079067549571534e0161", + "visual_seed": 4890922047788385086, + "episode_index": 74, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_75_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_75_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2080c40ae8ef7a0154df43e6286681c4a94d93af --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_75_success.json @@ -0,0 +1,926 @@ +{ + "episode": 75, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23529896177556997, + -0.05030844417047009, + 1.046916213290393 + ], + "current_z": 1.046916213290393, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.19032970588182752, + "gripper_z": 1.0512154657168804, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2306016916199882, + -0.05486807139220974, + 1.0512154657168804 + ], + "object_minus_gripper": [ + 0.004697270155581773, + 0.004559627221739651, + -0.004299252426487321 + ], + "object_to_gripper_xy": 0.0065463384663297436, + "object_to_gripper_z": -0.004299252426487321, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23529896177556997, + -0.07455728602355027, + 1.046916213290393 + ], + "finger_b": [ + 0.2242754413355359, + -0.05030844417047009, + 1.046916213290393 + ], + "finger_midpoint": [ + 0.22978720155555293, + -0.06243286509701018, + 1.046916213290393 + ], + "object_minus_finger_midpoint": [ + 0.005511760220017037, + 0.012124420926540092, + 0.0 + ], + "finger_gap": 0.026636897982076333, + "fingertip_max_gap": 0.09365854240614055, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013318448991038167, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.046916213290393, + "object_top_z": 1.0929107498130453, + "finger_top_clearance": 0.045994536522652174, + "fingertip_min_top_clearance": 0.01379836095679562, + "object_projection_between_fingers": 0.828733142683968, + "object_to_finger_line_xy": 0.010035237736558178, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04932927120307028, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.0014601026737617, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 209, + "max_stable_success_frames": 209, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22869032890933588, + -0.05573836992848866, + 1.2441174477261123 + ], + "held_position": [ + 0.233661392007867, + -0.05127766642151777, + 1.2400202142403585 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007835602487585937, + "max_held_gripper_dist": 0.007839284819227835, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0040972334857538595, + "max_held_gripper_z_dist": 0.004304088925017435, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0857956603069851, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.233661392007867, + -0.07603332861860954, + 1.2400202142403585 + ], + "held_grasp_finger_b": [ + 0.2244285303288426, + -0.05127766642151777, + 1.2400202142403585 + ], + "held_grasp_midpoint": [ + 0.22904496116835482, + -0.06365549752006365, + 1.2400202142403585 + ], + "held_grasp_object_position": [ + 0.233661392007867, + -0.05127766642151777, + 1.2400202142403585 + ], + "held_grasp_finger_gap": 0.026421365324307437, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02429553833664505, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.04276440706232061, + -0.9973627849364303, + -0.058640265282962734 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004147908563820509, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03265761794229635, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3068805007582977, + -0.381853968690985, + 0.8470195408476273 + ], + "target_position": [ + 0.30145596094338006, + -0.38301427119730164, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005547245632725435, + "xy_threshold": 0.08, + "gripper_dist": 0.18515508658992944, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195408476273, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07549923008704496, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08774083350888266, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15350347930874905, + "release_required_pad_clearance": 0.05387041675444133, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.750024839064073, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008509278297424316, + "max_z_decrease": 0.008509278297424316, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03507711454682931, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008509278297424316, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021000739863756324, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008509278297424316, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008509416632427332, + "max_button_displacement": 0.12, + "button_start": [ + 0.15715588629245758, + -0.4392757415771484, + 0.7768088579177856 + ], + "button_final": [ + 0.15715588629245758, + -0.4392757415771484, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1591377269781208, + -0.4405002630817096, + 0.8034934858584334 + ], + "closest_button": [ + 0.15718443691730494, + -0.4392418563365936, + 0.7684934139251709 + ], + "closest_ee_minus_button": [ + 0.0019532900608158765, + -0.0012584067451160141, + 0.03500007193326249 + ], + "button_min_z_position": [ + 0.1571805030107498, + -0.43923392891883845, + 0.7682995796203613 + ], + "min_active_finger_to_button": 0.1436966787748143, + "closest_active_finger": [ + 0.01836027204990387, + -0.4246423840522766, + 0.8106058835983276 + ], + "closest_active_finger_button": [ + 0.15715546905994413, + -0.4392768740653991, + 0.7763938903808594 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13879519701004026, + 0.014634490013122503, + 0.03421199321746826 + ], + "min_contact_pad_to_button": 0.021000739863756324, + "closest_contact_pad": [ + 0.1571805030107498, + -0.4416716975735427, + 0.7891583513677894 + ], + "closest_contact_pad_button": [ + 0.1571805030107498, + -0.43923392891883845, + 0.7682995796203613 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002437768654704242, + 0.020858771747428118 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 75, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d8b6d692bc9d9622a10dbbfdac7ced083599eca0bdd14cd8fc90f7fd492df3b7", + "visual_seed": 3761810142625494825, + "episode_index": 75, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_77_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_77_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ce12a585a05ba468f8134ae7121dceb436d230ac --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_77_success.json @@ -0,0 +1,926 @@ +{ + "episode": 77, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23401859940248473, + -0.05366117987348284, + 1.0451567981935646 + ], + "current_z": 1.0451567981935646, + "required_z": 0.8565865074085657, + "initial_z": 0.7565865074085657, + "lift_margin": 0.18857029078499887, + "gripper_z": 1.0492944253795198, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2295125674168433, + -0.058252505599920415, + 1.0492944253795198 + ], + "object_minus_gripper": [ + 0.004506031985641423, + 0.004591325726437577, + -0.004137627185955228 + ], + "object_to_gripper_xy": 0.006433086054287719, + "object_to_gripper_z": -0.004137627185955228, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23401859940248473, + -0.07751101598982722, + 1.0451567981935646 + ], + "finger_b": [ + 0.2226130895844554, + -0.05366117987348284, + 1.0451567981935646 + ], + "finger_midpoint": [ + 0.22831584449347006, + -0.06558609793165503, + 1.0451567981935646 + ], + "object_minus_finger_midpoint": [ + 0.005702754909014673, + 0.011924918058172189, + 0.0 + ], + "finger_gap": 0.02643672326491407, + "fingertip_max_gap": 0.09285291032639834, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013218361632457033, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0451567981935646, + "object_top_z": 1.0913396831828073, + "finger_top_clearance": 0.04618288498924272, + "fingertip_min_top_clearance": 0.013854865496772817, + "object_projection_between_fingers": 0.8138709522301533, + "object_to_finger_line_xy": 0.010289457481456182, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04892645516319917, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1635376818711924, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 206, + "max_stable_success_frames": 206, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2240339493846457, + -0.06038258129741922, + 1.2450196398545588 + ], + "held_position": [ + 0.2289248849089613, + -0.05589933731777879, + 1.2412332557541528 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007639203586749198, + "max_held_gripper_dist": 0.007651273650085672, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003786384100405993, + "max_held_gripper_z_dist": 0.004153570761250336, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08530213523385495, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2289248849089613, + -0.08029174945568471, + 1.2412332557541528 + ], + "held_grasp_finger_b": [ + 0.21984174460191724, + -0.05589933731777879, + 1.2412332557541528 + ], + "held_grasp_midpoint": [ + 0.22438331475543927, + -0.06809554338673175, + 1.2412332557541528 + ], + "held_grasp_object_position": [ + 0.2289248849089613, + -0.05589933731777879, + 1.2412332557541528 + ], + "held_grasp_finger_gap": 0.026028699693663306, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02347144919068944, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0830230083863589, + -0.993159622246994, + -0.08210447501011629 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003657505005062727, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03271039073657986, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.30355577067588196, + -0.3853333275164178, + 0.8470193312390872 + ], + "target_position": [ + 0.2991565613165362, + -0.3855496882919917, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00440452664568652, + "xy_threshold": 0.08, + "gripper_dist": 0.1824732792547527, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470193312390872, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07574033883841658, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08606849719800229, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15016804669777264, + "release_required_pad_clearance": 0.053034248599001146, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.0978788498956953, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008363068103790283, + "max_z_decrease": 0.008363068103790283, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.034989909943451615, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008363068103790283, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02087337181319777, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008363068103790283, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00836324264455971, + "max_button_displacement": 0.12, + "button_start": [ + 0.1548564881086349, + -0.44181114435195923, + 0.7768088579177856 + ], + "button_final": [ + 0.1548564881086349, + -0.44181114435195923, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1550507165782962, + -0.44176955150240044, + 0.8035772247605145 + ], + "closest_button": [ + 0.15489824116230005, + -0.44178086519241333, + 0.7685876488685608 + ], + "closest_ee_minus_button": [ + 0.00015247541599613945, + 1.1313690012892952e-05, + 0.03498957589195373 + ], + "button_min_z_position": [ + 0.15490019321441648, + -0.441779375076294, + 0.7684457898139954 + ], + "min_active_finger_to_button": 0.14553511988691242, + "closest_active_finger": [ + 0.014367781579494476, + -0.42526277899742126, + 0.810749888420105 + ], + "closest_active_finger_button": [ + 0.15485624969005582, + -0.4418114125728607, + 0.7765504121780396 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14048846811056134, + 0.016548633575439453, + 0.03419947624206543 + ], + "min_contact_pad_to_button": 0.02087337181319777, + "closest_contact_pad": [ + 0.15490019321441648, + -0.4429915508589415, + 0.7892839346624209 + ], + "closest_contact_pad_button": [ + 0.15490019321441648, + -0.441779375076294, + 0.7684457898139954 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0012121757826474844, + 0.0208381448484255 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 77, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "506dd9c20bb955e734f3852faf6b06bf7456078dfd753081f4becb073f65dde6", + "visual_seed": 7016319688507304344, + "episode_index": 77, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_78_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_78_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ffbefe6de0a8cd6bbd023e6a4c70a52c8bd88387 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_78_success.json @@ -0,0 +1,926 @@ +{ + "episode": 78, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23205226956762404, + -0.0492836052123766, + 1.0454400025526465 + ], + "current_z": 1.0454400025526465, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.1888534951440809, + "gripper_z": 1.0495666337903526, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2276146358720956, + -0.05382414687814718, + 1.0495666337903526 + ], + "object_minus_gripper": [ + 0.004437633695528437, + 0.004540541665770587, + -0.00412663123770618 + ], + "object_to_gripper_xy": 0.006348945694703027, + "object_to_gripper_z": -0.00412663123770618, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23205226956762404, + -0.07311411599519993, + 1.0454400025526465 + ], + "finger_b": [ + 0.22077539664675389, + -0.0492836052123766, + 1.0454400025526465 + ], + "finger_midpoint": [ + 0.22641383310718896, + -0.06119886060378826, + 1.0454400025526465 + ], + "object_minus_finger_midpoint": [ + 0.005638436460435076, + 0.011915255391411667, + 0.0 + ], + "finger_gap": 0.026364011588597695, + "fingertip_max_gap": 0.09282513741626347, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013182005794298847, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0454400025526465, + "object_top_z": 1.0914616937472936, + "finger_top_clearance": 0.04602169119464716, + "fingertip_min_top_clearance": 0.013806507358394149, + "object_projection_between_fingers": 0.8170407442097655, + "object_to_finger_line_xy": 0.010193199954954895, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04891256870813174, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1979266444800742, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 207, + "max_stable_success_frames": 207, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2223167635933346, + -0.05547909278179668, + 1.2443570336339262 + ], + "held_position": [ + 0.227099004387399, + -0.05101199108284789, + 1.2405458404071117 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007572979493784592, + "max_held_gripper_dist": 0.007575325397323816, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0038111932268145576, + "max_held_gripper_z_dist": 0.004140876357171308, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08526303485314674, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.227099004387399, + -0.07533325426378515, + 1.2405458404071117 + ], + "held_grasp_finger_b": [ + 0.2179403126118478, + -0.05101199108284789, + 1.2405458404071117 + ], + "held_grasp_midpoint": [ + 0.2225196584996234, + -0.06317262267331653, + 1.2405458404071117 + ], + "held_grasp_object_position": [ + 0.227099004387399, + -0.05101199108284789, + 1.2405458404071117 + ], + "held_grasp_finger_gap": 0.02598856436504263, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023507572081398483, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07285157694081697, + -0.993977863736544, + -0.08185752341094221 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038170473829405886, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03277921378654774, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3061267627209421, + -0.38477105457049243, + 0.8470196298707738 + ], + "target_position": [ + 0.30058893995142716, + -0.3858293440529678, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005638036684456384, + "xy_threshold": 0.08, + "gripper_dist": 0.18373485981021756, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196298707738, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0752847080774476, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08527628306676625, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15261934438029012, + "release_required_pad_clearance": 0.05263814153338313, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.3357173913173246, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008410155773162842, + "max_z_decrease": 0.008410155773162842, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502458909128447, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008410155773162842, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020847684820740953, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008410155773162842, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008410206203819824, + "max_button_displacement": 0.12, + "button_start": [ + 0.15628886222839347, + -0.4420908093452454, + 0.7768088579177856 + ], + "button_final": [ + 0.15628886222839347, + -0.4420908093452454, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15629275055968891, + -0.44080413901655613, + 0.8035348080946085 + ], + "closest_button": [ + 0.15631584823131556, + -0.4420634210109711, + 0.7685328722000122 + ], + "closest_ee_minus_button": [ + -2.309767162664289e-05, + 0.0012592819944149958, + 0.035001935894596325 + ], + "button_min_z_position": [ + 0.15630546212196342, + -0.4420668780803681, + 0.7683987021446228 + ], + "min_active_finger_to_button": 0.1452229148299909, + "closest_active_finger": [ + 0.029305733740329742, + -0.5037410855293274, + 0.810620129108429 + ], + "closest_active_finger_button": [ + 0.15628826618194575, + -0.44209170341491705, + 0.7764955759048462 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.126982532441616, + -0.061649382114410345, + 0.034124553203582764 + ], + "min_contact_pad_to_button": 0.020847684820740953, + "closest_contact_pad": [ + 0.15630546212196342, + -0.4420668780803681, + 0.7892463869653638 + ], + "closest_contact_pad_button": [ + 0.15630546212196342, + -0.4420668780803681, + 0.7683987021446228 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.020847684820740953 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 78, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "44d971968982c0d3ca263988c8d0e44127fa4cd295eef2caaac80cd36956f706", + "visual_seed": 6541411606689559276, + "episode_index": 78, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_79_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_79_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c92400789997481359ebcdd68e2032c3441183d8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_79_success.json @@ -0,0 +1,926 @@ +{ + "episode": 79, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23917379637120703, + -0.054934719664067294, + 1.0464171785406384 + ], + "current_z": 1.0464171785406384, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.18983073073671763, + "gripper_z": 1.0503910757843034, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2342480661185424, + -0.059656616296881376, + 1.0503910757843034 + ], + "object_minus_gripper": [ + 0.0049257302526646285, + 0.004721896632814082, + -0.003973897243664926 + ], + "object_to_gripper_xy": 0.006823424824309015, + "object_to_gripper_z": -0.003973897243664926, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23917379637120703, + -0.07926314187049123, + 1.0464171785406384 + ], + "finger_b": [ + 0.22780740204491232, + -0.054934719664067294, + 1.0464171785406384 + ], + "finger_midpoint": [ + 0.23349059920805967, + -0.06709893076727927, + 1.0464171785406384 + ], + "object_minus_finger_midpoint": [ + 0.005683197163147358, + 0.012164211103211975, + 0.0 + ], + "finger_gap": 0.026852691616202014, + "fingertip_max_gap": 0.09325673138604784, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013426345808101014, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0464171785406384, + "object_top_z": 1.092416484027521, + "finger_top_clearance": 0.04599930548688258, + "fingertip_min_top_clearance": 0.013799791646064773, + "object_projection_between_fingers": 0.8208281455766189, + "object_to_finger_line_xy": 0.010297903989928253, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04912836569302392, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.6495283372902887, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 208, + "max_stable_success_frames": 208, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23239529438053105, + -0.06073621169207574, + 1.2473474722129505 + ], + "held_position": [ + 0.23767350739161122, + -0.05622572063425179, + 1.243583308667836 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007897657207515044, + "max_held_gripper_dist": 0.007898985110846551, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0037641635451144406, + "max_held_gripper_z_dist": 0.003981925069007186, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08591718230326534, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.23767350739161122, + -0.08122281345314919, + 1.243583308667836 + ], + "held_grasp_finger_b": [ + 0.22828947860500742, + -0.05622572063425179, + 1.243583308667836 + ], + "held_grasp_midpoint": [ + 0.23298149299830934, + -0.0687242670437005, + 1.243583308667836 + ], + "held_grasp_object_position": [ + 0.23767350739161122, + -0.05622572063425179, + 1.243583308667836 + ], + "held_grasp_finger_gap": 0.02670046152530665, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024361313125312763, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05925753106429408, + -0.9968114165582497, + -0.05343729812874008 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004000543260418327, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03246349402582399, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.30461090107898803, + -0.38168761205568225, + 0.8470196690504094 + ], + "target_position": [ + 0.2987452104161437, + -0.3828312361508087, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005976136128229745, + "xy_threshold": 0.08, + "gripper_dist": 0.18760737339626338, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196690504094, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07526688239193564, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08608204687786213, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1563881590276412, + "release_required_pad_clearance": 0.053041023438931065, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.1127500517161935, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008602559566497803, + "max_z_decrease": 0.008602559566497803, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03498579746270259, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008602559566497803, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02085539981909574, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008602559566497803, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00860279983482939, + "max_button_displacement": 0.12, + "button_start": [ + 0.15444514155387878, + -0.4390926957130432, + 0.7768088579177856 + ], + "button_final": [ + 0.15444514155387878, + -0.4390926957130432, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15392930408551192, + -0.43907257996736004, + 0.803567792098422 + ], + "closest_button": [ + 0.15448802709579468, + -0.43906694650650024, + 0.7685864567756653 + ], + "closest_ee_minus_button": [ + -0.0005587230102827578, + -5.633460859799655e-06, + 0.03498133532275671 + ], + "button_min_z_position": [ + 0.154499351978302, + -0.4390581250190735, + 0.7682062983512878 + ], + "min_active_finger_to_button": 0.1462641787024802, + "closest_active_finger": [ + 0.027829021215438843, + -0.5038552284240723, + 0.8108535408973694 + ], + "closest_active_finger_button": [ + 0.15444761514663696, + -0.43909209966659546, + 0.7766968607902527 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12661859393119812, + -0.0647631287574768, + 0.0341566801071167 + ], + "min_contact_pad_to_button": 0.02085539981909574, + "closest_contact_pad": [ + 0.154499351978302, + -0.44006198380016015, + 0.7890375241712432 + ], + "closest_contact_pad_button": [ + 0.154499351978302, + -0.4390581250190735, + 0.7682062983512878 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001003858781086664, + 0.020831225819955335 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 79, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c93d041e9d1a6d5c06c21f0eb5a6534e1184312532ea07b47ee746d53b3b7e6f", + "visual_seed": 9173452897052618499, + "episode_index": 79, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_7_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_7_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8132f9543bf91b3c68fd4e300458b731017ca10e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_7_success.json @@ -0,0 +1,926 @@ +{ + "episode": 7, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2379691470922628, + -0.057862382583595724, + 1.0449071793102165 + ], + "current_z": 1.0449071793102165, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.1883207315062957, + "gripper_z": 1.048742007937749, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23361244190299, + -0.06228166240696133, + 1.048742007937749 + ], + "object_minus_gripper": [ + 0.004356705189272808, + 0.004419279823365603, + -0.0038348286275324828 + ], + "object_to_gripper_xy": 0.006205716257084506, + "object_to_gripper_z": -0.0038348286275324828, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2379691470922628, + -0.08178162776531565, + 1.0449071793102165 + ], + "finger_b": [ + 0.22703757006285608, + -0.057862382583595724, + 1.0449071793102165 + ], + "finger_midpoint": [ + 0.23250335857755944, + -0.06982200517445569, + 1.0449071793102165 + ], + "object_minus_finger_midpoint": [ + 0.0054657885147033625, + 0.011959622590859968, + 0.0 + ], + "finger_gap": 0.026298852948618973, + "fingertip_max_gap": 0.09444175276214059, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01314942647430949, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0449071793102165, + "object_top_z": 1.0916584415265076, + "finger_top_clearance": 0.04675126221629111, + "fingertip_min_top_clearance": 0.014025378664887367, + "object_projection_between_fingers": 0.8272205746037501, + "object_to_finger_line_xy": 0.009942451547224913, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0497208763810703, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.7042036285855289, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 206, + "max_stable_success_frames": 206, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23013053606938053, + -0.06383334470440691, + 1.2425857896835786 + ], + "held_position": [ + 0.23478616432275612, + -0.059516084895309525, + 1.239007046810481 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007288415962650818, + "max_held_gripper_dist": 0.007293909745737957, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0035787428730975623, + "max_held_gripper_z_dist": 0.003841698029408258, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0856807045736668, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.23478616432275612, + -0.08392343178856364, + 1.239007046810481 + ], + "held_grasp_finger_b": [ + 0.2258509973752148, + -0.059516084895309525, + 1.239007046810481 + ], + "held_grasp_midpoint": [ + 0.23031858084898546, + -0.07171975834193658, + 1.239007046810481 + ], + "held_grasp_object_position": [ + 0.23478616432275612, + -0.059516084895309525, + 1.239007046810481 + ], + "held_grasp_finger_gap": 0.02599145611057749, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023777645975776664, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06039006238041641, + -0.9963082579794489, + -0.06101553447807785 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003797810792185362, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03277180668858099, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3107986228826154, + -0.38449569513985804, + 0.8470193155762863 + ], + "target_position": [ + 0.3058143617734574, + -0.3851737762344198, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005030174229096547, + "xy_threshold": 0.08, + "gripper_dist": 0.18670140325671541, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470193155762863, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0752006382244921, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08524394685132168, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15564489191402694, + "release_required_pad_clearance": 0.05262197342566084, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.3039007158117321, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008632302284240723, + "max_z_decrease": 0.008632302284240723, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502638225773383, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008632302284240723, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020986608514464725, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008632302284240723, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00863252261008987, + "max_button_displacement": 0.12, + "button_start": [ + 0.16151428222656253, + -0.4414352476596832, + 0.7768088579177856 + ], + "button_final": [ + 0.16151428222656253, + -0.4414352476596832, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16051566813340384, + -0.44309067413080266, + 0.803610516836975 + ], + "closest_button": [ + 0.16155202686786654, + -0.44140937924385065, + 0.768639862537384 + ], + "closest_ee_minus_button": [ + -0.0010363587344627, + -0.0016812948869520117, + 0.03497065429959101 + ], + "button_min_z_position": [ + 0.1615584045648575, + -0.4413921535015106, + 0.7681765556335449 + ], + "min_active_finger_to_button": 0.14660926038376704, + "closest_active_finger": [ + 0.019466392695903778, + -0.42935991287231445, + 0.8105254173278809 + ], + "closest_active_finger_button": [ + 0.16151405870914462, + -0.4414362907409668, + 0.7763070464134216 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14204766601324084, + 0.012076377868652344, + 0.03421837091445923 + ], + "min_contact_pad_to_button": 0.020986608514464725, + "closest_contact_pad": [ + 0.1615584045648575, + -0.44405162437682083, + 0.7889939750606204 + ], + "closest_contact_pad_button": [ + 0.1615584045648575, + -0.4413921535015106, + 0.7681765556335449 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0026594708753102103, + 0.02081741942707549 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 7, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d7c60b84f565c92d55db8edc06bfb2b63d6183b610ca82ab60691149dcbd618f", + "visual_seed": 490861392670271617, + "episode_index": 7, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_80_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_80_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d525c6c1713ea74bc6095617e46be0d098fd6d7f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_80_success.json @@ -0,0 +1,926 @@ +{ + "episode": 80, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2394248821260005, + -0.05503048219345689, + 1.0454896694149198 + ], + "current_z": 1.0454896694149198, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.1889031024017095, + "gripper_z": 1.0492943746002819, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23504449370986538, + -0.05954988406522156, + 1.0492943746002819 + ], + "object_minus_gripper": [ + 0.004380388416135111, + 0.004519401871764674, + -0.003804705185362023 + ], + "object_to_gripper_xy": 0.006293869712245457, + "object_to_gripper_z": -0.003804705185362023, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2394248821260005, + -0.07878215296841853, + 1.0454896694149198 + ], + "finger_b": [ + 0.22811848575579657, + -0.05503048219345689, + 1.0454896694149198 + ], + "finger_midpoint": [ + 0.23377168394089853, + -0.06690631758093771, + 1.0454896694149198 + ], + "object_minus_finger_midpoint": [ + 0.00565319818510196, + 0.01187583538748082, + 0.0 + ], + "finger_gap": 0.02630544551005224, + "fingertip_max_gap": 0.09248361809767824, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013152722755026117, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0454896694149198, + "object_top_z": 1.0914066283394668, + "finger_top_clearance": 0.04591695892454695, + "fingertip_min_top_clearance": 0.013775087677364068, + "object_projection_between_fingers": 0.8152616373151756, + "object_to_finger_line_xy": 0.010208753321957012, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048741809048839124, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.570080623479738, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 206, + "max_stable_success_frames": 206, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23138574529366213, + -0.06112814333683726, + 1.243842120777843 + ], + "held_position": [ + 0.23613841844475583, + -0.05678509850673038, + 1.240286891776814 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007354562782871786, + "max_held_gripper_dist": 0.007355761586391712, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0035552290010290033, + "max_held_gripper_z_dist": 0.003804209471724329, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08561645564554404, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.23613841844475583, + -0.08128158859775172, + 1.240286891776814 + ], + "held_grasp_finger_b": [ + 0.22709560337651946, + -0.05678509850673038, + 1.240286891776814 + ], + "held_grasp_midpoint": [ + 0.23161701091063763, + -0.06903334355224106, + 1.240286891776814 + ], + "held_grasp_object_position": [ + 0.23613841844475583, + -0.05678509850673038, + 1.240286891776814 + ], + "held_grasp_finger_gap": 0.026112267828318353, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02367356334619141, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07390542931186866, + -0.9936883359840698, + -0.08438885262544327 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0037530303429231804, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032695130162909224, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3109803760908014, + -0.3860579669503159, + 0.847019415874688 + ], + "target_position": [ + 0.30340490246875246, + -0.3882172701303288, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00787720704447798, + "xy_threshold": 0.08, + "gripper_dist": 0.18882250660868358, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.847019415874688, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07569860221705275, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08555550148467704, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15679185515748154, + "release_required_pad_clearance": 0.05277775074233852, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6039293481921084, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008663713932037354, + "max_z_decrease": 0.008663713932037354, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03498805514723153, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008663713932037354, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.02091156747583096, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008663713932037354, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008663974326820744, + "max_button_displacement": 0.12, + "button_start": [ + 0.1591048240661621, + -0.4444787204265595, + 0.7768088579177856 + ], + "button_final": [ + 0.1591048240661621, + -0.4444787204265595, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15901262320852666, + -0.4449200128245751, + 0.8035668502448559 + ], + "closest_button": [ + 0.15914954245090485, + -0.4444541037082672, + 0.7685821652412415 + ], + "closest_ee_minus_button": [ + -0.0001369192423781862, + -0.00046590911630789433, + 0.0349846850036144 + ], + "button_min_z_position": [ + 0.15915715694427487, + -0.44443660974502563, + 0.7681451439857483 + ], + "min_active_finger_to_button": 0.1458109190490985, + "closest_active_finger": [ + 0.01839490979909897, + -0.4274597465991974, + 0.8110449314117432 + ], + "closest_active_finger_button": [ + 0.1591037958860397, + -0.4444802105426789, + 0.7768084406852722 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14070888608694074, + 0.0170204639434815, + 0.03423649072647095 + ], + "min_contact_pad_to_button": 0.02091156747583096, + "closest_contact_pad": [ + 0.15915715694427487, + -0.44618868912911236, + 0.788983183052035 + ], + "closest_contact_pad_button": [ + 0.15915715694427487, + -0.44443660974502563, + 0.7681451439857483 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0017520793840867244, + 0.020838039066286673 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 80, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f4c22617b9cf8398218a60d6d639e2706ebf786ced51fe2714050449a1524201", + "visual_seed": 5808868485154276438, + "episode_index": 80, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_81_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_81_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6d1ed9232014ce55d3432cd8a2e43513d9b65261 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_81_success.json @@ -0,0 +1,926 @@ +{ + "episode": 81, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23338246115746747, + -0.05233771684771691, + 1.0440868643594656 + ], + "current_z": 1.0440868643594656, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.18750029734625528, + "gripper_z": 1.0480633694725539, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2291165753917231, + -0.05672045676343827, + 1.0480633694725539 + ], + "object_minus_gripper": [ + 0.004265885765744382, + 0.004382739915721363, + -0.0039765051130882245 + ], + "object_to_gripper_xy": 0.006116060050002602, + "object_to_gripper_z": -0.0039765051130882245, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23338246115746747, + -0.07616359472626404, + 1.0440868643594656 + ], + "finger_b": [ + 0.22247638268458123, + -0.05233771684771691, + 1.0440868643594656 + ], + "finger_midpoint": [ + 0.22792942192102433, + -0.06425065578699048, + 1.0440868643594656 + ], + "object_minus_finger_midpoint": [ + 0.005453039236443136, + 0.011912938939273567, + 0.0 + ], + "finger_gap": 0.026203339564646985, + "fingertip_max_gap": 0.09380986200299041, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013101669782323501, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0440868643594656, + "object_top_z": 1.0904738827778306, + "finger_top_clearance": 0.04638701841836501, + "fingertip_min_top_clearance": 0.013916105525509486, + "object_projection_between_fingers": 0.8267696643608144, + "object_to_finger_line_xy": 0.00991655636823559, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049404931001495206, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.659567344106678, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 206, + "max_stable_success_frames": 206, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22466765062812635, + -0.05837269781491908, + 1.2444308305426186 + ], + "held_position": [ + 0.2292666547048234, + -0.05407987101873394, + 1.2407375672360412 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007295162386899427, + "max_held_gripper_dist": 0.007297846168166719, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0036932633065773768, + "max_held_gripper_z_dist": 0.003990547034290248, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08516897906853654, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2292666547048234, + -0.07845298829395463, + 1.2407375672360412 + ], + "held_grasp_finger_b": [ + 0.22042197004249636, + -0.05407987101873394, + 1.2407375672360412 + ], + "held_grasp_midpoint": [ + 0.22484431237365987, + -0.06626642965634429, + 1.2407375672360412 + ], + "held_grasp_object_position": [ + 0.2292666547048234, + -0.05407987101873394, + 1.2407375672360412 + ], + "held_grasp_finger_gap": 0.02592831063697873, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023706969229994334, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06331717364485556, + -0.995645710418187, + -0.06841458066443871 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0037382102008284225, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032786719916215054, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.30861557578247417, + -0.3799913118238199, + 0.8470195899716346 + ], + "target_position": [ + 0.3036594451840271, + -0.38068434517246497, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005004350680277866, + "xy_threshold": 0.08, + "gripper_dist": 0.18499594308805747, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195899716346, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07551338781016392, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.085939146548882, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15315744163954628, + "release_required_pad_clearance": 0.052969573274441004, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.9731651111485553, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008417487144470215, + "max_z_decrease": 0.008417487144470215, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03506825786079543, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008417487144470215, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020864521225182897, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008417487144470215, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008417674318930458, + "max_button_displacement": 0.12, + "button_start": [ + 0.15935936570167536, + -0.4369457960128784, + 0.7768088579177856 + ], + "button_final": [ + 0.15935936570167536, + -0.4369457960128784, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16059462334236152, + -0.4351496504623116, + 0.8035989457335787 + ], + "closest_button": [ + 0.159403994679451, + -0.43691861629486084, + 0.7685955762863159 + ], + "closest_ee_minus_button": [ + 0.0011906286629105312, + 0.001768965832549263, + 0.03500336944726279 + ], + "button_min_z_position": [ + 0.15940746665000916, + -0.43691685795783997, + 0.7683913707733154 + ], + "min_active_finger_to_button": 0.143947601898039, + "closest_active_finger": [ + 0.03341928869485855, + -0.49772870540618896, + 0.8105694651603699 + ], + "closest_active_finger_button": [ + 0.15935967862606043, + -0.43694743514060974, + 0.7764290571212769 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12594038993120188, + -0.060781270265579224, + 0.03414040803909302 + ], + "min_contact_pad_to_button": 0.020864521225182897, + "closest_contact_pad": [ + 0.15940746665000916, + -0.43691685795783997, + 0.7892558919984983 + ], + "closest_contact_pad_button": [ + 0.15940746665000916, + -0.43691685795783997, + 0.7683913707733154 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.020864521225182897 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 81, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8278992af55ca2adb46156f6edc46014c4f97a48adedea39dcbec84e099c1ba9", + "visual_seed": 8263277318938027598, + "episode_index": 81, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_82_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_82_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e4dbb16b340976d3934b5f528709af4bac560e59 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_82_success.json @@ -0,0 +1,926 @@ +{ + "episode": 82, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23118220633701025, + -0.049582194902942404, + 1.0444604211008888 + ], + "current_z": 1.0444604211008888, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.1878739136923232, + "gripper_z": 1.048801231034444, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22642784337153438, + -0.054192509340405884, + 1.048801231034444 + ], + "object_minus_gripper": [ + 0.004754362965475878, + 0.004610314437463479, + -0.004340809933555123 + ], + "object_to_gripper_xy": 0.006622610242175873, + "object_to_gripper_z": -0.004340809933555123, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23118220633701025, + -0.07387688489499228, + 1.0444604211008888 + ], + "finger_b": [ + 0.22011400401862447, + -0.049582194902942404, + 1.0444604211008888 + ], + "finger_midpoint": [ + 0.22564810517781736, + -0.061729539898967345, + 1.0444604211008888 + ], + "object_minus_finger_midpoint": [ + 0.005534101159192895, + 0.01214734499602494, + 0.0 + ], + "finger_gap": 0.026697135883283974, + "fingertip_max_gap": 0.09397893409867036, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013348567941641992, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0444604211008888, + "object_top_z": 1.0906107222835058, + "finger_top_clearance": 0.04615030118261698, + "fingertip_min_top_clearance": 0.013845090354785095, + "object_projection_between_fingers": 0.8281202021268336, + "object_to_finger_line_xy": 0.010072186966798838, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049489467049335184, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.0024634148179667, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 207, + "max_stable_success_frames": 207, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2227796342003344, + -0.05528078431833203, + 1.2439143182044305 + ], + "held_position": [ + 0.22780857283332948, + -0.05071364446822449, + 1.2398389610365566 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00792196479609779, + "max_held_gripper_dist": 0.007922762887550196, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004075357167873994, + "max_held_gripper_z_dist": 0.004362299868111874, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08556309612388845, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.22780857283332948, + -0.0753541951479696, + 1.2398389610365566 + ], + "held_grasp_finger_b": [ + 0.21841665588061973, + -0.05071364446822449, + 1.2398389610365566 + ], + "held_grasp_midpoint": [ + 0.2231126143569746, + -0.06303391980809704, + 1.2398389610365566 + ], + "held_grasp_object_position": [ + 0.22780857283332948, + -0.05071364446822449, + 1.2398389610365566 + ], + "held_grasp_finger_gap": 0.02636977136510068, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024182205852683936, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0403975997344282, + -0.9967965843664568, + -0.06902610615602046 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004281062406012856, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03272971113767425, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.30598209957441724, + -0.3853965938911502, + 0.847020048176861 + ], + "target_position": [ + 0.2998320121642811, + -0.38678318698383907, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006304459973463803, + "xy_threshold": 0.08, + "gripper_dist": 0.18517334638018051, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.847020048176861, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0751802307192565, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08717280800339221, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15424354398681803, + "release_required_pad_clearance": 0.053586404001696106, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.181837453610062, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008562922477722168, + "max_z_decrease": 0.008562922477722168, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03504086686275959, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008562922477722168, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02106129947223283, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008562922477722168, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008562999755261449, + "max_button_displacement": 0.12, + "button_start": [ + 0.15553194284439087, + -0.44304463267326355, + 0.7768088579177856 + ], + "button_final": [ + 0.15553194284439087, + -0.44304463267326355, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15610231804091806, + -0.44465422641012375, + 0.8036124066390646 + ], + "closest_button": [ + 0.1555330902338028, + -0.4430124759674072, + 0.768614649772644 + ], + "closest_ee_minus_button": [ + 0.000569227807115269, + -0.0016417504427165275, + 0.03499775686642059 + ], + "button_min_z_position": [ + 0.15552423894405365, + -0.44300907850265503, + 0.7682459354400635 + ], + "min_active_finger_to_button": 0.1449838148658252, + "closest_active_finger": [ + 0.015547230839729309, + -0.4271250069141388, + 0.8105446696281433 + ], + "closest_active_finger_button": [ + 0.15553192794322968, + -0.44304561614990234, + 0.7763229608535767 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13998469710350037, + 0.01592060923576355, + 0.03422170877456665 + ], + "min_contact_pad_to_button": 0.02106129947223283, + "closest_contact_pad": [ + 0.15552423894405365, + -0.4459489398726386, + 0.7891010439409645 + ], + "closest_contact_pad_button": [ + 0.15552423894405365, + -0.44300907850265503, + 0.7682459354400635 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0029398613699835874, + 0.020855108500901 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 82, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "dd6a63327c3d91a931932f4f9533a966c6ead58446ee6380e8f45c566c69f902", + "visual_seed": 3661002035665626374, + "episode_index": 82, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_83_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_83_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8bd2d4998e76559c98364c2f437e5ba48a8ff51e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_83_success.json @@ -0,0 +1,926 @@ +{ + "episode": 83, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2376135182913854, + -0.05509370732555759, + 1.0438950480103144 + ], + "current_z": 1.0438950480103144, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.18730860020639362, + "gripper_z": 1.0480000126719577, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23318631336464712, + -0.059573523477235754, + 1.0480000126719577 + ], + "object_minus_gripper": [ + 0.004427204926738287, + 0.004479816151678168, + -0.00410496466164334 + ], + "object_to_gripper_xy": 0.006298324873819415, + "object_to_gripper_z": -0.00410496466164334, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2376135182913854, + -0.07902368552007202, + 1.0438950480103144 + ], + "finger_b": [ + 0.22654709175081889, + -0.05509370732555759, + 1.0438950480103144 + ], + "finger_midpoint": [ + 0.23208030502110216, + -0.06705869642281481, + 1.0438950480103144 + ], + "object_minus_finger_midpoint": [ + 0.005533213270283249, + 0.011964989097257225, + 0.0 + ], + "finger_gap": 0.026364932254183616, + "fingertip_max_gap": 0.0948116375579712, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01318246612709181, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0438950480103144, + "object_top_z": 1.0908983392690683, + "finger_top_clearance": 0.04700329125875391, + "fingertip_min_top_clearance": 0.01410098737762619, + "object_projection_between_fingers": 0.8238180179340946, + "object_to_finger_line_xy": 0.01004437801143717, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0499058187789856, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.7140502859187716, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 206, + "max_stable_success_frames": 206, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22990099664733266, + -0.06065750213448022, + 1.2440531042934646 + ], + "held_position": [ + 0.23465338235528427, + -0.05630205588372189, + 1.2401864469454742 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007517055341498808, + "max_held_gripper_dist": 0.00751815455075856, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.00386665734799041, + "max_held_gripper_z_dist": 0.0041083658500669085, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08587324648593399, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.23465338235528427, + -0.08085837697239118, + 1.2401864469454742 + ], + "held_grasp_finger_b": [ + 0.2255664312805995, + -0.05630205588372189, + 1.2401864469454742 + ], + "held_grasp_midpoint": [ + 0.23010990681794188, + -0.06858021642805653, + 1.2401864469454742 + ], + "held_grasp_object_position": [ + 0.23465338235528427, + -0.05630205588372189, + 1.2401864469454742 + ], + "held_grasp_finger_gap": 0.026183689297796416, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02389982654449224, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06338580472897459, + -0.996721380312441, + -0.050286477177495126 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003807663481872539, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032674327987162945, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3079206017878444, + -0.38426200890598017, + 0.8470198596882367 + ], + "target_position": [ + 0.3032995522008267, + -0.38502186590299775, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.004683106014344864, + "xy_threshold": 0.08, + "gripper_dist": 0.1854360079061155, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470198596882367, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07564568524828953, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08610644776433639, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15328054432539004, + "release_required_pad_clearance": 0.053053223882168196, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.1350348133185397, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008454561233520508, + "max_z_decrease": 0.008454561233520508, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035034215970467596, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008454561233520508, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020839137010018827, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008454561233520508, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008454746828332946, + "max_button_displacement": 0.12, + "button_start": [ + 0.1589994728565216, + -0.4412833154201507, + 0.7768088579177856 + ], + "button_final": [ + 0.1589994728565216, + -0.4412833154201507, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15876860949108398, + -0.43952383898221165, + 0.803617858140126 + ], + "closest_button": [ + 0.15903927385807037, + -0.44125697016716, + 0.7686275839805603 + ], + "closest_ee_minus_button": [ + -0.0002706643669863895, + 0.0017331311849483333, + 0.03499027415956568 + ], + "button_min_z_position": [ + 0.15904840826988223, + -0.441256046295166, + 0.7683542966842651 + ], + "min_active_finger_to_button": 0.14525311471890082, + "closest_active_finger": [ + 0.031601302325725555, + -0.5021427869796753, + 0.8105593323707581 + ], + "closest_active_finger_button": [ + 0.15899907052516937, + -0.4412842094898224, + 0.7764344215393066 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12739776819944382, + -0.060858577489852905, + 0.034124910831451416 + ], + "min_contact_pad_to_button": 0.020839137010018827, + "closest_contact_pad": [ + 0.15904840826988223, + -0.441256046295166, + 0.789193433694284 + ], + "closest_contact_pad_button": [ + 0.15904840826988223, + -0.441256046295166, + 0.7683542966842651 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.020839137010018827 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 83, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f7facf090ac7ef4121c0953839fb560547f926719ad5cd7907af4f984a716b08", + "visual_seed": 4389592239401673950, + "episode_index": 83, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_84_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_84_success.json new file mode 100644 index 0000000000000000000000000000000000000000..aac8371603901b775b69fd0279b40d70837b1ef7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_84_success.json @@ -0,0 +1,926 @@ +{ + "episode": 84, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2305623420524043, + -0.051141221483557486, + 1.046386106325766 + ], + "current_z": 1.046386106325766, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.18979953931255567, + "gripper_z": 1.0508158904665936, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22561737137442126, + -0.05585143874122639, + 1.0508158904665936 + ], + "object_minus_gripper": [ + 0.0049449706779830516, + 0.004710217257668903, + -0.0044297841408276195 + ], + "object_to_gripper_xy": 0.006829266550703239, + "object_to_gripper_z": -0.0044297841408276195, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2305623420524043, + -0.07551111042061948, + 1.046386106325766 + ], + "finger_b": [ + 0.21927555480586947, + -0.051141221483557486, + 1.046386106325766 + ], + "finger_midpoint": [ + 0.2249189484291369, + -0.06332616595208848, + 1.046386106325766 + ], + "object_minus_finger_midpoint": [ + 0.0056433936232674065, + 0.012184944468530995, + 0.0 + ], + "finger_gap": 0.026856713372139896, + "fingertip_max_gap": 0.09283741277271354, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013428356686069941, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.046386106325766, + "object_top_z": 1.0921504436225005, + "finger_top_clearance": 0.04576433729673446, + "fingertip_min_top_clearance": 0.013729301189020337, + "object_projection_between_fingers": 0.8233820054531769, + "object_to_finger_line_xy": 0.010241675809059951, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04891870638635677, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.6190515471018674, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 208, + "max_stable_success_frames": 208, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22142103950012348, + -0.05709926345292218, + 1.2444204041114744 + ], + "held_position": [ + 0.22664276300839561, + -0.052405704735476774, + 1.240303871783049 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00813890215212842, + "max_held_gripper_dist": 0.008142507634101672, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0041165323284253486, + "max_held_gripper_z_dist": 0.004464958770022509, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08614781195782656, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.22664276300839561, + -0.07701192061981277, + 1.240303871783049 + ], + "held_grasp_finger_b": [ + 0.21713617712557173, + -0.052405704735476774, + 1.240303871783049 + ], + "held_grasp_midpoint": [ + 0.22188947006698367, + -0.06470881267764478, + 1.240303871783049 + ], + "held_grasp_object_position": [ + 0.22664276300839561, + -0.052405704735476774, + 1.240303871783049 + ], + "held_grasp_finger_gap": 0.02637879897368444, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024017319728380445, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.04960899077851279, + -0.9952335611005486, + -0.08395895957584297 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004266505565412562, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.0327199529702244, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.31193254881829835, + -0.38022001872550143, + 0.8470211215894968 + ], + "target_position": [ + 0.3063215992693427, + -0.38137054846492374, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0057276935604325604, + "xy_threshold": 0.08, + "gripper_dist": 0.18733393083012453, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470211215894968, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0758384488679334, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08761693371540878, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15485808977442575, + "release_required_pad_clearance": 0.05380846685770439, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.61850514533944, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008625805377960205, + "max_z_decrease": 0.008625805377960205, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03507927605183721, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008625805377960205, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02100241776977985, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008625805377960205, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008625935839089476, + "max_button_displacement": 0.12, + "button_start": [ + 0.16202153265476227, + -0.43763199448585505, + 0.7768088579177856 + ], + "button_final": [ + 0.16202153265476227, + -0.43763199448585505, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16386862499714377, + -0.4389016753059916, + 0.8035566213755203 + ], + "closest_button": [ + 0.16201025247573853, + -0.43760278820991516, + 0.7685506939888 + ], + "closest_ee_minus_button": [ + 0.0018583725214052493, + -0.001298887096076451, + 0.03500592738672026 + ], + "button_min_z_position": [ + 0.16199788451194763, + -0.43759086728096, + 0.7681830525398254 + ], + "min_active_finger_to_button": 0.14380582902034852, + "closest_active_finger": [ + 0.02305285632610321, + -0.4235871136188507, + 0.8104811310768127 + ], + "closest_active_finger_button": [ + 0.16202089190483093, + -0.4376333355903625, + 0.776265561580658 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13896803557872772, + 0.014046221971511785, + 0.034215569496154785 + ], + "min_contact_pad_to_button": 0.02100241776977985, + "closest_contact_pad": [ + 0.16199788451194763, + -0.4400011634200226, + 0.7890467057361951 + ], + "closest_contact_pad_button": [ + 0.16199788451194763, + -0.43759086728096, + 0.7681830525398254 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0024102961390625732, + 0.020863653196369625 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 84, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "61bdd8858136ccb27d67f9b22078fd80ea404a4d7f2e3aa31b230d20b096d2b5", + "visual_seed": 2368962120530720961, + "episode_index": 84, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_85_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_85_success.json new file mode 100644 index 0000000000000000000000000000000000000000..cf2e6aaa01d29be6ec9e8c0efb2dfe29b2322cb6 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_85_success.json @@ -0,0 +1,926 @@ +{ + "episode": 85, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23393425472107052, + -0.05731552477519755, + 1.0449706643110839 + ], + "current_z": 1.0449706643110839, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.1883841569025183, + "gripper_z": 1.0492096359513485, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2290269848439309, + -0.06208310326206014, + 1.0492096359513485 + ], + "object_minus_gripper": [ + 0.004907269877139631, + 0.0047675784868625865, + -0.004238971640264655 + ], + "object_to_gripper_xy": 0.0068418639474544475, + "object_to_gripper_z": -0.004238971640264655, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23393425472107052, + -0.0815076898414387, + 1.0449706643110839 + ], + "finger_b": [ + 0.22235309569012973, + -0.05731552477519755, + 1.0449706643110839 + ], + "finger_midpoint": [ + 0.22814367520560014, + -0.06941160730831814, + 1.0449706643110839 + ], + "object_minus_finger_midpoint": [ + 0.005790579515470379, + 0.012096082533120583, + 0.0 + ], + "finger_gap": 0.026821336564239302, + "fingertip_max_gap": 0.0915422577030364, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013410668282119651, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0449706643110839, + "object_top_z": 1.09031946476897, + "finger_top_clearance": 0.04534880045788614, + "fingertip_min_top_clearance": 0.01360464013736581, + "object_projection_between_fingers": 0.8135582293034275, + "object_to_finger_line_xy": 0.01044591160712184, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0482711288515182, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3432715229089505, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 206, + "max_stable_success_frames": 206, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2236584197179998, + -0.06350045574373467, + 1.2469944981410719 + ], + "held_position": [ + 0.22891883354182993, + -0.05880165545864337, + 1.2431178152426379 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008048561859868384, + "max_held_gripper_dist": 0.008050680518434133, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003876682898434014, + "max_held_gripper_z_dist": 0.004268281904949545, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08523380071086362, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.22891883354182993, + -0.08332965630430121, + 1.2431178152426379 + ], + "held_grasp_finger_b": [ + 0.21929904723933222, + -0.05880165545864337, + 1.2431178152426379 + ], + "held_grasp_midpoint": [ + 0.22410894039058107, + -0.07106565588147229, + 1.2431178152426379 + ], + "held_grasp_object_position": [ + 0.22891883354182993, + -0.05880165545864337, + 1.2431178152426379 + ], + "held_grasp_finger_gap": 0.026346975423951695, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023762732106743234, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06327381316551678, + -0.9936159420939562, + -0.09340120012202811 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004188020303615502, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03271017835124272, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.30975613164849336, + -0.3858809930302463, + 0.8470195345538727 + ], + "target_position": [ + 0.30332591076802223, + -0.38725174910979127, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006574702487661044, + "xy_threshold": 0.08, + "gripper_dist": 0.187249421838442, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195345538727, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07518826963599974, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08499619656438483, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15633094251541654, + "release_required_pad_clearance": 0.052498098282192415, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.06852746049690372, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008657395839691162, + "max_z_decrease": 0.008657395839691162, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035045903748392386, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008657395839691162, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.020943534806583636, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008657395839691162, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008657555044649753, + "max_button_displacement": 0.12, + "button_start": [ + 0.15902583301067347, + -0.4435132145881652, + 0.7768088579177856 + ], + "button_final": [ + 0.15902583301067347, + -0.4435132145881652, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16067332115549046, + -0.4443131074758332, + 0.8036041697325496 + ], + "closest_button": [ + 0.15905761718749994, + -0.44348138570785517, + 0.7686054110527039 + ], + "closest_ee_minus_button": [ + 0.0016157039679905172, + -0.000831721767978022, + 0.0349987586798457 + ], + "button_min_z_position": [ + 0.15904869139194483, + -0.4434659481048584, + 0.7681514620780945 + ], + "min_active_finger_to_button": 0.14411013813464424, + "closest_active_finger": [ + 0.01970452070236206, + -0.42986631393432617, + 0.8105264902114868 + ], + "closest_active_finger_button": [ + 0.15902537107467646, + -0.4435136616230011, + 0.7763039469718933 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1393208503723144, + 0.013647347688674927, + 0.034222543239593506 + ], + "min_contact_pad_to_button": 0.020943534806583636, + "closest_contact_pad": [ + 0.15904869139194483, + -0.44537585369483546, + 0.7890077299808607 + ], + "closest_contact_pad_button": [ + 0.15904869139194483, + -0.4434659481048584, + 0.7681514620780945 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0019099055899770567, + 0.02085626790276618 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 85, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "94fae08e2876b4b6ac1bc01be1c00ff1ca18eefe471cfd3a632febfd0ac9f0f8", + "visual_seed": 760069745845518948, + "episode_index": 85, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_86_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_86_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6b8bf7c20939b6e4d36aef9c1429e5247ff9c14d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_86_success.json @@ -0,0 +1,926 @@ +{ + "episode": 86, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23745781026328108, + -0.0530112828504139, + 1.0455030146497986 + ], + "current_z": 1.0455030146497986, + "required_z": 0.8565865670132101, + "initial_z": 0.7565865670132101, + "lift_margin": 0.18891644763658844, + "gripper_z": 1.049688828171395, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23271849284750554, + -0.05755877650297503, + 1.049688828171395 + ], + "object_minus_gripper": [ + 0.004739317415775546, + 0.00454749365256113, + -0.004185813521596415 + ], + "object_to_gripper_xy": 0.006568167787713493, + "object_to_gripper_z": -0.004185813521596415, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23745781026328108, + -0.07734007842023571, + 1.0455030146497986 + ], + "finger_b": [ + 0.22651032561371381, + -0.0530112828504139, + 1.0455030146497986 + ], + "finger_midpoint": [ + 0.23198406793849746, + -0.0651756806353248, + 1.0455030146497986 + ], + "object_minus_finger_midpoint": [ + 0.00547374232478362, + 0.012164397784910908, + 0.0 + ], + "finger_gap": 0.026678412884403237, + "fingertip_max_gap": 0.09405582664085826, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013339206442201611, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0455030146497986, + "object_top_z": 1.0914986987717459, + "finger_top_clearance": 0.04599568412194732, + "fingertip_min_top_clearance": 0.01379870523658423, + "object_projection_between_fingers": 0.8316129414109664, + "object_to_finger_line_xy": 0.00998331936750226, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049527913320429134, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.4405527036529686, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 208, + "max_stable_success_frames": 208, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23112686501539445, + -0.0575591304004036, + 1.245057304848575 + ], + "held_position": [ + 0.23609241605535142, + -0.053097715585194494, + 1.2410454557581283 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007788186721458486, + "max_held_gripper_dist": 0.007791157406092443, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004011849090446606, + "max_held_gripper_z_dist": 0.00418902214244854, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08584669826773905, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.23609241605535142, + -0.07783834163321333, + 1.2410454557581283 + ], + "held_grasp_finger_b": [ + 0.22660317759120174, + -0.053097715585194494, + 1.2410454557581283 + ], + "held_grasp_midpoint": [ + 0.23134779682327658, + -0.06546802860920392, + 1.2410454557581283 + ], + "held_grasp_object_position": [ + 0.23609241605535142, + -0.053097715585194494, + 1.2410454557581283 + ], + "held_grasp_finger_gap": 0.026498004148943106, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02449416125714188, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.022237568700069054, + -0.9985672473060991, + -0.048671790041352234 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004509084684227343, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03274212674498197, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.30981154162971236, + -0.37755687591421205, + 0.8470196462062942 + ], + "target_position": [ + 0.30324360560251645, + -0.3794746049222198, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006842183000000243, + "xy_threshold": 0.08, + "gripper_dist": 0.18675201803557, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196462062942, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0754259569002619, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0872988295760022, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15530336111704673, + "release_required_pad_clearance": 0.0536494147880011, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.3083932437070698, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008354604244232178, + "max_z_decrease": 0.008354604244232178, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03503391843389986, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008354604244232178, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02103624885626543, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008354604244232178, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008354651064284166, + "max_button_displacement": 0.12, + "button_start": [ + 0.1589435338973999, + -0.43573606014251703, + 0.7768088579177856 + ], + "button_final": [ + 0.1589435338973999, + -0.43573606014251703, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15836867142832553, + -0.4374436519168908, + 0.8035793818625794 + ], + "closest_button": [ + 0.1589648574590683, + -0.4357130825519561, + 0.7685933113098145 + ], + "closest_ee_minus_button": [ + -0.000596186030742768, + -0.0017305693649346532, + 0.034986070552764925 + ], + "button_min_z_position": [ + 0.15895466506481168, + -0.4357104003429413, + 0.7684542536735535 + ], + "min_active_finger_to_button": 0.14609714441380278, + "closest_active_finger": [ + 0.01766267418861389, + -0.42110949754714966, + 0.8107255697250366 + ], + "closest_active_finger_button": [ + 0.15894345939159393, + -0.4357373118400573, + 0.7765182256698608 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14128078520298004, + 0.01462781429290766, + 0.03420734405517578 + ], + "min_contact_pad_to_button": 0.02103624885626543, + "closest_contact_pad": [ + 0.15895466506481168, + -0.43862469294483364, + 0.7892876562898637 + ], + "closest_contact_pad_button": [ + 0.15895466506481168, + -0.4357104003429413, + 0.7684542536735535 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0029142926018923543, + 0.02083340261631028 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 86, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "df960f427057f4fb594b89fc5171c732cc4b10ae445297cf7bfd14e98890dceb", + "visual_seed": 1746873001667157103, + "episode_index": 86, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_87_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_87_success.json new file mode 100644 index 0000000000000000000000000000000000000000..fc0cb7392b659dc568af874b29f527655aa00dfc --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_87_success.json @@ -0,0 +1,926 @@ +{ + "episode": 87, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23540209311602356, + -0.05579053121522197, + 1.046734099747325 + ], + "current_z": 1.046734099747325, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.1901476519434041, + "gripper_z": 1.0509243578977643, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2307266559278828, + -0.06032310321036763, + 1.0509243578977643 + ], + "object_minus_gripper": [ + 0.0046754371881407575, + 0.0045325719951456594, + -0.004190258150439385 + ], + "object_to_gripper_xy": 0.006511829373642115, + "object_to_gripper_z": -0.004190258150439385, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23540209311602356, + -0.08005164019582466, + 1.046734099747325 + ], + "finger_b": [ + 0.2244704574163722, + -0.05579053121522197, + 1.046734099747325 + ], + "finger_midpoint": [ + 0.22993627526619786, + -0.06792108570552331, + 1.046734099747325 + ], + "object_minus_finger_midpoint": [ + 0.005465817849825694, + 0.012130554490301343, + 0.0 + ], + "finger_gap": 0.02661018729807388, + "fingertip_max_gap": 0.09394395157731472, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013305093649036944, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.046734099747325, + "object_top_z": 1.092965727871002, + "finger_top_clearance": 0.046231628123677204, + "fingertip_min_top_clearance": 0.01386948843710316, + "object_projection_between_fingers": 0.8312380877506738, + "object_to_finger_line_xy": 0.009966619252795924, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04947197578865736, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.8653388096242176, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 209, + "max_stable_success_frames": 209, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2275974414238125, + -0.061428027029156965, + 1.2454884245883504 + ], + "held_position": [ + 0.23253466691217486, + -0.056941946002878184, + 1.241547872758081 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007747842746488362, + "max_held_gripper_dist": 0.007751763873042714, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003940551830269312, + "max_held_gripper_z_dist": 0.00420752704213756, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08542037587259141, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.23253466691217486, + -0.08153780698070019, + 1.241547872758081 + ], + "held_grasp_finger_b": [ + 0.22325730257871265, + -0.056941946002878184, + 1.241547872758081 + ], + "held_grasp_midpoint": [ + 0.22789598474544376, + -0.06923987649178918, + 1.241547872758081 + ], + "held_grasp_object_position": [ + 0.23253466691217486, + -0.056941946002878184, + 1.241547872758081 + ], + "held_grasp_finger_gap": 0.026287370850203794, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02413573132596712, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.04155236038627819, + -0.9969656168693033, + -0.065825224091822 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004203598485288747, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03274686291660839, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3072071277956251, + -0.3785652777079912, + 0.8470195575252113 + ], + "target_position": [ + 0.3015572587684315, + -0.3799945028799744, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005827838760352935, + "xy_threshold": 0.08, + "gripper_dist": 0.18492231255913244, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195575252113, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07579044344275518, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08850186992412144, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15254870030547793, + "release_required_pad_clearance": 0.05425093496206072, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.5196163492341475, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00835639238357544, + "max_z_decrease": 0.00835639238357544, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0350101634550393, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00835639238357544, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020885374415890782, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00835639238357544, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00835643969347509, + "max_button_displacement": 0.12, + "button_start": [ + 0.15725718438625336, + -0.43625596165657043, + 0.7768088579177856 + ], + "button_final": [ + 0.15725718438625336, + -0.43625596165657043, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15785403806993395, + -0.43591213040753213, + 0.8035227884758314 + ], + "closest_button": [ + 0.15727551281452182, + -0.4362318217754364, + 0.76851886510849 + ], + "closest_ee_minus_button": [ + 0.0005785252554121323, + 0.00031969136790427344, + 0.03500392336734137 + ], + "button_min_z_position": [ + 0.1572701632976532, + -0.4362310171127319, + 0.7684524655342102 + ], + "min_active_finger_to_button": 0.14509909906195068, + "closest_active_finger": [ + 0.030369579792022705, + -0.4978053867816925, + 0.8106024861335754 + ], + "closest_active_finger_button": [ + 0.1572571247816086, + -0.43625736236572266, + 0.7764683365821838 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1268875449895859, + -0.06154802441596985, + 0.0341341495513916 + ], + "min_contact_pad_to_button": 0.020885374415890782, + "closest_contact_pad": [ + 0.1572701632976532, + -0.43718854273493163, + 0.7893158787059512 + ], + "closest_contact_pad_button": [ + 0.1572701632976532, + -0.4362310171127319, + 0.7684524655342102 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0009575256221997508, + 0.020863413171741008 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 87, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e96c26781ef3b41d96df23ba5839bf03bba7ae74ea711625aed0c0d261ca4f9a", + "visual_seed": 1081797071045279520, + "episode_index": 87, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_88_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_88_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c341f690d6136f9c66f3b28bccb54bbc3b6bb768 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_88_success.json @@ -0,0 +1,926 @@ +{ + "episode": 88, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23134970460719834, + -0.05904548891840086, + 1.045979158543182 + ], + "current_z": 1.045979158543182, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.18939259152997157, + "gripper_z": 1.0506025600819597, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22630841689395964, + -0.06380234202347063, + 1.0506025600819597 + ], + "object_minus_gripper": [ + 0.005041287713238696, + 0.004756853105069764, + -0.004623401538777827 + ], + "object_to_gripper_xy": 0.006931250483921591, + "object_to_gripper_z": -0.004623401538777827, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23134970460719834, + -0.08348977272651592, + 1.045979158543182 + ], + "finger_b": [ + 0.2200051998426658, + -0.05904548891840086, + 1.045979158543182 + ], + "finger_midpoint": [ + 0.22567745222493207, + -0.07126763082245839, + 1.045979158543182 + ], + "object_minus_finger_midpoint": [ + 0.005672252382266263, + 0.012222141904057529, + 0.0 + ], + "finger_gap": 0.026948484173403467, + "fingertip_max_gap": 0.09773999256384774, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013474242086701733, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.045979158543182, + "object_top_z": 1.0938279271826763, + "finger_top_clearance": 0.04784876863949439, + "fingertip_min_top_clearance": 0.014354630591848315, + "object_projection_between_fingers": 0.8227842159210464, + "object_to_finger_line_xy": 0.010290311408328966, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.051369996281923874, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.99954360618959, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 207, + "max_stable_success_frames": 207, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2217209118317136, + -0.06356143186055194, + 1.244150693943248 + ], + "held_position": [ + 0.2269543966766962, + -0.05868475214108203, + 1.2398783302516854 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008332134193706606, + "max_held_gripper_dist": 0.008334740078423903, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004272363691562697, + "max_held_gripper_z_dist": 0.004670755186264808, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08591306063760515, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2269543966766962, + -0.0830404838616958, + 1.2398783302516854 + ], + "held_grasp_finger_b": [ + 0.21705503904186516, + -0.05868475214108203, + 1.2398783302516854 + ], + "held_grasp_midpoint": [ + 0.22200471785928066, + -0.0708626180013889, + 1.2398783302516854 + ], + "held_grasp_object_position": [ + 0.2269543966766962, + -0.05868475214108203, + 1.2398783302516854 + ], + "held_grasp_finger_gap": 0.026290662776522, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024140140400673218, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.015428497643547995, + -0.9974191247990418, + -0.07012168669945494 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004837648023556771, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03297742254953254, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.30734621999474876, + -0.38106898525455624, + 0.8470196856450829 + ], + "target_position": [ + 0.30307002588864673, + -0.3819136947839138, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.004358826702456658, + "xy_threshold": 0.08, + "gripper_dist": 0.18514270314041628, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196856450829, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07574328253128954, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08843029638298565, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15285740302390904, + "release_required_pad_clearance": 0.054215148191492826, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.4472561057024618, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008387088775634766, + "max_z_decrease": 0.008387088775634766, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500775002985328, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008387088775634766, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020840486695409725, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008387088775634766, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008387121955676558, + "max_button_displacement": 0.12, + "button_start": [ + 0.15876995027065274, + -0.4381751418113708, + 0.7768088579177856 + ], + "button_final": [ + 0.15876995027065274, + -0.4381751418113708, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15850406997807512, + -0.43726667364739485, + 0.8035542963119525 + ], + "closest_button": [ + 0.1587911695241928, + -0.4381496012210846, + 0.7685588598251343 + ], + "closest_ee_minus_button": [ + -0.00028709954611769173, + 0.0008829275736897402, + 0.03499543648681824 + ], + "button_min_z_position": [ + 0.15877975523471832, + -0.4381536841392517, + 0.7684217691421509 + ], + "min_active_finger_to_button": 0.14561268875848182, + "closest_active_finger": [ + 0.032071419060230255, + -0.5013144016265869, + 0.8106145858764648 + ], + "closest_active_finger_button": [ + 0.15876929461956024, + -0.4381757378578186, + 0.776494026184082 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12669787555933, + -0.06313866376876831, + 0.03412055969238281 + ], + "min_contact_pad_to_button": 0.020840486695409725, + "closest_contact_pad": [ + 0.15877975523471832, + -0.4383217100422398, + 0.7892615784742315 + ], + "closest_contact_pad_button": [ + 0.15877975523471832, + -0.4381536841392517, + 0.7684217691421509 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00016802590298808928, + 0.020839809332080628 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 88, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1350fdf89d02a869fe7b81ddc8bf72de9a16b82320d60e7151ce2bedf6ca2d3a", + "visual_seed": 1596640195871224028, + "episode_index": 88, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_89_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_89_success.json new file mode 100644 index 0000000000000000000000000000000000000000..90aeb84aa6cf05e479ccc2b446d572c7b0aaef80 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_89_success.json @@ -0,0 +1,926 @@ +{ + "episode": 89, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23728419340499618, + -0.05196800739839337, + 1.0448393661091095 + ], + "current_z": 1.0448393661091095, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.18825285870054398, + "gripper_z": 1.0488446499574884, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2324585060716632, + -0.05673713262787075, + 1.0488446499574884 + ], + "object_minus_gripper": [ + 0.0048256873333329675, + 0.004769125229477381, + -0.004005283848378838 + ], + "object_to_gripper_xy": 0.006784674914358677, + "object_to_gripper_z": -0.004005283848378838, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23728419340499618, + -0.07602021682217523, + 1.0448393661091095 + ], + "finger_b": [ + 0.22560528385439024, + -0.05196800739839337, + 1.0448393661091095 + ], + "finger_midpoint": [ + 0.23144473862969323, + -0.0639941121102843, + 1.0448393661091095 + ], + "object_minus_finger_midpoint": [ + 0.005839454775302955, + 0.012026104711890931, + 0.0 + ], + "finger_gap": 0.026737720666816303, + "fingertip_max_gap": 0.09194230272203116, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013368860333408145, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0448393661091095, + "object_top_z": 1.0905514468942479, + "finger_top_clearance": 0.04571208078513833, + "fingertip_min_top_clearance": 0.013713624235541533, + "object_projection_between_fingers": 0.8092099041043301, + "object_to_finger_line_xy": 0.01050589097900199, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04847115136101558, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.321183910941287, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 206, + "max_stable_success_frames": 206, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22857244613792008, + -0.05833186656954219, + 1.2439980859703537 + ], + "held_position": [ + 0.2337573241685005, + -0.05376028900193363, + 1.2402504256374847 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007863029926130076, + "max_held_gripper_dist": 0.007881050496054677, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003747660332868996, + "max_held_gripper_z_dist": 0.004009858838295299, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08550395606755744, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2337573241685005, + -0.07844868042304545, + 1.2402504256374847 + ], + "held_grasp_finger_b": [ + 0.22423425411872533, + -0.05376028900193363, + 1.2402504256374847 + ], + "held_grasp_midpoint": [ + 0.2289957891436129, + -0.06610448471248954, + 1.2402504256374847 + ], + "held_grasp_object_position": [ + 0.2337573241685005, + -0.05376028900193363, + 1.2402504256374847 + ], + "held_grasp_finger_gap": 0.026461397055615808, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023840659172461056, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07352891070721033, + -0.9940250752353109, + -0.0806700012002337 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00397153462257301, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032579674412231814, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3083703217058671, + -0.38245865715163874, + 0.8470196290509873 + ], + "target_position": [ + 0.30098317854002643, + -0.3844390596706551, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007647998319165138, + "xy_threshold": 0.08, + "gripper_dist": 0.18461304935210407, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196290509873, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07534270290152205, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0851625595851898, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1534695430238169, + "release_required_pad_clearance": 0.0525812797925949, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.22728175767005573, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008409380912780762, + "max_z_decrease": 0.008409380912780762, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035015303230291624, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008409380912780762, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.020846455754626927, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008409380912780762, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008409543937630999, + "max_button_displacement": 0.12, + "button_start": [ + 0.15668310225009918, + -0.4407005310058594, + 0.7768088579177856 + ], + "button_final": [ + 0.15668310225009918, + -0.4407005310058594, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15736295146853957, + -0.439732826809382, + 0.8036074657075437 + ], + "closest_button": [ + 0.15672197937965393, + -0.44067078828811646, + 0.7686105966567993 + ], + "closest_ee_minus_button": [ + 0.0006409720888856385, + 0.0009379614787344281, + 0.034996869050744395 + ], + "button_min_z_position": [ + 0.15672548115253448, + -0.4406697750091553, + 0.7683994770050049 + ], + "min_active_finger_to_button": 0.14478469194259652, + "closest_active_finger": [ + 0.030962049961090088, + -0.5038825869560242, + 0.8106442093849182 + ], + "closest_active_finger_button": [ + 0.15668249130249023, + -0.440700888633728, + 0.7765113711357117 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12572044134140015, + -0.06318169832229614, + 0.03413283824920654 + ], + "min_contact_pad_to_button": 0.020846455754626927, + "closest_contact_pad": [ + 0.15672548115253448, + -0.4408078004050843, + 0.7892454758181991 + ], + "closest_contact_pad_button": [ + 0.15672548115253448, + -0.4406697750091553, + 0.7683994770050049 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00013802539592905338, + 0.020845998813194266 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 89, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3334e14aa0d74fee496fcd6578f7db1735b5a91f38d239fc89d278112ea6b7ee", + "visual_seed": 2885898506970129910, + "episode_index": 89, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_8_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_8_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a045baef16278c0538a7ebf1a73cb240dfefccb4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_8_success.json @@ -0,0 +1,926 @@ +{ + "episode": 8, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23627975456335618, + -0.05784782421175632, + 1.0467297647729936 + ], + "current_z": 1.0467297647729936, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.19014319775978328, + "gripper_z": 1.051206217445353, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23169423269152886, + -0.0623390321037961, + 1.051206217445353 + ], + "object_minus_gripper": [ + 0.004585521871827314, + 0.004491207892039779, + -0.004476452672359299 + ], + "object_to_gripper_xy": 0.0064185636373356204, + "object_to_gripper_z": -0.004476452672359299, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23627975456335618, + -0.0820495648042254, + 1.0467297647729936 + ], + "finger_b": [ + 0.22540737003849654, + -0.05784782421175632, + 1.0467297647729936 + ], + "finger_midpoint": [ + 0.23084356230092634, + -0.06994869450799086, + 1.0467297647729936 + ], + "object_minus_finger_midpoint": [ + 0.005436192262429834, + 0.012100870296234544, + 0.0 + ], + "finger_gap": 0.02653173558140464, + "fingertip_max_gap": 0.09517746939191549, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013265867790702329, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0467297647729936, + "object_top_z": 1.0934091654737728, + "finger_top_clearance": 0.04667940070077914, + "fingertip_min_top_clearance": 0.014003820210233707, + "object_projection_between_fingers": 0.8320738672027833, + "object_to_finger_line_xy": 0.009917580743441795, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.050088734695957746, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.3282292212512163, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 208, + "max_stable_success_frames": 208, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2284711684091753, + -0.06334444841064556, + 1.247328446581854 + ], + "held_position": [ + 0.23332050558285197, + -0.058882440453935835, + 1.2431022945979573 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007828534129754866, + "max_held_gripper_dist": 0.007830873480240063, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004226151983896642, + "max_held_gripper_z_dist": 0.004491602937661376, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0850360506606605, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.23332050558285197, + -0.08346281832593534, + 1.2431022945979573 + ], + "held_grasp_finger_b": [ + 0.22406523077408347, + -0.058882440453935835, + 1.2431022945979573 + ], + "held_grasp_midpoint": [ + 0.22869286817846773, + -0.07117262938993558, + 1.2431022945979573 + ], + "held_grasp_object_position": [ + 0.23332050558285197, + -0.058882440453935835, + 1.2431022945979573 + ], + "held_grasp_finger_gap": 0.026265092577718203, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.0242082126037525, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.03404702160952065, + -0.9976790134338901, + -0.05896936893931115 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004269276949854335, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03278100412251833, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3042391928889048, + -0.386061420614263, + 0.84701948699554 + ], + "target_position": [ + 0.2990279991685702, + -0.38713635591833556, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005320904612826283, + "xy_threshold": 0.08, + "gripper_dist": 0.18501780325944495, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.84701948699554, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07572955282654753, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08864372832438193, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15288622843080119, + "release_required_pad_clearance": 0.054321864162190966, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.6647513793609394, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008375704288482666, + "max_z_decrease": 0.008375704288482666, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03498885731676197, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008375704288482666, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02085303231410702, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008375704288482666, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00837589785007234, + "max_button_displacement": 0.12, + "button_start": [ + 0.15472792088985438, + -0.4433978199958801, + 0.7768088579177856 + ], + "button_final": [ + 0.15472792088985438, + -0.4433978199958801, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15374531912487624, + -0.4435982862640717, + 0.8037689541729396 + ], + "closest_button": [ + 0.15474075078964228, + -0.4433779418468476, + 0.7687949538230896 + ], + "closest_ee_minus_button": [ + -0.0009954316647660388, + -0.00022034441722412756, + 0.03497400034984999 + ], + "button_min_z_position": [ + 0.15477685630321497, + -0.44336870312690735, + 0.768433153629303 + ], + "min_active_finger_to_button": 0.14663360446663834, + "closest_active_finger": [ + 0.012898363173007965, + -0.42873796820640564, + 0.8107984066009521 + ], + "closest_active_finger_button": [ + 0.15472778677940363, + -0.4433978199958801, + 0.776579737663269 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14182942360639567, + 0.014659851789474487, + 0.034218668937683105 + ], + "min_contact_pad_to_button": 0.02085303231410702, + "closest_contact_pad": [ + 0.15477685630321497, + -0.4446550938130963, + 0.7892464704167753 + ], + "closest_contact_pad_button": [ + 0.15477685630321497, + -0.44336870312690735, + 0.768433153629303 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0012863906861889651, + 0.020813316787472336 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 8, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "64bf1bf5026b3d0917f8598f15a693f541b2faecf6f203af7112af2b39b44aee", + "visual_seed": 8440107501756118736, + "episode_index": 8, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_90_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_90_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b4b5f140ab1bcd048a169337a39c597264d20437 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_90_success.json @@ -0,0 +1,926 @@ +{ + "episode": 90, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2384677543909255, + -0.04744255339957143, + 1.0462545192019548 + ], + "current_z": 1.0462545192019548, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.18966795218874444, + "gripper_z": 1.050388656844439, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2336552796089522, + -0.0522380984843676, + 1.050388656844439 + ], + "object_minus_gripper": [ + 0.004812474781973303, + 0.004795545084796168, + -0.004134137642484159 + ], + "object_to_gripper_xy": 0.006793906548330031, + "object_to_gripper_z": -0.004134137642484159, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2384677543909255, + -0.0714969760757264, + 1.0462545192019548 + ], + "finger_b": [ + 0.22677188242578072, + -0.04744255339957143, + 1.0462545192019548 + ], + "finger_midpoint": [ + 0.2326198184083531, + -0.059469764737648916, + 1.0462545192019548 + ], + "object_minus_finger_midpoint": [ + 0.005847935982572383, + 0.012027211338077486, + 0.0 + ], + "finger_gap": 0.02674712454280231, + "fingertip_max_gap": 0.09179840557833036, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013373562271401155, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0462545192019548, + "object_top_z": 1.0920157803690507, + "finger_top_clearance": 0.04576126116709589, + "fingertip_min_top_clearance": 0.013728378350128733, + "object_projection_between_fingers": 0.8087898197055364, + "object_to_finger_line_xy": 0.01051841843281399, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04839920278916518, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2130130967595905, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 208, + "max_stable_success_frames": 208, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23162482957909003, + -0.05303424263655521, + 1.2457494309698771 + ], + "held_position": [ + 0.23681905789455865, + -0.04849057438571728, + 1.2417990947525148 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007951734728793007, + "max_held_gripper_dist": 0.007954476989098853, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003950336217362294, + "max_held_gripper_z_dist": 0.004132281690469419, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08576267926046365, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.23681905789455865, + -0.07341601986158115, + 1.2417990947525148 + ], + "held_grasp_finger_b": [ + 0.22727801706252815, + -0.04849057438571728, + 1.2417990947525148 + ], + "held_grasp_midpoint": [ + 0.2320485374785434, + -0.06095329712364922, + 1.2417990947525148 + ], + "held_grasp_object_position": [ + 0.23681905789455865, + -0.04849057438571728, + 1.2417990947525148 + ], + "held_grasp_finger_gap": 0.02668912310902582, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02406489652725874, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07683293118235794, + -0.9948854348431561, + -0.06557188591821482 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038883113629051866, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03243471056852594, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.31066339525030884, + -0.38235512836309216, + 0.8470194718754995 + ], + "target_position": [ + 0.3027465890413317, + -0.3848541282277586, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008301856471543067, + "xy_threshold": 0.08, + "gripper_dist": 0.18743819814514387, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470194718754995, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07514145045063099, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08612313800531672, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15679942800523589, + "release_required_pad_clearance": 0.05306156900265836, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.152145682119799, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008499205112457275, + "max_z_decrease": 0.008499205112457275, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500263682005305, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008499205112457275, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020969866357550132, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008499205112457275, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008499451546949645, + "max_button_displacement": 0.12, + "button_start": [ + 0.15844652056694028, + -0.4411155879497528, + 0.7768088579177856 + ], + "button_final": [ + 0.15844652056694028, + -0.4411155879497528, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15775814547367462, + -0.4422221630693865, + 0.8035532391281885 + ], + "closest_button": [ + 0.15849356353282928, + -0.44109079241752625, + 0.7685766220092773 + ], + "closest_ee_minus_button": [ + -0.0007354180591546688, + -0.0011313706518602529, + 0.0349766171189112 + ], + "button_min_z_position": [ + 0.1585000455379486, + -0.44107919931411743, + 0.7683096528053284 + ], + "min_active_finger_to_button": 0.1462763037749886, + "closest_active_finger": [ + 0.017156489193439484, + -0.4249122142791748, + 0.8106188774108887 + ], + "closest_active_finger_button": [ + 0.1584467738866806, + -0.44111719727516174, + 0.7763959169387817 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14129028469324112, + 0.01620498299598694, + 0.034222960472106934 + ], + "min_contact_pad_to_button": 0.020969866357550132, + "closest_contact_pad": [ + 0.1585000455379486, + -0.4434955944316333, + 0.7891398311456489 + ], + "closest_contact_pad_button": [ + 0.1585000455379486, + -0.44107919931411743, + 0.7683096528053284 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002416395117515846, + 0.020830178340320527 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 90, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "69199debb5b73e5f05bd548adeb278d0ad5bc7d824eb57dc9729d947b9c66b90", + "visual_seed": 7247549274814272479, + "episode_index": 90, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_91_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_91_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9d4332e5dde9ed239fa06045937e2a828d9e5c4a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_91_success.json @@ -0,0 +1,926 @@ +{ + "episode": 91, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.235219642485259, + -0.05157887211931672, + 1.0449620366652894 + ], + "current_z": 1.0449620366652894, + "required_z": 0.8565864478039209, + "initial_z": 0.7565864478039209, + "lift_margin": 0.18837558886136851, + "gripper_z": 1.0490567488488756, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23080090537335668, + -0.056046284901018026, + 1.0490567488488756 + ], + "object_minus_gripper": [ + 0.004418737111902327, + 0.004467412781701305, + -0.004094712183586147 + ], + "object_to_gripper_xy": 0.006283551115906602, + "object_to_gripper_z": -0.004094712183586147, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.235219642485259, + -0.07552733823156586, + 1.0449620366652894 + ], + "finger_b": [ + 0.22421308314083524, + -0.05157887211931672, + 1.0449620366652894 + ], + "finger_midpoint": [ + 0.22971636281304714, + -0.0635531051754413, + 1.0449620366652894 + ], + "object_minus_finger_midpoint": [ + 0.005503279672211869, + 0.011974233056124578, + 0.0 + ], + "finger_gap": 0.0263566571805278, + "fingertip_max_gap": 0.09181861009941747, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013178328590263902, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0449620366652894, + "object_top_z": 1.0903390008337692, + "finger_top_clearance": 0.045376964168479805, + "fingertip_min_top_clearance": 0.013613089250543975, + "object_projection_between_fingers": 0.8256096282286467, + "object_to_finger_line_xy": 0.010000896990348649, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04840930504970874, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.525873696444216, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 207, + "max_stable_success_frames": 207, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22738603210194433, + -0.057397067195890564, + 1.2427772795263976 + ], + "held_position": [ + 0.23210532314287147, + -0.05302299877650668, + 1.2389233190982076 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007500479547900975, + "max_held_gripper_dist": 0.007502858937166963, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003853960428189973, + "max_held_gripper_z_dist": 0.004102623195767929, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0853790926988448, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.23210532314287147, + -0.07750873722709514, + 1.2389233190982076 + ], + "held_grasp_finger_b": [ + 0.22306088981303224, + -0.05302299877650668, + 1.2389233190982076 + ], + "held_grasp_midpoint": [ + 0.22758310647795185, + -0.06526586800180091, + 1.2389233190982076 + ], + "held_grasp_object_position": [ + 0.23210532314287147, + -0.05302299877650668, + 1.2389233190982076 + ], + "held_grasp_finger_gap": 0.026102742417771604, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023844721109630592, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05845744025766077, + -0.9954135375520317, + -0.07572725359256105 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003912674581111599, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03274914998995201, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.31365401680519694, + -0.3841761839223361, + 0.8470199230571673 + ], + "target_position": [ + 0.3071486134039171, + -0.38576255862033554, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006696033011853841, + "xy_threshold": 0.08, + "gripper_dist": 0.18699429041333207, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470199230571673, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07535275698638332, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0856819397456026, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15566305708945932, + "release_required_pad_clearance": 0.052840969872801305, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7230698841247147, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008742570877075195, + "max_z_decrease": 0.008742570877075195, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501785324128144, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008742570877075195, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.02105141803731758, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008742570877075195, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008742773345932167, + "max_button_displacement": 0.12, + "button_start": [ + 0.16284853219985962, + -0.4420240223407745, + 0.7768088579177856 + ], + "button_final": [ + 0.16284853219985962, + -0.4420240223407745, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16288393039628915, + -0.44351035018577056, + 0.8030503945216887 + ], + "closest_button": [ + 0.16287977993488312, + -0.4419733881950378, + 0.7680662870407104 + ], + "closest_ee_minus_button": [ + 4.150461406032813e-06, + -0.001536961990732777, + 0.034984107480978244 + ], + "button_min_z_position": [ + 0.16287977993488312, + -0.4419733881950378, + 0.7680662870407104 + ], + "min_active_finger_to_button": 0.14552162434887334, + "closest_active_finger": [ + 0.02235577255487442, + -0.42580851912498474, + 0.8103634715080261 + ], + "closest_active_finger_button": [ + 0.1628495305776596, + -0.4420266151428222, + 0.7760848999023438 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1404937580227852, + 0.01621809601783747, + 0.03427857160568237 + ], + "min_contact_pad_to_button": 0.02105141803731758, + "closest_contact_pad": [ + 0.16287977993488312, + -0.44482533862599766, + 0.7889236258000356 + ], + "closest_contact_pad_button": [ + 0.16287977993488312, + -0.4419733881950378, + 0.7680662870407104 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002851950430959871, + 0.02085733875932516 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 91, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "199bb3d5013feddf193ed5679aa4566ab86c31cd68ca0439023adcf662ac97cd", + "visual_seed": 8500109786750003687, + "episode_index": 91, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_92_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_92_success.json new file mode 100644 index 0000000000000000000000000000000000000000..231fd7332531e4f6ec9139ceb8e6eb3cf970c2e1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_92_success.json @@ -0,0 +1,926 @@ +{ + "episode": 92, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23778177268157707, + -0.0494454392814422, + 1.0466863603494423 + ], + "current_z": 1.0466863603494423, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.19009979333623195, + "gripper_z": 1.050615252258949, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23339159968703094, + -0.0539563917237085, + 1.050615252258949 + ], + "object_minus_gripper": [ + 0.004390172994546138, + 0.0045109524422663055, + -0.003928891909506627 + ], + "object_to_gripper_xy": 0.006294625553472625, + "object_to_gripper_z": -0.003928891909506627, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23778177268157707, + -0.0732407595170978, + 1.0466863603494423 + ], + "finger_b": [ + 0.2265315473620963, + -0.0494454392814422, + 1.0466863603494423 + ], + "finger_midpoint": [ + 0.23215666002183669, + -0.06134309939927, + 1.0466863603494423 + ], + "object_minus_finger_midpoint": [ + 0.005625112659740389, + 0.0118976601178278, + 0.0 + ], + "finger_gap": 0.02632080612094712, + "fingertip_max_gap": 0.09131882629489052, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01316040306047356, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0466863603494423, + "object_top_z": 1.0920179008787363, + "finger_top_clearance": 0.045331540529294, + "fingertip_min_top_clearance": 0.013599462158788234, + "object_projection_between_fingers": 0.8173060907643781, + "object_to_finger_line_xy": 0.010170764260418217, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04815941314744526, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3129874988356023, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 208, + "max_stable_success_frames": 208, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23111177711571287, + -0.055414032181024656, + 1.247100244290071 + ], + "held_position": [ + 0.23589718390540354, + -0.05114097614261662, + 1.2433718692763813 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007420236269344658, + "max_held_gripper_dist": 0.007422352795660284, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003728375013689611, + "max_held_gripper_z_dist": 0.00392548259084613, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08554402844038017, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.23589718390540354, + -0.0758886975098855, + 1.2433718692763813 + ], + "held_grasp_finger_b": [ + 0.22699622661003271, + -0.05114097614261662, + 1.2433718692763813 + ], + "held_grasp_midpoint": [ + 0.23144670525771813, + -0.06351483682625106, + 1.2433718692763813 + ], + "held_grasp_object_position": [ + 0.23589718390540354, + -0.05114097614261662, + 1.2433718692763813 + ], + "held_grasp_finger_gap": 0.02629974816696905, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02391107604889052, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07953830957815919, + -0.9948004012342174, + -0.06360675289376916 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0035432790538046104, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03253671984446434, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3110666860882714, + -0.3768021487522333, + 0.8470196831937944 + ], + "target_position": [ + 0.3040954348194826, + -0.3784247648218834, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007157599259673374, + "xy_threshold": 0.08, + "gripper_dist": 0.1846714486072296, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196831937944, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07513638683608183, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08574492795550252, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15408139947227018, + "release_required_pad_clearance": 0.05287246397775126, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.78633402564229, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008320808410644531, + "max_z_decrease": 0.008320808410644531, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501466064945888, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008320808410644531, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.020991960757369994, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008320808410644531, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008320970776545212, + "max_button_displacement": 0.12, + "button_start": [ + 0.1597953587770462, + -0.43468621373176575, + 0.7768088579177856 + ], + "button_final": [ + 0.1597953587770462, + -0.43468621373176575, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15936588185221703, + -0.4362432668240171, + 0.8036080849395373 + ], + "closest_button": [ + 0.1598346084356308, + -0.43466058373451233, + 0.7686323523521423 + ], + "closest_ee_minus_button": [ + -0.0004687265834137644, + -0.001582683089504766, + 0.03497573258739495 + ], + "button_min_z_position": [ + 0.15983831882476807, + -0.43465694785118103, + 0.7684880495071411 + ], + "min_active_finger_to_button": 0.14598225449588978, + "closest_active_finger": [ + 0.018517114222049713, + -0.42123711109161377, + 0.8107746839523315 + ], + "closest_active_finger_button": [ + 0.159795343875885, + -0.434687227010727, + 0.7765639424324036 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1412782296538353, + 0.013450115919113215, + 0.03421074151992798 + ], + "min_contact_pad_to_button": 0.020991960757369994, + "closest_contact_pad": [ + 0.15983831882476807, + -0.4373255523511794, + 0.7893096960909622 + ], + "closest_contact_pad_button": [ + 0.15983831882476807, + -0.43465694785118103, + 0.7684880495071411 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002668604499998395, + 0.02082164658382113 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 92, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "92d87060161e494cda80468ef187e2cca727cb4345d56d7f3d3166356c393091", + "visual_seed": 1594000611050283103, + "episode_index": 92, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_93_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_93_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9d2dc66a7f434918448df083c8fe120d386aadbf --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_93_success.json @@ -0,0 +1,926 @@ +{ + "episode": 93, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.238324023098752, + -0.04885582041527203, + 1.045092790209727 + ], + "current_z": 1.045092790209727, + "required_z": 0.8565865074085657, + "initial_z": 0.7565865074085657, + "lift_margin": 0.18850628280116122, + "gripper_z": 1.0491474775946859, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23351246173239776, + -0.053490162649147924, + 1.0491474775946859 + ], + "object_minus_gripper": [ + 0.0048115613663542445, + 0.0046343422338758905, + -0.004054687384958955 + ], + "object_to_gripper_xy": 0.0066804379140052265, + "object_to_gripper_z": -0.004054687384958955, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.238324023098752, + -0.0731748598128114, + 1.045092790209727 + ], + "finger_b": [ + 0.22714917959129408, + -0.04885582041527203, + 1.045092790209727 + ], + "finger_midpoint": [ + 0.23273660134502305, + -0.061015340114041715, + 1.045092790209727 + ], + "object_minus_finger_midpoint": [ + 0.0055874217537289494, + 0.012159519698769682, + 0.0 + ], + "finger_gap": 0.02676364707275984, + "fingertip_max_gap": 0.09188800457481983, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013381823536379914, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.045092790209727, + "object_top_z": 1.0909627968052615, + "finger_top_clearance": 0.04587000659553464, + "fingertip_min_top_clearance": 0.013761001978660358, + "object_projection_between_fingers": 0.8256618988658345, + "object_to_finger_line_xy": 0.010154126557579891, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048444002287409915, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0727580795946583, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 207, + "max_stable_success_frames": 207, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2335448628740109, + -0.054211745027256196, + 1.2440728497415754 + ], + "held_position": [ + 0.2386982754893291, + -0.04982635943308252, + 1.2401631658203924 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00781504297856788, + "max_held_gripper_dist": 0.007818560599527952, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.00390968392118296, + "max_held_gripper_z_dist": 0.004058527865507644, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.085132254589496, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2386982754893291, + -0.07496453953001588, + 1.2401631658203924 + ], + "held_grasp_finger_b": [ + 0.22957227498312732, + -0.04982635943308252, + 1.2401631658203924 + ], + "held_grasp_midpoint": [ + 0.2341352752362282, + -0.062395449481549195, + 1.2401631658203924 + ], + "held_grasp_object_position": [ + 0.2386982754893291, + -0.04982635943308252, + 1.2401631658203924 + ], + "held_grasp_finger_gap": 0.026743447493265543, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02435621648370675, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07348154377918517, + -0.9955696471633261, + -0.058664643277855685 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003703225956607693, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03235152411823206, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.304072570272688, + -0.37943861593348704, + 0.8470197374565903 + ], + "target_position": [ + 0.29734625817284926, + -0.3812331283835589, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006961576645983305, + "xy_threshold": 0.08, + "gripper_dist": 0.1868087360587697, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470197374565903, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07591535449521584, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08728053973576376, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15417136611742874, + "release_required_pad_clearance": 0.05364026986788188, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.2900096008171578, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008551061153411865, + "max_z_decrease": 0.008551061153411865, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03504484761785518, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008551061153411865, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02086438621616285, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008551061153411865, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008551122100705024, + "max_button_displacement": 0.12, + "button_start": [ + 0.15304619073867792, + -0.43749457597732544, + 0.7768088579177856 + ], + "button_final": [ + 0.15304619073867792, + -0.43749457597732544, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1543678888001424, + -0.43663647919193926, + 0.8036350191329383 + ], + "closest_button": [ + 0.15304768085479734, + -0.4374596178531647, + 0.7686247229576111 + ], + "closest_ee_minus_button": [ + 0.00132020794534507, + 0.0008231386612254088, + 0.03501029617532725 + ], + "button_min_z_position": [ + 0.1530409604310989, + -0.43746271729469305, + 0.7682577967643738 + ], + "min_active_finger_to_button": 0.14423563200421344, + "closest_active_finger": [ + 0.027370698750019073, + -0.4995031952857971, + 0.8108226656913757 + ], + "closest_active_finger_button": [ + 0.15304847061634064, + -0.4374934434890747, + 0.7767080664634705 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12567777186632156, + -0.06200975179672241, + 0.03411459922790527 + ], + "min_contact_pad_to_button": 0.02086438621616285, + "closest_contact_pad": [ + 0.1530409604310989, + -0.4378193748251091, + 0.7891191343912664 + ], + "closest_contact_pad_button": [ + 0.1530409604310989, + -0.43746271729469305, + 0.7682577967643738 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0003566575304160269, + 0.020861337626892573 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 93, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "fa2007c96f9cd725e374f4cb8a393642df07e972f2c7a06da7be61b5bb5ecec4", + "visual_seed": 5910279711206889967, + "episode_index": 93, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_94_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_94_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f28aefda779530b73936a7ab275cdebb0063d25d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_94_success.json @@ -0,0 +1,926 @@ +{ + "episode": 94, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23637822953243343, + -0.049347639603452, + 1.046198063361963 + ], + "current_z": 1.046198063361963, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.18961149634875263, + "gripper_z": 1.0505760668402588, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23161019657861237, + -0.05391830372859299, + 1.0505760668402588 + ], + "object_minus_gripper": [ + 0.004768032953821055, + 0.00457066412514099, + -0.0043780034782958666 + ], + "object_to_gripper_xy": 0.006604930642601358, + "object_to_gripper_z": -0.0043780034782958666, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23637822953243343, + -0.07369090919473488, + 1.046198063361963 + ], + "finger_b": [ + 0.22538567800317505, + -0.049347639603452, + 1.046198063361963 + ], + "finger_midpoint": [ + 0.23088195376780424, + -0.06151927439909344, + 1.046198063361963 + ], + "object_minus_finger_midpoint": [ + 0.005496275764629188, + 0.012171634795641435, + 0.0 + ], + "finger_gap": 0.026710128481856436, + "fingertip_max_gap": 0.09522617896852953, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013355064240928213, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.046198063361963, + "object_top_z": 1.092765944036815, + "finger_top_clearance": 0.04656788067485196, + "fingertip_min_top_clearance": 0.013970364202455553, + "object_projection_between_fingers": 0.8306266544310504, + "object_to_finger_line_xy": 0.010018470916550498, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05011308948426477, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.610157565991632, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 209, + "max_stable_success_frames": 209, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23041219245322656, + -0.05364891362209574, + 1.2436314966263304 + ], + "held_position": [ + 0.2354106230468347, + -0.04910652129036438, + 1.239402658898745 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0079687329620674, + "max_held_gripper_dist": 0.007969595803732198, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004228837727585422, + "max_held_gripper_z_dist": 0.0043761194812950155, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08504801135614024, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2354106230468347, + -0.07384982165476876, + 1.239402658898745 + ], + "held_grasp_finger_b": [ + 0.22581053110749152, + -0.04910652129036438, + 1.239402658898745 + ], + "held_grasp_midpoint": [ + 0.2306105770771631, + -0.06147817147256657, + 1.239402658898745 + ], + "held_grasp_object_position": [ + 0.2354106230468347, + -0.04910652129036438, + 1.239402658898745 + ], + "held_grasp_finger_gap": 0.0265403970988939, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02457651945282246, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.01477009109211477, + -0.9989901638513392, + -0.04243226293052271 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004646711538482988, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03277017100696277, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3074842893973732, + -0.37725869956072955, + 0.8470195291298501 + ], + "target_position": [ + 0.3019920079900495, + -0.37856426686272965, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00564532204903189, + "xy_threshold": 0.08, + "gripper_dist": 0.18748790521926353, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195291298501, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0754612949161069, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0876645546422785, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1558607989712481, + "release_required_pad_clearance": 0.05383227732113925, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.6738253466094655, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008604049682617188, + "max_z_decrease": 0.008604049682617188, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035004447850387185, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008604049682617188, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020891565113323053, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008604049682617188, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008604222888807788, + "max_button_displacement": 0.12, + "button_start": [ + 0.157691940665245, + -0.4348257184028625, + 0.7768088579177856 + ], + "button_final": [ + 0.157691940665245, + -0.4348257184028625, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15854441920977852, + -0.43503798308885216, + 0.8035802773584847 + ], + "closest_button": [ + 0.15772938728332517, + -0.4347955882549286, + 0.7685861587524414 + ], + "closest_ee_minus_button": [ + 0.0008150319264533523, + -0.00024239483392357597, + 0.03499411860604329 + ], + "button_min_z_position": [ + 0.1577287465333938, + -0.43478539586067194, + 0.7682048082351685 + ], + "min_active_finger_to_button": 0.1449129743821632, + "closest_active_finger": [ + 0.017529435455799103, + -0.42130693793296814, + 0.8109185099601746 + ], + "closest_active_finger_button": [ + 0.15769395232200617, + -0.4348246455192566, + 0.7766993641853333 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14016451686620707, + 0.013517707586288452, + 0.03421914577484131 + ], + "min_contact_pad_to_button": 0.020891565113323053, + "closest_contact_pad": [ + 0.1577287465333938, + -0.4360219650188268, + 0.7890597450512156 + ], + "closest_contact_pad_button": [ + 0.1577287465333938, + -0.43478539586067194, + 0.7682048082351685 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0012365691581548433, + 0.02085493681604711 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 94, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0ccc7197c0ec795614d1276a5f97bc85a822536e28ecca8cee50171718fa7ba4", + "visual_seed": 7853041304467996277, + "episode_index": 94, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_95_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_95_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8ddbff6a149e6e374830e6daad34b8a2444209b7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_95_success.json @@ -0,0 +1,926 @@ +{ + "episode": 95, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23953720551626842, + -0.05588482344919865, + 1.0475764407404342 + ], + "current_z": 1.0475764407404342, + "required_z": 0.8565865074085657, + "initial_z": 0.7565865074085657, + "lift_margin": 0.19098993333186853, + "gripper_z": 1.0514864421381371, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23488319060820728, + -0.06045721450523567, + 1.0514864421381371 + ], + "object_minus_gripper": [ + 0.004654014908061138, + 0.004572391056037017, + -0.003910001397702922 + ], + "object_to_gripper_xy": 0.006524309521610898, + "object_to_gripper_z": -0.003910001397702922, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23953720551626842, + -0.0800096839129665, + 1.0475764407404342 + ], + "finger_b": [ + 0.22837219214559945, + -0.05588482344919865, + 1.0475764407404342 + ], + "finger_midpoint": [ + 0.23395469883093395, + -0.06794725368108258, + 1.0475764407404342 + ], + "object_minus_finger_midpoint": [ + 0.005582506685334471, + 0.012062430231883928, + 0.0 + ], + "finger_gap": 0.026583198001058603, + "fingertip_max_gap": 0.09183078681993095, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013291599000529297, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0475764407404342, + "object_top_z": 1.093039690478761, + "finger_top_clearance": 0.045463249738326716, + "fingertip_min_top_clearance": 0.013638974921498015, + "object_projection_between_fingers": 0.8235977814266782, + "object_to_finger_line_xy": 0.010132505112167647, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04841539340996548, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.194384090462072, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 209, + "max_stable_success_frames": 209, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23277944580904467, + -0.06178632318748503, + 1.2473519690569306 + ], + "held_position": [ + 0.2377727937914472, + -0.05739616339155604, + 1.243652604936841 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007608700414667442, + "max_held_gripper_dist": 0.007612072371024719, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003699364120089532, + "max_held_gripper_z_dist": 0.0039106382039830745, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08560987842887106, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2377727937914472, + -0.08218990613902295, + 1.243652604936841 + ], + "held_grasp_finger_b": [ + 0.22859084578071032, + -0.05739616339155604, + 1.243652604936841 + ], + "held_grasp_midpoint": [ + 0.23318181978607877, + -0.0697930347652895, + 1.243652604936841 + ], + "held_grasp_object_position": [ + 0.2377727937914472, + -0.05739616339155604, + 1.243652604936841 + ], + "held_grasp_finger_gap": 0.026439323907759882, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02407632493262146, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06690990152642269, + -0.9958435247684884, + -0.0617959485273727 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038305424545848404, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03254769926228091, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.31101587252735086, + -0.38736671533705, + 0.8470197226032891 + ], + "target_position": [ + 0.3048457009161839, + -0.3884039036556815, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006256738552916861, + "xy_threshold": 0.08, + "gripper_dist": 0.18467928588278318, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470197226032891, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0752295222637093, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08542727702978524, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15366506234691374, + "release_required_pad_clearance": 0.05271363851489262, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.4780584552539073, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008720695972442627, + "max_z_decrease": 0.008720695972442627, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03505764693343254, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008720695972442627, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.020882354086282397, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008720695972442627, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008720854821097763, + "max_button_displacement": 0.12, + "button_start": [ + 0.1605456322431564, + -0.4446653723716736, + 0.7768088579177856 + ], + "button_final": [ + 0.1605456322431564, + -0.4446653723716736, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16222839754997967, + -0.4438648687280501, + 0.8034687431074405 + ], + "closest_button": [ + 0.1605316549539566, + -0.4446149170398712, + 0.768460214138031 + ], + "closest_ee_minus_button": [ + 0.0016967425960230653, + 0.0007500483118211276, + 0.035008528969409536 + ], + "button_min_z_position": [ + 0.16052152216434476, + -0.4446185827255249, + 0.768088161945343 + ], + "min_active_finger_to_button": 0.14397699982886814, + "closest_active_finger": [ + 0.034855715930461884, + -0.5060205459594727, + 0.810954213142395 + ], + "closest_active_finger_button": [ + 0.1605452001094818, + -0.44466733932495117, + 0.7767882347106934 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12568948417901993, + -0.061353206634521484, + 0.03416597843170166 + ], + "min_contact_pad_to_button": 0.020882354086282397, + "closest_contact_pad": [ + 0.16052152216434476, + -0.4451083037591168, + 0.7889647729129817 + ], + "closest_contact_pad_button": [ + 0.16052152216434476, + -0.4446185827255249, + 0.768088161945343 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0004897210335919056, + 0.02087661096763871 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 95, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "fe39e32126c608363d6e9f4a662a641c0fa6ea8db6a05b1c54d2f0d8417d1c18", + "visual_seed": 7906000114945426447, + "episode_index": 95, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_96_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_96_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e352963b9993662c25840b7ae04eb351924d67f1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_96_success.json @@ -0,0 +1,926 @@ +{ + "episode": 96, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23059181358647718, + -0.0514430939078715, + 1.0464590831221028 + ], + "current_z": 1.0464590831221028, + "required_z": 0.8565865074085653, + "initial_z": 0.7565865074085654, + "lift_margin": 0.18987257571353744, + "gripper_z": 1.0505897873253855, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2260705437816173, + -0.0559740647597194, + 1.0505897873253855 + ], + "object_minus_gripper": [ + 0.004521269804859868, + 0.0045309708518479, + -0.0041307042032827646 + ], + "object_to_gripper_xy": 0.006400904428956339, + "object_to_gripper_z": -0.0041307042032827646, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23059181358647718, + -0.07543008643441836, + 1.0464590831221028 + ], + "finger_b": [ + 0.21945264983010945, + -0.0514430939078715, + 1.0464590831221028 + ], + "finger_midpoint": [ + 0.22502223170829333, + -0.06343659017114493, + 1.0464590831221028 + ], + "object_minus_finger_midpoint": [ + 0.005569581878183849, + 0.01199349626327343, + 0.0 + ], + "finger_gap": 0.02644724521873291, + "fingertip_max_gap": 0.09151374903643111, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013223622609366454, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0464590831221028, + "object_top_z": 1.0918152823053484, + "finger_top_clearance": 0.04535619918324563, + "fingertip_min_top_clearance": 0.013606859754973688, + "object_projection_between_fingers": 0.8226038079843502, + "object_to_finger_line_xy": 0.010102944014249037, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04825687451821556, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2987478626249356, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 208, + "max_stable_success_frames": 208, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2208007230711666, + -0.05728926457351248, + 1.2473399938776717 + ], + "held_position": [ + 0.22563411205616976, + -0.05279514795320258, + 1.2435345182877402 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0076184235733424525, + "max_held_gripper_dist": 0.007620148224838089, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003805475589931495, + "max_held_gripper_z_dist": 0.004158504968272192, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08522447854075423, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.22563411205616976, + -0.07712149187963006, + 1.2435345182877402 + ], + "held_grasp_finger_b": [ + 0.21637183200742646, + -0.05279514795320258, + 1.2435345182877402 + ], + "held_grasp_midpoint": [ + 0.2210029720317981, + -0.06495831991641632, + 1.2435345182877402 + ], + "held_grasp_object_position": [ + 0.22563411205616976, + -0.05279514795320258, + 1.2435345182877402 + ], + "held_grasp_finger_gap": 0.026029998857629317, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02361879403640971, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06069328569331564, + -0.9940232826894325, + -0.0907416031546402 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00404163721628536, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032828669738436046, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3088134886707743, + -0.38408222233612377, + 0.8470197473453942 + ], + "target_position": [ + 0.3017075284419276, + -0.38605568649275557, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007374905528307553, + "xy_threshold": 0.08, + "gripper_dist": 0.18565215466625257, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470197473453942, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07522031759794266, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08492371967336886, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1547621291682103, + "release_required_pad_clearance": 0.05246185983668443, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.0, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008617818355560303, + "max_z_decrease": 0.008617818355560303, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03505722609315981, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008617818355560303, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020879779935552664, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008617818355560303, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008617982030301022, + "max_button_displacement": 0.12, + "button_start": [ + 0.15740744769573212, + -0.4423171579837799, + 0.7768088579177856 + ], + "button_final": [ + 0.15740744769573212, + -0.4423171579837799, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15934307885386967, + -0.4420975736897534, + 0.8035897254554644 + ], + "closest_button": [ + 0.15744160115718842, + -0.4422854781150818, + 0.7685846090316772 + ], + "closest_ee_minus_button": [ + 0.001901477696681253, + 0.00018790442532840013, + 0.03500511642378712 + ], + "button_min_z_position": [ + 0.15743930637836456, + -0.44227465987205505, + 0.7681910395622253 + ], + "min_active_finger_to_button": 0.14392353318908493, + "closest_active_finger": [ + 0.01828376203775406, + -0.4286568760871887, + 0.8105551600456238 + ], + "closest_active_finger_button": [ + 0.15740661323070526, + -0.4423173666000366, + 0.7763176560401917 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1391228511929512, + 0.0136604905128479, + 0.03423750400543213 + ], + "min_contact_pad_to_button": 0.020879779935552664, + "closest_contact_pad": [ + 0.15743930637836456, + -0.4430636574070383, + 0.7890559069964291 + ], + "closest_contact_pad_button": [ + 0.15743930637836456, + -0.44227465987205505, + 0.7681910395622253 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0007889975349832379, + 0.020864867434203793 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 96, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a2c83ee1ef0c3ebfb5f16f74ff763b974fb5699e9333ade3c294ddfa385b930c", + "visual_seed": 5003777208403364237, + "episode_index": 96, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_97_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_97_success.json new file mode 100644 index 0000000000000000000000000000000000000000..cd582c07528b2feed66bdf99ec0881c5b7e39bad --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_97_success.json @@ -0,0 +1,926 @@ +{ + "episode": 97, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.22947928540328108, + -0.04775573669285121, + 1.0461176604403608 + ], + "current_z": 1.0461176604403608, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.18953115303179524, + "gripper_z": 1.0503571260726914, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22502415232562045, + -0.0523669841980781, + 1.0503571260726914 + ], + "object_minus_gripper": [ + 0.004455133077660628, + 0.004611247505226894, + -0.004239465632330575 + ], + "object_to_gripper_xy": 0.006411849522105701, + "object_to_gripper_z": -0.004239465632330575, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.22947928540328108, + -0.071473763037889, + 1.0461176604403608 + ], + "finger_b": [ + 0.21792275858749033, + -0.04775573669285121, + 1.0461176604403608 + ], + "finger_midpoint": [ + 0.22370102199538572, + -0.059614749865370104, + 1.0461176604403608 + ], + "object_minus_finger_midpoint": [ + 0.005778263407895362, + 0.011859013172518897, + 0.0 + ], + "finger_gap": 0.026383670816396972, + "fingertip_max_gap": 0.09214936636114815, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013191835408198483, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0461176604403608, + "object_top_z": 1.0915386073705264, + "finger_top_clearance": 0.04542094693016563, + "fingertip_min_top_clearance": 0.013626284079049688, + "object_projection_between_fingers": 0.8081400958019012, + "object_to_finger_line_xy": 0.010388926142290766, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04857468318057408, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.563940281894198, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 207, + "max_stable_success_frames": 207, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21792191553226986, + -0.05405160997582506, + 1.2466615725765897 + ], + "held_position": [ + 0.2227628214040057, + -0.04948490809211034, + 1.242813427247842 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007687480616228786, + "max_held_gripper_dist": 0.007690078303885859, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0038481453287477763, + "max_held_gripper_z_dist": 0.004261005004019269, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08514859712709923, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2227628214040057, + -0.07365681899325015, + 1.242813427247842 + ], + "held_grasp_finger_b": [ + 0.21343533486286745, + -0.04948490809211034, + 1.242813427247842 + ], + "held_grasp_midpoint": [ + 0.21809907813343657, + -0.061570863542680244, + 1.242813427247842 + ], + "held_grasp_object_position": [ + 0.2227628214040057, + -0.04948490809211034, + 1.242813427247842 + ], + "held_grasp_finger_gap": 0.025909135103043414, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02333193356263437, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07046198664975906, + -0.9924398154901635, + -0.10049040286126588 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003994942036541933, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.0328770249523561, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3098684104816143, + -0.3806332705675521, + 0.8470196564284134 + ], + "target_position": [ + 0.3040252735858546, + -0.3819180570781718, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005982718876936987, + "xy_threshold": 0.08, + "gripper_dist": 0.1851874549485821, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196564284134, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07531262305675684, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08522939963524855, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1541070269063666, + "release_required_pad_clearance": 0.052614699817624275, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.29073958277159984, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008522629737854004, + "max_z_decrease": 0.008522629737854004, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035050151806309236, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008522629737854004, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02103064001575103, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008522629737854004, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008522790045030211, + "max_button_displacement": 0.12, + "button_start": [ + 0.1597252041101456, + -0.43817952275276184, + 0.7768088579177856 + ], + "button_final": [ + 0.1597252041101456, + -0.43817952275276184, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1609900342810849, + -0.439757284014914, + 0.8036180602975023 + ], + "closest_button": [ + 0.1597591042518616, + -0.4381481111049652, + 0.7686265110969543 + ], + "closest_ee_minus_button": [ + 0.0012309300292233094, + -0.001609172909948775, + 0.03499154920054792 + ], + "button_min_z_position": [ + 0.15975390374660495, + -0.4381358325481415, + 0.7682862281799316 + ], + "min_active_finger_to_button": 0.14437486904775573, + "closest_active_finger": [ + 0.02011672407388687, + -0.42464831471443176, + 0.8106138706207275 + ], + "closest_active_finger_button": [ + 0.15972478687763217, + -0.438180536031723, + 0.7764002680778503 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1396080628037453, + 0.01353222131729126, + 0.0342136025428772 + ], + "min_contact_pad_to_button": 0.02103064001575103, + "closest_contact_pad": [ + 0.15975390374660495, + -0.4408804584864453, + 0.7891370038952593 + ], + "closest_contact_pad_button": [ + 0.15975390374660495, + -0.4381358325481415, + 0.7682862281799316 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002744625938303824, + 0.020850775715327674 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 97, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "14b3d0358ca688201afd19c5d3f57eaaff53b1331cd413c5223cd88ae53490a7", + "visual_seed": 356916638686063454, + "episode_index": 97, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_98_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_98_success.json new file mode 100644 index 0000000000000000000000000000000000000000..14634727fd685efbfc5bf439a3cedc7fe2e8014a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_98_success.json @@ -0,0 +1,926 @@ +{ + "episode": 98, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23611572526651484, + -0.055666075003277464, + 1.0462839049027128 + ], + "current_z": 1.0462839049027128, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.18969745709879204, + "gripper_z": 1.0503978751755918, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.231668623531607, + -0.06021696931496649, + 1.0503978751755918 + ], + "object_minus_gripper": [ + 0.004447101734907838, + 0.0045508943116890285, + -0.004113970272878964 + ], + "object_to_gripper_xy": 0.006362967301250562, + "object_to_gripper_z": -0.004113970272878964, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23611572526651484, + -0.07948297724292991, + 1.0462839049027128 + ], + "finger_b": [ + 0.22478297979099476, + -0.055666075003277464, + 1.0462839049027128 + ], + "finger_midpoint": [ + 0.23044935252875481, + -0.06757452612310369, + 1.0462839049027128 + ], + "object_minus_finger_midpoint": [ + 0.005666372737760023, + 0.011908451119826226, + 0.0 + ], + "finger_gap": 0.026375669703461224, + "fingertip_max_gap": 0.09364032723996882, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013187834851730609, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0462839049027128, + "object_top_z": 1.0927546172625229, + "finger_top_clearance": 0.04647071235981004, + "fingertip_min_top_clearance": 0.013941213707943028, + "object_projection_between_fingers": 0.8153865753341237, + "object_to_finger_line_xy": 0.01023332844746327, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04932016361998441, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.454201523185067, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 207, + "max_stable_success_frames": 207, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22654944274851563, + -0.06243359101617478, + 1.2486106393632537 + ], + "held_position": [ + 0.23140245909723625, + -0.05801783847604651, + 1.24482369773431 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007575722082918977, + "max_held_gripper_dist": 0.0075803911611595385, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003786941628943774, + "max_held_gripper_z_dist": 0.004124164791832419, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08517111124290533, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.23140245909723625, + -0.08250538219984459, + 1.24482369773431 + ], + "held_grasp_finger_b": [ + 0.2224259323590252, + -0.05801783847604651, + 1.24482369773431 + ], + "held_grasp_midpoint": [ + 0.2269141957281307, + -0.07026161033794555, + 1.24482369773431 + ], + "held_grasp_object_position": [ + 0.23140245909723625, + -0.05801783847604651, + 1.24482369773431 + ], + "held_grasp_finger_gap": 0.026080985984175152, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023632486325582073, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07961357729980816, + -0.9942663096616263, + -0.07138756041060888 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003609859924578368, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03266932839766337, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.30465531337540197, + -0.3828307981364975, + 0.847019553758497 + ], + "target_position": [ + 0.300208944135542, + -0.38319176179655245, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.004460996994064578, + "xy_threshold": 0.08, + "gripper_dist": 0.1848577546263547, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.847019553758497, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07568675096205812, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08583473861517919, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15250422635177824, + "release_required_pad_clearance": 0.0529173693075896, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8731185273226862, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008464574813842773, + "max_z_decrease": 0.008464574813842773, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03506941752218595, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008464574813842773, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021056019976711117, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008464574813842773, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008464721224745802, + "max_button_displacement": 0.12, + "button_start": [ + 0.15590886771678925, + -0.4394532144069671, + 0.7768088579177856 + ], + "button_final": [ + 0.15590886771678925, + -0.4394532144069671, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15764703872412655, + -0.4409218682064311, + 0.8036125811767393 + ], + "closest_button": [ + 0.15594282746315002, + -0.43942308425903315, + 0.7686166763305664 + ], + "closest_ee_minus_button": [ + 0.0017042112609765292, + -0.0014987839473979414, + 0.034995904846172876 + ], + "button_min_z_position": [ + 0.1559378206729889, + -0.43941271305084223, + 0.7683442831039429 + ], + "min_active_finger_to_button": 0.14389984129732422, + "closest_active_finger": [ + 0.01707024872303009, + -0.4233422875404358, + 0.8106547594070435 + ], + "closest_active_finger_button": [ + 0.1559092402458191, + -0.439454585313797, + 0.776430606842041 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.138838991522789, + 0.016112297773361206, + 0.03422415256500244 + ], + "min_contact_pad_to_button": 0.021056019976711117, + "closest_contact_pad": [ + 0.1559378206729889, + -0.44225742234512977, + 0.7892072552385802 + ], + "closest_contact_pad_button": [ + 0.1559378206729889, + -0.43941271305084223, + 0.7683442831039429 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0028447092942875396, + 0.02086297213463728 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 98, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7ff91e91814bea2beeae4387602412b6ae72f8e0571b0b3d3e15afd6a57a3b33", + "visual_seed": 1367065262752604811, + "episode_index": 98, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_99_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_99_success.json new file mode 100644 index 0000000000000000000000000000000000000000..bc7bb81ce9432cfd9fc6841a39e2c4ddf8056d30 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_99_success.json @@ -0,0 +1,926 @@ +{ + "episode": 99, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23918959438153126, + -0.05213398913006057, + 1.045063519845818 + ], + "current_z": 1.045063519845818, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.18847701243725246, + "gripper_z": 1.0491719395182577, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2344322120167204, + -0.056806549212677374, + 1.0491719395182577 + ], + "object_minus_gripper": [ + 0.004757382364810853, + 0.0046725600826168015, + -0.004108419672439689 + ], + "object_to_gripper_xy": 0.006668245998062552, + "object_to_gripper_z": -0.004108419672439689, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23918959438153126, + -0.07625479724165742, + 1.045063519845818 + ], + "finger_b": [ + 0.227787091442614, + -0.05213398913006057, + 1.045063519845818 + ], + "finger_midpoint": [ + 0.23348834291207263, + -0.064194393185859, + 1.045063519845818 + ], + "object_minus_finger_midpoint": [ + 0.005701251469458629, + 0.012060404055798425, + 0.0 + ], + "finger_gap": 0.026680150997108184, + "fingertip_max_gap": 0.09158106587964121, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013340075498554095, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.045063519845818, + "object_top_z": 1.0904851815407928, + "finger_top_clearance": 0.045421661694974746, + "fingertip_min_top_clearance": 0.013626498508492457, + "object_projection_between_fingers": 0.8173482576479837, + "object_to_finger_line_xy": 0.010308696731564723, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04829053293982061, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0160760207583186, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 207, + "max_stable_success_frames": 207, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23256244926325548, + -0.05769844974830608, + 1.2428965584432696 + ], + "held_position": [ + 0.2376631875420535, + -0.05322573403062635, + 1.2389828083891696 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007831995682196368, + "max_held_gripper_dist": 0.007835215110535525, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003913750054099996, + "max_held_gripper_z_dist": 0.004107890431844119, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08572694094920584, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2376631875420535, + -0.07807450424932852, + 1.2389828083891696 + ], + "held_grasp_finger_b": [ + 0.22833704041497416, + -0.05322573403062635, + 1.2389828083891696 + ], + "held_grasp_midpoint": [ + 0.23300011397851383, + -0.06565011913997744, + 1.2389828083891696 + ], + "held_grasp_object_position": [ + 0.2376631875420535, + -0.05322573403062635, + 1.2389828083891696 + ], + "held_grasp_finger_gap": 0.02654125847841037, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02405790583289127, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07275216704092329, + -0.995477966467378, + -0.061079787727393406 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038249583674750554, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03249277463572763, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.30585715878036646, + -0.3777452166455255, + 0.847019962153001 + ], + "target_position": [ + 0.29890436685986, + -0.3796499978106602, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007208987916268959, + "xy_threshold": 0.08, + "gripper_dist": 0.18568866724127453, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.847019962153001, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07549341070611738, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08522717700894077, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15421746133793826, + "release_required_pad_clearance": 0.052613588504470385, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.2880341062918029, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008534789085388184, + "max_z_decrease": 0.008534789085388184, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035015181267429016, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008534789085388184, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020864966237064055, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008534789085388184, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008534948967918024, + "max_button_displacement": 0.12, + "button_start": [ + 0.15460428595542908, + -0.43591144680976873, + 0.7768088579177856 + ], + "button_final": [ + 0.15460428595542908, + -0.43591144680976873, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1556130816245584, + -0.4354031140326562, + 0.8035985593922398 + ], + "closest_button": [ + 0.15464060008525848, + -0.43588232994079595, + 0.7686001658439636 + ], + "closest_ee_minus_button": [ + 0.0009724815392999075, + 0.0004792159081397629, + 0.03499839354827616 + ], + "button_min_z_position": [ + 0.15464326739311213, + -0.4358766674995423, + 0.7682740688323975 + ], + "min_active_finger_to_button": 0.1447066714834937, + "closest_active_finger": [ + 0.02932429313659668, + -0.49977922439575195, + 0.8108911514282227 + ], + "closest_active_finger_button": [ + 0.15460801124572754, + -0.4359097480773926, + 0.7767634391784668 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12528371810913086, + -0.06386947631835938, + 0.03412771224975586 + ], + "min_contact_pad_to_button": 0.020864966237064055, + "closest_contact_pad": [ + 0.15464326739311213, + -0.43645948484732816, + 0.7891308936150182 + ], + "closest_contact_pad_button": [ + 0.15464326739311213, + -0.4358766674995423, + 0.7682740688323975 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0005828173477858689, + 0.020856824782620742 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 99, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5996696b06b10b7a43af1fb78331c352bb4c02471419191e9d85a943012ee026", + "visual_seed": 7917402355942836854, + "episode_index": 99, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_9_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_9_success.json new file mode 100644 index 0000000000000000000000000000000000000000..245bfd0c089427cdb48761f42ce11a869dfa98f3 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/episode_9_success.json @@ -0,0 +1,926 @@ +{ + "episode": 9, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23185285339485406, + -0.050243376794097676, + 1.0457818781144341 + ], + "current_z": 1.0457818781144341, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.18919537070586856, + "gripper_z": 1.0501868834386519, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22707902211292516, + -0.054893230701762816, + 1.0501868834386519 + ], + "object_minus_gripper": [ + 0.004773831281928903, + 0.00464985390766514, + -0.004405005324217726 + ], + "object_to_gripper_xy": 0.006664128335420298, + "object_to_gripper_z": -0.004405005324217726, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23185285339485406, + -0.07445162053000824, + 1.0457818781144341 + ], + "finger_b": [ + 0.2205976317261898, + -0.050243376794097676, + 1.0457818781144341 + ], + "finger_midpoint": [ + 0.22622524256052193, + -0.062347498662052955, + 1.0457818781144341 + ], + "object_minus_finger_midpoint": [ + 0.005627610834332136, + 0.01210412186795528, + 0.0 + ], + "finger_gap": 0.026696799051347392, + "fingertip_max_gap": 0.09404750009186352, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013348399525673692, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0457818781144341, + "object_top_z": 1.0920138293362824, + "finger_top_clearance": 0.04623195122184831, + "fingertip_min_top_clearance": 0.013869585366554527, + "object_projection_between_fingers": 0.8222581400739329, + "object_to_finger_line_xy": 0.01020606061920278, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049523750045931764, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.9944946172024145, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 207, + "max_stable_success_frames": 207, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22297303876967117, + -0.05622187786673152, + 1.2454535429773237 + ], + "held_position": [ + 0.22806008633623, + -0.0516424105985645, + 1.241335368293754 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007988049582284745, + "max_held_gripper_dist": 0.007990878297295634, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004118174683569675, + "max_held_gripper_z_dist": 0.004428049353663699, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08534416411270536, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.22806008633623, + -0.07628847660370552, + 1.241335368293754 + ], + "held_grasp_finger_b": [ + 0.21867738465880707, + -0.0516424105985645, + 1.241335368293754 + ], + "held_grasp_midpoint": [ + 0.22336873549751854, + -0.06396544360113501, + 1.241335368293754 + ], + "held_grasp_object_position": [ + 0.22806008633623, + -0.0516424105985645, + 1.241335368293754 + ], + "held_grasp_finger_gap": 0.026371645005522186, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024091854381048588, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.049341670735168805, + -0.996297443685346, + -0.0704045682829404 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004170575732691889, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03269133959851276, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.309552859536651, + -0.3785392919668359, + 0.8470197004457013 + ], + "target_position": [ + 0.3042183543472696, + -0.3796961388979343, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005458501665982047, + "xy_threshold": 0.08, + "gripper_dist": 0.1852959137291971, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470197004457013, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07574960997729613, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08759877689826477, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1530911366103791, + "release_required_pad_clearance": 0.05379938844913239, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.607425788632924, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008330583572387695, + "max_z_decrease": 0.008330583572387695, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03498845814727872, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008330583572387695, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02084820313236089, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008330583572387695, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008330773527402552, + "max_button_displacement": 0.12, + "button_start": [ + 0.1599182784557342, + -0.4359576106071472, + 0.7768088579177856 + ], + "button_final": [ + 0.1599182784557342, + -0.4359576106071472, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1591648626819003, + -0.43579447051084386, + 0.8035979959590791 + ], + "closest_button": [ + 0.15996381640434257, + -0.43593451380729675, + 0.7686189413070679 + ], + "closest_ee_minus_button": [ + -0.0007989537224422638, + 0.00014004329645289637, + 0.03497905465201123 + ], + "button_min_z_position": [ + 0.15996861457824701, + -0.4359324872493744, + 0.768478274345398 + ], + "min_active_finger_to_button": 0.14636882135627563, + "closest_active_finger": [ + 0.03221192955970764, + -0.4988143742084503, + 0.810641348361969 + ], + "closest_active_finger_button": [ + 0.15991820394992823, + -0.4359585642814636, + 0.7765226364135742 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1277062743902206, + -0.0628558099269867, + 0.034118711948394775 + ], + "min_contact_pad_to_button": 0.02084820313236089, + "closest_contact_pad": [ + 0.15996861457824701, + -0.4369620630258305, + 0.7893010394732266 + ], + "closest_contact_pad_button": [ + 0.15996861457824701, + -0.4359324872493744, + 0.768478274345398 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0010295757764561264, + 0.020822765127828657 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 9, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "workflow_spec_digest": "a26bcf524dc6db916b6c04658c27592aadfb63c1acd0b470ac630cd8f7c37610", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9cd1a42881873904430dd68da48afd77b5c0987c39556cb55d8048cf8d62690b", + "visual_seed": 3738555197929045593, + "episode_index": 9, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106 + ], + "runtime_workflow_digest": "d0063e139bc910a1b5b3a6a03bd929716ae0cd37c480d089d4e6012074e688f4" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/summary.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..e769bc94e9134bd3c38745e1e9a8abc6cd795f4f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/results/summary.json @@ -0,0 +1,9 @@ +{ + "scope": "published_success_subset", + "case": "lab3_heat_2beaker_s04_pslr_hte_00032", + "family": "lab3_v1", + "published_episodes": 100, + "published_successes": 100, + "published_failures": 0, + "matched_success_results": 100 +} diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0000.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0000.h5 new file mode 100644 index 0000000000000000000000000000000000000000..710c20d7badd1ccc2d06be49659e74656b64f3e1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0000.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e0c630938d7870066aae2600a65a048a984db162ef68b8d752b43337315e925c +size 7092958 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0001.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0001.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d00fb03eb523ca48a91b7592203b76efdd287d05 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0001.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3aa02cf352e757e84b90db08fa9cef1fff4c9b32ba4bef43865f916e020b5553 +size 5620055 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0002.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0002.h5 new file mode 100644 index 0000000000000000000000000000000000000000..660497dd13ce84afd9ebfe3e54fbe941082ba0ef --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0002.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a154abfca8e80e60f593c19d71194a08748dc146f799ed570b85e066f8f37a59 +size 5151578 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0003.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0003.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e2662e6dfb3a6cb9f948fab18fdf7a9698c9586f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0003.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d6e11a51e05ebe26dc611033c7d8cfcb089c8de7e02bddc45e086c0d8e43e121 +size 5129213 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0004.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0004.h5 new file mode 100644 index 0000000000000000000000000000000000000000..063acb7f3ca9cb3785524022d8afa2b1b3f42aca --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0004.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2c841ae64fd60f051d43b81cddbf227a877983a1dac742d1d410449104a4a44a +size 5543549 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0005.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0005.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a6cb476fadab7d54f5a6cb555076a74679977264 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0005.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a91550a7aeb469b3d6c154b866b7d36ccd746a18be6552f8e2bdf207eaf1aa02 +size 4811159 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0006.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0006.h5 new file mode 100644 index 0000000000000000000000000000000000000000..42706d98486d0a4a61a27433a3d96d48c1be2c7d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0006.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ca50159e064e800c7fbf1f2985c2c527187d1bece483b835e84de494fe214e5c +size 7648048 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0007.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0007.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3e90447c5789acf90787ed841b151d0006988e66 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0007.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8bec9d29c01a16453bbf64d0440b1c7ee8e59f75e9207dd340a3d61446f98db5 +size 5423630 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0008.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0008.h5 new file mode 100644 index 0000000000000000000000000000000000000000..bffeef01a0f6554db9942e2f908c6f911212bda9 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0008.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a56432e4bcacd128bf63d9c106743e399557653bf5277ef7e6c448f4ed40eeb2 +size 5584339 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0009.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0009.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9bd04dce14fd06ac9787fa473a1fc98dc786afdb --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0009.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e91e7d3e21e77b9c1092aa7c3b38ed9ad9f3808bcda0864c5f53eb9c4ae71082 +size 7486387 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0010.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0010.h5 new file mode 100644 index 0000000000000000000000000000000000000000..801836b2b9f5373657f77c646def69178d466700 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0010.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:60f72e73fbc4870a0ddb812097901af990cd54c915d2fbb59cecc931cfbdb736 +size 5961208 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0011.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0011.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1d8500e2d132564499d332d7a40c01954de2f796 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0011.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4dc9058db5d7ce21e43c13132871f633f72ce9a0218e679865d369fd4cd22af8 +size 4935487 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0012.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0012.h5 new file mode 100644 index 0000000000000000000000000000000000000000..116d19e8865969ec906ad1801f1eff9e0703a5bc --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0012.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0bfc77bbc01448c264c73c3f86e5b2c3b5d4fbfb4d4d0975db195e2ce3883f06 +size 6210351 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0013.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0013.h5 new file mode 100644 index 0000000000000000000000000000000000000000..81c3c2862841447f8c2e42ce62f29045477c1280 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0013.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5bedeeda5bb97ee992e93770fc820557fca97a143c5018dca4d7de6c7a0825f5 +size 5814880 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0014.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0014.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a0af8ec63d5520242e5b04be779f78300c18e50a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0014.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4111c2e529d249d7969cbaa24214294b87b5de256637e4b1d95cb705344bfade +size 6305008 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0015.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0015.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e46228a5ed43a7d528da9dcfa79a7968a5e61068 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0015.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c690b168f9e5c4ceb4b4af7bfdec8bbe369d26dd09c4fad0320bb2246979377a +size 6935316 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0016.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0016.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a94e0584dc7bff03ed2a50cc39882a6ba7734d3a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0016.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f2eab62834c4c8be77c41a40fa43295b1f4b2bdb6c8815beb85b19b407169f55 +size 6469101 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0017.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0017.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5814e7a364e987bc26522b33e239fcf601cea672 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0017.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:12ec9378d4ebd1c0c0ea5d074d5d5b1362535894b64a63c44a50bd03e31fce8a +size 5425573 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0018.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0018.h5 new file mode 100644 index 0000000000000000000000000000000000000000..33c466cbb72b0d86b4a3725d8fc7b9a177872eea --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0018.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:62d1aa0b49637ed6c8682ce9bf572a788876075d50458b27e8cce5875688495b +size 5764120 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0019.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0019.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d2fa0ae02b175909e4e2a18d518fdaba9d37b9fc --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0019.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6cca6c09880f52d1a4fd778c1150c57b2412946ec2f5487445e6b57427c9e035 +size 5724295 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0020.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0020.h5 new file mode 100644 index 0000000000000000000000000000000000000000..38e701ea3d73bed1906de1a820e886a998ebe99d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0020.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8cc49f1bccf02c081a4cdc829dd90660ac7ffda25dc99a91e4e157ec545ddc9b +size 6701342 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0021.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0021.h5 new file mode 100644 index 0000000000000000000000000000000000000000..52dabc22249e7c281b39b593cb9beec76898b635 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0021.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cf55cc30820ba8cdc96bffe9278f70bf0a4eb2bd8c9b8d4839900f83de4fece5 +size 5884104 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0022.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0022.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4d9c344e2e75e0d093119846fccc31655e8675c9 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0022.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a003957e9f12e2de1646ea2ef85dc58e3624209a59c778b58aa44a222b22cba6 +size 6114975 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0023.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0023.h5 new file mode 100644 index 0000000000000000000000000000000000000000..67e0c9fc1db65ddf1aba99167e3afcaf8c0a49ae --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0023.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f1398a1be8c087421be7c14901928e44e6aa80b85b9b00d07e2b0a7b7668db6e +size 5602956 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0024.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0024.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a8262fb9a0d7f5f8182b0e1b507d01c50442251e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0024.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:798a50af93e80fcfb95ddcf75cb41d9cf527be997ba07460c76535051bb328b4 +size 5060331 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0025.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0025.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f7ba76c333980bb844ac07a347b0f33bf64a62e1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0025.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:10a1a431bdcaa12f570bd80453f032a03775e7d2ffd43aafcaf8d1997a44f558 +size 6466310 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0026.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0026.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f83c935c04e52a8470bea384d47f8d093a389ff0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0026.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3b10e4db0442221ae2836c6ba65d4e700d26c3d81033170de45d9df637621797 +size 6276409 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0027.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0027.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8451275ac422a6af8a538eb4161a66bbae059753 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0027.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7d33786bcf1a5e94ddc9155ec0c7263259c05805e7c3b6ce51732770c5fff1e9 +size 5473841 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0028.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0028.h5 new file mode 100644 index 0000000000000000000000000000000000000000..880bd3e5623eef927d062fb34ce0d1d384e4f192 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0028.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0d33167a2da7cf546e4b1bfb99c568d39b906e997cee94c5e5632bc9a3333eed +size 6974819 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0029.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0029.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f0b2c7c91809ec1fa8ec1e089a32c45b33f570c8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0029.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1ad1ecd12b6ed1f5eeaa2a204791aab4b9b8e0d57b835520a3276097e06df9d0 +size 5641032 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0030.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0030.h5 new file mode 100644 index 0000000000000000000000000000000000000000..88174d50a0d0dfffda34c564328abcdca59c2939 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0030.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e072824e8d01b815e3edf74b46b020f37819a03b74e3984be3a8966b66ac2884 +size 6248097 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0032.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0032.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1fd8c439249135837903692091a2c6b7a27e2f51 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0032.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:27ec33a02abfa28fdce6637681bf706bedec73147fca6922748a4c5e710555cf +size 7851948 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0033.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0033.h5 new file mode 100644 index 0000000000000000000000000000000000000000..fa67d28cd2063fc9adf9e19a6de6e5e155fd14c8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0033.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f100673adf198be8ffe4895eeb5e25575b7dc21025d1879f3230a64443b9520e +size 5299065 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0034.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0034.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1a27e799faaf6a41de3030d6fdd88cd586fa1188 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0034.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b10d42f3f850c77b5627ea39dd640f7ee236d9aef5562c882eee86d9e3ab3237 +size 7844154 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0035.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0035.h5 new file mode 100644 index 0000000000000000000000000000000000000000..bb75a4e290811e3047f86e213279fdc44c1213aa --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0035.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e62dcd730896f4639938cb3d619b53a6a7cc3ee61db222ddf1c01b1abf170732 +size 6216164 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0036.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0036.h5 new file mode 100644 index 0000000000000000000000000000000000000000..cf43fa819a979b2322dbb1fdb73f5e38ac380f41 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0036.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f03ffeec4cb09bf385d572730f1f42021de0f724e30dbaf84a09cae5623bc033 +size 7315766 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0037.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0037.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a2e3829b4aa85dc0c6771e81cbb54f9184ccf827 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0037.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ed2e98e0d9cd314b1ec50c3eaaa2ffd684d4cbe0b45c2b746dd6d869378b0cb3 +size 6449459 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0038.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0038.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4d9f4688f338237ffcc2437ff7795e3d4e0562f8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0038.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d323e83182406e75b4bc13958cc2a3ffd7e94cf0e0ff75ab93332d11af9e466c +size 6343831 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0039.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0039.h5 new file mode 100644 index 0000000000000000000000000000000000000000..57098a40571fa97a47ac07002fb21852f2187a09 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0039.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:243316f3465a6ed50b31d04f3a479f7b0099f327999edf2d3ad382bac5eab39f +size 5448334 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0040.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0040.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4ed7d0a48fcfd3d0c0842a5da7d6a1c0b7df1355 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0040.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:389d49daa01276b168b488a7b69fd7e533fdcd1d2ac6fdad21e41076de399306 +size 5866731 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0042.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0042.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ac2faa4ce2fb90764e6532ebe051445f28d8b0bb --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0042.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:baf71936dcedff6376405237cb024639e50eb947165b7ceea86600bc0c0c1457 +size 5890097 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0043.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0043.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2feb34b93bae6e8cda3c313b41f43d56aad659aa --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0043.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2ba50943bca5000fe74b7dc3689a7a47afb750b0f0716ae31808a3873bed6297 +size 7671142 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0044.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0044.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f0ecb42c074eb6dd888e49ae2e090a0154d771c2 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0044.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8a81615fa2f3e0ab272ea9a43cac9f570a973615c83873da4d501b456c5dca36 +size 6458656 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0045.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0045.h5 new file mode 100644 index 0000000000000000000000000000000000000000..efc85459331338b8dd003def0128180c12c37457 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0045.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5eb0a835915850f92c8842c9356e1f3324698cdc333ef5450cede2bc8d288ce6 +size 7176320 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0046.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0046.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ff520eb27c195a88f10c37a231ec900787b1983a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0046.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1b6097034f7b7fc98deddcc157ad1b41cdf4ba16ea6cbffce9a803f7cf2e29ad +size 4796322 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0047.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0047.h5 new file mode 100644 index 0000000000000000000000000000000000000000..45ff8c58374ba60a5f2ecc280dabf2b5170ea19c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0047.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2a930ccbf3998efc209d83757f2920663c45e629d1caf83c18bbd94112ec32ac +size 5033167 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0048.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0048.h5 new file mode 100644 index 0000000000000000000000000000000000000000..17b5c95a7f868c0510868ce348c8c68221821f5d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0048.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e4d9306d42d7a3268f7d7b2d9a6b867f5c6836a40e63f866297674124b4064d5 +size 6580648 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0049.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0049.h5 new file mode 100644 index 0000000000000000000000000000000000000000..35222b9e16712f86c682ce11f23d72afcc2be32d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0049.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7257ba659ec4630e248374000dd3a73b6602d18077746557cfb90e3d99153acb +size 5842246 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0050.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0050.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9988ec82016763d28391b01f6e7f7a37653457f6 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0050.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ca7f98a0e551596bdf29913f1f7450f81b535bd09d3e3f9ad6de16221da5e528 +size 5007339 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0052.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0052.h5 new file mode 100644 index 0000000000000000000000000000000000000000..01bfc5fe2400a84437c5895009afbf3025ae1199 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0052.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:623896cad0df9d5f3ac56f96f5f49cede1a231361407cf9c0a7876d01759a56a +size 6876897 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0053.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0053.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ca89d33b1619216b582ff561db49e977ae652d9c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0053.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:01c6ee4e90673d301b63eb69593398e82220ef11d77f74a7d77a1f937fbeb2ef +size 6257010 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0054.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0054.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ac3a0f3bc9e2678533022f5f9330b6cdee281a62 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0054.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9427c1d6763dd2f8b22b042292533ce4dfb6428149367d4cdcf481b352bc4e6f +size 6952990 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0055.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0055.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2bc293df537c7098fbc8b9216163f89ec4444ba0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0055.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7ff89af222bf59e91515fa872983978912de334ad0ae92d85f38bdf27bdc5bd8 +size 7532508 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0056.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0056.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a006942ac857f61e89d6893502721b11be05ffe5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0056.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1aaff276dabd47f3e19a90065e6fc6d47751e5b70747789f19bd6e1b5a91311c +size 7147772 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0057.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0057.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4a89476a3df44a2e6c0f8f9b14615180908f74ff --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0057.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5d2a23388789192e2dd5ef32d5ef98264a0af0652f310e09e2a99e6fccbfde1e +size 6682038 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0058.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0058.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5672753252c10541478590ea73bdede509c38df5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0058.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:634b09910569ea273fc7d9cac4aa313a917698100e6b8d860180cae3a994e3d4 +size 6884737 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0059.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0059.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6e2cc7b69092623de76bc0e78fb043acd38035c5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0059.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8c96e1286c926d34ff0d9961ad18aee7eeba1271063a90514542a41529293f8f +size 6010068 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0060.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0060.h5 new file mode 100644 index 0000000000000000000000000000000000000000..366c579d46b8affd718c62c57f65733f40daf424 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0060.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1dc17082065d5bb744c42b02b7be5165c825a91dea37d9f553bc3d32cef8f9fd +size 6294748 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0061.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0061.h5 new file mode 100644 index 0000000000000000000000000000000000000000..7bbdf563c294960c899a5b74576a534acd114f90 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0061.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c237a56fd6866f1c2c0b72d695badae82c11ae870c9c282f2d9f64f1fcdf85c1 +size 6062182 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0062.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0062.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f31b513b21366ae0e6c645725054a35605eb5fb1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0062.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eab08e1f17955839b96ac66b0b1115bf65ce5737544f7c137ead545c12121ade +size 6098762 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0063.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0063.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9515d7b47dfa79b4e17900b001fdced8bb0662b6 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0063.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d2ac101382395678485d9c949690e6e2b7edc369e8faa534abc37abdfa306309 +size 6218929 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0064.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0064.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f21ec62166ef9ffd6409e4fd5de0b075acaa6516 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0064.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b6dbdd99b9c8068403e810492a95036bc6d3c97332aecf66265779625980425c +size 6723065 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0065.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0065.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5547a8d9e94281705791409072e55dae8b900fe3 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0065.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:108c749778bb03d3b8802f7360507871faf0645d8d8cdaa4da7fea309662afd2 +size 7281313 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0066.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0066.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c53f927e3cba06d2e56b94a37cd14cb1b867de32 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0066.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7fbbd92565ac066ad93b6155758bcab733d26a114ea5a44eeaa8ab4519067e13 +size 6749604 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0067.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0067.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9e0fc4e1e9caf0fff0e07c0e283d77774d711a62 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0067.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cf0f726b168ada554675e6a1faa37376a4834b55ff625758963214330c2e204e +size 5342007 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0068.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0068.h5 new file mode 100644 index 0000000000000000000000000000000000000000..96896576492e589ba741c3ebc697e6eddac65f7a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0068.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:124316c7a633e31f0d0e1db979de93947de1bcd81e73040c06831ba049b9008b +size 5640927 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0069.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0069.h5 new file mode 100644 index 0000000000000000000000000000000000000000..7f3bbc7859021d025690927d0d1727c3c9bfcd51 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0069.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b44f8b91d15adea34e48d5e0a6d704285cfb7ec7daeae2a14c55363039dfc369 +size 5485346 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0070.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0070.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ae375c0eefb439d6bb803d5040f977dfbc723f8e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0070.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:05a1fa353b4f5c6419fa48e6e6b36fdcdcd873d15338ec893a8270f6d43fef30 +size 8096114 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0071.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0071.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1e7fb5349516086ff232c37b1bf02bc34ca2b344 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0071.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:47c22c53215d9ee523de39224de570dc88bda17639f912b5690fcf02e5170896 +size 5635011 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0072.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0072.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d8288a967e95408a1af002734d22c173948b7776 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0072.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:32f806438cc24d7181ade378b254364f273cecf996a00dc29231a7d7746f54b6 +size 5360028 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0073.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0073.h5 new file mode 100644 index 0000000000000000000000000000000000000000..cba75e6a77b65417f78497c75d631ae51deeebf0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0073.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cefb48ca67725d64a90a23abe18f797e9ebc89b492bdb4af7e6c6c368c332149 +size 5982928 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0074.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0074.h5 new file mode 100644 index 0000000000000000000000000000000000000000..afe130cebab34e4b08eb6542c26d0a40180a53b7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0074.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fec9d506771ab08a71594dd91207ca84b1731ae52b29e1d1503f5e447805ef0c +size 7369422 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0075.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0075.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a7e15979bb85eaa641321de41c8a886ccd819b9e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0075.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b6eeafe3531dd36d2930e8302091b57a45f5e27b6f300a4aff2db04e5c50deca +size 5521207 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0076.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0076.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b16bba2ed8a7d73ea169651f2e3d21768a04be80 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0076.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:332eefe813871d7c9ec2ea219ea1178cdd1625adb28128f0e5a2a7ca194297ab +size 7281644 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0077.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0077.h5 new file mode 100644 index 0000000000000000000000000000000000000000..84b03f484666f1ccc0e63e47e301f404970adf8d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0077.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f168a4902bd147f9dd97edc796fc959cc756c711f43bd4f96749f7b1119b6469 +size 8515676 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0078.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0078.h5 new file mode 100644 index 0000000000000000000000000000000000000000..cf17b4d651ace8e7bc4c652ce42823b4e3148824 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0078.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:25a2c8b7da9f6466a1f898b368e8d804d874e97ebaaca95c7c0bbf7d62246673 +size 6743155 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0079.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0079.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a86f5c1d59d79cfb42a82c841a600d8be6e60800 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0079.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:911746b50d60317677b0b762a47be858c13965f48f30edc3c89f3cdbeadd5d56 +size 7646057 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0080.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0080.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c1dc482b496de8d6411fe0a25bed8efee7ad7446 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0080.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3bb4d6a37bea14fae1ba0528fb39baa3d624aadcc7da1081cc600f8e67014340 +size 6485844 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0081.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0081.h5 new file mode 100644 index 0000000000000000000000000000000000000000..974c53679c319ec7329e976afd94dac87bbae26c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0081.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f250686ca591e1c2b32b721912b240a8f90ffa5f7d4bda8c55cd9e59895fe23f +size 5416710 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0082.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0082.h5 new file mode 100644 index 0000000000000000000000000000000000000000..89075e91429cd7203cb239e3c0004264b80717fb --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0082.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6e8fbfe9ca5b0470306afe090e9b60a334a73b66176f139903edff0aa07ca10f +size 6991948 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0083.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0083.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6316a9f83ae099a9eaf417cae7630dc66e92b5f7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0083.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9d74a566db3d53ad870322f14cb26618bc7325cd2b6448c396e6e6f33441c749 +size 5771422 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0084.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0084.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4b96b423b9509f38d3a60669947cfd3640ea9479 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0084.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:654ea780d12c9440e3057701f1f443bd637e66f864be513ddc5cb63ae3fd2208 +size 6606272 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0085.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0085.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6bd7183827f27ea8829e3919d815560d03ee3160 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0085.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4bd0a0ddb5f94f251743b269b46b42c760f62c206f6d8a2a423295ce5408c4c8 +size 6147126 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0086.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0086.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f57df0ea49583da7eca04bf88cdef741534fb86e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0086.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d468ed65e8052f7d007076041caf057b91468c892f21df9f581ff43bea0cd70f +size 6201618 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0087.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0087.h5 new file mode 100644 index 0000000000000000000000000000000000000000..867049fc6cbae920ce90394a08826198ec06b272 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0087.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4dc69d3ab46eac7a8c9203640ff715c0470ef5eb2ccb9d374e5757cd9928a9e5 +size 6702240 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0088.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0088.h5 new file mode 100644 index 0000000000000000000000000000000000000000..7207dc0bff2f8acbb869e1b72086206bddeff955 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0088.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8858989d22f7087cafd0a1dc24deb3e751fd0de08e53188b7c753ed677331e7f +size 6580702 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0089.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0089.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8fa9a9ac950586f08a7dcd7c78a063ddb0131441 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0089.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e7b9b82e9ff953df4c7fe1bf535afea27c8c5b11e0828102bef2cc782261e3c7 +size 6884789 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0090.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0090.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c22cca95c785b5d08feac28ec3c21bb3b3b2a932 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0090.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cd35c3d7cfa4edaf503675821d37357e2d1feea580ecfcd1c40a3f04e14f23c8 +size 5256046 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0091.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0091.h5 new file mode 100644 index 0000000000000000000000000000000000000000..355b281d11da00e37d91121c6c7d98cf15164f41 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0091.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dbfe5d8247be17d031ebd08dd711e28bb589d317074affb7a10cee6170174543 +size 6550738 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0092.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0092.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ef497efebba60a65aca284adb84862aaeeb98e41 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0092.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:60f3ee755cf57c5b62dd8f49245d2b1ec4ba3b21e710c7fd6b3c3fc7e36f525d +size 5812772 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0093.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0093.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3a3b92fc8b4e97f86e98ae7764203d3372a306bc --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0093.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ca4b7ef403304c87c37463079973d12f495a1568e37596078cce753dc216bcfe +size 6987834 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0094.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0094.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a8cded4b420acb646e4f2c61e9a851567a75ca53 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0094.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1abc7b4cb35234ba7191bdc39035273c105e8cc02fff5019c65c2c3a7613f6f9 +size 7423153 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0095.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0095.h5 new file mode 100644 index 0000000000000000000000000000000000000000..dc3f60fd6f1d3df01ee3ed3ea6b12150fd59dab3 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0095.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6af1cd950ec534c6848527dd9eccdbc4a43ae14f3e2b37ae717f90dc482c0123 +size 5700398 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0096.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0096.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0cf73baff75b8b41153fd3135d2cdd180012be27 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0096.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ccf536f851d264f2f46e655caa49a515c6b3d2ea20bec3a193001c92c3bdf087 +size 5979897 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0097.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0097.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e126a53d922bff7a68c9ac778e7307b13dca8a96 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0097.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:203047cce5d3a3b0ad048023e88aa7118ce7bfed3d6f32a1940dfa0815e97b7c +size 7732741 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0098.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0098.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f75a2269db99f76742d4303b5a6457e941b39833 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0098.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cb080596ca0538602e5527aec6e93a3f462b7c6ec84b194a22dc231231a98722 +size 7826744 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0099.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0099.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e89d2a5e1c419e36ae9bad76126036b92af86766 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0099.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:458c00377f3cec3b5bf8dd26e06cf94f29468eca7603fb6f05eadec95afa7ea9 +size 5584882 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0100.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0100.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e2ef80694a17c44ea212a839a70c9192be3a5cd2 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0100.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:67ae773fd8d2cc62fa31f78d07c1d8039d386f1b12682c0a22aeb87b4ca1ba45 +size 6470980 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0101.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0101.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5868d88d24521f631e279100a31f32418f9c337a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0101.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2cbf927908b86ccc262a827d6bf94923656d3b5bebdc84f9509e842c19243d2e +size 6073359 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0102.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0102.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a1d189ac24cbca4042b107b4b44304eb0572f34e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0102.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:39044e561a1dda2e88215cf005d4929e821d0be53ce5f361297a7d30803fd7de +size 5732719 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/meta/episode.jsonl b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/meta/episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a9f8825131b5ec64c4392702fa05434a79eaf913 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/meta/episode.jsonl @@ -0,0 +1,100 @@ +{"episode_index":0,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1156,"success":true,"robot_type":"ur5e"} +{"episode_index":1,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1153,"success":true,"robot_type":"ur5e"} +{"episode_index":2,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1151,"success":true,"robot_type":"ur5e"} +{"episode_index":3,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1153,"success":true,"robot_type":"ur5e"} +{"episode_index":4,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1156,"success":true,"robot_type":"ur5e"} +{"episode_index":5,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1153,"success":true,"robot_type":"ur5e"} +{"episode_index":6,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1154,"success":true,"robot_type":"ur5e"} +{"episode_index":7,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1154,"success":true,"robot_type":"ur5e"} +{"episode_index":8,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1158,"success":true,"robot_type":"ur5e"} +{"episode_index":9,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1158,"success":true,"robot_type":"ur5e"} +{"episode_index":10,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1150,"success":true,"robot_type":"ur5e"} +{"episode_index":11,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1155,"success":true,"robot_type":"ur5e"} +{"episode_index":12,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1155,"success":true,"robot_type":"ur5e"} +{"episode_index":13,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1156,"success":true,"robot_type":"ur5e"} +{"episode_index":14,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1153,"success":true,"robot_type":"ur5e"} +{"episode_index":15,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1156,"success":true,"robot_type":"ur5e"} +{"episode_index":16,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1156,"success":true,"robot_type":"ur5e"} +{"episode_index":17,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1156,"success":true,"robot_type":"ur5e"} +{"episode_index":18,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1150,"success":true,"robot_type":"ur5e"} +{"episode_index":19,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1153,"success":true,"robot_type":"ur5e"} +{"episode_index":20,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1156,"success":true,"robot_type":"ur5e"} +{"episode_index":21,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1155,"success":true,"robot_type":"ur5e"} +{"episode_index":22,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1154,"success":true,"robot_type":"ur5e"} +{"episode_index":23,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1157,"success":true,"robot_type":"ur5e"} +{"episode_index":24,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1157,"success":true,"robot_type":"ur5e"} +{"episode_index":25,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1155,"success":true,"robot_type":"ur5e"} +{"episode_index":26,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1152,"success":true,"robot_type":"ur5e"} +{"episode_index":27,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1151,"success":true,"robot_type":"ur5e"} +{"episode_index":28,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1154,"success":true,"robot_type":"ur5e"} +{"episode_index":29,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1152,"success":true,"robot_type":"ur5e"} +{"episode_index":30,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1152,"success":true,"robot_type":"ur5e"} +{"episode_index":32,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1157,"success":true,"robot_type":"ur5e"} +{"episode_index":33,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1154,"success":true,"robot_type":"ur5e"} +{"episode_index":34,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1151,"success":true,"robot_type":"ur5e"} +{"episode_index":35,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1151,"success":true,"robot_type":"ur5e"} +{"episode_index":36,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1154,"success":true,"robot_type":"ur5e"} +{"episode_index":37,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1156,"success":true,"robot_type":"ur5e"} +{"episode_index":38,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1157,"success":true,"robot_type":"ur5e"} +{"episode_index":39,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1154,"success":true,"robot_type":"ur5e"} +{"episode_index":40,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1152,"success":true,"robot_type":"ur5e"} +{"episode_index":42,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1156,"success":true,"robot_type":"ur5e"} +{"episode_index":43,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1154,"success":true,"robot_type":"ur5e"} +{"episode_index":44,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1155,"success":true,"robot_type":"ur5e"} +{"episode_index":45,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1155,"success":true,"robot_type":"ur5e"} +{"episode_index":46,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1158,"success":true,"robot_type":"ur5e"} +{"episode_index":47,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1152,"success":true,"robot_type":"ur5e"} +{"episode_index":48,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1157,"success":true,"robot_type":"ur5e"} +{"episode_index":49,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1149,"success":true,"robot_type":"ur5e"} +{"episode_index":50,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1151,"success":true,"robot_type":"ur5e"} +{"episode_index":52,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1156,"success":true,"robot_type":"ur5e"} +{"episode_index":53,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1153,"success":true,"robot_type":"ur5e"} +{"episode_index":54,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1151,"success":true,"robot_type":"ur5e"} +{"episode_index":55,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1156,"success":true,"robot_type":"ur5e"} +{"episode_index":56,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1156,"success":true,"robot_type":"ur5e"} +{"episode_index":57,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1153,"success":true,"robot_type":"ur5e"} +{"episode_index":58,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1154,"success":true,"robot_type":"ur5e"} +{"episode_index":59,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1156,"success":true,"robot_type":"ur5e"} +{"episode_index":60,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1154,"success":true,"robot_type":"ur5e"} +{"episode_index":61,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1151,"success":true,"robot_type":"ur5e"} +{"episode_index":62,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1157,"success":true,"robot_type":"ur5e"} +{"episode_index":63,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1153,"success":true,"robot_type":"ur5e"} +{"episode_index":64,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1155,"success":true,"robot_type":"ur5e"} +{"episode_index":65,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1151,"success":true,"robot_type":"ur5e"} +{"episode_index":66,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1151,"success":true,"robot_type":"ur5e"} +{"episode_index":67,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1154,"success":true,"robot_type":"ur5e"} +{"episode_index":68,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1156,"success":true,"robot_type":"ur5e"} +{"episode_index":69,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1157,"success":true,"robot_type":"ur5e"} +{"episode_index":70,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1154,"success":true,"robot_type":"ur5e"} +{"episode_index":71,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1151,"success":true,"robot_type":"ur5e"} +{"episode_index":72,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1153,"success":true,"robot_type":"ur5e"} +{"episode_index":73,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1150,"success":true,"robot_type":"ur5e"} +{"episode_index":74,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1156,"success":true,"robot_type":"ur5e"} +{"episode_index":75,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1157,"success":true,"robot_type":"ur5e"} +{"episode_index":76,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1154,"success":true,"robot_type":"ur5e"} +{"episode_index":77,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1158,"success":true,"robot_type":"ur5e"} +{"episode_index":78,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1157,"success":true,"robot_type":"ur5e"} +{"episode_index":79,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1154,"success":true,"robot_type":"ur5e"} +{"episode_index":80,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1153,"success":true,"robot_type":"ur5e"} +{"episode_index":81,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1153,"success":true,"robot_type":"ur5e"} +{"episode_index":82,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1154,"success":true,"robot_type":"ur5e"} +{"episode_index":83,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1152,"success":true,"robot_type":"ur5e"} +{"episode_index":84,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1157,"success":true,"robot_type":"ur5e"} +{"episode_index":85,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1157,"success":true,"robot_type":"ur5e"} +{"episode_index":86,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1153,"success":true,"robot_type":"ur5e"} +{"episode_index":87,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1155,"success":true,"robot_type":"ur5e"} +{"episode_index":88,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1156,"success":true,"robot_type":"ur5e"} +{"episode_index":89,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1152,"success":true,"robot_type":"ur5e"} +{"episode_index":90,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1157,"success":true,"robot_type":"ur5e"} +{"episode_index":91,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1158,"success":true,"robot_type":"ur5e"} +{"episode_index":92,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1151,"success":true,"robot_type":"ur5e"} +{"episode_index":93,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1156,"success":true,"robot_type":"ur5e"} +{"episode_index":94,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1160,"success":true,"robot_type":"ur5e"} +{"episode_index":95,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1156,"success":true,"robot_type":"ur5e"} +{"episode_index":96,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1153,"success":true,"robot_type":"ur5e"} +{"episode_index":97,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1156,"success":true,"robot_type":"ur5e"} +{"episode_index":98,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1154,"success":true,"robot_type":"ur5e"} +{"episode_index":99,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1152,"success":true,"robot_type":"ur5e"} +{"episode_index":100,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1150,"success":true,"robot_type":"ur5e"} +{"episode_index":101,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1153,"success":true,"robot_type":"ur5e"} +{"episode_index":102,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1151,"success":true,"robot_type":"ur5e"} diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/meta/randomization_episodes.jsonl b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/meta/randomization_episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9a76347ce1c7d528a1bfc427a1e7437e33e062b3 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/meta/randomization_episodes.jsonl @@ -0,0 +1,100 @@ +{"episode_id":"ep_000000","started_at":"2026-09-05T18:04:01","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_0","position":[0.1793780865305693,-2.310672890967867,0.71338606911949],"aabb_xy":[[0.15720555955391846,-2.3328485581239895],[0.20155061350722012,-2.2884972238117434]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_1","position":[0.5374670005760689,-0.8739352591630225,0.71338606911949],"aabb_xy":[[0.4574670019887495,-0.9532508611011834],[0.6174669991633883,-0.7946196572248616]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_2","position":[0.18127305859726983,1.1940301605633006,0.71338606911949],"aabb_xy":[[0.16138201871692961,1.1813743492786037],[0.20116409847761013,1.2066859718479974]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_3","position":[0.6594187831220144,0.3776927491485078,0.71338606911949],"aabb_xy":[[0.6478498023750778,0.3526927490315761],[0.670987763868951,0.4026927492654395]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_4","position":[0.2965005471010579,-2.366122870219141,0.71338606911949],"aabb_xy":[[0.2466178502233617,-2.416122869465416],[0.3463832439787541,-2.3161228709728667]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_5","position":[0.5328297328583829,-2.1946829622960107,0.71338606911949],"aabb_xy":[[0.5230737433492089,-2.204445496355245],[0.5425857223675566,-2.1849204282367762]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_6","position":[-0.022031920539457128,1.77134253110798,0.71338606911949],"aabb_xy":[[-0.04494763342450703,1.748438233971557],[0.0008837923455927747,1.794246828244404]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_7","position":[0.12034894116567763,-2.0321708313217446,0.71338606911949],"aabb_xy":[[0.11293648562428914,-2.0380220417433725],[0.1277613967070661,-2.0263196209001166]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_8","position":[0.5601929663652434,0.5724953069832321,0.71338606911949],"aabb_xy":[[0.4701929669468725,0.5391198101390423],[0.6501929657836143,0.6058708038274218]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_9","position":[-0.4696654895475534,-1.6344614663155173,0.71338606911949],"aabb_xy":[[-0.5196654904980861,-1.6660106133190387],[-0.41966548859702046,-1.6029123193119958]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_10","position":[0.032247802996143604,-0.9263162772672775,0.71338606911949],"aabb_xy":[[-0.006297889829057428,-0.964862048323466],[0.07079349582134464,-0.8877705062110888]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_11","position":[0.5632392251318823,-0.41928477732529545,0.71338606911949],"aabb_xy":[[0.5450334014706346,-0.4303101779072871],[0.58144504879313,-0.4082593767433038]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_12","position":[0.26045791204878,1.2563894715026716,0.71338606911949],"aabb_xy":[[0.25649742827904565,1.2487216069171507],[0.26441839581851434,1.264057336088192]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_13","position":[-0.13627404823729528,-1.1971216611526807,0.71338606911949],"aabb_xy":[[-0.2012740492377958,-1.2479080263073554],[-0.07127404723679476,-1.1463352959980055]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_14","position":[0.5638253919430232,-2.5526761672606404,0.71338606911949],"aabb_xy":[[0.5264941154177807,-2.5873292220554927],[0.6011566684682659,-2.518023112465788]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_15","position":[-0.49187863506116436,1.4199359321332996,0.71338606911949],"aabb_xy":[[-0.5293786365767961,1.4087091591171543],[-0.45437863354553265,1.4311627051494444]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_16","position":[-0.460637215640068,0.7672787703331871,0.71338606911949],"aabb_xy":[[-0.5406372188979109,0.6872822625412032],[-0.38063721238222503,0.8472752781251711]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_17","position":[0.5405946905241141,1.5596068158312364,0.71338606911949],"aabb_xy":[[0.5155946909723756,1.5494643319661014],[0.5655946900758526,1.569749299696371]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_18","position":[-0.3054594917980753,-0.4618257982541696,0.71338606911949],"aabb_xy":[[-0.32134398506340045,-0.47617873855299364],[-0.28957499853275015,-0.4474728579553455]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_19","position":[-0.45214645315410873,-2.1046482814422802,0.71338606911949],"aabb_xy":[[-0.46299805940298433,-2.115507572169931],[-0.44129484690523313,-2.0937889907146294]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_20","position":[0.0159910319279003,0.8628844243369134,0.71338606911949],"aabb_xy":[[-0.015155886915682815,0.7928844256501062],[0.04713795077148342,0.9328844230237205]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_21","position":[0.26771855469387007,0.8917119418817832,0.71338606911949],"aabb_xy":[[0.21774548916135467,0.8417119420692503],[0.3176916202263856,0.941711941694316]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_22","position":[0.6042149944229542,0.20452106151102312,0.71338606911949],"aabb_xy":[[0.5881530669644365,0.11952105969843134],[0.6202769218814718,0.28952106332361494]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_23","position":[-0.44766177391763595,-1.8464306813520057,0.71338606911949],"aabb_xy":[[-0.5373488502257514,-1.9364306816064563],[-0.3579746976095205,-1.7564306810975552]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_24","position":[-0.2794072998208093,-1.0299568158895616,0.71338606911949],"aabb_xy":[[-0.3434029972159059,-1.0939568141902702],[-0.21541160242571272,-0.9659568175888529]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_25","position":[-0.5140583622932466,-1.110963971998019,0.71338606911949],"aabb_xy":[[-0.5316050572093656,-1.1484639735622704],[-0.4965116673771277,-1.0734639704337678]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7021730261723235,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6771.png","name":"6771"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6771.png","name":"6771"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5291.png","name":"5291"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1676.png","name":"1676"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4039.png","name":"4039"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3284.png","name":"3284"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":654.6667299436799,"rotation_z_degrees":268.8314919040336,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019357064893119474,0.01869038195492923,0.00809460271202712]},{"name":"camera_2","offset_m":[-0.01445509965911549,-0.015261763835742084,0.006074094050582467]},{"name":"camera_3","offset_m":[-0.0006320392112810352,0.006754844219921893,-0.006822840098388268]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0017228273186633736,0.0003369024766220032,0.001283536996574818],"end_effector_yaw_offset_degrees":-0.7631874014478415},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0003279349675688059,0.0012762079348427246,0.0019023570401051973],"end_effector_yaw_offset_degrees":-0.007548186861676021},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0015714668878046166,-0.0013724353522620984,-0.001488617229783325],"end_effector_yaw_offset_degrees":-0.6336782611300731},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0002133311669856551,0.0008895810191331894,0.0016464160551002516],"end_effector_yaw_offset_degrees":0.6531301536321779}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0014880641026862652,0.002431867777005425],"position_m":[0.17851193589731373,-0.031168132222994572,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0027502281758045102,-0.0010188785499790874],"position_m":[0.2747502281758045,-0.3683188785499791,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.001104314431879909,-0.0032947769284898546],"position_m":[0.3211043144318799,0.3498052230715102,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0007707328663757009,0.0031614178392795284],"position_m":[0.33772926713362433,0.11166141783927953,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4ede044ec98d45d206c76eab0cf65c2240896e9c048a911da6923a5e22828ac1","episode_index":0,"episode_name":"episode_0000"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0000.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_6771/tex_ceiling_textures_3284/tex_floor_textures_4039/tex_table_textures_5291/tex_wall_textures_1676","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":3846120470708069753,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":3846120470708069753,"visual_seed":3846120470708069753,"scene_id":"lab_003","finished_at":"2026-09-05T18:07:24"} +{"episode_id":"ep_000001","started_at":"2026-09-05T18:07:28","dimensions":{"distractor":{"count":29,"items":[{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_0","position":[0.1388859150408459,-2.5147437683470564,0.71338606911949],"aabb_xy":[[0.08389043722018649,-2.569743769780963],[0.19388139286150527,-2.459743766913149]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_1","position":[-0.2099813277673233,0.17813266899833957,0.71338606911949],"aabb_xy":[[-0.27398132804130154,0.1280665688010516],[-0.14598132749334508,0.22819876919562754]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_2","position":[0.5149166136793204,-1.1017833005764168,0.71338606911949],"aabb_xy":[[0.47741661333109253,-1.1135746961575004],[0.552416614027548,-1.0899919049953333]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_3","position":[-0.25354837345827885,1.1716221643601594,0.71338606911949],"aabb_xy":[[-0.2687205427399122,1.156453307431956],[-0.2383762041766455,1.1867910212883628]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_4","position":[0.44299363426618354,-2.042097686400418,0.71338606911949],"aabb_xy":[[0.4333619980457539,-2.051734999180127],[0.45262527048661316,-2.032460373620709]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_5","position":[-0.5621700519328846,-1.8547632077041691,0.71338606911949],"aabb_xy":[[-0.5692115028836323,-1.8617899594419633],[-0.5551286009821371,-1.8477364559663745]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_6","position":[0.5501310626034914,0.5392439313398807,0.71338606911949],"aabb_xy":[[0.5142175581785017,0.503330423123126],[0.586044567028481,0.5751574395566353]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_7","position":[0.1821445589316586,-0.8265567173007464,0.71338606911949],"aabb_xy":[[0.17415057035395518,-0.8345567973958368],[0.19013854750936196,-0.8185566372056561]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_8","position":[0.2856669637110393,1.3759611267512692,0.71338606911949],"aabb_xy":[[0.2620818402471444,1.3109611245058377],[0.30925208717493413,1.4409611289967013]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_9","position":[0.20179434261870277,-1.8760299279408814,0.71338606911949],"aabb_xy":[[0.1317943399821164,-1.896134792936747],[0.2717943452552891,-1.855925062945016]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_10","position":[-0.4546361276831672,1.1779231626853108,0.71338606911949],"aabb_xy":[[-0.4637960066270438,1.1713919446417738],[-0.4454762487392906,1.184454380728848]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_11","position":[0.21473029966844936,-0.6916586684060895,0.71338606911949],"aabb_xy":[[0.16475723413593388,-0.7416586682186224],[0.2647033652009648,-0.6416586685935566]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_12","position":[0.6076758384358425,-0.37677322968767823,0.71338606911949],"aabb_xy":[[0.5847601255507927,-0.3996775268241018],[0.6305915513208925,-0.35386893255125473]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_13","position":[-0.123958871978611,-2.041910624351851,0.71338606911949],"aabb_xy":[[-0.1461313989552618,-2.0640862915079734],[-0.10178634500196013,-2.0197349571957273]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_14","position":[-0.25676936270846934,0.5791828637883469,0.71338606911949],"aabb_xy":[[-0.2683383434554059,0.5541828636714153],[-0.24520038196153277,0.6041828639052788]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_15","position":[-0.5160628554076507,-1.712016252777294,0.71338606911949],"aabb_xy":[[-0.5327399914007462,-1.7287161767512242],[-0.49938571941455523,-1.6953163288033637]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_16","position":[-0.2924011411309708,-2.2775196273761615,0.71338606911949],"aabb_xy":[[-0.32024617791157794,-2.308304126114473],[-0.2645561043503637,-2.24673512863785]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_17","position":[-0.35533377828652046,-1.5179113204704013,0.71338606911949],"aabb_xy":[[-0.41032698962365727,-1.572911320809195],[-0.3003405669493837,-1.4629113201316075]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_18","position":[0.5925674578801308,1.0755521854642214,0.71338606911949],"aabb_xy":[[0.556938301980171,1.0399195187073684],[0.6281966137800905,1.1111848522210743]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_19","position":[-0.052342219101812804,0.7699017407744155,0.71338606911949],"aabb_xy":[[-0.10233723006126486,0.7199017417388239],[-0.0023472081423607798,0.8199017398100075]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_20","position":[-0.5792894423209103,0.6160643482625314,0.71338606911949],"aabb_xy":[[-0.6432894387164834,0.5521010598437979],[-0.5152894459253372,0.680027636681265]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_21","position":[-0.5199983023879139,0.2466253947728423,0.71338606911949],"aabb_xy":[[-0.5237015637170527,0.2429233764641244],[-0.5162950410587749,0.2503274130815601]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_22","position":[-0.3360035829449805,-1.2768792546823509,0.71338606911949],"aabb_xy":[[-0.3578933305339213,-1.3668792519716],[-0.3141138353560397,-1.1868792573931017]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_23","position":[0.5942761102848542,-1.0267310787609096,0.71338606911949],"aabb_xy":[[0.5717761104709518,-1.0312056951313904],[0.6167761100987565,-1.0222564623904289]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_24","position":[0.04447231162232135,1.1846854694584135,0.71338606911949],"aabb_xy":[[-0.015527689238491465,1.1332590394519269],[0.10447231248313413,1.2361118994648996]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_25","position":[0.7000206426185864,1.4162119178091488,0.71338606911949],"aabb_xy":[[0.687553284508851,1.4037465931758255],[0.7124880007283223,1.4286772424424725]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_26","position":[-0.26651260396123444,0.768838578288892,0.71338606911949],"aabb_xy":[[-0.3040126046258131,0.7531515202886697],[-0.2290126032966557,0.7845256362891141]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_27","position":[-0.2929148099783752,1.4247506819868447,0.71338606911949],"aabb_xy":[[-0.348040015607966,1.3647506805455574],[-0.23778960434878446,1.4847506834281317]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_28","position":[0.45662257588304533,-1.3196642552643771,0.71338606911949],"aabb_xy":[[0.3666225793821735,-1.3655758976828352],[0.546622572383917,-1.2737526128459187]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7017457348737807,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9660.png","name":"9660"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9660.png","name":"9660"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5781.png","name":"5781"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8908.png","name":"8908"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8795.png","name":"8795"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8491.png","name":"8491"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":758.321415164718,"rotation_z_degrees":111.07211180567592,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011081720914493737,-0.01160862286892462,-0.009496341244062503]},{"name":"camera_2","offset_m":[-0.010539203077703792,-0.005830012461626231,-0.0044216198817060536]},{"name":"camera_3","offset_m":[-0.007228109213261145,0.017453606262572332,0.006574605524358339]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00035545172723073365,0.0007849113883478648,6.917055662168138e-05],"end_effector_yaw_offset_degrees":0.10044221083593974},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0013255082688003635,-0.0005368448836649948,-0.0013504057259675819],"end_effector_yaw_offset_degrees":-0.014762448364719072},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001695259029593176,0.0015489906999946223,0.0006441632368016431],"end_effector_yaw_offset_degrees":-0.8350499766864405},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0019415453897251222,-0.0018168492798485225,0.0015654202729360688],"end_effector_yaw_offset_degrees":0.8360751837586988}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004543451885422459,0.004132435061076102],"position_m":[0.18454345188542245,-0.029467564938923895,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0020059801860481856,-0.0014115386716646119],"position_m":[0.2740059801860482,-0.3687115386716646,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002297679686486754,-0.004568084798977817],"position_m":[0.32229767968648676,0.3485319152010222,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0013622279487841681,0.0031769597495799615],"position_m":[0.3398622279487842,0.11167695974957996,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"263097c897b794ed2f3d1ffcb2d6d41f2a5e93e61abb9ea8f6e2b5587c4d037b","episode_index":1,"episode_name":"episode_0001"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0001.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_9660/tex_ceiling_textures_8491/tex_floor_textures_8795/tex_table_textures_5781/tex_wall_textures_8908","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":7579109598790890568,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":7579109598790890568,"visual_seed":7579109598790890568,"scene_id":"lab_003","finished_at":"2026-09-05T18:10:54"} +{"episode_id":"ep_000002","started_at":"2026-09-05T18:10:57","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_0","position":[0.04452831176466232,1.3860736613676865,0.71338606911949],"aabb_xy":[[0.022014619941205127,1.316073660766679],[0.06704200358811951,1.456073661968694]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_1","position":[-0.4643678802853725,1.346461142749229,0.71338606911949],"aabb_xy":[[-0.5143678797255682,1.2964932182649127],[-0.4143678808451769,1.3964290672335453]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_2","position":[-0.0479549477507224,-0.6338502171306915,0.71338606911949],"aabb_xy":[[-0.05594843754600443,-0.6418483490711672],[-0.03996145795544037,-0.625852085190216]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_3","position":[0.4876668781558562,-2.558956066037861,0.71338606911949],"aabb_xy":[[0.48170033921512034,-2.5649172106972253],[0.4936334170965919,-2.552994921378497]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_4","position":[-0.022009677937232408,1.8194783457600594,0.71338606911949],"aabb_xy":[[-0.059509676512853216,1.806742050096501],[0.015490320638388394,1.832214641423617]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_5","position":[-0.14359271561269182,-1.201810970399662,0.71338606911949],"aabb_xy":[[-0.193591990781128,-1.2518109716756092],[-0.09359344044425566,-1.1518109691237148]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_6","position":[-0.37342725718529307,-0.09663880968114302,0.71338606911949],"aabb_xy":[[-0.4284227350059524,-0.15163881111504995],[-0.3184317793646336,-0.04163880824723608]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_7","position":[0.4535531225909051,-1.176413118948762,0.71338606911949],"aabb_xy":[[0.4479714509567763,-1.1889131187665376],[0.45913479422503384,-1.1639131191309866]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_8","position":[-0.08928489931175254,-0.7583743675864125,0.71338606911949],"aabb_xy":[[-0.13928490097324725,-0.8083728098421152],[-0.03928489765025776,-0.7083759253307098]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_9","position":[-0.5492455878409419,0.9224770478362858,0.71338606911949],"aabb_xy":[[-0.6142455857225898,0.8713533841297451],[-0.48424558995929423,0.9736007115428268]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_10","position":[0.028741319483015282,-1.5193108057370477,0.71338606911949],"aabb_xy":[[0.008850279602675036,-1.531966617021745],[0.04863235936335554,-1.5066549944523513]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_11","position":[-0.12694220543251766,-1.7112203670186532,0.71338606911949],"aabb_xy":[[-0.13572343257975392,-1.7200001143071837],[-0.11816097828528146,-1.7024406197301232]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_12","position":[0.6515377996897,-1.1629432845135126,0.71338606911949],"aabb_xy":[[0.6290386639634731,-1.1854432852917758],[0.674036935415927,-1.1404432837352498]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_13","position":[0.19956672736897585,-2.3942297159078865,0.71338606911949],"aabb_xy":[[0.1866948238680357,-2.474229716321722],[0.212438630869916,-2.31422971549405]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_14","position":[-0.4323621975974851,-1.0436458012492147,0.71338606911949],"aabb_xy":[[-0.5123621950010785,-1.1236383724473973],[-0.35236220019389164,-0.9636532300510318]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_15","position":[-0.16530467637186452,1.8074693732604596,0.71338606911949],"aabb_xy":[[-0.18822038925691445,1.7845650761240366],[-0.14238896348681462,1.8303736703968836]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_16","position":[-0.6027509553810343,-0.1798884361224693,0.71338606911949],"aabb_xy":[[-0.6115530106900069,-0.18769976227739837],[-0.5939489000720615,-0.17207710996754022]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_17","position":[0.6514041131609862,-0.6894653428605626,0.71338606911949],"aabb_xy":[[0.5814041105243999,-0.709570207856428],[0.7214041157975726,-0.669360477864697]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_18","position":[-0.2255277866439368,0.3455110848468417,0.71338606911949],"aabb_xy":[[-0.23494526121379955,0.3360949077091226],[-0.21611031207407405,0.35492726198456065]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_19","position":[-0.312529886236998,-1.5040333960451975,0.71338606911949],"aabb_xy":[[-0.3233814924858736,-1.5148926867728485],[-0.3016782799881224,-1.4931741053175465]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_20","position":[-0.4425200032656151,0.05042513407847071,0.71338606911949],"aabb_xy":[[-0.5125200050743606,0.029071365314283337],[-0.3725200014568696,0.07177890284265809]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_21","position":[0.5657907744001376,1.651373733726921,0.71338606911949],"aabb_xy":[[0.47610369809202213,1.5613737334724704],[0.655477850708253,1.7413737339813715]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_22","position":[-0.5942273675373445,-0.05970861108170267,0.71338606911949],"aabb_xy":[[-0.6327730603625455,-0.09825438213789134],[-0.5556816747121435,-0.021162840025514017]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_23","position":[-0.5399193081859932,-2.414476452760244,0.71338606911949],"aabb_xy":[[-0.5588036919545034,-2.4333623775405964],[-0.521034924417483,-2.395590527979891]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_24","position":[0.42058239801007136,-1.7178740344320826,0.71338606911949],"aabb_xy":[[0.38308239771789654,-1.7219155098326857],[0.4580823983022462,-1.7138325590314787]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_25","position":[-0.26712812060106617,-2.554791045684492,0.71338606911949],"aabb_xy":[[-0.30462812070665907,-2.561613207537473],[-0.22962812049547318,-2.547968883831511]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6958327465515582,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8159.png","name":"8159"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8159.png","name":"8159"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7882.png","name":"7882"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8087.png","name":"8087"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6592.png","name":"6592"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7402.png","name":"7402"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":529.3790234209471,"rotation_z_degrees":269.37841445375904,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0034550182125483303,-0.009784595189165742,0.01929955625612988]},{"name":"camera_2","offset_m":[0.01853497514504875,0.007817647551725003,-0.019200794875015838]},{"name":"camera_3","offset_m":[-0.017867482676970387,-0.011323504744908824,0.015122791906423173]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001989248274549074,-0.0016448323063625518,-0.0010304158624063965],"end_effector_yaw_offset_degrees":0.9607827324711722},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0006514981204268739,0.0018326391710250496,-0.0004334289587558909],"end_effector_yaw_offset_degrees":-0.9937878450318478},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0011803130670312249,-0.000371627250176835,-0.0015567239264852875],"end_effector_yaw_offset_degrees":-0.03188388336431269},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0015497849898868329,5.292646773514143e-05,0.0017196989205335508],"end_effector_yaw_offset_degrees":0.6450993862199965}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0006884548536182679,0.002336844712445705],"position_m":[0.18068845485361826,-0.031263155287554294,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004852787960402692,-0.001248000741408334],"position_m":[0.26714721203959735,-0.36854800074140837,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.001791653190897218,-0.0011074948874874213],"position_m":[0.3217916531908972,0.3519925051125126,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004324980601635665,0.004756567490438808],"position_m":[0.3428249806016357,0.1132565674904388,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ce47695fb60a44fd78d301bf7dd44a2312d0413fc25ab535a52bcdc1e3605a91","episode_index":2,"episode_name":"episode_0002"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0002.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_8159/tex_ceiling_textures_7402/tex_floor_textures_6592/tex_table_textures_7882/tex_wall_textures_8087","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":5247433395782997128,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":5247433395782997128,"visual_seed":5247433395782997128,"scene_id":"lab_003","finished_at":"2026-09-05T18:14:37"} +{"episode_id":"ep_000003","started_at":"2026-09-05T18:14:42","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_0","position":[-0.06857484859052365,0.4657841253842121,0.71338606911949],"aabb_xy":[[-0.07898640727100735,0.4604383920483135],[-0.058163289910039925,0.4711298587201105]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_1","position":[-0.27352520562757426,-0.3140176843778826,0.71338606911949],"aabb_xy":[[-0.28151919420527755,-0.3220177644729729],[-0.26553121704987076,-0.30601760428279223]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_2","position":[0.4615595249542226,1.2065537294947064,0.71338606911949],"aabb_xy":[[0.4393869979775717,1.1843780623385833],[0.4837320519308734,1.2287293966508295]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_3","position":[-0.07225652922124304,-2.189236828639988,0.71338606911949],"aabb_xy":[[-0.10975652764464337,-2.2024010426078187],[-0.034756530797842675,-2.176072614672157]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_4","position":[0.14929542292222175,1.2523531915184134,0.71338606911949],"aabb_xy":[[0.11179542242486348,1.2483845079702949],[0.18679542341957997,1.256321875066532]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_5","position":[0.507028506261838,-1.065904735537884,0.71338606911949],"aabb_xy":[[0.44302850709206815,-1.1126714226568464],[0.571028505431608,-1.0191380484189214]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_6","position":[-0.1283105383664439,1.554782966472699,0.71338606911949],"aabb_xy":[[-0.1983105399687234,1.5413501732710415],[-0.05831053676416442,1.5682157596743567]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_7","position":[-0.1825874690667202,-2.05554950085102,0.71338606911949],"aabb_xy":[[-0.21704981646486193,-2.090043383248842],[-0.14812512166857833,-2.0210556184531967]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_8","position":[-0.3612563742071099,-1.9686579112336005,0.71338606911949],"aabb_xy":[[-0.36469705044716705,-1.9725193442079654],[-0.3578156979670527,-1.9647964782592364]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_9","position":[-0.24988902078993225,1.6598932517180685,0.71338606911949],"aabb_xy":[[-0.3138890240085701,1.61317013981906],[-0.1858890175712944,1.7066163636170768]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_10","position":[0.5246786738861386,-2.477561455910963,0.71338606911949],"aabb_xy":[[0.512211315776403,-2.4900267805442864],[0.5371460319958743,-2.4650961312776394]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_11","position":[0.09069858032978328,-1.8760245048123219,0.71338606911949],"aabb_xy":[[0.08061687325120978,-1.956024502704436],[0.10078028740835673,-1.7960245069202068]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_12","position":[-0.4997217787183135,-0.5659764207907338,0.71338606911949],"aabb_xy":[[-0.5797217789919205,-0.6389259686164505],[-0.41972177844470654,-0.49302687296501707]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_13","position":[-0.3240389527813292,-0.41284835669531583,0.71338606911949],"aabb_xy":[[-0.3293765284473338,-0.4378483576244557],[-0.31870137711532465,-0.3878483557661761]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_14","position":[-0.5549434358842013,-1.9752803001529813,0.71338606911949],"aabb_xy":[[-0.6001147537323702,-2.0392802972975197],[-0.5097721180360323,-1.9112803030084429]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_15","position":[-0.5675104063489895,0.6455033750955561,0.71338606911949],"aabb_xy":[[-0.60180731736673,0.6112064888856147],[-0.5332134953312488,0.6798002613054973]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_16","position":[0.36656540436696905,-2.3978461921243337,0.71338606911949],"aabb_xy":[[0.35100963495670384,-2.4133966253687413],[0.3821211737772344,-2.382295758879927]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_17","position":[-0.42593853687553573,-1.0786223898786305,0.71338606911949],"aabb_xy":[[-0.45593019960940606,-1.108622389215431],[-0.3959468741416654,-1.04862239054183]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_18","position":[0.22285240090531755,-0.6832977818382313,0.71338606911949],"aabb_xy":[[0.16285240030930134,-0.7381102543834547],[0.28285240150133373,-0.6284853092930077]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_19","position":[-0.4630948928203308,-2.3101772287543136,0.71338606911949],"aabb_xy":[[-0.5005948927640973,-2.31847031878915],[-0.42559489287656443,-2.301884138719477]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_20","position":[0.5279763548905074,-0.5561668729967053,0.71338606911949],"aabb_xy":[[0.5079179432772671,-0.5762319599058628],[0.5480347665037477,-0.5361017860875478]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_21","position":[0.3446490047506079,-1.491889796136398,0.71338606911949],"aabb_xy":[[0.3340815250925088,-1.5024348262494063],[0.35521648440870685,-1.4813447660233892]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_22","position":[0.4306643145796223,-1.5036319000118903,0.71338606911949],"aabb_xy":[[0.4260291994273888,-1.5074992350890388],[0.43529942973185554,-1.4997645649347413]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_23","position":[0.4996699693952176,0.662197589301114,0.71338606911949],"aabb_xy":[[0.4640408134952578,0.626564922544261],[0.5352991252951773,0.6978302560579669]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_24","position":[-0.5193655088839123,1.7594532218509102,0.71338606911949],"aabb_xy":[[-0.576995977771183,1.6994532229241994],[-0.46173503999664134,1.8194532207776206]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_25","position":[0.267261375071536,-1.3510739927313766,0.71338606911949],"aabb_xy":[[0.21324577878963602,-1.4150739956236338],[0.321276971353436,-1.2870739898391195]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6998069620652352,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6007.png","name":"6007"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6007.png","name":"6007"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6871.png","name":"6871"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1287.png","name":"1287"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4396.png","name":"4396"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3591.png","name":"3591"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":504.41908111947015,"rotation_z_degrees":19.356695130062057,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009869250668034808,-0.007351537665804146,0.008232179689917449]},{"name":"camera_2","offset_m":[0.003641841584628845,0.004671951202830482,0.011107246289723705]},{"name":"camera_3","offset_m":[-0.0018051931029355248,0.0010178709271555092,-0.004035856502052893]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0008227733295909046,0.0005188303365829291,6.653646544425634e-05],"end_effector_yaw_offset_degrees":0.4835833496292361},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00022567209768346473,-0.0015807434623927592,-0.0018289123122096082],"end_effector_yaw_offset_degrees":-0.08547338672073179},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0010183892622785669,8.298295465645512e-05,-0.0015844570580520942],"end_effector_yaw_offset_degrees":0.023977626402033714},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0017760264026170267,0.0012821741237709692,0.0018391922561542427],"end_effector_yaw_offset_degrees":0.5421340724425223}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0026836481888883783,0.001158516063276496],"position_m":[0.18268364818888838,-0.032441483936723504,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002121001076487362,-0.004374622859420596],"position_m":[0.26987899892351264,-0.3716746228594206,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0031196353861669746,-0.002944330081890535],"position_m":[0.316880364613833,0.3501556699181095,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0026958170784287363,0.004133666719549573],"position_m":[0.33580418292157127,0.11263366671954957,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"44a6b6cfba5ee913d8f823dc44b234a62464d1025fdfebfcd14d395ae1fe9978","episode_index":3,"episode_name":"episode_0003"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0003.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_6007/tex_ceiling_textures_3591/tex_floor_textures_4396/tex_table_textures_6871/tex_wall_textures_1287","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":2319278225415740586,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":2319278225415740586,"visual_seed":2319278225415740586,"scene_id":"lab_003","finished_at":"2026-09-05T18:18:31"} +{"episode_id":"ep_000004","started_at":"2026-09-05T18:18:35","dimensions":{"distractor":{"count":30,"items":[{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_0","position":[-0.39490102705624697,-0.5327457357816274,0.71338606911949],"aabb_xy":[[-0.4499010262328364,-0.5877354105565848],[-0.3399010278796574,-0.47775606100666956]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_1","position":[-0.007623100727024212,1.307744641878473,0.71338606911949],"aabb_xy":[[-0.042623099856979874,1.3019994208028087],[0.02737689840293145,1.313489862954137]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_2","position":[0.2905107023167979,-1.98219357582074,0.71338606911949],"aabb_xy":[[0.2840968886736129,-1.988603396068408],[0.29692451595998276,-1.9757837555730713]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_3","position":[-0.5424811596019019,-1.6991752489833765,0.71338606911949],"aabb_xy":[[-0.5506088477952151,-1.7080888573940842],[-0.5343534714085887,-1.6902616405726687]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_4","position":[0.5600012799577754,-2.424832266030548,0.71338606911949],"aabb_xy":[[0.5471293764568351,-2.5048322664443843],[0.5728731834587154,-2.344832265616712]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_5","position":[0.3476196197228094,-1.1185148266254004,0.71338606911949],"aabb_xy":[[0.3368466458014417,-1.1535148248444393],[0.35839259364417725,-1.0835148284063614]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_6","position":[0.15995063535598075,-1.3719824943489756,0.71338606911949],"aabb_xy":[[0.15599015158624638,-1.3796503589344962],[0.16391111912571513,-1.364314629763455]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_7","position":[0.6050180130359126,-1.2481387880221915,0.71338606911949],"aabb_xy":[[0.562833598875082,-1.3121387882994027],[0.6472024271967435,-1.1841387877449803]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_8","position":[-0.5412218825548787,1.406399976743574,0.71338606911949],"aabb_xy":[[-0.5521276586424413,1.3263999803447448],[-0.5303161064673159,1.4863999731424031]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_9","position":[-0.2593528786116167,-0.7766229985860713,0.71338606911949],"aabb_xy":[[-0.2768528120456001,-0.7941229985063059],[-0.24185294517763334,-0.7591229986658368]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_10","position":[0.31489448900193207,-1.7576922983597316,0.71338606911949],"aabb_xy":[[0.30765072295568674,-1.837692296563334],[0.3221382550481774,-1.6776923001561292]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_11","position":[-0.6070805865653692,-1.6623334047842553,0.71338606911949],"aabb_xy":[[-0.6125385322023893,-1.7423334080919142],[-0.6016226409283492,-1.582333401476596]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_12","position":[-0.19276664523679599,0.7701111819241104,0.71338606911949],"aabb_xy":[[-0.22316475633593952,0.7397042799224407],[-0.16236853413765234,0.8005180839257797]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_13","position":[-0.5327831071209501,-1.0453202363598983,0.71338606911949],"aabb_xy":[[-0.582761915631266,-1.0953202363656172],[-0.48280429861063423,-0.9953202363541795]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_14","position":[0.47781997110040764,0.1355458105915286,0.71338606911949],"aabb_xy":[[0.4680639815912337,0.12578327653229415],[0.48757596060958147,0.14530834465076303]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_15","position":[-0.3203452576398126,-2.3994267127966022,0.71338606911949],"aabb_xy":[[-0.3702279545175088,-2.449426712042877],[-0.2704625607621164,-2.3494267135503275]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_16","position":[0.6139724763700203,-1.6004908427017726,0.71338606911949],"aabb_xy":[[0.5914724765561179,-1.6049654590722533],[0.6364724761839227,-1.5960162263312918]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_17","position":[0.18745168386185873,-1.1554207672723078,0.71338606911949],"aabb_xy":[[0.12345168245386808,-1.2072097187962325],[0.2514516852698494,-1.103631815748383]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_18","position":[0.2211344002684933,-2.5036338735837775,0.71338606911949],"aabb_xy":[[0.15113439687693128,-2.5389496472872084],[0.2911344036600552,-2.4683180998803467]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_19","position":[0.4809473349285458,0.9405464646094495,0.71338606911949],"aabb_xy":[[0.46750080829450247,0.9270766129563582],[0.49439386156258913,0.9540163162625407]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_20","position":[0.625328639080236,-1.947299702545202,0.71338606911949],"aabb_xy":[[0.5613286417778894,-1.9916661295130587],[0.6893286363825822,-1.9029332755773452]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_21","position":[-0.17288554595035643,-2.181790945816258,0.71338606911949],"aabb_xy":[[-0.23688554622433466,-2.2318570460135456],[-0.1088855456763782,-2.1317248456189697]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_22","position":[-0.3675238819309092,-1.4358727200691206,0.71338606911949],"aabb_xy":[[-0.41752388150724395,-1.4858532990212268],[-0.3175238823545745,-1.3858921411170149]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_23","position":[-0.6190527048720875,0.419387939565,0.71338606911949],"aabb_xy":[[-0.6740481826927469,0.364387938131093],[-0.5640572270514281,0.47438794099890685]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_24","position":[0.5600182522973469,1.0697190291147667,0.71338606911949],"aabb_xy":[[0.5411338685288367,1.0508331043344141],[0.5789026360658571,1.0886049538951197]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_25","position":[-0.08572367429314376,1.5195146056005995,0.71338606911949],"aabb_xy":[[-0.12072367418916263,1.5111403700886594],[-0.05072367439712489,1.5278888411125395]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_26","position":[0.2690995137676959,-2.4172559475448785,0.71338606911949],"aabb_xy":[[0.2585320341095969,-2.427800977657887],[0.27966699342579493,-2.40671091743187]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_27","position":[-0.4674027445507992,1.7097096386170327,0.71338606911949],"aabb_xy":[[-0.5134878358055306,1.6457096413644776],[-0.42131765329606774,1.7737096358695879]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_28","position":[-0.5996303675678857,-1.445567693663332,0.71338606911949],"aabb_xy":[[-0.629622030301756,-1.4755676930001325],[-0.5696387048340154,-1.4155676943265314]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_29","position":[0.38309284771712027,-0.7123309878438919,0.71338606911949],"aabb_xy":[[0.3480928485243019,-0.7232980338415543],[0.4180928469099384,-0.7013639418462291]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6985171243800553,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2393.png","name":"2393"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2393.png","name":"2393"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4361.png","name":"4361"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6430.png","name":"6430"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3059.png","name":"3059"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4374.png","name":"4374"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":818.0081664235796,"rotation_z_degrees":18.43861946085458,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011724260242120707,0.00828518086362744,-0.004803932045830912]},{"name":"camera_2","offset_m":[0.012081281963166952,0.013527815401877284,-0.016250748373710953]},{"name":"camera_3","offset_m":[0.0071107638931191056,-0.014151329415202514,-0.006747604104673836]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[3.157098524594025e-05,-0.0004018690704311889,0.0002140018268707686],"end_effector_yaw_offset_degrees":0.2721947276610175},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0013852974349265884,0.00033279688800007647,0.0013010758260774227],"end_effector_yaw_offset_degrees":-0.6290669907150508},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001062600338320751,-0.0008704995315486838,-0.0010556736607428268],"end_effector_yaw_offset_degrees":-0.44433435545258604},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-7.72162519867333e-05,6.085967470031376e-05,0.000732608848634712],"end_effector_yaw_offset_degrees":0.5145675838627028}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.002113736141079591,0.002555995029723517],"position_m":[0.1778862638589204,-0.03104400497027648,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002025858391781158,-0.0017875466462919111],"position_m":[0.26997414160821886,-0.36908754664629195,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0025904820087957027,0.0038174019505838102],"position_m":[0.3225904820087957,0.35691740195058386,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0008614014207426269,-0.0041244649186288245],"position_m":[0.33936140142074267,0.10437553508137118,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f3fdda3617b5f105c68ddbe1f187f5888d79f547261454a8a89847189a5cb04d","episode_index":4,"episode_name":"episode_0004"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0004.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_2393/tex_ceiling_textures_4374/tex_floor_textures_3059/tex_table_textures_4361/tex_wall_textures_6430","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":1334883504496065312,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":1334883504496065312,"visual_seed":1334883504496065312,"scene_id":"lab_003","finished_at":"2026-09-05T18:22:09"} +{"episode_id":"ep_000005","started_at":"2026-09-05T18:22:13","dimensions":{"distractor":{"count":29,"items":[{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_0","position":[-0.2756309694848842,-1.886006766590951,0.71338606911949],"aabb_xy":[[-0.31063096861483985,-1.891751987666615],[-0.24063097035492853,-1.8802615455152867]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_1","position":[-0.5812687525775954,-1.3507878083008682,0.71338606911949],"aabb_xy":[[-0.6452687528380661,-1.395796607653796],[-0.5172687523171244,-1.30577900894794]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_2","position":[-0.21598921556905998,-1.147139931861032,0.71338606911949],"aabb_xy":[[-0.2809892165695605,-1.197926297015707],[-0.15098921456855946,-1.096353566706357]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_3","position":[0.30904299196437224,-1.2534691111081042,0.71338606911949],"aabb_xy":[[0.2958917459930829,-1.278469110864791],[0.3221942379356616,-1.228469111351418]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_4","position":[0.15837533703276108,1.7069624527460303,0.71338606911949],"aabb_xy":[[0.09678457780876829,1.6429624546369836],[0.21996609625675392,1.7709624508550774]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_5","position":[-0.3051233929618919,1.1703061425019543,0.71338606911949],"aabb_xy":[[-0.327619814395756,1.147806142695207],[-0.2826269715280278,1.192806142308702]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_6","position":[0.045125265280938076,-0.9740040921586302,0.71338606911949],"aabb_xy":[[-0.019874735825005208,-0.9989694652267586],[0.11012526638688136,-0.949038719090502]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_7","position":[0.011732277622846565,1.7711923433754246,0.71338606911949],"aabb_xy":[[0.0036045894295333447,1.7622787349647169],[0.019859965816159786,1.7801059517861324]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_8","position":[-0.283231822153344,-0.7996573717778319,0.71338606911949],"aabb_xy":[[-0.2869350834824828,-0.8033593900865497],[-0.27952856082420513,-0.795955353469114]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_9","position":[-0.2952906906011498,1.5743559992340574,0.71338606911949],"aabb_xy":[[-0.33747510476198056,1.5103559989568462],[-0.2531062764403191,1.6383559995112686]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_10","position":[-0.4471545569324658,-1.0392569042311874,0.71338606911949],"aabb_xy":[[-0.4614889820586292,-1.0513171197857263],[-0.4328201318063023,-1.0271966886766486]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_11","position":[0.6515375117206439,-1.7465733213860926,0.71338606911949],"aabb_xy":[[0.5975219154387438,-1.8105733242783495],[0.7055531080025438,-1.6825733184938352]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_12","position":[0.6400292137965113,-0.7780870415710406,0.71338606911949],"aabb_xy":[[0.6026979372712689,-0.8127400963658928],[0.677360490321754,-0.7434339867761883]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_13","position":[0.2369804587447485,-0.6860330123106635,0.71338606911949],"aabb_xy":[[0.17298045957497854,-0.732799699429626],[0.30098045791451844,-0.639266325191701]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_14","position":[-0.37132891341706004,-0.6130102807812199,0.71338606911949],"aabb_xy":[[-0.3801309687260327,-0.6208216069361489],[-0.36252685810808727,-0.6051989546262907]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_15","position":[0.39635352332594187,1.1085603378319702,0.71338606911949],"aabb_xy":[[0.39243965013051935,1.0998113224254134],[0.4002673965213644,1.117309353238527]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_16","position":[0.7034066129784002,-1.5921111392735936,0.71338606911949],"aabb_xy":[[0.6859066795444169,-1.609611139193828],[0.7209065464123836,-1.5746111393533588]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_17","position":[-0.08753416203301267,-0.005649732087245507,0.71338606911949],"aabb_xy":[[-0.11793227313215626,-0.03605663408891501],[-0.057136050933869094,0.024757169914424]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_18","position":[-0.027649388734633518,0.6937228624471667,0.71338606911949],"aabb_xy":[[-0.032080018089473694,0.6882744907124843],[-0.023218759379793345,0.6991712341818495]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_19","position":[-0.5547746648008818,1.1043733471575163,0.71338606911949],"aabb_xy":[[-0.6197746633579546,1.0746208137436335],[-0.48977466624380894,1.1341258805713987]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_20","position":[0.4835276820289107,-0.66184728305631,0.71338606911949],"aabb_xy":[[0.477490669028246,-0.6678739841252582],[0.48956469502957545,-0.6558205819873618]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_21","position":[0.0049267294907588965,-1.1172563077740107,0.71338606911949],"aabb_xy":[[-0.07507327377325423,-1.130816340082924],[0.08492673275477203,-1.1036962754650974]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_22","position":[-0.4585400454538294,1.5911745151073746,0.71338606911949],"aabb_xy":[[-0.48354004472579165,1.5748291515112123],[-0.4335400461818671,1.607519878703537]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_23","position":[0.18987320547278563,-1.4786271381517515,0.71338606911949],"aabb_xy":[[0.13987320445365037,-1.5150933538895797],[0.23987320649192093,-1.4421609224139236]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_24","position":[0.49220119360935133,1.4365730864498842,0.71338606911949],"aabb_xy":[[0.4372011944327618,1.3815834116749264],[0.5472011927859408,1.4915627612248417]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_25","position":[0.10314453670968649,1.372922450840643,0.71338606911949],"aabb_xy":[[0.09664290020168187,1.3631546288143332],[0.1096461732176911,1.3826902728669528]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_26","position":[-0.4186095323513481,-1.8075157207105779,0.71338606911949],"aabb_xy":[[-0.43624236794487575,-1.8251386667262006],[-0.4009766967578206,-1.7898927746949547]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_27","position":[0.17545366349731362,0.8648555435633383,0.71338606911949],"aabb_xy":[[0.11045366534139456,0.8385592990134261],[0.24045366165323268,0.8911517881132505]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_28","position":[-0.32703253734836796,0.1253193176951064,0.71338606911949],"aabb_xy":[[-0.36203253561848786,0.11824519000011824],[-0.29203253907824805,0.13239344539009457]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7038884065560498,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4457.png","name":"4457"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4457.png","name":"4457"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/772.png","name":"772"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1218.png","name":"1218"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9196.png","name":"9196"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2363.png","name":"2363"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":517.1252910153153,"rotation_z_degrees":312.6509918206101,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01168363294134224,0.006449793343962007,0.01738455739404435]},{"name":"camera_2","offset_m":[-0.007452364214220504,-0.014750531804413023,-0.018898708241753027]},{"name":"camera_3","offset_m":[-0.010683161404317883,0.011711867683084475,0.015431619119392486]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00041689347762047246,-0.0012119749399962956,6.962379868659255e-05],"end_effector_yaw_offset_degrees":-0.33744735435795725},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0007386915205225952,0.0002015194287439204,-0.00012176873601574744],"end_effector_yaw_offset_degrees":-0.23244851509883335},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00039829447097004594,-0.0001978730273878551,0.00040066841115758266],"end_effector_yaw_offset_degrees":-0.216001396317397},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00036271486825482317,-0.0016764931682393001,0.0010153170670438353],"end_effector_yaw_offset_degrees":-0.7060998904045606}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0018707536736499407,0.0025203544048655177],"position_m":[0.18187075367364994,-0.03107964559513448,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004503566759452001,-0.0014428677858826112],"position_m":[0.27650356675945204,-0.3687428677858826,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.000428055085685981,-0.0014516660615271583],"position_m":[0.319571944914314,0.3516483339384729,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0027672446356629367,0.0037742387216944786],"position_m":[0.34126724463566294,0.11227423872169448,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ec76888e081552c15c98fe374b75f293de33939902da81139b0201295f3be8bc","episode_index":5,"episode_name":"episode_0005"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0005.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_4457/tex_ceiling_textures_2363/tex_floor_textures_9196/tex_table_textures_772/tex_wall_textures_1218","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":4940898234713571706,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":4940898234713571706,"visual_seed":4940898234713571706,"scene_id":"lab_003","finished_at":"2026-09-05T18:26:00"} +{"episode_id":"ep_000006","started_at":"2026-09-05T18:26:03","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_0","position":[-0.6450988503469426,0.3492928627858656,0.71338606911949],"aabb_xy":[[-0.6949815472246388,0.29929286353959084],[-0.5952161534692464,0.39929286203214037]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_1","position":[-0.010098214035417885,-1.0537632136249406,0.71338606911949],"aabb_xy":[[-0.01881218308535237,-1.0762632142841284],[-0.0013842449854833958,-1.031263212965752]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_2","position":[-0.26465776007375863,-0.1937211178066236,0.71338606911949],"aabb_xy":[[-0.2687936164064589,-0.2312211172509806],[-0.2605219037410585,-0.1562211183622666]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_3","position":[-0.3206382405473826,1.3076545231444587,0.71338606911949],"aabb_xy":[[-0.3706313526565745,1.257654522470263],[-0.2706451284381907,1.3576545238186544]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_4","position":[-0.5878551912703424,-0.8537326120232689,0.71338606911949],"aabb_xy":[[-0.6478551918663585,-0.9085450845684924],[-0.5278551906743262,-0.7989201394780454]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_5","position":[0.3586836060052372,-2.1442620645989527,0.71338606911949],"aabb_xy":[[0.2946836053017679,-2.190280447071874],[0.42268360670870664,-2.098243682126032]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_6","position":[0.10089237116636862,-1.6911486521553956,0.71338606911949],"aabb_xy":[[0.06589237203641296,-1.6968938732310594],[0.13589237029632428,-1.6854034310797312]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_7","position":[-0.6193740026037308,-0.15066268335942912,0.71338606911949],"aabb_xy":[[-0.6472190393843379,-0.18144718209774083],[-0.5915289658231236,-0.11987818462111746]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_8","position":[0.4213685064358883,-1.3170528964579902,0.71338606911949],"aabb_xy":[[0.38386850614371354,-1.3210943718585935],[0.4588685067280632,-1.3130114210573864]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_9","position":[0.5352861074531403,-1.1208684995151208,0.71338606911949],"aabb_xy":[[0.5245131335317725,-1.15586849773416],[0.5460590813745081,-1.085868501296082]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_10","position":[-0.362043307036341,0.5461763488195359,0.71338606911949],"aabb_xy":[[-0.4420433039993802,0.46910070717576247],[-0.28204331007330186,0.6232519904633094]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_11","position":[0.46109959505628617,0.7275867682394415,0.71338606911949],"aabb_xy":[[0.4516821204864234,0.7181705911017223],[0.4705170696261489,0.7370029453771604]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_12","position":[-0.3169390489990637,0.7458835568756363,0.71338606911949],"aabb_xy":[[-0.3664194702130225,0.6818835589627845],[-0.26745862778510493,0.8098835547884882]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_13","position":[0.274309329540839,-0.9856988677403804,0.71338606911949],"aabb_xy":[[0.23745878160385137,-1.0231988685634141],[0.3111598774778266,-0.9481988669173467]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_14","position":[0.47448720223395124,-1.7683522946273595,0.71338606911949],"aabb_xy":[[0.4445196453241256,-1.7983522949252455],[0.5044547591437769,-1.738352294329474]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_15","position":[-0.4532138744719304,-1.472816845854051,0.71338606911949],"aabb_xy":[[-0.5032138758328175,-1.5227947504294665],[-0.4032138731110432,-1.4228389412786353]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_16","position":[-0.5346007713927989,-1.0914748993379806,0.71338606911949],"aabb_xy":[[-0.5845795799031147,-1.1414748993436992],[-0.48462196288248294,-1.0414748993322616]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_17","position":[-0.3304826057205436,-2.0810035319237308,0.71338606911949],"aabb_xy":[[-0.3647988828951615,-2.1310035318969085],[-0.2961663285459256,-2.031003531950553]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_18","position":[-0.633535299894417,1.1854692496659966,0.71338606911949],"aabb_xy":[[-0.6573715175350222,1.0954692488575102],[-0.6096990822538121,1.2754692504744831]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_19","position":[-0.3769662861723779,-0.8122951023868836,0.71338606911949],"aabb_xy":[[-0.38160140132461123,-0.816162437464032],[-0.3723311710201444,-0.8084277673097348]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_20","position":[-0.08150286221395209,0.32382299688429406,0.71338606911949],"aabb_xy":[[-0.11900286203098565,0.3191847855731522],[-0.04400286239691853,0.3284612081954359]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_21","position":[-0.062392332199525,-0.5940698717643091,0.71338606911949],"aabb_xy":[[-0.06797400383365376,-0.6065698715820846],[-0.05681066056539624,-0.5815698719465336]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_22","position":[0.013625753872785862,1.6837986152705517,0.71338606911949],"aabb_xy":[[-0.07137424481928878,1.6518127518756727],[0.0986257525648605,1.7157844786654304]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_23","position":[-0.1370607211843009,-1.8609145756897028,0.71338606911949],"aabb_xy":[[-0.16034256338243222,-1.945914576986931],[-0.11377887898616955,-1.775914574392475]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_24","position":[0.23447273054637052,0.6123641755290539,0.71338606911949],"aabb_xy":[[0.19855922612138083,0.5764506673122991],[0.2703862349713602,0.6482776837458084]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_25","position":[-0.3292938568932404,-0.4581788050231559,0.71338606911949],"aabb_xy":[[-0.36429385520393587,-0.4658938199467015],[-0.294293858582545,-0.4504637900996102]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_26","position":[0.37684965065048215,-0.4802338991488626,0.71338606911949],"aabb_xy":[[0.3505608263300415,-0.5065053328035136],[0.4031384749709228,-0.45396246549421126]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_27","position":[-0.4978557982907172,1.1236959617936697,0.71338606911949],"aabb_xy":[[-0.5155314288793156,1.106015745514267],[-0.48018016770211885,1.1413761780730725]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_28","position":[0.5862547388029271,0.9592709636621866,0.71338606911949],"aabb_xy":[[0.5686219032093994,0.9416480176465636],[0.6038875743964546,0.9768939096778095]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_29","position":[-0.0048961975854185935,-0.7257396465858159,0.71338606911949],"aabb_xy":[[-0.07489620022200494,-0.7458445115816813],[0.06510380505116775,-0.7056347815899503]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_30","position":[0.08655920392414873,1.23495836029702,0.71338606911949],"aabb_xy":[[0.07222477879798528,1.222898144742481],[0.10089362905031218,1.2470185758515586]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_31","position":[0.263524967659984,1.3898957093669146,0.71338606911949],"aabb_xy":[[0.19952497035763755,1.345529282399058],[0.32752496496233036,1.4342621363347714]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6980702751064333,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2898.png","name":"2898"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2898.png","name":"2898"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7261.png","name":"7261"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6989.png","name":"6989"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3528.png","name":"3528"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5921.png","name":"5921"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":529.7902676354769,"rotation_z_degrees":331.7280133778434,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0032315233888791893,0.0032915585604015515,-0.012641251966570163]},{"name":"camera_2","offset_m":[0.013039118126874496,-0.011019186385290189,-0.0006308529674797884]},{"name":"camera_3","offset_m":[0.007489400391203601,0.01668564709375855,0.006485384305113914]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0009041663790939512,-0.0014578541966074048,0.0008581712313917851],"end_effector_yaw_offset_degrees":0.5264105543230093},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[6.703618643753113e-05,5.1930126761664044e-05,0.0003806872900493389],"end_effector_yaw_offset_degrees":0.4670829203156839},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0009223886966370737,-0.0008692923352796834,-0.001408793264615057],"end_effector_yaw_offset_degrees":-0.16230379984239596},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-7.141997074980636e-05,-0.0007677399920408804,-0.0006442413943193164],"end_effector_yaw_offset_degrees":0.31026029679151934}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0035709842930795868,0.0017653402692856144],"position_m":[0.18357098429307958,-0.031834659730714386,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001346818979015211,0.00015462128678090954],"position_m":[0.2706531810209848,-0.3671453787132191,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0015599692094491148,-0.0014366015870313532],"position_m":[0.3215599692094491,0.3516633984129687,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004859972185158968,0.004065577817072394],"position_m":[0.33364002781484103,0.1125655778170724,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b6050c54d90dc10367e6820720b83555ed9d4870eba60a5e07822d089201f82c","episode_index":6,"episode_name":"episode_0006"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0006.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_2898/tex_ceiling_textures_5921/tex_floor_textures_3528/tex_table_textures_7261/tex_wall_textures_6989","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":3836775813132872944,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":3836775813132872944,"visual_seed":3836775813132872944,"scene_id":"lab_003","finished_at":"2026-09-05T18:29:56"} +{"episode_id":"ep_000007","started_at":"2026-09-05T18:30:00","dimensions":{"distractor":{"count":35,"items":[{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_0","position":[-0.4690645711084705,-0.8796254159512824,0.71338606911949],"aabb_xy":[[-0.4915293410798756,-0.9021254168301429],[-0.4465998011370654,-0.8571254150724219]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_1","position":[-0.2861828919410509,0.7112388395709619,0.71338606911949],"aabb_xy":[[-0.31995845113174387,0.6972003443577968],[-0.2524073327503579,0.7252773347841268]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_2","position":[-0.06983890665108128,1.627349365743807,0.71338606911949],"aabb_xy":[[-0.13383890523765374,1.580342402344298],[-0.005838908064508833,1.6743563291433154]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_3","position":[0.25319868346666186,-1.5226428774096532,0.71338606911949],"aabb_xy":[[0.23652154747356635,-1.5393428013835835],[0.26987581945975736,-1.505942953435723]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_4","position":[0.5352166392692088,-1.4271245432642257,0.71338606911949],"aabb_xy":[[0.5153255993888686,-1.4397803545489225],[0.5551076791495491,-1.4144687319795288]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_5","position":[0.2745049103572804,0.5104299147308939,0.71338606911949],"aabb_xy":[[0.23950491046126157,0.502055679218954],[0.3095049102532993,0.5188041502428339]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_6","position":[0.3586896491037388,-1.1692706490221174,0.71338606911949],"aabb_xy":[[0.32118965052811804,-1.1820069446856751],[0.39618964767935966,-1.1565343533585593]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_7","position":[0.687028312500177,-2.482551624742732,0.71338606911949],"aabb_xy":[[0.6695283122551277,-2.5000514125822986],[0.7045283127452264,-2.465051836903165]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_8","position":[0.5792177029377938,1.2956484641234836,0.71338606911949],"aabb_xy":[[0.4895306266296783,1.205648463869033],[0.6689047792459092,1.385648464377934]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_9","position":[0.3485182085012819,-0.9026165762657303,0.71338606911949],"aabb_xy":[[0.3334159070402637,-0.9177180978967918],[0.3636205099622999,-0.8875150546346682]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_10","position":[0.5431436689356741,0.9869925852405199,0.71338606911949],"aabb_xy":[[0.5056436691186406,0.9823543739293781],[0.5806436687527077,0.9916307965516618]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_11","position":[0.19076533204409862,0.8940464716054395,0.71338606911949],"aabb_xy":[[0.18273906141347263,0.8852949766280868],[0.19879160267472462,0.902797966582792]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_12","position":[0.06555861736078517,-1.4419901875132757,0.71338606911949],"aabb_xy":[[-0.014441382912821805,-1.5149397353389924],[0.14555861763439215,-1.369040639687559]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_13","position":[0.2705529318794958,-0.6533261551891132,0.71338606911949],"aabb_xy":[[0.2355529336093759,-0.6604002828841014],[0.3055529301496157,-0.646252027494125]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_14","position":[0.42670368078017296,-1.0545640899005264,0.71338606911949],"aabb_xy":[[0.36907321189290204,-1.1145640888272368],[0.4843341496674437,-0.9945640909738156]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_15","position":[0.08014905521078775,-2.3433143780070154,0.71338606911949],"aabb_xy":[[0.04160336238558671,-2.3818601490632036],[0.11869474803598878,-2.304768606950826]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_16","position":[0.2559727427108581,-1.9046408025759631,0.71338606911949],"aabb_xy":[[0.23142652708810743,-1.9348896991250002],[0.28051895833360885,-1.874391906026926]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_17","position":[0.6374618240875323,-2.395324998076806,0.71338606911949],"aabb_xy":[[0.6215773308222071,-2.4096779383756295],[0.6533463173528574,-2.380972057777982]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_18","position":[-0.06750552292081669,-0.6817580748032679,0.71338606911949],"aabb_xy":[[-0.09747307983064235,-0.7117580751011536],[-0.03753796601099102,-0.6517580745053821]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_19","position":[-0.465318021341709,-1.0133575191968667,0.71338606911949],"aabb_xy":[[-0.5028180216899367,-1.0251489147779502],[-0.42781802099348126,-1.0015661236157831]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_20","position":[-0.028809705863415025,0.9900962968003935,0.71338606911949],"aabb_xy":[[-0.06630970704820781,0.9856780741043331],[0.00869029532137777,0.9945145194964541]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_21","position":[-0.07481480858276601,1.7919191031981172,0.71338606911949],"aabb_xy":[[-0.10521291968190959,1.7615122011964475],[-0.04441669748362242,1.8223260051997865]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_22","position":[-0.16497174217077237,-1.148597061420604,0.71338606911949],"aabb_xy":[[-0.20182229010775998,-1.1860970622436378],[-0.12812119423378476,-1.1110970605975703]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_23","position":[-0.42211029687960916,-1.8571171073768151,0.71338606911949],"aabb_xy":[[-0.4336792776265457,-1.8821171074937473],[-0.41054131613267253,-1.8321171072598839]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_24","position":[0.6368840785913119,-1.1958503707475598,0.71338606911949],"aabb_xy":[[0.5728840783173337,-1.245916470944848],[0.7008840788652901,-1.145784270550272]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_25","position":[-0.17071838250965876,-0.7152199152551642,0.71338606911949],"aabb_xy":[[-0.19430350597355364,-0.780219917500596],[-0.14713325904576394,-0.6502199130097325]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_26","position":[-4.337091376049873e-05,1.256544062836666,0.71338606911949],"aabb_xy":[[-0.017474085992767004,1.2392719481728147],[0.017387344165246007,1.2738161775005163]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_27","position":[0.06543570689618727,-1.6545023686444795,0.71338606911949],"aabb_xy":[[-0.014564290118060708,-1.674636920317891],[0.14543570391043525,-1.6343678169710685]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_28","position":[-0.21985972765827405,0.10332893298284063,0.71338606911949],"aabb_xy":[[-0.2838597293362714,0.054811541503526406],[-0.1558597259802767,0.15184632446215485]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_29","position":[0.14761022812817814,1.4392596738726975,0.71338606911949],"aabb_xy":[[0.1379785919077485,1.4296223610929888],[0.15724186434860773,1.4488969866524066]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_30","position":[-0.5508584569434962,-0.5073008551575886,0.71338606911949],"aabb_xy":[[-0.5878925663715558,-0.541678062491298],[-0.5138243475154364,-0.47292364782387913]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_31","position":[-0.48590763604195936,-1.6166947410599057,0.71338606911949],"aabb_xy":[[-0.49877953954289944,-1.6966947414737417],[-0.47303573254101916,-1.5366947406460694]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_32","position":[0.5345671832524745,-1.9589263541975963,0.71338606911949],"aabb_xy":[[0.45456718609289926,-1.9704739551554131],[0.6145671804120498,-1.947378753239779]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_33","position":[0.29088097387750456,0.7435188446556458,0.71338606911949],"aabb_xy":[[0.26759913167937316,0.6585188433584177],[0.31416281607563584,0.8285188459528738]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_34","position":[-0.05262862115748679,-0.9361039813558305,0.71338606911949],"aabb_xy":[[-0.10260168669000228,-0.9861039811683636],[-0.002655555624971329,-0.8861039815432978]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7028869294483356,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1880.png","name":"1880"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1880.png","name":"1880"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8393.png","name":"8393"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4929.png","name":"4929"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6903.png","name":"6903"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5861.png","name":"5861"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":608.9203972836128,"rotation_z_degrees":292.7210326926616,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007218069712490092,-0.010319218108572193,0.0018816548342671935]},{"name":"camera_2","offset_m":[-0.004884655863487781,-0.01734371813465572,-0.00693105628518881]},{"name":"camera_3","offset_m":[0.009004465929829425,-0.015863946796692896,0.003681980639993993]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0009318374202754265,0.00034012855155134613,-0.001332219102809252],"end_effector_yaw_offset_degrees":0.5899531645545373},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-3.133984363726944e-05,0.001956106915076406,-0.0013832718589961708],"end_effector_yaw_offset_degrees":0.785989598484069},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00036601551471874367,0.0015984984624763266,-0.0018251778634154367],"end_effector_yaw_offset_degrees":-0.21271175981508894},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008149177933615566,-0.001506208547545337,-0.0003886526432956292],"end_effector_yaw_offset_degrees":0.22906432400285737}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0018203723051417055,-0.00045538937294029545],"position_m":[0.1781796276948583,-0.034055389372940295,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002808709754718036,-0.002283451636848719],"position_m":[0.27480870975471805,-0.36958345163684875,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0037578752597386012,0.00010022689648186457],"position_m":[0.3162421247402614,0.3532002268964819,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0004653931778523966,-0.0035687768682613067],"position_m":[0.33803460682214764,0.1049312231317387,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"644c0e966db2ce2ac3c6b19e4a31a9bf6a9ed727cab15a4673cb85a2b8a42479","episode_index":7,"episode_name":"episode_0007"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0007.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_1880/tex_ceiling_textures_5861/tex_floor_textures_6903/tex_table_textures_8393/tex_wall_textures_4929","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":358083147423649962,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":358083147423649962,"visual_seed":358083147423649962,"scene_id":"lab_003","finished_at":"2026-09-05T18:33:35"} +{"episode_id":"ep_000008","started_at":"2026-09-05T18:33:39","dimensions":{"distractor":{"count":34,"items":[{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_0","position":[-0.29709321311467485,0.6074720910527418,0.71338606911949],"aabb_xy":[[-0.34708804604261645,0.5574720921574983],[-0.24709838018673325,0.6574720899479853]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_1","position":[-0.1097179367120712,1.484331048277824,0.71338606911949],"aabb_xy":[[-0.12232063584914765,1.4717356520529588],[-0.09711523757499474,1.4969264445026897]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_2","position":[-0.12013350075354834,-1.7240112599748498,0.71338606911949],"aabb_xy":[[-0.18413350309634988,-1.7689521112189823],[-0.05613349841074677,-1.6790704087307173]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_3","position":[0.28957879658816255,-2.460874724914736,0.71338606911949],"aabb_xy":[[0.2545787966116667,-2.470339340962353],[0.3245787965646584,-2.4514101088671194]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_4","position":[-0.32077545792753237,-1.5529803623915364,0.71338606911949],"aabb_xy":[[-0.3857754588846596,-1.604928574325242],[-0.25577545697040516,-1.5010321504578308]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_5","position":[0.010336047242772373,-1.9174451418957903,0.71338606911949],"aabb_xy":[[0.002292687316817199,-2.0024451429911565],[0.018379407168727546,-1.8324451408004236]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_6","position":[-0.29395336379336723,0.7838715998637404,0.71338606911949],"aabb_xy":[[-0.3367200706727874,0.719871596441938],[-0.25118665691394704,0.8478716032855429]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_7","position":[0.17051953289766641,-2.026270203247259,0.71338606911949],"aabb_xy":[[0.12551953143143757,-2.07127006010874],[0.2155195343638953,-1.9812703463857786]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_8","position":[-0.6742316400514018,-0.6257225901288106,0.71338606911949],"aabb_xy":[[-0.6846431987318854,-0.631068323464709],[-0.663820081370918,-0.620376856792912]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_9","position":[-0.5065148122148388,-1.6128092403750434,0.71338606911949],"aabb_xy":[[-0.5705148125923725,-1.6625545072258554],[-0.44251481183730523,-1.5630639735242309]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_10","position":[-0.49998443057010333,1.6756318164950614,0.71338606911949],"aabb_xy":[[-0.5499775426792952,1.625631815820866],[-0.4499913184609114,1.7256318171692573]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_11","position":[-0.15311428064318866,1.185685881625394,0.71338606911949],"aabb_xy":[[-0.16917620810170628,1.1006858798128019],[-0.137052353184671,1.2706858834379855]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_12","position":[0.4826818345911841,1.3480363030127651,0.71338606911949],"aabb_xy":[[0.47184135636466906,1.3308500217221162],[0.49352231281769887,1.3652225843034136]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_13","position":[0.5597401175464689,-2.50567589393289,0.71338606911949],"aabb_xy":[[0.49974011668565615,-2.5571023239393758],[0.6197401184072817,-2.4542494639264034]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_14","position":[0.2997593717591469,1.6810058185562586,0.71338606911949],"aabb_xy":[[0.23575937317257445,1.63399885515675],[0.36375937034571937,1.7280127819557674]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_15","position":[0.22284783541779374,-0.8039647486743722,0.71338606911949],"aabb_xy":[[0.17571845641595807,-0.867964749718774],[0.2699772144196294,-0.7399647476299701]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_16","position":[-0.4626574339451893,0.2642364583233312,0.71338606911949],"aabb_xy":[[-0.49264909667905965,0.23423645898653067],[-0.432665771211319,0.29423645766013173]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_17","position":[-0.16228526388453612,-1.3696407573755114,0.71338606911949],"aabb_xy":[[-0.2522852662185552,-1.4471231119606243],[-0.07228526155051707,-1.292158402790399]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_18","position":[0.4399237391067481,-2.1809059006343023,0.71338606911949],"aabb_xy":[[0.42282166114837993,-2.198012706165572],[0.45702581706511625,-2.1637990951030326]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_19","position":[-0.6635705113225251,1.0823084245510812,0.71338606911949],"aabb_xy":[[-0.6810705104568923,1.0724287975134932],[-0.6460705121881579,1.0921880515886688]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_20","position":[0.49790662202370783,-2.0403258231765977,0.71338606911949],"aabb_xy":[[0.4179066233668219,-2.0548306821008606],[0.5779066206805938,-2.025820964252335]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_21","position":[-0.5899005391260388,-1.7600334448897843,0.71338606911949],"aabb_xy":[[-0.5973129946674273,-1.7658846553114125],[-0.5824880835846503,-1.7541822344681566]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_22","position":[-0.2883436882452724,-2.2531158675652545,0.71338606911949],"aabb_xy":[[-0.338441152226346,-2.3171158680750663],[-0.23824622426419878,-2.1891158670554427]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_23","position":[0.1757455890635471,0.7002412607922466,0.71338606911949],"aabb_xy":[[0.1407455898707288,0.689274214794584],[0.21074558825636533,0.7112083067899092]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_24","position":[0.3673758713935278,-2.3264713292054955,0.71338606911949],"aabb_xy":[[0.33237587004204605,-2.3468310651623163],[0.4023758727450095,-2.3061115932486747]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_25","position":[-0.5087776848905492,-0.6492657183982715,0.71338606911949],"aabb_xy":[[-0.5687776847371159,-0.7060843405913102],[-0.4487776850439823,-0.5924470962052328]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_26","position":[0.5944893268037548,1.3202885312837087,0.71338606911949],"aabb_xy":[[0.5446066299260586,1.270288532037434],[0.644372023681451,1.3702885305299835]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_27","position":[-0.01698451687810454,-2.0989365455764553,0.71338606911949],"aabb_xy":[[-0.06698451645443926,-2.148917124528561],[0.03301548269823018,-2.0489559666243493]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_28","position":[0.4966429913413999,-0.5905213370577216,0.71338606911949],"aabb_xy":[[0.44164299313965505,-0.6310433036841592],[0.5516429895431447,-0.549999370431284]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_29","position":[-0.034736059686861,1.2838721961108623,0.71338606911949],"aabb_xy":[[-0.07604060275059699,1.2198721965427453],[0.0065684833768749895,1.3478721956789794]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_30","position":[-0.1764793958483527,0.9622611354948223,0.71338606911949],"aabb_xy":[[-0.2464793992399147,0.9269453617913913],[-0.10647939245679074,0.997576909198253]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_31","position":[0.5903312772351192,0.8295943028223633,0.71338606911949],"aabb_xy":[[0.5678348558012551,0.8070943030156159],[0.6128276986689833,0.8520943026291108]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_32","position":[0.5927471669579338,-2.2170245086109612,0.71338606911949],"aabb_xy":[[0.5427471655970465,-2.2670024131863764],[0.642747168318821,-2.167046604035545]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_33","position":[0.3088400808544227,-0.4978844696466056,0.71338606911949],"aabb_xy":[[0.2713400796696298,-0.5023026923426659],[0.3463400820392154,-0.493466246950545]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6961314507958111,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2190.png","name":"2190"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2190.png","name":"2190"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2106.png","name":"2106"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/393.png","name":"393"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3574.png","name":"3574"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9370.png","name":"9370"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":801.0119664010347,"rotation_z_degrees":217.15272431561374,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0027769327238584135,0.000817181880166936,0.01828060899139994]},{"name":"camera_2","offset_m":[0.0023354599900816814,-0.008864094721014593,-0.0015307306052902321]},{"name":"camera_3","offset_m":[-0.010660484201282672,0.0017400248582696565,0.016473590262755074]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0004293557005128528,-0.0010727248135223948,0.0014513439350505777],"end_effector_yaw_offset_degrees":0.7390574764541504},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0005716324840249563,0.0008534991865861629,0.0015742473959851808],"end_effector_yaw_offset_degrees":-0.4728904113404384},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0019297825608828745,-2.739186734713713e-05,0.0008638225120695649],"end_effector_yaw_offset_degrees":0.3933511811924595},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0013332828585542016,-6.42510759894029e-05,0.001083433793712223],"end_effector_yaw_offset_degrees":0.8317110603641371}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0008633123273465194,0.0028726517749151506],"position_m":[0.17913668767265348,-0.030727348225084848,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001104708623323155,0.0042502349244163415],"position_m":[0.27089529137667684,-0.3630497650755837,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002447007484140855,0.00028963744579344006],"position_m":[0.32244700748414085,0.3533896374457935,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004657493556726359,-0.0018587152921567705],"position_m":[0.34315749355672637,0.10664128470784323,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"717618888118db3c8305a104e371962cec48211833daa864728b64678f28ba34","episode_index":8,"episode_name":"episode_0008"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0008.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_2190/tex_ceiling_textures_9370/tex_floor_textures_3574/tex_table_textures_2106/tex_wall_textures_393","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":4526386240969550246,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":4526386240969550246,"visual_seed":4526386240969550246,"scene_id":"lab_003","finished_at":"2026-09-05T18:37:33"} +{"episode_id":"ep_000009","started_at":"2026-09-05T18:37:36","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_0","position":[0.0045791398534094085,-1.471693042792524,0.71338606911949],"aabb_xy":[[-0.059420859316360534,-1.5184597299114866],[0.06857913902317934,-1.4249263556735616]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_1","position":[-0.2112573771529213,1.3881206222807418,0.71338606911949],"aabb_xy":[[-0.261257378814416,1.3381221800250387],[-0.1612573754914265,1.4381190645364441]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_2","position":[0.039718893354082074,1.6315968341840539,0.71338606911949],"aabb_xy":[[0.01613376989018723,1.5665968319386223],[0.06330401681797693,1.6965968364294859]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_3","position":[0.0045238350215970335,-1.3182797521842888,0.71338606911949],"aabb_xy":[[-0.040754779859552226,-1.3822797515324723],[0.04980244990274629,-1.254279752836105]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_4","position":[-0.06684043739749634,0.9203441284600888,0.71338606911949],"aabb_xy":[[-0.07625791196735908,0.9109279513223698],[-0.05742296282763358,0.9297603055978079]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_5","position":[0.47572881640268316,0.30812897090255476,0.71338606911949],"aabb_xy":[[0.4692271798946786,0.29836114887624504],[0.48223045291068783,0.3178967929288646]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_6","position":[0.0296365801163061,-2.5339860385294957,0.71338606911949],"aabb_xy":[[-0.0078634210684867,-2.5384042612255557],[0.06713658130109888,-2.5295678158334347]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_7","position":[0.12270150119276091,1.56267781253572,0.71338606911949],"aabb_xy":[[0.10520150191467402,1.545339712469374],[0.14020150047084778,1.5800159126020659]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_8","position":[0.4297176097537472,1.7556860390774287,0.71338606911949],"aabb_xy":[[0.4118485019992917,1.7418531311002179],[0.44758671750820267,1.76951894705464]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_9","position":[-0.5070634136013799,-1.3414258893403455,0.71338606911949],"aabb_xy":[[-0.5920634120188032,-1.4263001848026304],[-0.42206341518395674,-1.2565515938780605]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_10","position":[0.4636917901746087,-2.4056121916531996,0.71338606911949],"aabb_xy":[[0.43021262291356777,-2.4390913050243066],[0.49717095743564965,-2.3721330782820926]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_11","position":[0.14196511125135747,1.1139839856744511,0.71338606911949],"aabb_xy":[[0.13397162145607547,1.1059858537339757],[0.14995860104663952,1.121982117614927]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_12","position":[0.6272100650530501,-1.9586866681392618,0.71338606911949],"aabb_xy":[[0.5898787885278075,-1.9933397229341139],[0.6645413415782927,-1.9240336133444094]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_13","position":[-0.6505663137196854,-1.9865696006748643,0.71338606911949],"aabb_xy":[[-0.6855663150711672,-2.0069293366316847],[-0.6155663123682037,-1.9662098647180435]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_14","position":[-0.5880701762121929,-0.8644479035866228,0.71338606911949],"aabb_xy":[[-0.6480701778551148,-0.916448052878567],[-0.5280701745692711,-0.8124477542946786]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_15","position":[0.2560772829130027,-0.5944659355190431,0.71338606911949],"aabb_xy":[[0.23853058799688376,-0.6319659370832944],[0.2736239778291216,-0.5569659339547919]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_16","position":[-0.007999147607626766,1.1588528012260393,0.71338606911949],"aabb_xy":[[-0.04549914839962221,1.152484960267849],[0.02950085318436868,1.1652206421842295]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_17","position":[-0.483962564702528,1.338795582862085,0.71338606911949],"aabb_xy":[[-0.5339455148900074,1.2887955832195244],[-0.4339796145150487,1.3887955825046452]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_18","position":[0.6343681161658434,-2.195797963832916,0.71338606911949],"aabb_xy":[[0.579372638345184,-2.250797965266823],[0.6893635939865028,-2.140797962399009]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_19","position":[-0.3195371119748977,-0.4569772349065091,0.71338606911949],"aabb_xy":[[-0.3656222032296292,-0.5209772321590642],[-0.2734520207201662,-0.392977237653954]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_20","position":[0.403367328126764,-1.0560851735937113,0.71338606911949],"aabb_xy":[[0.34573685923949316,-1.1160851725204215],[0.4609977970140348,-0.9960851746670003]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_21","position":[-0.17894895568485958,0.7182989561631214,0.71338606911949],"aabb_xy":[[-0.21644895618221782,0.714330272615003],[-0.14144895518750134,0.7222676397112399]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6980362497408621,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8418.png","name":"8418"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8418.png","name":"8418"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8699.png","name":"8699"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4128.png","name":"4128"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/638.png","name":"638"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1716.png","name":"1716"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":644.8293307946677,"rotation_z_degrees":89.94172782704605,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0011816300995153989,0.010420400410721963,0.009104863947494334]},{"name":"camera_2","offset_m":[-0.002474748927434517,-0.014665130113396447,-0.012797613917206917]},{"name":"camera_3","offset_m":[0.003734240332512684,0.019100165852722836,-0.0016705260738420838]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0005819566111724842,0.00163541699889156,0.0015621380348764908],"end_effector_yaw_offset_degrees":-0.6258271089803562},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0013724664165000577,-0.00020874515126138925,0.000278505642387677],"end_effector_yaw_offset_degrees":-0.31145626143188054},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0003322488214072511,-0.0006460114697620547,0.0008911337755997013],"end_effector_yaw_offset_degrees":0.3340164147183806},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0006663591474136959,-0.0010389272799416838,-0.0008860419103501873],"end_effector_yaw_offset_degrees":-0.8497859653167481}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0023380415494354944,0.001661354811319923],"position_m":[0.1776619584505645,-0.03193864518868007,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0005523982586669255,0.0033089688238346045],"position_m":[0.27255239825866695,-0.36399103117616544,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0036193759635006063,0.0014276660075299465],"position_m":[0.3163806240364994,0.35452766600753,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0005613961212191966,-0.0030392425220310926],"position_m":[0.33793860387878083,0.1054607574779689,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ac97497c838691dcea4cce96dc5a81f1e3a85b1c6fd8060da2fa3b2121fd2513","episode_index":9,"episode_name":"episode_0009"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0009.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_8418/tex_ceiling_textures_1716/tex_floor_textures_638/tex_table_textures_8699/tex_wall_textures_4128","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":1484175873044237586,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":1484175873044237586,"visual_seed":1484175873044237586,"scene_id":"lab_003","finished_at":"2026-09-05T18:41:26"} +{"episode_id":"ep_000010","started_at":"2026-09-05T18:41:29","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_0","position":[-0.267909274476118,0.9855887967508568,0.71338606911949],"aabb_xy":[[-0.27603696266943123,0.9766751883401491],[-0.2597815862828048,0.9945024051615644]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_1","position":[-0.24030443046858246,-1.817141816790157,0.71338606911949],"aabb_xy":[[-0.2778044311331611,-1.8328288747903791],[-0.20280442980400373,-1.8014547587899348]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_2","position":[-0.15297216714423612,0.2630927214720744,0.71338606911949],"aabb_xy":[[-0.18130187709277634,0.2586319792783574],[-0.12464245719569589,0.2675534636657915]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_3","position":[0.15017970203919218,-0.788642614831772,0.71338606911949],"aabb_xy":[[0.14225642180044384,-0.8111426150697754],[0.1581029822779405,-0.7661426145937686]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_4","position":[-0.6460056385131638,0.910237517085736,0.71338606911949],"aabb_xy":[[-0.6835056396979564,0.9058192943896755],[-0.6085056373283708,0.9146557397817965]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_5","position":[-0.4115143558074229,-2.022854794784478,0.71338606911949],"aabb_xy":[[-0.49523658130750536,-2.112854798319174],[-0.32779213030734045,-1.932854791249782]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_6","position":[-0.1231028061830971,-1.708120590061945,0.71338606911949],"aabb_xy":[[-0.18810280621739983,-1.7548212667422722],[-0.058102806148794386,-1.6614199133816177]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_7","position":[-0.48907786014346133,1.2137807843195505,0.71338606911949],"aabb_xy":[[-0.5390709722526534,1.163780783645355],[-0.4390847480342696,1.2637807849937464]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_8","position":[-0.16053789990698675,-2.2794588977624826,0.71338606911949],"aabb_xy":[[-0.24053790133711392,-2.358976052775092],[-0.08053789847685952,-2.199941742749873]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_9","position":[-0.659204962495597,-1.2275191264964165,0.71338606911949],"aabb_xy":[[-0.6657065990036017,-1.2372869485227262],[-0.6527033259875925,-1.2177513044701067]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_10","position":[-0.16928546731195426,-1.2076220491433485,0.71338606911949],"aabb_xy":[[-0.23428546994974778,-1.2591016478427954],[-0.1042854646741608,-1.1561424504439015]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_11","position":[0.23396577333908897,-1.3017995868391263,0.71338606911949],"aabb_xy":[[0.20896577417345588,-1.308751832544483],[0.2589657725047221,-1.2948473411337698]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_12","position":[-0.07522152639004875,-1.3943629693310482,0.71338606911949],"aabb_xy":[[-0.12522152734058156,-1.4259121163345694],[-0.025221525439515946,-1.3628138223275266]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_13","position":[0.5198783249583152,0.8370607247986808,0.71338606911949],"aabb_xy":[[0.4648783267565704,0.7965387581722432],[0.57487832316006,0.8775826914251184]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_14","position":[0.09132153734581916,-1.331476143795422,0.71338606911949],"aabb_xy":[[0.04134272883550327,-1.3814761438011407],[0.14130034585613505,-1.281476143789703]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_15","position":[-0.5803738989066949,-1.3914680272049613,0.71338606911949],"aabb_xy":[[-0.5978738981847818,-1.4088061272713075],[-0.562873899628608,-1.3741299271386156]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_16","position":[0.2510799927822922,-1.5541401524043337,0.71338606911949],"aabb_xy":[[0.18707999252182142,-1.5991489517572615],[0.315079993042763,-1.5091313530514054]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_17","position":[-0.5134943014564947,-2.5415296175180573,0.71338606911949],"aabb_xy":[[-0.5215306361577795,-2.5495677368224734],[-0.5054579667552098,-2.5334914982136403]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_18","position":[0.6438933047775359,-1.4443763738879178,0.71338606911949],"aabb_xy":[[0.5838933039167229,-1.4958028038944042],[0.7038933056383485,-1.3929499438814315]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_19","position":[0.27474281770859665,-1.8472619660293979,0.71338606911949],"aabb_xy":[[0.252242817196556,-1.8697538243947958],[0.2972428182206372,-1.824770107663999]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_20","position":[-0.587800496379667,-0.4711727318311798,0.71338606911949],"aabb_xy":[[-0.6578004981884125,-0.4925265005953672],[-0.5178004945709216,-0.4498189630669924]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_21","position":[0.534083897973977,1.7650481731145526,0.71338606911949],"aabb_xy":[[0.4640838953373907,1.744943308118687],[0.6040839006105634,1.785153038110418]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_22","position":[-0.4285808367035698,1.6303522765375305,0.71338606911949],"aabb_xy":[[-0.50858083777669,1.620574230200146],[-0.34858083563044945,1.640130322874915]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_23","position":[-0.6156931538535833,0.0048065179541008085,0.71338606911949],"aabb_xy":[[-0.6506931530464014,-0.00616052804356182],[-0.5806931546607649,0.015773563951763436]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_24","position":[0.11403299223042818,-2.5256871985001044,0.71338606911949],"aabb_xy":[[0.04403299062814871,-2.539119991701762],[0.18403299383270766,-2.512254405298447]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_25","position":[0.5372767278816575,-1.6311977353162805,0.71338606911949],"aabb_xy":[[0.49977672758948255,-1.635239210716884],[0.5747767281738322,-1.627156259915677]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_26","position":[0.44642591168107004,-0.0816318673855676,0.71338606911949],"aabb_xy":[[0.44045937274033414,-0.08759301204493163],[0.4523924506218057,-0.07567072272620355]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7007925280467927,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3541.png","name":"3541"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3541.png","name":"3541"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9431.png","name":"9431"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6437.png","name":"6437"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8952.png","name":"8952"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9437.png","name":"9437"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":590.9673916843968,"rotation_z_degrees":298.0202628539405,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016384164348798472,-0.014760581145652613,0.014384122419145263]},{"name":"camera_2","offset_m":[-0.013630826056137262,-0.012720687894102767,0.006026545518335959]},{"name":"camera_3","offset_m":[0.013851255937952115,-0.008802663759397205,0.008949023448681953]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001608375972055255,0.0018710826817553692,0.0014636413007751313],"end_effector_yaw_offset_degrees":0.9516844673986817},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0005227296778019302,0.0004887458946948799,2.3683571627554356e-05],"end_effector_yaw_offset_degrees":-0.14775880296113453},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0016682929020175022,0.0018591691337051571,-0.0017593540291662136],"end_effector_yaw_offset_degrees":-0.9177982452096729},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0013438199654337685,-0.001243680971722808,0.0010412691285762916],"end_effector_yaw_offset_degrees":-0.9777105377892681}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003793592986323732,-0.0043280641000332945],"position_m":[0.18379359298632372,-0.03792806410003329,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004030937024370553,0.0037216924509262976],"position_m":[0.2760309370243706,-0.3635783075490737,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00487294998922701,0.0013719391899741362],"position_m":[0.315127050010773,0.35447193918997416,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0019611172468289007,-0.002347188951664463],"position_m":[0.3365388827531711,0.10615281104833553,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ae883f2efbe2fc8221ef7e24a7a47ba79cb08864dced7cd2d091614f565e2d3f","episode_index":10,"episode_name":"episode_0010"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0010.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_3541/tex_ceiling_textures_9437/tex_floor_textures_8952/tex_table_textures_9431/tex_wall_textures_6437","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":8019234074989953182,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":8019234074989953182,"visual_seed":8019234074989953182,"scene_id":"lab_003","finished_at":"2026-09-05T18:45:18"} +{"episode_id":"ep_000011","started_at":"2026-09-05T18:45:22","dimensions":{"distractor":{"count":34,"items":[{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_0","position":[0.015385676843723828,1.5704083756017462,0.71338606911949],"aabb_xy":[[0.008345366910186836,1.4904083762020746],[0.02242598677726082,1.6504083750014176]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_1","position":[-0.016042121997522307,-1.6989466960286737,0.71338606911949],"aabb_xy":[[-0.09604212227112928,-1.7718962438543904],[0.06395787827608466,-1.625997148202957]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_2","position":[-0.6616974749513369,-0.8347302005799209,0.71338606911949],"aabb_xy":[[-0.6680095744876754,-0.8404971398331397],[-0.6553853754149986,-0.8289632613267021]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_3","position":[0.5401607129060384,-1.3453160828769837,0.71338606911949],"aabb_xy":[[0.51766071289589,-1.359412302516587],[0.5626607129161866,-1.3312198632373804]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_4","position":[-0.3197649467999339,1.5400292489111789,0.71338606911949],"aabb_xy":[[-0.3997649447807189,1.532427707949327],[-0.2397649488191488,1.5476307898730308]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_5","position":[-0.24223035808340754,1.3706148666361617,0.71338606911949],"aabb_xy":[[-0.3062303587868769,1.3245964841632407],[-0.1782303573799382,1.4166332491090827]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_6","position":[0.4436957663311134,-1.694330303283107,0.71338606911949],"aabb_xy":[[0.4093794891564954,-1.7443303032562845],[0.4780120435057313,-1.644330303309929]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_7","position":[-0.2788899472999482,-0.7586222530533548,0.71338606911949],"aabb_xy":[[-0.3588899444595235,-0.7701698540111718],[-0.19888995014037292,-0.7470746520955377]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_8","position":[-0.2716254951047391,-2.4031039240237466,0.71338606911949],"aabb_xy":[[-0.3366254932606581,-2.4294001685736584],[-0.20662549694882,-2.376807679473834]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_9","position":[0.034296708528030684,-0.8536096232323656,0.71338606911949],"aabb_xy":[[-0.035703287881931105,-0.8740475588840471],[0.10429670493799247,-0.8331716875806836]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_10","position":[0.24089957851502075,1.3803600519770458,0.71338606911949],"aabb_xy":[[0.20589957932220246,1.369393005979383],[0.275899577707839,1.391327097974708]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_11","position":[0.20328510671566502,-2.445584346310749,0.71338606911949],"aabb_xy":[[0.1935291172064911,-2.4553468803699836],[0.21304109622483888,-2.4358218122515147]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_12","position":[-0.46334002496856175,-1.7627902871557417,0.71338606911949],"aabb_xy":[[-0.5183322756040727,-1.8177902888990547],[-0.40834777433305086,-1.7077902854124292]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_13","position":[-0.26889663002597447,-1.744388324228126,0.71338606911949],"aabb_xy":[[-0.2768199102647228,-1.7668883244661293],[-0.26097334978722614,-1.7218883239901226]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_14","position":[0.18173623303365116,-2.283636512747322,0.71338606911949],"aabb_xy":[[0.09204915672553571,-2.3736365130017725],[0.2714233093417666,-2.1936365124928714]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_15","position":[-0.5815798230476656,1.0311202014390317,0.71338606911949],"aabb_xy":[[-0.6190798233398405,1.0270787260384282],[-0.5440798227554908,1.0351616768396352]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_16","position":[0.25287129636322725,-0.795851368442221,0.71338606911949],"aabb_xy":[[0.2448349616619424,-0.8038894877466377],[0.2609076310645121,-0.7878132491378042]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_17","position":[-0.5335257844114474,0.7774090565137755,0.71338606911949],"aabb_xy":[[-0.5463976879123874,0.6974090560999393],[-0.5206538809105071,0.8574090569276116]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_18","position":[-0.6141663387180515,-1.3600343333112583,0.71338606911949],"aabb_xy":[[-0.6941663361216448,-1.440026904509441],[-0.534166341314458,-1.2800417621130753]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_19","position":[-0.06968848152727869,0.13440291468468146,0.71338606911949],"aabb_xy":[[-0.07453207628850866,0.12955126220569735],[-0.06484488676604871,0.13925456716366558]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_20","position":[0.4577458491901545,-1.034201635898914,0.71338606911949],"aabb_xy":[[0.4077458505442333,-1.084121179558376],[0.5077458478360757,-0.9842820922394513]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_21","position":[0.6373245510004268,0.6542280402783538,0.71338606911949],"aabb_xy":[[0.6121037141405871,0.6290042894254669],[0.6625453878602664,0.6794517911312404]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_22","position":[-0.3081147006404881,1.0417425367343922,0.71338606911949],"aabb_xy":[[-0.33057947061189324,1.0192425358555315],[-0.285649930669083,1.0642425376132525]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_23","position":[-0.1267523862782074,-2.359420479262102,0.71338606911949],"aabb_xy":[[-0.14185468773922544,-2.3745220008931627],[-0.11165008481718926,-2.344318957631039]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_24","position":[0.6834940539953007,1.4513361417284387,0.71338606911949],"aabb_xy":[[0.6461627774700581,1.4166830869335865],[0.7208253305205433,1.485989196523291]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_25","position":[0.349929378733715,0.7966156389787931,0.71338606911949],"aabb_xy":[[0.33475720945208165,0.7814467820505897],[0.36510154801534833,0.8117844959069964]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_26","position":[0.2726166629135557,1.0529898788372551,0.71338606911949],"aabb_xy":[[0.19261665964954255,1.0394298465283418],[0.3526166661775688,1.0665499111461685]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_27","position":[-0.004833508478026882,-0.9941411921126964,0.71338606911949],"aabb_xy":[[-0.03316321842656711,-0.9986019343064134],[0.023496201470513345,-0.9896804499189793]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_28","position":[0.46668514139364237,1.4074548106312728,0.71338606911949],"aabb_xy":[[0.4416851422280093,1.4005025649259162],[0.49168514055927554,1.4144070563366293]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_29","position":[0.18918116207680458,0.616723480204826,0.71338606911949],"aabb_xy":[[0.15488425105906392,0.5824265939948846],[0.22347807309454518,0.6510203664147672]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_30","position":[0.17486357303560618,0.869572391739462,0.71338606911949],"aabb_xy":[[0.16686958445790276,0.8615723116443715],[0.18285756161330954,0.8775724718345522]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_31","position":[-0.3980547664529117,-1.2948482285867788,0.71338606911949],"aabb_xy":[[-0.43660045927811275,-1.3333939996429676],[-0.3595090736277107,-1.25630245753059]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_32","position":[0.6191198417037118,-1.863041253511275,0.71338606911949],"aabb_xy":[[0.5641198425271222,-1.9180309282862327],[0.6741198408803012,-1.8080515787363174]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_33","position":[0.4114173465348063,-0.8723767470586306,0.71338606911949],"aabb_xy":[[0.4027033774848717,-0.8948767477178186],[0.4201313155847407,-0.8498767463994421]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6999501207576818,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9881.png","name":"9881"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9881.png","name":"9881"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5141.png","name":"5141"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9206.png","name":"9206"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1149.png","name":"1149"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/992.png","name":"992"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":818.5960868059694,"rotation_z_degrees":187.21589748963672,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.000754383554164656,0.006650060448925958,0.008464513435522125]},{"name":"camera_2","offset_m":[0.011464849064641253,-0.01342202097661855,-0.016134803508924125]},{"name":"camera_3","offset_m":[-0.0032212670645026115,-0.004736829834888682,0.01625338248654259]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0017451725827861272,0.00012061298916503848,0.000865983184459268],"end_effector_yaw_offset_degrees":-0.8027179844166783},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0008935701510050572,-0.0018710545435555743,-0.0005680230470089191],"end_effector_yaw_offset_degrees":-0.9629054654792544},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0014601948810634795,-0.00012663336760633656,-0.0006799062686216684],"end_effector_yaw_offset_degrees":0.7785016325514282},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0015545059849259978,0.0016132665280743455,0.0003105775550489129],"end_effector_yaw_offset_degrees":0.19470518568241335}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.00388326303423717,-0.0023617750283617166],"position_m":[0.17611673696576283,-0.03596177502836172,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0031832623867487876,0.003948722511829222],"position_m":[0.2751832623867488,-0.3633512774881708,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0005944072922815626,0.00022170079960013266],"position_m":[0.31940559270771846,0.3533217007996002,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004326286068796104,0.004753730261276008],"position_m":[0.3428262860687961,0.11325373026127601,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ba414aaa2ff28b5e1236d6c6cf8d6700e6c82c8d8d83483343bc2804b8b9888a","episode_index":11,"episode_name":"episode_0011"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0011.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_9881/tex_ceiling_textures_992/tex_floor_textures_1149/tex_table_textures_5141/tex_wall_textures_9206","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":8117319930254121303,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":8117319930254121303,"visual_seed":8117319930254121303,"scene_id":"lab_003","finished_at":"2026-09-05T18:48:55"} +{"episode_id":"ep_000012","started_at":"2026-09-05T18:48:59","dimensions":{"distractor":{"count":35,"items":[{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_0","position":[0.40017268984649923,-2.51109958529138,0.71338606911949],"aabb_xy":[[0.3451794785093625,-2.5660995856301736],[0.45516590118363603,-2.4560995849525864]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_1","position":[0.3957531224667925,-1.539423448287687,0.71338606911949],"aabb_xy":[[0.3317531207887951,-1.587940839767001],[0.4597531241447898,-1.4909060568083725]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_2","position":[-0.4449452176765512,1.7011893251647217,0.71338606911949],"aabb_xy":[[-0.4949400506044929,1.651189326269478],[-0.3949503847486097,1.751189324059965]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_3","position":[0.21293257844081803,-0.8740494967889858,0.71338606911949],"aabb_xy":[[0.1784701004277302,-0.8807131739719084],[0.24739505645390575,-0.8673858196060628]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_4","position":[0.31354408088605434,-1.3639139641755758,0.71338606911949],"aabb_xy":[[0.288544081614092,-1.380259327771738],[0.33854408015801657,-1.3475686005794134]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_5","position":[0.03439410020201061,-1.0534245263169235,0.71338606911949],"aabb_xy":[[-0.030605897679637187,-1.1045481900234646],[0.09939409808365843,-1.0023008626103829]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_6","position":[0.5279175440523596,-0.5746231169739846,0.71338606911949],"aabb_xy":[[0.5225850293977466,-0.5799474452192201],[0.5332500587069727,-0.5692987887287491]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_7","position":[-0.45634330964306913,0.7642094037813689,0.71338606911949],"aabb_xy":[[-0.5024284008978005,0.7002094065288138],[-0.4102582183883376,0.828209401033924]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_8","position":[0.6229424757889295,-1.4532173196037883,0.71338606911949],"aabb_xy":[[0.5379424773715062,-1.5380916150660733],[0.7079424742063527,-1.3683430241415033]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_9","position":[0.07715367057723621,0.8219208412339758,0.71338606911949],"aabb_xy":[[-0.0028463268263572146,0.7419282700357928],[0.1571536679808296,0.9019134124321584]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_10","position":[0.4442518768675612,0.3417254807412222,0.71338606911949],"aabb_xy":[[0.4362256062369351,0.3329739857638696],[0.4522781474981871,0.35047697571857483]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_11","position":[0.1480246857055587,-1.2222220011204659,0.71338606911949],"aabb_xy":[[0.13101458841550806,-1.2383564896187398],[0.16503478299560936,-1.206087512622192]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_12","position":[0.1770378664619796,-1.857826181226078,0.71338606911949],"aabb_xy":[[0.09703786503185241,-1.9373433362386874],[0.2570378678921068,-1.7783090262134684]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_13","position":[0.30469705342711795,1.4464890196582014,0.71338606911949],"aabb_xy":[[0.2545995894460443,1.3824890191483896],[0.35479451740819157,1.5104890201680132]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_14","position":[-0.5615930517360797,-1.8872100238910152,0.71338606911949],"aabb_xy":[[-0.5675595906768153,-1.893171168550379],[-0.5556265127953438,-1.881248879231651]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_15","position":[0.2728544880324836,-2.217505225478959,0.71338606911949],"aabb_xy":[[0.2390789288417906,-2.231543720692124],[0.30663004722317655,-2.203466730265794]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_16","position":[0.5445751669837544,-2.418464580237572,0.71338606911949],"aabb_xy":[[0.5396758746771909,-2.4461414995401403],[0.5494744592903179,-2.3907876609350027]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_17","position":[0.507058559148512,-0.016664741237172986,0.71338606911949],"aabb_xy":[[0.4956968244952257,-0.028033207643461067],[0.518420293801798,-0.005296274830884906]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_18","position":[-0.5276953455455611,-1.4929597508852372,0.71338606911949],"aabb_xy":[[-0.5349776619222245,-1.5829597544947458],[-0.5204130291688972,-1.4029597472757278]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_19","position":[0.3407254211587223,1.02759110545517,0.71338606911949],"aabb_xy":[[0.2767254247631492,0.9636278170364365],[0.40472541755429536,1.0915543938739036]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_20","position":[0.64540916027254,-0.4023456003243231,0.71338606911949],"aabb_xy":[[0.5754091638625781,-0.4227835359760047],[0.7154091566825017,-0.38190766467264126]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_21","position":[0.6842314383276167,-1.6866782245615008,0.71338606911949],"aabb_xy":[[0.6474368052027104,-1.723584099658083],[0.721026071452523,-1.6497723494649184]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_22","position":[-0.42028034614678633,-1.6359121618673476,0.71338606911949],"aabb_xy":[[-0.43492375170081926,-1.6505708815241316],[-0.4056369405927533,-1.6212534422105631]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_23","position":[-0.508102074206829,-2.1058002749751896,0.71338606911949],"aabb_xy":[[-0.588102071169868,-2.1828759166189626],[-0.4281020772437897,-2.0287246333314157]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_24","position":[0.6550338390586528,0.3967656446794203,0.71338606911949],"aabb_xy":[[0.6050338377748128,0.34678679028879816],[0.7050338403424927,0.4467444990700424]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_25","position":[-0.6292402917960244,0.7981053340965816,0.71338606911949],"aabb_xy":[[-0.6537539158930302,0.7738407407945452],[-0.6047266676990185,0.8223699273986181]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_26","position":[-0.20358073342854005,-0.8036767380653564,0.71338606911949],"aabb_xy":[[-0.2635807339363929,-0.8605234717512777],[-0.14358073292068713,-0.7468300043794351]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_27","position":[-0.3132002451202617,-1.3679516869454047,0.71338606911949],"aabb_xy":[[-0.32476922586719825,-1.3929516870623364],[-0.3016312643733251,-1.342951686828473]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_28","position":[0.020779971833780775,-2.4205130575267444,0.71338606911949],"aabb_xy":[[-0.059220031430232356,-2.4340730898356577],[0.1007799750977939,-2.406953025217831]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_29","position":[0.5897631235769711,0.21504080898492584,0.71338606911949],"aabb_xy":[[0.5728523911406292,0.2015686033923113],[0.6066738560133128,0.22851301457754036]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_30","position":[-0.44302515714108603,-0.22319239711171246,0.71338606911949],"aabb_xy":[[-0.45028640471149345,-0.23597940737522197],[-0.4357639095706786,-0.210405386848203]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_31","position":[-0.20355010695870485,-2.161239763039594,0.71338606911949],"aabb_xy":[[-0.29355010345957655,-2.2071514054580517],[-0.11355011045783307,-2.115328120621135]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_32","position":[-0.2432458514249295,0.18145076159905038,0.71338606911949],"aabb_xy":[[-0.24882752305905825,0.16895076178127488],[-0.23766417979080073,0.19395076141682588]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_33","position":[-0.09346367628997176,1.1948740449650548,0.71338606911949],"aabb_xy":[[-0.1574636776979624,1.14308509344113],[-0.02946367488198109,1.2466629964889795]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_34","position":[0.6033173347716738,0.7289260884446844,0.71338606911949],"aabb_xy":[[0.5383173366157548,0.7026298438947722],[0.6683173329275929,0.7552223329945966]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6970545850298764,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2395.png","name":"2395"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2395.png","name":"2395"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8149.png","name":"8149"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/268.png","name":"268"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4640.png","name":"4640"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8042.png","name":"8042"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":582.9237118030503,"rotation_z_degrees":185.8314505832002,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012865562791637173,0.012564041787760414,-0.014011032545759649]},{"name":"camera_2","offset_m":[0.013662847645697352,0.007867124990281207,-0.017963432056886445]},{"name":"camera_3","offset_m":[-0.016362910190156118,0.005576533224024027,0.0028916317219264097]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0010051398238339255,-0.0010995929864732004,0.0006288488396961772],"end_effector_yaw_offset_degrees":-0.9801986091713466},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0013453974224989554,0.0013881908540222835,-0.0012610192602464992],"end_effector_yaw_offset_degrees":0.4687177823566471},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0016166785596146015,-0.0016559907496826196,-0.000567213749188522],"end_effector_yaw_offset_degrees":-0.8547387419566543},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00016215629681663778,-0.001581532313609217,0.0003072716364111408],"end_effector_yaw_offset_degrees":0.02815411029576942}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.002212185710836637,0.002346663662017325],"position_m":[0.18221218571083664,-0.031253336337982676,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0027690160661060993,-0.00021252123182787484],"position_m":[0.26923098393389394,-0.36751252123182787,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.001431772675996935,-0.002433285236052566],"position_m":[0.3185682273240031,0.35066671476394745,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0022615465819840874,0.002057863102779339],"position_m":[0.33623845341801595,0.11055786310277933,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"707686e67c4df0b1348b489b3e1f905a129b653d49b84eeee74cdd9e8b2a8218","episode_index":12,"episode_name":"episode_0012"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0012.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_2395/tex_ceiling_textures_8042/tex_floor_textures_4640/tex_table_textures_8149/tex_wall_textures_268","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":6905598526533527230,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":6905598526533527230,"visual_seed":6905598526533527230,"scene_id":"lab_003","finished_at":"2026-09-05T18:52:21"} +{"episode_id":"ep_000013","started_at":"2026-09-05T18:52:25","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_0","position":[-0.4466968906586356,0.40676931790563,0.71338606911949],"aabb_xy":[[-0.5106925880537321,0.34276931960492124],[-0.38270119326353896,0.4707693162063386]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_1","position":[0.6571550671116573,-0.012394065070155946,0.71338606911949],"aabb_xy":[[0.6215259112116975,-0.048026731827008895],[0.692784223011617,0.023238601686697002]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_2","position":[-0.37371062764308693,-0.42672238822602715,0.71338606911949],"aabb_xy":[[-0.4387106287490302,-0.4516877612941555],[-0.30871062653714365,-0.4017570151578989]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_3","position":[0.27789041521392843,-2.1583692872050317,0.71338606911949],"aabb_xy":[[0.2702661471237502,-2.166002510741576],[0.2855146833041067,-2.1507360636684885]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_4","position":[0.3690963881270257,1.727821979803982,0.71338606911949],"aabb_xy":[[0.36446127297479236,1.7239546447268335],[0.3737315032792591,1.731689314881131]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_5","position":[0.19627093107555416,1.543569989732768,0.71338606911949],"aabb_xy":[[0.18898861469889042,1.4535699861232585],[0.20355324745221773,1.6335699933422765]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_6","position":[-0.12602137756512288,-1.581887942173518,0.71338606911949],"aabb_xy":[[-0.13471933985583817,-1.5940129164809926],[-0.1173234152744076,-1.5697629678660432]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_7","position":[0.661577056291883,1.4194988638430437,0.71338606911949],"aabb_xy":[[0.626577058021763,1.4124247361480555],[0.6965770545620028,1.4265729915380319]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_8","position":[0.24073790325925504,1.3300031200373676,0.71338606911949],"aabb_xy":[[0.2032379031536621,1.3231809581843865],[0.278237903364848,1.3368252818903488]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_9","position":[-0.18365818809868706,-2.0909695044741,0.71338606911949],"aabb_xy":[[-0.2476581873928553,-2.1549556448429543],[-0.11965818880451887,-2.026983364105246]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_10","position":[-0.2597864434028441,-0.18200978607670004,0.71338606911949],"aabb_xy":[[-0.28306828560097547,-0.26700978737392805],[-0.2365046012047128,-0.09700978477947196]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_11","position":[0.5042888363650555,-0.09994278895890307,0.71338606911949],"aabb_xy":[[0.48727873907500485,-0.116077277457177],[0.5212989336551062,-0.08380830046062915]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_12","position":[-0.21465841192017415,0.44354497859385633,0.71338606911949],"aabb_xy":[[-0.2746584121715753,0.3892636535573916],[-0.15465841166877295,0.49782630363032093]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_13","position":[0.4537754268106604,-1.2071731612591245,0.71338606911949],"aabb_xy":[[0.40377615164222425,-1.2571731625350717],[0.5037747019790966,-1.1571731599831774]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_14","position":[0.6626130117212592,-2.5595695508055227,0.71338606911949],"aabb_xy":[[0.6401130117111109,-2.5736657704451256],[0.6851130117314075,-2.545473331165919]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_15","position":[-0.5740456850743313,-2.3894981512139255,0.71338606911949],"aabb_xy":[[-0.6241431490554049,-2.453498151723737],[-0.5239482210932577,-2.3254981507041133]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_16","position":[0.459267547014359,0.5121514408782182,0.71338606911949],"aabb_xy":[[0.3792675500513198,0.4350757992344447],[0.5392675439773982,0.5892270825219916]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_17","position":[0.06215927241128716,1.048620613504737,0.71338606911949],"aabb_xy":[[0.0071670217757762045,0.9936206117614241],[0.11715152304679811,1.1036206152480497]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_18","position":[0.3945048830044462,-2.5112207555772224,0.71338606911949],"aabb_xy":[[0.38746343205369854,-2.5182475073150163],[0.40154633395519373,-2.5041940038394275]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_19","position":[0.17311032340267418,-1.1506132521363095,0.71338606911949],"aabb_xy":[[0.16220454731511144,-1.2306132485351384],[0.18401609949023687,-1.0706132557374801]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_20","position":[-0.39925240484507984,-2.0181939045306083,0.71338606911949],"aabb_xy":[[-0.4342524031557753,-2.025908919454154],[-0.3642524065343844,-2.0104788896070627]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_21","position":[0.595552987818877,0.8117557767725705,0.71338606911949],"aabb_xy":[[0.5155529873486612,0.8034450691582222],[0.675552988289093,0.820066484386919]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_22","position":[-0.06600857501750312,1.5049556262612271,0.71338606911949],"aabb_xy":[[-0.08850857526101852,1.492750991601455],[-0.04350857477398773,1.5171602609209989]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_23","position":[0.2878995959803644,1.2155683701993678,0.71338606911949],"aabb_xy":[[0.270399662546381,1.1980683702791328],[0.3053995294143477,1.233068370119602]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_24","position":[-0.4224061608299685,0.533467948435177,0.71338606911949],"aabb_xy":[[-0.44490616134200905,0.5109760900697786],[-0.39990616031792786,0.5559598068005753]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_25","position":[-0.35190796609667074,-0.5605136259130679,0.71338606911949],"aabb_xy":[[-0.38690796528948895,-0.5714806719107304],[-0.3169079669038524,-0.5495465799154051]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_26","position":[-0.5240015567471191,1.1764033512737293,0.71338606911949],"aabb_xy":[[-0.5615015575391145,1.1700355103155389],[-0.48650155595512357,1.1827711922319193]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_27","position":[-0.5982011093372519,-2.0841611242121445,0.71338606911949],"aabb_xy":[[-0.6285992204363954,-2.114568026213814],[-0.5678029982381082,-2.053754222210475]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_28","position":[0.1189794350593587,-2.1659873823982467,0.71338606911949],"aabb_xy":[[0.08783251621577556,-2.2359873810850535],[0.1501263539029418,-2.095987383711439]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_29","position":[-0.3279912762881074,-2.2674030360826696,0.71338606911949],"aabb_xy":[[-0.3919912765485782,-2.312411835435597],[-0.26399127602763656,-2.222394236729741]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_30","position":[0.3413812313231923,-2.1106989373988108,0.71338606911949],"aabb_xy":[[0.3325791760142196,-2.1185102635537394],[0.350183286632165,-2.1028876112438812]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_31","position":[-0.622953179675765,-1.5074268628722003,0.71338606911949],"aabb_xy":[[-0.6597478128006712,-1.5443327379687826],[-0.5861585465508586,-1.470520987775618]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_32","position":[0.49766584164305994,-0.9864218699799019,0.71338606911949],"aabb_xy":[[0.4376658407822471,-1.037848299986388],[0.5576658425038726,-0.9349954399734153]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_33","position":[0.32573886815557884,-0.602951224920897,0.71338606911949],"aabb_xy":[[0.28449005712566405,-0.6579512244331143],[0.3669876791854935,-0.5479512254086794]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7007151250911771,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7901.png","name":"7901"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7901.png","name":"7901"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7186.png","name":"7186"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7510.png","name":"7510"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3449.png","name":"3449"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8858.png","name":"8858"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":681.6492829877403,"rotation_z_degrees":200.03395505415062,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.003246737297714724,-0.010771762975500506,-0.01736052863917916]},{"name":"camera_2","offset_m":[0.0052512145876155054,-0.011950152876047735,0.010188109042539466]},{"name":"camera_3","offset_m":[0.002924158442727639,0.010712424843037915,-0.012541916480437308]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00140724336062754,-0.0001459526455887517,0.0015214192559254466],"end_effector_yaw_offset_degrees":0.6282289435925807},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0018184358001852707,0.001376238865450261,-0.0013194711083104357],"end_effector_yaw_offset_degrees":0.5434058327820934},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001575759996763907,0.001417367706227249,-0.00024878978347727104],"end_effector_yaw_offset_degrees":-0.5453836051676741},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[6.074416392633404e-05,-0.0003573833485192104,-0.0013653468904989596],"end_effector_yaw_offset_degrees":0.19640813180393613}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00019299759897552747,0.0047015204877623165],"position_m":[0.18019299759897553,-0.02889847951223768,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0004293219298995088,-0.003381724949306968],"position_m":[0.2715706780701005,-0.37068172494930696,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0031264593301766003,-0.0028198823871869137],"position_m":[0.3231264593301766,0.35028011761281314,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0033020509263760383,-0.0002884843702507453],"position_m":[0.34180205092637606,0.10821151562974926,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"eef02df4c4df594704bdcbf20b6c519dd9edc807477ffa839377ebd28f2da3b7","episode_index":13,"episode_name":"episode_0013"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0013.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_7901/tex_ceiling_textures_8858/tex_floor_textures_3449/tex_table_textures_7186/tex_wall_textures_7510","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":8685122003348321095,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":8685122003348321095,"visual_seed":8685122003348321095,"scene_id":"lab_003","finished_at":"2026-09-05T18:56:01"} +{"episode_id":"ep_000014","started_at":"2026-09-05T18:56:05","dimensions":{"distractor":{"count":27,"items":[{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_0","position":[0.38293823892512613,-1.8030612839324744,0.71338606911949],"aabb_xy":[[0.3652626083365277,-1.8207415002118768],[0.40061386951372435,-1.7853810676530713]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_1","position":[-0.5150615151851989,0.27592030048165883,0.71338606911949],"aabb_xy":[[-0.5850615173166284,0.2531583348559631],[-0.4450615130537693,0.29868226610735443]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_2","position":[-0.08942483794105183,0.5591308816788572,0.71338606911949],"aabb_xy":[[-0.09755252613436505,0.5502172732681496],[-0.0812971497477386,0.5680444900895649]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_3","position":[-0.15747312062393193,1.1779163350056367,0.71338606911949],"aabb_xy":[[-0.2374731210941479,1.1696056273912885],[-0.07747312015371598,1.186227042619985]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_4","position":[0.534552337874364,0.9677135679607662,0.71338606911949],"aabb_xy":[[0.47455233802779717,0.9108949457677274],[0.5945523377209307,1.024532190153805]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_5","position":[-0.5771405698191686,-1.4058281825063539,0.71338606911949],"aabb_xy":[[-0.6387313290431615,-1.469828180615401],[-0.5155498105951759,-1.3418281843973072]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_6","position":[-0.1578596566254702,-1.5564518678896697,0.71338606911949],"aabb_xy":[[-0.1651034226717155,-1.636451866093272],[-0.15061589057922484,-1.4764518696860673]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_7","position":[-0.19729707360173476,-1.7441130452682254,0.71338606911949],"aabb_xy":[[-0.262297074558862,-1.796061257201931],[-0.13229707264460755,-1.6921648333345198]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_8","position":[0.5214687086463614,-1.2246634101085114,0.71338606911949],"aabb_xy":[[0.5109012289882624,-1.2352084402215198],[0.5320361883044604,-1.2141183799955027]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_9","position":[-0.1107627864452646,0.7827380951085483,0.71338606911949],"aabb_xy":[[-0.1607415949555805,0.7327380951028295],[-0.06078397793494873,0.8327380951142671]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_10","position":[-0.03658977975717681,-2.43664571750882,0.71338606911949],"aabb_xy":[[-0.10058978046064618,-2.4826640999817413],[0.027410220946292543,-2.3906273350358993]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_11","position":[-0.11344775338741875,1.2503240006679746,0.71338606911949],"aabb_xy":[[-0.13233213715592895,1.2314380758876218],[-0.09456336961890853,1.2692099254483273]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_12","position":[-0.47135529706323676,0.12703993459452256,0.71338606911949],"aabb_xy":[[-0.48292427781017344,0.10203993447759085],[-0.4597863163163003,0.15203993471145427]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_13","position":[0.013354862371552367,1.728687336672603,0.71338606911949],"aabb_xy":[[0.0051403172558683865,1.7200107463749614],[0.021569407487236344,1.737363926970244]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_14","position":[0.603058578232974,0.7706110159452897,0.71338606911949],"aabb_xy":[[0.5479333726033832,0.7106110145040025],[0.6581837838625647,0.8306110173865768]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_15","position":[-0.6544358589012496,-0.3156228158489931,0.71338606911949],"aabb_xy":[[-0.6608496725444343,-0.32203263609666144],[-0.6480220452580644,-0.30921299560132476]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_16","position":[-0.6026925583103678,-2.050084598295978,0.71338606911949],"aabb_xy":[[-0.6676925561920156,-2.101208262002519],[-0.53769256042872,-1.9989609345894372]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_17","position":[-0.6571264431210048,-2.499473143062912,0.71338606911949],"aabb_xy":[[-0.6658244054117202,-2.5115981173703865],[-0.6484284808302896,-2.487348168755437]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_18","position":[-0.41148344417468796,-1.86169849279516,0.71338606911949],"aabb_xy":[[-0.42968926783593564,-1.872723893377152],[-0.3932776205134403,-1.8506730922131687]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_19","position":[-0.36842912898267605,0.5802502235603857,0.71338606911949],"aabb_xy":[[-0.4324291322013139,0.5335271116613773],[-0.3044291257640382,0.626973335459394]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_20","position":[-0.04393800575732609,0.3268245693560048,0.71338606911949],"aabb_xy":[[-0.08143800610555385,0.3150331737749212],[-0.006438005409098328,0.3386159649370883]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_21","position":[0.07413435106584887,-2.172991755629029,0.71338606911949],"aabb_xy":[[-0.005865649207758116,-2.2459413034547455],[0.15413435133945583,-2.100042207803312]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_22","position":[0.5096139598354779,-2.394920932212669,0.71338606911949],"aabb_xy":[[0.4791297097084476,-2.444920931994165],[0.5400982099625079,-2.3449209324311733]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_23","position":[-0.47964638863815257,-1.5817330137878922,0.71338606911949],"aabb_xy":[[-0.5596463919021657,-1.5952930460968056],[-0.3996463853741394,-1.5681729814789789]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_24","position":[-0.0764384877435359,1.5171629836929195,0.71338606911949],"aabb_xy":[[-0.16143848616095913,1.4322886882306345],[0.00856151067388733,1.6020372791552044]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_25","position":[0.6306886932751801,-1.2097949417188032,0.71338606911949],"aabb_xy":[[0.6236483833416431,-1.2897949411184748],[0.6377290032087171,-1.129794942319132]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_26","position":[-0.41798410828441723,-0.42301881118694684,0.71338606911949],"aabb_xy":[[-0.4529841065545371,-0.430092938881935],[-0.3829841100142973,-0.4159446834919587]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7001983826483481,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8647.png","name":"8647"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8647.png","name":"8647"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6005.png","name":"6005"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/871.png","name":"871"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1585.png","name":"1585"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4081.png","name":"4081"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":840.3301178560355,"rotation_z_degrees":65.69643725090589,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018710806678081778,-0.002606859490736118,-0.01529625010607619]},{"name":"camera_2","offset_m":[-6.917827830906637e-05,0.01909805155301469,-0.004873695227383554]},{"name":"camera_3","offset_m":[0.0006779515725539725,-0.013452562651190565,-0.010318158854483386]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0008363126090604779,-0.0014095351903080906,-0.000305229098543017],"end_effector_yaw_offset_degrees":0.14225611317797937},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00046214043926602047,-0.0006473071966938281,-0.0017729413106768908],"end_effector_yaw_offset_degrees":-0.6469554313510968},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001891027278708259,-0.0006454154063072694,-0.0010513895460224926],"end_effector_yaw_offset_degrees":0.12783152647688634},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008749528517709303,-2.513259970745446e-06,-0.0002713799867986922],"end_effector_yaw_offset_degrees":-0.29346353878942866}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.001992174104165631,-0.0005467483584499456],"position_m":[0.18199217410416563,-0.03414674835844994,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0015653950429695006,-0.004224997672493413],"position_m":[0.27043460495703053,-0.3715249976724934,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004479057506783022,-0.004480850528677153],"position_m":[0.315520942493217,0.3486191494713229,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0030806800112076925,-0.0032762054066545745],"position_m":[0.3354193199887923,0.10522379459334542,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a520a1ec36ce05c3df74980f84df3cdea2b781c7e6a1744885078d79331ca9b2","episode_index":14,"episode_name":"episode_0014"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0014.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_8647/tex_ceiling_textures_4081/tex_floor_textures_1585/tex_table_textures_6005/tex_wall_textures_871","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":6279617143731071799,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":6279617143731071799,"visual_seed":6279617143731071799,"scene_id":"lab_003","finished_at":"2026-09-05T18:59:25"} +{"episode_id":"ep_000015","started_at":"2026-09-05T18:59:29","dimensions":{"distractor":{"count":35,"items":[{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_0","position":[0.5267120317947727,-1.0111752062786983,0.71338606911949],"aabb_xy":[[0.4467120343911792,-1.091167777476881],[0.606712029198366,-0.9311826350805156]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_1","position":[-0.1395403811873539,1.5206165824086857,0.71338606911949],"aabb_xy":[[-0.1895352141152955,1.4706165835134422],[-0.0895455482594123,1.5706165813039292]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_2","position":[0.4527640096912171,1.2154600866144247,0.71338606911949],"aabb_xy":[[0.4302640098773147,1.210985470243944],[0.4752640095051195,1.2199347029849055]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_3","position":[-0.102954724963497,-2.5181928291539193,0.71338606911949],"aabb_xy":[[-0.11640125159754033,-2.53166268080701],[-0.08950819832945367,-2.5047229775008275]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_4","position":[0.4476065971981549,0.5033056074933064,0.71338606911949],"aabb_xy":[[0.397613485088963,0.4533056068191109],[0.49759970930734676,0.5533056081675022]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_5","position":[0.5924916211849993,0.3288614195766342,0.71338606911949],"aabb_xy":[[0.5284916179663615,0.2821383076776259],[0.6564916244036372,0.3755845314756426]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_6","position":[0.3087791429517106,-1.958512927450192,0.71338606911949],"aabb_xy":[[0.29948552471455997,-1.996012925938326],[0.31807276118886113,-1.921012928962058]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_7","position":[-0.5516529617880763,-1.0344412794206714,0.71338606911949],"aabb_xy":[[-0.5741493832219404,-1.0569412792274189],[-0.5291565403542122,-1.011941279613924]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_8","position":[-0.3069719053774166,-1.446629944458401,0.71338606911949],"aabb_xy":[[-0.37097190742714853,-1.486724427547709],[-0.24297190332768454,-1.406535461369093]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_9","position":[0.42117697274991706,0.6431486379894005,0.71338606911949],"aabb_xy":[[0.41347378207584,0.6354392672906625],[0.4288801634239941,0.6508580086881385]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_10","position":[0.6952336105608548,1.65860066456209,0.71338606911949],"aabb_xy":[[0.6702336112888924,1.6422553009659278],[0.7202336098328169,1.6749460281582524]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_11","position":[-0.11349717370625179,-1.2246399309677234,0.71338606911949],"aabb_xy":[[-0.17749287110134837,-1.288639929268432],[-0.0495014763111552,-1.1606399326670147]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_12","position":[-0.6182476103601475,0.87597894883511,0.71338606911949],"aabb_xy":[[-0.6557476087835478,0.8628147348672792],[-0.5807476119367471,0.8891431628029405]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_13","position":[0.5803311066844541,0.6382350728102302,0.71338606911949],"aabb_xy":[[0.5503394439505838,0.6082350734734295],[0.6103227694183244,0.6682350721470306]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_14","position":[-0.2827656928939766,-0.49412444215097384,0.71338606911949],"aabb_xy":[[-0.30527938471743377,-0.5641244427519814],[-0.2602520010705194,-0.4241244415499663]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_15","position":[-0.6717814232769461,-0.7795303727353924,0.71338606911949],"aabb_xy":[[-0.6916724631572864,-0.7921861840200893],[-0.6518903833966059,-0.7668745614506957]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_16","position":[-0.39340650654038567,0.7317075126553649,0.71338606911949],"aabb_xy":[[-0.4186273434002253,0.7064837618024781],[-0.36818566968054595,0.7569312635082516]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_17","position":[-0.6055766273041325,0.34791108207223465,0.71338606911949],"aabb_xy":[[-0.6855766305681456,0.33435104976332125],[-0.5255766240401193,0.36147111438114793]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_18","position":[0.28321616576639175,1.5616868447664962,0.71338606911949],"aabb_xy":[[0.23321616632619613,1.5117189202821797],[0.33321616520658737,1.6116547692508123]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_19","position":[-0.6015089429539009,-2.2239154054454646,0.71338606911949],"aabb_xy":[[-0.6240080786801279,-2.2464154062237274],[-0.5790098072276739,-2.201415404667202]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_20","position":[-0.1991476782926206,-2.089644748200322,0.71338606911949],"aabb_xy":[[-0.23664767839821355,-2.0964669100533033],[-0.16164767818702763,-2.0828225863473406]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_21","position":[-0.4015728818750845,-2.320609506019366,0.71338606911949],"aabb_xy":[[-0.4071545535092133,-2.3331095058371414],[-0.3959912102409558,-2.308109506201591]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_22","position":[-0.5768360018060538,-2.570933270295696,0.71338606911949],"aabb_xy":[[-0.5809141597131036,-2.5750142505439593],[-0.572757843899004,-2.566852290047433]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_23","position":[-0.553274414248514,-0.9471684701837004,0.71338606911949],"aabb_xy":[[-0.5691589075138391,-0.9615214104825245],[-0.5373899209831888,-0.9328155298848764]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_24","position":[-0.4509673177572671,-1.3305798587751345,0.71338606911949],"aabb_xy":[[-0.47388303064231707,-1.353484155911558],[-0.4280516048722173,-1.307675561638711]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_25","position":[0.07177776822169613,-2.4275478261493975,0.71338606911949],"aabb_xy":[[0.02178275726224409,-2.477547825184989],[0.12177277918114816,-2.3775478271138057]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_26","position":[-0.4537278955386633,1.7810247667820813,0.71338606911949],"aabb_xy":[[-0.5437278941331332,1.76477418046866],[-0.3637278969441934,1.7972753530955021]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_27","position":[0.687052452039191,-2.0666224002247544,0.71338606911949],"aabb_xy":[[0.6545907511572633,-2.0967552323396563],[0.7195141529211182,-2.0364895681098507]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_28","position":[0.28389827274046675,-0.6573741952105474,0.71338606911949],"aabb_xy":[[0.2001760472403843,-0.7473741987452434],[0.3676204982405492,-0.5673741916758515]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_29","position":[-0.008536878387411018,1.3225185397629424,0.71338606911949],"aabb_xy":[[-0.04603687855928296,1.2898178043800352],[0.02896312178446092,1.3552192751458496]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_30","position":[0.4990409144790333,-2.32528784164095,0.71338606911949],"aabb_xy":[[0.43745015525504055,-2.389287839749997],[0.5606316737030261,-2.2612878435319033]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_31","position":[-0.1130893064640367,0.9273777870692181,0.71338606911949],"aabb_xy":[[-0.17308930810695855,0.8753776377772738],[-0.05308930482111486,0.9793779363611622]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_32","position":[-0.38979375203433303,0.30212483387140043,0.71338606911949],"aabb_xy":[[-0.4013627327812696,0.2771248337544688],[-0.37822477128739646,0.3271248339883322]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_33","position":[-0.507992778604229,-2.253896157133396,0.71338606911949],"aabb_xy":[[-0.5144065922474138,-2.2603059773810643],[-0.5015789649610439,-2.247486336885727]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_34","position":[-0.2570719193129326,-0.6841539787601465,0.71338606911949],"aabb_xy":[[-0.3210719178995051,-0.7311609421596552],[-0.1930719207263602,-0.6371470153606378]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7038542946708093,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5308.png","name":"5308"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5308.png","name":"5308"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8945.png","name":"8945"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7473.png","name":"7473"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4942.png","name":"4942"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/530.png","name":"530"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":564.9528484211825,"rotation_z_degrees":76.14527802008584,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0035412338508443927,-0.012453785838702101,0.004878237992556461]},{"name":"camera_2","offset_m":[0.006558472743174306,0.0043829109268823975,-0.003068432693928317]},{"name":"camera_3","offset_m":[0.0039730029307032885,-0.006573328653410782,0.0017085997275974492]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0006334749083083211,0.0013642455594273114,-0.00018238054284204887],"end_effector_yaw_offset_degrees":-0.3936809066622331},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[8.210286133221185e-05,-0.0014745791013524153,-0.0007575410605914735],"end_effector_yaw_offset_degrees":-0.9837804307407649},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0010168744762851648,0.0010101031254571144,-0.001533692480966263],"end_effector_yaw_offset_degrees":0.15741174996634433},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0009128240541506766,-0.0005182725875989224,-0.0018246769009163534],"end_effector_yaw_offset_degrees":0.04424702437135375}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004294997987936504,-0.0028232253862738943],"position_m":[0.1757050020120635,-0.03642322538627389,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004694149283499986,-0.0010676383056527185],"position_m":[0.2766941492835,-0.3683676383056527,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003241276497549143,0.002874973952584135],"position_m":[0.32324127649754913,0.35597497395258415,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0016790513981006913,-0.00026063767856636735],"position_m":[0.34017905139810073,0.10823936232143364,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d131b8271fb461406f33edc4b42f6e435dc82044c27d4d6add3336297e70ac99","episode_index":15,"episode_name":"episode_0015"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0015.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_5308/tex_ceiling_textures_530/tex_floor_textures_4942/tex_table_textures_8945/tex_wall_textures_7473","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":8374899086758301460,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":8374899086758301460,"visual_seed":8374899086758301460,"scene_id":"lab_003","finished_at":"2026-09-05T19:02:53"} +{"episode_id":"ep_000016","started_at":"2026-09-05T19:02:57","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_0","position":[0.20420216219667142,-0.6267774240582842,0.71338606911949],"aabb_xy":[[0.16670216209107844,-0.6335995859112653],[0.24170216230226435,-0.6199552622053031]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_1","position":[0.3255795259546994,-2.4837546246592677,0.71338606911949],"aabb_xy":[[0.30969503268937426,-2.498107564958092],[0.34146401922002456,-2.4694016843604434]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_2","position":[0.3062243373229625,0.5089386992326426,0.71338606911949],"aabb_xy":[[0.2953838590964476,0.49175241794199376],[0.3170648155494774,0.5261249805232914]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_3","position":[-0.6412746434563664,0.48719498691125196,0.71338606911949],"aabb_xy":[[-0.6787746436282383,0.4544942515283448],[-0.6037746432844944,0.5198957222941591]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_4","position":[-0.538380249168809,0.04780604467893612,0.71338606911949],"aabb_xy":[[-0.5758802475922092,0.03464183071110548],[-0.5008802507454085,0.06097025864676674]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_5","position":[0.4178981942051465,0.4608969799567957,0.71338606911949],"aabb_xy":[[0.3966201860616742,0.3958969776307226],[0.4391762023486187,0.5258969822828687]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_6","position":[0.6215587411353551,1.7439824065176128,0.71338606911949],"aabb_xy":[[0.5415587424784692,1.72947754759335],[0.7015587397922413,1.7584872654418757]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_7","position":[-0.1602416846544792,1.5173308031939956,0.71338606911949],"aabb_xy":[[-0.2014904956843939,1.4623308036817781],[-0.11899287362456444,1.572330802706213]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_8","position":[-0.10233578857678827,-1.1843866552818065,0.71338606911949],"aabb_xy":[[-0.12422553616572907,-1.2743866525710557],[-0.08044604098784747,-1.0943866579925574]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_9","position":[0.09996335179630389,0.8184080265120786,0.71338606911949],"aabb_xy":[[0.09061634421400866,0.8041044042944346],[0.10931035937859912,0.8327116487297227]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_10","position":[-0.34736733172840173,-1.8502431016465453,0.71338606911949],"aabb_xy":[[-0.3816642427461423,-1.8845399878564864],[-0.31307042071066105,-1.8159462154366037]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_11","position":[-0.5991868397776656,-0.7200728526721756,0.71338606911949],"aabb_xy":[[-0.6641868383347385,-0.7498253860860581],[-0.5341868412205928,-0.6903203192582928]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_12","position":[0.510629807340881,0.8113924914182395,0.71338606911949],"aabb_xy":[[0.4861161832438752,0.787127898116203],[0.5351434314378869,0.8356570847202759]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_13","position":[0.2179457147479722,-1.5070497884752843,0.71338606911949],"aabb_xy":[[0.2107019487017269,-1.5870497866788864],[0.22518948079421755,-1.4270497902716817]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_14","position":[0.47412035509574735,1.2056103428531704,0.71338606911949],"aabb_xy":[[0.4670800451622104,1.125610343453499],[0.4811606650292844,1.2856103422528418]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_15","position":[0.06862313137900444,-2.366141834877041,0.71338606911949],"aabb_xy":[[0.04362313144648655,-2.373024503097964],[0.09362313131152233,-2.359259166656118]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_16","position":[0.018228229105573646,1.2549884672458305,0.71338606911949],"aabb_xy":[[-0.027050385775575614,1.1909884678976468],[0.0635068439867229,1.3189884665940141]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_17","position":[0.582003218699882,0.4846532677890214,0.71338606911949],"aabb_xy":[[0.5321864392350473,0.43465326930471804],[0.6318199981647168,0.5346532662733248]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_18","position":[-0.5625801813338365,-2.3033017361953485,0.71338606911949],"aabb_xy":[[-0.6225801819298525,-2.358114208740572],[-0.5025801807378202,-2.248489263650125]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_19","position":[-0.29196703531549456,-1.4590488000100237,0.71338606911949],"aabb_xy":[[-0.31446703532564285,-1.4731450196496272],[-0.26946703530534627,-1.4449525803704206]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_20","position":[-0.07325317990660851,-2.158366586941756,0.71338606911949],"aabb_xy":[[-0.123226245439124,-2.2083665867542894],[-0.023280114374093056,-2.1083665871292236]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_21","position":[0.16272805670487855,-2.431235391906479,0.71338606911949],"aabb_xy":[[0.1364392323844379,-2.4575068255611296],[0.18901688102531922,-2.404963958251827]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_22","position":[0.6822284167751129,1.3689060732488612,0.71338606911949],"aabb_xy":[[0.6671261153140946,1.3538045516177986],[0.6973307182361308,1.3840075948799224]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_23","position":[-0.47326490389052833,-1.621431161440056,0.71338606911949],"aabb_xy":[[-0.5372649071091662,-1.6681542733390644],[-0.40926490067189053,-1.5747080495410477]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_24","position":[0.6118437289407368,-0.14372916719439965,0.71338606911949],"aabb_xy":[[0.5218437322051266,-0.19691263051169414],[0.701843725676347,-0.09054570387710512]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_25","position":[-0.6454959426513851,-0.8513223937880194,0.71338606911949],"aabb_xy":[[-0.6707167795112247,-0.8765461446409061],[-0.6202751057915453,-0.8260986429351326]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_26","position":[-0.11564577803692344,-1.9303817081234462,0.71338606911949],"aabb_xy":[[-0.12641875195829122,-1.965381706342485],[-0.10487280411555568,-1.895381709904407]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_27","position":[0.4817993376654399,-1.7627122150943624,0.71338606911949],"aabb_xy":[[0.4635935140041922,-1.7737376156763542],[0.5000051613266876,-1.751686814512371]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_28","position":[-0.3187639166025494,1.6916388515536034,0.71338606911949],"aabb_xy":[[-0.3279237955464259,1.6851076335100663],[-0.3096040376586727,1.6981700695971405]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_29","position":[0.31351077889020806,1.1612018039940506,0.71338606911949],"aabb_xy":[[0.2297885533901256,1.0712018004593546],[0.3972330043902905,1.2512018075287465]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_30","position":[-0.44580426251786776,1.5919163493499737,0.71338606911949],"aabb_xy":[[-0.5258042595321157,1.5717817976765625],[-0.3658042655036198,1.612050901023385]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_31","position":[-0.3594270895858069,-0.20047053509910295,0.71338606911949],"aabb_xy":[[-0.4234270919286084,-0.24541138634323542],[-0.29542708724300526,-0.15552968385497043]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_32","position":[0.6454702190125103,-0.7998593644091088,0.71338606911949],"aabb_xy":[[0.5754702174102307,-0.8132921576107665],[0.7154702206147897,-0.7864265712074513]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_33","position":[0.27988144179390206,0.8616398141645689,0.71338606911949],"aabb_xy":[[0.25738502036003796,0.8391398143578216],[0.30237786322776616,0.8841398139713165]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7029414198145535,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3058.png","name":"3058"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3058.png","name":"3058"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8942.png","name":"8942"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2276.png","name":"2276"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4345.png","name":"4345"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6849.png","name":"6849"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":781.6913570085596,"rotation_z_degrees":30.2081500327759,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0030717958221064164,0.003456822733597341,0.00169491327535359]},{"name":"camera_2","offset_m":[-0.015797544631087436,0.006912933213415417,0.013344692049990486]},{"name":"camera_3","offset_m":[-0.016771604149378186,0.0057694900658905625,-0.018103311889137427]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001997339197357156,0.001011343864856692,0.0003410220740392186],"end_effector_yaw_offset_degrees":-0.7928618627181334},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0017807523643886673,0.0006167349754617863,0.0005835094264505982],"end_effector_yaw_offset_degrees":-0.601783229096789},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0001170811481555861,-0.001720301308237366,-0.0016699317446798782],"end_effector_yaw_offset_degrees":-0.43110325481826073},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0018296388277985218,-0.0007271864303836058,0.00037794982204478406],"end_effector_yaw_offset_degrees":0.6935149870765305}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0018781302898643439,0.0035440334520694073],"position_m":[0.18187813028986433,-0.03005596654793059,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003538134719201675,-0.001204829527589264],"position_m":[0.2755381347192017,-0.3685048295275893,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00348486346601771,-0.004324741562317115],"position_m":[0.3165151365339823,0.3487752584376829,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0027826465974506065,0.004907310563771707],"position_m":[0.33571735340254943,0.11340731056377171,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ac1346ba6c8da520691bda453797ee9b473d725cc43b2bc86a5600959941b105","episode_index":16,"episode_name":"episode_0016"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0016.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_3058/tex_ceiling_textures_6849/tex_floor_textures_4345/tex_table_textures_8942/tex_wall_textures_2276","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":7143518819100516334,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":7143518819100516334,"visual_seed":7143518819100516334,"scene_id":"lab_003","finished_at":"2026-09-05T19:06:17"} +{"episode_id":"ep_000017","started_at":"2026-09-05T19:06:21","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_0","position":[-0.6668761593048445,-1.308289247038928,0.71338606911949],"aabb_xy":[[-0.6749124940061292,-1.3163273663433448],[-0.6588398246035595,-1.3002511277345112]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_1","position":[-0.5838843768499044,-0.3814159701732538,0.71338606911949],"aabb_xy":[[-0.6173635441109453,-0.4148950835443609],[-0.5504052095888634,-0.3479368568021469]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_2","position":[0.5379307150867834,1.0226829570384326,0.71338606911949],"aabb_xy":[[0.45793071710599836,1.0150814160765804],[0.6179307130675684,1.0302844980002843]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_3","position":[0.2926284573025262,0.6992001939095762,0.71338606911949],"aabb_xy":[[0.22862845401281803,0.6558652749056585],[0.35662846059223424,0.7425351129134937]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_4","position":[-0.01427729899368102,-1.1338951421261556,0.71338606911949],"aabb_xy":[[-0.02297526128439631,-1.1460201164336303],[-0.005579336702965729,-1.1217701678186809]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_5","position":[-0.09810106424656484,-1.320028842086106,0.71338606911949],"aabb_xy":[[-0.10273617939879821,-1.3238961771632543],[-0.09346594909433144,-1.3161615070089567]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_6","position":[-0.5016178454564012,-1.0302242837499853,0.71338606911949],"aabb_xy":[[-0.5816178487204143,-1.0437843160588987],[-0.42161784219238807,-1.016664251441072]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_7","position":[-0.49730269141367184,-0.6048150363400868,0.71338606911949],"aabb_xy":[[-0.5613026928216622,-0.6566039878640115],[-0.43330269000568106,-0.5530260848161621]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_8","position":[-0.37898754234476545,-1.3139524402818874,0.71338606911949],"aabb_xy":[[-0.4339797929802765,-1.3689524420252004],[-0.32399529170925456,-1.2589524385385749]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_9","position":[0.2609743925483351,-2.015121970590208,0.71338606911949],"aabb_xy":[[0.18097439038557261,-2.0950771542163515],[0.3409743947110976,-1.9351667869640643]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_10","position":[-0.15485268262550078,0.6459203425748568,0.71338606911949],"aabb_xy":[[-0.24485267936111096,0.5927368792575621],[-0.06485268588989054,0.6991038058921512]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_11","position":[0.46704090215053884,-0.973940000414518,0.71338606911949],"aabb_xy":[[0.40704090189913766,-1.0282213254509824],[0.52704090240194,-0.9196586753780532]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_12","position":[0.5514934305586618,0.4682903115946564,0.71338606911949],"aabb_xy":[[0.5435701503199135,0.44579031135665304],[0.5594167107974102,0.49079031183265975]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_13","position":[-0.6169145829071881,-0.06670243129609998,0.71338606911949],"aabb_xy":[[-0.6320774558841253,-0.08186788859121874],[-0.6017517099302512,-0.05153697400098123]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_14","position":[0.1788481687370853,1.770789562704453,0.71338606911949],"aabb_xy":[[0.17275354084896702,1.7622201681527843],[0.18494279662520366,1.7793589572561217]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_15","position":[0.614160593352935,-1.3407377735828947,0.71338606911949],"aabb_xy":[[0.6102001095832007,-1.3484056381684153],[0.6181210771226694,-1.333069908997374]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_16","position":[0.09179611122327835,-1.398316291714002,0.71338606911949],"aabb_xy":[[0.011796110753062406,-1.4066269993283504],[0.1717961116934943,-1.3900055840996535]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_17","position":[0.5311942865390622,0.34009427267701664,0.71338606911949],"aabb_xy":[[0.5219006683019116,0.3025942741888827],[0.5404879047762128,0.3775942711651505]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_18","position":[0.11044007441119352,-2.1540639392602077,0.71338606911949],"aabb_xy":[[0.09286177222224666,-2.1716384288343127],[0.12801837660014037,-2.1364894496861027]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_19","position":[-0.026973072083034788,0.8026213725604614,0.71338606911949],"aabb_xy":[[-0.07696808304248683,0.7526213735248699],[0.023021938876417243,0.8526213715960533]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_20","position":[-0.3895094725539372,-2.1331531652652425,0.71338606911949],"aabb_xy":[[-0.39547601149467293,-2.139114309924606],[-0.38354293361320135,-2.127192020605878]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_21","position":[0.43159277155291087,-2.2700945082919084,0.71338606911949],"aabb_xy":[[0.36759277225874265,-2.334080648660762],[0.4955927708470791,-2.2061083679230538]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_22","position":[-0.33561501973494184,-1.8615254489168556,0.71338606911949],"aabb_xy":[[-0.34289733611160544,-1.951525452526364],[-0.32833270335827813,-1.771525445307346]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7038541404911454,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2724.png","name":"2724"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2724.png","name":"2724"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2311.png","name":"2311"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3800.png","name":"3800"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7152.png","name":"7152"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2995.png","name":"2995"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":823.238747731544,"rotation_z_degrees":93.59858726394963,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.017151816144033386,-0.011069650462328186,0.007728440826763029]},{"name":"camera_2","offset_m":[-0.0018026372336907084,-0.005703646046176765,-0.015545183133958286]},{"name":"camera_3","offset_m":[0.01721083118209177,0.019472723287381404,-0.01727022396916317]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0005714622868930998,0.0006665378748042768,-0.00033022464222722285],"end_effector_yaw_offset_degrees":0.4940928044426416},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0007678967468652269,0.0005687383870445015,-9.423674100174795e-05],"end_effector_yaw_offset_degrees":0.6185276685653947},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0008616459892099217,4.0628249487230806e-05,0.000630432440802652],"end_effector_yaw_offset_degrees":-0.04938389366650098},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0007135237606940247,-0.0007185260786472579,-0.0014500072262211249],"end_effector_yaw_offset_degrees":0.5755187586249721}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0010688975942505204,0.0046254477646418555],"position_m":[0.18106889759425052,-0.028974552235358143,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0023655097212577966,-0.004832048854654825],"position_m":[0.27436550972125784,-0.37213204885465484,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0021787124194753583,0.0033502569726611203],"position_m":[0.3221787124194754,0.35645025697266114,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0008783906014841851,-3.542711635674562e-05],"position_m":[0.3376216093985158,0.10846457288364325,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6b929664e538b9679a91287b4f5ac5beecfcbf018e42802ba518e3a0709aa037","episode_index":17,"episode_name":"episode_0017"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0017.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_2724/tex_ceiling_textures_2995/tex_floor_textures_7152/tex_table_textures_2311/tex_wall_textures_3800","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":7256585601701334829,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":7256585601701334829,"visual_seed":7256585601701334829,"scene_id":"lab_003","finished_at":"2026-09-05T19:09:46"} +{"episode_id":"ep_000018","started_at":"2026-09-05T19:09:50","dimensions":{"distractor":{"count":30,"items":[{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_0","position":[-0.3982989363796304,-0.6144573378769631,0.71338606911949],"aabb_xy":[[-0.448293769307572,-0.6644573367722065],[-0.3483041034516888,-0.5644573389817195]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_1","position":[0.37750984159704326,0.9529502586028871,0.71338606911949],"aabb_xy":[[0.3596407338425877,0.939117350625676],[0.3953789493514987,0.9667831665800979]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_2","position":[0.6347479114307475,1.3876202515722653,0.71338606911949],"aabb_xy":[[0.6125753844540966,1.3654445844161422],[0.6569204384073983,1.4097959187283884]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_3","position":[-0.6222833943399992,1.6544337558046798,0.71338606911949],"aabb_xy":[[-0.659783394688227,1.642642360223596],[-0.5847833939917715,1.666225151385763]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_4","position":[0.029517349933352977,-2.262373117067234,0.71338606911949],"aabb_xy":[[-0.0304826503180482,-2.3166544421036983],[0.08951735018475415,-2.2080917920307694]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_5","position":[0.5461628955504911,-2.3106306472739533,0.71338606911949],"aabb_xy":[[0.5198740712300504,-2.3369020809286045],[0.5724517198709317,-2.284359213619302]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_6","position":[-0.2517782796754509,1.1373247438919423,0.71338606911949],"aabb_xy":[[-0.2945449865548711,1.0733247404701398],[-0.20901157279603072,1.2013247473137447]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_7","position":[-0.3519800201806983,0.9012359015267619,0.71338606911949],"aabb_xy":[[-0.36239157886118195,0.8958901681908633],[-0.3415684615002145,0.9065816348626603]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_8","position":[-0.48269449639198947,1.6901025589890009,0.71338606911949],"aabb_xy":[[-0.5051944964021378,1.6760063393493978],[-0.4601944963818412,1.7041987786286044]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_9","position":[-0.2706558144576762,-0.9397503286400573,0.71338606911949],"aabb_xy":[[-0.28823411664662313,-0.9573248182141622],[-0.25307751226872943,-0.9221758390659524]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_10","position":[0.00216119574064344,1.2359816908843007,0.71338606911949],"aabb_xy":[[-0.06183880453333479,1.1859155906870125],[0.06616119601462167,1.2860477910815884]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_11","position":[-0.15322203372973797,-0.5315857625577132,0.71338606911949],"aabb_xy":[[-0.18699759292043092,-0.5456242577708782],[-0.11944647453904497,-0.5175472673445481]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_12","position":[-0.43357232437238713,-1.166942318912433,0.71338606911949],"aabb_xy":[[-0.488572322574132,-1.2074642855388706],[-0.37857232617064235,-1.1264203522859955]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_13","position":[-0.41894450136522043,-0.13760472645454724,0.71338606911949],"aabb_xy":[[-0.482944501742754,-0.1873499933053595],[-0.35494450098768676,-0.08785945960373498]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_14","position":[-0.35803269662881937,1.4321030167916473,0.71338606911949],"aabb_xy":[[-0.3799413787681703,1.4102023499715564],[-0.3361240144894682,1.4540036836117378]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_15","position":[0.7154956887511079,0.6322366389977119,0.71338606911949],"aabb_xy":[[0.7062020705139573,0.594736640509578],[0.7247893069882585,0.6697366374858458]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_16","position":[0.34292201775399667,-1.4858674659593687,0.71338606911949],"aabb_xy":[[0.33284031067542313,-1.565867463851483],[0.3530037248325701,-1.4058674680672536]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_17","position":[-0.1972914946570838,0.13293538089458545,0.71338606911949],"aabb_xy":[[-0.22594082701749998,0.10428982161750963],[-0.16864216229666754,0.16158094017166122]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_18","position":[-0.06899940936731319,-2.3839673458557975,0.71338606911949],"aabb_xy":[[-0.15899940796178313,-2.400217932169219],[0.021000589227156738,-2.3677167595423767]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_19","position":[-0.1478294775235498,0.9158728976798916,0.71338606911949],"aabb_xy":[[-0.15594313219692688,0.9077670812258625],[-0.13971582285017267,0.9239787141339206]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_20","position":[-0.46252999463595135,-2.329938802742591,0.71338606911949],"aabb_xy":[[-0.47963207259431945,-2.3470456082738607],[-0.44542791667758314,-2.312831997211321]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_21","position":[-0.19926560438566943,-1.1669776508203171,0.71338606911949],"aabb_xy":[[-0.24908238385050416,-1.2169776493046203],[-0.14944882492083464,-1.1169776523360135]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_22","position":[0.4954821398670559,1.3862896808943916,0.71338606911949],"aabb_xy":[[0.48585050364662635,1.376652368114683],[0.5051137760874855,1.3959269936741008]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_23","position":[-0.03561376472940536,-1.37738760653925,0.71338606911949],"aabb_xy":[[-0.09961376201505401,-1.418894325492094],[0.028386232556243285,-1.335880887586406]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_24","position":[0.5792511784039229,1.1475009966730387,0.71338606911949],"aabb_xy":[[0.49925117697379573,1.0679838416604293],[0.6592511798340501,1.2270181516856482]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_25","position":[0.481910713066529,-2.459553523656864,0.71338606911949],"aabb_xy":[[0.45939702124307186,-2.5295535242578713],[0.5044244048899862,-2.389553523055856]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_26","position":[0.6963486070375342,-0.6961011228154697,0.71338606911949],"aabb_xy":[[0.6924347338421117,-0.7048501382220264],[0.7002624802329567,-0.6873521074089127]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_27","position":[0.22427417676830774,-2.2339312092658896,0.71338606911949],"aabb_xy":[[0.17427417581777493,-2.265480356269411],[0.27427417771884055,-2.202382062262368]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_28","position":[-0.43644641442363097,0.8544482665978061,0.71338606911949],"aabb_xy":[[-0.4472868926501459,0.8372619853071572],[-0.42560593619711606,0.8716345478884548]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_29","position":[-0.1596697352093951,1.2492798183861393,0.71338606911949],"aabb_xy":[[-0.16845096235663135,1.240500071097609],[-0.1508885080621589,1.2580595656746696]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.700299488524522,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5084.png","name":"5084"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5084.png","name":"5084"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4030.png","name":"4030"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8284.png","name":"8284"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6160.png","name":"6160"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7289.png","name":"7289"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":519.7698116625326,"rotation_z_degrees":48.42523583656118,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004533139845935907,-0.00016076398006194953,0.0032831424042018102]},{"name":"camera_2","offset_m":[0.017101612079729957,0.01930498899180914,-0.010613196130291845]},{"name":"camera_3","offset_m":[-0.0030047699560703973,0.01697759769990471,-0.009798343571416575]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00010161635632593502,-0.0003931238903605854,-0.0018493343634265079],"end_effector_yaw_offset_degrees":0.5381239566822504},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-7.63364244367932e-05,0.0006498348976464456,-0.00022978700303422713],"end_effector_yaw_offset_degrees":0.07807931418802383},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0003430709257091092,0.0008946297792420568,0.0006707794921451669],"end_effector_yaw_offset_degrees":-0.8921404985919916},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001506480435371963,-0.0010581522532871661,0.0012356424498918424],"end_effector_yaw_offset_degrees":-0.6208921629247266}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.003394734315731008,-0.004752570749934268],"position_m":[0.17660526568426899,-0.03835257074993426,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003963143745706002,0.004560934299968607],"position_m":[0.275963143745706,-0.3627390657000314,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.001792193093444681,-0.0009199062377128918],"position_m":[0.3217921930934447,0.35218009376228715,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002039776177635463,-0.00139432077972106],"position_m":[0.3405397761776355,0.10710567922027894,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a292326eddfd15642e1c0238db6a03d94c07443530d3168a1b000afdb268a776","episode_index":18,"episode_name":"episode_0018"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0018.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_5084/tex_ceiling_textures_7289/tex_floor_textures_6160/tex_table_textures_4030/tex_wall_textures_8284","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":7779371544368525994,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":7779371544368525994,"visual_seed":7779371544368525994,"scene_id":"lab_003","finished_at":"2026-09-05T19:13:07"} +{"episode_id":"ep_000019","started_at":"2026-09-05T19:13:11","dimensions":{"distractor":{"count":25,"items":[{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_0","position":[-0.18092346278327753,-1.1429856146743296,0.71338606911949],"aabb_xy":[[-0.2309008796485311,-1.1929856161635781],[-0.13094604591802392,-1.092985613185081]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_1","position":[-0.4141473510831832,-1.5044553693145235,0.71338606911949],"aabb_xy":[[-0.4466090519651106,-1.5345882014294256],[-0.38168565020125567,-1.4743225371996205]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_2","position":[0.7159571659163846,-0.6528916727194585,0.71338606911949],"aabb_xy":[[0.7120432927209621,-0.6616406881260153],[0.719871039111807,-0.6441426573129017]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_3","position":[-0.39416868326022175,-2.2461924017556374,0.71338606911949],"aabb_xy":[[-0.4022823379335988,-2.2542982182096667],[-0.3860550285868446,-2.238086585301608]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_4","position":[0.5624554750114104,1.730733822640492,0.71338606911949],"aabb_xy":[[0.5449087800952914,1.6932338210762408],[0.5800021699275293,1.7682338242047433]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_5","position":[-0.5609533598377195,-2.316122403294311,0.71338606911949],"aabb_xy":[[-0.6109533614992141,-2.366120845550013],[-0.5109533581762246,-2.2661239610386077]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_6","position":[0.11009072466399294,-1.8054362649566018,0.71338606911949],"aabb_xy":[[0.08557710056698709,-1.8297008582586385],[0.1346043487609988,-1.7811716716545656]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_7","position":[0.6505638468726771,-1.2507139566208392,0.71338606911949],"aabb_xy":[[0.6167882876819841,-1.264752451834004],[0.6843394060633701,-1.2366754614076743]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_8","position":[0.5040065138056236,-2.4578727730445085,0.71338606911949],"aabb_xy":[[0.4740389568957979,-2.4878727733423944],[0.5339740707154492,-2.4278727727466234]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_9","position":[-0.2327500890500862,-2.2549958597318573,0.71338606911949],"aabb_xy":[[-0.2827500900692215,-2.2914620754696853],[-0.18275008803095097,-2.2185296439940294]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_10","position":[-0.3157975122149651,0.3319808790482388,0.71338606911949],"aabb_xy":[[-0.3570463232448798,0.27698087953602135],[-0.2745487011850503,0.38698087856045627]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_11","position":[-0.10082311578247138,1.7324244184339155,0.71338606911949],"aabb_xy":[[-0.18454534128255384,1.6424244148992193],[-0.01710089028238891,1.8224244219686112]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_12","position":[-0.07069490945867463,-1.6649456140195018,0.71338606911949],"aabb_xy":[[-0.14069491159010414,-1.6877075796451975],[-0.000694907327245059,-1.6421836483938062]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_13","position":[0.5420421314131798,1.490699844256571,0.71338606911949],"aabb_xy":[[0.4620421327562938,1.4761949853323084],[0.6220421300700658,1.5052047031808342]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_14","position":[0.6366315809470757,1.1276462628395936,0.71338606911949],"aabb_xy":[[0.5716315827911567,1.1013500182896812],[0.7016315791029948,1.1539425073895055]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_15","position":[0.4686481343090403,-1.8318101845174677,0.71338606911949],"aabb_xy":[[0.4311481344920067,-1.8364483958286095],[0.5061481341260738,-1.8271719732063259]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_16","position":[-0.5854753336385851,1.478397348956761,0.71338606911949],"aabb_xy":[[-0.6354701665665267,1.4283973500615175],[-0.5354805007106435,1.5283973478520045]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_17","position":[-0.360395642079977,0.09679181088309141,0.71338606911949],"aabb_xy":[[-0.450395640674447,0.0805412245696704],[-0.2703956434855071,0.11304239719651245]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_18","position":[0.6361462280222652,1.397763660366297,0.71338606911949],"aabb_xy":[[0.6235194407350688,1.3882175866647242],[0.6487730153094615,1.40730973406787]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_19","position":[-0.6281348613345706,-2.0860365694438836,0.71338606911949],"aabb_xy":[[-0.6432371627955885,-2.1011380910749446],[-0.6130325598735523,-2.070935047812821]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_20","position":[0.14805231962400356,-2.1687820238228115,0.71338606911949],"aabb_xy":[[0.11055231945213159,-2.2014827592057182],[0.18555231979587547,-2.136081288439904]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_21","position":[0.0137443693258954,0.7905410223660567,0.71338606911949],"aabb_xy":[[-0.0023175581326222417,0.7055410205534648],[0.029806296784413044,0.8755410241786484]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_22","position":[-0.6015272025504097,-0.10516885589686886,0.71338606911949],"aabb_xy":[[-0.6665272011074825,-0.13492138931075148],[-0.5365272039933369,-0.07541632248298624]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_23","position":[0.48349574470753454,0.33807465310283424,0.71338606911949],"aabb_xy":[[0.46586290911400696,0.32045170708721116],[0.5011285803010621,0.3556975991184571]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_24","position":[0.4511449763213664,-1.4428369907668874,0.71338606911949],"aabb_xy":[[0.4418513580842159,-1.480336989255021],[0.46043859455851704,-1.4053369922787533]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6944555236742525,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9252.png","name":"9252"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9252.png","name":"9252"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7471.png","name":"7471"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9501.png","name":"9501"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1709.png","name":"1709"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8998.png","name":"8998"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":683.2243330660992,"rotation_z_degrees":286.07601689829175,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010229307853208228,0.012497593957862641,-0.01737782864101394]},{"name":"camera_2","offset_m":[0.012801050539118914,0.013763205995638999,-0.015633764746253536]},{"name":"camera_3","offset_m":[-0.000933448185040188,-0.01279689719685162,0.012677980349348038]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.000931895847758946,0.0015933114963865148,-0.0002215183269943632],"end_effector_yaw_offset_degrees":-0.9765429794897351},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.001979582453819167,-0.0009467339498431628,0.0016877027123664394],"end_effector_yaw_offset_degrees":0.6794093343666712},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0009176586956840512,0.0012011750625536902,-0.00012272417729652214],"end_effector_yaw_offset_degrees":0.877070212353291},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0018016525520388993,0.001961691170951123,-0.00044301947360624494],"end_effector_yaw_offset_degrees":0.6537467293100891}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0033993168008123126,-0.002167536429632604],"position_m":[0.1833993168008123,-0.0357675364296326,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0036553928672537483,0.0032971206316633203],"position_m":[0.26834460713274627,-0.3640028793683367,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0021240381700953713,-0.003629810299693368],"position_m":[0.31787596182990463,0.34947018970030663,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0030198907498938414,0.001842334403166608],"position_m":[0.34151989074989386,0.11034233440316661,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e0f6243c3484053976a2b7d03c67bd7d2573d3b81bc706ee77232d2b6334c131","episode_index":19,"episode_name":"episode_0019"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0019.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_9252/tex_ceiling_textures_8998/tex_floor_textures_1709/tex_table_textures_7471/tex_wall_textures_9501","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":7405895543072209812,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":7405895543072209812,"visual_seed":7405895543072209812,"scene_id":"lab_003","finished_at":"2026-09-05T19:17:03"} +{"episode_id":"ep_000020","started_at":"2026-09-05T19:17:07","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_0","position":[0.21377431101803057,-2.367156182367817,0.71338606911949],"aabb_xy":[[0.14977430772832245,-2.4104911013717345],[0.2777743143077387,-2.3238212633638993]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_1","position":[-0.5371625683525818,-0.17553319224571728,0.71338606911949],"aabb_xy":[[-0.5434746678889202,-0.18130013149893612],[-0.5308504688162434,-0.16976625299249845]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_2","position":[0.19367730470150601,-1.6787643428977002,0.71338606911949],"aabb_xy":[[0.13870358266517316,-1.7337643424619333],[0.24865102673783893,-1.623764343333467]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_3","position":[0.018719289960260843,1.6304934512563984,0.71338606911949],"aabb_xy":[[-0.0037454800111442754,1.6079934503775375],[0.04118405993166596,1.6529934521352585]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_4","position":[-0.33860394012659184,1.1956100047834504,0.71338606911949],"aabb_xy":[[-0.3669336500751321,1.1911492625897333],[-0.31027423017805167,1.2000707469771674]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_5","position":[-0.6646170725025985,-1.828570761283732,0.71338606911949],"aabb_xy":[[-0.668733022614671,-1.8326863163165776],[-0.6605011223905257,-1.8244552062508865]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_6","position":[-0.6126160812056762,-2.401089656459855,0.71338606911949],"aabb_xy":[[-0.6243842680003338,-2.486089656365077],[-0.6008478944110187,-2.316089656554634]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_7","position":[-0.17480196996695863,0.3035915499896822,0.71338606911949],"aabb_xy":[[-0.17893782629965882,0.2660915505453252],[-0.17066611363425843,0.3410915494340392]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_8","position":[0.5264400424093085,0.6657311663421543,0.71338606911949],"aabb_xy":[[0.5185167621705602,0.643231166104151],[0.5343633226480569,0.6882311665801577]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_9","position":[0.5845199796501195,-1.8721696109766335,0.71338606911949],"aabb_xy":[[0.5045199785769992,-1.8819476573140177],[0.6645199807232398,-1.8623915646392488]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_10","position":[-0.2659614634565069,-2.1469134591982524,0.71338606911949],"aabb_xy":[[-0.32996146371697765,-2.1919222585511804],[-0.20196146319603606,-2.1019046598453244]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_11","position":[0.1450037519423918,0.7629269566418824,0.71338606911949],"aabb_xy":[[0.11635441958197554,0.7342813973648065],[0.173653084302808,0.791572515918958]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_12","position":[0.1472198719279053,-1.2742725867001556,0.71338606911949],"aabb_xy":[[0.14232057962134181,-1.3019495060027242],[0.1521191642344688,-1.2465956673975866]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_13","position":[-0.310864799745419,1.5599635648365324,0.71338606911949],"aabb_xy":[[-0.3255082052994519,1.5453048451797482],[-0.29622139419138593,1.5746222844933166]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_14","position":[0.00794254363383362,0.7801979973282318,0.71338606911949],"aabb_xy":[[-0.00992656412062187,0.766365089351021],[0.025811651388289114,0.7940309053054428]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_15","position":[-0.2494249692312669,-1.3465976784704734,0.71338606911949],"aabb_xy":[[-0.26970927195466565,-1.366880303613182],[-0.22914066650786813,-1.3263150533277643]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_16","position":[0.1842806841532174,-2.2505991233742457,0.71338606911949],"aabb_xy":[[0.17112943818192805,-2.2755991231309323],[0.1974319301245068,-2.225599123617559]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_17","position":[0.509848963220819,-1.359706135028107,0.71338606911949],"aabb_xy":[[0.46766454905998833,-1.4237061353053182],[0.5520333773816498,-1.2957061347508958]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_18","position":[-0.5369879492191998,0.18492564309001436,0.71338606911949],"aabb_xy":[[-0.5919801998547108,0.1299256413467016],[-0.48199569858368896,0.23992564483332715]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_19","position":[-0.173212564986577,-1.9653137397990736,0.71338606911949],"aabb_xy":[[-0.22821256460832287,-2.0202974325865464],[-0.11821256536483118,-1.910330047011601]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_20","position":[0.05693530343381337,1.477765628254501,0.71338606911949],"aabb_xy":[[-0.03275177287430209,1.3877656280000505],[0.14662237974192882,1.5677656285089516]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_21","position":[0.28332463077068226,1.246283333885167,0.71338606911949],"aabb_xy":[[0.21832462977018174,1.195496968730492],[0.3483246317711828,1.2970696990398418]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_22","position":[0.7176188266991765,0.20470482862702744,0.71338606911949],"aabb_xy":[[0.7122812510331721,0.17970482769788765],[0.7229564023651812,0.22970482955616722]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_23","position":[0.22540441898344044,-1.3988125355369079,0.71338606911949],"aabb_xy":[[0.21737814835281444,-1.4075640305142607],[0.23343068961406643,-1.3900610405595555]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_24","position":[0.6146050645396699,0.06120751986237538,0.71338606911949],"aabb_xy":[[0.6075636135889224,0.054180768124580836],[0.6216465154904176,0.06823427160016993]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_25","position":[-0.42795371020588074,-0.2868090092670008,0.71338606911949],"aabb_xy":[[-0.45045013163974484,-0.30930900907374825],[-0.40545728877201664,-0.2643090094602534]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_26","position":[-0.2948704606780317,-0.4127887692030079,0.71338606911949],"aabb_xy":[[-0.3149288722912719,-0.4328538561121654],[-0.27481204906479134,-0.39272368229385035]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_27","position":[-0.37928889708757146,-1.1050142114254986,0.71338606911949],"aabb_xy":[[-0.41276806434861235,-1.1384933247966058],[-0.34580972982653047,-1.0715350980543918]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_28","position":[0.4645835452970737,-0.7461583378210779,0.71338606911949],"aabb_xy":[[0.4145835439361864,-0.7961362423964935],[0.5145835466579608,-0.6961804332456623]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_29","position":[0.5956608935408616,1.4497625870232498,0.71338606911949],"aabb_xy":[[0.5581608934352686,1.4429404251702684],[0.6331608936464546,1.4565847488762307]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_30","position":[0.38380177377608704,-2.0173824561937668,0.71338606911949],"aabb_xy":[[0.333801772492247,-2.0673613105843884],[0.43380177505992695,-1.9674036018031444]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7036983212419045,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6781.png","name":"6781"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6781.png","name":"6781"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5226.png","name":"5226"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4094.png","name":"4094"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7015.png","name":"7015"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7491.png","name":"7491"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":539.7435699399844,"rotation_z_degrees":6.550726468004937,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007693815264811797,-0.008900945226488583,0.013071536631484023]},{"name":"camera_2","offset_m":[0.015043269507812176,0.009835824908724602,0.015199749907074612]},{"name":"camera_3","offset_m":[0.01823632623588477,-0.017009099122691794,-0.015169077520342298]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0005266426303144195,-0.0001549086595358613,0.00016360274050935273],"end_effector_yaw_offset_degrees":-0.3193277610562153},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0015345000007336896,-0.0004791220542339288,0.0011103964380943473],"end_effector_yaw_offset_degrees":0.23856258392309515},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0005742456305442966,-0.00011049499399595503,-0.0013673707219269424],"end_effector_yaw_offset_degrees":-0.9899803604840263},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0017105389456939623,0.0008116189501737726,-0.0016696029351032132],"end_effector_yaw_offset_degrees":-0.9275635075530964}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.003592352229705255,-0.0009258265788546684],"position_m":[0.17640764777029475,-0.03452582657885467,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004195932956413671,-0.0015801146456044714],"position_m":[0.2761959329564137,-0.3688801146456045,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0037074159445790234,-0.004297784485771787],"position_m":[0.316292584055421,0.34880221551422824,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0010803078462341999,0.0016534527650578935],"position_m":[0.3374196921537658,0.11015345276505789,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c04f936e1e710ad64155010bef0f2ca399fb51fc6eaa1b4514982dbd8c3b5b22","episode_index":20,"episode_name":"episode_0020"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0020.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_6781/tex_ceiling_textures_7491/tex_floor_textures_7015/tex_table_textures_5226/tex_wall_textures_4094","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":6432176365903930815,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":6432176365903930815,"visual_seed":6432176365903930815,"scene_id":"lab_003","finished_at":"2026-09-05T19:20:29"} +{"episode_id":"ep_000021","started_at":"2026-09-05T19:20:33","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_0","position":[-0.6151560464043936,-0.401863194375649,0.71338606911949],"aabb_xy":[[-0.6579227532838138,-0.4658631977974515],[-0.5723893395249734,-0.3378631909538466]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_1","position":[-0.2852054818412315,0.6333657325430173,0.71338606911949],"aabb_xy":[[-0.31952175901584945,0.5833657325698396],[-0.2508892046666136,0.683365732516195]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_2","position":[-0.0692525526398885,-1.2179726369355164,0.71338606911949],"aabb_xy":[[-0.07859956022218374,-1.2322762591531604],[-0.05990554505759328,-1.2036690147178724]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_3","position":[-0.3302010104979387,-1.7446531601756239,0.71338606911949],"aabb_xy":[[-0.3952010114984392,-1.7954395253302986],[-0.2652010094974382,-1.6938667950209487]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_4","position":[0.06285206749431882,1.3867323100722002,0.71338606911949],"aabb_xy":[[-0.02714792924129139,1.3335488467549057],[0.15285206422992903,1.4399157733894947]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_5","position":[0.65589704360976,-2.237609271159483,0.71338606911949],"aabb_xy":[[0.6479035538144781,-2.245607403099959],[0.6638905334050421,-2.2296111392190077]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_6","position":[-0.006442277644535976,0.7840899362808709,0.71338606911949],"aabb_xy":[[-0.04235578206952566,0.7481764280641161],[0.029471226780453705,0.8200034444976254]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_7","position":[-0.479789480781454,-0.8298286867156688,0.71338606911949],"aabb_xy":[[-0.5022894803051613,-0.8523246341662895],[-0.45728948125774654,-0.8073327392650479]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_8","position":[0.05601839397886488,-1.00347748008425,0.71338606911949],"aabb_xy":[[-0.007981608070867126,-1.043571963173558],[0.12001839602859687,-0.9633829969949421]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_9","position":[-0.12253522742062273,0.9817609415951711,0.71338606911949],"aabb_xy":[[-0.172535228439758,0.9452947258573435],[-0.07253522640148746,1.0182271573329995]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_10","position":[0.5987219511934054,-0.21555396358597223,0.71338606911949],"aabb_xy":[[0.5808528434389498,-0.22938687156318316],[0.6165910589478608,-0.2017210556087613]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_11","position":[-0.3227456419472981,0.4418641030383834,0.71338606911949],"aabb_xy":[[-0.36024564273929355,0.43549626208019326],[-0.28524564115530265,0.44823194399657346]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_12","position":[0.004622613517739849,1.1211868138241847,0.71338606911949],"aabb_xy":[[-0.0453506804855206,1.0711868132696372],[0.0545959075210003,1.1711868143787318]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_13","position":[-0.4748048773179555,-1.4506508349607525,0.71338606911949],"aabb_xy":[[-0.524804876758151,-1.5006187594450686],[-0.4248048778777598,-1.400682910476436]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_14","position":[0.43987545665200756,-0.12741357982384827,0.71338606911949],"aabb_xy":[[0.42724866936481126,-0.13695965352542117],[0.45250224393920396,-0.11786750612227537]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_15","position":[0.4354566879317461,-1.455391007047604,0.71338606911949],"aabb_xy":[[0.4004566896210506,-1.4631060219711494],[0.47045668624244147,-1.447675992124058]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_16","position":[0.20051823232349697,-1.0623743301144755,0.71338606911949],"aabb_xy":[[0.18301823318912977,-1.0722539571520628],[0.21801823145786411,-1.0524947030768872]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_17","position":[-0.4629893863706481,1.7562021599622466,0.71338606911949],"aabb_xy":[[-0.466692647699787,1.7525001416535286],[-0.45928612504150923,1.7599041782709641]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_18","position":[-0.09420302717022266,-1.416728916362831,0.71338606911949],"aabb_xy":[[-0.17420302432979795,-1.4282765173206478],[-0.014203030010647377,-1.4051813154050137]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_19","position":[-0.16707042857908083,0.16467456053230167,0.71338606911949],"aabb_xy":[[-0.22707042883048198,0.11039323549583699],[-0.10707042832767963,0.2189558855687663]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_20","position":[-0.043525365638279356,0.5277052593785965,0.71338606911949],"aabb_xy":[[-0.052327420947252054,0.5198939332236673],[-0.03472331032930663,0.5355165855335254]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_21","position":[0.5731396350528644,-0.9344057732176938,0.71338606911949],"aabb_xy":[[0.5651456464751607,-0.9424058533127841],[0.5811336236305675,-0.9264056931226035]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_22","position":[0.5732844854068668,-0.33381534392426815,0.71338606911949],"aabb_xy":[[0.5092887880117702,-0.39781534222497683],[0.6372801828019634,-0.26981534562355947]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_23","position":[-0.26101060788271413,-1.8917212563062422,0.71338606911949],"aabb_xy":[[-0.2862314447425537,-1.9169450071591287],[-0.23578977102287438,-1.8664975054533552]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_24","position":[-0.4490511577234102,0.6057286617886235,0.71338606911949],"aabb_xy":[[-0.47155115753731264,0.6012540454181426],[-0.42655115790950787,0.6102032781591041]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_25","position":[-0.20589888802118983,-0.8698270661520768,0.71338606911949],"aabb_xy":[[-0.22106176099812694,-0.8849925234471956],[-0.19073601504425278,-0.8546616088569581]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_26","position":[-0.48760388716979475,-2.3667418510594738,0.71338606911949],"aabb_xy":[[-0.5452343560570656,-2.426741849986184],[-0.42997341828252383,-2.3067418521327627]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_27","position":[0.23904047057334465,-2.1769670961300602,0.71338606911949],"aabb_xy":[[0.18904563764540305,-2.2269670950253038],[0.28903530350128626,-2.1269670972348167]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_28","position":[-0.5215690160089079,-1.9956997108850625,0.71338606911949],"aabb_xy":[[-0.6015690146657939,-2.010204569809326],[-0.4415690173520219,-1.9811948519607998]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6960195132135298,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6231.png","name":"6231"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6231.png","name":"6231"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3447.png","name":"3447"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6191.png","name":"6191"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3536.png","name":"3536"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1932.png","name":"1932"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":795.3571385553328,"rotation_z_degrees":344.44264841980754,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010808459453437362,0.0071597888113972795,0.015335623727398228]},{"name":"camera_2","offset_m":[-0.011717389510975736,0.01857450422958778,-0.0011837770004322137]},{"name":"camera_3","offset_m":[-0.00017152158047359367,-0.00746568802848711,-0.00733431487934999]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0005431525955888966,0.0018082526989637074,0.0019288762755468262],"end_effector_yaw_offset_degrees":-0.7434219426643147},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0013109064618463662,1.3501787733454385e-05,0.0016703319455764524],"end_effector_yaw_offset_degrees":0.09423502840040165},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0014078884523251452,-0.00012864611821296465,0.001610100499285426],"end_effector_yaw_offset_degrees":-0.26478321262823146},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0007166245817324249,-0.0009805756381368394,-0.0008122231276234534],"end_effector_yaw_offset_degrees":0.0458485531231978}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0013655455548862118,-0.004446882084253043],"position_m":[0.1813655455548862,-0.03804688208425304,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0013343001769207654,0.0040893462912198],"position_m":[0.27066569982307925,-0.3632106537087802,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0022743154751223875,0.0028160462455369],"position_m":[0.3222743154751224,0.3559160462455369,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003933824830571915,-0.0009318896362786851],"position_m":[0.3345661751694281,0.10756811036372131,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"fe25c8777702b3eb3925c64816399e8af4bca5d474dc4d0511d4204a5d2d4c6c","episode_index":21,"episode_name":"episode_0021"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0021.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_6231/tex_ceiling_textures_1932/tex_floor_textures_3536/tex_table_textures_3447/tex_wall_textures_6191","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":4662604315484989721,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":4662604315484989721,"visual_seed":4662604315484989721,"scene_id":"lab_003","finished_at":"2026-09-05T19:23:59"} +{"episode_id":"ep_000022","started_at":"2026-09-05T19:24:03","dimensions":{"distractor":{"count":24,"items":[{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_0","position":[0.6401352394583637,0.36434350095639934,0.71338606911949],"aabb_xy":[[0.5564130139582812,0.27434349742170333],[0.7238574649584462,0.45434350449109523]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_1","position":[0.5844121980194505,0.6729220949875478,0.71338606911949],"aabb_xy":[[0.4947251217113351,0.5829220947330973],[0.674099274327566,0.7629220952419984]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_2","position":[0.4965072133551174,-0.44316654862325144,0.71338606911949],"aabb_xy":[[0.47959648091877555,-0.4566387542158659],[0.513417945791459,-0.42969434303063686]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_3","position":[-0.5589114009059045,-2.447045388929949,0.71338606911949],"aabb_xy":[[-0.6089062338338461,-2.497045387825193],[-0.5089165679779629,-2.3970453900347057]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_4","position":[0.07241325750966598,1.0947153397736056,0.71338606911949],"aabb_xy":[[0.034913256845087275,1.0790282817733832],[0.10991325817424467,1.1104023977738275]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_5","position":[-0.3944343492078568,-0.31819660148248063,0.71338606911949],"aabb_xy":[[-0.4744343461708959,-0.39527224312625403],[-0.3144343522448176,-0.24112095983870713]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_6","position":[0.5323001333760784,-0.9091608965854743,0.71338606911949],"aabb_xy":[[0.4948001332704854,-0.9159830584384553],[0.5698001334816712,-0.902338734732493]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_7","position":[0.29242134963783684,1.4258995973386441,0.71338606911949],"aabb_xy":[[0.28200979095735307,1.4205538640027455],[0.3028329083183205,1.4312453306745423]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_8","position":[0.6033650105298807,-2.3284738097542435,0.71338606911949],"aabb_xy":[[0.5133650119354108,-2.344724396067664],[0.6933650091243507,-2.312223223440822]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_9","position":[-0.4583181590010377,-1.5212609986143675,0.71338606911949],"aabb_xy":[[-0.4907798598829651,-1.5513938307292698],[-0.42585645811911016,-1.4911281664994647]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_10","position":[-0.5083412742882047,-1.0700716513731978,0.71338606911949],"aabb_xy":[[-0.551107981167625,-1.1340716547950003],[-0.46557456740878467,-1.0060716479513954]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_11","position":[0.0463919412586421,1.2891942041128912,0.71338606911949],"aabb_xy":[[-0.0007374377431935766,1.225194203068489],[0.09352132026047777,1.353194205157293]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_12","position":[-0.4457301533989573,0.7463797068353029,0.71338606911949],"aabb_xy":[[-0.45888139937024675,0.7213797070786163],[-0.432578907427668,0.7713797065919895]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_13","position":[-0.2234495449446502,0.3686713534147352,0.71338606911949],"aabb_xy":[[-0.2874495469943822,0.3285768703254273],[-0.15944954289491822,0.40876583650404325]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_14","position":[0.4561619140258115,-1.240127983961166,0.71338606911949],"aabb_xy":[[0.37116191560838824,-1.325002279423451],[0.5411619124432347,-1.155253688498881]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_15","position":[0.13304950092051004,-0.8342492654322684,0.71338606911949],"aabb_xy":[[0.11603940363045936,-0.8503837539305424],[0.15005959821056067,-0.8181147769339946]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_16","position":[-0.37027330174704837,-0.8886406643072955,0.71338606911949],"aabb_xy":[[-0.43427330408984993,-0.933581515551428],[-0.3062732994042468,-0.843699813063163]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_17","position":[-0.549277481019439,-0.15771902260100434,0.71338606911949],"aabb_xy":[[-0.5619042683066353,-0.16726509630257724],[-0.5366506937322426,-0.14817294889943144]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_18","position":[0.28847606758160593,1.6321170880454443,0.71338606911949],"aabb_xy":[[0.2843979096745562,1.628036107797181],[0.2925542254886557,1.6361980682937076]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_19","position":[0.05008425360096935,-2.234524313678628,0.71338606911949],"aabb_xy":[[0.042160973362221014,-2.2570243139166313],[0.05800753383971768,-2.2120243134406246]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_20","position":[-0.42708748332558644,-0.7496072768620707,0.71338606911949],"aabb_xy":[[-0.43786045724695427,-0.7846072750811096],[-0.4163145094042187,-0.7146072786430316]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_21","position":[-0.25985446938311757,-2.179551276444871,0.71338606911949],"aabb_xy":[[-0.2749567708441356,-2.194652798075932],[-0.24475216792209945,-2.164449754813808]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_22","position":[-0.11123352661684971,-1.5118573178535244,0.71338606911949],"aabb_xy":[[-0.17523352732031905,-1.5578757003264458],[-0.04723352591338037,-1.4658389353806036]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_23","position":[0.6328264075717145,1.328805668994025,0.71338606911949],"aabb_xy":[[0.552826408984395,1.249490067055864],[0.7128264061590338,1.4081212709321858]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7008339761727553,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8437.png","name":"8437"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8437.png","name":"8437"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1593.png","name":"1593"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6903.png","name":"6903"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3943.png","name":"3943"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7637.png","name":"7637"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":776.1175185138657,"rotation_z_degrees":40.110050984946405,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015392477131668195,0.005926310996287182,-0.01792967178766282]},{"name":"camera_2","offset_m":[0.018077604965007817,-0.009322552933779127,-0.014312373339031025]},{"name":"camera_3","offset_m":[-0.004331794292028381,0.0137653821073296,-0.008965508197084563]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.000910741424987615,0.00021838862571162696,-0.0004252077690709193],"end_effector_yaw_offset_degrees":-0.5784780785768533},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[9.54220221642127e-05,0.0012623668006979762,-0.0007852968604945053],"end_effector_yaw_offset_degrees":0.9186154699448512},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0002774638588926904,0.001080146035353469,-0.0010586792264347569],"end_effector_yaw_offset_degrees":-0.7364169567934307},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00010740654545563465,-0.001828624092663472,0.0016007752181431806],"end_effector_yaw_offset_degrees":0.014760683929809781}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0003421014039947032,-0.00047713592616572143],"position_m":[0.17965789859600528,-0.03407713592616572,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0016240515819341862,-0.00029397798819371344],"position_m":[0.2736240515819342,-0.3675939779881937,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0045918318997534395,-0.0019931215853659858],"position_m":[0.3154081681002466,0.35110687841463406,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004766399290080573,-0.0027978620891314842],"position_m":[0.34326639929008057,0.10570213791086852,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6fadc40c6d6a79872c1eabb50e1476da30b2ef259c834218f7dc75fe7d12a630","episode_index":22,"episode_name":"episode_0022"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0022.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_8437/tex_ceiling_textures_7637/tex_floor_textures_3943/tex_table_textures_1593/tex_wall_textures_6903","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":762148927205791466,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":762148927205791466,"visual_seed":762148927205791466,"scene_id":"lab_003","finished_at":"2026-09-05T19:27:33"} +{"episode_id":"ep_000023","started_at":"2026-09-05T19:27:36","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_0","position":[-0.12422733074036019,0.5872926353971031,0.71338606911949],"aabb_xy":[[-0.14186016633388776,0.56966968938148],[-0.10659449514683261,0.604915581412726]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_1","position":[0.6292963152125377,-0.6963606651519001,0.71338606911949],"aabb_xy":[[0.6220350676421302,-0.7091476754154096],[0.6365575627829452,-0.6835736548883906]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_2","position":[0.6933687805393525,0.5053067360703238,0.71338606911949],"aabb_xy":[[0.6824630044517898,0.42530673967149457],[0.7042745566269152,0.5853067324691529]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_3","position":[0.3420416464259368,-2.2480036948671245,0.71338606911949],"aabb_xy":[[0.29206283791562093,-2.2980036948728433],[0.3920204549362527,-2.1980036948614057]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_4","position":[0.2710788083095762,-1.655426379751126,0.71338606911949],"aabb_xy":[[0.25340317772097787,-1.6731065960305287],[0.28875443889817454,-1.6377461634717232]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_5","position":[0.027542555289731263,-1.0098917171997785,0.71338606911949],"aabb_xy":[[-0.02758265033985951,-1.0698917186410655],[0.08266776091932203,-0.9498917157584913]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_6","position":[0.5919662918653841,-0.543618836510698,0.71338606911949],"aabb_xy":[[0.5764105224551189,-0.5591692697551052],[0.6075220612756494,-0.5280684032662908]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_7","position":[-0.5016248734097422,-0.011523683598003043,0.71338606911949],"aabb_xy":[[-0.5466248748759711,-0.056523540459483726],[-0.4566248719435134,0.033476173263477634]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_8","position":[-0.41729249238677857,-0.5746122120752237,0.71338606911949],"aabb_xy":[[-0.4541430403237661,-0.6121122128982573],[-0.3804419444497909,-0.5371122112521899]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_9","position":[-0.2187845980872276,-0.4323367604608408,0.71338606911949],"aabb_xy":[[-0.26888206206830123,-0.4963367609706526],[-0.168687134106154,-0.368336759951029]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_10","position":[-0.15481241442360205,0.27605446553508006,0.71338606911949],"aabb_xy":[[-0.2047898312888556,0.22605446404583154],[-0.10483499755834845,0.3260544670243286]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_11","position":[0.6197290792026957,0.4767156614175163,0.71338606911949],"aabb_xy":[[0.6117028085720697,0.4679641664401637],[0.6277553498333217,0.4854671563948689]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_12","position":[0.14489824118955652,-0.9737982353146577,0.71338606911949],"aabb_xy":[[0.13893170224882073,-0.9797593799740217],[0.1508647801302923,-0.9678370906552937]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_13","position":[-0.15542320926846165,1.22587948236843,0.71338606911949],"aabb_xy":[[-0.1779223449946886,1.203379481590167],[-0.13292407354223465,1.248379483146693]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_14","position":[-0.6230794967171285,0.6659856627448848,0.71338606911949],"aabb_xy":[[-0.6303232627633739,0.5859856645412825],[-0.6158357306708833,0.7459856609484873]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_15","position":[0.1336121818963848,-2.313803954020356,0.71338606911949],"aabb_xy":[[0.10977596425577976,-2.4038039548288426],[0.15744839953698989,-2.2238039532118696]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_16","position":[-0.6534755165989937,-0.32528669092705975,0.71338606911949],"aabb_xy":[[-0.6716813402602415,-0.33631209150905145],[-0.6352696929377462,-0.31426129034506817]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_17","position":[0.487112103790591,-1.5359115037252928,0.71338606911949],"aabb_xy":[[0.47388115825590965,-1.5491389227472923],[0.5003430493252723,-1.5226840847032934]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_18","position":[-0.5167530333830942,-1.2284840581473515,0.71338606911949],"aabb_xy":[[-0.6067530357171133,-1.3059664127324642],[-0.42675303104907514,-1.1510017035622389]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_19","position":[-0.558722220416776,-2.3109846299045866,0.71338606911949],"aabb_xy":[[-0.5808947473934267,-2.3331602970607097],[-0.536549693440125,-2.2888089627484636]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_20","position":[-0.35700829349370244,1.5369598936431177,0.71338606911949],"aabb_xy":[[-0.37889804108264324,1.4469598963538686],[-0.33511854590476164,1.6269598909323668]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_21","position":[-0.5835882389734167,0.18416896592478516,0.71338606911949],"aabb_xy":[[-0.5915817287686989,0.17617083398430952],[-0.5755947491781348,0.19216709786526087]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_22","position":[0.6136337540507906,0.30490911065783166,0.71338606911949],"aabb_xy":[[0.6048525269035544,0.29612936336930157],[0.622414981198027,0.31368885794636187]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_23","position":[0.686404326064318,-0.9189026482711566,0.71338606911949],"aabb_xy":[[0.6689043258049814,-0.9329941904599296],[0.7039043263236546,-0.9048111060823844]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_24","position":[-0.6085517123905719,-1.0632345968631884,0.71338606911949],"aabb_xy":[[-0.626051711524939,-1.073114223900776],[-0.5910517132562046,-1.0533549698256004]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_25","position":[-0.3607466220351253,-1.1090165422940326,0.71338606911949],"aabb_xy":[[-0.36886027670850235,-1.1171223587480617],[-0.35263296736174815,-1.1009107258400035]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6970523581556036,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7794.png","name":"7794"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7794.png","name":"7794"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9757.png","name":"9757"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9793.png","name":"9793"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3880.png","name":"3880"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2348.png","name":"2348"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":563.2297709652414,"rotation_z_degrees":353.73018949105585,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.019375467883361298,-0.008424406851400019,-0.0053723043853473006]},{"name":"camera_2","offset_m":[-0.013214458390513387,-0.0012436728696456276,-0.010088676343470873]},{"name":"camera_3","offset_m":[-0.009781592184520594,-0.005685387649348899,0.003408119708695166]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00045642448116835514,-0.0014907325232470768,-0.001180654690576227],"end_effector_yaw_offset_degrees":-0.6928089978658019},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0007255573074874601,0.0017621470129246474,0.0015135161339564236],"end_effector_yaw_offset_degrees":-0.46016033384025246},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0014699550430432506,-0.0011387768090891318,-0.0015583524529551537],"end_effector_yaw_offset_degrees":-0.15806221186193703},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0015460725171466566,-0.0011312717790210858,0.0011243010960937908],"end_effector_yaw_offset_degrees":0.5430592465510282}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0021604973860992415,0.0034195975865783197],"position_m":[0.17783950261390075,-0.030180402413421677,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00220331940298218,0.0007049591569123466],"position_m":[0.26979668059701784,-0.3665950408430877,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004086674377593105,0.00045989111280156803],"position_m":[0.3240866743775931,0.3535598911128016,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0023554257288267945,0.00425857009029523],"position_m":[0.3361445742711732,0.11275857009029523,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"89127045cb20a1c63c6c58486b4d48bbc10d0ff2efac6a366d460900dc3d19d5","episode_index":23,"episode_name":"episode_0023"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0023.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_7794/tex_ceiling_textures_2348/tex_floor_textures_3880/tex_table_textures_9757/tex_wall_textures_9793","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":5402725091076445249,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":5402725091076445249,"visual_seed":5402725091076445249,"scene_id":"lab_003","finished_at":"2026-09-05T19:31:05"} +{"episode_id":"ep_000024","started_at":"2026-09-05T19:31:09","dimensions":{"distractor":{"count":31,"items":[{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_0","position":[0.5932351404053522,-0.6214266183760311,0.71338606911949],"aabb_xy":[[0.5432620748728368,-0.671426618188564],[0.6432082059378678,-0.5714266185634982]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_1","position":[-0.5643900409137352,-1.358766890840883,0.71338606911949],"aabb_xy":[[-0.6293900394708081,-1.3885194242547656],[-0.4993900423566624,-1.3290143574270004]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_2","position":[-0.611269331097571,-2.1549004911041636,0.71338606911949],"aabb_xy":[[-0.6194838762132547,-2.163577081401804],[-0.6030547859818868,-2.1462239008065214]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_3","position":[0.2072166798727445,0.7409608978236779,0.71338606911949],"aabb_xy":[[0.16503226571191376,0.6769608975464668],[0.24940109403357524,0.8049608981008892]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_4","position":[-0.08126626461132136,1.7848143515968116,0.71338606911949],"aabb_xy":[[-0.09876626485637073,1.7673145637572445],[-0.06376626436627196,1.8023141394363782]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_5","position":[-0.5745063048720054,-0.93089820641716,0.71338606911949],"aabb_xy":[[-0.6595063032894286,-1.015772501879445],[-0.48950630645458215,-0.8460239109548751]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_6","position":[0.3507683775132435,-1.3828065414728496,0.71338606911949],"aabb_xy":[[0.28576837655611625,-1.434754753406555],[0.4157683784703707,-1.3308583295391438]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_7","position":[0.5594798811576993,-1.273110264505897,0.71338606911949],"aabb_xy":[[0.5094798802071665,-1.304659411509418],[0.6094798821082321,-1.2415611175023753]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_8","position":[0.21273902436350478,1.5839590061440734,0.71338606911949],"aabb_xy":[[0.19756685508187144,1.5687901492158702],[0.22791119364513812,1.599127863072277]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_9","position":[-0.06366351779684654,0.16314690244826613,0.71338606911949],"aabb_xy":[[-0.12366351830469945,0.10630016876234484],[-0.0036635172889936114,0.21999363613418743]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_10","position":[-0.5930870931718292,0.11435386389960689,0.71338606911949],"aabb_xy":[[-0.6180870927235677,0.10421138003447217],[-0.5680870936200907,0.12449634776474161]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_11","position":[0.5238811088233308,1.007727177555048,0.71338606911949],"aabb_xy":[[0.4598811056046931,0.9610040656560397],[0.5878811120419688,1.0544502894540564]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_12","position":[-0.44789387779407586,0.6080505717752089,0.71338606911949],"aabb_xy":[[-0.49787129465932944,0.5580505702859603],[-0.39791646092882227,0.6580505732644574]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_13","position":[0.19758444165087552,1.2705588882239995,0.71338606911949],"aabb_xy":[[0.1075844419277013,1.2474855356888197],[0.2875844413740496,1.2936322407591794]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_14","position":[0.4212362338670148,1.8240647818268036,0.71338606911949],"aabb_xy":[[0.4159037192124018,1.818740453581568],[0.4265687485216278,1.8293891100720392]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_15","position":[0.37511065592823756,1.5747041893403773,0.71338606911949],"aabb_xy":[[0.3365649631030365,1.5361584182841883],[0.4136563487534386,1.6132499603965658]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_16","position":[-0.4492704899126935,0.7855024265812638,0.71338606911949],"aabb_xy":[[-0.46173784802242923,0.7730371019479404],[-0.43680313180295793,0.7979677512145874]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_17","position":[-0.2646893913456427,-0.22144544415771605,0.71338606911949],"aabb_xy":[[-0.31468250345483456,-0.2714454448319117],[-0.2146962792364508,-0.17144544348352042]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_18","position":[-0.4053507353350999,0.11891484039644729,0.71338606911949],"aabb_xy":[[-0.4604759409646907,0.05891483895516015],[-0.35022552970550913,0.17891484183773443]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_19","position":[-0.2966480521338198,0.7243695560482224,0.71338606911949],"aabb_xy":[[-0.3021059977708398,0.6443695527405633],[-0.29119010649679966,0.8043695593558815]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_20","position":[-0.3561972038470472,-2.5072718479106118,0.71338606911949],"aabb_xy":[[-0.40619221480649925,-2.557271846946204],[-0.30620219288759515,-2.4572718488750205]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_21","position":[0.4163634367679798,-2.118971784865503,0.71338606911949],"aabb_xy":[[0.3668830155540211,-2.182971782778355],[0.46584385798193867,-2.054971786952651]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_22","position":[-0.5358179127842386,-0.10316674761483569,0.71338606911949],"aabb_xy":[[-0.548444700071435,-0.1127128213164086],[-0.5231911254970423,-0.0936206739132628]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_23","position":[-0.2049036728403834,0.28025210870747896,0.71338606911949],"aabb_xy":[[-0.21406355178426,0.27372089066394195],[-0.1957437938965068,0.286783326751016]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_24","position":[-0.10288618235054803,0.6370778972920177,0.71338606911949],"aabb_xy":[[-0.1126421718597219,0.6273153632327833],[-0.09313019284137412,0.6468404313512521]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_25","position":[0.3472107876996384,-1.6756848611208282,0.71338606911949],"aabb_xy":[[0.2772107843080764,-1.711000634824259],[0.41721079109120035,-1.6403690874173973]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_26","position":[0.6508652055035826,0.07140158753065418,0.71338606911949],"aabb_xy":[[0.6245763811831418,0.045130153876002936],[0.6771540298240232,0.0976730211853054]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_27","position":[-0.041164676270354694,-2.1535964096652944,0.71338606911949],"aabb_xy":[[-0.07546158728809532,-2.1878932958752357],[-0.0068677652526140665,-2.119299523455353]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_28","position":[0.0030898974940549717,-0.7125418618638317,0.71338606911949],"aabb_xy":[[-0.014340817584951536,-0.7298139765276825],[0.020520612573061477,-0.6952697471999809]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_29","position":[-0.5868478105547013,1.530501665660204,0.71338606911949],"aabb_xy":[[-0.621310157952843,1.496007783262381],[-0.5523854631565593,1.5649955480580264]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_30","position":[0.18988731037462325,-0.9370315904763009,0.71338606911949],"aabb_xy":[[0.1772846112375468,-0.9496269867011665],[0.2024900095116997,-0.9244361942514355]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6986526332145595,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5706.png","name":"5706"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5706.png","name":"5706"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2969.png","name":"2969"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1132.png","name":"1132"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4878.png","name":"4878"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7841.png","name":"7841"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":524.8390968365875,"rotation_z_degrees":271.378541322612,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015302539184474887,0.015594748336394706,0.012253275788350695]},{"name":"camera_2","offset_m":[0.0008417178036698482,0.003008300750710305,0.0166326294855474]},{"name":"camera_3","offset_m":[-0.008514754707965136,0.010355355405797781,-0.007055371115104481]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0009715287915531298,0.0005636637517538968,-0.0015740399114702731],"end_effector_yaw_offset_degrees":-0.7465418052342445},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00045519247824504306,0.00045817423702877247,-0.0015902416728692792],"end_effector_yaw_offset_degrees":-0.7860159845410977},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0009604187671095736,0.0019626534302969153,0.0006815211622327672],"end_effector_yaw_offset_degrees":-0.7425570938820798},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0011554042626215812,-0.00034489928746224137,-0.00019529221351170453],"end_effector_yaw_offset_degrees":-0.20910305887521985}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0005012735509407461,0.003907119457878263],"position_m":[0.17949872644905926,-0.029692880542121734,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0015975719520734542,-0.001355379011163873],"position_m":[0.2704024280479266,-0.3686553790111639,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0018849882155527742,0.001218722635981777],"position_m":[0.31811501178444723,0.3543187226359818,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002989861812419965,0.0031627088228272223],"position_m":[0.3355101381875801,0.11166270882282722,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b59f9726ba5bb08f5783cbd848a5947db5be23cf73be92fab19710b7c899b940","episode_index":24,"episode_name":"episode_0024"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0024.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_5706/tex_ceiling_textures_7841/tex_floor_textures_4878/tex_table_textures_2969/tex_wall_textures_1132","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":783763582450072676,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":783763582450072676,"visual_seed":783763582450072676,"scene_id":"lab_003","finished_at":"2026-09-05T19:34:41"} +{"episode_id":"ep_000025","started_at":"2026-09-05T19:34:46","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_0","position":[0.586266147888461,-0.7332358803694998,0.71338606911949],"aabb_xy":[[0.5487661480714274,-0.7378740916806417],[0.6237661477054945,-0.728597669058358]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_1","position":[-0.6553391556072187,0.6367099392603333,0.71338606911949],"aabb_xy":[[-0.677839155617367,0.62261371962073],[-0.6328391555970704,0.6508061588999365]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_2","position":[0.5098355312169369,0.7249076489152451,0.71338606911949],"aabb_xy":[[0.42014845490882147,0.6349076486607945],[0.5995226075250524,0.8149076491696956]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_3","position":[-0.31093362748686293,-1.5888967260809763,0.71338606911949],"aabb_xy":[[-0.3228057104983641,-1.6738967257746264],[-0.2990615444753619,-1.5038967263873257]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_4","position":[0.06564033394688706,-1.7535758984466128,0.71338606911949],"aabb_xy":[[0.06079673918565709,-1.7584275509255969],[0.07048392870811704,-1.7487242459676287]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_5","position":[0.2849700372473427,-1.9181306924633026,0.71338606911949],"aabb_xy":[[0.26805930481100093,-1.9316028980559168],[0.3018807696836845,-1.904658486870688]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_6","position":[0.4410190444008597,-1.0956174410940946,0.71338606911949],"aabb_xy":[[0.4330957641621114,-1.118117441332098],[0.44894232463960804,-1.0731174408560913]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_7","position":[-0.03325514264618279,-1.0184741871123175,0.71338606911949],"aabb_xy":[[-0.09725514486658982,-1.0628472712376058],[0.030744859574224237,-0.9741011029870292]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_8","position":[-0.6330858946578946,-1.3081575336360627,0.71338606911949],"aabb_xy":[[-0.6880858928596394,-1.3486795002625003],[-0.5780858964561497,-1.267635567009625]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_9","position":[0.6057386112297667,-1.0211747877588668,0.71338606911949],"aabb_xy":[[0.5914041861036032,-1.0332350033134057],[0.6200730363559301,-1.009114572204328]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_10","position":[-0.201309907602032,1.4710575556639793,0.71338606911949],"aabb_xy":[[-0.23630990591272744,1.4633425407404337],[-0.16630990929133654,1.478772570587525]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_11","position":[0.042487908463409774,1.713261135134498,0.71338606911949],"aabb_xy":[[0.0012390974334950467,1.6582611356222803],[0.08373671949332451,1.7682611346467152]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_12","position":[-0.6572898249638273,0.7328115823859633,0.71338606911949],"aabb_xy":[[-0.6617204543186674,0.7273632106512807],[-0.6528591956089871,0.7382599541206459]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_13","position":[-0.2334495241816104,1.6392964961848953,0.71338606911949],"aabb_xy":[[-0.29744952444208117,1.5942876968319672],[-0.1694495239211396,1.6843052955378233]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_14","position":[0.022407973678270188,1.175871438562874,0.71338606911949],"aabb_xy":[[-0.027592024967651008,1.1259518949034113],[0.07240797232419138,1.225790982222336]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_15","position":[-0.12390478549480144,-0.7219924166348277,0.71338606911949],"aabb_xy":[[-0.20390478692492864,-0.8015095716474371],[-0.04390478406467423,-0.6424752616222181]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_16","position":[-0.5740162800199836,-1.9591883426555912,0.71338606911949],"aabb_xy":[[-0.582714242310699,-1.971313316963066],[-0.5653183177292684,-1.9470633683481167]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_17","position":[-0.5150504080206935,1.7088470095574908,0.71338606911949],"aabb_xy":[[-0.5750504096636153,1.6568468602655466],[-0.4550504063777716,1.760847158849435]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_18","position":[-0.416286755781458,-1.8580949565676206,0.71338606911949],"aabb_xy":[[-0.49628675318505133,-1.9380875277658032],[-0.3362867583778645,-1.7781023853694375]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_19","position":[-0.0438851554564198,0.8316870562251952,0.71338606911949],"aabb_xy":[[-0.05038679196442442,0.8219192341988855],[-0.037383518948415184,0.841454878251505]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_20","position":[0.5232129850415421,-1.833973525324733,0.71338606911949],"aabb_xy":[[0.5029286823181432,-1.8542561504674415],[0.5434972877649408,-1.8136909001820238]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_21","position":[0.11588584712491024,-1.254760937532036,0.71338606911949],"aabb_xy":[[0.09887574983485958,-1.27089542603031],[0.1328959444149609,-1.2386264490337622]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_22","position":[-0.48669343388181474,-1.4548528577630466,0.71338606911949],"aabb_xy":[[-0.5566934365184011,-1.474957722758912],[-0.4166934312452284,-1.434747992767181]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_23","position":[-0.09221437888955519,-1.6712307949979959,0.71338606911949],"aabb_xy":[[-0.10398256568421273,-1.7562307949032179],[-0.08044619209489767,-1.5862307950927748]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_24","position":[0.29834133958434894,0.8735099002950597,0.71338606911949],"aabb_xy":[[0.24321613395475813,0.8135098988537727],[0.35346654521393966,0.933509901736347]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_25","position":[-0.5837652854498302,-2.4511924847501327,0.71338606911949],"aabb_xy":[[-0.621265285621702,-2.48389322013304],[-0.5462652852779581,-2.4184917493672256]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_26","position":[-0.0440217528110729,1.0294554030922969,0.71338606911949],"aabb_xy":[[-0.061521752089159776,1.0121173030259512],[-0.026521753532986025,1.046793503158643]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_27","position":[0.5119790284222872,-2.345358440672193,0.71338606911949],"aabb_xy":[[0.4744790279249288,-2.349327124220312],[0.5494790289196453,-2.341389757124075]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_28","position":[0.5252139777365357,1.7694696235835194,0.71338606911949],"aabb_xy":[[0.507783262657529,1.7521975089196684],[0.5426446928155421,1.78674173824737]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_29","position":[0.07853229367872916,-1.359503846788085,0.71338606911949],"aabb_xy":[[0.06103236024474579,-1.3770038467083192],[0.09603222711271253,-1.3420038468678501]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_30","position":[-0.43445038635399713,1.4310737645945086,0.71338606911949],"aabb_xy":[[-0.471950386646172,1.4270322891939051],[-0.39695038606182237,1.4351152399951121]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6956862135041301,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2243.png","name":"2243"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2243.png","name":"2243"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5910.png","name":"5910"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4243.png","name":"4243"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6137.png","name":"6137"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/488.png","name":"488"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":693.1607380241262,"rotation_z_degrees":349.3440710598136,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018383590854293554,0.0036361660243702035,-0.007212231193193289]},{"name":"camera_2","offset_m":[0.0007052988148620216,0.018198285888169945,-0.01566550682382331]},{"name":"camera_3","offset_m":[0.006875025296871874,0.005072863763565069,-0.019482301846975567]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0013153741502901395,-0.0013593789683669782,0.0004903989295802287],"end_effector_yaw_offset_degrees":0.19552732182444355},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0003158314809651409,-0.0014592530495338156,0.0006966783224866559],"end_effector_yaw_offset_degrees":-0.546003315898508},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0013223390367329666,-0.0004644355582075401,0.0014014540910364808],"end_effector_yaw_offset_degrees":-0.6768903412573186},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0003552790863636103,0.0016408765584952764,0.0007320368486135368],"end_effector_yaw_offset_degrees":0.93011493132989}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0024304017612750395,-0.0037564891402223945],"position_m":[0.17756959823872495,-0.037356489140222396,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004067256724954937,0.00029063648142177087],"position_m":[0.26793274327504507,-0.36700936351857827,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004534020861084581,0.004813742151726246],"position_m":[0.31546597913891544,0.3579137421517263,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004444983660306209,0.0026002958713861957],"position_m":[0.3340550163396938,0.1111002958713862,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1c3c6e846fe00adce21c1e842a3382471c09f2fd69a650255c2b6f761198db51","episode_index":25,"episode_name":"episode_0025"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0025.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_2243/tex_ceiling_textures_488/tex_floor_textures_6137/tex_table_textures_5910/tex_wall_textures_4243","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":8486537725070873416,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":8486537725070873416,"visual_seed":8486537725070873416,"scene_id":"lab_003","finished_at":"2026-09-05T19:38:25"} +{"episode_id":"ep_000026","started_at":"2026-09-05T19:38:28","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_0","position":[0.27925333034650934,0.9569512722881184,0.71338606911949],"aabb_xy":[[0.2152533280037078,0.9120104210439859],[0.3432533326893109,1.0018921235322509]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_1","position":[0.4674827346545951,1.2904885046862877,0.71338606911949],"aabb_xy":[[0.40348273297659776,1.2419711132069735],[0.5314827363325925,1.339005896165602]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_2","position":[0.42346770367719166,0.7904138899332307,0.71338606911949],"aabb_xy":[[0.37818908879604235,0.726413890585047],[0.46874631855834087,0.8544138892814144]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_3","position":[-0.36549908648930707,-2.0958856810001203,0.71338606911949],"aabb_xy":[[-0.37146562543004286,-2.1018468256594844],[-0.3595325475485713,-2.089924536340756]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_4","position":[-0.0838431780210509,0.603020056628961,0.71338606911949],"aabb_xy":[[-0.13383818898050295,0.5530200575933693],[-0.033848167061598884,0.6530200556645527]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_5","position":[-0.10428631538251343,-0.42272719151900295,0.71338606911949],"aabb_xy":[[-0.11070012902569835,-0.4291370117666712],[-0.09787250173932847,-0.4163173712713345]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_6","position":[-0.11674987634698719,0.16196593820568372,0.71338606911949],"aabb_xy":[[-0.1807498767245208,0.11222067135487146],[-0.05274987596945356,0.211711205056496]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_7","position":[0.639189555599023,1.130285121153494,0.71338606911949],"aabb_xy":[[0.6216896221650395,1.1127851212332593],[0.6566894890330063,1.1477851210737284]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_8","position":[-0.6046430766372549,-0.4232273178395025,0.71338606911949],"aabb_xy":[[-0.627156768460712,-0.49322731844051],[-0.5821293848137976,-0.35322731723849493]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_9","position":[-0.38681481433797754,0.9470005830220551,0.71338606911949],"aabb_xy":[[-0.3948083041332596,0.9390024510815798],[-0.37882132454269557,0.954998714962531]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_10","position":[-0.31501663370782046,1.620617741845391,0.71338606911949],"aabb_xy":[[-0.37901663229439286,1.5736107784458824],[-0.25101663512124794,1.6676247052448998]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_11","position":[0.17446435476742372,-1.8834319762034621,0.71338606911949],"aabb_xy":[[0.16742404483388676,-1.963431975603134],[0.18150466470096074,-1.8034319768037912]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_12","position":[0.39736788194813366,1.0288103289524893,0.71338606911949],"aabb_xy":[[0.3861228263775159,1.017568531228394],[0.40861293751875155,1.0400521266765845]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_13","position":[-0.40562179295832146,-1.176780637819579,0.71338606911949],"aabb_xy":[[-0.4606217921349109,-1.2317703125945367],[-0.3506217937817319,-1.1217909630446214]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_14","position":[-0.38327084877207707,-0.42621251316124553,0.71338606911949],"aabb_xy":[[-0.39411132699859197,-0.44339879445189434],[-0.37243037054556216,-0.4090262318705967]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_15","position":[-0.5310280408094298,0.672595636988063,0.71338606911949],"aabb_xy":[[-0.5382718068556751,0.5925956387844606],[-0.5237842747631845,0.7525956351916654]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_16","position":[-0.2382927702441121,1.308593146142441,0.71338606911949],"aabb_xy":[[-0.27288385309815727,1.2435931458574099],[-0.20370168739006686,1.373593146427472]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_17","position":[-0.517534478077295,-0.5625743027120205,0.71338606911949],"aabb_xy":[[-0.5304063815782352,-0.6425743031258566],[-0.5046625745763549,-0.4825743022981844]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_18","position":[0.5824948188730346,1.455733486175561,0.71338606911949],"aabb_xy":[[0.5603222918963837,1.4335578190194378],[0.6046673458496854,1.477909153331684]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_19","position":[-0.3144040775863175,-1.469576154620722,0.71338606911949],"aabb_xy":[[-0.3744040781823337,-1.5243886271659455],[-0.2544040769903013,-1.4147636820754985]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_20","position":[-0.5326035786646284,-0.040593392495090086,0.71338606911949],"aabb_xy":[[-0.5694541266016161,-0.07809339331812382],[-0.4957530307276409,-0.003093391672056356]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_21","position":[0.01809731840688833,1.2793762379918414,0.71338606911949],"aabb_xy":[[0.005629960297152681,1.266910913358518],[0.03056467651662398,1.291841562625165]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_22","position":[-0.6285375196612037,-0.6033916764651635,0.71338606911949],"aabb_xy":[[-0.6521226431250987,-0.6683916787105952],[-0.604952396197309,-0.5383916742197317]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_23","position":[0.16848299428171587,1.3298703936008511,0.71338606911949],"aabb_xy":[[0.16440483637466613,1.3257894133525878],[0.1725611521887656,1.3339513738491144]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_24","position":[-0.3446683935678784,-2.3607641139794726,0.71338606911949],"aabb_xy":[[-0.3696683927335115,-2.367716359684829],[-0.31966839440224526,-2.353811868274116]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_25","position":[-0.33515628028952016,-0.15027546659855684,0.71338606911949],"aabb_xy":[[-0.4151562773037681,-0.1704100182719681],[-0.2551562832752721,-0.13014091492514557]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7009490733291239,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7862.png","name":"7862"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7862.png","name":"7862"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5840.png","name":"5840"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4509.png","name":"4509"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/621.png","name":"621"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6041.png","name":"6041"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":749.9533725781301,"rotation_z_degrees":80.89629445974994,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008568391210845707,0.012465116195898709,0.000296612238689941]},{"name":"camera_2","offset_m":[-0.018909462615643954,0.008922369256221994,-0.001832618026100255]},{"name":"camera_3","offset_m":[-0.0002414058370524448,0.0033239139339999307,0.010063971505622996]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00014109744846137282,-0.00020421955888027545,-0.0010682658596072132],"end_effector_yaw_offset_degrees":-0.35940348949788725},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0010291963403248788,0.0012921474167335869,0.0008572259096885338],"end_effector_yaw_offset_degrees":-0.4213741046024093},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[9.634775306283962e-05,0.0010937486179565252,-2.324488775634322e-05],"end_effector_yaw_offset_degrees":0.23432791814316056},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001897492181572557,-0.0011291888254869327,-3.4849659434000885e-05],"end_effector_yaw_offset_degrees":0.42967835374645014}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004468264518758708,0.002476117715719867],"position_m":[0.1844682645187587,-0.031123882284280133,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0029702894603343003,0.0016795369228208247],"position_m":[0.2749702894603343,-0.3656204630771792,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0009084796848378186,-0.002704232940043089],"position_m":[0.3209084796848378,0.35039576705995695,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0008748769305445469,-0.00401440894419573],"position_m":[0.33762512306945547,0.10448559105580427,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"27f844d2de9429f1e871004f4250c1059fda0e48c48d25aa38085de706abf597","episode_index":26,"episode_name":"episode_0026"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0026.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_7862/tex_ceiling_textures_6041/tex_floor_textures_621/tex_table_textures_5840/tex_wall_textures_4509","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":8743746230237035589,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":8743746230237035589,"visual_seed":8743746230237035589,"scene_id":"lab_003","finished_at":"2026-09-05T19:41:51"} +{"episode_id":"ep_000027","started_at":"2026-09-05T19:41:55","dimensions":{"distractor":{"count":28,"items":[{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_0","position":[-0.022182620833559707,-1.9576908202911523,0.71338606911949],"aabb_xy":[[-0.05897725395846598,-1.9945966953877345],[0.014612012291346569,-1.92078494519457]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_1","position":[0.0421313284105036,-1.460040701261333,0.71338606911949],"aabb_xy":[[0.030562347663567024,-1.4850407013782647],[0.053700309157440174,-1.4350407011444013]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_2","position":[-0.35757237147683996,0.7529445447061485,0.71338606911949],"aabb_xy":[[-0.4412945969769224,0.6629445411714524],[-0.2738501459767575,0.8429445482408443]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_3","position":[-0.05630136504931893,1.206887584733007,0.71338606911949],"aabb_xy":[[-0.09130136417927458,1.2011423636573428],[-0.021301365919363255,1.212632805808671]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_4","position":[-0.5921103702835946,0.9558089810644117,0.71338606911949],"aabb_xy":[[-0.6420834358161102,0.9058089812518789],[-0.5421373047510792,1.0058089808769446]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_5","position":[-0.4203936981573305,-1.4785271160059246,0.71338606911949],"aabb_xy":[[-0.4843937013759684,-1.5252502279049331],[-0.35639369493869266,-1.4318040041069164]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_6","position":[-0.5681352761950865,-0.6194592773291849,0.71338606911949],"aabb_xy":[[-0.5793803317657044,-0.6307010750532802],[-0.5568902206244687,-0.6082174796050897]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_7","position":[0.39228988792136965,-1.0423509161761708,0.71338606911949],"aabb_xy":[[0.33728988829962386,-1.0973346089636435],[0.44728988754311555,-0.9873672233886981]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_8","position":[0.18385470673702387,1.397500085856488,0.71338606911949],"aabb_xy":[[0.16921130118299088,1.3828413661997039],[0.19849811229105685,1.4121588055132723]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_9","position":[-0.5190025690368558,0.015848557756905635,0.71338606911949],"aabb_xy":[[-0.5650876602915873,-0.04815143949564947],[-0.4729174777821244,0.07984855500946074]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_10","position":[0.2743752292213222,1.0378972941000502,0.71338606911949],"aabb_xy":[[0.22656906160755347,0.9728972913929912],[0.3221813968350908,1.1028972968071091]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_11","position":[-0.26768034897337306,1.2129931423077758,0.71338606911949],"aabb_xy":[[-0.27301792463937763,1.187993141378636],[-0.2623427733073685,1.2379931432369156]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_12","position":[-0.6011961304478316,1.2972943805060533,0.71338606911949],"aabb_xy":[[-0.6651961277334802,1.2557876615532095],[-0.537196133162183,1.3388010994588975]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_13","position":[-0.5294209502024914,-0.40140926651072384,0.71338606911949],"aabb_xy":[[-0.5669209504946662,-0.40545074191132746],[-0.49192094991031654,-0.3973677911101202]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_14","position":[0.3120241019292218,-1.3293606599343348,0.71338606911949],"aabb_xy":[[0.2820324391953514,-1.3593606592711351],[0.3420157646630921,-1.299360660597534]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_15","position":[-0.19100173599312353,-0.5117157070783076,0.71338606911949],"aabb_xy":[[-0.20617390527475685,-0.526884564006511],[-0.17582956671149017,-0.49654685015010425]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_16","position":[0.5856417192034165,0.5853142861933707,0.71338606911949],"aabb_xy":[[0.5356417205574951,0.5353947425339082],[0.6356417178493375,0.6352338298528329]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_17","position":[-0.1463772031256827,1.7016206429724474,0.71338606911949],"aabb_xy":[[-0.1713772022913158,1.6946683972670906],[-0.12137720396004958,1.7085728886778038]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_18","position":[0.6071108046179889,-1.0230914858266777,0.71338606911949],"aabb_xy":[[0.5271108060306695,-1.1024070877648384],[0.6871108032053084,-0.9437758838885167]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_19","position":[0.33767981420542337,0.7287245916759,0.71338606911949],"aabb_xy":[[0.28768670209623154,0.6787245910017043],[0.38767292631461536,0.7787245923500957]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_20","position":[0.23632624519487855,-1.8327853406406722,0.71338606911949],"aabb_xy":[[0.16632624359259907,-1.8462181338423296],[0.30632624679715803,-1.8193525474390144]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_21","position":[0.6474032733250132,-1.9344703671866872,0.71338606911949],"aabb_xy":[[0.638056265742718,-1.948773989404331],[0.6567502809073085,-1.920166744969043]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_22","position":[-0.574154300244606,-0.7219830199870902,0.71338606911949],"aabb_xy":[[-0.5873852457792872,-0.7352104390090896],[-0.5609233547099246,-0.7087556009650907]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_23","position":[-0.48801070294310894,0.36848109141348173,0.71338606911949],"aabb_xy":[[-0.4977666924522827,0.3587185573542473],[-0.47825471343393494,0.37824362547271617]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_24","position":[0.36270520761467506,-1.4778306927773508,0.71338606911949],"aabb_xy":[[0.3127277907494215,-1.5278306942665991],[0.41268262447992865,-1.427830691288102]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_25","position":[-0.6019453260922948,-2.1308992238437288,0.71338606911949],"aabb_xy":[[-0.651929561800472,-2.1808992226572244],[-0.5519610903841176,-2.080899225030233]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_26","position":[0.6415387227243958,-1.368167781863933,0.71338606911949],"aabb_xy":[[0.5865455113872592,-1.4231677822027264],[0.6965319340615327,-1.3131677815251392]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_27","position":[0.586232297984411,-2.4833662632179707,0.71338606911949],"aabb_xy":[[0.5489010214591684,-2.518019318012823],[0.6235635745096536,-2.4487132084231185]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.701151316700554,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3251.png","name":"3251"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3251.png","name":"3251"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8118.png","name":"8118"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7144.png","name":"7144"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5984.png","name":"5984"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3776.png","name":"3776"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":799.8504942281379,"rotation_z_degrees":105.39427119681805,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008312375037023116,0.010657288062501418,0.017298964067098462]},{"name":"camera_2","offset_m":[-0.012866728949679315,0.019646970978726173,-0.019444652266566873]},{"name":"camera_3","offset_m":[0.004669260550584899,0.014109990932230494,-0.017251179057496506]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0001364857861446227,4.8079932696911375e-05,-0.0018358395088511573],"end_effector_yaw_offset_degrees":-0.4692533454565919},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0012380158261235735,-0.0007730839834827813,-0.0002220645389963854],"end_effector_yaw_offset_degrees":0.46453039675766705},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0017249534007264464,-0.0008291505989390067,0.00022792287367086718],"end_effector_yaw_offset_degrees":0.043254672002693395},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010235934559018976,-0.0006508183563169229,-0.0007060145708268513],"end_effector_yaw_offset_degrees":-0.9268128507364717}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003598413778526985,-0.004021455445562078],"position_m":[0.18359841377852698,-0.03762145544556208,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0006590289389836242,-0.002457907521120173],"position_m":[0.27265902893898364,-0.3697579075211202,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0009992453053201868,-0.0010233627115620895],"position_m":[0.3209992453053202,0.3520766372884379,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004080750563163889,0.004498373125263932],"position_m":[0.33441924943683615,0.11299837312526394,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"bcdb5fc04510a899f71a9e0152574dbadc29b590032b3e4a34fa88868e2858c4","episode_index":27,"episode_name":"episode_0027"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0027.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_3251/tex_ceiling_textures_3776/tex_floor_textures_5984/tex_table_textures_8118/tex_wall_textures_7144","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":596288506497183223,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":596288506497183223,"visual_seed":596288506497183223,"scene_id":"lab_003","finished_at":"2026-09-05T19:45:33"} +{"episode_id":"ep_000028","started_at":"2026-09-05T19:45:36","dimensions":{"distractor":{"count":28,"items":[{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_0","position":[-0.3298088152633454,0.4110304733245287,0.71338606911949],"aabb_xy":[[-0.38980881690626723,0.35903032403258456],[-0.2698088136204235,0.46303062261647293]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_1","position":[-0.3221839381561826,0.7179721709030087,0.71338606911949],"aabb_xy":[[-0.38618393544183127,0.6764654519501647],[-0.258183940870534,0.7594788898558527]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_2","position":[-0.4074015059143808,1.2133185658221675,0.71338606911949],"aabb_xy":[[-0.41131537910980326,1.2045695504156104],[-0.4034876327189582,1.222067581228724]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_3","position":[-0.07683659546102384,-0.9312508671782067,0.71338606911949],"aabb_xy":[[-0.1143365952780574,-0.9358890784893485],[-0.03933659564399028,-0.9266126558670649]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_4","position":[-0.5579372165500635,0.7893474311408477,0.71338606911949],"aabb_xy":[[-0.5952684930753062,0.7546943763459955],[-0.520605940024821,0.8240004859357]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_5","position":[-0.6217354322128941,1.113718304113073,0.71338606911949],"aabb_xy":[[-0.6270730078788986,1.0887183031839331],[-0.6163978565468895,1.1387183050422127]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_6","position":[-0.5264101973752592,-0.41493257931216654,0.71338606911949],"aabb_xy":[[-0.5677147404389952,-0.4789325788802836],[-0.4851056543115232,-0.35093257974404946]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_7","position":[-0.10618024938523662,-1.6275528518632871,0.71338606911949],"aabb_xy":[[-0.15618024974580266,-1.67753283907289],[-0.05618024902467055,-1.5775728646536842]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_8","position":[-0.37325011109982054,-0.29629777138700986,0.71338606911949],"aabb_xy":[[-0.38410171734869614,-0.3071570621146609],[-0.36239850485094494,-0.28543848065935884]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_9","position":[-0.3314470637677427,-1.9435808475962535,0.71338606911949],"aabb_xy":[[-0.3489937586838616,-1.981080849160505],[-0.31390036885162376,-1.9060808460320025]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_10","position":[0.6680785488212213,-1.0943869481353377,0.71338606911949],"aabb_xy":[[0.6140629525393212,-1.1583869510275948],[0.7220941451031212,-1.0303869452430805]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_11","position":[-0.3553285338848821,-2.4049247101228204,0.71338606911949],"aabb_xy":[[-0.39282853506967486,-2.4093429328188805],[-0.31782853270008926,-2.4005064874267594]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_12","position":[-0.0027885874027857582,-1.9166267445360419,0.71338606911949],"aabb_xy":[[-0.08278858956554824,-1.9965819281621853],[0.07721141475997673,-1.836671560909898]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_13","position":[-0.17258952411986206,-1.1510568289742698,0.71338606911949],"aabb_xy":[[-0.2225895257813568,-1.201055271229972],[-0.12258952245836728,-1.1010583867185666]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_14","position":[0.5361651548623567,-2.4607501061066435,0.71338606911949],"aabb_xy":[[0.4900800636076252,-2.5247501033591986],[0.5822502461170881,-2.3967501088540883]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_15","position":[0.3912828444711758,-1.8964039509742563,0.71338606911949],"aabb_xy":[[0.3412880115432342,-1.9464039498694998],[0.4412776773991174,-1.8464039520790128]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_16","position":[-0.2820885624278866,-0.8600113587810989,0.71338606911949],"aabb_xy":[[-0.304588562241789,-0.8644859751515797],[-0.2595885626139842,-0.8555367424106182]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_17","position":[0.16938745597539828,-1.1040551899059057,0.71338606911949],"aabb_xy":[[0.11940450578791893,-1.154055189548466],[0.2193704061628776,-1.0540551902633453]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_18","position":[-0.5671920929799522,-0.06102287181024302,0.71338606911949],"aabb_xy":[[-0.6171709014902681,-0.11102287181596182],[-0.5172132844696363,-0.011022871804524222]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_19","position":[-0.6367206946763029,-2.322501887068741,0.71338606911949],"aabb_xy":[[-0.6866033915539992,-2.372501886315016],[-0.5868379977986068,-2.2725018878224663]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_20","position":[0.6276131195194441,0.08809117521472354,0.71338606911949],"aabb_xy":[[0.5576131168828576,0.06798631021885802],[0.6976131221560303,0.10819604021058903]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_21","position":[-0.30969925017244043,-2.549370937201872,0.71338606911949],"aabb_xy":[[-0.33216402014384555,-2.571870938080732],[-0.2872344802010353,-2.526870936323011]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_22","position":[-0.28883542118474587,-0.5889381980498702,0.71338606911949],"aabb_xy":[[-0.352835424474454,-0.6322731170537877],[-0.22483541789503778,-0.5456032790459525]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_23","position":[-0.335260007707123,-1.172154797895006,0.71338606911949],"aabb_xy":[[-0.38523742457237653,-1.2221547993842543],[-0.28528259084186935,-1.1221547964057572]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_24","position":[-0.6729713557776325,-1.0281755051509378,0.71338606911949],"aabb_xy":[[-0.6793851694208173,-1.034585325398606],[-0.6665575421344474,-1.0217656849032692]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_25","position":[0.2544962266855616,-0.6315094931050946,0.71338606911949],"aabb_xy":[[0.20449622573502874,-0.663058640108616],[0.30449622763609435,-0.5999603461015732]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_26","position":[-0.23225930920354043,-1.53121526816765,0.71338606911949],"aabb_xy":[[-0.24570583583758374,-1.5446851198207412],[-0.21881278256949707,-1.517745416514559]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_27","position":[-0.6281284626400867,1.6831759999064535,0.71338606911949],"aabb_xy":[[-0.6463342863013344,1.6721505993244619],[-0.609922638978839,1.6942014004884451]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6988214761284174,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5503.png","name":"5503"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5503.png","name":"5503"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4492.png","name":"4492"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8033.png","name":"8033"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4479.png","name":"4479"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4390.png","name":"4390"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":643.4667191050844,"rotation_z_degrees":275.7007984097228,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01687374256289041,0.004298756863312412,-0.00032262981627923307]},{"name":"camera_2","offset_m":[0.003358821690097793,0.007688449243169235,-0.0025460123771033315]},{"name":"camera_3","offset_m":[-0.015219604011093981,0.004057022916852889,0.018024980711345413]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0004990137248983121,-0.0017855272860462096,0.0006845714715068862],"end_effector_yaw_offset_degrees":0.4689646395969451},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0007977278464982012,0.00012341388303191122,0.0012078073540620331],"end_effector_yaw_offset_degrees":0.45489404820445745},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.000323320969432987,0.0003123720572497852,0.0016525890801759578],"end_effector_yaw_offset_degrees":-0.3312554707308937},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001143488729453317,-0.000677895380100821,-0.001305756098340573],"end_effector_yaw_offset_degrees":0.5176864257583877}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0008794445242420179,-0.001978236816779765],"position_m":[0.180879444524242,-0.03557823681677976,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0002522331703986372,0.0013167136830189918],"position_m":[0.27225223317039865,-0.365983286316981,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0015333831197264169,-0.002349460237918659],"position_m":[0.3184666168802736,0.35075053976208137,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004388446383322993,-9.792191348679223e-05],"position_m":[0.342888446383323,0.10840207808651321,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"62a0079f4d2a85e705f006bd306b577abf43de0def693fcc84348a5c49a1f6c5","episode_index":28,"episode_name":"episode_0028"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0028.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_5503/tex_ceiling_textures_4390/tex_floor_textures_4479/tex_table_textures_4492/tex_wall_textures_8033","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":8387177174657876403,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":8387177174657876403,"visual_seed":8387177174657876403,"scene_id":"lab_003","finished_at":"2026-09-05T19:49:08"} +{"episode_id":"ep_000029","started_at":"2026-09-05T19:49:12","dimensions":{"distractor":{"count":24,"items":[{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_0","position":[-0.12594127622100504,-2.391413520244197,0.71338606911949],"aabb_xy":[[-0.16344127616477144,-2.399706610279033],[-0.08844127627723863,-2.38312043020936]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_1","position":[0.08926310929046555,-2.3563581722365226,0.71338606911949],"aabb_xy":[[0.019263105898903562,-2.391673945939953],[0.1592631126820275,-2.3210423985330912]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_2","position":[-0.5532265195887041,1.1192623418672727,0.71338606911949],"aabb_xy":[[-0.5882265209401857,1.0989026059104519],[-0.5182265182372222,1.1396220778240935]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_3","position":[-0.09683052888398713,-2.040555446124296,0.71338606911949],"aabb_xy":[[-0.11116495401015057,-2.0526156616788347],[-0.08249610375782367,-2.0284952305697574]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_4","position":[0.5081945008313864,1.150071187186243,0.71338606911949],"aabb_xy":[[0.4581944995475464,1.1000923327956207],[0.5581945021152263,1.200050041576865]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_5","position":[0.4461836271104205,-2.086428253730329,0.71338606911949],"aabb_xy":[[0.36618363009617255,-2.1065628054037404],[0.5261836241246685,-2.0662937020569174]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_6","position":[0.1990015164724538,-2.5580481833906177,0.71338606911949],"aabb_xy":[[0.1813686808789262,-2.57567112940624],[0.21663435206598133,-2.5404252373749943]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_7","position":[-0.3789149270643014,0.1849709644946822,0.71338606911949],"aabb_xy":[[-0.44891492866658095,0.17153817129302465],[-0.308914925462022,0.1984037576963398]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_8","position":[0.23708202233684006,1.3841087402580827,0.71338606911949],"aabb_xy":[[0.2179697149788612,1.3649739613808407],[0.2561943296948189,1.4032435191353247]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_9","position":[-0.4613595883738058,1.6544302186302828,0.71338606911949],"aabb_xy":[[-0.47221119462268135,1.6435709279026314],[-0.45050798212493015,1.6652895093579334]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_10","position":[-0.43964966192515204,-1.976243153914842,0.71338606911949],"aabb_xy":[[-0.4621496617390544,-1.9807177702853231],[-0.41714966211124965,-1.9717685375443617]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_11","position":[-0.29711760624361083,1.5172361862599542,0.71338606911949],"aabb_xy":[[-0.347000303121307,1.4672361870136796],[-0.24723490936591458,1.5672361855062293]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_12","position":[-0.27732698916981335,-1.9759825493855148,0.71338606911949],"aabb_xy":[[-0.34132699238845127,-2.0227056612845233],[-0.21332698595117555,-1.9292594374865066]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_13","position":[0.18140208430965465,1.0447049742177836,0.71338606911949],"aabb_xy":[[0.1615110444293144,1.0320491629330868],[0.20129312418999493,1.0573607855024805]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_14","position":[-0.5432723141398335,0.7110648034500735,0.71338606911949],"aabb_xy":[[-0.5982723133164228,0.6560751286751159],[-0.48827231496324386,0.7660544782250311]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_15","position":[0.6290820092751481,0.5015360520526406,0.71338606911949],"aabb_xy":[[0.5940820093791292,0.49316181654070074],[0.664082009171167,0.5099102875645806]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_16","position":[-0.03663360217770806,-1.1709191490818036,0.71338606911949],"aabb_xy":[[-0.08663360312824087,-1.202468296085325],[0.01336639877282475,-1.1393700020782822]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_17","position":[-0.1901597359350199,-1.3733660513335975,0.71338606911949],"aabb_xy":[[-0.2551597359693226,-1.4200667280139248],[-0.12515973590071716,-1.3266653746532702]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_18","position":[0.184017766717687,-2.0621880030728654,0.71338606911949],"aabb_xy":[[0.14547207389248595,-2.1007337741290546],[0.22256345954288803,-2.023642232016677]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_19","position":[0.44704730607600074,1.434791732732855,0.71338606911949],"aabb_xy":[[0.4344205187888044,1.425245659031282],[0.4596740933631971,1.4443378064344279]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_20","position":[0.5347161184084399,-1.0330209558641696,0.71338606911949],"aabb_xy":[[0.5228440353969389,-1.11802095555782],[0.5465882014199411,-0.9480209561705193]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_21","position":[0.46250966048490527,-0.19770447679613978,0.71338606911949],"aabb_xy":[[0.4496377569839651,-0.2777044772099759],[0.47538156398584536,-0.11770447638230362]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_22","position":[0.14700562792281102,-2.2211916971216508,0.71338606911949],"aabb_xy":[[0.08300563149548912,-2.268361320943747],[0.21100562435013293,-2.1740220732995543]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_23","position":[-0.5514035091148476,-2.22643336765731,0.71338606911949],"aabb_xy":[[-0.5601014714055629,-2.2385583419647848],[-0.5427055468241323,-2.2143083933498353]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6981970718011997,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7186.png","name":"7186"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7186.png","name":"7186"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6611.png","name":"6611"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5873.png","name":"5873"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1588.png","name":"1588"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/964.png","name":"964"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":667.2422672239642,"rotation_z_degrees":220.32111364991516,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006995257899672341,0.0065410252661529285,-0.0184803563762733]},{"name":"camera_2","offset_m":[-0.017410458739368643,0.00744232077552149,0.01263985069736916]},{"name":"camera_3","offset_m":[-0.016695882757387582,0.006949912646805435,-0.014868435863965183]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001081126449281568,-0.0007221168011098001,0.0014544103920470946],"end_effector_yaw_offset_degrees":0.3441624601545914},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0018529442580197853,-0.00025188863820978474,-0.0006634233108948023],"end_effector_yaw_offset_degrees":0.3038270066076365},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00042792131260241655,-0.001197241853754393,-0.00022833737137887807],"end_effector_yaw_offset_degrees":-0.673170554414775},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0017075420330210842,0.0015884917217454369,0.001330464430914475],"end_effector_yaw_offset_degrees":0.14013397551153273}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003610516055859319,0.002546974064609884],"position_m":[0.18361051605585932,-0.031053025935390114,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0014212590422931527,0.004425004785237771],"position_m":[0.2734212590422932,-0.36287499521476224,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004441788580368182,0.000821555972620425],"position_m":[0.3244417885803682,0.3539215559726204,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002195928670491137,-0.004633397244194192],"position_m":[0.34069592867049114,0.10386660275580581,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"13ab77451b02ea835f50b9846e1bfe3e9483d673779847b802aec2275de4a1f0","episode_index":29,"episode_name":"episode_0029"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0029.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_7186/tex_ceiling_textures_964/tex_floor_textures_1588/tex_table_textures_6611/tex_wall_textures_5873","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":6653085847778042374,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":6653085847778042374,"visual_seed":6653085847778042374,"scene_id":"lab_003","finished_at":"2026-09-05T19:52:47"} +{"episode_id":"ep_000030","started_at":"2026-09-05T19:52:51","dimensions":{"distractor":{"count":31,"items":[{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_0","position":[0.0010421937090687727,1.7277682454524723,0.71338606911949],"aabb_xy":[[-0.016059884249299383,1.7106614399212026],[0.01814427166743693,1.744875050983742]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_1","position":[-0.052349893985148666,1.1560248809122964,0.71338606911949],"aabb_xy":[[-0.059390203918685665,1.076024881512625],[-0.04530958405161167,1.2360248803119678]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_2","position":[0.28268880387245954,-2.227643360026387,0.71338606911949],"aabb_xy":[[0.26481969611800404,-2.241476268003598],[0.30055791162691503,-2.213810452049176]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_3","position":[0.337043953889844,-1.8239689763916496,0.71338606911949],"aabb_xy":[[0.3181595701213338,-1.8428549011720023],[0.3559283376583542,-1.8050830516112968]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_4","position":[0.5526664419283451,1.259648119692078,0.71338606911949],"aabb_xy":[[0.5191872746673042,1.226169006320971],[0.5861456091893861,1.2931272330631849]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_5","position":[0.35529471234663323,0.5316168266349295,0.71338606911949],"aabb_xy":[[0.3375012054117168,0.5138170810391318],[0.37308821928154967,0.5494165722307272]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_6","position":[0.4997291334214824,0.8199291755283808,0.71338606911949],"aabb_xy":[[0.4587111900351115,0.7699291748974236],[0.5407470768078533,0.8699291761593383]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_7","position":[0.3296736628747772,-0.7399709577365061,0.71338606911949],"aabb_xy":[[0.3259704015456382,-0.7436729760452239],[0.333376924203916,-0.7362689394277881]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_8","position":[-0.11215745936492283,0.05514048613714584,0.71338606911949],"aabb_xy":[[-0.12965745962425948,0.04104894394837323],[-0.09465745910558623,0.06923202832591849]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_9","position":[0.4663125189024848,-1.3146867391165498,0.71338606911949],"aabb_xy":[[0.4013125179453576,-1.3666349510502553],[0.531312519859612,-1.2627385271828442]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_10","position":[0.6265802383074457,1.7164070304101586,0.71338606911949],"aabb_xy":[[0.6171627637375829,1.7069908532724398],[0.6359977128773084,1.7258232075478779]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_11","position":[0.25994101266630476,0.6045760096155544,0.71338606911949],"aabb_xy":[[0.25267976509589735,0.5917889993520449],[0.2672022602367122,0.6173630198790638]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_12","position":[-0.016900464706910756,-2.041738893322082,0.71338606911949],"aabb_xy":[[-0.08090046792554861,-2.0884620052210905],[0.0470995385117271,-1.9950157814230738]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_13","position":[0.4912949381643614,-0.5777380500430898,0.71338606911949],"aabb_xy":[[0.46878124634090423,-0.6477380506440972],[0.5138086299878186,-0.5077380494420821]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_14","position":[-0.004672715328890464,-1.536530869280881,0.71338606911949],"aabb_xy":[[-0.043218408154091496,-1.5750766403370695],[0.03387297749631057,-1.497985098224692]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_15","position":[0.5999430577397817,-1.796736252793087,0.71338606911949],"aabb_xy":[[0.590649439502631,-1.834236251281221],[0.6092366759769322,-1.7592362543049531]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_16","position":[0.3321429534753717,-1.373508606704689,0.71338606911949],"aabb_xy":[[0.3282290802799492,-1.3822576221112457],[0.33605682667079423,-1.364759591298132]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_17","position":[-0.18922925839083626,0.07793073180303134,0.71338606911949],"aabb_xy":[[-0.20008086463971186,0.06707144107538032],[-0.17837765214196066,0.08879002253068236]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_18","position":[-0.5998107716235,-0.94960248398327,0.71338606911949],"aabb_xy":[[-0.6898107681243718,-0.9955141264017282],[-0.5098107751226283,-0.9036908415648117]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_19","position":[0.6685010352212359,0.8557715107832804,0.71338606911949],"aabb_xy":[[0.623329717373067,0.7917715136387422],[0.7136723530694049,0.919771507927819]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_20","position":[0.2505332325510432,-1.04187032081638,0.71338606911949],"aabb_xy":[[0.20054012044185132,-1.0918703214905756],[0.3005263446602351,-0.9918703201421843]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_21","position":[-0.33359346113326743,-0.8843645745658018,0.71338606911949],"aabb_xy":[[-0.34100591667465585,-0.8902157849874298],[-0.3261810055918789,-0.8785133641441739]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_22","position":[-0.5962741588763335,0.029850663310159842,0.71338606911949],"aabb_xy":[[-0.6461568557540297,-0.02014933593611491],[-0.5463914619986373,0.07985066255643458]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_23","position":[-0.10106732846228683,-1.8753041846846763,0.71338606911949],"aabb_xy":[[-0.14231613949220154,-1.9303041841968938],[-0.05981851743237209,-1.8203041851724588]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_24","position":[-0.4118307084475319,-0.24799299683531784,0.71338606911949],"aabb_xy":[[-0.4668261862681912,-0.30299299826922477],[-0.35683523062687245,-0.19299299540141088]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_25","position":[0.2611061697734056,-1.9754935005479335,0.71338606911949],"aabb_xy":[[0.2562625750121757,-1.9803451530269178],[0.26594976453463565,-1.9706418480689496]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_26","position":[0.13572280148032934,-0.8651287919114803,0.71338606911949],"aabb_xy":[[0.055728977901771115,-0.9451287945043219],[0.21571662505888756,-0.7851287893186387]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_27","position":[-0.15978420926731807,0.2068436065508643,0.71338606911949],"aabb_xy":[[-0.20960098873215283,0.15684360806656092],[-0.10996742980248331,0.2568436050351677]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_28","position":[-0.12422048737194602,-2.4108845871429505,0.71338606911949],"aabb_xy":[[-0.18822048666611424,-2.474870727511805],[-0.0602204880777778,-2.3468984467740968]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_29","position":[0.14846389468959276,1.2589786233475673,0.71338606911949],"aabb_xy":[[0.13762341646307785,1.2417923420569184],[0.15930437291610766,1.2761649046382157]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_30","position":[0.5627100475021369,-0.04383423541931286,0.71338606911949],"aabb_xy":[[0.5127150365426849,-0.0938342344549046],[0.612705058461589,0.006165763616278861]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7030514696364053,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4127.png","name":"4127"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4127.png","name":"4127"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1641.png","name":"1641"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9496.png","name":"9496"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9264.png","name":"9264"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/998.png","name":"998"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":706.9436593022377,"rotation_z_degrees":215.82585950170534,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00562726646337906,-0.009921576352016258,0.018648585385802535]},{"name":"camera_2","offset_m":[0.003225468868593321,-0.011718366156352418,0.003361867139509884]},{"name":"camera_3","offset_m":[-0.007942192670338688,-0.01604784549514452,-0.012338148306015456]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00037185507927094087,0.0015314542472644474,-0.0008462564378675062],"end_effector_yaw_offset_degrees":0.9564142610033932},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0007424250868730781,0.001906431615620186,0.0014009804290007195],"end_effector_yaw_offset_degrees":-0.8980901577532054},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001759591963342015,-0.0015886949419116575,-0.0014269802755050268],"end_effector_yaw_offset_degrees":0.17829388605796948},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00015417578298926272,0.001205279715273927,-0.0016600991406480153],"end_effector_yaw_offset_degrees":-0.9406084795584673}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0034652770067735007,-0.0010040813558686102],"position_m":[0.1765347229932265,-0.03460408135586861,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004226379403514806,-0.00029503407596867797],"position_m":[0.2762263794035148,-0.3675950340759687,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0035230969916878766,-0.004852289986915403],"position_m":[0.3164769030083121,0.34824771001308463,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004784211217119371,0.004706509895658567],"position_m":[0.33371578878288066,0.11320650989565857,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b92cf582cfc65e7c472cb32aee358cb0a73d0db1924853f8b5db1631a74dc5bc","episode_index":30,"episode_name":"episode_0030"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0030.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_4127/tex_ceiling_textures_998/tex_floor_textures_9264/tex_table_textures_1641/tex_wall_textures_9496","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":6268603383261196948,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":6268603383261196948,"visual_seed":6268603383261196948,"scene_id":"lab_003","finished_at":"2026-09-05T19:55:51"} +{"episode_id":"ep_000031","started_at":"2026-09-05T19:58:13","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_0","position":[-0.5408055504029599,-1.1103085021071941,0.71338606911949],"aabb_xy":[[-0.6048055477053063,-1.1546749290750509],[-0.47680555310061346,-1.0659420751393374]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_1","position":[-0.1570542603778664,-1.8163542369167316,0.71338606911949],"aabb_xy":[[-0.18489929715847353,-1.8471387356550435],[-0.12920922359725928,-1.7855697381784201]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_2","position":[-0.42896879569017177,-0.1088681367984714,0.71338606911949],"aabb_xy":[[-0.4414361537999074,-0.12133346143179492],[-0.4165014375804361,-0.09640281216514791]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_3","position":[-0.05148161430292986,0.881030368026877,0.71338606911949],"aabb_xy":[[-0.10148161566381708,0.8310524634514612],[-0.0014816129420426383,0.9310082726022925]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_4","position":[-0.12573124317444628,-1.9974905514790504,0.71338606911949],"aabb_xy":[[-0.1757312441249791,-2.0290396984825714],[-0.07573124222391348,-1.9659414044755286]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_5","position":[0.4576196519566673,0.28519836346944016,0.71338606911949],"aabb_xy":[[0.39361964873802946,0.2384752515704318],[0.5216196551753052,0.3319214753684485]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_6","position":[-0.09687596766138573,1.367862395226711,0.71338606911949],"aabb_xy":[[-0.16087596793536396,1.317796295029423],[-0.0328759673874075,1.417928495423999]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_7","position":[0.3230217263076891,-2.5636819801437154,0.71338606911949],"aabb_xy":[[0.30552172606263966,-2.581181767983282],[0.34052172655273844,-2.546182192304148]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_8","position":[0.33293318011598294,-2.046415952010228,0.71338606911949],"aabb_xy":[[0.3083869644932322,-2.076664848559265],[0.35747939573873366,-2.016167055461191]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_9","position":[0.38478374399568116,-1.453972650038441,0.71338606911949],"aabb_xy":[[0.37753997794943583,-1.533972648242043],[0.3920275100419265,-1.3739726518348383]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_10","position":[-0.6220688984423792,-0.11773990740594709,0.71338606911949],"aabb_xy":[[-0.6445688984525275,-0.13183612704555037],[-0.5995688984322309,-0.10364368776634382]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_11","position":[0.26748436667450415,-1.5609064598736127,0.71338606911949],"aabb_xy":[[0.23302188866141638,-1.5675701370565354],[0.3019468446875919,-1.55424278269069]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_12","position":[0.11186360988002031,-2.321719757197043,0.71338606911949],"aabb_xy":[[0.06186360886088506,-2.358185972934871],[0.1618636108991556,-2.285253541459215]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_13","position":[-0.5125524293890357,-0.26126353963659543,0.71338606911949],"aabb_xy":[[-0.5233254033104034,-0.2962635378556345],[-0.5017794554676679,-0.2262635414175565]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_14","position":[-0.5796484651640285,-0.7523914111331849,0.71338606911949],"aabb_xy":[[-0.6296484668255231,-0.8023898533888875],[-0.5296484635025336,-0.702392968877482]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_15","position":[0.6034743280859658,0.1665682197819378,0.71338606911949],"aabb_xy":[[0.5831900253625669,0.1462855946392289],[0.6237586308093644,0.1868508449246466]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_16","position":[-0.381927060553967,-0.734623558961492,0.71338606911949],"aabb_xy":[[-0.3997961683084225,-0.748456466938703],[-0.36405795279951153,-0.7207906509842812]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_17","position":[-0.3176593190510609,1.6944775288087297,0.71338606911949],"aabb_xy":[[-0.3225029138122909,1.6896258763297456],[-0.31281572428983095,1.6993291812877138]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_18","position":[0.02719677220947314,0.7613278642836243,0.71338606911949],"aabb_xy":[[-0.010303227607560424,0.7566896529724825],[0.0646967720265067,0.7659660755947661]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_19","position":[-0.0572997041829576,-1.0067020039871986,0.71338606911949],"aabb_xy":[[-0.06738141126153108,-1.086702001879313],[-0.04721799710438412,-0.9267020060950837]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_20","position":[-0.6187386858336296,-2.3117077546918505,0.71338606911949],"aabb_xy":[[-0.6409112128102803,-2.333883421847973],[-0.5965661588569786,-2.289532087535727]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_21","position":[-0.25101272824130116,-0.10022883765971269,0.71338606911949],"aabb_xy":[[-0.2582739758117086,-0.11301584792322218],[-0.24375148067089375,-0.08744182739620322]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_22","position":[-0.6247436763017298,-2.0363947614715934,0.71338606911949],"aabb_xy":[[-0.6622436762454962,-2.04468785150643],[-0.5872436763579634,-2.028101671436757]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7016504625909888,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9559.png","name":"9559"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9559.png","name":"9559"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/393.png","name":"393"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/235.png","name":"235"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7505.png","name":"7505"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8885.png","name":"8885"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":848.5026088048933,"rotation_z_degrees":337.6220523397941,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01033726592412736,0.019310741708084164,0.008527312641794568]},{"name":"camera_2","offset_m":[0.00745521750003773,0.003599164028215581,-0.005149668567225754]},{"name":"camera_3","offset_m":[-0.018050175040627742,0.01470103782970059,0.011875038273793829]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0009979661871662542,-0.00026862342439187663,0.0012299465740855924],"end_effector_yaw_offset_degrees":0.42626986457198535},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0003991048221220839,-0.0010389924133802032,-0.0008724171690248368],"end_effector_yaw_offset_degrees":0.9632536686252056},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00164571691107204,-0.000604458398936063,0.0010891253233416037],"end_effector_yaw_offset_degrees":-0.08019797289104735},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001281465385383312,0.001980077612323926,-0.0019414345879045075],"end_effector_yaw_offset_degrees":0.9665041284108022}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0012765302429983303,0.002909757968436952],"position_m":[0.17872346975700165,-0.030690242031563047,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00035438433422958163,-0.003892625980920397],"position_m":[0.2723543843342296,-0.3711926259809204,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0011519993961337694,-0.0018388061512487931],"position_m":[0.31884800060386626,0.3512611938487512,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0031984666612001828,-0.00023507344158527933],"position_m":[0.3416984666612002,0.10826492655841471,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"564e11f0dee0d466ac1a35c2b7f8b71e34e1ff980bc771df80c6ccaa00d8cc02","episode_index":32,"episode_name":"episode_0032"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0032.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_9559/tex_ceiling_textures_8885/tex_floor_textures_7505/tex_table_textures_393/tex_wall_textures_235","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":8718484485302216363,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":8718484485302216363,"visual_seed":8718484485302216363,"scene_id":"lab_003","finished_at":"2026-09-05T20:01:38"} +{"episode_id":"ep_000032","started_at":"2026-09-05T20:01:42","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_0","position":[-0.2965976182360063,-1.789915109909478,0.71338606911949],"aabb_xy":[[-0.3005114914314288,-1.7986641253160347],[-0.29268374504058375,-1.781166094502921]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_1","position":[0.45678076595987593,-2.3857139213028,0.71338606911949],"aabb_xy":[[0.4474337583775807,-2.400017543520444],[0.46612777354217116,-2.3714102990851558]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_2","position":[-0.5641039924258009,1.6078809566283998,0.71338606911949],"aabb_xy":[[-0.628103988821374,1.5439176682096662],[-0.5001039960302278,1.6718442450471334]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_3","position":[0.562601784356392,-0.3985741171573447,0.71338606911949],"aabb_xy":[[0.547438911379455,-0.4137395744524635],[0.5777646573333292,-0.383408659862226]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_4","position":[-0.371833522218989,-1.458463934129796,0.71338606911949],"aabb_xy":[[-0.37667711698021905,-1.4633155866087804],[-0.3669899274577591,-1.4536122816508121]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_5","position":[0.3606596074812465,-1.7078719098256778,0.71338606911949],"aabb_xy":[[0.3370744840173516,-1.7728719120711096],[0.38424473094514133,-1.642871907580246]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_6","position":[-0.07477697482727952,-0.7398438088242305,0.71338606911949],"aabb_xy":[[-0.08670970918910759,-0.75222596163209],[-0.06284424046545145,-0.7274616560163712]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_7","position":[-0.5018686417572709,-2.427868010982506,0.71338606911949],"aabb_xy":[[-0.5243686412809782,-2.4503639584331265],[-0.4793686422335634,-2.405372063531885]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_8","position":[-0.1761260395057277,-0.5164263693452207,0.71338606911949],"aabb_xy":[[-0.21362604029772314,-0.5227942103034108],[-0.13862603871373225,-0.5100585283870306]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_9","position":[0.3138834278121152,-0.7423220509267909,0.71338606911949],"aabb_xy":[[0.24888342777781247,-0.7890227276071182],[0.37888342784641793,-0.6956213742464636]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_10","position":[-0.3233370168528804,-0.080302354481955,0.71338606911949],"aabb_xy":[[-0.3408369502868638,-0.09780235440218953],[-0.30583708341889704,-0.06280235456172044]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_11","position":[-0.3961120922512997,-2.2739744123272465,0.71338606911949],"aabb_xy":[[-0.44611209361218696,-2.323952316902662],[-0.3461120908904125,-2.223996507751831]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_12","position":[0.5838952698040456,-1.6818993690606923,0.71338606911949],"aabb_xy":[[0.5756807246883614,-1.6905759593583332],[0.5921098149197294,-1.6732227787630505]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_13","position":[0.6980463981067642,1.0357333040371355,0.71338606911949],"aabb_xy":[[0.6864774173598277,1.010733303920204],[0.7096153788537009,1.0607333041540674]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_14","position":[-0.5953326299581793,-1.3292905809855864,0.71338606911949],"aabb_xy":[[-0.6172223775471201,-1.4192905782748355],[-0.5734428823692385,-1.2392905836963373]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_15","position":[-0.32608767421916174,-2.039819596533653,0.71338606911949],"aabb_xy":[[-0.41108767263658497,-2.124693891995938],[-0.2410876758017385,-1.9549453010713682]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_16","position":[0.12555806032734929,-0.8178691808597738,0.71338606911949],"aabb_xy":[[0.10305805981530869,-0.840361039225172],[0.14805806083938988,-0.7953773224943753]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_17","position":[0.22408543532854241,-2.341861055269172,0.71338606911949],"aabb_xy":[[0.2191861430219789,-2.369537974571741],[0.22898472763510588,-2.3141841359666033]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_18","position":[-0.5109508992048035,0.7327212221001007,0.71338606911949],"aabb_xy":[[-0.5459508991008223,0.7243469865881607],[-0.4759508993087846,0.7410954576120405]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_19","position":[-0.26309845729498016,-1.2336121810598564,0.71338606911949],"aabb_xy":[[-0.29687401648567313,-1.2476506762730213],[-0.2293228981042872,-1.2195736858466915]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_20","position":[0.2768778145156333,0.615402340499537,0.71338606911949],"aabb_xy":[[0.26712182500645937,0.6056398064403026],[0.28663380402480715,0.6251648745587715]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_21","position":[0.07816424850719028,-1.0100470617750381,0.71338606911949],"aabb_xy":[[0.0740482983951176,-1.0141626168078834],[0.08228019861926293,-1.0059315067421923]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_22","position":[-0.09307575781628252,1.5762508401528703,0.71338606911949],"aabb_xy":[[-0.14304882334879798,1.5262508403403376],[-0.043102692283767056,1.6262508399654034]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_23","position":[-0.2919089380036012,-0.9154292847102354,0.71338606911949],"aabb_xy":[[-0.3519089388644139,-0.9668557147167218],[-0.2319089371427883,-0.864002854703749]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_24","position":[0.18721905275275474,-1.4560478644510557,0.71338606911949],"aabb_xy":[[0.13723610256527538,-1.5060478640936157],[0.23720200294023405,-1.4060478648084949]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_25","position":[0.4413899170010007,1.8038660889017124,0.71338606911949],"aabb_xy":[[0.3713899205910388,1.7834281532500305],[0.5113899134109623,1.824304024553394]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_26","position":[0.6333030623122986,0.5260392088001473,0.71338606911949],"aabb_xy":[[0.5683030637552259,0.4962866753862647],[0.6983030608693716,0.5557917422140299]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_27","position":[-0.40699559365703325,1.1100723952063158,0.71338606911949],"aabb_xy":[[-0.43747984378406335,1.06007239542482],[-0.37651134353000304,1.1600723949878118]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_28","position":[0.4581788078750444,-1.414423447209109,0.71338606911949],"aabb_xy":[[0.4168742648113084,-1.478423446777226],[0.4994833509387804,-1.3504234476409918]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_29","position":[-0.5637727994170384,1.7629498843275493,0.71338606911949],"aabb_xy":[[-0.6012727995226312,1.756127722474568],[-0.5262727993114453,1.7697720461805302]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_30","position":[-0.4408241462118093,0.931491104609707,0.71338606911949],"aabb_xy":[[-0.46088255782504967,0.9114260177005494],[-0.4207657345985691,0.9515561915188645]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_31","position":[-0.10331527584914368,1.4342324561716517,0.71338606911949],"aabb_xy":[[-0.12152109951039138,1.42320705558966],[-0.08510945218789602,1.4452578567536434]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_32","position":[0.6935723540251955,0.08583412138317392,0.71338606911949],"aabb_xy":[[0.6847702987162227,0.07802279522824483],[0.7023744093341682,0.09364544753810299]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_33","position":[0.3553264795712401,-1.1628260931101584,0.71338606911949],"aabb_xy":[[0.27160425407115757,-1.2528260966448543],[0.4390487050713225,-1.0728260895754624]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.699711403420406,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7040.png","name":"7040"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7040.png","name":"7040"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6891.png","name":"6891"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8961.png","name":"8961"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2566.png","name":"2566"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/826.png","name":"826"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":542.7921882421751,"rotation_z_degrees":219.78584791828465,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006091992357936983,-0.008287328657992794,0.008651585731104201]},{"name":"camera_2","offset_m":[0.002544474751133126,-0.013333445499143712,0.017761102012170803]},{"name":"camera_3","offset_m":[0.0038823817039274205,-0.01334901977131135,0.0026109374357833753]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0008919521582079657,0.00028469229104503054,0.0009896268612740937],"end_effector_yaw_offset_degrees":-0.09562513492068825},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0009802792153710983,0.0010090143895248927,-0.0015781393854500166],"end_effector_yaw_offset_degrees":0.8463185945238776},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0006754473780774101,0.0014034361919138044,0.0018301091415840864],"end_effector_yaw_offset_degrees":0.4579295050458916},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0017734905804290336,-0.00025146066846067636,0.0016094476268936776],"end_effector_yaw_offset_degrees":-0.9095162951488622}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0007257903411472802,-0.004841052395884242],"position_m":[0.1792742096588527,-0.03844105239588424,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-4.4361947392969336e-05,-0.0008594389859249395],"position_m":[0.27195563805260703,-0.36815943898592496,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0012645283800365595,-0.0005717867176238678],"position_m":[0.32126452838003655,0.35252821328237616,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0024023684947514935,-0.0011956008048610244],"position_m":[0.3360976315052485,0.10730439919513897,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a691dd73f4c8462e913abf42876b5533432a4765d30425a56f1d5a01fc965e3b","episode_index":33,"episode_name":"episode_0033"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0033.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_7040/tex_ceiling_textures_826/tex_floor_textures_2566/tex_table_textures_6891/tex_wall_textures_8961","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":4541458159654180896,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":4541458159654180896,"visual_seed":4541458159654180896,"scene_id":"lab_003","finished_at":"2026-09-05T20:05:26"} +{"episode_id":"ep_000033","started_at":"2026-09-05T20:05:30","dimensions":{"distractor":{"count":32,"items":[{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_0","position":[0.35906467308001977,-1.1374412493854058,0.71338606911949],"aabb_xy":[[0.30908586456970394,-1.1874412493911246],[0.4090434815903357,-1.087441249379687]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_1","position":[-0.07265213324027808,-1.9724591396278914,0.71338606911949],"aabb_xy":[[-0.08975421119864624,-1.9895659451591612],[-0.05555005528190993,-1.9553523340966217]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_2","position":[0.14457649537237327,0.9471773252944806,0.71338606911949],"aabb_xy":[[0.12714578029336673,0.9299052106306297],[0.16200721045137975,0.9644494399583313]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_3","position":[-0.671021959925021,0.8094764160855101,0.71338606911949],"aabb_xy":[[-0.676479905562041,0.729476412777851],[-0.6655640142880008,0.8894764193931692]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_4","position":[0.3524164553172857,-0.7142264221790651,0.71338606911949],"aabb_xy":[[0.3024216223893441,-0.7642264210743085],[0.4024112882452273,-0.6642264232838214]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_5","position":[0.31489118768101143,1.2793370940846858,0.71338606911949],"aabb_xy":[[0.2508911857686691,1.2234259448266753],[0.37889118959335377,1.3352482433426962]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_6","position":[0.5404501434994624,-2.522160708326221,0.71338606911949],"aabb_xy":[[0.5059877961013204,-2.5566545907240434],[0.574912490897604,-2.487666825928398]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_7","position":[0.6511651821803959,-0.3807725437136531,0.71338606911949],"aabb_xy":[[0.5971495858984958,-0.44477254660591026],[0.7051807784622958,-0.31677254082139594]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_8","position":[0.18474794774729786,1.7276331036834924,0.71338606911949],"aabb_xy":[[0.1352675265333391,1.6636331057706404],[0.23422836896125668,1.791633101596344]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_9","position":[0.09199760348333919,-0.7371792677179099,0.71338606911949],"aabb_xy":[[0.07735419792930619,-0.7518379873746941],[0.10664100903737216,-0.7225205480611256]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_10","position":[0.47867970258586756,0.9683058335365806,0.71338606911949],"aabb_xy":[[0.46279520932054247,0.9539528932377567],[0.49456419585119277,0.9826587738354048]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_11","position":[-0.465542125395516,-1.7339147019850933,0.71338606911949],"aabb_xy":[[-0.5155421267564033,-1.783892606560509],[-0.41554212403462887,-1.6839367974096777]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_12","position":[0.3255709823994437,-2.0961114154124165,0.71338606911949],"aabb_xy":[[0.26057098144231644,-2.1480596273461217],[0.39057098335657087,-2.0441632034787105]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_13","position":[0.19849153455507762,-1.5996113917925119,0.71338606911949],"aabb_xy":[[0.1344915342810994,-1.6496774919897998],[0.26249153482905585,-1.549545291595224]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_14","position":[-0.36298872308211955,1.759035289995151,0.71338606911949],"aabb_xy":[[-0.41796244511845243,1.7040352904309177],[-0.30801500104578666,1.814035289559384]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_15","position":[-0.5432016762033082,1.5919711538656247,0.71338606911949],"aabb_xy":[[-0.6232016733628835,1.5804235529078077],[-0.4632016790437329,1.6035187548234417]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_16","position":[0.10334540382503121,-2.3263065621489085,0.71338606911949],"aabb_xy":[[0.03334540741506941,-2.34674449780059],[0.17334540023499298,-2.3058686264972263]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_17","position":[0.45894449570686424,0.5898256966608657,0.71338606911949],"aabb_xy":[[0.4246282185322463,0.539825696687688],[0.4932607728814822,0.6398256966340434]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_18","position":[0.3858163300833304,0.39713836633646205,0.71338606911949],"aabb_xy":[[0.3778228402880484,0.38914023439598644],[0.39380981987861247,0.40513649827693776]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_19","position":[-0.4557332488823856,-0.17121292842172853,0.71338606911949],"aabb_xy":[[-0.47601755160578424,-0.19149555356443737],[-0.4354489461589867,-0.15093030327901968]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_20","position":[0.45240044825187287,1.4366378306030305,0.71338606911949],"aabb_xy":[[0.37240045027108776,1.4290362896411788],[0.5324004462326578,1.4442393715648827]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_21","position":[-0.39527157660708506,0.7611977442391429,0.71338606911949],"aabb_xy":[[-0.48527158028400313,0.6997653376620384],[-0.3052715729301668,0.822630150816247]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_22","position":[-0.6481620797664808,-0.9753287039277414,0.71338606911949],"aabb_xy":[[-0.6656620789008479,-0.9852083309653291],[-0.6306620806321136,-0.9654490768901535]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_23","position":[-0.544624668037416,-0.26281808648537774,0.71338606911949],"aabb_xy":[[-0.5746163307712865,-0.2928180858221782],[-0.5146330053035458,-0.23281808714857716]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_24","position":[-0.2353900233324937,0.7889504264590768,0.71338606911949],"aabb_xy":[[-0.24785738144222938,0.7764851018257533],[-0.22292266522275808,0.8014157510924003]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_25","position":[0.6649022274266918,0.5544587343630254,0.71338606911949],"aabb_xy":[[0.6424022279029842,0.5319627869124045],[0.687402226950399,0.5769546818136461]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_26","position":[-0.2148190689269368,-0.42267310949176995,0.71338606911949],"aabb_xy":[[-0.2648190702107768,-0.47265196388239195],[-0.16481906764309684,-0.37269425510114773]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_27","position":[0.6478734183232502,1.1960864885011633,0.71338606911949],"aabb_xy":[[0.635940683961422,1.183704335693304],[0.6598061526850781,1.2084686413090227]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_28","position":[-0.18562500595739262,-1.0383274632263668,0.71338606911949],"aabb_xy":[[-0.19052429826395612,-1.0660043825289354],[-0.18072571365082912,-1.0106505439237978]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_29","position":[-0.01001919827815767,0.9033577312746606,0.71338606911949],"aabb_xy":[[-0.027519197556244546,0.8860196312083147],[0.007480800999929205,0.9206958313410066]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_30","position":[-0.3725358336153865,-1.5770554516506112,0.71338606911949],"aabb_xy":[[-0.43753583625318004,-1.6285350503500582],[-0.30753583097759307,-1.5255758529511643]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_31","position":[-0.480733671975488,-2.0598045036604895,0.71338606911949],"aabb_xy":[[-0.4950680971016514,-2.0718647192150286],[-0.4663992468493245,-2.0477442881059504]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6985519507809395,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6960.png","name":"6960"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6960.png","name":"6960"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/131.png","name":"131"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9987.png","name":"9987"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9222.png","name":"9222"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4801.png","name":"4801"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":570.2504743501161,"rotation_z_degrees":219.06055766597228,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01755780217764156,0.011431953524808167,0.012237161356837205]},{"name":"camera_2","offset_m":[-0.0034448983428838446,-0.019554015758860607,-0.016296742210453078]},{"name":"camera_3","offset_m":[0.00949715968064985,-0.017079285276123585,-8.572591151702336e-05]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0016503438626024062,-0.0005986989065340468,0.0018867753270649591],"end_effector_yaw_offset_degrees":-0.6633168042619573},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-8.486506225512352e-05,0.00019581170592143041,-0.0009690464534354683],"end_effector_yaw_offset_degrees":0.7234791232709765},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0019264723498813264,0.0012409339886674834,-0.0006429221673724399],"end_effector_yaw_offset_degrees":0.42758888064322775},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0008468176987472768,0.001062363923192186,-0.0007912863975392264],"end_effector_yaw_offset_degrees":-0.30733827400553193}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004173948481417239,-0.004333910261953309],"position_m":[0.18417394848141724,-0.03793391026195331,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0015158607952587668,0.003897929775796679],"position_m":[0.2735158607952588,-0.36340207022420334,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00242871980589901,-4.3355929984688346e-05],"position_m":[0.31757128019410097,0.35305664407001536,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004569873178843047,-0.003760817215007187],"position_m":[0.33393012682115697,0.10473918278499281,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"50bed8c0b32d45ec6f58ec082e4b7ac35488a6e4eda46fb72dc36950e3da73ef","episode_index":34,"episode_name":"episode_0034"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0034.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_6960/tex_ceiling_textures_4801/tex_floor_textures_9222/tex_table_textures_131/tex_wall_textures_9987","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":8976029899985827599,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":8976029899985827599,"visual_seed":8976029899985827599,"scene_id":"lab_003","finished_at":"2026-09-05T20:08:58"} +{"episode_id":"ep_000034","started_at":"2026-09-05T20:09:01","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_0","position":[-0.015511205819867091,0.8988123620935382,0.71338606911949],"aabb_xy":[[-0.06068252366803607,0.8348123649489999],[0.029660112028301884,0.9628123592380767]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_1","position":[0.1100634257047115,-2.02192746700233,0.71338606911949],"aabb_xy":[[0.06904548231834062,-2.0719274676332873],[0.15108136909108238,-1.9719274663713726]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_2","position":[-0.036468819667237806,-0.9152471673790965,0.71338606911949],"aabb_xy":[[-0.07396882001546556,-0.9270385629601798],[0.0010311806809899585,-0.9034557717980127]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_3","position":[0.09402625216375526,-1.393445283570223,0.71338606911949],"aabb_xy":[[0.0758204285025076,-1.4044706841522145],[0.11223207582500296,-1.3824198829882313]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_4","position":[-0.45865206352462184,0.3841693171898948,0.71338606911949],"aabb_xy":[[-0.4897989823682049,0.31416931850308755],[-0.4275051446810387,0.4541693158767019]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_5","position":[0.6836676186669726,0.01869687964681077,0.71338606911949],"aabb_xy":[[0.651205917785045,-0.011435952468091844],[0.7161293195488999,0.04882971176171338]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_6","position":[0.48268542496366673,0.21483517611481284,0.71338606911949],"aabb_xy":[[0.43258796098259317,0.15083517560500104],[0.5327828889447404,0.27883517662462465]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_7","position":[-0.12531577073655942,-1.9758120686249026,0.71338606911949],"aabb_xy":[[-0.2053157728993219,-2.055767252251046],[-0.04531576857379693,-1.8958568849987587]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_8","position":[-0.07540613930225437,1.2169571475305743,0.71338606911949],"aabb_xy":[[-0.08787349741199003,1.2044918228972508],[-0.06293878119251874,1.2294224721638978]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_9","position":[-0.4039454008380977,-0.9934055921011722,0.71338606911949],"aabb_xy":[[-0.41098685178884525,-1.0004323438389666],[-0.39690394988735006,-0.9863788403633776]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_10","position":[0.4532794729530121,0.3735269296333703,0.71338606911949],"aabb_xy":[[0.4173659685280223,0.3376134214166157],[0.4891929773780017,0.4094404378501249]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_11","position":[0.16644217868695466,-1.291290458655955,0.71338606911949],"aabb_xy":[[0.14453349654760358,-1.3131911254760458],[0.18835086082630567,-1.2693897918358643]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_12","position":[0.2579655029997502,-0.7807840671319644,0.71338606911949],"aabb_xy":[[0.19396980560465354,-0.8447840654326729],[0.3219612003948467,-0.7167840688312556]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_13","position":[-0.3240175386254488,0.643309021159316,0.71338606911949],"aabb_xy":[[-0.37401753727137,0.5933894774998536],[-0.2740175399795276,0.6932285648187784]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_14","position":[-0.32299190775363074,-1.6431592500258945,0.71338606911949],"aabb_xy":[[-0.3604919061770311,-1.656323463993725],[-0.2854919093302304,-1.6299950360580635]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_15","position":[-0.20281745724135325,-0.3276569219794121,0.71338606911949],"aabb_xy":[[-0.2478174587075821,-0.3726567788408928],[-0.15781745577512438,-0.2826570651179315]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_16","position":[0.5546066208513312,1.0508569543078137,0.71338606911949],"aabb_xy":[[0.5448506313421572,1.041094420248579],[0.564362610360505,1.060619488367048]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_17","position":[0.41922606484246683,1.5252238058549286,0.71338606911949],"aabb_xy":[[0.4086585851843678,1.51467877574192],[0.42979354450056584,1.5357688359679371]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_18","position":[-0.2531036751264617,1.6313418898697045,0.71338606911949],"aabb_xy":[[-0.33810367354388493,1.5464675944074193],[-0.16810367670903847,1.7162161853319893]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_19","position":[0.34585251178529197,-2.420298291631166,0.71338606911949],"aabb_xy":[[0.28185250956488495,-2.4646713757564545],[0.409852514005699,-2.375925207505878]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_20","position":[0.471893146890185,1.6350545689069196,0.71338606911949],"aabb_xy":[[0.4068931490085373,1.583930905200379],[0.5368931447718328,1.6861782326134607]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_21","position":[-0.611761218059798,-1.14803041431316,0.71338606911949],"aabb_xy":[[-0.626404623613831,-1.162689133969944],[-0.597117812505765,-1.1333716946563757]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_22","position":[0.28894452025077355,-1.6990401770740027,0.71338606911949],"aabb_xy":[[0.27549799361673016,-1.7125100287270938],[0.3023910468848168,-1.6855703254209111]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_23","position":[0.5820520604137793,-0.2689402601762638,0.71338606911949],"aabb_xy":[[0.5516539493146357,-0.2993471621779333],[0.6124501715129229,-0.23853335817459428]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_24","position":[0.64104373604377,0.7799837870565258,0.71338606911949],"aabb_xy":[[0.6035437374681492,0.7672474913929678],[0.6785437346193908,0.7927200827200837]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_25","position":[-0.539467168635949,0.776976518607758,0.71338606911949],"aabb_xy":[[-0.5769671691333073,0.7730078350596395],[-0.5019671681385908,0.7809452021558764]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_26","position":[0.5498643511731587,-1.2237349346870996,0.71338606911949],"aabb_xy":[[0.48486435017265817,-1.2745212998417745],[0.6148643521736592,-1.1729485695324247]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_27","position":[-0.1708622791423423,0.9943804003681516,0.71338606911949],"aabb_xy":[[-0.22487787542424229,0.9303803974758943],[-0.11684668286044228,1.0583804032604087]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_28","position":[0.2153400840857015,-2.2360212268837554,0.71338606911949],"aabb_xy":[[0.15534008244277964,-2.2880213761757],[0.27534008572862334,-2.1840210775918116]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_29","position":[0.6384175015730538,-0.4623231443640172,0.71338606911949],"aabb_xy":[[0.5884175021328582,-0.5122910688483335],[0.6884175010132494,-0.4123552198797009]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6994656456435361,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1560.png","name":"1560"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1560.png","name":"1560"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5953.png","name":"5953"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5576.png","name":"5576"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6066.png","name":"6066"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6833.png","name":"6833"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":772.7436225231249,"rotation_z_degrees":126.0124677443287,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.002259128586661916,0.013536586126123431,0.016078587989935434]},{"name":"camera_2","offset_m":[-0.01858740586050861,0.013035865173989806,-0.017596878416336503]},{"name":"camera_3","offset_m":[0.01033795499801752,-0.001724743038850285,0.0018343158655034913]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00111984401916512,8.956889126390637e-05,-0.0014289021180274811],"end_effector_yaw_offset_degrees":0.910067663677611},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0010304623519413409,0.0007023690260173276,-0.00037680364591302206],"end_effector_yaw_offset_degrees":-0.276446828733937},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007759525699041858,-0.0018003641403361893,-0.0004272072285492947],"end_effector_yaw_offset_degrees":0.4689684582218754},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.000301554788145478,-2.1817938150517704e-05,0.00044356476840410816],"end_effector_yaw_offset_degrees":-0.5529908698400283}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003939053409647131,-0.0014596309713098433],"position_m":[0.1839390534096471,-0.03505963097130984,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0021995948897517636,0.0032640895125746324],"position_m":[0.27419959488975176,-0.3640359104874254,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0048665471470925046,0.0005246126605683611],"position_m":[0.3248665471470925,0.3536246126605684,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0008205752439018211,-0.004223545820380314],"position_m":[0.33932057524390186,0.10427645417961968,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"51ce0d0ad64d458e48cb1edf5c81631fa60b42f08d4edce94006c292a2212cad","episode_index":35,"episode_name":"episode_0035"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0035.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_1560/tex_ceiling_textures_6833/tex_floor_textures_6066/tex_table_textures_5953/tex_wall_textures_5576","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":2910126006956263174,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":2910126006956263174,"visual_seed":2910126006956263174,"scene_id":"lab_003","finished_at":"2026-09-05T20:12:33"} +{"episode_id":"ep_000035","started_at":"2026-09-05T20:12:38","dimensions":{"distractor":{"count":34,"items":[{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_0","position":[-0.16239312079009371,-1.6407212259942052,0.71338606911949],"aabb_xy":[[-0.17501990807729004,-1.650267299695778],[-0.14976633350289734,-1.631175152292632]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_1","position":[-0.0006487604808647074,-2.534632564082343,0.71338606911949],"aabb_xy":[[-0.004784616813564901,-2.5721325635267003],[0.0034870958518354866,-2.4971325646379863]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_2","position":[0.5515204359799091,1.108187238828914,0.71338606911949],"aabb_xy":[[0.5434941653492831,1.0994357438515612],[0.5595467066105351,1.1169387338062664]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_3","position":[-0.4644813075116839,-2.1098904334935504,0.71338606911949],"aabb_xy":[[-0.4866538344883347,-2.1320661006496735],[-0.44230878053503303,-2.0877147663374274]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_4","position":[-0.024398147999408537,-1.856642147154959,0.71338606911949],"aabb_xy":[[-0.08839814511151423,-1.9056745169493694],[0.03960184911269715,-1.8076097773605482]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_5","position":[0.5445584446117517,-1.1756388138868368,0.71338606911949],"aabb_xy":[[0.4805584460251793,-1.2226457772863455],[0.6085584431983242,-1.128631850487328]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_6","position":[-0.11134696851167547,-1.0005954234225245,0.71338606911949],"aabb_xy":[[-0.1358931841344262,-1.0308443199715613],[-0.08680075288892476,-0.9703465268734873]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_7","position":[-0.41139869692650405,-1.8053352001565308,0.71338606911949],"aabb_xy":[[-0.42196617658460306,-1.8158802302695392],[-0.40083121726840504,-1.794790170043522]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_8","position":[0.6904481216264378,-2.0166148786757168,0.71338606911949],"aabb_xy":[[0.6569689543653968,-2.0500939920468237],[0.7239272888874787,-1.9831357653046098]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_9","position":[0.12881522334251105,0.6135793827893394,0.71338606911949],"aabb_xy":[[0.10381522407054876,0.5972340191931771],[0.1538152226144733,0.6299247463855018]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_10","position":[-0.07533119611405836,-2.4833800456337687,0.71338606911949],"aabb_xy":[[-0.08496283233448798,-2.4930173584134776],[-0.06569955989362875,-2.4737427328540598]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_11","position":[-0.16245497220309213,-0.4677796537247825,0.71338606911949],"aabb_xy":[[-0.17330657845196773,-0.4786389444524335],[-0.15160336595421653,-0.45692036299713146]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_12","position":[0.2885759814566894,1.7203211666527038,0.71338606911949],"aabb_xy":[[0.2805326215307342,1.635321165557337],[0.29661934138264456,1.8053211677480698]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_13","position":[0.43346640675428394,0.8242699217708309,0.71338606911949],"aabb_xy":[[0.3534664080973979,0.8097650628465681],[0.51346640541117,0.8387747806950937]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_14","position":[-0.4806311541029876,0.917707826338324,0.71338606911949],"aabb_xy":[[-0.49309851221272333,0.9052425017050005],[-0.46816379599325203,0.9301731509716475]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_15","position":[0.03257626150789805,0.94501164842884,0.71338606911949],"aabb_xy":[[-0.022423736693846775,0.9044896818024025],[0.08757625970964289,0.9855336150552777]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_16","position":[-0.12576708333991227,-2.2296510155601545,0.71338606911949],"aabb_xy":[[-0.19576707974987403,-2.2500889512118354],[-0.055767086929950464,-2.209213079908472]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_17","position":[0.09734274534335052,-2.2678544341380715,0.71338606911949],"aabb_xy":[[0.06356718615265755,-2.2818929293512364],[0.1311183045340435,-2.2538159389249066]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_18","position":[-0.34744046090421654,0.6903340225894263,0.71338606911949],"aabb_xy":[[-0.39744046126478255,0.6403540353798232],[-0.2974404605436504,0.7403140097990291]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_19","position":[0.3587496316772225,0.4742722990754089,0.71338606911949],"aabb_xy":[[0.3237496303257407,0.453912563118588],[0.3937496330287042,0.4946320350322297]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_20","position":[-0.09960428119014697,-0.8021678327556765,0.71338606911949],"aabb_xy":[[-0.1696042829988924,-0.823521601519864],[-0.029604279381401546,-0.7808140639914892]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_21","position":[0.6065219508394057,-0.6993673406411203,0.71338606911949],"aabb_xy":[[0.5165219541037954,-0.7525508039584146],[0.6965219475750158,-0.6461838773238255]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_22","position":[-0.24677654572336444,-1.9941284355477036,0.71338606911949],"aabb_xy":[[-0.2576170239498793,-2.011314716838352],[-0.2359360674968495,-1.9769421542570547]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_23","position":[-0.44399446057453656,-2.4563233477977673,0.71338606911949],"aabb_xy":[[-0.4521081152479136,-2.464429164251796],[-0.4358808059011594,-2.4482175313437384]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_24","position":[0.532204035826541,0.6112777577068842,0.71338606911949],"aabb_xy":[[0.5235060735358257,0.5991527833994095],[0.5409019981172563,0.6234027320143589]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_25","position":[0.6901768159640207,1.6057197502171667,0.71338606911949],"aabb_xy":[[0.6725985137750738,1.588145260643062],[0.7077551181529675,1.623294239791272]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_26","position":[-0.4246992913997813,0.8071606622921408,0.71338606911949],"aabb_xy":[[-0.44921291549678716,0.7828960689901043],[-0.40018566730277544,0.8314252555941772]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_27","position":[-0.0013858129527889451,1.2541821061153233,0.71338606911949],"aabb_xy":[[-0.019061443541387276,1.2365018898359201],[0.016289817635809386,1.2718623223947256]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_28","position":[0.3042515179072892,-0.9566064694953007,0.71338606911949],"aabb_xy":[[0.2841931062940489,-0.9766715564044584],[0.3243099295205295,-0.9365413825861433]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_29","position":[0.2292659546155721,1.5105554914481432,0.71338606911949],"aabb_xy":[[0.14426595592349745,1.4785696280532639],[0.31426595330764673,1.5425413548430216]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_30","position":[-0.28295965354617864,1.7422209605685484,0.71338606911949],"aabb_xy":[[-0.3369752498280786,1.678220957676291],[-0.22894405726427858,1.8062209634608053]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_31","position":[0.21497488893292716,-2.4171359704515627,0.71338606911949],"aabb_xy":[[0.1509748857142893,-2.4638590823505715],[0.278974892151565,-2.370412858552555]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_32","position":[0.6725992038158803,-1.4319630434841448,0.71338606911949],"aabb_xy":[[0.6350992034676525,-1.443754439065228],[0.710099204164108,-1.4201716479030608]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_33","position":[0.6111796410828441,1.4147087732054122,0.71338606911949],"aabb_xy":[[0.5610821771017704,1.3507087726956004],[0.6612771050639177,1.478708773715224]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7006417041157701,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/215.png","name":"215"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/215.png","name":"215"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7686.png","name":"7686"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1895.png","name":"1895"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7847.png","name":"7847"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/710.png","name":"710"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":600.3211055655477,"rotation_z_degrees":104.39598863439113,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.003076207730143672,0.018871434841379823,-0.013247763728683802]},{"name":"camera_2","offset_m":[0.007044833599203441,-0.009821163915186953,0.007021503277439396]},{"name":"camera_3","offset_m":[-0.01928541743878261,-0.011116860212280364,0.0013602205532441194]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0004795227057138498,0.0009495885772551082,-0.0006303089396518069],"end_effector_yaw_offset_degrees":0.493840411696695},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0018054528950109928,-0.0005900439837951575,0.0010047830458197152],"end_effector_yaw_offset_degrees":0.11887838408629836},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0011311368427777886,0.0008584014703960619,-0.0007592417791073417],"end_effector_yaw_offset_degrees":-0.5046474303910449},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008758011186826599,0.00018009718997890256,-0.0015411617934770155],"end_effector_yaw_offset_degrees":-0.31955884877036}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0012964913121818874,0.00047007857880910966],"position_m":[0.18129649131218187,-0.03312992142119089,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00043707253378405184,-0.0018489514439103917],"position_m":[0.2724370725337841,-0.3691489514439104,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0017981376132233072,-0.0019458979954886913],"position_m":[0.3182018623867767,0.35115410200451136,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001145565494848285,0.0035839681096614838],"position_m":[0.3396455654948483,0.11208396810966148,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e0d8ac0b1f3f642f6e967391a04f63aa6940e89dc98f33401d8021c1fe1d7387","episode_index":36,"episode_name":"episode_0036"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0036.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_215/tex_ceiling_textures_710/tex_floor_textures_7847/tex_table_textures_7686/tex_wall_textures_1895","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":7548760002418554341,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":7548760002418554341,"visual_seed":7548760002418554341,"scene_id":"lab_003","finished_at":"2026-09-05T20:16:02"} +{"episode_id":"ep_000036","started_at":"2026-09-05T20:16:06","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_0","position":[0.5411732558251809,-2.190979817749644,0.71338606911949],"aabb_xy":[[0.47717755843008425,-2.2549798160503522],[0.6051689532202774,-2.126979819448935]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_1","position":[0.5680893432675136,-0.57376050198005,0.71338606911949],"aabb_xy":[[0.48808934000967064,-0.653757009772034],[0.6480893465253565,-0.49376399418806605]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_2","position":[-0.1535277420117398,0.9178679564562482,0.71338606911949],"aabb_xy":[[-0.19961283326647128,0.8538679592036931],[-0.10744265075700833,0.9818679537088033]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_3","position":[-0.19213998670293542,-1.3403420803919837,0.71338606911949],"aabb_xy":[[-0.20013397528063878,-1.348342160487074],[-0.184145998125232,-1.3323420002968933]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_4","position":[-0.09896829242972682,-0.5136589468364918,0.71338606911949],"aabb_xy":[[-0.10708194710310391,-0.5217647632905209],[-0.09085463775634971,-0.5055531303824627]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_5","position":[-0.4332129865334486,0.03940179281201184,0.71338606911949],"aabb_xy":[[-0.44255999411574387,0.025098170594367808],[-0.4238659789511534,0.05370541502965587]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_6","position":[-0.6433182449091105,-0.299315536894992,0.71338606911949],"aabb_xy":[[-0.660951080502638,-0.3169384829106149],[-0.6256854093155828,-0.28169259087936893]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_7","position":[-0.6057822853291963,0.4283109389377078,0.71338606911949],"aabb_xy":[[-0.6208845867902142,0.41320941730664584],[-0.590679983868178,0.4434124605687695]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_8","position":[0.4927892659080191,-1.118199181933653,0.71338606911949],"aabb_xy":[[0.4377892662862733,-1.1731828747211257],[0.5477892655297649,-1.0632154891461802]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_9","position":[0.6317961250520086,-2.0114547667035985,0.71338606911949],"aabb_xy":[[0.6273654956971685,-2.016903138438281],[0.6362267544068488,-2.006006394968916]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_10","position":[0.4187370331336393,0.8011345911900096,0.71338606911949],"aabb_xy":[[0.39627226316223413,0.778634590311149],[0.44120180310504437,0.82363459206887]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_11","position":[0.6249193673464586,-1.5504255379822576,0.71338606911949],"aabb_xy":[[0.6133503865995221,-1.5754255380991895],[0.6364883480933953,-1.525425537865326]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_12","position":[-0.08448453153733848,-2.1656708023821234,0.71338606911949],"aabb_xy":[[-0.10639321367668951,-2.1875714692022137],[-0.06257584939798742,-2.143770135562032]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_13","position":[-0.26480853361618695,-1.5361029976279739,0.71338606911949],"aabb_xy":[[-0.35480853595020595,-1.6135853522130865],[-0.17480853128216783,-1.4586206430428612]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_14","position":[-0.41693836740234297,-2.3124474859820245,0.71338606911949],"aabb_xy":[[-0.4819383685082863,-2.3374128590501524],[-0.35193836629639974,-2.287482112913896]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_15","position":[-0.016431026816855376,0.22966884360626993,0.71338606911949],"aabb_xy":[[-0.028303109828356487,0.14466884391261955],[-0.004558943805354265,0.3146688432999203]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_16","position":[-0.5574478911458931,-0.7811295360575845,0.71338606911949],"aabb_xy":[[-0.5949478918104717,-0.7968165940578066],[-0.5199478904813143,-0.7654424780573622]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_17","position":[0.6571726089109895,-1.7626910552389714,0.71338606911949],"aabb_xy":[[0.6196726086188147,-1.7667325306395751],[0.6946726092031643,-1.7586495798383681]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_18","position":[0.15137967762303484,-1.1808233159247425,0.71338606911949],"aabb_xy":[[0.12273034526261858,-1.2094688752018181],[0.18002900998345103,-1.1521777566476665]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_19","position":[0.10351857991332936,-0.9678990869666431,0.71338606911949],"aabb_xy":[[0.09610612437194088,-0.9737502973882709],[0.11093103545471783,-0.962047876545015]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_20","position":[-0.618720512541968,-0.6291187146958299,0.71338606911949],"aabb_xy":[[-0.6266437927807164,-0.6516187149338333],[-0.6107972323032197,-0.6066187144578266]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_21","position":[-0.3906156092947752,-1.6900848524680894,0.71338606911949],"aabb_xy":[[-0.4706156097649912,-1.6983955600824383],[-0.3106156088245593,-1.6817741448537413]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_22","position":[-0.23100941611562942,1.7294783771498365,0.71338606911949],"aabb_xy":[[-0.24989379988413962,1.7105924523694838],[-0.2121250323471192,1.7483643019301893]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_23","position":[-0.4407600815719,-1.4158159865722344,0.71338606911949],"aabb_xy":[[-0.4657600808438623,-1.4321613501683965],[-0.4157600822999377,-1.3994706229760718]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_24","position":[0.32149978387690115,1.4884519390408566,0.71338606911949],"aabb_xy":[[0.25149978174547155,1.4656899734151607],[0.39149978600833063,1.511213904666552]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_25","position":[-0.26500515481875453,1.1397042666964112,0.71338606911949],"aabb_xy":[[-0.2993020658364951,1.1054073804864697],[-0.23070824380101385,1.1740011529063523]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_26","position":[0.07003149857736712,-2.433429034410598,0.71338606911949],"aabb_xy":[[3.149594078077911e-05,-2.4535338994064633],[0.14003150121395347,-2.4133241694147323]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_27","position":[0.1907151569696538,-0.7073796208184389,0.71338606911949],"aabb_xy":[[0.14071515739331908,-0.7573601997705448],[0.24071515654598852,-0.6573990418663329]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7043489974047246,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5791.png","name":"5791"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5791.png","name":"5791"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6200.png","name":"6200"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6177.png","name":"6177"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4200.png","name":"4200"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1055.png","name":"1055"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":722.949029497845,"rotation_z_degrees":34.819859830027305,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007130247798685105,0.01276287696594235,0.009231282108964053]},{"name":"camera_2","offset_m":[0.01994233760957787,0.017634755579176976,-0.017046191502682526]},{"name":"camera_3","offset_m":[-0.003224250396787351,-0.00788082538726572,-0.001598522875579246]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0018029213475524012,0.001923307112147138,0.0006405296894692733],"end_effector_yaw_offset_degrees":-0.06679262557720511},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0008468773975244077,-0.0006000237664822215,-0.0013315064405835346],"end_effector_yaw_offset_degrees":0.15386757272469587},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0017034174060836745,-0.0010552422837306246,0.0004325633121097989],"end_effector_yaw_offset_degrees":-0.9004255806268673},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0014607007573522255,-0.001158971588303213,-0.00014780147414857276],"end_effector_yaw_offset_degrees":0.23718159905772396}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0022361597816598962,0.0019997012118073898],"position_m":[0.18223615978165988,-0.03160029878819261,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0031303198286926686,-0.004539615310905042],"position_m":[0.2751303198286927,-0.37183961531090504,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0029217638679689744,-0.0029693645852506756],"position_m":[0.322921763867969,0.35013063541474937,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0020984719026144348,0.0008882220788441406],"position_m":[0.34059847190261444,0.10938822207884413,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8a09e1a16a7f6f6b1d82c77ee4d154471465d0a88c145b43cc45c552e9e3f66d","episode_index":37,"episode_name":"episode_0037"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0037.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_5791/tex_ceiling_textures_1055/tex_floor_textures_4200/tex_table_textures_6200/tex_wall_textures_6177","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":4431081466507172084,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":4431081466507172084,"visual_seed":4431081466507172084,"scene_id":"lab_003","finished_at":"2026-09-05T20:19:37"} +{"episode_id":"ep_000037","started_at":"2026-09-05T20:19:41","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_0","position":[0.67742908395821,-0.2100965491685205,0.71338606911949],"aabb_xy":[[0.6615445906928847,-0.22444948946734453],[0.693313577223535,-0.1957436088696964]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_1","position":[-0.41975725335288033,-1.1917115937264504,0.71338606911949],"aabb_xy":[[-0.42775124193058367,-1.1997116738215405],[-0.4117632647751769,-1.1837115136313598]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_2","position":[0.40401752451319295,0.9365086751017637,0.71338606911949],"aabb_xy":[[0.3540345743257135,0.886508675459203],[0.4540004747006722,0.9865086747443238]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_3","position":[0.19802550269892483,-0.6760466636287339,0.71338606911949],"aabb_xy":[[0.14802550141508486,-0.7260255180193559],[0.2480255039827648,-0.6260678092381117]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_4","position":[-0.6100381146690831,-0.24242843041500173,0.71338606911949],"aabb_xy":[[-0.6303224173924816,-0.26271105555771046],[-0.5897538119456841,-0.22214580527229283]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_5","position":[-0.34424502716735383,-1.0127005512273557,0.71338606911949],"aabb_xy":[[-0.4142450287696333,-1.0261333444290133],[-0.27424502556507435,-0.9992677580256981]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_6","position":[0.4536575664786313,-0.7578570772736017,0.71338606911949],"aabb_xy":[[0.41774406205364156,-0.7937705854903563],[0.48957107090362095,-0.721943569056847]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_7","position":[-0.4915129765593522,0.2724333021644916,0.71338606911949],"aabb_xy":[[-0.49913724464953046,0.26480007862794785],[-0.483888708469174,0.2800665257010353]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_8","position":[-0.4075757958639661,1.4890900534232077,0.71338606911949],"aabb_xy":[[-0.45757579681449884,1.457540906419686],[-0.3575757949134332,1.5206392004267288]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_9","position":[0.578645418316758,-0.44619946289159307,0.71338606911949],"aabb_xy":[[0.49864541505274484,-0.45975949520050635],[0.6586454215807711,-0.4326394305826797]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_10","position":[-0.03830582689180906,-2.3895797495712605,0.71338606911949],"aabb_xy":[[-0.12830582362741927,-2.442763212888555],[0.05169416984380115,-2.336396286253966]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_11","position":[0.4072913242250269,-1.4507836763540893,0.71338606911949],"aabb_xy":[[0.3432913278294539,-1.514746964772823],[0.47129132062060003,-1.3868203879353558]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_12","position":[-0.5528138362085953,1.3199993738367302,0.71338606911949],"aabb_xy":[[-0.5832119473077388,1.2895924718350604],[-0.5224157251094517,1.3504062758383995]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_13","position":[-0.41384258278689634,-1.581477568291865,0.71338606911949],"aabb_xy":[[-0.4638356948960883,-1.6314775689660608],[-0.36384947067770446,-1.5314775676176695]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_14","position":[-0.48667686912411307,-0.39651366212799477,0.71338606911949],"aabb_xy":[[-0.5366768701432483,-0.4329798778658228],[-0.4366768681049778,-0.3600474463901669]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_15","position":[0.569924022491284,-1.5852957783418686,0.71338606911949],"aabb_xy":[[0.5199507284880235,-1.635295778896416],[0.6198973164945444,-1.5352957777873213]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_16","position":[-0.39161699798862437,1.0396996957577502,0.71338606911949],"aabb_xy":[[-0.4566169980229271,0.9929990190774232],[-0.32661699795432164,1.0864003724380777]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_17","position":[0.028364592432347013,0.9283173943262035,0.71338606911949],"aabb_xy":[[-0.009135407384686552,0.9236791830150617],[0.06586459224938057,0.9329556056373454]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_18","position":[0.5337192218303419,-1.279503771444982,0.71338606911949],"aabb_xy":[[0.5235662062761924,-1.315573313017722],[0.5438722373844912,-1.2434342298722414]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_19","position":[-0.5992066650232125,0.7952894073050127,0.71338606911949],"aabb_xy":[[-0.6183189723811913,0.7761546284277707],[-0.5800943576652335,0.8144241861822548]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_20","position":[-0.2040544209470891,-1.1082235577167467,0.71338606911949],"aabb_xy":[[-0.23905441925778453,-1.1159385726402924],[-0.16905442263639364,-1.100508542793201]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_21","position":[0.7153427456691281,-2.3805075110181257,0.71338606911949],"aabb_xy":[[0.7092481177810098,-2.3890769055697945],[0.7214373735572465,-2.371938116466457]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_22","position":[-0.34182300557129974,0.20241435605834646,0.71338606911949],"aabb_xy":[[-0.36636922119405047,0.1721654595093094],[-0.317276789948549,0.23266325260738352]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_23","position":[0.6016528851183087,0.8040258443065467,0.71338606911949],"aabb_xy":[[0.5216528829555462,0.724070660680403],[0.6816528872810712,0.8839810279326903]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_24","position":[-0.5413643587807762,0.5604635489048624,0.71338606911949],"aabb_xy":[[-0.5884937377826117,0.4964635478604603],[-0.4942349797789404,0.6244635499492642]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_25","position":[-0.30561559719349785,-0.6506882492034709,0.71338606911949],"aabb_xy":[[-0.3232912277820961,-0.6683684654828737],[-0.28793996660489946,-0.6330080329240682]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_26","position":[0.547335671329733,-0.9484091895494398,0.71338606911949],"aabb_xy":[[0.5105410382048268,-0.985315064646022],[0.5841303044546393,-0.9115033144528575]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_27","position":[0.45702081893146795,-0.2715339246165924,0.71338606911949],"aabb_xy":[[0.43373897673333656,-0.35653392591382044],[0.48030266112959924,-0.18653392331936433]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6972662541652289,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5005.png","name":"5005"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5005.png","name":"5005"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6190.png","name":"6190"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5206.png","name":"5206"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7213.png","name":"7213"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7570.png","name":"7570"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":548.8029461219933,"rotation_z_degrees":246.10685351166794,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007394193328498364,0.0048395591543343615,-0.00906367888268167]},{"name":"camera_2","offset_m":[0.013846069506005223,0.009321312996384928,0.012385998543025512]},{"name":"camera_3","offset_m":[-0.011235305319450885,0.01760064239584028,-0.0004263962378837846]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0008471606472808327,-0.0015559168512965162,0.001323720590480206],"end_effector_yaw_offset_degrees":-0.6014030411602262},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.001667697592510644,-0.000753529900682882,-0.0018141689189172547],"end_effector_yaw_offset_degrees":0.923983165485146},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0004235645733065923,0.000824601844229866,0.001598185091726927],"end_effector_yaw_offset_degrees":0.24125173292326219},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0012631593051401252,-0.00027395948400623467,-0.0010962861668188718],"end_effector_yaw_offset_degrees":-0.14477345162924582}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0008372079074859817,0.0034112591724232586],"position_m":[0.179162792092514,-0.03018874082757674,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003289188258049254,-0.0014499007100336704],"position_m":[0.2687108117419508,-0.36874990071003366,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0002867806544122201,-0.0011417096140741612],"position_m":[0.32028678065441224,0.35195829038592585,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002817487755168587,-0.0019819508199475123],"position_m":[0.3413174877551686,0.10651804918005249,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d2411a1441443c6109c769c736fe8056b25b7d7cc77a260e9ae9cc302646f2f8","episode_index":38,"episode_name":"episode_0038"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0038.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_5005/tex_ceiling_textures_7570/tex_floor_textures_7213/tex_table_textures_6190/tex_wall_textures_5206","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":6925730594498971453,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":6925730594498971453,"visual_seed":6925730594498971453,"scene_id":"lab_003","finished_at":"2026-09-05T20:23:09"} +{"episode_id":"ep_000038","started_at":"2026-09-05T20:23:13","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_0","position":[-0.2777961760714681,1.576713020588953,0.71338606911949],"aabb_xy":[[-0.30564121285207524,1.5459285218506413],[-0.249951139290861,1.6074975193272647]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_1","position":[-0.4328033580016759,-2.168475590302368,0.71338606911949],"aabb_xy":[[-0.44790565946269384,-2.183577111933429],[-0.41770105654065764,-2.153374068671305]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_2","position":[0.35279518890196915,-2.1621215192361523,0.71338606911949],"aabb_xy":[[0.2727951909211841,-2.1697230601980038],[0.4327951868827542,-2.1545199782743]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_3","position":[-0.5638745331525076,-1.1845637596323986,0.71338606911949],"aabb_xy":[[-0.5703761696605122,-1.1943315816587083],[-0.557372896644503,-1.1747959376060888]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_4","position":[0.6205063708809262,0.3127903858612915,0.71338606911949],"aabb_xy":[[0.5555063729992785,0.2616667221547506],[0.6855063687625741,0.36391404956783235]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_5","position":[0.05227507705433865,0.6565152615046363,0.71338606911949],"aabb_xy":[[0.04416142238096154,0.6484094450506073],[0.06038873172771574,0.6646210779586654]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_6","position":[0.6109595460919224,1.2513244765025755,0.71338606911949],"aabb_xy":[[0.5459595460576196,1.2046237998222482],[0.6759595461262251,1.2980251531829028]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_7","position":[0.011434910233712792,1.1047575030135888,0.71338606911949],"aabb_xy":[[-0.05256509305599532,1.0614225840096712],[0.0754349135234209,1.1480924220175064]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_8","position":[-0.48717215962185545,1.0117987654888463,0.71338606911949],"aabb_xy":[[-0.49910489398368346,0.9994166126809871],[-0.4752394252600273,1.0241809182967059]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_9","position":[-0.14536300572234595,-1.0184319366645407,0.71338606911949],"aabb_xy":[[-0.18269428224758857,-1.0530849914593932],[-0.10803172919710333,-0.9837788818696886]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_10","position":[-0.5556963430542777,1.3530130734366668,0.71338606911949],"aabb_xy":[[-0.6057938070353514,1.289013072926855],[-0.5055988790732041,1.4170130739464786]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_11","position":[0.3144575911835419,0.6325200836956522,0.71338606911949],"aabb_xy":[[0.29929471820660486,0.6173546264005334],[0.329620464160479,0.6476855409907709]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_12","position":[-0.6330596593771498,-1.8611665529350865,0.71338606911949],"aabb_xy":[[-0.6783382742582992,-1.9251665522832702],[-0.5877810444960007,-1.7971665535869028]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_13","position":[0.20039176252000634,-1.4866120493646713,0.71338606911949],"aabb_xy":[[0.18483599310974108,-1.502162482609079],[0.21594753193027164,-1.4710616161202643]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_14","position":[-0.5845563204502375,-0.5909355445461157,0.71338606911949],"aabb_xy":[[-0.607056320693753,-0.6031401792058877],[-0.5620563202067222,-0.5787309098863438]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_15","position":[-0.30829802826642605,-1.3057820544444576,0.71338606911949],"aabb_xy":[[-0.33213424590703117,-1.3957820552529443],[-0.28446181062582104,-1.2157820536359714]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_16","position":[-0.49477687008089266,-1.988070963977878,0.71338606911949],"aabb_xy":[[-0.5091112952070561,-2.000131179532417],[-0.4804424449547292,-1.976010748423339]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_17","position":[-0.4282809827449482,0.7470885966334437,0.71338606911949],"aabb_xy":[[-0.4932809837020754,0.695140384699738],[-0.363280981787821,0.7990368085671492]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_18","position":[0.05486024920468968,1.7617814066161572,0.71338606911949],"aabb_xy":[[-0.005139751391326497,1.7069689340709338],[0.11486024980070586,1.8165938791613807]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_19","position":[0.12417409635320298,0.8639370579359538,0.71338606911949],"aabb_xy":[[0.060174094010401434,0.8189962066918213],[0.18817409869600454,0.9088779091800863]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_20","position":[-0.49709137201925324,1.197775377873079,0.71338606911949],"aabb_xy":[[-0.5420913734854821,1.1527755210115984],[-0.4520913705530244,1.2427752347345598]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_21","position":[0.5654440557149782,0.8300174676766758,0.71338606911949],"aabb_xy":[[0.5014440565452083,0.7832507805577134],[0.6294440548847482,0.8767841547956383]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_22","position":[0.23287647948121026,-2.4752091102050913,0.71338606911949],"aabb_xy":[[0.1916276684512955,-2.5302091097173083],[0.27412529051112494,-2.4202091106928734]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_23","position":[-0.13318007185149616,-1.5408216442289036,0.71338606911949],"aabb_xy":[[-0.19718006915384254,-1.58518807119676],[-0.06918007454914973,-1.4964552172610466]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_24","position":[0.26193121862910174,1.4679154915601624,0.71338606911949],"aabb_xy":[[0.24492112133905103,1.4517810030618883],[0.27894131591915233,1.4840499800584361]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_25","position":[-0.19575560051327595,1.228306683119083,0.71338606911949],"aabb_xy":[[-0.234301293338477,1.189760912062894],[-0.1572099076880749,1.2668524541752715]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_26","position":[-0.23144228985045645,0.13633127816916746,0.71338606911949],"aabb_xy":[[-0.26894229103524925,0.13191305547310686],[-0.19394228866566365,0.14074950086522794]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_27","position":[-0.5275346570766754,-1.0394286178849204,0.71338606911949],"aabb_xy":[[-0.5381021367347743,-1.049973647997929],[-0.5169671774185762,-1.0288835877719118]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_28","position":[-0.04916103272702754,1.3712990735780966,0.71338606911949],"aabb_xy":[[-0.06092921952168507,1.2862990736728752],[-0.03739284593237002,1.4562990734833183]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_29","position":[0.3895352224302493,-1.7314723376351837,0.71338606911949],"aabb_xy":[[0.30953522135712896,-1.7412503839725684],[0.4695352235033696,-1.7216942912977995]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_30","position":[0.255993223813233,1.6702453162697437,0.71338606911949],"aabb_xy":[[0.23812411605877742,1.6564124082925327],[0.2738623315676884,1.6840782242469547]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_31","position":[-0.5545208862029729,-0.09390186394534394,0.71338606911949],"aabb_xy":[[-0.56156119613651,-0.17390186334501537],[-0.547480576269436,-0.013901864545672552]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_32","position":[-0.44641150406892655,-1.025492015446537,0.71338606911949],"aabb_xy":[[-0.4572519822954415,-1.042678296737186],[-0.4355710258424117,-1.008305734155888]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_33","position":[0.6475658004754519,1.7269585495180082,0.71338606911949],"aabb_xy":[[0.613103322462364,1.7202948723350855],[0.6820282784885395,1.733622226700931]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6972690282314491,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2234.png","name":"2234"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2234.png","name":"2234"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7611.png","name":"7611"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9853.png","name":"9853"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5506.png","name":"5506"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5206.png","name":"5206"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":637.1849062038103,"rotation_z_degrees":76.21773004543694,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015893473657558606,0.015219736450705419,-0.009094092736049126]},{"name":"camera_2","offset_m":[-0.00044318732385298376,-0.0025616696123937494,0.004313733521409357]},{"name":"camera_3","offset_m":[-0.013759392119769438,0.014082454307646482,-0.007519330489035744]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001213502618490583,-0.00011862856588870131,-0.0010098769594926137],"end_effector_yaw_offset_degrees":-0.9286669284645348},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0008595089631591268,-0.001592777838369753,-2.65959174019538e-06],"end_effector_yaw_offset_degrees":-0.1717395595590585},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0017095582965135354,-0.00037656235823505923,-0.0012401899266623491],"end_effector_yaw_offset_degrees":-0.639493807360203},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0012662372992238784,0.0012191934079154813,-0.0004592793715694921],"end_effector_yaw_offset_degrees":0.2726302265391687}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0019313576192222749,-0.00020410805942428466],"position_m":[0.17806864238077771,-0.033804108059424284,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00016298930950771166,0.003609679435025632],"position_m":[0.2718370106904923,-0.36369032056497436,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0010711563314075726,0.001422902784655876],"position_m":[0.3189288436685924,0.3545229027846559,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00458774524828192,-0.002493054515595392],"position_m":[0.3339122547517181,0.1060069454844046,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ca0122eceb05d09ba2a6b1c00256d51a7569f441ccfec87f203bda530a7f5095","episode_index":39,"episode_name":"episode_0039"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0039.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_2234/tex_ceiling_textures_5206/tex_floor_textures_5506/tex_table_textures_7611/tex_wall_textures_9853","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":1550907044221907346,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":1550907044221907346,"visual_seed":1550907044221907346,"scene_id":"lab_003","finished_at":"2026-09-05T20:26:38"} +{"episode_id":"ep_000039","started_at":"2026-09-05T20:26:41","dimensions":{"distractor":{"count":21,"items":[{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_0","position":[-0.08577384306404046,1.093243699357732,0.71338606911949],"aabb_xy":[[-0.16577384172092646,1.0787388404334692],[-0.005773844407154463,1.107748558281995]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_1","position":[-0.05790461849430495,0.5454391916856811,0.71338606911949],"aabb_xy":[[-0.09540461878647977,0.5413977162850775],[-0.02040461820213013,0.5494806670862847]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_2","position":[-0.5856842629279946,-1.0202599902173979,0.71338606911949],"aabb_xy":[[-0.6656842609087795,-1.0278615311792496],[-0.5056842649472094,-1.0126584492555457]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_3","position":[-0.40900450971947755,-0.7774603646175102,0.71338606911949],"aabb_xy":[[-0.489004508306797,-0.856775966555671],[-0.3290045111321581,-0.6981447626793492]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_4","position":[0.5531496460766754,0.6382606466187553,0.71338606911949],"aabb_xy":[[0.46314964748220555,0.6220100603053342],[0.6431496446711454,0.6545112329321763]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_5","position":[0.10714586733010056,1.4093687397833357,0.71338606911949],"aabb_xy":[[0.04314586528036858,1.3692742566940277],[0.17114586937983256,1.4494632228726436]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_6","position":[0.3906851818407382,-1.737136799266839,0.71338606911949],"aabb_xy":[[0.36546434498089847,-1.7623605501197257],[0.4159060187005778,-1.7119130484139522]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_7","position":[-0.5421026388361746,1.6637312775926714,0.71338606911949],"aabb_xy":[[-0.6121026352461362,1.6432933419409894],[-0.47210264242621264,1.6841692132443529]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_8","position":[-0.363436258459062,-2.201724358309757,0.71338606911949],"aabb_xy":[[-0.4009362570346828,-2.2144606539733145],[-0.32593625988344116,-2.1889880626461986]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_9","position":[0.42183066400929725,-2.079124765605502,0.71338606911949],"aabb_xy":[[0.38591715958430756,-2.1150382738222566],[0.45774416843428695,-2.043211257388747]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_10","position":[0.5818925613631067,1.193616668741711,0.71338606911949],"aabb_xy":[[0.5725455537808115,1.1793130465240667],[0.591239568945402,1.2079202909593547]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_11","position":[0.19611827586532138,-1.7229501091885056,0.71338606911949],"aabb_xy":[[0.1817838507391579,-1.735010324743044],[0.2104527009914848,-1.7108898936339663]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_12","position":[0.2602405472857341,0.8623990323780562,0.71338606911949],"aabb_xy":[[0.24830781292390602,0.8500168795701967],[0.27217328164756216,0.8747811851859154]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_13","position":[-0.40763527122381066,-0.057068406662711624,0.71338606911949],"aabb_xy":[[-0.41489651879421807,-0.0698554169262211],[-0.40037402365340324,-0.04428139639920215]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_14","position":[-0.2123599067152082,-1.4758290829228082,0.71338606911949],"aabb_xy":[[-0.21643806462225795,-1.4799100631710715],[-0.20828174880815847,-1.471748102674545]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_15","position":[0.45857341131679563,1.6171103584934845,0.71338606911949],"aabb_xy":[[0.4235734130061002,1.609395343569939],[0.4935734096274911,1.6248253734170304]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_16","position":[0.5302490716101154,0.24490179869623852,0.71338606911949],"aabb_xy":[[0.5113646878416052,0.22601587391588576],[0.5491334553786256,0.2637877234765913]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_17","position":[0.26612675495289795,-1.8248626140110813,0.71338606911949],"aabb_xy":[[0.24825764719844245,-1.8386955219882921],[0.28399586270735344,-1.8110297060338705]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_18","position":[0.5791654592784219,-1.9281320588151516,0.71338606911949],"aabb_xy":[[0.5491979023685962,-1.9581320591130373],[0.6091330161882476,-1.8981320585172659]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_19","position":[0.05575065879788976,-1.9821449419190154,0.71338606911949],"aabb_xy":[[0.022271491536848827,-2.015624055290123],[0.0892298260589307,-1.9486658285479088]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_20","position":[-0.5728345578064573,-1.7610637936520286,0.71338606911949],"aabb_xy":[[-0.6178271445249077,-1.8060637929264771],[-0.5278419710880069,-1.7160637943775796]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6995107916894816,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8401.png","name":"8401"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8401.png","name":"8401"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1448.png","name":"1448"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9429.png","name":"9429"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7997.png","name":"7997"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5455.png","name":"5455"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":565.4192857187677,"rotation_z_degrees":97.92371892678273,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006932193837479117,0.014874442282885151,0.016731290816586388]},{"name":"camera_2","offset_m":[-0.019354823082705846,0.013155558951290582,-0.009758818112526737]},{"name":"camera_3","offset_m":[0.0024702076663114005,0.017385911103337082,-0.0005194562119641907]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-5.766660190733978e-05,0.0008997006457009448,-0.0005841656347653713],"end_effector_yaw_offset_degrees":-0.2249904733703758},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0019956020770617376,-0.0005875600546506017,-0.0017213951008183868],"end_effector_yaw_offset_degrees":0.302662712932283},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0009176195993163931,-0.0015797906668836008,-0.0009938089433921236],"end_effector_yaw_offset_degrees":-0.0011028707290752227},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00035608569417999096,0.0009595037477860497,0.0006318700086194425],"end_effector_yaw_offset_degrees":0.07177972687745915}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0005917523218251907,-0.00200381594871609],"position_m":[0.17940824767817481,-0.03560381594871609,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00015520805795913532,-0.00015495911736993374],"position_m":[0.2721552080579592,-0.36745495911737,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.00480282134925411,0.002432911710876547],"position_m":[0.3248028213492541,0.3555329117108766,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0038700126323504714,0.0019193224681099963],"position_m":[0.33462998736764954,0.11041932246811,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"bb2a09050db30cf5bf5588390d4eae2ebb1501daf01e61de65403ebc0b3dfa52","episode_index":40,"episode_name":"episode_0040"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0040.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_8401/tex_ceiling_textures_5455/tex_floor_textures_7997/tex_table_textures_1448/tex_wall_textures_9429","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":3432208082897536991,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":3432208082897536991,"visual_seed":3432208082897536991,"scene_id":"lab_003","finished_at":"2026-09-05T20:30:08"} +{"episode_id":"ep_000040","started_at":"2026-09-05T20:32:31","dimensions":{"distractor":{"count":28,"items":[{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_0","position":[-0.44068146152760873,0.9396527243852462,0.71338606911949],"aabb_xy":[[-0.4780127380528513,0.9049996695903939],[-0.403350185002366,0.9743057791800984]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_1","position":[-0.11987813594881147,-0.7071703140103802,0.71338606911949],"aabb_xy":[[-0.2048781343662347,-0.7920446094726652],[-0.034878137531388256,-0.6222960185480952]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_2","position":[-0.5447771170736279,1.4837677996715715,0.71338606911949],"aabb_xy":[[-0.5947771165138234,1.433799875187255],[-0.49477711763343213,1.5337357241558875]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_3","position":[-0.6253542108889275,1.2952581131668484,0.71338606911949],"aabb_xy":[[-0.6628542107059611,1.2906199018557065],[-0.587854211071894,1.2998963244779902]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_4","position":[-0.14326014620758099,-0.007328458176355301,0.71338606911949],"aabb_xy":[[-0.18602685308700115,-0.07132846159815776],[-0.10049343932816077,0.05667154524544715]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_5","position":[0.4582028669489586,0.7979798676368066,0.71338606911949],"aabb_xy":[[0.4121177756942271,0.7339798703842515],[0.50428795820369,0.8619798648893617]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_6","position":[0.38556266620516944,-2.20170135975477,0.71338606911949],"aabb_xy":[[0.3215626655017001,-2.247719742227691],[0.44956266690863883,-2.155682977281849]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_7","position":[-0.31463107174483596,-0.09313386700837567,0.71338606911949],"aabb_xy":[[-0.3371310712685433,-0.11562981445899645],[-0.2921310722211285,-0.07063791955775489]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_8","position":[0.0026512819315638314,-2.0248298411110626,0.71338606911949],"aabb_xy":[[-0.04723141494613238,-2.0748298403573373],[0.05253397880926004,-1.9748298418647878]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_9","position":[-0.5170653738974079,-1.4205163232354758,0.71338606911949],"aabb_xy":[[-0.5870653754996874,-1.4339491164371334],[-0.44706537229512844,-1.4070835300338183]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_10","position":[-0.6089267214025632,-0.2771975079136282,0.71338606911949],"aabb_xy":[[-0.6138827415874444,-0.2996975081157498],[-0.603970701217682,-0.25469750771150657]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_11","position":[-0.2798551337551302,0.8272912069692082,0.71338606911949],"aabb_xy":[[-0.28798282194844343,0.8183775985585007],[-0.271727445561817,0.836204815379916]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_12","position":[-0.40853653477132107,0.2839125013245942,0.71338606911949],"aabb_xy":[[-0.47353653587726435,0.258947128256466],[-0.3435365336653778,0.3088778743927226]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_13","position":[0.4620578563288713,0.24350225098967826,0.71338606911949],"aabb_xy":[[0.44294554897089244,0.2243674721124362],[0.48117016368685017,0.2626370298669203]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_14","position":[-0.07166408366102339,1.584527704812769,0.71338606911949],"aabb_xy":[[-0.11296862672475938,1.520527705244652],[-0.030359540597287404,1.6485277043808861]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_15","position":[-0.23162509767546152,0.6416465257208652,0.71338606911949],"aabb_xy":[[-0.2966250986325887,0.5896983137871596],[-0.1666250967183343,0.6935947376545708]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_16","position":[0.49770648424889874,-2.053496671394389,0.71338606911949],"aabb_xy":[[0.48613750350196216,-2.0784966715113207],[0.5092754649958353,-2.0284966712774573]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_17","position":[-0.40486105150275237,-0.1841358579521124,0.71338606911949],"aabb_xy":[[-0.41290441142870754,-0.26913585904747883],[-0.3968176915767972,-0.09913585685674597]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_18","position":[0.6522824305867827,0.34999823162749344,0.71338606911949],"aabb_xy":[[0.648204272679733,0.3459172513792302],[0.6563605884938324,0.3540792118757568]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_19","position":[0.0004122673650632791,0.9378105914951647,0.71338606911949],"aabb_xy":[[-0.03708773381972951,0.9333923687991041],[0.03791226854985607,0.9422288141912252]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_20","position":[0.028303772573587738,-0.8691744803448977,0.71338606911949],"aabb_xy":[[0.013969347447424282,-0.8812346958994366],[0.04263819769975119,-0.8571142647903589]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_21","position":[0.5253491171976763,-0.805440555121836,0.71338606911949],"aabb_xy":[[0.47034911757593056,-0.8604242479093087],[0.5803491168194223,-0.7504568623343633]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_22","position":[0.013844374992248443,-1.1221019806070107,0.71338606911949],"aabb_xy":[[0.006562058615584783,-1.2121019842165193],[0.02112669136891209,-1.0321019769975013]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_23","position":[0.10859610020523602,1.3107098340419836,0.71338606911949],"aabb_xy":[[0.06146672120340034,1.2467098329975814],[0.1557254792070717,1.3747098350863853]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_24","position":[-0.09344962286031488,1.3913018272809712,0.71338606911949],"aabb_xy":[[-0.18344962227868578,1.3579263304367815],[-0.003449623441943994,1.424677324125161]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_25","position":[0.4514066508822627,-0.6216489866039236,0.71338606911949],"aabb_xy":[[0.41491083025498393,-0.6581329290306811],[0.4879024715095414,-0.585165044177166]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_26","position":[0.2490560042311375,1.7574445876786595,0.71338606911949],"aabb_xy":[[0.21405600503831917,1.7464775416809966],[0.2840560034239557,1.7684116336763216]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_27","position":[0.5860932966753691,0.02937895023726078,0.71338606911949],"aabb_xy":[[0.5220932964013908,-0.020687149960027185],[0.6500932969493473,0.07944505043454875]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7015518974521756,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/716.png","name":"716"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/716.png","name":"716"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9918.png","name":"9918"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/265.png","name":"265"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3578.png","name":"3578"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7168.png","name":"7168"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":502.7504542910893,"rotation_z_degrees":217.75240387656734,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013618491978276036,-0.0027028392238807666,-0.011197780581913293]},{"name":"camera_2","offset_m":[0.012493158176643166,-0.013975648347841974,0.014807435891466613]},{"name":"camera_3","offset_m":[-0.00870812628558891,-0.009917586422505061,-0.004814030426458898]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0013860151644714,-0.00033558568426509164,0.00016270399956358006],"end_effector_yaw_offset_degrees":-0.4449815722417745},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0017800767967469972,0.0002782426552899618,-0.00047704303016439823],"end_effector_yaw_offset_degrees":0.4498404329569117},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0019994965289135674,0.0016672175418839712,0.0012803317830911445],"end_effector_yaw_offset_degrees":0.7491149196971376},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0001107830373978675,-0.0009489728021135195,0.0013609153136865896],"end_effector_yaw_offset_degrees":0.3658672017707514}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0019520867619932094,0.002264563286837171],"position_m":[0.17804791323800678,-0.03133543671316283,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00269265938876735,7.289436480521945e-05],"position_m":[0.27469265938876736,-0.3672271056351948,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.002285953633516663,0.004490746836704535],"position_m":[0.31771404636648337,0.35759074683670455,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00014434729972484604,-0.0012986639500219043],"position_m":[0.3383556527002752,0.1072013360499781,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1567e8e3216fef0d2efcb6a3eb08c9a12f7da9c4d86d5583a41665d177f50772","episode_index":42,"episode_name":"episode_0042"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0042.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_716/tex_ceiling_textures_7168/tex_floor_textures_3578/tex_table_textures_9918/tex_wall_textures_265","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":3024881996146676428,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":3024881996146676428,"visual_seed":3024881996146676428,"scene_id":"lab_003","finished_at":"2026-09-05T20:35:58"} +{"episode_id":"ep_000041","started_at":"2026-09-05T20:36:01","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_0","position":[-0.32338039597569906,0.5382755056909776,0.71338606911949],"aabb_xy":[[-0.34088039622074845,0.5207757178514106],[-0.3058803957306497,0.5557752935305443]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_1","position":[-0.4900832701837031,-2.1268446512090877,0.71338606911949],"aabb_xy":[[-0.5125832701938515,-2.140940870848691],[-0.46758327017355494,-2.1127484315694844]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_2","position":[-0.3763526037016149,0.22134254533653452,0.71338606911949],"aabb_xy":[[-0.4663526004372251,0.16815908201923996],[-0.2863526069660047,0.274526008653829]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_3","position":[-0.0650769572234069,-1.8786489218231717,0.71338606911949],"aabb_xy":[[-0.08396134099191711,-1.8975348466035242],[-0.046192573454896704,-1.8597629970428187]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_4","position":[-0.49081754514837245,1.1265266786213943,0.71338606911949],"aabb_xy":[[-0.5133139665822366,1.104026678814647],[-0.4683211237145083,1.1490266784281418]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_5","position":[0.05448325570412005,1.4253238744205405,0.71338606911949],"aabb_xy":[[-0.035516743714250835,1.3919483775763506],[0.14448325512249094,1.45869937126473]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_6","position":[0.6172671525078266,1.4954589841277826,0.71338606911949],"aabb_xy":[[0.5972087408945862,1.4753938972186251],[0.6373255641210668,1.51552407103694]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_7","position":[-0.5373157814319836,0.3859541686415633,0.71338606911949],"aabb_xy":[[-0.5871984783096797,0.33595416939528855],[-0.48743308455428735,0.4359541678878381]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_8","position":[0.26561719107911475,0.9907146221810126,0.71338606911949],"aabb_xy":[[0.2431171905670741,0.9682227638156142],[0.2881171915911553,1.013206480546411]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_9","position":[0.4641336266026035,0.04502484371662874,0.71338606911949],"aabb_xy":[[0.43069345140658377,0.011581217885698656],[0.497573801798623,0.0784684695475588]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_10","position":[0.054325775043724045,-2.5122805143232805,0.71338606911949],"aabb_xy":[[0.047824138535719436,-2.52204833634959],[0.06082741155172867,-2.5025126922969703]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_11","position":[0.1404200533579989,1.1833566924945442,0.71338606911949],"aabb_xy":[[0.12052901347765868,1.1707008812098476],[0.16031109323833917,1.1960125037792413]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_12","position":[-0.192403878907085,-2.351853006696977,0.71338606911949],"aabb_xy":[[-0.2564038760191907,-2.4008853764913876],[-0.12840388179497927,-2.3028206369025663]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_13","position":[0.41139935453343823,-2.0290287661093207,0.71338606911949],"aabb_xy":[[0.3763993531819565,-2.0493885020661415],[0.44639935588491997,-2.0086690301525]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_14","position":[0.6177177938317389,-0.6836151554577754,0.71338606911949],"aabb_xy":[[0.57254647598357,-0.7476151526023138],[0.6628891116799079,-0.619615158313237]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_15","position":[-0.21451552739931878,0.7823801211922419,0.71338606911949],"aabb_xy":[[-0.29451552956208127,0.7024249375660983],[-0.13451552523655633,0.8623353048183855]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_16","position":[0.27493188823142245,1.3891881571513442,0.71338606911949],"aabb_xy":[[0.20993188712547917,1.3642227840832157],[0.33993188933736573,1.4141535302194723]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_17","position":[-0.4676246434838748,-1.4763861295505762,0.71338606911949],"aabb_xy":[[-0.5576246471607929,-1.5378185361276802],[-0.3776246398069565,-1.4149537229734717]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_18","position":[0.6406022718767146,0.0017937017615512474,0.71338606911949],"aabb_xy":[[0.6056022727467588,-0.003951519314112861],[0.6756022710066701,0.007538922837215356]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_19","position":[-0.6034114904387117,-0.27888120569968367,0.71338606911949],"aabb_xy":[[-0.6345584092822948,-0.34888120438649084],[-0.5722645715951286,-0.2088812070128765]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_20","position":[-0.43494216994657314,-2.3554621270658616,0.71338606911949],"aabb_xy":[[-0.4705713258465329,-2.3910947938227145],[-0.3993130140466134,-2.3198294603090086]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_21","position":[-0.14769499231690064,1.65807258819514,0.71338606911949],"aabb_xy":[[-0.19268757903535105,1.6130725889206914],[-0.10270240559845023,1.703072587469589]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_22","position":[-0.21051858574986904,0.4520404191611065,0.71338606911949],"aabb_xy":[[-0.2654923077862019,0.39704041959687325],[-0.15554486371353618,0.5070404187253397]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_23","position":[0.19570287642478956,-0.8889190121911876,0.71338606911949],"aabb_xy":[[0.11570287316694661,-0.9689155199831715],[0.2757028796826325,-0.8089225043992035]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_24","position":[-0.4404987176611788,-1.0914576964409899,0.71338606911949],"aabb_xy":[[-0.5104987194699242,-1.1128114652051773],[-0.3704987158524334,-1.0701039276768025]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_25","position":[0.6115545848704413,-1.3289957908964598,0.71338606911949],"aabb_xy":[[0.5315545816064281,-1.3425558232053734],[0.6915545881344544,-1.3154357585875467]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7003429079497138,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5206.png","name":"5206"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5206.png","name":"5206"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7214.png","name":"7214"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1390.png","name":"1390"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3737.png","name":"3737"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3567.png","name":"3567"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":826.5453623274923,"rotation_z_degrees":14.528710003804122,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.019566357196811972,-0.007708856124303743,0.019833723345378213]},{"name":"camera_2","offset_m":[0.002935563586592322,0.018590427569286718,-0.009191582177912255]},{"name":"camera_3","offset_m":[-0.015046746741686353,-0.0006220299944222629,-0.012221627936566693]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0007682269781340008,-0.0018401591881673652,0.0005420621650987934],"end_effector_yaw_offset_degrees":-0.40654365781413193},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0006814073939595633,0.000331082519080306,0.0015492038007450977],"end_effector_yaw_offset_degrees":0.9660961712023171},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0016128012271577315,0.0015337045339766414,0.0012346627238154395],"end_effector_yaw_offset_degrees":-0.4263435142319574},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0006102396271690652,0.0012901908109180017,-0.0005468563035935681],"end_effector_yaw_offset_degrees":-0.960949950829489}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0017792737383070592,-0.0018637392195981917],"position_m":[0.18177927373830705,-0.03546373921959819,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0010889288246203836,-0.0037356501221966713],"position_m":[0.27091107117537966,-0.3710356501221967,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0030362837298647015,0.0048080923362956276],"position_m":[0.3230362837298647,0.35790809233629567,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0040906861581403746,0.0038685080596427756],"position_m":[0.3425906861581404,0.11236850805964277,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ef1c0dcb0f5f64970c8bbbf3440e81e0ab717f035fc5598f5425cbd90b50af8e","episode_index":43,"episode_name":"episode_0043"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0043.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_5206/tex_ceiling_textures_3567/tex_floor_textures_3737/tex_table_textures_7214/tex_wall_textures_1390","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":2205394266411513932,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":2205394266411513932,"visual_seed":2205394266411513932,"scene_id":"lab_003","finished_at":"2026-09-05T20:39:20"} +{"episode_id":"ep_000042","started_at":"2026-09-05T20:39:23","dimensions":{"distractor":{"count":23,"items":[{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_0","position":[0.06272433236746222,-1.478731435611698,0.71338606911949],"aabb_xy":[[0.045622254409094065,-1.4958382411429678],[0.07982641032583038,-1.4616246300804283]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_1","position":[0.2265796940889948,-0.9773318322511344,0.71338606911949],"aabb_xy":[[0.22246374397692212,-0.9814473872839796],[0.23069564420106745,-0.9732162772182885]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_2","position":[-0.41641333618728804,-0.6535578795442487,0.71338606911949],"aabb_xy":[[-0.42291497269529277,-0.6633257015705585],[-0.40991169967928354,-0.6437900575179389]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_3","position":[-0.3534976278937553,1.791010028854458,0.71338606911949],"aabb_xy":[[-0.37599762840579587,1.7685181704890591],[-0.3309976273817147,1.8135018872198558]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_4","position":[-0.3374389696122722,-1.8861682404511109,0.71338606911949],"aabb_xy":[[-0.3873216664899684,-1.9361682396973858],[-0.28755627273457596,-1.8361682412048363]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_5","position":[-0.6509817873936083,-0.07220980034663249,0.71338606911949],"aabb_xy":[[-0.6731543143702591,-0.09438546750275564],[-0.6288092604169574,-0.0500341331905093]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_6","position":[0.6379653419028526,0.9888159628296092,0.71338606911949],"aabb_xy":[[0.5926867270217034,0.9248159634814255],[0.683243956784002,1.0528159621777928]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_7","position":[0.6490263665932035,-1.206048501889625,0.71338606911949],"aabb_xy":[[0.631526366333867,-1.2201400440783978],[0.6665263668525403,-1.1919569597008526]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_8","position":[0.18781820596951715,1.7254306002653608,0.71338606911949],"aabb_xy":[[0.1796036608538331,1.7167540099677192],[0.19603275108520107,1.7341071905630019]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_9","position":[-0.47058756204012697,0.3854699901699954,0.71338606911949],"aabb_xy":[[-0.5055875603102469,0.3783958624750072],[-0.435587563770007,0.39254411786498355]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_10","position":[0.08013146881266198,-2.5076544382867962,0.71338606911949],"aabb_xy":[[0.01613146659225495,-2.5520275224120845],[0.144131471033069,-2.463281354161508]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_11","position":[-0.6678011660873052,-0.4677287242019208,0.71338606911949],"aabb_xy":[[-0.6759288542806184,-0.4766423326126285],[-0.659673477893992,-0.4588151157912132]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_12","position":[0.47977045901507487,-0.5539788592067394,0.71338606911949],"aabb_xy":[[0.46156463535382725,-0.565004259788731],[0.4979762826763226,-0.5429534586247478]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_13","position":[-0.301653597887252,-1.1731558238824182,0.71338606911949],"aabb_xy":[[-0.31452550138819213,-1.2531558242962544],[-0.28878169438631185,-1.093155823468582]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_14","position":[-0.3104141852909419,0.7567335642787794,0.71338606911949],"aabb_xy":[[-0.3463276897159316,0.7208200560620246],[-0.2745006808659522,0.7926470724955339]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_15","position":[0.5860501277058963,-1.8012290580894386,0.71338606911949],"aabb_xy":[[0.5701656344405711,-1.8155819983882626],[0.6019346209712214,-1.7868761177906145]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_16","position":[-0.22630516241957516,-0.2961560445518483,0.71338606911949],"aabb_xy":[[-0.2762825792848287,-0.3461560460410968],[-0.17632774555432157,-0.24615604306259972]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_17","position":[-0.2791565587919698,-1.5768403221608074,0.71338606911949],"aabb_xy":[[-0.3341565579685593,-1.6318299969357648],[-0.22415655961538034,-1.5218506473858495]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_18","position":[-0.6530776895565359,0.569087470758546,0.71338606911949],"aabb_xy":[[-0.660780880230613,0.5613781000598079],[-0.6453744988824588,0.5767968414572839]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_19","position":[0.1089482457554738,-1.8516275213191584,0.71338606911949],"aabb_xy":[[0.05493264947357379,-1.9156275242114156],[0.1629638420373738,-1.7876275184269013]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_20","position":[-0.02068536748652816,1.1401231727967307,0.71338606911949],"aabb_xy":[[-0.03826366967547501,1.1225486832226257],[-0.003107065297581313,1.1576976623708357]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_21","position":[0.519286180137914,-1.275503217957771,0.71338606911949],"aabb_xy":[[0.4849699029632961,-1.3255032179309487],[0.553602457312532,-1.2255032179845933]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_22","position":[0.4959603176773495,-0.007748142975555705,0.71338606911949],"aabb_xy":[[0.49188215977029975,-0.011829123223819016],[0.5000384755843992,-0.0036671627272923937]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6974900575818955,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/522.png","name":"522"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/522.png","name":"522"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6130.png","name":"6130"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1168.png","name":"1168"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9171.png","name":"9171"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1514.png","name":"1514"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":688.5122780631134,"rotation_z_degrees":285.44725285745244,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.019997218769622214,-0.009505119289606236,0.0007631049475496088]},{"name":"camera_2","offset_m":[-0.017221912064377395,-0.015533659951906396,0.002771459978872629]},{"name":"camera_3","offset_m":[0.01835023454746489,-0.005169400775713418,-0.01563243709271738]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00013601648593871882,0.0015202325733736357,-0.00042645878328071655],"end_effector_yaw_offset_degrees":-0.5296159805478431},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.000678050828260723,0.0018666811586333112,0.0008371652587848485],"end_effector_yaw_offset_degrees":0.8102440962538981},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0004265660506332107,0.0015626038908682733,0.0008431837306949555],"end_effector_yaw_offset_degrees":0.2580206630067534},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0014329746497509948,-0.0006787509771243605,0.0016812349011111677],"end_effector_yaw_offset_degrees":0.5617699955869502}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004900575269211563,0.0015701610286224946],"position_m":[0.18490057526921155,-0.032029838971377504,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0031772612817937366,-0.0016934321007557518],"position_m":[0.2688227387182063,-0.36899343210075575,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.002818762304678885,0.0019219679309258808],"position_m":[0.31718123769532114,0.3550219679309259,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0030433893902067294,0.0038322591365615296],"position_m":[0.34154338939020673,0.11233225913656153,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"36a74cdd9876c66e33599e9196ed72e676cc8668e91095c006fa0e04076afbf5","episode_index":44,"episode_name":"episode_0044"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0044.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_522/tex_ceiling_textures_1514/tex_floor_textures_9171/tex_table_textures_6130/tex_wall_textures_1168","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":3809705790576254521,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":3809705790576254521,"visual_seed":3809705790576254521,"scene_id":"lab_003","finished_at":"2026-09-05T20:43:05"} +{"episode_id":"ep_000043","started_at":"2026-09-05T20:43:09","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_0","position":[0.5651325115370078,-2.3323431146821214,0.71338606911949],"aabb_xy":[[0.5151393994278161,-2.3823431153563175],[0.6151256236461998,-2.282343114007926]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_1","position":[0.3703764025875964,-0.6245519586457726,0.71338606911949],"aabb_xy":[[0.33183070976239537,-0.6630977297019612],[0.40892209541279745,-0.586006187589584]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_2","position":[0.6005980202609724,-1.1496802321171478,0.71338606911949],"aabb_xy":[[0.5507812407961376,-1.199680230601451],[0.6504147997258071,-1.0996802336328442]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_3","position":[-0.1838272582982673,1.0946246264717412,0.71338606911949],"aabb_xy":[[-0.20132719173225064,1.0771246265515066],[-0.1663273248642839,1.1121246263919757]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_4","position":[-0.40446241561652774,-2.1224753504059244,0.71338606911949],"aabb_xy":[[-0.44196241713215945,-2.1337021234220694],[-0.36696241410089603,-2.1112485773897793]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_5","position":[-0.6301162527050785,-2.4288465278205407,0.71338606911949],"aabb_xy":[[-0.694111950100175,-2.4928465261212494],[-0.5661205553099818,-2.364846529519832]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_6","position":[-0.11378697936529159,0.49645729564307706,0.71338606911949],"aabb_xy":[[-0.18378698200187793,0.4763524306472115],[-0.043786976728705226,0.5165621606389426]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_7","position":[-0.3733133250252766,-2.2051307467804184,0.71338606911949],"aabb_xy":[[-0.4533133221848518,-2.2166783477382355],[-0.29331332786570125,-2.1935831458226014]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_8","position":[0.5431603486384362,1.5217392177294582,0.71338606911949],"aabb_xy":[[0.4881603490166905,1.4667555249419857],[0.5981603482601822,1.5767229105169311]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_9","position":[-0.13835904593663073,-1.6044152946686614,0.71338606911949],"aabb_xy":[[-0.16290526155938143,-1.6346641912176985],[-0.11381283031388,-1.5741663981196243]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_10","position":[0.6456708213884821,-1.7270503197280642,0.71338606911949],"aabb_xy":[[0.5956977558559666,-1.7770503195405976],[0.6956438869209975,-1.6770503199155318]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_11","position":[-0.1926706773001795,0.7214815442686104,0.71338606911949],"aabb_xy":[[-0.24668627358207948,0.6574815413763532],[-0.13865508101827947,0.7854815471608675]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_12","position":[-0.4801393415375146,0.89152726893195,0.71338606911949],"aabb_xy":[[-0.5301393418980807,0.8415472817223469],[-0.4301393411769486,0.9415072561415528]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_13","position":[-0.6377980889894085,-1.6834409934061627,0.71338606911949],"aabb_xy":[[-0.6602980888033109,-1.6879156097766435],[-0.6152980891755061,-1.678966377035682]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_14","position":[0.23821874725711245,1.420241894588521,0.71338606911949],"aabb_xy":[[0.2268570126038263,1.4088734281822326],[0.2495804819103986,1.4316103609948088]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_15","position":[0.5059227330216767,0.6323368100433906,0.71338606911949],"aabb_xy":[[0.4559227316607895,0.582358905467975],[0.5559227343825639,0.6823147146188062]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_16","position":[-0.11343193485436065,-1.0777485517835437,0.71338606911949],"aabb_xy":[[-0.1325442422123395,-1.0968833306607857],[-0.09431962749638177,-1.0586137729063017]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_17","position":[0.5690216739656355,-2.4721765709916386,0.71338606911949],"aabb_xy":[[0.4790216774647637,-2.518088213410097],[0.6590216704665072,-2.4262649285731803]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_18","position":[-0.34169583352433763,0.3414081703719094,0.71338606911949],"aabb_xy":[[-0.40569583390187125,0.2916629035210971],[-0.277695833146804,0.3911534372227216]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_19","position":[0.2562870621369283,1.7748617483458466,0.71338606911949],"aabb_xy":[[0.23378706189341292,1.7626571136860747],[0.2787870623804437,1.7870663830056186]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_20","position":[-0.5611774625694425,-1.9426693748553192,0.71338606911949],"aabb_xy":[[-0.6111724735288946,-1.9926693738909114],[-0.5111824516099905,-1.892669375819728]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_21","position":[-0.2434032924024664,1.418841048738869,0.71338606911949],"aabb_xy":[[-0.24803840755469975,1.4149737136617198],[-0.23876817725023297,1.4227083838160173]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_22","position":[-0.4607342429412404,1.7325583975587393,0.71338606911949],"aabb_xy":[[-0.4687776028671956,1.6475583964633729],[-0.45269088301528526,1.8175583986541057]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_23","position":[0.1938898444056456,0.6701363685927246,0.71338606911949],"aabb_xy":[[0.143895011477704,0.620136369697481],[0.2438846773335872,0.720136367487968]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_24","position":[-0.42424597552028875,-0.39804262410676694,0.71338606911949],"aabb_xy":[[-0.44783109898418355,-0.4630426263521987],[-0.40066085205639385,-0.33304262186133515]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_25","position":[-0.5704350129419624,1.479753182165282,0.71338606911949],"aabb_xy":[[-0.6054350129184581,1.4702885661176652],[-0.5354350129654665,1.4892177982128985]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_26","position":[0.4184682236412598,-1.900829485166025,0.71338606911949],"aabb_xy":[[0.4140375942864197,-1.9062778569007077],[0.4228988529961,-1.8953811134313427]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_27","position":[0.4273213504000519,0.8087400857092408,0.71338606911949],"aabb_xy":[[0.393005073225434,0.7587400857360631],[0.46163762757466986,0.8587400856824186]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.701592525159454,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1611.png","name":"1611"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1611.png","name":"1611"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2350.png","name":"2350"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8631.png","name":"8631"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1561.png","name":"1561"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4353.png","name":"4353"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":676.447934562078,"rotation_z_degrees":57.7339865077142,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005729054079892628,0.005930669065557569,0.016397168800707986]},{"name":"camera_2","offset_m":[-0.005567971187000609,-0.018778527241972237,0.0025770064430334742]},{"name":"camera_3","offset_m":[0.006813900688073266,0.0035239546554575035,-0.003678051736767985]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0015700157094632296,-0.0002519370394917489,0.0014884140800465588],"end_effector_yaw_offset_degrees":-0.8626220962614735},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0017082675649339987,-0.0019519296299104862,0.0018403127723425061],"end_effector_yaw_offset_degrees":-0.2385018290590546},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-7.56789569115277e-05,-2.5750570190146566e-05,-0.0012493204749460954],"end_effector_yaw_offset_degrees":0.36918251150440073},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006679900377375484,0.0012335283321772404,0.0011809304673810928],"end_effector_yaw_offset_degrees":0.3641927537860872}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0012521512050739092,-0.0034569721040507992],"position_m":[0.1812521512050739,-0.037056972104050796,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004616978076643818,0.0031454335517479776],"position_m":[0.2766169780766438,-0.36415456644825206,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.00016875692366754257,0.003970100241277359],"position_m":[0.32016875692366753,0.3570701002412774,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0026108801976782617,-0.00011174610599654338],"position_m":[0.3358891198023218,0.10838825389400346,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"513cbd0aa18f6e56993e09e152a1d19c7b6cf43f27c8553d32df94bc600796d8","episode_index":45,"episode_name":"episode_0045"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0045.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_1611/tex_ceiling_textures_4353/tex_floor_textures_1561/tex_table_textures_2350/tex_wall_textures_8631","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":7897984863869062531,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":7897984863869062531,"visual_seed":7897984863869062531,"scene_id":"lab_003","finished_at":"2026-09-05T20:46:28"} +{"episode_id":"ep_000044","started_at":"2026-09-05T20:46:32","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_0","position":[-0.6192720172335062,-1.6281995256601305,0.71338606911949],"aabb_xy":[[-0.6231858904289287,-1.6369485410666875],[-0.6153581440380838,-1.619450510253574]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_1","position":[0.2115822875510318,1.02097585380197,0.71338606911949],"aabb_xy":[[0.12158229081542157,0.9677923904846752],[0.301582284286642,1.0741593171192643]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_2","position":[0.6128874768080266,-1.0222625630082296,0.71338606911949],"aabb_xy":[[0.6079881845014631,-1.0499394823107984],[0.6177867691145901,-0.9945856437056608]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_3","position":[-0.558650751354976,-0.12601503786416357,0.71338606911949],"aabb_xy":[[-0.5811507518670166,-0.1485068962295619],[-0.5361507508429354,-0.10352317949876519]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_4","position":[-0.12978469518721514,-1.789890269088841,0.71338606911949],"aabb_xy":[[-0.17478469665344398,-1.834890125950322],[-0.08478469372098628,-1.7448904122273607]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_5","position":[-0.1454802938617208,-0.956728707748417,0.71338606911949],"aabb_xy":[[-0.20948029708035865,-1.0034518196474254],[-0.08148029064308293,-0.9100055958494087]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_6","position":[0.5723903644659882,-1.2089840391070683,0.71338606911949],"aabb_xy":[[0.544060654517448,-1.2134447813007854],[0.6007200744145285,-1.2045232969133512]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_7","position":[0.3599974479392809,-2.0245357120362795,0.71338606911949],"aabb_xy":[[0.29599744602693856,-2.0804468612942904],[0.42399744985162324,-1.9686245627782695]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_8","position":[-0.2096470582513001,1.5194424026666824,0.71338606911949],"aabb_xy":[[-0.2471470597669318,1.5082156296505371],[-0.17214705673566838,1.5306691756828272]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_9","position":[-0.07326448592489831,0.5468556995760925,0.71338606911949],"aabb_xy":[[-0.07859700057951131,0.5415313713308569],[-0.06793197127028534,0.552180027821328]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_10","position":[0.6063095106409839,0.3100783252655175,0.71338606911949],"aabb_xy":[[0.5934376071400437,0.2300783248516813],[0.619181414141924,0.3900783256793536]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_11","position":[0.4492548439680826,-1.4557488373751133,0.71338606911949],"aabb_xy":[[0.3992817784355672,-1.5057488371876466],[0.49922790950059814,-1.4057488375625806]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_12","position":[0.6333024136000036,1.2394914024897408,0.71338606911949],"aabb_xy":[[0.5533024103421607,1.1594948946977568],[0.7133024168578466,1.3194879102817247]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_13","position":[-0.046678584018874036,-1.9992237597752973,0.71338606911949],"aabb_xy":[[-0.09667858345906966,-2.049191684259614],[0.00332141542132159,-1.949255835290981]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_14","position":[0.15824907098026442,-1.3429751136852104,0.71338606911949],"aabb_xy":[[0.09424907060273077,-1.3927203805360224],[0.222249071357798,-1.293229846834398]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_15","position":[0.0008858086907769236,-1.287470449078853,0.71338606911949],"aabb_xy":[[-0.044392806190372336,-1.3514704484270368],[0.04616442357192618,-1.2234704497306694]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_16","position":[-0.3984170847186516,0.7103029975534829,0.71338606911949],"aabb_xy":[[-0.4108844428283873,0.6978376729201593],[-0.385949726608916,0.7227683221868063]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_17","position":[-0.6530036627357911,1.2143279240150737,0.71338606911949],"aabb_xy":[[-0.6593157622721295,1.2085609847618548],[-0.6466915631994528,1.2200948632682926]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_18","position":[-0.36158280100122625,1.0724762821650842,0.71338606911949],"aabb_xy":[[-0.3792584315898246,1.0547960658856812],[-0.3439071704126279,1.0901564984444867]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_19","position":[0.6206694779496242,-1.5712032102489832,0.71338606911949],"aabb_xy":[[0.600778438069284,-1.5838590215336805],[0.6405605178299645,-1.5585473989642868]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_20","position":[0.6301986581028574,-0.8199032363353911,0.71338606911949],"aabb_xy":[[0.6072829452178075,-0.8428075334718146],[0.6531143709879073,-0.7969989391989676]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_21","position":[0.15456987096830654,1.2086667282428412,0.71338606911949],"aabb_xy":[[0.07456986880554406,1.1287115446166975],[0.23456987313106903,1.2886219118689848]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_22","position":[-0.3606849739082908,-2.3194005151064205,0.71338606911949],"aabb_xy":[[-0.41067998486774293,-2.3694005141420127],[-0.3106899629488388,-2.2694005160708293]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_23","position":[-0.5118372528440646,-0.2393877246321856,0.71338606911949],"aabb_xy":[[-0.5758372551868661,-0.2843285758763181],[-0.44783725050126305,-0.19444687338805314]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_24","position":[-0.49367812335152966,1.3444316170882473,0.71338606911949],"aabb_xy":[[-0.5736781266155428,1.330871584779334],[-0.4136781200875165,1.3579916493971607]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7019042613927918,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3935.png","name":"3935"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3935.png","name":"3935"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9611.png","name":"9611"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7470.png","name":"7470"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9782.png","name":"9782"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6903.png","name":"6903"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":614.563973040736,"rotation_z_degrees":203.9544143399004,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00042595805296305467,-0.010733102695771027,0.019864201734657815]},{"name":"camera_2","offset_m":[0.01572810040803842,-0.00787321521361349,-0.012446632591995077]},{"name":"camera_3","offset_m":[-0.006128595737759,0.007268738846286912,-0.006054908996710812]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0013456972671332195,-0.00042142524942702635,0.0016574225220579832],"end_effector_yaw_offset_degrees":-0.8943182957797347},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0014979602348395111,0.0012251240001764237,0.0017362684556167418],"end_effector_yaw_offset_degrees":-0.0939375560121063},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0015614570232084695,-0.0009458289278427285,-0.0014931299509557054],"end_effector_yaw_offset_degrees":-0.4573910605463416},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00015367913452861578,0.0017562822297698395,0.0005993411670612817],"end_effector_yaw_offset_degrees":0.522785978368856}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0028048627883383885,0.004814619744825765],"position_m":[0.18280486278833838,-0.028785380255174232,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0007021595772904662,-0.003814433153640031],"position_m":[0.2727021595772905,-0.37111443315364007,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0014513021579315175,0.00022356735280000886],"position_m":[0.32145130215793155,0.3533235673528,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0038564996271912002,-0.003663570523584284],"position_m":[0.3423564996271912,0.10483642947641572,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"85a0da19d3536965b396940917c6d277ee3df7ba237324cdebb14906084bb05b","episode_index":46,"episode_name":"episode_0046"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0046.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_3935/tex_ceiling_textures_6903/tex_floor_textures_9782/tex_table_textures_9611/tex_wall_textures_7470","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":395149981113505531,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":395149981113505531,"visual_seed":395149981113505531,"scene_id":"lab_003","finished_at":"2026-09-05T20:49:54"} +{"episode_id":"ep_000045","started_at":"2026-09-05T20:49:58","dimensions":{"distractor":{"count":35,"items":[{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_0","position":[0.6285345159981488,-2.228335143141219,0.71338606911949],"aabb_xy":[[0.5735607939618159,-2.283335142705452],[0.6835082380344817,-2.1733351435769857]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_1","position":[0.3221672190846747,-0.6018775524472308,0.71338606911949],"aabb_xy":[[0.2721741069754829,-0.6518775531214265],[0.37216033119386666,-0.5518775517730352]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_2","position":[-0.3339062148518946,0.9340420062198151,0.71338606911949],"aabb_xy":[[-0.35581489699124563,0.9121413393997242],[-0.31199753271254355,0.9559426730399057]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_3","position":[0.44031988912654496,-0.09751730055083163,0.71338606911949],"aabb_xy":[[0.43162192683582973,-0.10964227485830635],[0.4490178514172603,-0.0853923262433569]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_4","position":[-0.595438845682813,-1.2508860440834346,0.71338606911949],"aabb_xy":[[-0.657029604906806,-1.3148860421924815],[-0.5338480864588203,-1.1868860459743877]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_5","position":[0.4595260047731662,-1.4235266632241723,0.71338606911949],"aabb_xy":[[0.3995260039123533,-1.4749530932306585],[0.5195260056339789,-1.3721002332176857]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_6","position":[0.38660680956271665,0.6635560209239957,0.71338606911949],"aabb_xy":[[0.3066068062987035,0.6499959886150823],[0.4666068128267298,0.677116053232909]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_7","position":[-0.5751019035038474,-2.5610245736185067,0.71338606911949],"aabb_xy":[[-0.5825143590452359,-2.5668757840401346],[-0.5676894479624589,-2.5551733631968787]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_8","position":[-0.1835866801391548,-0.28388317888353676,0.71338606911949],"aabb_xy":[[-0.20608667966286218,-0.3063791263341575],[-0.16108668061544737,-0.2613872314329159]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_9","position":[0.5822750718156178,0.5178809733719612,0.71338606911949],"aabb_xy":[[0.5652649745255671,0.5017464848736872],[0.5992851691056684,0.5340154618702351]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_10","position":[-0.08647568786105375,0.30267008357068237,0.71338606911949],"aabb_xy":[[-0.13647568922194098,0.25269217899526675],[-0.03647568650016653,0.352647988146098]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_11","position":[-0.5152455847737049,-2.000737884048252,0.71338606911949],"aabb_xy":[[-0.5562635281600757,-2.0507378846792097],[-0.474227641387334,-1.950737883417295]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_12","position":[-0.2992319361461217,-0.6433253672754462,0.71338606911949],"aabb_xy":[[-0.34440325399429067,-0.7073253644199847],[-0.25406061829795273,-0.5793253701309079]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_13","position":[0.5822393857578227,0.21306977816877914,0.71338606911949],"aabb_xy":[[0.5517551356307926,0.1630697783872832],[0.6127236358848529,0.2630697779502751]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_14","position":[0.04365974021476182,1.1747692947745358,0.71338606911949],"aabb_xy":[[-0.020340260059216415,1.1247031945772477],[0.10765974048874005,1.2248353949718236]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_15","position":[0.5609891360093167,1.382378664848614,0.71338606911949],"aabb_xy":[[0.5501486577828018,1.3651923835579653],[0.5718296142358316,1.3995649461392627]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_16","position":[-0.25523849246364083,-1.321929377316667,0.71338606911949],"aabb_xy":[[-0.2606964381006609,-1.401929380624326],[-0.24978054682662076,-1.2419293740090078]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_17","position":[0.20543788706717458,1.152079057651715,0.71338606911949],"aabb_xy":[[0.18955339380184943,1.137726117352891],[0.22132238033249974,1.166431997950539]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_18","position":[0.45422593275306733,0.517379535411628,0.71338606911949],"aabb_xy":[[0.439053763471434,0.5022106784834246],[0.46939810203470067,0.5325483923398313]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_19","position":[0.6702694387785002,0.6040887626612914,0.71338606911949],"aabb_xy":[[0.6609224311962049,0.5897851404436474],[0.6796164463607953,0.6183923848789354]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_20","position":[-0.2972925741850374,1.1135046443555563,0.71338606911949],"aabb_xy":[[-0.35228578552217416,1.058504644016763],[-0.24229936284790066,1.1685046446943501]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_21","position":[-0.05394750846194074,-0.9000313889619211,0.71338606911949],"aabb_xy":[[-0.0889475075918964,-0.9057766100375854],[-0.018947509331985087,-0.8942861678862571]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_22","position":[-0.19759492064176343,-1.6460650296819919,0.71338606911949],"aabb_xy":[[-0.2575949204883302,-1.7028836518750305],[-0.1375949207951966,-1.5892464074889532]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_23","position":[0.33841704238515624,-2.019694114150455,0.71338606911949],"aabb_xy":[[0.2912876633833205,-2.0836941151948567],[0.38554642138699186,-1.9556941131060528]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_24","position":[-0.4876550670582527,0.030996531197373223,0.71338606911949],"aabb_xy":[[-0.5516507644533493,-0.03300346710333547],[-0.42365936966315604,0.0949965294980819]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_25","position":[0.37210377763972446,1.4476062927299727,0.71338606911949],"aabb_xy":[[0.29210377438188145,1.3676097849379887],[0.45210378089756736,1.5276028005219566]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_26","position":[0.34360088457890803,0.7371168599287512,0.71338606911949],"aabb_xy":[[0.30610088476187447,0.7324786486176094],[0.3811008843959416,0.741755071239893]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_27","position":[-0.5241718668560834,-1.09299337838289,0.71338606911949],"aabb_xy":[[-0.5741492837213369,-1.1429933798721383],[-0.47419444999082977,-1.0429933768936412]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_28","position":[0.07413435625944331,1.290116036259184,0.71338606911949],"aabb_xy":[[0.03913435706662503,1.2791489902615212],[0.10913435545226156,1.3010830822568462]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_29","position":[-0.519387496818915,1.146049984360813,0.71338606911949],"aabb_xy":[[-0.5443874967514328,1.1391673161398896],[-0.49438749688639705,1.1529326525817363]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_30","position":[-0.40345955286633806,-0.29919771859698807,0.71338606911949],"aabb_xy":[[-0.41661079883762736,-0.3241977183536746],[-0.39030830689504864,-0.27419771884030153]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_31","position":[-0.38626863194792954,-2.434264020038882,0.71338606911949],"aabb_xy":[[-0.4145983418964697,-2.438724762232599],[-0.35793892199938926,-2.429803277845165]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_32","position":[-0.35214770169494825,1.439149182919476,0.71338606911949],"aabb_xy":[[-0.4021477020555143,1.3891691957098729],[-0.3021477013343822,1.4891291701290787]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_33","position":[-0.14920916741411117,-0.3829490856052997,0.71338606911949],"aabb_xy":[[-0.15562298105729608,-0.389358905852968],[-0.1427953537709262,-0.3765392653576313]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_34","position":[0.16745306824518025,-1.0286822689457016,0.71338606911949],"aabb_xy":[[0.11343747196328022,-1.0926822718379587],[0.22146866452708022,-0.9646822660534444]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6957678353962399,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7353.png","name":"7353"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7353.png","name":"7353"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3868.png","name":"3868"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/483.png","name":"483"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6576.png","name":"6576"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4317.png","name":"4317"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":558.9546419469538,"rotation_z_degrees":234.51600979808165,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010356817529890622,0.009342112800471935,-0.016028374518721293]},{"name":"camera_2","offset_m":[-0.0008582554699521558,0.003454825599252892,-0.01129877142369995]},{"name":"camera_3","offset_m":[-0.0031065387970919053,-0.005743879442816251,-0.01100376814296748]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001410727239748904,0.0012472365487205322,3.972656724141868e-05],"end_effector_yaw_offset_degrees":-0.3367013353252557},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.001799076356991844,0.000433854444927832,0.00046181043770520975],"end_effector_yaw_offset_degrees":-0.21499659812622185},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0012093591426528905,-0.0017986383002233542,0.00044662046731329874],"end_effector_yaw_offset_degrees":0.49806298561719364},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001376427720303378,9.15222364379349e-05,-0.0017178953292233837],"end_effector_yaw_offset_degrees":0.5967476188724432}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0033466273163245642,-0.004515105995595541],"position_m":[0.18334662731632456,-0.03811510599559554,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003810886976113812,0.0005489172168965098],"position_m":[0.2681891130238862,-0.36675108278310353,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0030983319543811394,0.003008363076672145],"position_m":[0.31690166804561887,0.35610836307667215,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0011368803897823052,-0.00262309605900137],"position_m":[0.33963688038978235,0.10587690394099863,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"40041d8b39caef11ecb2d5a8f29a24bfb42a40155d0d524508417b7298140732","episode_index":47,"episode_name":"episode_0047"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0047.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_7353/tex_ceiling_textures_4317/tex_floor_textures_6576/tex_table_textures_3868/tex_wall_textures_483","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":5176184260076502565,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":5176184260076502565,"visual_seed":5176184260076502565,"scene_id":"lab_003","finished_at":"2026-09-05T20:53:19"} +{"episode_id":"ep_000046","started_at":"2026-09-05T20:53:24","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_0","position":[-0.34111376942214916,-0.2456953558170878,0.71338606911949],"aabb_xy":[[-0.40511377083013983,-0.2974843073410125],[-0.2771137680141585,-0.19390640429316308]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_1","position":[0.5511397069282098,-1.4237142584809135,0.71338606911949],"aabb_xy":[[0.46113970720503555,-1.4467876110160933],[0.6411397066513839,-1.4006409059457336]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_2","position":[0.12318587407550019,1.4048720309852039,0.71338606911949],"aabb_xy":[[0.09818587480353791,1.3885266673890415],[0.14818587334746247,1.4212173945813662]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_3","position":[0.6160029348396574,1.6258832341818494,0.71338606911949],"aabb_xy":[[0.609690835303319,1.6201162949286305],[0.6223150343759958,1.6316501734350684]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_4","position":[-0.3132633848275253,-2.160041044808672,0.71338606911949],"aabb_xy":[[-0.33576338464142774,-2.1645156611791525],[-0.290763385013623,-2.1555664284381915]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_5","position":[-0.11122023810519721,-1.711736870409152,0.71338606911949],"aabb_xy":[[-0.1611029349828934,-1.761736869655427],[-0.06133754122750101,-1.6617368711628775]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_6","position":[-0.4104599853117133,-0.007557302762869256,0.71338606911949],"aabb_xy":[[-0.4329564067455774,-0.030057302569616695],[-0.3879635638778492,0.014942697043878184]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_7","position":[0.19645451479293674,1.7784515659873636,0.71338606911949],"aabb_xy":[[0.17882167919940914,1.7608286199717407],[0.2140873503864643,1.7960745120029866]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_8","position":[-0.0554567666281125,1.6058300268411574,0.71338606911949],"aabb_xy":[[-0.13545676879087498,1.5258748432150138],[0.02454323553464998,1.685785210467301]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_9","position":[-0.37810980818907947,0.2915916134645915,0.71338606911949],"aabb_xy":[[-0.44210980889254886,0.2455732309916706],[-0.3141098074856101,0.3376099959375126]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_10","position":[-0.08129981731669911,1.2434922892885965,0.71338606911949],"aabb_xy":[[-0.16129981427973827,1.166416647644823],[-0.0012998203536599418,1.32056793093237]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_11","position":[-0.06519942635209597,-2.301084409405649,0.71338606911949],"aabb_xy":[[-0.08269935978607933,-2.318584409325883],[-0.04769949291811258,-2.283584409485414]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_12","position":[0.6875797187437414,1.7058781396239113,0.71338606911949],"aabb_xy":[[0.6650797182317006,1.683386281258513],[0.7100797192557818,1.7283699979893097]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_13","position":[0.22511527240480367,-1.35054629796709,0.71338606911949],"aabb_xy":[[0.19727023562419654,-1.3813307967054016],[0.2529603091854108,-1.3197617992287782]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_14","position":[0.362292824306623,-2.26480424953394,0.71338606911949],"aabb_xy":[[0.2982928210879852,-2.311527361432949],[0.42629282752526093,-2.218081137634932]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_15","position":[0.37678021267327,-0.8038021117307477,0.71338606911949],"aabb_xy":[[0.32680279580801636,-0.8538021132199961],[0.42675762953852353,-0.753802110241499]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_16","position":[0.13004740908768275,-2.15947014956052,0.71338606911949],"aabb_xy":[[0.10815766149874194,-2.249470146849769],[0.15193715667662352,-2.0694701522712706]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_17","position":[0.19187934382524918,0.7382938311961289,0.71338606911949],"aabb_xy":[[0.15437934316067048,0.7226067731959066],[0.22937934448982789,0.753980889196351]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_18","position":[-0.6131723451444737,-1.1621406737837088,0.71338606911949],"aabb_xy":[[-0.6506723454927015,-1.1739320693647923],[-0.575672344796246,-1.1503492782026252]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_19","position":[0.4824230865368351,-0.35426707989990147,0.71338606911949],"aabb_xy":[[0.4649230862774985,-0.36835862208867415],[0.49992308679617176,-0.3401755377111289]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_20","position":[0.14877433730052336,-1.8584075651281444,0.71338606911949],"aabb_xy":[[0.13127433802243646,-1.8757456651944904],[0.1662743365786102,-1.8410694650617985]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_21","position":[-0.25723708148695346,-2.382402978616528,0.71338606911949],"aabb_xy":[[-0.3372370847447964,-2.462399486408512],[-0.1772370782291105,-2.302406470824544]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_22","position":[-0.3755581035158568,0.5958018202831221,0.71338606911949],"aabb_xy":[[-0.42336427112962544,0.530801817576063],[-0.3277519359020882,0.660801822990181]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_23","position":[-0.31943083621631607,-1.2794691955646458,0.71338606911949],"aabb_xy":[[-0.34443083538194913,-1.2864214412700024],[-0.2944308370506829,-1.2725169498592892]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_24","position":[0.5242714650058597,-0.8675910692779509,0.71338606911949],"aabb_xy":[[0.4742714636449726,-0.9175689738533666],[0.574271466366747,-0.8176131647025353]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_25","position":[-0.23701400611280693,-0.7253707730136558,0.71338606911949],"aabb_xy":[[-0.25992971899785683,-0.7482750701500794],[-0.21409829322775703,-0.7024664758772324]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_26","position":[0.5951244704233845,0.3712268631028306,0.71338606911949],"aabb_xy":[[0.5577931938981419,0.3365738083079783],[0.632455746948627,0.4058799178976829]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_27","position":[-0.5444217126921511,-0.2318671658467384,0.71338606911949],"aabb_xy":[[-0.5538391872620139,-0.24128334298445742],[-0.5350042381222884,-0.22245098870901936]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_28","position":[0.6629791418336144,-0.4369050242853647,0.71338606911949],"aabb_xy":[[0.6501072383326743,-0.5169050246992009],[0.6758510453345545,-0.3569050238715286]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_29","position":[-0.5113096644366306,-0.5605751653128013,0.71338606911949],"aabb_xy":[[-0.5526142075003666,-0.6245751648809184],[-0.47000512137289463,-0.4965751657446842]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_30","position":[0.31052122768148194,1.0567959324914393,0.71338606911949],"aabb_xy":[[0.2555280163443452,1.001795932152646],[0.3655144390186187,1.1117959328302331]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7021473289230254,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7304.png","name":"7304"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7304.png","name":"7304"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4956.png","name":"4956"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9101.png","name":"9101"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/787.png","name":"787"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1448.png","name":"1448"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":813.5086156076516,"rotation_z_degrees":178.94410888122226,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015798136712632214,-0.006973280747866344,0.005395115692526323]},{"name":"camera_2","offset_m":[0.0016944594279736033,0.011175419134463085,0.00435846884985636]},{"name":"camera_3","offset_m":[0.01245179893226436,0.00990120778935218,-0.0003382877026993601]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0006889421695189047,0.001524808167153881,-9.671992300440998e-05],"end_effector_yaw_offset_degrees":-0.7980231581902915},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.000876496452456018,-0.0017131981126808182,0.0019331922326067362],"end_effector_yaw_offset_degrees":-0.38599961923183224},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0010963560524286922,0.0007140612415408015,5.9539233461927254e-05],"end_effector_yaw_offset_degrees":-0.7208796771456889},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0011340161309351888,-0.0012960520812939525,-0.00019278845800826255],"end_effector_yaw_offset_degrees":0.271019154194889}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0014346829353698012,0.002398747657068931],"position_m":[0.1814346829353698,-0.031201252342931068,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0013869298036256299,-0.003173772969918471],"position_m":[0.27338692980362567,-0.3704737729699185,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0009821432696617127,0.003852986388130632],"position_m":[0.3190178567303383,0.35695298638813067,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003092933638915299,-0.0028229166979134813],"position_m":[0.3415929336389153,0.10567708330208651,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c7d21270d91c874aec234ba1e9dac52723a608373ad0bf8c24f3f856e7b2a09b","episode_index":48,"episode_name":"episode_0048"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0048.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_7304/tex_ceiling_textures_1448/tex_floor_textures_787/tex_table_textures_4956/tex_wall_textures_9101","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":6693680388180779333,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":6693680388180779333,"visual_seed":6693680388180779333,"scene_id":"lab_003","finished_at":"2026-09-05T20:56:52"} +{"episode_id":"ep_000047","started_at":"2026-09-05T20:56:55","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_0","position":[0.6847218190494504,-0.13789713873722187,0.71338606911949],"aabb_xy":[[0.6601756034266997,-0.1681460352862589],[0.7092680346722011,-0.10764824218818479]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_1","position":[0.19083655787573817,1.1066767713368053,0.71338606911949],"aabb_xy":[[0.12683655858156997,1.0426906309679513],[0.2548365571699064,1.1706629117056597]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_2","position":[-0.19023859334773519,-1.3585821640960156,0.71338606911949],"aabb_xy":[[-0.2602385954791647,-1.381344129721711],[-0.12023859121630562,-1.3358201984703197]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_3","position":[0.4380914642940208,-1.974878578826607,0.71338606911949],"aabb_xy":[[0.4252195607930806,-2.0548785792404427],[0.4509633677949609,-1.8948785784127704]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_4","position":[0.24569135385609908,0.7592448254706148,0.71338606911949],"aabb_xy":[[0.18569135334824616,0.7023980917846934],[0.305691354363952,0.816091559156536]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_5","position":[-0.29663462741159663,1.0778673573732411,0.71338606911949],"aabb_xy":[[-0.37663462539238163,1.0702658164113892],[-0.21663462943081155,1.085468898335093]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_6","position":[-0.23570462484318921,1.507638637334972,0.71338606911949],"aabb_xy":[[-0.2856834333535051,1.4576386373292531],[-0.18572581633287333,1.5576386373406907]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_7","position":[0.4539328518081236,-0.4620602449446647,0.71338606911949],"aabb_xy":[[0.42015729261743057,-0.4760987401578297],[0.4877084109988165,-0.44802174973149966]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_8","position":[0.38408768344933986,-0.9430021188132371,0.71338606911949],"aabb_xy":[[0.32908768382759407,-0.9979858116007099],[0.43908768307108575,-0.8880184260257644]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_9","position":[0.41997281157958666,0.44949619900393545,0.71338606911949],"aabb_xy":[[0.3849728116835678,0.4411219634919955],[0.45497281147560553,0.4578704345158754]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_10","position":[-0.2581763354516941,0.26365430799621237,0.71338606911949],"aabb_xy":[[-0.28650604540023433,0.2591935658024953],[-0.22984662550315388,0.2681150501899294]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_11","position":[0.6088736062122773,-0.46404096382677196,0.71338606911949],"aabb_xy":[[0.6044429768574372,-0.46948933556145456],[0.6133042355671176,-0.45859259209208936]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_12","position":[-0.08917873499593965,-0.9592741489468399,0.71338606911949],"aabb_xy":[[-0.16917873239953304,-1.0392667201450225],[-0.009178737592346218,-0.879281577748657]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_13","position":[-0.052393550767628305,-1.177227103920582,0.71338606911949],"aabb_xy":[[-0.07367155891110055,-1.242227106246655],[-0.03111554262415605,-1.1122271015945089]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_14","position":[0.027920027418258497,0.868641003317494,0.71338606911949],"aabb_xy":[[0.002699190558418832,0.8434172524646071],[0.053140864278098165,0.8938647541703806]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_15","position":[-0.46714564604249653,1.1311190635568549,0.71338606911949],"aabb_xy":[[-0.501442557060237,1.0968221773469133],[-0.43284873502475585,1.165415949766796]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_16","position":[-0.05557068154268696,1.2868051244366865,0.71338606911949],"aabb_xy":[[-0.13557068370544945,1.2068499408105429],[0.02442932062007553,1.36676030806283]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_17","position":[0.6331191769688018,-1.7657248630083568,0.71338606911949],"aabb_xy":[[0.5831191756079145,-1.8157027675837722],[0.6831191783296889,-1.715746958432941]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_18","position":[-0.49460524874603423,1.5639035731708453,0.71338606911949],"aabb_xy":[[-0.556196007970027,1.4999035750617984],[-0.4330144895220414,1.6279035712798922]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_19","position":[-0.1435442984193136,0.7880760109632532,0.71338606911949],"aabb_xy":[[-0.16104429769740047,0.7707379108969072],[-0.12604429914122672,0.8054141110295991]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_20","position":[-0.15502195478276792,1.6795800853610934,0.71338606911949],"aabb_xy":[[-0.16477794429194179,1.669817551301859],[-0.145265965273594,1.6893426194203278]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_21","position":[0.41701467894892574,0.5879251769212601,0.71338606911949],"aabb_xy":[[0.4116821642943128,0.5826008486760246],[0.4223471936035388,0.5932495051664957]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_22","position":[-0.29865803106362243,-0.10537057896049706,0.71338606911949],"aabb_xy":[[-0.35365802926536727,-0.14589254558693462],[-0.24365803286187762,-0.06484861233405946]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_23","position":[-0.581190006822096,1.328885962532036,0.71338606911949],"aabb_xy":[[-0.6611838304006543,1.2488859599391946],[-0.5011961832435379,1.4088859651248777]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_24","position":[0.39902622631383133,0.9495084368795639,0.71338606911949],"aabb_xy":[[0.3754411028499365,0.8845084346341322],[0.4226113497777262,1.0145084391249957]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_25","position":[-0.4153457280795893,-2.3457469682572443,0.71338606911949],"aabb_xy":[[-0.5050328043877048,-2.435746968511695],[-0.3256586517714738,-2.2557469680027937]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_26","position":[0.5196506985237228,1.7070608045947568,0.71338606911949],"aabb_xy":[[0.4296506991053518,1.673685307750567],[0.6096506979420936,1.7404363014389463]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_27","position":[-0.305126146269204,-2.0941972395089534,0.71338606911949],"aabb_xy":[[-0.3202890192461411,-2.109362696804072],[-0.28996327329226695,-2.0790317822138347]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_28","position":[0.639377846725927,-2.3459464620891004,0.71338606911949],"aabb_xy":[[0.5753778463483934,-2.3956917289399122],[0.7033778471034606,-2.2962011952382877]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_29","position":[-0.3568371695434476,-0.2740160844453676,0.71338606911949],"aabb_xy":[[-0.42183717054394804,-0.32480244960004256],[-0.291837168542947,-0.22322971929069269]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_30","position":[-0.4053165589812976,0.8231891450506552,0.71338606911949],"aabb_xy":[[-0.42783025080475484,0.7531891444496476],[-0.38280286715784045,0.8931891456516626]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_31","position":[0.5090960387528543,-0.7459454595333799,0.71338606911949],"aabb_xy":[[0.4996785641829915,-0.7553616366710988],[0.518513513322717,-0.7365292823956607]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.697879212489163,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/824.png","name":"824"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/824.png","name":"824"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1417.png","name":"1417"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8699.png","name":"8699"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6555.png","name":"6555"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9420.png","name":"9420"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":622.6308641640074,"rotation_z_degrees":68.3810011904948,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0021485352080724204,0.017284694884180194,0.007149412886632997]},{"name":"camera_2","offset_m":[0.01893670174258728,-0.019650166046342205,0.01228098739985799]},{"name":"camera_3","offset_m":[0.004716781873228378,-0.019561826648046145,0.007655834829460577]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001266575752324609,-0.0018926871862750168,-0.0015825937113312372],"end_effector_yaw_offset_degrees":0.4741510370249975},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0003902009781141364,-0.00149287190955901,-0.0014591297552095264],"end_effector_yaw_offset_degrees":0.12269036578265169},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0003533709532630338,-0.00028896060273512613,-0.0018619352207771835],"end_effector_yaw_offset_degrees":0.7802751807428066},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0011643449865311596,-0.0011205660868014219,0.0007281885903334044],"end_effector_yaw_offset_degrees":-0.7168954578991658}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.000398938498507773,-0.002423487735822979],"position_m":[0.18039893849850777,-0.03602348773582298,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0003068205994752153,0.0022068132011058405],"position_m":[0.2716931794005248,-0.3650931867988942,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0005900301371984055,0.0017330367893129226],"position_m":[0.3194099698628016,0.35483303678931294,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00108186455173513,-0.003349632537235281],"position_m":[0.33958186455173517,0.10515036746276472,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"505e16bacf22f0bcb7a4d60e04dcd3b37e116e0d270b5d26d3be3a1d7dc7b240","episode_index":49,"episode_name":"episode_0049"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0049.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_824/tex_ceiling_textures_9420/tex_floor_textures_6555/tex_table_textures_1417/tex_wall_textures_8699","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":3199246315728818732,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":3199246315728818732,"visual_seed":3199246315728818732,"scene_id":"lab_003","finished_at":"2026-09-05T21:00:24"} +{"episode_id":"ep_000048","started_at":"2026-09-05T21:00:28","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_0","position":[-0.19024041475410536,-1.737325790752303,0.71338606911949],"aabb_xy":[[-0.23972083596806415,-1.801325788665155],[-0.14075999354014657,-1.6733257928394514]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_1","position":[-0.5524165010427164,-0.4364370191393081,0.71338606911949],"aabb_xy":[[-0.5810658334031326,-0.4650825784163838],[-0.5237671686823001,-0.4077914598622322]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_2","position":[-0.15094571264601309,-0.9670978933668091,0.71338606911949],"aabb_xy":[[-0.22094571424829257,-0.9805306865684666],[-0.0809457110437336,-0.9536651001651515]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_3","position":[0.05855310596270524,-0.6921545805229166,0.71338606911949],"aabb_xy":[[0.047701499713829636,-0.7030138712505675],[0.06940471221158084,-0.6812952897952654]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_4","position":[-0.5364080053098816,-0.9166837253008915,0.71338606911949],"aabb_xy":[[-0.5774259486962525,-0.9666837259318488],[-0.49539006192351076,-0.8666837246699342]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_5","position":[0.08257520881315272,-1.8627849544918647,0.71338606911949],"aabb_xy":[[0.018575208539174506,-1.9128510546891526],[0.14657520908713095,-1.8127188542945767]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_6","position":[-0.4787093840946508,0.15751976176869675,0.71338606911949],"aabb_xy":[[-0.5287093844552168,0.10753977455909379],[-0.4287093837340847,0.20749974897829968]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_7","position":[0.44175461549656525,0.7556647413621418,0.71338606911949],"aabb_xy":[[0.39177719863131155,0.7056647398728932],[0.4917320323618187,0.8056647428513903]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_8","position":[-0.1745884627841492,1.4936637603542828,0.71338606911949],"aabb_xy":[[-0.239588460665797,1.4425400966477422],[-0.1095884649025014,1.5447874240608241]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_9","position":[-0.24386870412909328,-0.32932151797680254,0.71338606911949],"aabb_xy":[[-0.3238687027859793,-0.3438263769010653],[-0.16386870547220728,-0.31481665905253975]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_10","position":[-0.5582634746286141,-2.500210709148018,0.71338606911949],"aabb_xy":[[-0.5628985897808474,-2.5040780442251664],[-0.5536283594763807,-2.496343374070869]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_11","position":[-0.6070601964852429,1.3796496588239933,0.71338606911949],"aabb_xy":[[-0.6620556743059022,1.324649657390086],[-0.5520647186645834,1.4346496602579]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_12","position":[0.4732236196759836,0.23628359999353554,0.71338606911949],"aabb_xy":[[0.39322362169519853,0.2286820590316836],[0.5532236176567686,0.2438851409553875]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_13","position":[-0.1672909475758081,1.0794442891019118,0.71338606911949],"aabb_xy":[[-0.19180457167281395,1.0551796957998751],[-0.14277732347880223,1.103708882403948]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_14","position":[0.1484771211094741,0.726290608411273,0.71338606911949],"aabb_xy":[[0.08347712295355503,0.6999943638613608],[0.21347711926539314,0.7525868529611852]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_15","position":[-0.11350282127790812,-1.894979628950522,0.71338606911949],"aabb_xy":[[-0.17750282044767807,-1.9417463160694848],[-0.04950282210813819,-1.8482129418315598]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_16","position":[-0.5283139349704504,-0.1441671739388677,0.71338606911949],"aabb_xy":[[-0.5626108459881909,-0.17846406014880903],[-0.4940170239527097,-0.10987028772892629]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_17","position":[-0.14926602124959643,1.6848890427747878,0.71338606911949],"aabb_xy":[[-0.1992660222001292,1.6533398957712664],[-0.09926602029906359,1.7164381897783092]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_18","position":[0.36468310462811604,-2.251923921381521,0.71338606911949],"aabb_xy":[[0.27468310603364604,-2.2681745076949427],[0.4546831032225859,-2.2356733350681]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_19","position":[-0.6282623653832956,0.7931442156334461,0.71338606911949],"aabb_xy":[[-0.692262367061293,0.7446268241541318],[-0.5642623637052983,0.8416616071127603]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_20","position":[-0.6141861824965275,-1.7966013549602955,0.71338606911949],"aabb_xy":[[-0.6619923501102961,-1.8616013576673542],[-0.5663800148827588,-1.7316013522532363]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_21","position":[-0.20115110953428988,0.8822264394237296,0.71338606911949],"aabb_xy":[[-0.223615879505695,0.8597264385448691],[-0.17868633956288477,0.9047264403025901]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_22","position":[-0.25677096268231103,0.4288446768259755,0.71338606911949],"aabb_xy":[[-0.2789434896589618,0.4066690096698522],[-0.23459843570566014,0.45102034398209856]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_23","position":[-0.262611841218851,0.7065988325776633,0.71338606911949],"aabb_xy":[[-0.2675678614037323,0.6840988323755417],[-0.25765582103396983,0.7290988327797849]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_24","position":[0.527416502250154,-0.7477426913580851,0.71338606911949],"aabb_xy":[[0.499571465469547,-0.7785271900963968],[0.5552615390307613,-0.7169581926197734]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_25","position":[-0.19984597677692278,0.6302543141373813,0.71338606911949],"aabb_xy":[[-0.23734597796171555,0.6258360914413208],[-0.16234597559212996,0.6346725368334418]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_26","position":[0.26410327236077025,-0.9555337710371652,0.71338606911949],"aabb_xy":[[0.25333029843940247,-0.990533769256204],[0.274876246282138,-0.920533772818126]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_27","position":[0.571388692820793,0.9681726151021599,0.71338606911949],"aabb_xy":[[0.501388696410831,0.9477346794504781],[0.6413886892307545,0.9886105507538415]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_28","position":[0.5632247263496855,-0.6070634762296969,0.71338606911949],"aabb_xy":[[0.5457940112706788,-0.6243355908935476],[0.5806554414286919,-0.589791361565846]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_29","position":[-0.09812651540904627,-2.057025304987931,0.71338606911949],"aabb_xy":[[-0.13562651522607982,-2.0616635162990726],[-0.060626515592012695,-2.052387093676789]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_30","position":[0.5000260713331359,-0.26603805344027887,0.71338606911949],"aabb_xy":[[0.47502607178139744,-0.27618053730541353],[0.5250260708848744,-0.2558955695751441]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_31","position":[0.37022609802032,-1.7137181769548369,0.71338606911949],"aabb_xy":[[0.35272609776098346,-1.7278097191436101],[0.38772609827965676,-1.699626634766065]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_32","position":[-0.1808226984623914,-2.412325780741703,0.71338606911949],"aabb_xy":[[-0.2058226977343537,-2.4286711443378652],[-0.15582269919042913,-2.3959804171455406]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6970680323155889,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6553.png","name":"6553"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6553.png","name":"6553"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2932.png","name":"2932"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3556.png","name":"3556"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6700.png","name":"6700"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/893.png","name":"893"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":695.819665458253,"rotation_z_degrees":235.4537587802103,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00937882861501442,0.0056211977701803445,0.016717426202111214]},{"name":"camera_2","offset_m":[-0.019438317605989793,-0.005685443915652422,-0.002471792788540362]},{"name":"camera_3","offset_m":[-0.016782083741462436,-0.01875055288106689,0.016515747797900753]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-1.694598030550559e-05,-0.0006225828522853788,0.0008845874016435843],"end_effector_yaw_offset_degrees":-0.23455839833062853},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0012049609862346696,0.0010604990667191353,0.00035520269751094765],"end_effector_yaw_offset_degrees":0.7483488455562806},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008330272489017797,0.0009935288948942278,-0.0012561846314433636],"end_effector_yaw_offset_degrees":-0.9906268540427563},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0016052848749534814,9.2420737269382e-05,0.00039477608955492327],"end_effector_yaw_offset_degrees":0.9696918614077421}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004773969622074264,0.0011079969037368674],"position_m":[0.18477396962207426,-0.03249200309626313,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0014187109433465473,0.001946949241825131],"position_m":[0.27058128905665346,-0.36535305075817487,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0013469972436201101,0.004888646408113141],"position_m":[0.3213469972436201,0.3579886464081132,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0024497280955447414,0.0016187332161081503],"position_m":[0.34094972809554475,0.11011873321610816,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d0dfe10c72dbd5923e4fe44c611d734c3c3f9df42c7ac86e23e29aa50b641a2a","episode_index":50,"episode_name":"episode_0050"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0050.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_6553/tex_ceiling_textures_893/tex_floor_textures_6700/tex_table_textures_2932/tex_wall_textures_3556","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":7757266124127467067,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":7757266124127467067,"visual_seed":7757266124127467067,"scene_id":"lab_003","finished_at":"2026-09-05T21:04:01"} +{"episode_id":"ep_000049","started_at":"2026-09-05T21:06:28","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_0","position":[0.39186048130305484,0.807575192763101,0.71338606911949],"aabb_xy":[[0.3468678945846044,0.7625751934886521],[0.4368530680215052,0.8525751920375496]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_1","position":[0.17869086300283554,1.4967473765882597,0.71338606911949],"aabb_xy":[[0.16358856154181736,1.4816458549571974],[0.19379316446385356,1.5118488982193212]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_2","position":[-0.631588020624906,1.0756383258604334,0.71338606911949],"aabb_xy":[[-0.6447392665961955,1.0506383261037469],[-0.6184367746536168,1.10063832561712]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_3","position":[-0.15657889151303872,0.7801554765028587,0.71338606911949],"aabb_xy":[[-0.16592589909533395,0.7658518542852147],[-0.1472318839307435,0.7944590987205028]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_4","position":[-0.493017157826533,-0.6034239018617025,0.71338606911949],"aabb_xy":[[-0.4983547334925375,-0.6284239027908423],[-0.48767958216052837,-0.5784239009325627]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_5","position":[0.3734050722152218,1.3292543431541617,0.71338606911949],"aabb_xy":[[0.3094050703028795,1.2733431938961515],[0.4374050741275642,1.3851654924121724]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_6","position":[0.19934439964672568,0.6431502608557729,0.71338606911949],"aabb_xy":[[0.16488192163363788,0.6364865836728499],[0.23380687765981342,0.6498139380386956]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_7","position":[0.2106783488430165,-2.4728075386515336,0.71338606911949],"aabb_xy":[[0.1606783484824504,-2.522787525861136],[0.2606783492035825,-2.42282755144193]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_8","position":[-0.03825834409189455,0.8959370367511568,0.71338606911949],"aabb_xy":[[-0.08824129427937387,0.8459370371085964],[0.011724606095584787,0.9459370363937172]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_9","position":[0.3868727270886876,1.639638679848764,0.71338606911949],"aabb_xy":[[0.3168727306787256,1.619200744197082],[0.4568727234986492,1.6600766155004454]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_10","position":[-0.528542026125099,1.1756981792914574,0.71338606911949],"aabb_xy":[[-0.5365783608263838,1.1676600599870404],[-0.5205056914238141,1.183736298595874]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_11","position":[-0.3993346650158437,-1.6779861745067768,0.71338606911949],"aabb_xy":[[-0.45433466463758954,-1.7329698672942497],[-0.34433466539409785,-1.6230024817193043]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_12","position":[0.4713228421050364,-0.6859648362616235,0.71338606911949],"aabb_xy":[[0.40732284069704566,-0.7377537877855482],[0.535322843513027,-0.6341758847376988]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_13","position":[0.6139789871920136,0.6016163298012698,0.71338606911949],"aabb_xy":[[0.5789789880620579,0.5958711087256057],[0.6489789863219693,0.6073615508769339]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_14","position":[-0.6232648976513961,1.2268383316236684,0.71338606911949],"aabb_xy":[[-0.6482648969233583,1.2104929680275058],[-0.5982648983794338,1.2431836952198305]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_15","position":[0.5602234998508784,-1.764700484593304,0.71338606911949],"aabb_xy":[[0.5508060252810156,-1.7741166617310231],[0.5696409744207411,-1.755284307455585]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_16","position":[0.5092652659818355,-2.3643818423008205,0.71338606911949],"aabb_xy":[[0.49462186042780254,-2.3790405619576047],[0.5239086715358685,-2.3497231226440363]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_17","position":[-0.3686640077202356,-0.8101093807239119,0.71338606911949],"aabb_xy":[[-0.43366400627730844,-0.8398619141377947],[-0.3036640091631628,-0.7803568473100294]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_18","position":[0.4627947675597548,-0.04514129245572018,0.71338606911949],"aabb_xy":[[0.4408860854204037,-0.06704195927581091],[0.4847034496991058,-0.023240625635629446]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_19","position":[0.31831441721107145,-2.2297503054891075,0.71338606911949],"aabb_xy":[[0.25431441683353784,-2.2794955723399197],[0.38231441758860507,-2.180005038638295]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_20","position":[-0.011880182935809058,-2.302748507446964,0.71338606911949],"aabb_xy":[[-0.07688018557360254,-2.3542281061464108],[0.05311981970198443,-2.251268908747517]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_21","position":[-0.4857276026612476,-1.1765507522871312,0.71338606911949],"aabb_xy":[[-0.5192067699222886,-1.2100298656582382],[-0.4522484354002067,-1.1430716389160243]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_22","position":[-0.2776199679129864,1.4749153669631174,0.71338606911949],"aabb_xy":[[-0.3275930334455019,1.4249153671505848],[-0.22764690238047097,1.5249153667756508]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_23","position":[0.47417783434612404,-1.214267007637132,0.71338606911949],"aabb_xy":[[0.39417783108211085,-1.2278270399460454],[0.5541778376101372,-1.2007069753282187]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_24","position":[-0.5027143095284891,-0.36942054539186087,0.71338606911949],"aabb_xy":[[-0.5527143091048238,-0.41940112434396687],[-0.45271430995215434,-0.319439966439755]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_25","position":[-0.5665830830343728,-1.609935899583685,0.71338606911949],"aabb_xy":[[-0.6160635042483316,-1.6739358974965368],[-0.517102661820414,-1.5459359016708332]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6985602754100055,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4040.png","name":"4040"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4040.png","name":"4040"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6828.png","name":"6828"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2312.png","name":"2312"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5994.png","name":"5994"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9291.png","name":"9291"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":738.2706740660151,"rotation_z_degrees":173.6059435309006,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0037066342128050794,-0.012358546273237426,-0.014832071982192923]},{"name":"camera_2","offset_m":[-0.008241177741574486,-0.014914571386311293,-0.016112400738768073]},{"name":"camera_3","offset_m":[0.0030682691339901196,0.007561828143647344,0.010229596518095754]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0005431794681674787,-0.0004803765757377923,0.00079671703971523],"end_effector_yaw_offset_degrees":-0.3345244521053572},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0012056430060517003,-0.001141393826422866,9.473990350540801e-05],"end_effector_yaw_offset_degrees":-0.4323409971862522},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.000627462335753516,-0.0010378218251209212,0.0013048798327548877],"end_effector_yaw_offset_degrees":0.8958429357236672},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010817909134758718,-0.001358179102914787,0.0006483942253298256],"end_effector_yaw_offset_degrees":-0.6028095346925071}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.002683093020842895,0.0031230552252438743],"position_m":[0.17731690697915709,-0.030476944774756123,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001064414057932483,0.003141891554623153],"position_m":[0.2730644140579325,-0.3641581084453769,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003961146203657079,-0.0006316437109911734],"position_m":[0.32396114620365707,0.35246835628900886,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002439547158875368,0.0024394840160367323],"position_m":[0.34093954715887537,0.11093948401603673,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"638ef371a15cd445baff808cd65caf4a00bdf8e338e15014bfc3d506f4ffe3dc","episode_index":52,"episode_name":"episode_0052"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0052.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_4040/tex_ceiling_textures_9291/tex_floor_textures_5994/tex_table_textures_6828/tex_wall_textures_2312","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":6955736923574982884,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":6955736923574982884,"visual_seed":6955736923574982884,"scene_id":"lab_003","finished_at":"2026-09-05T21:10:02"} +{"episode_id":"ep_000050","started_at":"2026-09-05T21:10:05","dimensions":{"distractor":{"count":20,"items":[{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_0","position":[-0.25722424203897165,-2.0163160232971062,0.71338606911949],"aabb_xy":[[-0.2801399549240216,-2.03922032043353],[-0.2343085291539218,-1.9934117261606832]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_1","position":[-0.20998830437683347,1.7339749808576896,0.71338606911949],"aabb_xy":[[-0.27398400177193005,1.6699749825569807],[-0.14599260698173686,1.797974979158398]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_2","position":[-0.22702702581154244,-0.47337817302660135,0.71338606911949],"aabb_xy":[[-0.23236460147754698,-0.49837817395574113],[-0.22168945014553784,-0.44837817209746156]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_3","position":[-0.07853946888337171,-1.8743744605447756,0.71338606911949],"aabb_xy":[[-0.1010394693954123,-1.896866318910174],[-0.056039468371331114,-1.8518826021793773]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_4","position":[-0.49080097958359037,-1.1765191465110432,0.71338606911949],"aabb_xy":[[-0.5548009819263919,-1.2214599977551757],[-0.4268009772407888,-1.1315782952669107]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_5","position":[0.2874857008571301,-1.212250511951689,0.71338606911949],"aabb_xy":[[0.2499857010400965,-1.216888723262831],[0.3249857006741636,-1.2076123006405473]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_6","position":[0.07554012346633365,-1.3071615649581587,0.71338606911949],"aabb_xy":[[0.011540122058342981,-1.3589505164820832],[0.1395401248743243,-1.2553726134342338]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_7","position":[-0.3756153410362375,-1.0109813602086213,0.71338606911949],"aabb_xy":[[-0.3826567919869851,-1.0180081119464157],[-0.3685738900854899,-1.0039546084708268]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_8","position":[0.08282453264969414,0.7296678757850268,0.71338606911949],"aabb_xy":[[-0.0071754667686767665,0.6962923789408371],[0.17282453206806503,0.7630433726292165]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_9","position":[-0.6137695526788839,-0.5981501717309481,0.71338606911949],"aabb_xy":[[-0.6437371095887096,-0.6281501720288337],[-0.5838019957690582,-0.5681501714330622]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_10","position":[-0.38919480603494333,1.1625685326871165,0.71338606911949],"aabb_xy":[[-0.4541948039165912,1.1114448689805756],[-0.3241948081532956,1.2136921963936573]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_11","position":[0.2510239243161818,1.3414913736096246,0.71338606911949],"aabb_xy":[[0.19605020227984893,1.2864913740453914],[0.3059976463525147,1.3964913731738577]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_12","position":[-0.34874143385350703,0.0065871814190905376,0.71338606911949],"aabb_xy":[[-0.3560237502301706,-0.08341282219041844],[-0.34145911747684327,0.09658718502859952]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_13","position":[0.1637586343923808,1.0194121795664732,0.71338606911949],"aabb_xy":[[0.09875863343525361,0.9674639676327678],[0.22875863534950802,1.0713603915001788]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_14","position":[0.4486975974113252,1.5917381064576088,0.71338606911949],"aabb_xy":[[0.3590105211032097,1.5017381062031583],[0.5383846737194407,1.6817381067120594]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_15","position":[-0.2751067183811396,0.8654870232640399,0.71338606911949],"aabb_xy":[[-0.2906624877914049,0.8499365900196328],[-0.2595509489708744,0.8810374565084472]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_16","position":[0.28261801717340185,-1.6876459475121108,0.71338606911949],"aabb_xy":[[0.26594088118030634,-1.7043458714860413],[0.29929515316649735,-1.6709460235381808]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_17","position":[0.4907809033398973,-1.4391313024346843,0.71338606911949],"aabb_xy":[[0.4485964891790667,-1.5031313027118955],[0.5329653175007282,-1.3751313021574731]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_18","position":[0.511241739438167,-0.4247985932660616,0.71338606911949],"aabb_xy":[[0.48339670265755985,-0.4555830920043733],[0.5390867762187741,-0.39401409452774994]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_19","position":[-0.2724903711676298,-0.9662256249427499,0.71338606911949],"aabb_xy":[[-0.29466289814428065,-0.988401292098873],[-0.25031784419097897,-0.9440499577866266]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7012244009549481,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1910.png","name":"1910"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1910.png","name":"1910"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8635.png","name":"8635"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5102.png","name":"5102"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8637.png","name":"8637"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2860.png","name":"2860"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":628.3487999627897,"rotation_z_degrees":177.00636474744854,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0023535161247164697,-0.00660246626907084,-0.017604811496772226]},{"name":"camera_2","offset_m":[-0.002877104945198602,0.018352908465238144,-0.0107917531384658]},{"name":"camera_3","offset_m":[-0.019239790177396403,-0.008479312476841612,0.00805967369118811]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0012569917503587598,-0.0012249514259524185,-0.0001520380312644619],"end_effector_yaw_offset_degrees":0.6545176384348033},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00022892900446742394,0.0004149178188352148,0.0019814713563549476],"end_effector_yaw_offset_degrees":0.1079707877738314},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001918119389928045,0.0002127567313446421,0.0019937858048372304],"end_effector_yaw_offset_degrees":0.4059145791664205},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0018263677132401225,0.0012646989776349724,0.0008764441964292588],"end_effector_yaw_offset_degrees":-0.17396782521810694}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-9.655825856793015e-05,0.0007109826117063615],"position_m":[0.17990344174143205,-0.03288901738829364,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004027368532713362,0.0028841091835807202],"position_m":[0.27602736853271337,-0.3644158908164193,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002090289119895862,-0.003942145794968318],"position_m":[0.32209028911989585,0.3491578542050317,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0004315934415350872,-0.004509654704299997],"position_m":[0.3389315934415351,0.1039903452957,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a289f3ce40e2c09eb98bd71970e1e120b39ffbf0a5c7da7844422069b1f66a75","episode_index":53,"episode_name":"episode_0053"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0053.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_1910/tex_ceiling_textures_2860/tex_floor_textures_8637/tex_table_textures_8635/tex_wall_textures_5102","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":7433869188221684642,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":7433869188221684642,"visual_seed":7433869188221684642,"scene_id":"lab_003","finished_at":"2026-09-05T21:13:29"} +{"episode_id":"ep_000051","started_at":"2026-09-05T21:13:33","dimensions":{"distractor":{"count":35,"items":[{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_0","position":[-0.2699831545814191,-1.1324584863736469,0.71338606911949],"aabb_xy":[[-0.27544110021843915,-1.212458489681306],[-0.264525208944399,-1.0524584830659878]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_1","position":[-0.1524803167096327,-1.5326300925682026,0.71338606911949],"aabb_xy":[[-0.18081002665817295,-1.5370908347619197],[-0.12415060676109249,-1.5281693503744855]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_2","position":[0.6871120212384272,-1.465682868814817,0.71338606911949],"aabb_xy":[[0.6533364620477341,-1.4797213640279818],[0.72088758042912,-1.4516443736016515]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_3","position":[0.1982472870441908,-1.4025534339186316,0.71338606911949],"aabb_xy":[[0.16324728706769498,-1.4120180499662482],[0.23324728702068664,-1.393088817871015]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_4","position":[-0.013378776782806745,-2.0264352428697308,0.71338606911949],"aabb_xy":[[-0.049007932682766486,-2.0620679096265837],[0.022250379117152996,-1.9908025761128778]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_5","position":[0.23901697048216164,0.8727540989853324,0.71338606911949],"aabb_xy":[[0.19799902709579076,0.8227540983543751],[0.2800349138685325,0.9227540996162897]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_6","position":[0.27394149284755553,-1.4716110258173232,0.71338606911949],"aabb_xy":[[0.2658138046542423,-1.480524634228031],[0.28206918104086875,-1.4626974174066154]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_7","position":[0.0568209471899247,-2.3207614324149595,0.71338606911949],"aabb_xy":[[0.022358599791782886,-2.3552553148127813],[0.09128329458806647,-2.286267550017136]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_8","position":[-0.38734603182676425,-0.1205315226983541,0.71338606911949],"aabb_xy":[[-0.39230205201164553,-0.14303152290047574],[-0.3823900116418831,-0.09803152249623251]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_9","position":[0.6576940717978039,1.5976920880765442,0.71338606911949],"aabb_xy":[[0.6201940711332251,1.5820050300763218],[0.6951940724623825,1.6133791460767661]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_10","position":[0.4225909825225478,-0.2921688522911752,0.71338606911949],"aabb_xy":[[0.4050909833881805,-0.30204847932876294],[0.44009098165691485,-0.2822892252535873]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_11","position":[0.39243700060617903,-0.8933615768309946,0.71338606911949],"aabb_xy":[[0.3224370041962172,-0.9137995124826761],[0.46243699701614077,-0.8729236411793126]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_12","position":[-0.32321867862855735,-0.5411083845576212,0.71338606911949],"aabb_xy":[[-0.3292556916292221,-0.5471350856265695],[-0.31718166562789263,-0.5350816834886731]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_13","position":[-0.20673157474826798,1.0677251021347391,0.71338606911949],"aabb_xy":[[-0.21636321096869762,1.0580877893550302],[-0.1970999385278384,1.077362414914448]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_14","position":[0.21975679063787046,-1.9390773931319065,0.71338606911949],"aabb_xy":[[0.15475678800007694,-1.9905569918313537],[0.28475679327566394,-1.8875977944324598]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_15","position":[0.38695997119534886,-2.0403253905997403,0.71338606911949],"aabb_xy":[[0.32695997068749594,-2.097172124285661],[0.4469599717032018,-1.9834786569138187]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_16","position":[-0.411725419613392,-1.9694228119776374,0.71338606911949],"aabb_xy":[[-0.4467254188062102,-1.9803898579752999],[-0.37672542042057366,-1.9584557659799748]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_17","position":[-0.4327397711483123,0.0810047010821906,0.71338606911949],"aabb_xy":[[-0.4967397743669502,0.03428158918318226],[-0.3687397679296745,0.12772781298119895]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_18","position":[-0.42684759783681586,-0.6460743293547702,0.71338606911949],"aabb_xy":[[-0.46434759778058227,-0.6543674193896067],[-0.38934759789304946,-0.6377812393199336]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_19","position":[-0.09765458838693519,0.21226594452534453,0.71338606911949],"aabb_xy":[[-0.11282675766856855,0.19709708759714117],[-0.08248241910530187,0.22743480145354789]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_20","position":[-0.16134728917485097,-1.833899374008299,0.71338606911949],"aabb_xy":[[-0.225347291395258,-1.878272458133587],[-0.09734728695444395,-1.7895262898830104]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_21","position":[-0.1606702306225284,1.2661276369944745,0.71338606911949],"aabb_xy":[[-0.25035730693064384,1.1761276367400242],[-0.07098315431441293,1.3561276372489253]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_22","position":[-0.28911271999431537,0.44259952507250544,0.71338606911949],"aabb_xy":[[-0.3531127206977847,0.3965811425995845],[-0.22511271929084603,0.4886179075454265]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_23","position":[0.0983265489733326,-1.2034315141970637,0.71338606911949],"aabb_xy":[[0.04335282693699971,-1.258431513761297],[0.15330027100966548,-1.1484315146328306]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_24","position":[-0.104159860340727,0.8516820506592535,0.71338606911949],"aabb_xy":[[-0.1691598582223748,0.8005583869527126],[-0.039159862459079216,0.9028057143657944]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_25","position":[0.08154864318899757,-1.0704743682472213,0.71338606911949],"aabb_xy":[[0.044048642896822754,-1.0745158436478248],[0.11904864348117239,-1.0664328928466178]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_26","position":[-0.3169201923042401,-0.893209002839338,0.71338606911949],"aabb_xy":[[-0.36689760916949365,-0.9432090043285863],[-0.2669427754389865,-0.8432090013500892]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_27","position":[0.2753412609807987,-1.2498112614957075,0.71338606911949],"aabb_xy":[[0.25175613751690384,-1.3148112637411393],[0.29892638444469355,-1.1848112592502758]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_28","position":[0.3506882955650876,-2.302484209191887,0.71338606911949],"aabb_xy":[[0.29568829594334184,-2.35746790197936],[0.4056882951868335,-2.2475005164044144]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_29","position":[0.6208093336852132,-1.134011670853433,0.71338606911949],"aabb_xy":[[0.5958093337526953,-1.1408943390743562],[0.6458093336177311,-1.1271290026325096]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_30","position":[-0.5414222901073009,-0.40584335406802285,0.71338606911949],"aabb_xy":[[-0.5864148768257513,-0.45084335334247155],[-0.4964297033888505,-0.36084335479357404]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_31","position":[-0.23326730750782582,0.32239105873141005,0.71338606911949],"aabb_xy":[[-0.24367886618830953,0.3170453253955115],[-0.2228557488273421,0.3277367920673085]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_32","position":[-0.6575570426967304,-0.09378163777782023,0.71338606911949],"aabb_xy":[[-0.6918539537144709,-0.1280785239877616],[-0.6232601316789897,-0.059484751567878844]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_33","position":[-0.30459456429893966,1.051319443609266,0.71338606911949],"aabb_xy":[[-0.32709370002516663,1.0288194428310031],[-0.2820954285727127,1.073819444387529]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_34","position":[-0.6234767837021126,0.7505730027313158,0.71338606911949],"aabb_xy":[[-0.637811208828276,0.7385127871767769],[-0.6091423585759491,0.7626332182858546]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.699917780994332,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8874.png","name":"8874"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8874.png","name":"8874"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6162.png","name":"6162"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6547.png","name":"6547"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3672.png","name":"3672"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/733.png","name":"733"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":661.3510659365747,"rotation_z_degrees":222.74285924620133,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0021580278648444078,0.00861577145154609,-0.018515363250717204]},{"name":"camera_2","offset_m":[0.010081157314698396,0.019329673299997453,-0.0077980269182606286]},{"name":"camera_3","offset_m":[0.00775572846111932,0.015013354284919737,-0.009505644488143603]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0012583783320767954,-0.0002086603444799752,0.001008123850743019],"end_effector_yaw_offset_degrees":0.7754494343555727},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00041841685405962534,-0.00014916775165868534,-0.0008567986144241595],"end_effector_yaw_offset_degrees":0.520675545187469},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0018455064179621905,-0.0015086895006039419,-0.0006816630119687642],"end_effector_yaw_offset_degrees":0.8940400844149672},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0007339848004196481,-0.0006398837569305668,-0.00010291882959876861],"end_effector_yaw_offset_degrees":0.3361134478441048}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0009342115653321994,-0.0023144936213162137],"position_m":[0.1790657884346678,-0.03591449362131621,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002513263841932274,0.0029100103790403982],"position_m":[0.2745132638419323,-0.36438998962095964,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0024293382569117615,-0.0023046564686232773],"position_m":[0.3224293382569118,0.35079534353137676,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0027833425853557615,0.0010677753823763493],"position_m":[0.3412833425853558,0.10956777538237635,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"97efa13b4414947e2a661084f5fd9e8b5b61d7310d540fc1887799197e533db1","episode_index":54,"episode_name":"episode_0054"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0054.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_8874/tex_ceiling_textures_733/tex_floor_textures_3672/tex_table_textures_6162/tex_wall_textures_6547","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":3131577097101923007,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":3131577097101923007,"visual_seed":3131577097101923007,"scene_id":"lab_003","finished_at":"2026-09-05T21:17:00"} +{"episode_id":"ep_000052","started_at":"2026-09-05T21:17:03","dimensions":{"distractor":{"count":29,"items":[{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_0","position":[-0.659827025780366,-0.5730066781985692,0.71338606911949],"aabb_xy":[[-0.6817357079197169,-0.5949073450186598],[-0.6379183436410149,-0.5511060113784784]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_1","position":[0.5832550442920794,-0.1895591601021338,0.71338606911949],"aabb_xy":[[0.5629707415686805,-0.20984178524484262],[0.6035393470154781,-0.16927653495942493]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_2","position":[0.10959269947145411,1.591984042114515,0.71338606911949],"aabb_xy":[[0.02959269620744097,1.5784240098056017],[0.18959270273546724,1.6055440744234284]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_3","position":[0.103523331075419,-2.5544300282582157,0.71338606911949],"aabb_xy":[[0.08102419534919202,-2.576930029036479],[0.12602246680164597,-2.5319300274799525]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_4","position":[-0.2894333128145135,-1.0772371936678247,0.71338606911949],"aabb_xy":[[-0.35343331307498427,-1.1222459930207527],[-0.22543331255404267,-1.0322283943148967]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_5","position":[-0.35866184269433193,-2.250904755553586,0.71338606911949],"aabb_xy":[[-0.4436618413864066,-2.282890618948465],[-0.2736618440022573,-2.2189188921587073]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_6","position":[0.3169795679143035,-1.8911921356830357,0.71338606911949],"aabb_xy":[[0.25297956862013526,-1.9551782760518899],[0.3809795672084717,-1.8272059953141815]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_7","position":[0.6254977141408615,1.2355395603338377,0.71338606911949],"aabb_xy":[[0.6182364665704541,1.2227525500703282],[0.632758961711269,1.2483265705973472]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_8","position":[-0.18829711671985272,0.3837456515518065,0.71338606911949],"aabb_xy":[[-0.22684280954505376,0.34519988049561784],[-0.14975142389465168,0.4222914226079952]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_9","position":[0.5696386063928791,-1.8996239464785964,0.71338606911949],"aabb_xy":[[0.5196611895276254,-1.9496239479678446],[0.6196160232581326,-1.8496239449893475]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_10","position":[0.41570961168974985,-2.369379049600906,0.71338606911949],"aabb_xy":[[0.3852253615627197,-2.419379049382402],[0.44619386181678,-2.31937904981941]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_11","position":[0.26036922173190613,-0.8294002951312196,0.71338606911949],"aabb_xy":[[0.24345848929556432,-0.8428725007238341],[0.27727995416824786,-0.8159280895386051]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_12","position":[-0.2725128444349964,-1.3329682097414193,0.71338606911949],"aabb_xy":[[-0.3225078553944485,-1.3829682087770108],[-0.22251783347554444,-1.2829682107058273]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_13","position":[0.4144153947736555,1.0042860239701645,0.71338606911949],"aabb_xy":[[0.4064214061959521,0.996285943875074],[0.42240938335135886,1.0122861040652547]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_14","position":[0.38220008015687457,-2.235390202055152,0.71338606911949],"aabb_xy":[[0.3518019690577309,-2.2657971040568214],[0.4125981912560181,-2.2049833000534824]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_15","position":[0.16219695846757287,-2.0102791416987422,0.71338606911949],"aabb_xy":[[0.11219768329913671,-2.06027914297469],[0.21219623363600904,-1.9602791404227955]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_16","position":[0.2889294549614724,-1.1791322685747945,0.71338606911949],"aabb_xy":[[0.2773604742145358,-1.2041322686917264],[0.30049843570840895,-1.154132268457863]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_17","position":[-0.26349664403708356,-0.8394731441956129,0.71338606911949],"aabb_xy":[[-0.3184888946725945,-0.8944731459389259],[-0.20850439340157262,-0.7844731424523004]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_18","position":[0.3271317024410161,0.6724803230015031,0.71338606911949],"aabb_xy":[[0.26213170455936835,0.6213566592949623],[0.392131700322664,0.723603986708044]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_19","position":[0.07805486784903293,1.3698422781830248,0.71338606911949],"aabb_xy":[[-0.0019451343137295435,1.2898870945568812],[0.1580548700117954,1.4497974618091685]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_20","position":[-0.4222823497511106,0.6958446587890585,0.71338606911949],"aabb_xy":[[-0.5022823477318956,0.6882431178272065],[-0.3422823517703256,0.7034461997509104]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_21","position":[-0.37982803957022426,-1.987070093885742,0.71338606911949],"aabb_xy":[[-0.4498280417016537,-2.009832059511438],[-0.3098280374387946,-1.964308128260046]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_22","position":[-0.47537112197385795,0.78481755271644,0.71338606911949],"aabb_xy":[[-0.5128711226384365,0.7691304947162176],[-0.4378711213092792,0.800504610716662]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_23","position":[-0.6710389788680334,-0.05216475912795815,0.71338606911949],"aabb_xy":[[-0.6751748352007337,-0.08966475857231515],[-0.6669031225353333,-0.014664759683601147]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_24","position":[0.42352589251038886,0.25869123060889043,0.71338606911949],"aabb_xy":[[0.4106539890094487,0.1786912301950543],[0.436397796011329,0.3386912310227266]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_25","position":[-0.2201874191329775,1.2748194136948126,0.71338606911949],"aabb_xy":[[-0.24346926133110885,1.1898194123975843],[-0.19690557693484617,1.3598194149920404]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_26","position":[0.34767255473301617,-0.6442955796459995,0.71338606911949],"aabb_xy":[[0.3277815148526759,-0.6569513909306963],[0.3675635946133564,-0.6316397683613026]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_27","position":[-0.591840431845258,-0.23531662641118212,0.71338606911949],"aabb_xy":[[-0.6252806070412775,-0.26876025224211214],[-0.5584002566492383,-0.201873000580252]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_28","position":[-0.5924767517984816,-2.134986801639452,0.71338606911949],"aabb_xy":[[-0.629976751742248,-2.1432798916742883],[-0.5549767518547152,-2.126693711604615]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7013537364971077,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7761.png","name":"7761"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7761.png","name":"7761"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4519.png","name":"4519"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/504.png","name":"504"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/468.png","name":"468"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3366.png","name":"3366"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":559.8346815475725,"rotation_z_degrees":348.77499432732276,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01085591741674107,-0.017321189858925334,0.006989917654108654]},{"name":"camera_2","offset_m":[0.013637015649854204,-0.006485421786121775,-0.010350460798299968]},{"name":"camera_3","offset_m":[0.017727931389140913,-0.006951039835179924,0.014221072845438599]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0007264965551125498,0.0013486490358673637,0.0009668551048521291],"end_effector_yaw_offset_degrees":-0.12190786930398212},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0016666177983695155,-0.0010479913199085734,-0.0008040595603466053],"end_effector_yaw_offset_degrees":-0.8671801742541227},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0010227623779246655,-0.0005537202041035912,-0.0012000746463852155],"end_effector_yaw_offset_degrees":-0.3497492189524056},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0012661623295478416,0.00032986785381495165,-0.0011080425744631652],"end_effector_yaw_offset_degrees":-0.9419119054799967}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.003966367527728584,-0.00012358698068739606],"position_m":[0.1760336324722714,-0.03372358698068739,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0038103310741127968,0.002278988469945573],"position_m":[0.2758103310741128,-0.36502101153005445,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00476148989619691,0.0038369817225534482],"position_m":[0.3152385101038031,0.35693698172255345,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004480509747667151,0.001153166095953311],"position_m":[0.33401949025233285,0.10965316609595331,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0b19b29f9e52feae9eb6b14bd09181840da06f7a0af4fbe835b9204595c0b6b0","episode_index":55,"episode_name":"episode_0055"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0055.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_7761/tex_ceiling_textures_3366/tex_floor_textures_468/tex_table_textures_4519/tex_wall_textures_504","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":6082170185815256659,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":6082170185815256659,"visual_seed":6082170185815256659,"scene_id":"lab_003","finished_at":"2026-09-05T21:20:28"} +{"episode_id":"ep_000053","started_at":"2026-09-05T21:20:31","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_0","position":[-0.66960034388944,1.0472252526801515,0.71338606911949],"aabb_xy":[[-0.6776266145200661,1.038473757702799],[-0.6615740732588141,1.0559767476575042]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_1","position":[-0.07081037592955486,-2.2959389624670608,0.71338606911949],"aabb_xy":[[-0.09331037617307025,-2.3081435971268323],[-0.048310375686039464,-2.2837343278072884]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_2","position":[-0.577937387565594,1.246432343583888,0.71338606911949],"aabb_xy":[[-0.6031582244254335,1.221208592731001],[-0.5527165507057542,1.2716560944367745]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_3","position":[0.4789023163766408,-1.1439886919156497,0.71338606911949],"aabb_xy":[[0.4149023156731716,-1.1900070743885707],[0.5429023170801103,-1.0979703094427287]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_4","position":[-0.5072595583825767,-0.6709701542839477,0.71338606911949],"aabb_xy":[[-0.5525381732637259,-0.7349701536321315],[-0.4619809435014274,-0.6069701549357641]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_5","position":[-0.36826025410029534,-1.5974976071659053,0.71338606911949],"aabb_xy":[[-0.42826025574321724,-1.6494977564578492],[-0.30826025245737354,-1.5454974578739609]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_6","position":[-0.35532668365375697,0.5557032699634039,0.71338606911949],"aabb_xy":[[-0.4052997491862725,0.5057032701508711],[-0.3053536181212415,0.6057032697759369]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_7","position":[0.6090997521874437,1.451266642818283,0.71338606911949],"aabb_xy":[[0.593037824728926,1.3662666410056912],[0.6251616796459613,1.5362666446308748]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_8","position":[-0.5154332314164991,-1.7153998209128445,0.71338606911949],"aabb_xy":[[-0.552933231522092,-1.7222219827658254],[-0.4779332313109061,-1.7085776590598631]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_9","position":[0.3210492641440208,-2.3705364544690215,0.71338606911949],"aabb_xy":[[0.2570492627360302,-2.4223254059929458],[0.3850492655520115,-2.3187475029450964]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_10","position":[-0.008149822524148531,1.5386304871610377,0.71338606911949],"aabb_xy":[[-0.04916776591051941,1.4886304865300803],[0.03286812086222235,1.588630487791995]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_11","position":[-0.5765053271871178,0.3962228143434574,0.71338606911949],"aabb_xy":[[-0.5857989454242684,0.35872281585532345],[-0.5672117089499672,0.43372281283159125]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_12","position":[-0.03674426919942242,-0.8247696551843935,0.71338606911949],"aabb_xy":[[-0.10074426648507107,-0.8662763741372376],[0.027255728086226227,-0.7832629362315496]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_13","position":[0.00033617569283028725,0.9886334899648959,0.71338606911949],"aabb_xy":[[-0.07966382538029004,0.9788554436275114],[0.08033617676595062,0.9984115363022803]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_14","position":[0.10053884751014563,-1.3677897731742044,0.71338606911949],"aabb_xy":[[0.08165446374163543,-1.3866756979545571],[0.11942323127865584,-1.3489038483938516]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_15","position":[0.6798814397412429,-2.1071915228301537,0.71338606911949],"aabb_xy":[[0.6685197050879567,-2.118559989236441],[0.691243174394529,-2.0958230564238653]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_16","position":[0.2476449799858791,-1.8055280247488075,0.71338606911949],"aabb_xy":[[0.21014498016884553,-1.8101662360599489],[0.28514497980291265,-1.8008898134376652]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_17","position":[-0.5071576003378845,-2.4201239658361167,0.71338606911949],"aabb_xy":[[-0.533446424658325,-2.4463953994907675],[-0.48086877601744377,-2.393852532181465]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_18","position":[-0.07320361105427298,-1.732388623307988,0.71338606911949],"aabb_xy":[[-0.10820360932439288,-1.739462751002976],[-0.038203612784153074,-1.7253144956129998]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_19","position":[-0.36932263473525073,-0.4526578644293471,0.71338606911949],"aabb_xy":[[-0.3798901143933497,-0.46320289454235564],[-0.35875515507715167,-0.4421128343163385]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_20","position":[-0.3864623371351914,-1.2170096653729499,0.71338606911949],"aabb_xy":[[-0.3993342406361315,-1.297009665786786],[-0.3735904336342512,-1.1370096649591137]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_21","position":[-0.07579317128105212,0.3295597754523585,0.71338606911949],"aabb_xy":[[-0.11079317041100777,0.3238145543766943],[-0.04079317215109644,0.33530499652802254]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_22","position":[0.17278763888188609,-0.6080700090616211,0.71338606911949],"aabb_xy":[[0.1581442333278531,-0.6227287287184052],[0.18743104443591907,-0.5934112894048368]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_23","position":[0.12083255136306337,-1.2057359920606412,0.71338606911949],"aabb_xy":[[0.10094151148272314,-1.2183918033453383],[0.1407235912434036,-1.1930801807759446]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_24","position":[-0.32381517771379814,-0.7463713298244352,0.71338606911949],"aabb_xy":[[-0.335060233284416,-0.7576131275485305],[-0.3125701221431803,-0.7351295321003399]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_25","position":[-0.2630206265209962,-2.4369548651725315,0.71338606911949],"aabb_xy":[[-0.2806962571095945,-2.4546350814519338],[-0.24534499593239786,-2.4192746488931283]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_26","position":[-0.33956982095595734,1.6738475149767438,0.71338606911949],"aabb_xy":[[-0.3873759885697259,1.6088475122696846],[-0.2917636533421886,1.7388475176838025]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_27","position":[-0.2335806180834436,0.9834806347913014,0.71338606911949],"aabb_xy":[[-0.32358061481905376,0.9302971714740068],[-0.14358062134783336,1.036664098108596]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_28","position":[-0.3525726102642539,0.8268763049996992,0.71338606911949],"aabb_xy":[[-0.4165726073763596,0.7778439352052886],[-0.2885726131521482,0.8759086747941098]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_29","position":[-0.5140421910945338,-1.1251864827776692,0.71338606911949],"aabb_xy":[[-0.5266689783817301,-1.134732556479242],[-0.5014154038073374,-1.1156404090760963]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_30","position":[0.6490203803585854,0.14886500034638095,0.71338606911949],"aabb_xy":[[0.6370876459967574,0.1364828475385216],[0.6609531147204135,0.16124715315424035]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_31","position":[-0.33791026569556004,-0.06910910844120055,0.71338606911949],"aabb_xy":[[-0.34660822798627533,-0.08123408274867527],[-0.32921230340484475,-0.05698413413372583]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_32","position":[-0.56547623932562,0.23255775317812688,0.71338606911949],"aabb_xy":[[-0.655476239048794,0.20948440064294702],[-0.4754762396024457,0.25563110571330666]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_33","position":[-0.6152414622042809,-2.115775656728358,0.71338606911949],"aabb_xy":[[-0.6792414641166232,-2.171686805986369],[-0.5512414602919385,-2.059864507470348]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_34","position":[-0.6084125149138031,0.5817750373824482,0.71338606911949],"aabb_xy":[[-0.6684125154216559,0.5249283036965269],[-0.5484125144059501,0.6386217710683695]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7000979930052733,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6499.png","name":"6499"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6499.png","name":"6499"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5584.png","name":"5584"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5223.png","name":"5223"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6352.png","name":"6352"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2566.png","name":"2566"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":746.3203829099563,"rotation_z_degrees":88.13860814409803,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00593870714901684,-0.017799885641399744,-0.010290436965526157]},{"name":"camera_2","offset_m":[0.008738793020388807,-0.012224656196890154,-0.0072425114667180514]},{"name":"camera_3","offset_m":[-0.015952347311898003,0.01596099642325922,0.015096247590015582]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0019022610702513995,0.0012956445174616277,-0.0012555272372263512],"end_effector_yaw_offset_degrees":0.3339204255500625},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0008400570688828382,-0.00024470143968400616,-0.001221813892088875],"end_effector_yaw_offset_degrees":-0.2798551673740364},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00015998158279474412,0.0009378824476299545,0.0017272480021885282],"end_effector_yaw_offset_degrees":-0.562439350854949},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[5.5510644271065685e-05,0.0007999704103174706,0.0006365824697938558],"end_effector_yaw_offset_degrees":-0.25563552551885405}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0015354297680100271,0.002871323210326901],"position_m":[0.17846457023198997,-0.030728676789673098,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0008689418646006079,-0.002920333530747782],"position_m":[0.2711310581353994,-0.3702203335307478,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0014398355505646108,0.0026685729047020617],"position_m":[0.3214398355505646,0.3557685729047021,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00301235051166917,0.0019369889527347207],"position_m":[0.34151235051166917,0.11043698895273472,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1ef57b01f53210285ce2f1f7d09bf247f94946cdbeb2bab570ec8a946b18167e","episode_index":56,"episode_name":"episode_0056"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0056.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_6499/tex_ceiling_textures_2566/tex_floor_textures_6352/tex_table_textures_5584/tex_wall_textures_5223","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":2371484627537306613,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":2371484627537306613,"visual_seed":2371484627537306613,"scene_id":"lab_003","finished_at":"2026-09-05T21:23:59"} +{"episode_id":"ep_000054","started_at":"2026-09-05T21:24:02","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_0","position":[-0.4675998443456448,1.3910423152711107,0.71338606911949],"aabb_xy":[[-0.5125924310640952,1.3460423159966617],[-0.42260725762719437,1.4360423145455592]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_1","position":[-0.5640128045587867,-2.4614795315911513,0.71338606911949],"aabb_xy":[[-0.6280128016708924,-2.510511901385562],[-0.500012807446681,-2.4124471617967407]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_2","position":[-0.18766813987860487,-1.433163413942137,0.71338606911949],"aabb_xy":[[-0.19638210892853933,-1.4556634146013248],[-0.17895417082867035,-1.4106634132829483]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_3","position":[0.1354748779861229,-2.2081119632527555,0.71338606911949],"aabb_xy":[[0.11959038472079775,-2.2224649035515798],[0.15135937125144805,-2.193759022953931]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_4","position":[0.6674396123269617,-0.5924981731142542,0.71338606911949],"aabb_xy":[[0.6498929174108428,-0.6299981746785054],[0.6849863072430806,-0.5549981715500029]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_5","position":[0.3122117263400601,1.747691320609523,0.71338606911949],"aabb_xy":[[0.26232902946236397,1.6976913213632483],[0.36209442321775637,1.7976913198557978]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_6","position":[-0.42531766410149946,0.1583632700294637,0.71338606911949],"aabb_xy":[[-0.4609468200014591,0.12273060327261079],[-0.3896885082015396,0.1939959367863167]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_7","position":[0.5539394288294008,1.558384889713699,0.71338606911949],"aabb_xy":[[0.5164394284811731,1.5465934941326154],[0.5914394291776286,1.5701762852947825]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_8","position":[0.1153887242372218,1.654741158971794,0.71338606911949],"aabb_xy":[[0.035388723767005865,1.6464304513574461],[0.1953887247074378,1.6630518665861427]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_9","position":[0.5635010135112188,-1.9047321062586706,0.71338606911949],"aabb_xy":[[0.54438870615324,-1.9238668851359124],[0.5826133208691977,-1.8855973273814284]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_10","position":[0.116222763712165,-1.6100147491071573,0.71338606911949],"aabb_xy":[[0.11025622477142921,-1.6159758937665214],[0.12218930265290079,-1.604053604447793]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_11","position":[-0.05819296454419509,0.5812695806197983,0.71338606911949],"aabb_xy":[[-0.09319296367415075,0.5755243595441342],[-0.023192965414239437,0.5870148016954624]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_12","position":[0.4996579267765615,1.2962112686446159,0.71338606911949],"aabb_xy":[[0.41965792351871856,1.216214760852632],[0.5796579300344045,1.3762077764365999]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_13","position":[0.583317957612463,-2.456966750447829,0.71338606911949],"aabb_xy":[[0.5608042657890058,-2.5269667510488367],[0.6058316494359202,-2.3869667498468217]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_14","position":[0.5322642604350944,-2.0708391916312983,0.71338606911949],"aabb_xy":[[0.49101544940517966,-2.1258391911435153],[0.5735130714650091,-2.0158391921190804]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_15","position":[0.2443082484586021,-2.3488794136562334,0.71338606911949],"aabb_xy":[[0.18030824818462388,-2.3989455138535214],[0.30830824873258034,-2.2988133134589455]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_16","position":[0.6315708638821713,-0.9912691203811121,0.71338606911949],"aabb_xy":[[0.618968164745095,-1.0038645166059776],[0.6441735630192479,-0.9786737241562468]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_17","position":[0.318736978538261,0.7348490811555721,0.71338606911949],"aabb_xy":[[0.28123697787368224,0.7191620231553499],[0.35623697920283964,0.7505361391557943]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_18","position":[-0.14181332738065688,-2.1551304480858673,0.71338606911949],"aabb_xy":[[-0.1594889579692552,-2.17281066436527],[-0.12413769679205854,-2.1374502318064645]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_19","position":[-0.45526334521648804,-0.8359310686973918,0.71338606911949],"aabb_xy":[[-0.5052633462356233,-0.8723972844352199],[-0.4052633441973528,-0.799464852959564]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_20","position":[-0.05091707793769307,-0.7130530445614383,0.71338606911949],"aabb_xy":[[-0.07280682552663387,-0.8030530418506873],[-0.02902733034875227,-0.623053047272189]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_21","position":[-0.15064017362891302,1.5282805395164343,0.71338606911949],"aabb_xy":[[-0.20063518458836507,1.4782805404808428],[-0.100645162669461,1.5782805385520264]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_22","position":[0.5313047887161242,-0.7085951180520293,0.71338606911949],"aabb_xy":[[0.5088047891924167,-0.7310910655026499],[0.5538047882398315,-0.6860991706014083]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_23","position":[-0.3301238294207082,0.7065313949783385,0.71338606911949],"aabb_xy":[[-0.36258553030263563,0.6763985628634358],[-0.2976621285387807,0.736664227093241]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_24","position":[-0.20933420689527787,-1.1016933063715522,0.71338606911949],"aabb_xy":[[-0.299334209229297,-1.1791756609566648],[-0.11933420456125884,-1.0242109517864395]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_25","position":[-0.14860198943706715,-1.962435318168131,0.71338606911949],"aabb_xy":[[-0.18610198972924197,-1.9664767935687348],[-0.11110198914489233,-1.9583938427675278]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_26","position":[-0.5898235935605926,1.0002533846935768,0.71338606911949],"aabb_xy":[[-0.6073235928386793,0.9829152846272309],[-0.5723235942825056,1.0175914847599228]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_27","position":[-0.18099162260168655,1.088717517136716,0.71338606911949],"aabb_xy":[[-0.2459916211587594,1.0589649837228332],[-0.11599162404461372,1.1184700505505984]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_28","position":[-0.2787860083821301,1.205368336519395,0.71338606911949],"aabb_xy":[[-0.35878600554170537,1.193820735561578],[-0.1987860112225548,1.216915937477212]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_29","position":[0.7095660250230065,1.5108552317311177,0.71338606911949],"aabb_xy":[[0.7035290120223419,1.5048285306621696],[0.7156030380236713,1.5168819328000658]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_30","position":[0.07208425532380736,-2.449887152710214,0.71338606911949],"aabb_xy":[[0.00708425268601387,-2.501366751409661],[0.13708425796160084,-2.398407554010767]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_31","position":[-0.2921090986726162,1.639104302351853,0.71338606911949],"aabb_xy":[[-0.3171090986051341,1.6322216341309295],[-0.2671090987400983,1.645986970572776]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_32","position":[-0.4493693849452177,-2.238586504838005,0.71338606911949],"aabb_xy":[[-0.48368566211983566,-2.2885865048111826],[-0.4150531077705998,-2.188586504864827]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_33","position":[0.19531572662271224,1.0868323170525218,0.71338606911949],"aabb_xy":[[0.13031572846679318,1.0605360725026094],[0.2603157247786313,1.1131285616024338]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6989155837469705,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7040.png","name":"7040"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7040.png","name":"7040"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6417.png","name":"6417"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3559.png","name":"3559"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2998.png","name":"2998"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1293.png","name":"1293"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":641.0777750504158,"rotation_z_degrees":64.47539433380422,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010559674452614862,-0.009427671692077935,0.005512111978296808]},{"name":"camera_2","offset_m":[-0.004203744373950741,-0.006832932540103061,-0.009672781972062526]},{"name":"camera_3","offset_m":[-0.01050796953035578,-0.01633126308485017,-0.015205237174940722]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0006695168417384454,-0.000442274281547677,-0.00010023634810570319],"end_effector_yaw_offset_degrees":0.47209945311566237},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0002841615554429104,-0.0009978494080740358,-0.001918748542437875],"end_effector_yaw_offset_degrees":0.24782065828081556},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0002751440074264316,-0.00014877840595763645,-0.0016750163936315758],"end_effector_yaw_offset_degrees":-0.4510290574166229},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00019336697052940287,0.0012659526223881795,0.0019813285942856486],"end_effector_yaw_offset_degrees":-0.06939074025675751}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0019987676213807336,-0.0017556798339781131],"position_m":[0.18199876762138073,-0.03535567983397811,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001863064449595192,-0.0022799194486642226],"position_m":[0.27013693555040486,-0.36957991944866425,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0016246517870752404,0.0032605291460230884],"position_m":[0.3216246517870752,0.3563605291460231,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0025599792323564574,0.003762346176543737],"position_m":[0.3410599792323565,0.11226234617654374,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"de13453c88f477fcfce04ded909e7c944f74243c370202a0714fedfb86f89431","episode_index":57,"episode_name":"episode_0057"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0057.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_7040/tex_ceiling_textures_1293/tex_floor_textures_2998/tex_table_textures_6417/tex_wall_textures_3559","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":6770520227768182222,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":6770520227768182222,"visual_seed":6770520227768182222,"scene_id":"lab_003","finished_at":"2026-09-05T21:27:23"} +{"episode_id":"ep_000055","started_at":"2026-09-05T21:27:26","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_0","position":[-0.047023972984726936,-1.8600746128551222,0.71338606911949],"aabb_xy":[[-0.11102397627443505,-1.9034095318590398],[0.016976030304981172,-1.8167396938512046]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_1","position":[0.5018685442764284,0.9738634583475521,0.71338606911949],"aabb_xy":[[0.4674060662633406,0.9671997811646292],[0.5363310222895161,0.9805271355304749]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_2","position":[0.21231232216739593,-0.9277968352124737,0.71338606911949],"aabb_xy":[[0.13231232189378894,-1.0007463830381902],[0.2923123224410029,-0.8548472873867569]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_3","position":[0.08113480934479422,1.3074080647026185,0.71338606911949],"aabb_xy":[[0.06345917875619587,1.2897278484232158],[0.09881043993339254,1.3250882809820212]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_4","position":[-0.10558334956010884,1.6392186344112507,0.71338606911949],"aabb_xy":[[-0.14683216059002357,1.584218634899033],[-0.06433453853019411,1.694218633923468]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_5","position":[0.6594475925417447,-2.314038856973188,0.71338606911949],"aabb_xy":[[0.6221163160165022,-2.3486919117680403],[0.6967788690669874,-2.2793858021783358]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_6","position":[0.18221646423259785,1.697225200858973,0.71338606911949],"aabb_xy":[[0.1322171890641617,1.647225199583026],[0.23221573940103402,1.7472252021349204]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_7","position":[-0.005441983718051491,-0.7597493855391715,0.71338606911949],"aabb_xy":[[-0.027941983531953873,-0.7642240019096522],[0.017058016095850892,-0.7552747691686907]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_8","position":[-0.5396996113363155,-0.15628231673965676,0.71338606911949],"aabb_xy":[[-0.5857847025910471,-0.22028231399221188],[-0.4936145200815842,-0.09228231948710165]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_9","position":[-0.5440778039324945,-0.017285726529888024,0.71338606911949],"aabb_xy":[[-0.5622836275937422,-0.028311127111879667],[-0.5258719802712468,-0.006260325947896387]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_10","position":[0.598854000056503,-0.6400021041308868,0.71338606911949],"aabb_xy":[[0.5821768640634075,-0.656702028104817],[0.6155311360495985,-0.6233021801569565]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_11","position":[0.49415493429035395,-2.193582729070821,0.71338606911949],"aabb_xy":[[0.4869111682441086,-2.2735827272744236],[0.5013987003365993,-2.113582730867219]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_12","position":[-0.3553447729685483,1.5932167880555048,0.71338606911949],"aabb_xy":[[-0.4053447743294355,1.543238883480089],[-0.30534477160766105,1.6431946926309202]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_13","position":[-0.3625546583172204,-1.4599820781326245,0.71338606911949],"aabb_xy":[[-0.4053213651966406,-1.523982081554427],[-0.3197879514378002,-1.395982074710822]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_14","position":[-0.3463112760696685,-1.7501108468123219,0.71338606911949],"aabb_xy":[[-0.3543476107709533,-1.7581489661167384],[-0.3382749413683836,-1.7420727275079049]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_15","position":[-0.43457486331556866,-0.8932194039986263,0.71338606911949],"aabb_xy":[[-0.4427894084312526,-0.9018959942962674],[-0.4263603181998846,-0.8845428137009848]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_16","position":[-0.0929396673304872,1.289056060675256,0.71338606911949],"aabb_xy":[[-0.12723657834822782,1.2547591744653144],[-0.05864275631274656,1.323352946885197]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_17","position":[-0.6539220577929372,-1.1349396303159383,0.71338606911949],"aabb_xy":[[-0.6791428946527767,-1.1601633811688248],[-0.6287012209330973,-1.1097158794630513]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_18","position":[0.4161599492275143,-0.8609859333027268,0.71338606911949],"aabb_xy":[[0.3986599489681778,-0.8750774754914995],[0.43365994948685105,-0.8468943911139543]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_19","position":[-0.28141576212811253,0.37602077976688975,0.71338606911949],"aabb_xy":[[-0.3313945706384284,0.32602077976117094],[-0.23143695361779665,0.42602077977260855]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_20","position":[0.18786997538036765,-2.4644501465526836,0.71338606911949],"aabb_xy":[[0.18395610218494512,-2.4731991619592404],[0.19178384857579017,-2.4557011311461268]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_21","position":[0.631331360567787,-0.3449468212771323,0.71338606911949],"aabb_xy":[[0.5938313602756122,-0.3489882966777359],[0.6688313608599619,-0.34090534587652865]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_22","position":[0.4378009664939968,-0.6197546455717262,0.71338606911949],"aabb_xy":[[0.4199318587395413,-0.6335875535489371],[0.4556700742484523,-0.6059217375945153]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_23","position":[0.2727804088243221,-1.81491766251639,0.71338606911949],"aabb_xy":[[0.23598577569941576,-1.8518235376129724],[0.3095750419492283,-1.7780117874198078]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_24","position":[-0.347472232780043,0.7176803698602567,0.71338606911949],"aabb_xy":[[-0.4124722309359621,0.6913841253103445],[-0.28247223462412396,0.7439766144101689]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_25","position":[0.5980808379766891,1.4135512553217908,0.71338606911949],"aabb_xy":[[0.5777965352532903,1.3932686301790818],[0.6183651407000879,1.4338338804644994]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_26","position":[-0.04586429128115488,-2.0874185177042652,0.71338606911949],"aabb_xy":[[-0.10986429295915223,-2.1359359091835795],[0.018135710396842482,-2.038901126224951]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_27","position":[0.6244629169383931,0.3040633475441137,0.71338606911949],"aabb_xy":[[0.6019629166948777,0.2918587128843418],[0.6469629171819085,0.3162679822038857]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_28","position":[0.23085131689035931,0.7368455799467579,0.71338606911949],"aabb_xy":[[0.2228250462597333,0.7280940849694053],[0.23887758752098529,0.7455970749241105]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_29","position":[-0.4078480256882201,-0.7151589559676248,0.71338606911949],"aabb_xy":[[-0.46284350350887943,-0.7701589574015316],[-0.35285254786756065,-0.6601589545337178]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_30","position":[0.5087516175650568,-1.0924910642719816,0.71338606911949],"aabb_xy":[[0.4387516154336272,-1.1152530298976768],[0.5787516196964863,-1.0697290986462855]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_31","position":[0.6094765125406942,1.247347229895417,0.71338606911949],"aabb_xy":[[0.5789922624136641,1.1973472301139212],[0.6399607626677244,1.297347229676913]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_32","position":[-0.37987601248537756,0.20162350438015864,0.71338606911949],"aabb_xy":[[-0.429849306488638,0.15162350382561124],[-0.3299027184821171,0.2516235049347059]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_33","position":[0.673931554860097,-1.4450032816421023,0.71338606911949],"aabb_xy":[[0.636431553675304,-1.4494215043381626],[0.7114315560448896,-1.4405850589460416]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7004530309478236,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3789.png","name":"3789"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3789.png","name":"3789"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3847.png","name":"3847"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3195.png","name":"3195"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4795.png","name":"4795"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7100.png","name":"7100"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":662.156693017099,"rotation_z_degrees":349.62758129578265,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010168635995828313,0.0190238177286418,0.018192498344163897]},{"name":"camera_2","offset_m":[0.01890711674776312,-0.004039644853658323,-0.016365016848374107]},{"name":"camera_3","offset_m":[0.009396533302742989,0.01907044232290721,0.01614150984518067]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0015782780130980329,-1.2412781044516229e-05,0.0013062231225205562],"end_effector_yaw_offset_degrees":-0.28705603177166816},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0001780545205697303,0.0010778868739908546,0.0015642167660452878],"end_effector_yaw_offset_degrees":-0.9007097767988701},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0003082537197432152,0.0009257740278251318,-0.0004330388934660472],"end_effector_yaw_offset_degrees":-0.888708025220696},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001884973372513267,-6.991842941810587e-05,0.0015038486018704128],"end_effector_yaw_offset_degrees":-0.9297920470448828}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003511939274209389,0.004116390387326536],"position_m":[0.1835119392742094,-0.02948360961267346,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0029737958909757884,0.002637156810522817],"position_m":[0.2749737958909758,-0.36466284318947717,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003072654200014217,-0.0022824092881480653],"position_m":[0.32307265420001424,0.350817590711852,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002977229927105186,0.0009995674627437268],"position_m":[0.3355227700728948,0.10949956746274372,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3ae9462af117790480fef6c14e5ebe76e8be141a08f7e8eacaf3e4cb8580c8be","episode_index":58,"episode_name":"episode_0058"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0058.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_3789/tex_ceiling_textures_7100/tex_floor_textures_4795/tex_table_textures_3847/tex_wall_textures_3195","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":7145175888697925847,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":7145175888697925847,"visual_seed":7145175888697925847,"scene_id":"lab_003","finished_at":"2026-09-05T21:31:01"} +{"episode_id":"ep_000056","started_at":"2026-09-05T21:31:05","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_0","position":[-0.2686795643313763,-2.0844104770839476,0.71338606911949],"aabb_xy":[[-0.2899575724748485,-2.14941047941002],[-0.247401556187904,-2.019410474757874]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_1","position":[-0.3937965383434838,-1.7235723979254698,0.71338606911949],"aabb_xy":[[-0.416292959777348,-1.746072397732217],[-0.3713001169096198,-1.7010723981187221]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_2","position":[-0.4014519977260564,1.7386645136172754,0.71338606911949],"aabb_xy":[[-0.4086957637723016,1.658664515413673],[-0.39420823167981095,1.8186645118208777]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_3","position":[-0.19847510952213898,-1.855605095753008,0.71338606911949],"aabb_xy":[[-0.23293745692028073,-1.8900989781508304],[-0.16401276212399712,-1.821111213355185]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_4","position":[0.3568738122671171,1.6896822357282173,0.71338606911949],"aabb_xy":[[0.3068789793391756,1.6396822368329742],[0.4068686451950588,1.7396822346234613]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_5","position":[-0.14963942867409108,-2.542360762978926,0.71338606911949],"aabb_xy":[[-0.1866735381021508,-2.5767379703126356],[-0.11260531924603137,-2.507983555645217]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_6","position":[0.14417743809098504,1.2629794104045886,0.71338606911949],"aabb_xy":[[0.09417743944506385,1.2130598667451262],[0.19417743673690624,1.312898954064051]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_7","position":[0.5805653500426629,0.44698440724726085,0.71338606911949],"aabb_xy":[[0.5437707169177566,0.4100785321506786],[0.6173599831675691,0.4838902823438431]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_8","position":[0.44606001774491344,-1.6122888121955428,0.71338606911949],"aabb_xy":[[0.39825385013114467,-1.6772888149026015],[0.493866185358682,-1.5472888094884836]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_9","position":[0.10104234336165252,-1.6406372798101163,0.71338606911949],"aabb_xy":[[0.06858064247972505,-1.6707701119250182],[0.13350404424357995,-1.610504447695213]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_10","position":[0.6138267875457186,1.7025414325586667,0.71338606911949],"aabb_xy":[[0.5788267861942369,1.682181696601846],[0.6488267888972004,1.7229011685154876]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_11","position":[0.2861455386473767,-1.5249396581078127,0.71338606911949],"aabb_xy":[[0.25830050186676956,-1.5557241568461244],[0.3139905754279838,-1.494155159369501]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_12","position":[0.37389213964753165,-1.831570600257824,0.71338606911949],"aabb_xy":[[0.30389213783878627,-1.8529243690220116],[0.44389214145627715,-1.8102168314936369]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_13","position":[-0.4218307850994777,-0.6396586722050941,0.71338606911949],"aabb_xy":[[-0.42590894300652743,-0.6437396524533574],[-0.41775262719242795,-0.6355776919568308]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_14","position":[0.4658591445202902,0.1698335328165217,0.71338606911949],"aabb_xy":[[0.4578656547250083,0.16183540087604606],[0.47385263431557234,0.17783166475699738]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_15","position":[-0.32226816388734336,-0.9622547358162141,0.71338606911949],"aabb_xy":[[-0.3341402468988445,-1.0472547355098645],[-0.31039608087584225,-0.8772547361225638]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_16","position":[0.32719576777485515,1.1073640148039745,0.71338606911949],"aabb_xy":[[0.2928794906002372,1.0573640148307968],[0.3615120449494731,1.1573640147771522]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_17","position":[-0.4984678000491979,-0.8807215051690835,0.71338606911949],"aabb_xy":[[-0.5025837501612704,-0.8848370602019288],[-0.49435184993712517,-0.8766059501362377]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_18","position":[0.4058282332278327,0.8391600212274306,0.71338606911949],"aabb_xy":[[0.3926769872565434,0.8141600214707442],[0.4189794791991221,0.8641600209841173]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_19","position":[-0.5475783153610103,-0.7409041776351777,0.71338606911949],"aabb_xy":[[-0.589762729521841,-0.8049041779123889],[-0.5053939012001795,-0.6769041773579665]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_20","position":[-0.29009267077307505,-2.565549793955786,0.71338606911949],"aabb_xy":[[-0.29779586144715203,-2.5732591646545235],[-0.28238948009899795,-2.5578404232570473]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_21","position":[-0.047018108524551905,-0.8984270158871603,0.71338606911949],"aabb_xy":[[-0.12701811178239486,-0.9784235236791443],[0.03298189473329106,-0.8184305080951764]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_22","position":[-0.45424663650246977,0.3774226358131254,0.71338606911949],"aabb_xy":[[-0.5092203585388027,0.3224226362488922],[-0.39927291446613694,0.4324226353773586]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_23","position":[-0.07308225278061653,1.1055621854747018,0.71338606911949],"aabb_xy":[[-0.09937107710105716,1.0792907518200503],[-0.04679342846017585,1.1318336191293528]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_24","position":[-0.1983816224591241,-0.6476447819360236,0.71338606911949],"aabb_xy":[[-0.20371413711373712,-0.6529691101812591],[-0.19304910780451115,-0.642320453690788]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_25","position":[-0.32657092523917,0.654682899420338,0.71338606911949],"aabb_xy":[[-0.41157092393124467,0.6226970360254591],[-0.2415709265470954,0.6866687628152168]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_26","position":[-0.2809050277568383,0.09822685556649713,0.71338606911949],"aabb_xy":[[-0.3184050280490131,0.09418538016589353],[-0.24340502746466347,0.10226833096710072]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_27","position":[-0.37494195075967685,-0.46800317304323436,0.71338606911949],"aabb_xy":[[-0.42492490094715607,-0.5180031726857945],[-0.3249590005721974,-0.41800317340067383]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_28","position":[0.4730665831249714,-2.452929690663056,0.71338606911949],"aabb_xy":[[0.4556358680459649,-2.470201805326906],[0.4904972982039779,-2.4356575759992047]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_29","position":[0.5646674445670741,-1.1530518268971948,0.71338606911949],"aabb_xy":[[0.4946674424356444,-1.1758137925228902],[0.6346674466985035,-1.1302898612714989]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_30","position":[-0.45047441140268984,1.3315891077260007,0.71338606911949],"aabb_xy":[[-0.5144744146213277,1.2848659958269923],[-0.386474408184052,1.378312219625009]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_31","position":[-0.6347957573318065,-0.2228839437768686,0.71338606911949],"aabb_xy":[[-0.6499586303087437,-0.2380494010719874],[-0.6196328843548695,-0.2077184864817499]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_32","position":[-0.5457770963355985,-0.247317309698452,0.71338606911949],"aabb_xy":[[-0.5504122114878316,-0.2511846447756006],[-0.5411419811833649,-0.24344997462130333]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_33","position":[-0.5779062663145361,1.559279553431519,0.71338606911949],"aabb_xy":[[-0.6419062682268785,1.5033684041735085],[-0.5139062644021938,1.6151907026895294]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_34","position":[0.21689950294745264,-1.3745763120580594,0.71338606911949],"aabb_xy":[[0.1783538101222516,-1.413122083114248],[0.2554451957726537,-1.3360305410018705]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.695081626465264,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8434.png","name":"8434"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8434.png","name":"8434"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7997.png","name":"7997"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4196.png","name":"4196"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1636.png","name":"1636"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1859.png","name":"1859"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":520.7940707863985,"rotation_z_degrees":193.11215578710758,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008058017705889046,0.0013157548159455149,-0.014580361033433516]},{"name":"camera_2","offset_m":[0.007401537958616582,-0.0023474541076581312,0.017233739879969002]},{"name":"camera_3","offset_m":[0.01451442558462988,-0.01957594347505293,-0.015886043793551945]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.000843227028800029,0.0007096091633522995,0.00022789387752244908],"end_effector_yaw_offset_degrees":0.1170833550253445},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0006769894638804742,-0.001478365881939535,0.0011237445822613688],"end_effector_yaw_offset_degrees":0.9373366357330248},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00030483294180693463,0.0008241769860407853,-0.00046982023785255354],"end_effector_yaw_offset_degrees":-0.9812799014909728},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0007222820343357492,-0.0007129568320824139,0.00021746796719615416],"end_effector_yaw_offset_degrees":-0.2227077527335677}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.001648388088578939,0.0022395239909891278],"position_m":[0.17835161191142104,-0.031360476009010874,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004325657333853886,0.0010208640693032886],"position_m":[0.26767434266614615,-0.3662791359306967,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0013262690371247231,0.0012339413819837846],"position_m":[0.31867373096287527,0.3543339413819838,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0013733538932400049,0.004757975226629158],"position_m":[0.33712664610676,0.11325797522662916,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"fe1d4961bbc6a39f4574bce1881a99fcd67ef2b69c3de7f5b076197aa0f8c1bd","episode_index":59,"episode_name":"episode_0059"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0059.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_8434/tex_ceiling_textures_1859/tex_floor_textures_1636/tex_table_textures_7997/tex_wall_textures_4196","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":6128768223283006045,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":6128768223283006045,"visual_seed":6128768223283006045,"scene_id":"lab_003","finished_at":"2026-09-05T21:34:34"} +{"episode_id":"ep_000057","started_at":"2026-09-05T21:34:41","dimensions":{"distractor":{"count":26,"items":[{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_0","position":[0.34537195531684595,-1.2742321422122558,0.71338606911949],"aabb_xy":[[0.31037195700615045,-1.2819471571358014],[0.38037195362754134,-1.2665171272887101]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_1","position":[-0.6422050454918611,-1.0372897088478261,0.71338606911949],"aabb_xy":[[-0.692183854002177,-1.087289708853545],[-0.5922262369815452,-0.9872897088421073]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_2","position":[0.226381739092816,-1.3138641200849341,0.71338606911949],"aabb_xy":[[0.18888174066941563,-1.3270283340527649],[0.26388173751621635,-1.3006999061171034]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_3","position":[-0.46805606578281334,-0.3409601254630812,0.71338606911949],"aabb_xy":[[-0.5480560679455757,-0.4209153090892248],[-0.3880560636200508,-0.26100494183693757]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_4","position":[0.4981747752441603,0.815650695275818,0.71338606911949],"aabb_xy":[[0.43817477360123847,0.7636505459838739],[0.5581747768870822,0.8676508445677623]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_5","position":[0.517119164378623,-1.8358049423995049,0.71338606911949],"aabb_xy":[[0.4594886954913521,-1.895804941326215],[0.5747496332658938,-1.7758049434727938]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_6","position":[0.4398199046975697,-0.779963353891215,0.71338606911949],"aabb_xy":[[0.4173199051738623,-0.8024593013418357],[0.4623199042212771,-0.7574674064405942]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_7","position":[0.4745826223764127,-1.4185478203775386,0.71338606911949],"aabb_xy":[[0.410582625264307,-1.4675801901719492],[0.5385826194885184,-1.369515450583128]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_8","position":[0.6912853269557937,-0.07946719195529095,0.71338606911949],"aabb_xy":[[0.6849732274194554,-0.08523413120850978],[0.6975974264921322,-0.07370025270207212]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_9","position":[0.6567544886654693,-0.26654156528136674,0.71338606911949],"aabb_xy":[[0.5927544872574785,-0.3183305168052914],[0.7207544900734598,-0.214752613757442]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_10","position":[0.31359743456024525,-0.6165827957937495,0.71338606911949],"aabb_xy":[[0.3035157274816717,-0.6965827936858642],[0.32367914163881867,-0.5365827979016349]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_11","position":[-0.3023138024460425,-0.4940238897902556,0.71338606911949],"aabb_xy":[[-0.3450805093254627,-0.558023893212058],[-0.2595470955666223,-0.4300238863684531]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_12","position":[0.13531352639088678,-1.0514193832314602,0.71338606911949],"aabb_xy":[[0.055313525317766454,-1.0611974295688447],[0.21531352746400712,-1.0416413368940758]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_13","position":[0.5607305069897752,-0.5746543290790873,0.71338606911949],"aabb_xy":[[0.500730506393759,-0.6294668016243108],[0.6207305075857914,-0.5198418565338638]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_14","position":[-0.12960182821447586,-2.368162410794713,0.71338606911949],"aabb_xy":[[-0.14476470119141294,-2.3833278680898315],[-0.11443895523753878,-2.352996953499594]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_15","position":[0.07342293496244834,-2.080572385043241,0.71338606911949],"aabb_xy":[[-0.0065770636248710925,-2.1598879869814014],[0.15342293354976774,-2.0012567831050796]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_16","position":[0.3733173929136129,-1.9432816420112076,0.71338606911949],"aabb_xy":[[0.3429192818144693,-1.973688544012877],[0.40371550401275647,-1.912874740009538]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_17","position":[-0.044518789046475216,-2.527396302556172,0.71338606911949],"aabb_xy":[[-0.0620187892915246,-2.5448960903957385],[-0.027018788801425834,-2.509896514716605]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_18","position":[-0.0500427304225215,1.200807483312814,0.71338606911949],"aabb_xy":[[-0.08381828961321447,1.186768988099649],[-0.016267171231828526,1.2148459785259789]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_19","position":[0.6542673032021828,-1.025415701493118,0.71338606911949],"aabb_xy":[[0.619267304932063,-1.0324898291881062],[0.6892673014723028,-1.0183415737981298]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_20","position":[-0.5628424207958322,1.1012247215290731,0.71338606911949],"aabb_xy":[[-0.6178424199724216,1.0462350467541153],[-0.5078424216192426,1.1562143963040306]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_21","position":[0.14895124522205683,0.9478338406497961,0.71338606911949],"aabb_xy":[[0.08395124666498399,0.9180813072359135],[0.21395124377912966,0.9775863740636788]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_22","position":[-0.25515070615041285,0.5002494024504709,0.71338606911949],"aabb_xy":[[-0.2595813355052531,0.4948010307157883],[-0.25072007679557273,0.5056977741851535]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_23","position":[-0.33877606983286535,0.6287890365034654,0.71338606911949],"aabb_xy":[[-0.36236119329676025,0.5637890342580336],[-0.31519094636897055,0.6937890387488972]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_24","position":[-0.24096182823119688,-1.7735523389727406,0.71338606911949],"aabb_xy":[[-0.2870469194859283,-1.8375523362252955],[-0.1948767369764654,-1.7095523417201852]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_25","position":[-0.30361836925833285,-1.6121659286652792,0.71338606911949],"aabb_xy":[[-0.3211650641744518,-1.6496659302295305],[-0.2860716743422139,-1.574665927101028]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6940403696500688,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4489.png","name":"4489"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4489.png","name":"4489"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4680.png","name":"4680"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1848.png","name":"1848"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8750.png","name":"8750"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7478.png","name":"7478"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":670.113033872195,"rotation_z_degrees":131.76239805032296,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008898368720657359,-0.010265712907714079,-5.7735489960887565e-05]},{"name":"camera_2","offset_m":[0.019475069045014528,0.0008978827477809266,0.012476301231877849]},{"name":"camera_3","offset_m":[-0.01965847847690491,-0.002254665875793826,0.01606557063202219]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001769018007480414,-0.000781436091199946,-0.0012789549534907682],"end_effector_yaw_offset_degrees":0.12156029277420477},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0010748885322719509,0.0016215026575472392,-0.0003603994068775611],"end_effector_yaw_offset_degrees":-0.7655077205652132},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0005036123321923219,-0.00120357565196756,-0.0018562151275207427],"end_effector_yaw_offset_degrees":0.39051662870545},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0004440324925562007,-0.00048265760037990903,-0.0007530396541427819],"end_effector_yaw_offset_degrees":-0.06341985785557891}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0012933304740163553,0.004694718747437445],"position_m":[0.17870666952598363,-0.028905281252562552,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0033359093502115748,0.004610485280976131],"position_m":[0.26866409064978847,-0.3626895147190239,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0008970041004306116,0.003371671995620113],"position_m":[0.3191029958995694,0.35647167199562013,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00450353026131677,0.0030061507280650353],"position_m":[0.3430035302613168,0.11150615072806504,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0fe6a0f51c279272eada0b857f26521deb9a4e3b23729056fe3148df330c8f2e","episode_index":60,"episode_name":"episode_0060"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0060.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_4489/tex_ceiling_textures_7478/tex_floor_textures_8750/tex_table_textures_4680/tex_wall_textures_1848","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":240421210011087717,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":240421210011087717,"visual_seed":240421210011087717,"scene_id":"lab_003","finished_at":"2026-09-05T21:38:15"} +{"episode_id":"ep_000058","started_at":"2026-09-05T21:38:19","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_0","position":[0.00042671421019058187,-2.1553564132283554,0.71338606911949],"aabb_xy":[[-0.01720612138333699,-2.172979359243978],[0.018059549803718152,-2.137733467212732]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_1","position":[0.4579478406725963,1.5599192030294877,0.71338606911949],"aabb_xy":[[0.42335675781855103,1.4949192027444564],[0.49253892352664147,1.6249192033145186]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_2","position":[0.3576075162491599,1.0724715282289652,0.71338606911949],"aabb_xy":[[0.3424446432722228,1.0573060709338464],[0.37277038922609695,1.087636985524084]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_3","position":[0.48059512690532213,-1.760982675662572,0.71338606911949],"aabb_xy":[[0.3905951283108522,-1.7772332619759932],[0.5705951254997921,-1.7447320893491511]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_4","position":[-0.3170726707542529,-2.3138689599699918,0.71338606911949],"aabb_xy":[[-0.3219719630608164,-2.34154587927256],[-0.3121733784476894,-2.2861920406674225]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_5","position":[-0.5041340408326531,-1.3668550990822141,0.71338606911949],"aabb_xy":[[-0.5681340425106504,-1.4153724905615281],[-0.44013403915465565,-1.3183377076028997]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_6","position":[-0.3207749829941817,-1.2450257149994857,0.71338606911949],"aabb_xy":[[-0.35577498218699993,-1.2559927609971482],[-0.2857749838013634,-1.2340586690018227]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_7","position":[0.4738996268380773,-1.1239813313893412,0.71338606911949],"aabb_xy":[[0.46414363732890335,-1.1337438654485756],[0.4836556163472511,-1.1142187973301068]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_8","position":[0.33972890010804013,0.7810589454778105,0.71338606911949],"aabb_xy":[[0.3047288987565584,0.7606992095209898],[0.37472890145952187,0.8014186814346315]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_9","position":[-0.6038764023477468,1.165132137098058,0.71338606911949],"aabb_xy":[[-0.6388764014777024,1.159386916022394],[-0.5688764032177911,1.1708773581737222]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_10","position":[-0.042445514106752236,-2.309679839447741,0.71338606911949],"aabb_xy":[[-0.07284362520589581,-2.34008674144941],[-0.012047403007608646,-2.279272937446071]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_11","position":[-0.3872999053729704,-1.5536781945561315,0.71338606911949],"aabb_xy":[[-0.46729990277656375,-1.6336707657543141],[-0.3072999079693769,-1.4736856233579485]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_12","position":[0.5968663145600108,-0.031947099851730165,0.71338606911949],"aabb_xy":[[0.5630907553693177,-0.04598559506489519],[0.6306418737507037,-0.01790860463856514]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_13","position":[0.3127841911903906,-1.5068977633948664,0.71338606911949],"aabb_xy":[[0.28445448124185035,-1.5113585055885834],[0.3411139011389308,-1.5024370212011493]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_14","position":[-0.33523227122624166,0.134281784910097,0.71338606911949],"aabb_xy":[[-0.39523227107280845,0.0774631627170583],[-0.2752322713796749,0.19110040710313567]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_15","position":[-0.41319234867586385,-0.43138078324682105,0.71338606911949],"aabb_xy":[[-0.4506923498606566,-0.43579900594288157],[-0.375692347491071,-0.42696256055076054]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_16","position":[-0.6294027396462764,-2.3598436570094115,0.71338606911949],"aabb_xy":[[-0.6422746431472165,-2.439843657423247],[-0.6165308361453362,-2.279843656595575]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_17","position":[0.04971590427331596,1.1608859666422209,0.71338606911949],"aabb_xy":[[0.004437289392166692,1.0968859672940372],[0.09499451915446522,1.2248859659904046]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_18","position":[0.25331125239904084,1.7338643945204981,0.71338606911949],"aabb_xy":[[0.23325284078580055,1.7137993076113407],[0.27336966401228113,1.7539294814296555]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_19","position":[-0.14892202462926685,1.5522506721807168,0.71338606911949],"aabb_xy":[[-0.2039175024499262,1.4972506707468096],[-0.09392654680860743,1.6072506736146235]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_20","position":[0.09161809862850212,-1.181210716776009,0.71338606911949],"aabb_xy":[[0.04161809918830649,-1.2311786412603252],[0.14161809806869774,-1.1312427922916926]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_21","position":[-0.21283197054573577,0.8711108399871086,0.71338606911949],"aabb_xy":[[-0.2350044975223866,0.8489351728309853],[-0.19065944356908493,0.8932865071432317]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_22","position":[-0.19558399059639686,-1.2415103392213545,0.71338606911949],"aabb_xy":[[-0.2036203252976817,-1.2495484585257712],[-0.18754765589511202,-1.2334722199169377]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_23","position":[-0.17079698734791504,0.3237109598334649,0.71338606911949],"aabb_xy":[[-0.24079699073947702,0.288395186130034],[-0.10079698395635307,0.35902673353689574]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_24","position":[0.41669221456844574,0.49510120356239096,0.71338606911949],"aabb_xy":[[0.3526922142944675,0.44503510336510294],[0.48069221484242397,0.5451673037596789]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_25","position":[-0.07816405704170881,-0.6023582481274818,0.71338606911949],"aabb_xy":[[-0.10066047847557291,-0.6248582479342293],[-0.05566763560784471,-0.5798582483207344]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_26","position":[-0.41715298902440634,1.3899549553800874,0.71338606911949],"aabb_xy":[[-0.46214557574285675,1.3449549561056384],[-0.37216040230595593,1.434954954654536]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_27","position":[-0.31701787588307084,-0.3083251329179806,0.71338606911949],"aabb_xy":[[-0.3670178775445656,-0.35832357517368324],[-0.2670178742215761,-0.2583266906622778]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_28","position":[0.5538935780928429,-0.33453382434445667,0.71338606911949],"aabb_xy":[[0.5313935775808022,-0.35702568270985496],[0.5763935786048834,-0.31204196597905826]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_29","position":[-0.28016414732133904,-2.2122512263231457,0.71338606911949],"aabb_xy":[[-0.3046777714183449,-2.236515819625182],[-0.2556505232243332,-2.1879866330211093]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_30","position":[0.29297159791186245,1.2175959413034785,0.71338606911949],"aabb_xy":[[0.2881280031506325,1.2127442888244944],[0.2978151926730924,1.2224475937824626]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_31","position":[0.21737005440675605,1.009230118670748,0.71338606911949],"aabb_xy":[[0.17606551134302006,0.9452301191026307],[0.25867459747049204,1.0732301182388648]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_32","position":[0.0445706921345006,-2.454583685179544,0.71338606911949],"aabb_xy":[[0.027139977055494088,-2.4718557998433943],[0.0620014072135071,-2.437311570515693]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7048056608089772,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1429.png","name":"1429"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1429.png","name":"1429"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2926.png","name":"2926"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3818.png","name":"3818"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2478.png","name":"2478"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1905.png","name":"1905"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":572.8960171858869,"rotation_z_degrees":171.96611871411454,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0110629041050734,0.016161226831482075,5.155874816198391e-06]},{"name":"camera_2","offset_m":[0.01047037123052627,0.0072943724697355945,-0.011542635853530615]},{"name":"camera_3","offset_m":[-0.01752623876228738,-0.014657090595867932,0.00014425876536692736]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0016261796130039568,0.0018131263296173356,-0.0007091243218452425],"end_effector_yaw_offset_degrees":0.9457570652266019},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0012192054885940635,0.0016673797344172975,-0.0002901642154407762],"end_effector_yaw_offset_degrees":0.838765294692976},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0012777826724888071,-0.0006350728943677298,-0.001341207648868207],"end_effector_yaw_offset_degrees":-0.8475135516407253},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0006667015002463725,-0.0015768442095962995,-0.0005469856642370612],"end_effector_yaw_offset_degrees":0.21688114067129272}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004769778404099885,-0.004049749358189518],"position_m":[0.1847697784040999,-0.037649749358189516,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0041643864024575655,-0.0037390890924279916],"position_m":[0.2761643864024576,-0.371039089092428,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0016287102426531443,0.0037414953272917406],"position_m":[0.32162871024265316,0.35684149532729176,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[8.575893915252833e-06,0.0020314736123088917],"position_m":[0.33850857589391525,0.11053147361230889,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c412c1ac8107b62bc1d270161579e10a7bfbca88e02244917a345f23a52a3346","episode_index":61,"episode_name":"episode_0061"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0061.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_1429/tex_ceiling_textures_1905/tex_floor_textures_2478/tex_table_textures_2926/tex_wall_textures_3818","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":7987932911973512186,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":7987932911973512186,"visual_seed":7987932911973512186,"scene_id":"lab_003","finished_at":"2026-09-05T21:41:46"} +{"episode_id":"ep_000059","started_at":"2026-09-05T21:41:50","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_0","position":[-0.19510775115756013,-0.7924152714188619,0.71338606911949],"aabb_xy":[[-0.2591077484432087,-0.8339219903717058],[-0.13110775387191145,-0.7509085524660178]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_1","position":[0.6857742091466099,-1.2888381321218052,0.71338606911949],"aabb_xy":[[0.6607742095948713,-1.29898061598694],[0.7107742086983483,-1.2786956482566705]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_2","position":[-0.5597807085028674,-2.4103371325531433,0.71338606911949],"aabb_xy":[[-0.5749435814798046,-2.4255025898482616],[-0.5446178355259305,-2.395171675258024]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_3","position":[0.643313537396895,0.2971442235172854,0.71338606911949],"aabb_xy":[[0.5883203260597584,0.24214422317849177],[0.6983067487340319,0.35214422385607896]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_4","position":[-0.36397560727496986,-2.4511677420267373,0.71338606911949],"aabb_xy":[[-0.4439756044345451,-2.4627153429845543],[-0.2839756101153945,-2.4396201410689202]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_5","position":[0.4364831842502448,-2.2133202287397937,0.71338606911949],"aabb_xy":[[0.3464831848318739,-2.2466957255839834],[0.5264831836686157,-2.179944731895604]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_6","position":[-0.2859397820787208,-1.5907615975801854,0.71338606911949],"aabb_xy":[[-0.30357261767224836,-1.6083845435958084],[-0.2683069464851932,-1.5731386515645625]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_7","position":[-0.20262783723498262,1.1151759908264482,0.71338606911949],"aabb_xy":[[-0.20758385741986388,1.0926759906243269],[-0.19767181705010148,1.13767599102857]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_8","position":[-0.4184099636761186,-1.2373035171039437,0.71338606911949],"aabb_xy":[[-0.4359566585922376,-1.274803518668195],[-0.4008632687599997,-1.1998035155396924]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_9","position":[0.5610246793689355,1.0693592643124759,0.71338606911949],"aabb_xy":[[0.4960246783684349,1.0185728991578007],[0.6260246803694359,1.1201456294671506]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_10","position":[-0.570759692134035,1.704705547515093,0.71338606911949],"aabb_xy":[[-0.620754703093487,1.6547055484795015],[-0.520764681174583,1.754705546550685]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_11","position":[0.1541172544619277,-1.2135415272509573,0.71338606911949],"aabb_xy":[[0.14968662510708752,-1.21898989898564],[0.15854788381676788,-1.208093155516275]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_12","position":[0.2929958158093795,0.5527758430241487,0.71338606911949],"aabb_xy":[[0.23299581521336332,0.49796337047892525],[0.3529958164053957,0.6075883155693722]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_13","position":[-0.5737822731418981,-0.01853004833948857,0.71338606911949],"aabb_xy":[[-0.6209116521437337,-0.08253004938389052],[-0.5266528941400623,0.045469952704913386]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_14","position":[-0.18868027195573744,-0.4062000094860756,0.71338606911949],"aabb_xy":[[-0.22618027037913777,-0.41936422345390617],[-0.15118027353233707,-0.3930357955182449]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_15","position":[-0.5639458979113888,1.1268515211933905,0.71338606911949],"aabb_xy":[[-0.6051947089413034,1.0718515216811728],[-0.522697086881474,1.1818515207056077]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_16","position":[-0.3093062274658103,-2.1953657741785886,0.71338606911949],"aabb_xy":[[-0.3173495873917655,-2.2803657752739546],[-0.30126286753985515,-2.1103657730832217]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_17","position":[-0.3084857815458752,0.6697430211225575,0.71338606911949],"aabb_xy":[[-0.3459857814896416,0.6614499310877209],[-0.2709857816021088,0.678036111157394]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_18","position":[-0.3612868003081064,-1.3965848320044598,0.71338606911949],"aabb_xy":[[-0.3686992558494948,-1.4024360424260878],[-0.35387434476671786,-1.3907336215828319]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_19","position":[0.6237065286833132,-1.8915986275766294,0.71338606911949],"aabb_xy":[[0.5597065315712075,-1.9406309973710398],[0.6877065257954189,-1.8425662577822186]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.700812294460452,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5919.png","name":"5919"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5919.png","name":"5919"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2446.png","name":"2446"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2549.png","name":"2549"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6629.png","name":"6629"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4691.png","name":"4691"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":570.7024816844463,"rotation_z_degrees":238.1064879315572,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012038713241775755,0.012030432683071381,-0.0045340687821389565]},{"name":"camera_2","offset_m":[-0.007035511546138903,0.0009032639503921136,-0.011472702602235998]},{"name":"camera_3","offset_m":[0.005118048338623556,0.017039802725337342,0.008969423071614708]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0005009364139419424,0.0008047313392853506,0.0013196394074067937],"end_effector_yaw_offset_degrees":0.06005110513045886},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0004860223528859245,0.000570236552405211,0.00042867070329470104],"end_effector_yaw_offset_degrees":-0.028932411070369923},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0015557602252150738,0.0012794369343417916,-0.0006547002237396349],"end_effector_yaw_offset_degrees":0.10351977510924493},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005262561978547145,0.00022823349506458784,0.0005528690991733133],"end_effector_yaw_offset_degrees":-0.05920407713499731}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004805131495215269,-0.004558383527423782],"position_m":[0.17519486850478472,-0.03815838352742378,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0010182227178411277,-0.004507913510566409],"position_m":[0.2709817772821589,-0.3718079135105664,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003751767525232144,0.0008893197961288204],"position_m":[0.31624823247476785,0.35398931979612885,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0025421563196938823,0.004816058320901865],"position_m":[0.3359578436803061,0.11331605832090186,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b8a90f04ee0b0d7b380273ed8f56e4b3a98ebbaa76d8ff8d96be9ba7297c89aa","episode_index":62,"episode_name":"episode_0062"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0062.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_5919/tex_ceiling_textures_4691/tex_floor_textures_6629/tex_table_textures_2446/tex_wall_textures_2549","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":5539443080623271235,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":5539443080623271235,"visual_seed":5539443080623271235,"scene_id":"lab_003","finished_at":"2026-09-05T21:45:21"} +{"episode_id":"ep_000060","started_at":"2026-09-05T21:45:24","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_0","position":[-0.44095193206641087,-0.09675103832231757,0.71338606911949],"aabb_xy":[[-0.44907962025972414,-0.10566464673302522],[-0.4328242438730977,-0.08783742991160992]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_1","position":[-0.11025700030500907,1.2508626665929459,0.71338606911949],"aabb_xy":[[-0.1354778371648487,1.225638915740059],[-0.08503616344516939,1.2760864174458324]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_2","position":[0.22527836032684345,0.7436864644385,0.71338606911949],"aabb_xy":[[0.18777835982948515,0.7397177808903814],[0.26277836082420164,0.7476551479866183]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_3","position":[-0.022976565977091412,1.6478014274227477,0.71338606911949],"aabb_xy":[[-0.07307402995816503,1.583801426912936],[0.02712089800398221,1.7118014279325595]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_4","position":[0.46458385812287695,-0.20566018422708243,0.71338606911949],"aabb_xy":[[0.4147011612451808,-0.2556601834733572],[0.5144665550005731,-0.15566018498080772]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_5","position":[0.5577530243353543,1.0465458006980315,0.71338606911949],"aabb_xy":[[0.5077797303320939,0.9965458001434839],[0.6077263183386148,1.0965458012525786]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_6","position":[0.09856976655829075,1.2176271404875774,0.71338606911949],"aabb_xy":[[0.018569763294277633,1.204067108178664],[0.17856976982230388,1.2311871727964907]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_7","position":[-0.24358393843531995,-0.440529416209928,0.71338606911949],"aabb_xy":[[-0.28886255331646915,-0.5045294155581117],[-0.19830532355417063,-0.3765294168617443]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_8","position":[0.3375134724598725,0.6276755910362724,0.71338606911949],"aabb_xy":[[0.24751347304150156,0.5943000941920825],[0.42751347187824335,0.661051087880462]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_9","position":[-0.07617416797268683,-2.53618326310069,0.71338606911949],"aabb_xy":[[-0.12615840368086406,-2.5861832619141856],[-0.026189932264509594,-2.4861832642871944]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_10","position":[-0.6101234163553549,-1.8864900546951267,0.71338606911949],"aabb_xy":[[-0.6579295839691235,-1.9514900574021852],[-0.5623172487415862,-1.8214900519880672]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_11","position":[0.5969196206970628,-0.9835698129178843,0.71338606911949],"aabb_xy":[[0.5867666051429133,-1.0196393544906244],[0.6070726362512121,-0.9475002713451437]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_12","position":[0.5991197068974632,-1.195929120676391,0.71338606911949],"aabb_xy":[[0.5656795317014434,-1.2293727465073208],[0.6325598820934826,-1.1624854948454606]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_13","position":[0.45510419335803864,-0.8877634244018398,0.71338606911949],"aabb_xy":[[0.4384270573649431,-0.90446334837577],[0.4717813293511341,-0.8710635004279095]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_14","position":[-0.13744554031200096,0.03561432345167992,0.71338606911949],"aabb_xy":[[-0.17494554012903452,0.030976112140538047],[-0.0999455404949674,0.04025253476282178]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_15","position":[0.33581820042390276,-0.7745280710288431,0.71338606911949],"aabb_xy":[[0.2758182001725015,-0.8288093960653076],[0.3958182006753039,-0.7202467459923783]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_16","position":[-0.5795744028039839,-0.16483108017044357,0.71338606911949],"aabb_xy":[[-0.595458896069309,-0.17918402046926762],[-0.5636899095386587,-0.1504781398716195]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_17","position":[-0.3116606284896507,-0.7538329979435665,0.71338606911949],"aabb_xy":[[-0.31958390872839904,-0.7763329981815698],[-0.3037373482509024,-0.731332997705563]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_18","position":[-0.2932039063050702,-2.118707440711433,0.71338606911949],"aabb_xy":[[-0.35720390273239216,-2.1658770645335292],[-0.22920390987774836,-2.0715378168893364]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_19","position":[-0.43745037192262126,0.4382919635714728,0.71338606911949],"aabb_xy":[[-0.47495037209449315,0.4055912281885656],[-0.39995037175074927,0.47099269895437995]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_20","position":[0.2264404716667725,-1.5584592594011881,0.71338606911949],"aabb_xy":[[0.2156674977454047,-1.593459257620227],[0.23721344558814025,-1.5234592611821491]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_21","position":[-0.4577591390935952,1.6474437298423763,0.71338606911949],"aabb_xy":[[-0.5277591355035569,1.6270057941906941],[-0.3877591426836334,1.6678816654940576]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_22","position":[0.36046090957606247,-2.4520956245072263,0.71338606911949],"aabb_xy":[[0.2954609086189353,-2.504043836440932],[0.42546091053318974,-2.4001474125735207]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_23","position":[0.5146674575277617,-2.019211026386923,0.71338606911949],"aabb_xy":[[0.5109641961986225,-2.0229130446956405],[0.5183707188569003,-2.015509008078205]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_24","position":[0.3580177601534644,-1.63638003436144,0.71338606911949],"aabb_xy":[[0.29301776011916175,-1.6830807110417674],[0.4230177601877672,-1.5896793576811128]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_25","position":[0.10725188757669957,0.642392929096935,0.71338606911949],"aabb_xy":[[0.0697518891532992,0.6292287151291044],[0.14475188600009992,0.6555571430647656]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_26","position":[0.40198726848294086,0.7769563793830856,0.71338606911949],"aabb_xy":[[0.3379872664332088,0.7368618962937775],[0.4659872705326728,0.8170508624723934]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_27","position":[0.1439005029688719,0.9988454085600917,0.71338606911949],"aabb_xy":[[0.10640050262064413,0.9870540129790083],[0.18140050331709964,1.0106368041411753]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_28","position":[-0.0870126959803934,1.4764905981353595,0.71338606911949],"aabb_xy":[[-0.13699564616787271,1.426490598492799],[-0.037029745792914064,1.5264905977779197]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_29","position":[-0.40950296887339444,0.8578700562723802,0.71338606911949],"aabb_xy":[[-0.48950297103615686,0.7779148726462365],[-0.3295029667106319,0.9378252398985237]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_30","position":[-0.6635823436054793,-1.1049897749002708,0.71338606911949],"aabb_xy":[[-0.6754544266169804,-1.1899897745939212],[-0.6517102605939782,-1.0199897752066205]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_31","position":[0.7004244757712317,0.4837649565698743,0.71338606911949],"aabb_xy":[[0.6962886194385315,0.4462649571255173],[0.7045603321039319,0.5212649560142313]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_32","position":[-0.11978191379277026,-1.071168372968125,0.71338606911949],"aabb_xy":[[-0.17478191296935974,-1.1261580477430824],[-0.06478191461618078,-1.016178698193167]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7009770376184937,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4227.png","name":"4227"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4227.png","name":"4227"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1758.png","name":"1758"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3650.png","name":"3650"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8336.png","name":"8336"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9275.png","name":"9275"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":844.8816076201217,"rotation_z_degrees":208.71522957416155,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011005699990758285,0.006671366154867683,-0.0027469502151472557]},{"name":"camera_2","offset_m":[0.01948643197520349,0.00689260893299749,-0.0029212611107137347]},{"name":"camera_3","offset_m":[-0.011151943368202457,-0.015143568205706788,0.01754888576979634]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001694188302160688,0.0004906221642320204,-0.0019041321431257346],"end_effector_yaw_offset_degrees":-0.008316293402230945},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[6.373975060493427e-05,0.0010298810442407867,0.0015204231632490249],"end_effector_yaw_offset_degrees":-0.6239925367297354},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001639118324104742,0.0010537643828406654,-0.0012016365649845577],"end_effector_yaw_offset_degrees":-0.05831308102055521},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0006566951768203397,0.0011553877779905825,0.0009707269067630235],"end_effector_yaw_offset_degrees":-0.5023866186167762}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0029873793111522854,0.0025292860196348965],"position_m":[0.18298737931115228,-0.0310707139803651,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00012578316987412168,-0.0033898704549029067],"position_m":[0.2718742168301259,-0.3706898704549029,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0032653619529709335,0.0004936943341537188],"position_m":[0.32326536195297095,0.3535936943341537,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004484958832067066,0.00433838086763287],"position_m":[0.3429849588320671,0.11283838086763287,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6547ae6b96f18229b8ed94be660216512a690528028644b562c55de9778f362e","episode_index":63,"episode_name":"episode_0063"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0063.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_4227/tex_ceiling_textures_9275/tex_floor_textures_8336/tex_table_textures_1758/tex_wall_textures_3650","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":4950852426457110055,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":4950852426457110055,"visual_seed":4950852426457110055,"scene_id":"lab_003","finished_at":"2026-09-05T21:49:00"} +{"episode_id":"ep_000061","started_at":"2026-09-05T21:49:03","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_0","position":[-0.5524660318739198,0.2991401349481384,0.71338606911949],"aabb_xy":[[-0.6164660291595685,0.25763341599529443],[-0.4884660345882712,0.34064685390098237]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_1","position":[0.1010139829762241,-2.1851238951358396,0.71338606911949],"aabb_xy":[[0.02101398499543906,-2.1927254360976915],[0.18101398095700916,-2.1775223541739877]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_2","position":[0.4466604376936414,1.6981136741421365,0.71338606911949],"aabb_xy":[[0.4320170321396084,1.683454954485352],[0.46130384324767437,1.7127723937989205]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_3","position":[-0.41718020285848034,0.5394777953811607,0.71338606911949],"aabb_xy":[[-0.4521802028349762,0.5300131793335441],[-0.3821802028819845,0.5489424114287773]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_4","position":[-0.3239736241266922,1.594288309668967,0.71338606911949],"aabb_xy":[[-0.3614736246240504,1.5903196261208485],[-0.28647362362933393,1.5982569932170856]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_5","position":[-0.43501467952876777,-0.29805198147015766,0.71338606911949],"aabb_xy":[[-0.4900101573494271,-0.3530519829040646],[-0.3800192017081083,-0.24305198003625073]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_6","position":[0.06925455885045317,1.423429024511266,0.71338606911949],"aabb_xy":[[0.019271608662973835,1.3734290248687053],[0.1192375090379325,1.4734290241538262]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_7","position":[-0.1059439511923882,1.0766848486365737,0.71338606911949],"aabb_xy":[[-0.1309439511249061,1.0698021804156503],[-0.08094395125987032,1.083567516857497]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_8","position":[-0.022335739967572543,0.026648645295070494,0.71338606911949],"aabb_xy":[[-0.030362010598198545,0.01789715031771788],[-0.014309469336946549,0.03540014027242311]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_9","position":[-0.4237139893708773,0.12312214568304158,0.71338606911949],"aabb_xy":[[-0.4587139876815728,0.11540713075949592],[-0.3887139910601819,0.13083716060658723]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_10","position":[0.3023543928715122,-0.8912050865517129,0.71338606911949],"aabb_xy":[[0.26485439276591927,-0.898027248404694],[0.3398543929771052,-0.8843829246987317]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_11","position":[-0.08598864993932376,-0.7497687761976126,0.71338606911949],"aabb_xy":[[-0.1035353448554427,-0.787268777761864],[-0.06844195502320484,-0.7122687746333615]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_12","position":[-0.4178531643788944,-0.6670429093709134,0.71338606911949],"aabb_xy":[[-0.47785316463029553,-0.7213242344073779],[-0.3578531641274932,-0.6127615843344486]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_13","position":[0.5293463173983377,-1.7979044715982768,0.71338606911949],"aabb_xy":[[0.49285049677105885,-1.8343884140250342],[0.5658421380256163,-1.761420529171519]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_14","position":[-0.665201004410084,-0.3819331703854765,0.71338606911949],"aabb_xy":[[-0.6890372220506892,-0.47193317119396305],[-0.6413647867694791,-0.29193316957699006]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_15","position":[0.6024695394377892,1.1151686404044598,0.71338606911949],"aabb_xy":[[0.5724778767039189,1.0851686410676593],[0.6324612021716596,1.1451686397412604]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_16","position":[-0.1264158863466911,-1.8541038679857578,0.71338606911949],"aabb_xy":[[-0.1489158865902065,-1.8663085026455297],[-0.1039158861031757,-1.8418992333259858]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_17","position":[0.6218830679355185,-0.7712480415820437,0.71338606911949],"aabb_xy":[[0.5718988322273413,-0.8212480403955393],[0.6718673036436957,-0.7212480427685481]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_18","position":[-0.3892212158395879,-2.4210561021754,0.71338606911949],"aabb_xy":[[-0.4792212123404596,-2.4669677445938576],[-0.2992212193387161,-2.375144459756941]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_19","position":[0.4336923821301035,0.32111361557013884,0.71338606911949],"aabb_xy":[[0.39619238195823153,0.2884128801872316],[0.4711923823019754,0.353814350953046]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7010197912494341,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3852.png","name":"3852"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3852.png","name":"3852"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9490.png","name":"9490"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9451.png","name":"9451"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9498.png","name":"9498"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8890.png","name":"8890"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":847.2309421619298,"rotation_z_degrees":358.17103360513187,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014667469698523807,-0.007942962321361206,-0.011833063030466247]},{"name":"camera_2","offset_m":[0.013682267715995688,0.0017813955906731925,-0.014538412652017971]},{"name":"camera_3","offset_m":[-0.006296075104863652,0.011858128561999356,-0.019626015202964395]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0012313796057051452,-0.0019992911071326637,0.000950997969291234],"end_effector_yaw_offset_degrees":0.3774332124584374},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00041469684381112946,-0.00013014782258655632,0.001274997612876473],"end_effector_yaw_offset_degrees":0.8753296526787404},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0009145649062316163,-0.0018272255390624763,-0.001849629312883517],"end_effector_yaw_offset_degrees":0.9736196577585863},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005002789502178771,-0.00077921120790542,0.0018360048913211905],"end_effector_yaw_offset_degrees":0.05513611407798025}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0005566395196599716,0.0020722493779258234],"position_m":[0.17944336048034001,-0.03152775062207418,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0005934406899530788,-0.004220045126555555],"position_m":[0.2714065593100469,-0.37152004512655556,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00353053475487688,0.0014238017672965264],"position_m":[0.31646946524512315,0.35452380176729653,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0036391257447204632,0.0038641107184781117],"position_m":[0.3421391257447205,0.11236411071847811,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"beba1ffa932601200c988597d5e9f4ee07130e209d02cb57e901e76ff888abb2","episode_index":64,"episode_name":"episode_0064"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0064.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_3852/tex_ceiling_textures_8890/tex_floor_textures_9498/tex_table_textures_9490/tex_wall_textures_9451","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":7300996362745173799,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":7300996362745173799,"visual_seed":7300996362745173799,"scene_id":"lab_003","finished_at":"2026-09-05T21:52:46"} +{"episode_id":"ep_000062","started_at":"2026-09-05T21:52:49","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_0","position":[0.3233441402894215,-0.5499642356991452,0.71338606911949],"aabb_xy":[[0.25834413918347826,-0.5749296087672735],[0.38834414139536483,-0.5249988626310169]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_1","position":[0.5379030822792572,-1.0638456652053492,0.71338606911949],"aabb_xy":[[0.5259703479174292,-1.0762278180132085],[0.5498358166410854,-1.0514635123974898]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_2","position":[-0.4747604625576924,0.5074640994133213,0.71338606911949],"aabb_xy":[[-0.480098038223697,0.4824640984841815],[-0.4694228868916879,0.532464100342461]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_3","position":[-0.09221338366249265,0.05764185156245061,0.71338606911949],"aabb_xy":[[-0.09817992260322843,0.05168070690308657],[-0.08624684472175685,0.06360299622181464]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_4","position":[-0.33749252355320114,0.5817748283549573,0.71338606911949],"aabb_xy":[[-0.37195500156628886,0.5751111511720345],[-0.3030300455401133,0.5884385055378801]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_5","position":[-0.013417562927967475,1.5758646016719262,0.71338606911949],"aabb_xy":[[-0.02349927000654095,1.4958646037798113],[-0.0033358558493939965,1.6558645995640406]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_6","position":[-0.2989310096792013,0.808481700235232,0.71338606911949],"aabb_xy":[[-0.3234446337762072,0.7842171069331955],[-0.27441738558219547,0.8327462935372684]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_7","position":[-0.603688051237477,0.38093477270687304,0.71338606911949],"aabb_xy":[[-0.6249660593809493,0.3159347703808],[-0.5824100430940048,0.4459347750329461]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_8","position":[-0.1595247352727539,-0.9418167089085958,0.71338606911949],"aabb_xy":[[-0.17731824220767034,-0.9596164545043935],[-0.14173122833783747,-0.9240169633127981]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_9","position":[-0.18056155031206356,1.567490072819179,0.71338606911949],"aabb_xy":[[-0.20306155032221188,1.5533938531795757],[-0.1580615503019153,1.5815862924587822]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_10","position":[-0.37486395218848245,-2.4677366622867383,0.71338606911949],"aabb_xy":[[-0.38449558840891207,-2.477373975066447],[-0.36523231596805283,-2.4580993495070294]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_11","position":[-0.19343242364196445,1.6625070785787979,0.71338606911949],"aabb_xy":[[-0.22383053474110803,1.6321001765771284],[-0.16303431254282086,1.6929139805804674]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_12","position":[0.5284234555178482,0.9574273765484809,0.71338606911949],"aabb_xy":[[0.4734234573161033,0.9169054099220433],[0.5834234537195929,0.9979493431749185]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_13","position":[-0.15548604013751433,-0.012625046256089067,0.71338606911949],"aabb_xy":[[-0.19298603856091465,-0.025789260223919697],[-0.11798604171411395,0.0005391677117415616]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_14","position":[0.2191942752680257,0.7697380437949106,0.71338606911949],"aabb_xy":[[0.2157535990279686,0.7658766108205464],[0.22263495150808293,0.7735994767692753]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_15","position":[0.5844237738480096,0.3593573838268158,0.71338606911949],"aabb_xy":[[0.5673216958896414,0.34225057829554606],[0.6015258518063777,0.37646418935808557]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_16","position":[-0.479469765389396,-1.110669879988434,0.71338606911949],"aabb_xy":[[-0.5294697649657307,-1.1606504589405402],[-0.4294697658130613,-1.0606893010363283]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_17","position":[0.6802894524560372,-0.2114926149090146,0.71338606911949],"aabb_xy":[[0.675858823101197,-0.21694098664369724],[0.6847200818108774,-0.20604424317433204]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_18","position":[0.150832116263375,-1.4540076169956084,0.71338606911949],"aabb_xy":[[0.10084788055519778,-1.504007615809104],[0.20081635197155223,-1.4040076181821128]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_19","position":[0.27763486852435026,-0.8855913380223033,0.71338606911949],"aabb_xy":[[0.2136348668463529,-0.9341087295016175],[0.3416348702023476,-0.8370739465429891]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_20","position":[-0.2002452755366242,-2.534336373958146,0.71338606911949],"aabb_xy":[[-0.2377452754803906,-2.5426294639929825],[-0.16274527559285779,-2.5260432839233093]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_21","position":[-0.2795700618754965,-2.0652887736608316,0.71338606911949],"aabb_xy":[[-0.2851517335096252,-2.077788773478607],[-0.2739883902413677,-2.0527887738430555]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_22","position":[-0.41697928408784124,0.35922137498216333,0.71338606911949],"aabb_xy":[[-0.48097928630824827,0.31484829085687505],[-0.3529792818674342,0.4035944591074516]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_23","position":[-0.20763825773118955,0.3703281873111446,0.71338606911949],"aabb_xy":[[-0.21492057410785317,0.2803281837016354],[-0.20035594135452586,0.4603281909206534]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_24","position":[-0.6235506310821793,-0.8312161876998985,0.71338606911949],"aabb_xy":[[-0.6460506313256948,-0.8434208223596704],[-0.6010506308386641,-0.8190115530401265]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_25","position":[0.4707677679085682,-1.9194786106980848,0.71338606911949],"aabb_xy":[[0.4107677674007153,-1.976325344384006],[0.5307677684164211,-1.8626318770121635]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_26","position":[0.2559821113596792,-2.380077033839551,0.71338606911949],"aabb_xy":[[0.24133870580564615,-2.3947357534963354],[0.2706255169137121,-2.365418314182767]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_27","position":[0.5641562701780094,-0.0474864050302628,0.71338606911949],"aabb_xy":[[0.5422665225890686,-0.1374864023195119],[0.5860460177669502,0.04251359225898631]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_28","position":[0.4873676060428982,-2.3383677431527388,0.71338606911949],"aabb_xy":[[0.46445189315784835,-2.3612720402891623],[0.5102833189279481,-2.3154634460163153]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_29","position":[0.428430635009295,1.0769644241670777,0.71338606911949],"aabb_xy":[[0.4203169803359179,1.0688586077130486],[0.4365442896826721,1.0850702406211068]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6960296448518851,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2279.png","name":"2279"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2279.png","name":"2279"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8676.png","name":"8676"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7972.png","name":"7972"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2992.png","name":"2992"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2280.png","name":"2280"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":610.3006070199854,"rotation_z_degrees":57.232363544756055,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0064440358464754426,0.017881940883050455,-0.006903165658362291]},{"name":"camera_2","offset_m":[0.01594059668825189,-0.010245900410611096,0.016477445731494327]},{"name":"camera_3","offset_m":[0.018154993999136896,0.0077437605575500675,0.0019937155783737656]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001956086330227841,-0.0014172789347786422,0.0008922448618995287],"end_effector_yaw_offset_degrees":0.6413746568114502},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00043757815142671805,-0.00010115892997098093,0.0007296306328028498],"end_effector_yaw_offset_degrees":0.3804598902169032},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0018509659243520825,0.0013176100533992927,-0.0009083366123845309],"end_effector_yaw_offset_degrees":-0.5584534074649745},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00039346790727219573,0.0012090916918079883,0.00023152818599326934],"end_effector_yaw_offset_degrees":0.14020188221352758}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0032080712003937457,-0.0006685055395771345],"position_m":[0.18320807120039373,-0.03426850553957713,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002690466050813426,0.0018624514509204973],"position_m":[0.2693095339491866,-0.3654375485490795,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.002326915209000238,-0.004695943285669055],"position_m":[0.31767308479099976,0.34840405671433095,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0022044320273450603,-0.0033076322244570467],"position_m":[0.34070443202734507,0.10519236777554296,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"619431a5168b7208091a289d829ebf3e2972e2a5f9a4d462970b3d9df2cfcd30","episode_index":65,"episode_name":"episode_0065"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0065.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_2279/tex_ceiling_textures_2280/tex_floor_textures_2992/tex_table_textures_8676/tex_wall_textures_7972","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":188083177988017801,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":188083177988017801,"visual_seed":188083177988017801,"scene_id":"lab_003","finished_at":"2026-09-05T21:56:15"} +{"episode_id":"ep_000063","started_at":"2026-09-05T21:56:19","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_0","position":[0.6201199121079233,-2.3730968075062018,0.71338606911949],"aabb_xy":[[0.5922748753273162,-2.4038813062445135],[0.6479649488885304,-2.34231230876789]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_1","position":[-0.1672954294450545,-1.3131631604822271,0.71338606911949],"aabb_xy":[[-0.20409006256996076,-1.3500690355788094],[-0.13050079632014822,-1.2762572853856449]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_2","position":[-0.3005218275931755,1.342342488055292,0.71338606911949],"aabb_xy":[[-0.3355218267231311,1.336597266979628],[-0.26552182846321976,1.3480877091309562]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_3","position":[0.5243692971734786,-1.4381716065946923,0.71338606911949],"aabb_xy":[[0.47439188030822493,-1.4881716080839407],[0.574346714038732,-1.3881716051054436]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_4","position":[0.09492613157533913,1.5282584180118168,0.71338606911949],"aabb_xy":[[0.08477311602118974,1.4921888764390763],[0.10507914712948849,1.5643279595845567]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_5","position":[-0.04231281108186946,-1.037067659924788,0.71338606911949],"aabb_xy":[[-0.04993707917204771,-1.0447008834613318],[-0.03468854299169122,-1.0294344363882444]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_6","position":[0.7029108072927184,0.8220664113498257,0.71338606911949],"aabb_xy":[[0.6958704973591815,0.7420664119501544],[0.7099511172262555,0.9020664107494973]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_7","position":[-0.5026018281475888,-1.1410477348074457,0.71338606911949],"aabb_xy":[[-0.5401018293323815,-1.145465957503506],[-0.46510182696279595,-1.136629512111385]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_8","position":[-0.6535860320629577,-1.74140868164792,0.71338606911949],"aabb_xy":[[-0.6910860323551326,-1.7454501570485232],[-0.6160860317707829,-1.7373672062473162]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_9","position":[0.6075985373152453,0.19567337729385148,0.71338606911949],"aabb_xy":[[0.59825152973295,0.18136975507620742],[0.6169455448975405,0.20997699951149548]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_10","position":[0.061896234433186814,-2.3830757902558553,0.71338606911949],"aabb_xy":[[0.04410272749827038,-2.400875535851653],[0.07968974136810325,-2.3652760446600576]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_11","position":[-0.2052606887393994,0.9093325138172181,0.71338606911949],"aabb_xy":[[-0.2702606897398999,0.8585461486625431],[-0.14026068773889888,0.960118878971893]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_12","position":[-0.5981961565732953,-0.6500016564529139,0.71338606911949],"aabb_xy":[[-0.6035286712279083,-0.6553259846981494],[-0.5928636419186825,-0.6446773282076783]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_13","position":[-0.38286788575499203,-0.5009329058164607,0.71338606911949],"aabb_xy":[[-0.3872985151098322,-0.5063812775511433],[-0.37843725640015186,-0.49548453408177806]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_14","position":[0.5844469498532947,-1.6785121061842534,0.71338606911949],"aabb_xy":[[0.5494469515425994,-1.6862271211077988],[0.6194469481639903,-1.6707970912607075]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_15","position":[0.39784900491025144,1.2726387890758804,0.71338606911949],"aabb_xy":[[0.38694322882268867,1.1926387926770512],[0.4087547809978141,1.3526387854747095]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_16","position":[0.25010008615248525,-1.3978816406209598,0.71338606911949],"aabb_xy":[[0.18510008611818252,-1.444582317301287],[0.315100086186788,-1.3511809639406325]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_17","position":[0.6055475025683499,1.4701929780678937,0.71338606911949],"aabb_xy":[[0.5405475040112769,1.4404404446540109],[0.6705475011254226,1.4999455114817761]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_18","position":[-0.1559692429510745,-0.5639501109865468,0.71338606911949],"aabb_xy":[[-0.19043172096416225,-0.5706137881694695],[-0.1215067649379867,-0.5572864338036239]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_19","position":[0.22289435017707804,1.135191047035451,0.71338606911949],"aabb_xy":[[0.19789435090511576,1.1188456834392884],[0.24789434944904032,1.151536410631613]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_20","position":[-0.5986690368214896,1.1989521830411838,0.71338606911949],"aabb_xy":[[-0.6686690402130515,1.163636409337753],[-0.5286690334299275,1.2342679567446146]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_21","position":[0.5485628205559594,-0.236766858072325,0.71338606911949],"aabb_xy":[[0.5318856845628639,-0.2534667820462553],[0.5652399565490549,-0.22006693409839473]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_22","position":[-0.5343515455319041,0.48863741825815366,0.71338606911949],"aabb_xy":[[-0.5718515454756705,0.4803443282233171],[-0.4968515455881377,0.49693050829299024]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_23","position":[0.2922364161105008,-0.9236790288278107,0.71338606911949],"aabb_xy":[[0.22824071871540413,-0.9876790271285193],[0.3562321135055973,-0.8596790305271019]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_24","position":[0.17962476820701667,0.693439136667215,0.71338606911949],"aabb_xy":[[0.163562840748499,0.6084391348546231],[0.1956866956655343,0.7784391384798067]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_25","position":[0.2751689971384953,1.5222327309783812,0.71338606911949],"aabb_xy":[[0.21016899925684757,1.4711090672718403],[0.34016899502014314,1.5733563946849223]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_26","position":[0.3299350671697705,-1.9105659399712813,0.71338606911949],"aabb_xy":[[0.24993506669955456,-1.9188766475856298],[0.4099350676399865,-1.9022552323569333]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_27","position":[0.5976391307422413,-2.5079333439412155,0.71338606911949],"aabb_xy":[[0.577748090861901,-2.5205891552259123],[0.6175301706225815,-2.4952775326565186]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_28","position":[-0.1853132042094191,-1.097331596027994,0.71338606911949],"aabb_xy":[[-0.2493132062591511,-1.137426079117302],[-0.1213132021596871,-1.0572371129386862]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_29","position":[-0.3335702931778694,1.1443328279350866,0.71338606911949],"aabb_xy":[[-0.3374841663732919,1.1355838125285296],[-0.3296564199824469,1.1530818433416432]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_30","position":[-0.27709726427525033,-1.6678292771879244,0.71338606911949],"aabb_xy":[[-0.3003791064733816,-1.7528292784851522],[-0.25381542207711894,-1.582829275890696]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_31","position":[-0.5394443370065307,0.9070520635624804,0.71338606911949],"aabb_xy":[[-0.5894374491157226,0.8570520628882848],[-0.48945122489733883,0.9570520642366761]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_32","position":[-0.6292992391513796,-2.152225364671383,0.71338606911949],"aabb_xy":[[-0.6932992362634853,-2.2012577344657935],[-0.565299242039274,-2.1031929948769723]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6949585273651983,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2599.png","name":"2599"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2599.png","name":"2599"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9376.png","name":"9376"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4605.png","name":"4605"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9165.png","name":"9165"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/647.png","name":"647"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":515.4591945022779,"rotation_z_degrees":59.13641297888605,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.019539975122129138,0.015470012984914374,-0.004108590806295921]},{"name":"camera_2","offset_m":[0.01621012508660696,0.01341295284001338,0.009751147066434169]},{"name":"camera_3","offset_m":[-0.015080146421792687,0.008092588058616696,0.003430569690794822]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00131405213866962,0.00048709157448787507,-0.0011125713232250077],"end_effector_yaw_offset_degrees":0.5294722395386713},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0013651774265302677,-0.0005342516701996951,1.4242136131559831e-05],"end_effector_yaw_offset_degrees":-0.4282513185802048},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001890783827639448,0.0018655321382419925,0.000824987460869175],"end_effector_yaw_offset_degrees":-0.04427060219219947},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0009367232604990301,7.615243160392568e-05,-0.0007517093168890178],"end_effector_yaw_offset_degrees":-0.9962724239200555}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0026912255825004908,-0.003396453569128325],"position_m":[0.18269122558250048,-0.036996453569128326,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0042751289738883185,0.0013360714863157805],"position_m":[0.2677248710261117,-0.36596392851368426,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.002720692244077557,0.0022881784457107358],"position_m":[0.31727930775592245,0.35538817844571075,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0011846847273674832,-0.0015035412823752882],"position_m":[0.33731531527263253,0.10699645871762471,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"02a11b7d29545457e69bebc5b4149ae4df452eaf97d8a3afd5ceb94350654acd","episode_index":66,"episode_name":"episode_0066"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0066.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_2599/tex_ceiling_textures_647/tex_floor_textures_9165/tex_table_textures_9376/tex_wall_textures_4605","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":2994145588272335891,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":2994145588272335891,"visual_seed":2994145588272335891,"scene_id":"lab_003","finished_at":"2026-09-05T21:59:59"} +{"episode_id":"ep_000064","started_at":"2026-09-05T22:00:03","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_0","position":[0.024330113923266006,-2.1806679167498415,0.71338606911949],"aabb_xy":[[-0.04566988788547943,-2.2020216855140284],[0.09433011573201144,-2.1593141479856537]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_1","position":[-0.41865596198902116,-2.0786953531834262,0.71338606911949],"aabb_xy":[[-0.4536559611189768,-2.0844405742590904],[-0.3836559628590655,-2.072950132107762]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_2","position":[0.4160356809973407,1.675425318355296,0.71338606911949],"aabb_xy":[[0.4028844350260515,1.65042531859861],[0.4291869269686302,1.700425318111983]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_3","position":[0.5519518039701798,-0.650765444499497,0.71338606911949],"aabb_xy":[[0.5363960345599147,-0.6663158777439042],[0.5675075733804452,-0.6352150112550898]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_4","position":[0.2671046518526544,0.8596755946924675,0.71338606911949],"aabb_xy":[[0.23210465187615859,0.8502109786448508],[0.30210465182915025,0.8691402107400841]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_5","position":[0.02309004448254781,-2.493836167556855,0.71338606911949],"aabb_xy":[[-0.040909951913025266,-2.5577994559755886],[0.08709004087812089,-2.4298728791381214]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_6","position":[0.27710047581330965,-1.954030956573643,0.71338606911949],"aabb_xy":[[0.261038548354792,-2.0390309583862343],[0.2931624032718273,-1.8690309547610509]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_7","position":[-0.28993020136140346,0.5970919915723725,0.71338606911949],"aabb_xy":[[-0.34756067024867426,0.5370919926456617],[-0.23229973247413255,0.6570919904990828]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_8","position":[-0.2989119706967561,0.4180015874957066,0.71338606911949],"aabb_xy":[[-0.31919627342015483,0.39771896235299775],[-0.2786276679733573,0.43828421263841544]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_9","position":[0.5314116456415634,-1.9560336292549334,0.71338606911949],"aabb_xy":[[0.5051228213211227,-1.9823050629095842],[0.5577004699620041,-1.9297621956002817]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_10","position":[0.6574434519232455,-1.3183817557692727,0.71338606911949],"aabb_xy":[[0.6514064389225809,-1.3244084568382213],[0.6634804649239103,-1.3123550547003247]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_11","position":[-0.5896766641618834,1.1751421479587827,0.71338606911949],"aabb_xy":[[-0.6129585063600147,1.0901421466615546],[-0.566394821963752,1.2601421492560108]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_12","position":[-0.4077911131681996,-1.8148388613078006,0.71338606911949],"aabb_xy":[[-0.45779111181412074,-1.8647584049672628],[-0.35779111452227835,-1.764919317648338]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_13","position":[0.33300554583642494,-2.327235668972191,0.71338606911949],"aabb_xy":[[0.3105055463127175,-2.3497316164228113],[0.3555055453601323,-2.3047397215215697]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_14","position":[-0.011884279906068107,-1.075765923610596,0.71338606911949],"aabb_xy":[[-0.02938421334005148,-1.0932659235308304],[0.005615653527915267,-1.0582659236903613]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_15","position":[-0.15973557746907896,1.1625032502239012,0.71338606911949],"aabb_xy":[[-0.16387143380177915,1.1250032507795442],[-0.15559972113637877,1.2000032496682582]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_16","position":[0.22156178149968353,1.667241175953953,0.71338606911949],"aabb_xy":[[0.15756178507236165,1.6200715521318565],[0.28556177792700543,1.7144107997760494]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_17","position":[-0.04488907347104376,0.5469467947166873,0.71338606911949],"aabb_xy":[[-0.06740276529450095,0.47694679411567964],[-0.022375381647586567,0.6169467953176947]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_18","position":[-0.396855157680027,-0.4211230916146813,0.71338606911949],"aabb_xy":[[-0.451847408315538,-0.47612309335799413],[-0.34186290704451605,-0.36612308987136855]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_19","position":[0.668492372510705,-1.0902808136068287,0.71338606911949],"aabb_xy":[[0.6186096756330088,-1.1402808128531035],[0.7183750693884012,-1.040280814360554]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_20","position":[-0.2428121371922844,-2.09309177936328,0.71338606911949],"aabb_xy":[[-0.25244377341271396,-2.1027290921429884],[-0.23318050097185475,-2.0834544665835706]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_21","position":[0.48047467460881355,-0.3154572838436507,0.71338606911949],"aabb_xy":[[0.47243131468285837,-0.40045728493901706],[0.4885180345347687,-0.2304572827482842]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_22","position":[0.6277161879293012,0.7865278779210017,0.71338606911949],"aabb_xy":[[0.607825148048961,0.7738720666363049],[0.6476072278096415,0.7991836892056986]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_23","position":[-0.35913645804963107,-0.19485798292874623,0.71338606911949],"aabb_xy":[[-0.3843572949094707,-0.22008173378163295],[-0.33391562118979135,-0.16963423207585945]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_24","position":[-0.18615300518530897,0.2820490609567017,0.71338606911949],"aabb_xy":[[-0.22365300360870932,0.26888484698887105],[-0.14865300676190862,0.2952132749245323]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_25","position":[0.40034675869020897,1.5297038762831563,0.71338606911949],"aabb_xy":[[0.3916327896402745,1.5072038756239676],[0.40906072774014346,1.552203876942344]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_26","position":[0.49361481750676917,1.0105472478174393,0.71338606911949],"aabb_xy":[[0.42361481411520724,0.9752314741140083],[0.5636148208983311,1.04586302152087]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_27","position":[0.24913963672948158,-1.0721237492615963,0.71338606911949],"aabb_xy":[[0.20386102184833232,-1.13612374860978],[0.29441825161063084,-1.0081237499134126]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_28","position":[0.25574456565392,-0.7263682422204396,0.71338606911949],"aabb_xy":[[0.20861518665208428,-0.7903682432648415],[0.3028739446557556,-0.6623682411760375]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_29","position":[-0.38483396952257226,-0.9217730793297105,0.71338606911949],"aabb_xy":[[-0.47483396625818236,-0.974956542647005],[-0.29483397278696194,-0.868589616012416]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_30","position":[0.4930395306247217,-1.4788271267904431,0.71338606911949],"aabb_xy":[[0.47053953038120633,-1.491031761450215],[0.5155395308682371,-1.4666224921306712]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6995695653123369,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1445.png","name":"1445"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1445.png","name":"1445"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1079.png","name":"1079"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1991.png","name":"1991"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5873.png","name":"5873"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/575.png","name":"575"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":667.3707268300196,"rotation_z_degrees":270.33056762697777,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.018751077407253965,-0.013579331973343135,0.019103054423278493]},{"name":"camera_2","offset_m":[-0.016707094174720258,-0.016336386303512175,0.011317262319230113]},{"name":"camera_3","offset_m":[-0.012008144752085243,-0.0069159754512683105,0.015076850775793928]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001122130751730171,0.0007949804707762733,-0.001683634711619174],"end_effector_yaw_offset_degrees":-0.7585274023858553},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00040781504270352015,0.0010648784250635239,0.00020050019593619147],"end_effector_yaw_offset_degrees":0.8114650293829715},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0017839894226928364,-0.00011285479623510141,0.0016040387896862737],"end_effector_yaw_offset_degrees":0.8567899487159223},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0005197541252324207,0.0003171788994151513,-0.0009423607563998622],"end_effector_yaw_offset_degrees":0.8463269926553829}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0021137419565837355,-1.9161243550823784e-05],"position_m":[0.18211374195658372,-0.03361916124355082,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002668232439648852,-0.004800075572994994],"position_m":[0.26933176756035115,-0.372100075572995,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003129878351353325,0.0017840586027901154],"position_m":[0.3231298783513533,0.35488405860279015,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004506057283715506,0.004675984294598507],"position_m":[0.3339939427162845,0.1131759842945985,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6243a7a785d4a42305253d8ecbc4c185241ef3dfe8cee0cc8ec33aebe53805bb","episode_index":67,"episode_name":"episode_0067"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0067.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_1445/tex_ceiling_textures_575/tex_floor_textures_5873/tex_table_textures_1079/tex_wall_textures_1991","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":3427340311920961186,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":3427340311920961186,"visual_seed":3427340311920961186,"scene_id":"lab_003","finished_at":"2026-09-05T22:03:39"} +{"episode_id":"ep_000065","started_at":"2026-09-05T22:03:43","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_0","position":[-0.5771871953367559,-1.7645958588274078,0.71338606911949],"aabb_xy":[[-0.584890386010833,-1.7723052295261459],[-0.5694840046626788,-1.7568864881286697]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_1","position":[0.6439766366479946,-2.4729810518455113,0.71338606911949],"aabb_xy":[[0.6189766373760324,-2.4893264154416737],[0.6689766359199569,-2.456635688249349]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_2","position":[0.4519314164692547,0.4071191241762677,0.71338606911949],"aabb_xy":[[0.44136393681115565,0.39657409406325916],[0.4624988961273537,0.4176641542892763]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_3","position":[-0.39276272910915433,0.5759591441660321,0.71338606911949],"aabb_xy":[[-0.43494714326998507,0.511959143888821],[-0.3505783149483236,0.6399591444432434]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_4","position":[-0.3396772702638121,0.15045648038572068,0.71338606911949],"aabb_xy":[[-0.35717727050886144,0.1329566925461538],[-0.3221772700187627,0.1679562682252875]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_5","position":[-0.28066349042093314,-2.3013076345859984,0.71338606911949],"aabb_xy":[[-0.2980942054999396,-2.318579749249849],[-0.2632327753419266,-2.284035519922147]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_6","position":[0.5286480658354984,-2.145098051013668,0.71338606911949],"aabb_xy":[[0.47865305487604637,-2.1950980500492596],[0.5786430767949504,-2.095098051978076]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_7","position":[0.44830333336052175,-1.4112923075287909,0.71338606911949],"aabb_xy":[[0.44188951971733675,-1.4177021277764592],[0.45471714700370663,-1.4048824872811225]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_8","position":[0.2323592057552124,-2.3905201030338206,0.71338606911949],"aabb_xy":[[0.20236754302134205,-2.4205201023706207],[0.26235086848908273,-2.3605201036970196]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_9","position":[-0.4816670023691285,0.868750590243025,0.71338606911949],"aabb_xy":[[-0.4951135290031718,0.8552807385899337],[-0.46822047573508513,0.8822204418961161]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_10","position":[-0.38845681070088106,-0.24030767577109602,0.71338606911949],"aabb_xy":[[-0.4270025035260821,-0.2788534468272847],[-0.34991111787568,-0.20176190471490735]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_11","position":[-0.587973793002055,-2.312795054917796,0.71338606911949],"aabb_xy":[[-0.5959672827973371,-2.320793186858272],[-0.5799803032067731,-2.304796922977321]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_12","position":[0.13285161172622062,-1.7172373456879737,0.71338606911949],"aabb_xy":[[0.11527330953727377,-1.734811835262079],[0.15042991391516747,-1.699662856113869]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_13","position":[0.257740260639706,-2.1223973295398815,0.71338606911949],"aabb_xy":[[0.24185576737438086,-2.1367502698387053],[0.27362475390503116,-2.1080443892410576]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_14","position":[-0.2074257797787743,0.7316317403193229,0.71338606911949],"aabb_xy":[[-0.21300745141290303,0.7191317405015474],[-0.2018441081446455,0.7441317401370984]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_15","position":[-0.40815237229630436,0.9950552049682067,0.71338606911949],"aabb_xy":[[-0.4579691517611391,0.9450552064839034],[-0.3583355928314696,1.04505520345251]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_16","position":[0.6764196017885884,-2.1752455074626713,0.71338606911949],"aabb_xy":[[0.6414196026586326,-2.1809907285383354],[0.711419600918544,-2.169500286387007]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_17","position":[-0.09079029077312983,-0.003909766780148427,0.71338606911949],"aabb_xy":[[-0.10402123630781113,-0.017137185802147847],[-0.07755934523844854,0.009317652241850993]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_18","position":[0.6265425443727501,-2.5782814382164108,0.71338606911949],"aabb_xy":[[0.5890425445557166,-2.582919649527552],[0.6640425441897837,-2.5736432269052685]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_19","position":[0.07787779312925647,1.5244894243274358,0.71338606911949],"aabb_xy":[[0.06812180362008258,1.5147268902682012],[0.08763378263843036,1.53425195838667]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_20","position":[-0.5386504711174513,0.1332629042066924,0.71338606911949],"aabb_xy":[[-0.6086504745090133,0.09794713050326152],[-0.4686504677258894,0.16857867791012324]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_21","position":[-0.3628041445231556,-1.924940822519566,0.71338606911949],"aabb_xy":[[-0.44280414311047506,-2.0042564244577266],[-0.2828041459358362,-1.8456252205814052]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_22","position":[0.09017991058440533,1.7810324472440402,0.71338606911949],"aabb_xy":[[0.06768348915054123,1.758532447437293],[0.11267633201826943,1.8035324470507879]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_23","position":[0.6978170268278234,-1.508884915165265,0.71338606911949],"aabb_xy":[[0.6885234085906728,-1.546384913653399],[0.707110645064974,-1.4713849166771311]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_24","position":[0.10585574219034943,-1.097037111667416,0.71338606911949],"aabb_xy":[[0.08334205036689224,-1.1670371122684233],[0.12836943401380663,-1.0270371110664083]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_25","position":[0.5106581627808771,-0.2601944876199114,0.71338606911949],"aabb_xy":[[0.4506581611379552,-0.31219463691185556],[0.5706581644237989,-0.2081943383279672]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_26","position":[0.4499309125807309,-0.8613492179462585,0.71338606911949],"aabb_xy":[[0.4156146354061131,-0.911349217919436],[0.484247189755349,-0.8113492179730806]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_27","position":[-0.15071959261426293,0.27910203815910206,0.71338606911949],"aabb_xy":[[-0.21071959347507568,0.22767560815261564],[-0.09071959175345008,0.3305284681655884]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_28","position":[-0.6032009318522034,0.6029676162598099,0.71338606911949],"aabb_xy":[[-0.6282009310178365,0.5960153705544533],[-0.5782009326865702,0.6099198619651665]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_29","position":[-0.5017314487360318,-0.2987602352028573,0.71338606911949],"aabb_xy":[[-0.5096547289747801,-0.3212602354408607],[-0.4938081684972835,-0.27626023496485397]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_30","position":[0.3895367546133963,1.6435142605387125,0.71338606911949],"aabb_xy":[[0.3095367572098029,1.5635216893405295],[0.46953675201698974,1.7235068317368951]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6953164231709984,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3466.png","name":"3466"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3466.png","name":"3466"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9814.png","name":"9814"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4415.png","name":"4415"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7916.png","name":"7916"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9513.png","name":"9513"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":576.1401246879913,"rotation_z_degrees":282.180318808885,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016057619782349927,-0.003061764067413382,0.0019717047637925894]},{"name":"camera_2","offset_m":[-0.0025899860990650676,-0.006463463466263839,0.01786084809406793]},{"name":"camera_3","offset_m":[0.007875486934520105,0.01527973112253014,0.017513804166242864]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0006902866158426564,0.0008764793379421663,0.0013832093053889939],"end_effector_yaw_offset_degrees":0.12462573123590537},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00044775279604467163,0.0011399052291234412,-0.0016865986262750731],"end_effector_yaw_offset_degrees":-0.14483799885476611},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0019672370686794546,0.0011287790967872313,-0.0017756982758757444],"end_effector_yaw_offset_degrees":-0.5715402138441159},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0005545529110200969,-0.001582859838829592,-0.0012268017675701355],"end_effector_yaw_offset_degrees":0.22745101612331697}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-6.221822823464923e-05,0.002406196664811129],"position_m":[0.17993778177176534,-0.03119380333518887,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0020124249199297882,0.004328190304220144],"position_m":[0.2699875750800702,-0.36297180969577986,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.001057374127671029,0.0019548516144799856],"position_m":[0.32105737412767105,0.35505485161448,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0006098084874424118,0.0018277392325286189],"position_m":[0.3378901915125576,0.11032773923252862,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6da2c0c9cf6018cfa1a81a7f63f2c4495f616e3b5ea3ddc30aabe0381f3941bc","episode_index":68,"episode_name":"episode_0068"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0068.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_3466/tex_ceiling_textures_9513/tex_floor_textures_7916/tex_table_textures_9814/tex_wall_textures_4415","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":2091530522282742219,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":2091530522282742219,"visual_seed":2091530522282742219,"scene_id":"lab_003","finished_at":"2026-09-05T22:07:15"} +{"episode_id":"ep_000066","started_at":"2026-09-05T22:07:20","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_0","position":[-0.6125617323271926,-1.2322873890582344,0.71338606911949],"aabb_xy":[[-0.6765617330306619,-1.2783057715311554],[-0.5485617316237232,-1.1862690065853134]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_1","position":[-0.31381926085248824,0.1240902736216154,0.71338606911949],"aabb_xy":[[-0.3313975630414351,0.10651578404751048],[-0.2962409586635414,0.1416647631957203]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_2","position":[0.4515444335853682,0.7780298796858478,0.71338606911949],"aabb_xy":[[0.4417884440761943,0.7682673456266134],[0.46130042309454206,0.7877924137450822]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_3","position":[-0.367362290573392,-1.9964167982430436,0.71338606911949],"aabb_xy":[[-0.431362289743162,-2.0431834853620057],[-0.3033622914036221,-1.9496501111240812]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_4","position":[-0.6251022816664656,-1.9317405704694917,0.71338606911949],"aabb_xy":[[-0.6503231185263052,-1.9569643213223782],[-0.5998814448066259,-1.9065168196166047]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_5","position":[-0.603335395303113,-0.08518479844958282,0.71338606911949],"aabb_xy":[[-0.6533304062625651,-0.13518479748517453],[-0.5533403843436611,-0.0351847994139911]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_6","position":[0.26059473939861955,-0.9907850525742781,0.71338606911949],"aabb_xy":[[0.2542826398622811,-0.9965519918274971],[0.266906838934958,-0.9850181133210595]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_7","position":[0.6475935371105732,0.15249993999147016,0.71338606911949],"aabb_xy":[[0.6393789919948891,0.14382334969382882],[0.6558080822262571,0.16117653028911139]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_8","position":[0.37851156900914384,1.7339287852248213,0.71338606911949],"aabb_xy":[[0.3435115698791882,1.7281835641491572],[0.4135115681390995,1.7396740063004854]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_9","position":[-0.1390865325407622,0.9167391195839834,0.71338606911949],"aabb_xy":[[-0.1487181687611918,0.9071018068042744],[-0.12945489632033255,0.9263764323636923]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_10","position":[0.5469447522535691,1.0783287154868266,0.71338606911949],"aabb_xy":[[0.5244310604301118,1.008328714885819],[0.5694584440770262,1.1483287160878342]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_11","position":[-0.49131426832673986,0.9882100130027593,0.71338606911949],"aabb_xy":[[-0.5463142665284847,0.9476880463763219],[-0.4363142701249951,1.028731979629197]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_12","position":[0.1579375774019105,-1.2528008517176845,0.71338606911949],"aabb_xy":[[0.12293757750589161,-1.2611750872296243],[0.19293757729792935,-1.2444266162057442]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_13","position":[-0.15045083274887128,-1.2476809777803655,0.71338606911949],"aabb_xy":[[-0.22045083614043323,-1.282996751483796],[-0.08045082935730928,-1.2123652040769344]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_14","position":[-0.017010847154843578,1.6771274248698291,0.71338606911949],"aabb_xy":[[-0.03256661656510884,1.6615769916254222],[-0.0014550777445783115,1.6926778581142365]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_15","position":[0.4697668775797177,-2.2127281138567487,0.71338606911949],"aabb_xy":[[0.4478771299907769,-2.302728111145998],[0.4916566251686585,-2.1227281165674996]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_16","position":[-0.027134645751135555,-1.5574026510698329,0.71338606911949],"aabb_xy":[[-0.11713464808515461,-1.6348850056549453],[0.0628653565828835,-1.47992029648472]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_17","position":[-0.3381969243020947,0.37547349559753984,0.71338606911949],"aabb_xy":[[-0.4181969229589807,0.3609686366732771],[-0.2581969256452087,0.3899783545218027]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_18","position":[0.1773558250963525,1.0852719497778849,0.71338606911949],"aabb_xy":[[0.17339534132661816,1.077604085192364],[0.1813163088660869,1.0929398143634053]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_19","position":[-0.41260206744727923,0.0612067909480456,0.71338606911949],"aabb_xy":[[-0.447064545460367,0.05454311376512277],[-0.37813958943419146,0.06787046813096842]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_20","position":[0.5649125142919584,0.018599915234746245,0.71338606911949],"aabb_xy":[[0.48491251713238304,0.007052314276929206],[0.6449125114515336,0.030147516192563284]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_21","position":[-0.3305134968639807,-0.2892111968343838,0.71338606911949],"aabb_xy":[[-0.39451350008261854,-0.33593430873339214],[-0.2665134936453428,-0.24248808493537544]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_22","position":[0.30739345869509527,-0.6817775236898329,0.71338606911949],"aabb_xy":[[0.24239345605730178,-0.7332571223892799],[0.37239346133288875,-0.630297924990386]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_23","position":[-0.03436468199570164,-0.8549357057350464,0.71338606911949],"aabb_xy":[[-0.08936468161744748,-0.9099193985225191],[0.020635317626044203,-0.7999520129475737]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_24","position":[-0.5105590587194926,-1.4358998004414563,0.71338606911949],"aabb_xy":[[-0.5480590595114879,-1.4422676413996462],[-0.47305905792749703,-1.4295319594832658]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_25","position":[-0.15457595134365976,1.7717168179923797,0.71338606911949],"aabb_xy":[[-0.2245759539802461,1.7516119529965137],[-0.08457594870707341,1.7918216829882447]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_26","position":[-0.5925519847944867,1.5761053041700976,0.71338606911949],"aabb_xy":[[-0.6084364780598118,1.5617523638712736],[-0.5766674915291615,1.5904582444689217]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_27","position":[0.25568444114539757,1.702708241630431,0.71338606911949],"aabb_xy":[[0.2146664977590267,1.6527082409994736],[0.29670238453176845,1.7527082422613882]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_28","position":[0.446850276701634,-1.6529412794325569,0.71338606911949],"aabb_xy":[[0.439147086027557,-1.660650650131295],[0.45455346737571106,-1.6452319087338187]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_29","position":[0.5520328299053932,-1.2733782260854314,0.71338606911949],"aabb_xy":[[0.5433188608554586,-1.2958782267446194],[0.5607467989553275,-1.250878225426243]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7031820617101043,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8206.png","name":"8206"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8206.png","name":"8206"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7479.png","name":"7479"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5189.png","name":"5189"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6634.png","name":"6634"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9763.png","name":"9763"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":640.9534870372172,"rotation_z_degrees":2.6132168023551605,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006668729739356975,0.008451346071887089,0.0033152678389275214]},{"name":"camera_2","offset_m":[0.015362517148157315,-0.011544657671089299,0.018823399170940548]},{"name":"camera_3","offset_m":[0.017866269754943594,-0.014846756356836043,-0.014371274903150853]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0002754249769025873,-0.0011350637275307745,-0.0011955914946424158],"end_effector_yaw_offset_degrees":-0.41094076790657064},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0012631546212295798,0.00040065352789816133,0.0007321457854329487],"end_effector_yaw_offset_degrees":0.5454938726914058},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0011071987261745521,0.0017597216157880535,-0.0018564557732504072],"end_effector_yaw_offset_degrees":0.6941906797097233},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00014330824357907442,-8.376695684053376e-06,-0.00015524047089464387],"end_effector_yaw_offset_degrees":0.37133845198972293}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0044539777094147375,0.002742154070009566],"position_m":[0.17554602229058525,-0.030857845929990434,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004664620849708358,0.00017018770765503052],"position_m":[0.2766646208497084,-0.367129812292345,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004241044264156499,0.0020564926004047676],"position_m":[0.3242410442641565,0.35515649260040477,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0031768792840363757,-0.0009944825556303513],"position_m":[0.33532312071596365,0.10750551744436965,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"cdbd952d44a8f54f3799ec5e44fab431f62c872a0af7a22b64b2eb142054005a","episode_index":69,"episode_name":"episode_0069"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0069.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_8206/tex_ceiling_textures_9763/tex_floor_textures_6634/tex_table_textures_7479/tex_wall_textures_5189","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":6249589934387295573,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":6249589934387295573,"visual_seed":6249589934387295573,"scene_id":"lab_003","finished_at":"2026-09-05T22:10:54"} +{"episode_id":"ep_000067","started_at":"2026-09-05T22:11:00","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_0","position":[-0.004053859677264127,-2.4661285482164113,0.71338606911949],"aabb_xy":[[-0.06564461890125695,-2.5301285463254577],[0.05753689954672869,-2.402128550107364]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_1","position":[0.08848374973052797,1.5698753204975353,0.71338606911949],"aabb_xy":[[0.06959936596201778,1.5509893957171825],[0.10736813349903819,1.588761245277888]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_2","position":[0.053997407520064766,-1.978723304854808,0.71338606911949],"aabb_xy":[[0.044365771299635155,-1.988360617634517],[0.06362904374049438,-1.9690859920750992]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_3","position":[0.6459611070927433,-1.2509693952598278,0.71338606911949],"aabb_xy":[[0.608461106595385,-1.2549380788079463],[0.6834611075901015,-1.2470007117117097]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_4","position":[-0.4226995395792195,-2.283778738471371,0.71338606911949],"aabb_xy":[[-0.5126995393023934,-2.306852091006551],[-0.3326995398560452,-2.260705385936191]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_5","position":[-0.20112655678895097,-0.5718797923074486,0.71338606911949],"aabb_xy":[[-0.20816686672248802,-0.6518797917071201],[-0.19408624685541404,-0.4918797929077773]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_6","position":[0.586993673942414,-1.890195104848674,0.71338606911949],"aabb_xy":[[0.5809566609417492,-1.896221805917622],[0.5930306869430787,-1.8841684037797257]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_7","position":[-0.6189877174082726,-0.21043870698586975,0.71338606911949],"aabb_xy":[[-0.6277689445555089,-0.21921845427439995],[-0.6102064902610366,-0.20165895969733966]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_8","position":[0.6111166176786154,1.3950748570532556,0.71338606911949],"aabb_xy":[[0.5886201962447513,1.3725748572465084],[0.6336130391124795,1.4175748568600033]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_9","position":[0.5054520755448657,-0.04214324519993928,0.71338606911949],"aabb_xy":[[0.4776070387642586,-0.07292774393825097],[0.5332971123254728,-0.0113587464616276]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_10","position":[0.3598806387855682,-1.512341562914454,0.71338606911949],"aabb_xy":[[0.3558024808785184,-1.5164225431627174],[0.3639587966926179,-1.5082605826661908]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_11","position":[-0.09291379302269775,-0.6941420540715761,0.71338606911949],"aabb_xy":[[-0.15291379353055062,-0.7509887877574973],[-0.03291379251484481,-0.6372953203856547]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_12","position":[-0.30614917520622653,-0.8547525231220716,0.71338606911949],"aabb_xy":[[-0.3399247343969195,-0.8687910183352365],[-0.27237361601553356,-0.8407140279089065]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_13","position":[-0.4352249898833861,-1.546501835158731,0.71338606911949],"aabb_xy":[[-0.5052249916921315,-1.5678556039229186],[-0.36522498807464066,-1.5251480663945438]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_14","position":[-0.6378650364954,-0.8377771393111637,0.71338606911949],"aabb_xy":[[-0.6476210260045738,-0.8475396733703981],[-0.628109046986226,-0.8280146052519293]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_15","position":[0.49763721571748176,-1.1472224866396046,0.71338606911949],"aabb_xy":[[0.47513721590357944,-1.1516971030100853],[0.5201372155313841,-1.1427478702691238]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_16","position":[0.09167468637031473,-1.3928689604209252,0.71338606911949],"aabb_xy":[[0.036681475033177986,-1.4478689607597188],[0.1466678977074515,-1.3378689600821316]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_17","position":[0.02451993950505882,1.1153371425547594,0.71338606911949],"aabb_xy":[[-0.009942407893082985,1.0808432601569362],[0.058982286903200606,1.1498310249525816]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_18","position":[-0.25767547697593923,1.391628031719904,0.71338606911949],"aabb_xy":[[-0.2653786676500162,1.3839186610211658],[-0.24997228630186213,1.399337402418642]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_19","position":[0.5015188126735981,0.42368908788722726,0.71338606911949],"aabb_xy":[[0.4215188155140228,0.41214148692941016],[0.5815188098331734,0.43523668884504424]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_20","position":[0.2343995322912963,1.5476986010160636,0.71338606911949],"aabb_xy":[[0.1849191110773375,1.4836986031032118],[0.2838799535052551,1.6116985989289154]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_21","position":[-0.22201167534368293,-2.267939006894951,0.71338606911949],"aabb_xy":[[-0.25951167563585775,-2.2719804822955547],[-0.18451167505150812,-2.2638975314943472]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_22","position":[0.3203519503585257,-1.8465499097108928,0.71338606911949],"aabb_xy":[[0.30878296961158913,-1.8715499098278248],[0.3319209311054623,-1.8215499095939613]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_23","position":[-0.10004821798750385,-2.3069919117981805,0.71338606911949],"aabb_xy":[[-0.10396209118292636,-2.315740927204737],[-0.09613434479208131,-2.2982428963916233]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_24","position":[-0.19183080884417314,-2.4334623556653296,0.71338606911949],"aabb_xy":[[-0.19553407017331198,-2.437164373974047],[-0.18812754751503424,-2.4297603373566115]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_25","position":[0.1272593785174284,-1.1349422127316244,0.71338606911949],"aabb_xy":[[0.11209650554049136,-1.1501076700267434],[0.14242225149436552,-1.119776755436506]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_26","position":[-0.002042597538217339,1.234040159425588,0.71338606911949],"aabb_xy":[[-0.08204259619510335,1.2195353005013254],[0.07795740111866867,1.2485450183498512]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_27","position":[0.5178465562279202,0.8963354536652295,0.71338606911949],"aabb_xy":[[0.49534655670421274,0.8738395062146086],[0.5403465557516275,0.9188314011158502]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_28","position":[0.44292339562039396,1.295551357837756,0.71338606911949],"aabb_xy":[[0.4335763880380987,1.2812477356201122],[0.4522704032026892,1.3098549800554002]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_29","position":[-0.4088525481123447,1.0216747364067489,0.71338606911949],"aabb_xy":[[-0.42402471739397807,1.0065058794785458],[-0.3936803788307114,1.0368435933349525]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_30","position":[0.536568920287769,-0.4419801149667779,0.71338606911949],"aabb_xy":[[0.5246968372762679,-0.5269801146604283],[0.5484410032992701,-0.35698011527312756]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7043932766120438,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2162.png","name":"2162"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2162.png","name":"2162"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2487.png","name":"2487"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/147.png","name":"147"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5487.png","name":"5487"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6565.png","name":"6565"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":826.0176789727332,"rotation_z_degrees":339.87845399631004,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.018295969127575102,-0.005996380734592957,0.014230106162701508]},{"name":"camera_2","offset_m":[-0.017668016896246037,0.0038254991735818845,0.018473337528365854]},{"name":"camera_3","offset_m":[-0.00116106252867057,-0.013330614751239018,0.010248385305768107]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0006721672357939855,0.0018661301544841743,0.001182477692683401],"end_effector_yaw_offset_degrees":0.9628662988625287},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0018632622518695704,-0.0005073807520087246,-0.0008358205824442724],"end_effector_yaw_offset_degrees":0.8146316430800791},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0011240398010048656,0.0017787579563532168,0.00025856726496668826],"end_effector_yaw_offset_degrees":-0.8632077811949987},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0014498485900785126,-0.00041127374882662417,0.0018007906828059585],"end_effector_yaw_offset_degrees":0.930684379495345}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0016530604874182486,0.0021107763059842145],"position_m":[0.18165306048741825,-0.031489223694015786,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003868274246530354,-0.0034339601954958467],"position_m":[0.2758682742465304,-0.37073396019549587,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003281936324292964,0.0018539018963638562],"position_m":[0.323281936324293,0.3549539018963639,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.001173608397628331,-0.0028777250888682993],"position_m":[0.3373263916023717,0.1056222749111317,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e222e3699d11ad9fd55c5f71fe389b7620a72a09a1e0f673e8c4920646160fd8","episode_index":70,"episode_name":"episode_0070"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0070.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_2162/tex_ceiling_textures_6565/tex_floor_textures_5487/tex_table_textures_2487/tex_wall_textures_147","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":6447589685760551756,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":6447589685760551756,"visual_seed":6447589685760551756,"scene_id":"lab_003","finished_at":"2026-09-05T22:14:50"} +{"episode_id":"ep_000068","started_at":"2026-09-05T22:14:54","dimensions":{"distractor":{"count":34,"items":[{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_0","position":[0.59215508467986,0.6640027554210124,0.71338606911949],"aabb_xy":[[0.5571550863691646,0.6562877404974667],[0.6271550829905554,0.671717770344558]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_1","position":[0.4408255077222629,-2.106560388728089,0.71338606911949],"aabb_xy":[[0.4352438360881341,-2.119060388545864],[0.4464071793563916,-2.0940603889103135]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_2","position":[0.30727855914375235,1.7789635141289524,0.71338606911949],"aabb_xy":[[0.27164940324379255,1.7433308473720994],[0.34290771504371204,1.8145961808858053]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_3","position":[-0.2496092100135648,-0.38212501319107783,0.71338606911949],"aabb_xy":[[-0.28710921119835753,-0.3865432358871383],[-0.212109208828772,-0.37770679049501726]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_4","position":[-0.17736194935868055,1.0742394150737464,0.71338606911949],"aabb_xy":[[-0.2573619463217197,0.997163773429973],[-0.09736195239564138,1.1513150567175199]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_5","position":[0.10265090247908104,-2.205779895071667,0.71338606911949],"aabb_xy":[[0.09661388947841633,-2.2118065961406157],[0.10868791547974578,-2.1997531940027195]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_6","position":[0.6379951568915032,-0.08190591102805467,0.71338606911949],"aabb_xy":[[0.6204951566321666,-0.0959974532168273],[0.6554951571508398,-0.06781436883928205]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_7","position":[-0.6640548000844375,-1.0484336355875974,0.71338606911949],"aabb_xy":[[-0.6720911347857222,-1.0564717548920142],[-0.6560184653831526,-1.0403955162831806]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_8","position":[0.5704225114300401,0.572927743633628,0.71338606911949],"aabb_xy":[[0.5329225130066396,0.5597635296657973],[0.6079225098534403,0.5860919576014586]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_9","position":[0.07080596540543715,1.6365918772814623,0.71338606911949],"aabb_xy":[[0.03330596461344171,1.630224036323272],[0.1083059661974326,1.6429597182396525]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_10","position":[-0.5406213939863626,-0.14169409228443586,0.71338606911949],"aabb_xy":[[-0.6006213948471752,-0.1931205222909222],[-0.4806213931255497,-0.09026766227794943]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_11","position":[-0.27307992569723083,-2.4116472842007277,0.71338606911949],"aabb_xy":[[-0.28034117326763824,-2.4244342944642376],[-0.2658186781268234,-2.3988602739372187]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_12","position":[-0.14738186427020072,-1.4997189684861518,0.71338606911949],"aabb_xy":[[-0.1648125793492072,-1.5169910831500024],[-0.1299511491911942,-1.4824468538223008]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_13","position":[0.6132813755750475,-2.1660975267869356,0.71338606911949],"aabb_xy":[[0.6027138959169485,-2.176642556899944],[0.6238488552331465,-2.155552496673927]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_14","position":[-0.3679775489576994,-0.9346934586393916,0.71338606911949],"aabb_xy":[[-0.38498764624775006,-0.9508279471376656],[-0.35096745166764876,-0.9185589701411178]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_15","position":[0.5283995518812801,-1.5936825622666435,0.71338606911949],"aabb_xy":[[0.5128437824710148,-1.6092329955110511],[0.5439553212915453,-1.5781321290222368]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_16","position":[0.08711839724606318,-1.4619417669339558,0.71338606911949],"aabb_xy":[[0.007118400231815203,-1.482076318607367],[0.16711839426031116,-1.4418072152605446]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_17","position":[0.6229082765721548,-0.31037585086687214,0.71338606911949],"aabb_xy":[[0.6120566703232792,-0.32123514159452315],[0.6337598828210304,-0.2995165601392211]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_18","position":[-0.32302714966072427,0.6718211617885053,0.71338606911949],"aabb_xy":[[-0.3300674595942613,0.5918211623888339],[-0.31598683972718733,0.7518211611881768]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_19","position":[0.5475035206870829,-1.7490945334181682,0.71338606911949],"aabb_xy":[[0.5357353338924254,-1.8340945333233902],[0.5592717074817405,-1.6640945335129471]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_20","position":[0.6459935200273954,-1.0549027434153377,0.71338606911949],"aabb_xy":[[0.63874975398115,-1.1349027416189401],[0.6532372860736406,-0.9749027452117354]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_21","position":[-0.5037343909393698,-1.9254636448454807,0.71338606911949],"aabb_xy":[[-0.5498194821941012,-1.989463642098036],[-0.45764929968463824,-1.8614636475929258]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_22","position":[0.3174526496117469,1.3293230881821305,0.71338606911949],"aabb_xy":[[0.29495265008803945,1.3068271407315097],[0.33995264913545425,1.3518190356327513]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_23","position":[-0.47895823844589025,-1.3890238287997898,0.71338606911949],"aabb_xy":[[-0.5689582351815003,-1.4422072921170843],[-0.38895824171028,-1.3358403654824953]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_24","position":[-0.1650707772003932,-1.898983139681199,0.71338606911949],"aabb_xy":[[-0.18095527046571835,-1.913336079980023],[-0.14918628393506805,-1.8846301993823749]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_25","position":[0.5897156142887641,-1.401081503172479,0.71338606911949],"aabb_xy":[[0.5789426403673963,-1.436081501391518],[0.6004885882101318,-1.36608150495344]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_26","position":[0.31623199454041906,-2.0624872046733405,0.71338606911949],"aabb_xy":[[0.2812319954104634,-2.0682324257490046],[0.3512319936703747,-2.0567419835976763]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_27","position":[0.04318599785844712,-1.8496126241943665,0.71338606911949],"aabb_xy":[[-0.0368140007288723,-1.9289282261325271],[0.12318599644576654,-1.7702970222562053]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_28","position":[0.39213128181066437,-1.6395471220782594,0.71338606911949],"aabb_xy":[[0.3371390311751534,-1.6945471238215726],[0.44712353244617536,-1.584547120334947]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_29","position":[-0.38262273916432726,-2.4716548865651293,0.71338606911949],"aabb_xy":[[-0.43260697487250444,-2.5216548853786245],[-0.33263850345615,-2.4216548877516333]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_30","position":[-0.5031932636974004,-0.552115858465843,0.71338606911949],"aabb_xy":[[-0.544442074727315,-0.6071158579780603],[-0.46194445266748557,-0.4971158589536255]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_31","position":[0.2339023482430993,0.6185652834532278,0.71338606911949],"aabb_xy":[[0.18390234658160454,0.5685668411975249],[0.28390234990459406,0.6685637257089303]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_32","position":[0.6756905531293942,-0.7781739516102997,0.71338606911949],"aabb_xy":[[0.6656088460508206,-0.8581739495024143],[0.6857722602079676,-0.698173953718185]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_33","position":[-0.16089504063941706,-0.8717304766713196,0.71338606911949],"aabb_xy":[[-0.17180081672697972,-0.9517304730701488],[-0.1499892645518543,-0.7917304802724905]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6989461672899726,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/65.png","name":"65"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/65.png","name":"65"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8216.png","name":"8216"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7044.png","name":"7044"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8497.png","name":"8497"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6726.png","name":"6726"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":792.5030358188833,"rotation_z_degrees":267.9593780449221,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012764786971624585,0.00720445945177341,0.014709422303633587]},{"name":"camera_2","offset_m":[0.010429109693908395,0.012243062425879827,0.008225432726892645]},{"name":"camera_3","offset_m":[0.001390679073533553,-0.0021614160715469517,0.009660235934523316]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0018748655657348525,-0.0017918629201131636,0.0014467870007890678],"end_effector_yaw_offset_degrees":0.9809343289709909},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.001587941502763461,-0.001969161517036412,0.00030482200492599164],"end_effector_yaw_offset_degrees":0.042299534733276856},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0017740320900755454,0.001278609505122054,0.001004654099431802],"end_effector_yaw_offset_degrees":-0.04687933995820992},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0008748292431084513,0.001804908839382167,-5.5333237277140285e-05],"end_effector_yaw_offset_degrees":0.5293069636564751}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004662556458652955,-0.004978387447226067],"position_m":[0.18466255645865295,-0.03857838744722607,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0016695096341620462,-0.0020269566927085493],"position_m":[0.27033049036583795,-0.36932695669270854,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.001097819686028281,0.002946016139384485],"position_m":[0.3210978196860283,0.3560460161393845,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0011958034725103681,0.0006216073628701234],"position_m":[0.3396958034725104,0.10912160736287012,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"750e95aeffe828afc124c2920dc8ab547277ff9ce0dec98a28db024b377e25b5","episode_index":71,"episode_name":"episode_0071"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0071.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_65/tex_ceiling_textures_6726/tex_floor_textures_8497/tex_table_textures_8216/tex_wall_textures_7044","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":8497354195831575619,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":8497354195831575619,"visual_seed":8497354195831575619,"scene_id":"lab_003","finished_at":"2026-09-05T22:18:21"} +{"episode_id":"ep_000069","started_at":"2026-09-05T22:18:25","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_0","position":[-0.553016833712119,1.3970859965207354,0.71338606911949],"aabb_xy":[[-0.5751893606887698,1.3749103293646123],[-0.5308443067354681,1.4192616636768585]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_1","position":[0.6699990283158395,-0.5495610066010488,0.71338606911949],"aabb_xy":[[0.6640324893751037,-0.5555221512604128],[0.6759655672565752,-0.5435998619416847]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_2","position":[0.115332819243952,-1.5727398364401324,0.71338606911949],"aabb_xy":[[0.11189214300389484,-1.5766012694144973],[0.11877349548400919,-1.5688784034657683]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_3","position":[-0.480778156702783,-0.8618038610828616,0.71338606911949],"aabb_xy":[[-0.5217961000891538,-0.9118038617138189],[-0.4397602133164121,-0.8118038604519042]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_4","position":[0.6143376196844754,1.4358038974286829,0.71338606911949],"aabb_xy":[[0.6042559126059018,1.355803899536568],[0.6244193267630488,1.5158038953207973]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_5","position":[-0.21589140722105116,-0.5252358877016401,0.71338606911949],"aabb_xy":[[-0.2958914041840903,-0.6023115293454135],[-0.13589141025801196,-0.44816024605786664]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_6","position":[-0.2760230844684793,1.0277868519590263,0.71338606911949],"aabb_xy":[[-0.36602308680249834,0.9503044973739139],[-0.18602308213446023,1.1052692065441392]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_7","position":[-0.42077011458877644,-0.2253297137536716,0.71338606911949],"aabb_xy":[[-0.5057701130061997,-0.3102040092159566],[-0.3357701161713532,-0.1404554182913866]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_8","position":[-0.062055009988680854,0.5366186942565956,0.71338606911949],"aabb_xy":[[-0.12205500983524764,0.479800072063557],[-0.0020550101421140735,0.5934373164496344]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_9","position":[0.19951930363872272,0.7759024151363905,0.71338606911949],"aabb_xy":[[0.16389014773876298,0.7402697483795376],[0.23514845953868246,0.8115350818932435]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_10","position":[-0.6344489942810061,-2.0281963101346783,0.71338606911949],"aabb_xy":[[-0.6569454157148702,-2.0506963099414257],[-0.611952572847142,-2.005696310327931]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_11","position":[-0.029439401124145892,-1.4649743408329725,0.71338606911949],"aabb_xy":[[-0.043773826250309344,-1.4770345563875114],[-0.01510497599798244,-1.4529141252784337]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_12","position":[-0.6043821542540315,-1.6363780929796197,0.71338606911949],"aabb_xy":[[-0.6683821513661372,-1.6854104627740305],[-0.5403821571419258,-1.5873457231852093]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_13","position":[0.28864691744439996,-1.432937807267629,0.71338606911949],"aabb_xy":[[0.28214528093639535,-1.4427056292939389],[0.2951485539524046,-1.4231699852413193]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_14","position":[-0.12341270572121354,0.051310238200387825,0.71338606911949],"aabb_xy":[[-0.207134931221296,-0.03868976533430813],[-0.03969048022113107,0.14131024173508377]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_15","position":[0.16326251829547023,1.1485247269302281,0.71338606911949],"aabb_xy":[[0.15310950274132082,1.1124551853574876],[0.17341553384961958,1.1845942685029682]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_16","position":[0.4524664281442785,1.682663546454299,0.71338606911949],"aabb_xy":[[0.38846643084193205,1.6382971194864422],[0.5164664254466249,1.7270299734221557]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_17","position":[0.09625540292668211,-0.6965660474414797,0.71338606911949],"aabb_xy":[[0.07875540364859523,-0.7139041475078257],[0.11375540220476899,-0.6792279473751338]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_18","position":[-0.4324203482591955,1.545322940665827,0.71338606911949],"aabb_xy":[[-0.4576411851190351,1.5200991898129401],[-0.4071995113993558,1.5705466915187136]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_19","position":[-0.2235224471099605,-0.9948244939729332,0.71338606911949],"aabb_xy":[[-0.2875224485179511,-1.0466134454968576],[-0.1595224457019698,-0.9430355424490083]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_20","position":[-0.15078548144782777,-1.8407890702558727,0.71338606911949],"aabb_xy":[[-0.18426464870886874,-1.8742681836269799],[-0.11730631418678686,-1.807309956884766]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_21","position":[0.1114725069661423,0.9315901814664063,0.71338606911949],"aabb_xy":[[0.061472506015609496,0.9000410344628847],[0.1614725079166751,0.9631393284699276]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7001460935070039,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2726.png","name":"2726"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2726.png","name":"2726"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2983.png","name":"2983"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4491.png","name":"4491"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7026.png","name":"7026"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6993.png","name":"6993"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":561.0592740604666,"rotation_z_degrees":203.34196510633512,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010403816384256876,0.0063785915569862205,-0.005271783742468599]},{"name":"camera_2","offset_m":[0.011745919041062623,-0.015223083787986615,0.014968933894333725]},{"name":"camera_3","offset_m":[0.015992222211292626,-0.015509600255588656,0.009803235036416173]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0009951401192316955,-0.0019121199952816378,-0.0015517364170211368],"end_effector_yaw_offset_degrees":-0.5550604282515297},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.001960233196450201,-0.0005547834391568095,0.0005818421124556485],"end_effector_yaw_offset_degrees":-0.6118345548664803},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0019857923302740244,0.0005923881381646573,0.0009296341555341328],"end_effector_yaw_offset_degrees":-0.5203788491678429},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0009144988534839742,-0.0012370608230680199,0.0003810307024036397],"end_effector_yaw_offset_degrees":-0.42281777382283603}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004782897710408918,0.0004132805363434881],"position_m":[0.1847828977104089,-0.03318671946365651,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001914045191668057,-0.004682955857257129],"position_m":[0.270085954808332,-0.37198295585725716,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0033768216561951133,0.0010211543907772177],"position_m":[0.32337682165619513,0.35412115439077724,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004624245815488414,-0.0047165226202591426],"position_m":[0.3338757541845116,0.10378347737974086,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9576bfc478fcdf4dc3fc53cc880f849d3713e8db69fb750db89758a8bf404d9b","episode_index":72,"episode_name":"episode_0072"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0072.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_2726/tex_ceiling_textures_6993/tex_floor_textures_7026/tex_table_textures_2983/tex_wall_textures_4491","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":7986159720144453659,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":7986159720144453659,"visual_seed":7986159720144453659,"scene_id":"lab_003","finished_at":"2026-09-05T22:21:56"} +{"episode_id":"ep_000070","started_at":"2026-09-05T22:22:00","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_0","position":[-0.5952824905301219,-0.5596296359563366,0.71338606911949],"aabb_xy":[[-0.6153409021433622,-0.5796947228654942],[-0.5752240789168817,-0.5395645490471791]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_1","position":[0.21219622078697986,-1.4496117842417617,0.71338606911949],"aabb_xy":[[0.19509414282861165,-1.4667185897730317],[0.22929829874534796,-1.4325049787104922]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_2","position":[-0.13083709064078775,-0.3974275070249713,0.71338606911949],"aabb_xy":[[-0.14167756886730265,-0.41461378831562007],[-0.11999661241427284,-0.38024122573432245]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_3","position":[-0.20520474162842417,1.4643898733783458,0.71338606911949],"aabb_xy":[[-0.2852047396092092,1.4567883324164936],[-0.12520474364763912,1.4719914143401975]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_4","position":[-0.6255781873607607,-1.2548076200103915,0.71338606911949],"aabb_xy":[[-0.6500918114577665,-1.279072213312428],[-0.6010645632637548,-1.230543026708355]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_5","position":[0.2778463610616235,-0.9243196073108264,0.71338606911949],"aabb_xy":[[0.24034636263822318,-0.937483821278657],[0.3153463594850239,-0.9111553933429958]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_6","position":[-0.2603222769677172,1.554977457530859,0.71338606911949],"aabb_xy":[[-0.26835861166900205,1.546939338226442],[-0.25228594226643236,1.5630155768352756]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_7","position":[-0.6551036493427785,-1.147847752854717,0.71338606911949],"aabb_xy":[[-0.6644506569250738,-1.162151375072361],[-0.6457566417604833,-1.133544130637073]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_8","position":[-0.30721740931236413,-0.7111181480683137,0.71338606911949],"aabb_xy":[[-0.3872174114751266,-0.7910733316944571],[-0.22721740714960165,-0.6311629644421699]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_9","position":[0.14957479299816878,1.3801485454828377,0.71338606911949],"aabb_xy":[[0.09957479342183409,1.3301679665307318],[0.19957479257450353,1.4301291244349437]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_10","position":[0.6047277349181341,1.12252529311737,0.71338606911949],"aabb_xy":[[0.5818120220330844,1.0996209959809464],[0.6276434478031842,1.1454295902537934]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_11","position":[0.37832054725645925,-1.1636899014740116,0.71338606911949],"aabb_xy":[[0.31432054796229103,-1.2276760418428658],[0.44232054655062747,-1.0997037611051574]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_12","position":[0.07675352057096763,-1.8885207254014562,0.71338606911949],"aabb_xy":[[0.0688302403322193,-1.9110207256394596],[0.08467680080971596,-1.8660207251634529]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_13","position":[-0.010596369020380747,-2.396150803269542,0.71338606911949],"aabb_xy":[[-0.028389875955297184,-2.413950548865339],[0.0071971379145356895,-2.378351057673744]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_14","position":[-0.5545014541768536,1.0620506910745933,0.71338606911949],"aabb_xy":[[-0.6045989181579272,0.9980506905647815],[-0.50440399019578,1.126050691584405]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_15","position":[-0.25234038490080835,0.9572081277722573,0.71338606911949],"aabb_xy":[[-0.28734038321150374,0.9494931128487115],[-0.21734038659011284,0.9649231426958028]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_16","position":[0.4157048649380646,-1.3473042744645112,0.71338606911949],"aabb_xy":[[0.32570486634359463,-1.3635548607779324],[0.5057048635325345,-1.3310536881510904]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_17","position":[0.2206041275902103,-1.6225079935679523,0.71338606911949],"aabb_xy":[[0.20544125461327328,-1.6376734508630713],[0.23576700056714744,-1.6073425362728337]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_18","position":[0.2458721589502153,-1.02965998826905,0.71338606911949],"aabb_xy":[[0.22369963197356443,-1.051835655425173],[0.26804468592686614,-1.0074843211129265]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_19","position":[-0.45086321321095024,0.31500359537342115,0.71338606911949],"aabb_xy":[[-0.47337690503440744,0.24500359477241357],[-0.42834952138749305,0.3850035959744286]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6976121254345323,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/649.png","name":"649"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/649.png","name":"649"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2609.png","name":"2609"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3709.png","name":"3709"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5659.png","name":"5659"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/524.png","name":"524"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":577.1888985926986,"rotation_z_degrees":108.57634627654923,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007239184667530272,-0.01760466070962836,-0.013829925311715771]},{"name":"camera_2","offset_m":[0.013514559227886174,0.008331433079994142,0.01113674886055157]},{"name":"camera_3","offset_m":[0.005111515549362539,0.010688634529776288,0.01723693314695567]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0007255960554126185,0.0003855725035417693,-0.0017072919980578578],"end_effector_yaw_offset_degrees":-0.3269824334533098},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-2.614583757298925e-05,-0.0018465994498336915,0.0010231732788822325],"end_effector_yaw_offset_degrees":-0.21474856775421403},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0009223894522585648,0.0018693404637161824,-0.0013270363994629516],"end_effector_yaw_offset_degrees":0.962088326283929},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00038375193712410346,0.0002557686850418184,0.000777449961046524],"end_effector_yaw_offset_degrees":-0.9705222965228821}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0022921121980716674,-0.004135803019107483],"position_m":[0.18229211219807165,-0.03773580301910748,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0006253721726363235,0.0021984555827555072],"position_m":[0.2713746278273637,-0.3651015444172445,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.00018946799533520707,0.0028177164540876013],"position_m":[0.3201894679953352,0.35591771645408765,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001863180655733757,-0.0038866979726730286],"position_m":[0.3403631806557338,0.10461330202732697,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1de3a7c04ab84414221249698fc315b2e321904a1804b27c88578238bf351ce8","episode_index":73,"episode_name":"episode_0073"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0073.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_649/tex_ceiling_textures_524/tex_floor_textures_5659/tex_table_textures_2609/tex_wall_textures_3709","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":7865889250832629988,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":7865889250832629988,"visual_seed":7865889250832629988,"scene_id":"lab_003","finished_at":"2026-09-05T22:25:26"} +{"episode_id":"ep_000071","started_at":"2026-09-05T22:25:31","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_0","position":[0.6264400131461707,-1.3389837678428504,0.71338606911949],"aabb_xy":[[0.6155884068972951,-1.3498430585705015],[0.6372916193950463,-1.3281244771151994]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_1","position":[-0.6469979388965434,-1.9879014830172255,0.71338606911949],"aabb_xy":[[-0.6919979403627723,-2.032901339878707],[-0.6019979374303146,-1.9429016261557452]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_2","position":[-0.1533803309909576,-1.5193104815329808,0.71338606911949],"aabb_xy":[[-0.16771475611712106,-1.5313706970875194],[-0.13904590586479415,-1.5072502659784417]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_3","position":[-0.3559628457557393,1.6726931039174304,0.71338606911949],"aabb_xy":[[-0.36398911638636533,1.6639416089400776],[-0.34793657512511333,1.6814445988947828]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_4","position":[-0.25385737622857757,1.5182022119945562,0.71338606911949],"aabb_xy":[[-0.25982391516931336,1.5122410673351918],[-0.24789083728784178,1.52416335665392]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_5","position":[-0.06624110930697646,-1.9650337333368624,0.71338606911949],"aabb_xy":[[-0.14624111256481942,-2.0450302411288463],[0.013758893950866491,-1.8850372255448782]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_6","position":[0.3265935369615871,1.6083844397868812,0.71338606911949],"aabb_xy":[[0.27159353875984227,1.5678624731604436],[0.38159353516333194,1.6489064064133188]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_7","position":[0.09768973358847899,0.8407393238942733,0.71338606911949],"aabb_xy":[[0.047705497880301775,0.7907393250807776],[0.14767396929665622,0.8907393227077688]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_8","position":[-0.5860930385856763,1.1556273491357807,0.71338606911949],"aabb_xy":[[-0.6500930418753842,1.112292430131863],[-0.522093035295968,1.1989622681396983]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_9","position":[-0.46572356355554584,-2.5203136615017137,0.71338606911949],"aabb_xy":[[-0.5207235627321353,-2.575303336276671],[-0.41072356437895624,-2.4653239867267556]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_10","position":[0.45252306369322093,-0.9984449391031962,0.71338606911949],"aabb_xy":[[0.4025230650472998,-1.0483644827626586],[0.5025230623391421,-0.9485253954437337]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_11","position":[-0.21656217680077305,-1.2881065454126108,0.71338606911949],"aabb_xy":[[-0.28156217790671634,-1.3130719184807391],[-0.15156217569482977,-1.2631411723444825]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_12","position":[0.20318448548147716,-1.655412837160103,0.71338606911949],"aabb_xy":[[0.18312607386823684,-1.6754779240692605],[0.22324289709471742,-1.6353477502509453]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_13","position":[-0.36702693512472945,-2.0642446602743307,0.71338606911949],"aabb_xy":[[-0.4220006571610624,-2.1192446598385644],[-0.3120532130883966,-2.009244660710098]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_14","position":[0.24941915489445676,-0.9588345955353532,0.71338606911949],"aabb_xy":[[0.23626790892316746,-0.9838345952920398],[0.2625704008657462,-0.9338345957786667]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_15","position":[-0.10862179692977725,-0.31738474911546,0.71338606911949],"aabb_xy":[[-0.14362179682579612,-0.32575898462739994],[-0.07362179703375839,-0.30901051360352005]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_16","position":[-0.20380624595886454,0.6596644524935704,0.71338606911949],"aabb_xy":[[-0.23495316480244766,0.5896644538067632],[-0.17265932711528142,0.7296644511803776]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_17","position":[0.47723363867189206,-2.4037552537677644,0.71338606911949],"aabb_xy":[[0.42223363905014627,-2.458738946555237],[0.5322336382936379,-2.3487715609802917]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_18","position":[0.4967160854498993,-2.248040353000477,0.71338606911949],"aabb_xy":[[0.47149524859005965,-2.273264103853363],[0.521936922309739,-2.22281660214759]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_19","position":[0.5572256161888611,-1.651190320439389,0.71338606911949],"aabb_xy":[[0.5470726006347116,-1.6872598620121289],[0.5673786317430104,-1.6151207788666482]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_20","position":[-0.38598307624002215,0.6684470161821716,0.71338606911949],"aabb_xy":[[-0.4697053017401046,0.5784470126474757],[-0.3022608507399397,0.7584470197168676]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_21","position":[0.2727162945224453,1.0802388076299896,0.71338606911949],"aabb_xy":[[0.19271629711885183,1.0002462364318065],[0.35271629192603865,1.1602313788281722]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_22","position":[-0.27125512846378874,1.382072635666062,0.71338606911949],"aabb_xy":[[-0.3352551257494374,1.340565916713218],[-0.2072551311781401,1.423579354618906]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_23","position":[0.7023034414942941,0.167258929945862,0.71338606911949],"aabb_xy":[[0.6925474519851201,0.15749639588662756],[0.7120594310034679,0.17702146400509644]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_24","position":[0.22308060308004218,1.2656418556331017,0.71338606911949],"aabb_xy":[[0.1926824919808986,1.235234953631432],[0.25347871417918577,1.296048757634771]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_25","position":[-0.15647286539757255,1.036519592933582,0.71338606911949],"aabb_xy":[[-0.22147286635469973,0.9845713809998765],[-0.09147286444044532,1.0884678048672876]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_26","position":[-0.3984655433585526,-1.3494910161744769,0.71338606911949],"aabb_xy":[[-0.4624655397858745,-1.3966606399965735],[-0.3344655469312307,-1.3023213923523806]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_27","position":[0.6695498471250658,0.6490177989861663,0.71338606911949],"aabb_xy":[[0.6570824890153302,0.636552474352843],[0.6820172052348015,0.66148312361949]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_28","position":[0.7006649905771465,-1.5578063822758088,0.71338606911949],"aabb_xy":[[0.6932525350357579,-1.5636575926974365],[0.7080774461185348,-1.5519551718541806]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_29","position":[-0.33370945259285256,-0.8081583630745313,0.71338606911949],"aabb_xy":[[-0.37020527322013125,-0.8446423055012887],[-0.29721363196557377,-0.7716744206477736]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6972657507120644,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2786.png","name":"2786"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2786.png","name":"2786"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8619.png","name":"8619"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2328.png","name":"2328"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8202.png","name":"8202"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2826.png","name":"2826"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":518.7553748592094,"rotation_z_degrees":227.37249517572198,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.019468769797179108,0.015427080233071797,-0.016186608666596474]},{"name":"camera_2","offset_m":[0.004823478808668815,-0.016255927935732432,0.003410729541742024]},{"name":"camera_3","offset_m":[-0.012865299982361727,-0.013014498828238574,0.011747629553535994]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0001584286025892159,-0.00030131267014067513,8.158649214848844e-05],"end_effector_yaw_offset_degrees":-0.7312944290335179},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00128442983686604,-0.0010961372847151445,-0.0005273354398716639],"end_effector_yaw_offset_degrees":-0.8463355626768811},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0016275383776457597,0.0014243117671278033,0.00022814878720048195],"end_effector_yaw_offset_degrees":0.9457047411533397},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0018777662611852482,-0.0005845511293420839,0.000256967018785398],"end_effector_yaw_offset_degrees":0.32936068826116505}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[4.1556655325757086e-05,0.003984195986937334],"position_m":[0.18004155665532576,-0.029615804013062665,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0021731552404321477,0.00034811177793199824],"position_m":[0.26982684475956786,-0.36695188822206803,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0001533282806870373,0.004782968637777995],"position_m":[0.32015332828068704,0.357882968637778,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0023168213901284306,-0.003858802339957639],"position_m":[0.3408168213901285,0.10464119766004236,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4487ae6943a2d26e9a05a298a8eb51dd94bf6e6d9ccff3acd4fec9e788bcda2b","episode_index":74,"episode_name":"episode_0074"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0074.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_2786/tex_ceiling_textures_2826/tex_floor_textures_8202/tex_table_textures_8619/tex_wall_textures_2328","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":8917235140873974767,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":8917235140873974767,"visual_seed":8917235140873974767,"scene_id":"lab_003","finished_at":"2026-09-05T22:28:59"} +{"episode_id":"ep_000072","started_at":"2026-09-05T22:29:03","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_0","position":[-0.36415319461713275,-0.13822805916149639,0.71338606911949],"aabb_xy":[[-0.41413743032531,-0.18822805797499198],[-0.3141689589089555,-0.08822806034800079]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_1","position":[0.32641532329003153,0.733711432380383,0.71338606911949],"aabb_xy":[[0.25641532168775205,0.7202786391787255],[0.396415324892311,0.7471442255820406]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_2","position":[-0.2850862656461341,-1.9926203305401033,0.71338606911949],"aabb_xy":[[-0.29633132121675193,-2.003862128264198],[-0.27384121007551626,-1.9813785328160078]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_3","position":[0.6283837267454329,-1.9801722450425334,0.71338606911949],"aabb_xy":[[0.568383725102511,-2.0321723943344776],[0.6883837283883547,-1.9281720957505892]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_4","position":[-0.45223163954697343,-0.5234086121225325,0.71338606911949],"aabb_xy":[[-0.46739451252391057,-0.5385740694176514],[-0.4370687665700364,-0.5082431548274139]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_5","position":[0.2902723644054406,0.8515979220925001,0.71338606911949],"aabb_xy":[[0.24902355337552587,0.7965979225802825],[0.3315211754353553,0.9065979216047174]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_6","position":[0.5022303983623797,-2.493646101449959,0.71338606911949],"aabb_xy":[[0.42223039510453675,-2.573642609241943],[0.5822304016202227,-2.413649593657975]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_7","position":[0.18680465975285043,1.4657343171190909,0.71338606911949],"aabb_xy":[[0.1368046580913556,1.415735874863388],[0.23680466141434514,1.5157327593747933]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_8","position":[-0.3991679280942772,0.712585190334099,0.71338606911949],"aabb_xy":[[-0.41627000605264536,0.6954783848028292],[-0.38206585013590905,0.7296919958653687]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_9","position":[0.48679392922941345,0.060168914328064815,0.71338606911949],"aabb_xy":[[0.47916966113923515,0.0525356907915211],[0.49441819731959163,0.06780213786460854]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_10","position":[0.5097411916941443,-1.2097982637770897,0.71338606911949],"aabb_xy":[[0.4859049740535394,-1.2997982645855761],[0.5335774093347495,-1.1197982629686032]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_11","position":[-0.5823155771953732,0.8364418914402463,0.71338606911949],"aabb_xy":[[-0.6127998273224033,0.7864418916587503],[-0.551831327068343,0.8864418912217422]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_12","position":[-0.35093540131180045,-0.7839016274705757,0.71338606911949],"aabb_xy":[[-0.4159353998688733,-0.8136541608844583],[-0.2859354027547276,-0.7541490940566931]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_13","position":[-0.4750733305689602,-1.1044511910573325,0.71338606911949],"aabb_xy":[[-0.5125733310663184,-1.1084198746054508],[-0.43757333007160193,-1.1004825075092142]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_14","position":[0.4195109590536943,-0.2786909793418544,0.71338606911949],"aabb_xy":[[0.40663905555275415,-0.3586909797556905],[0.43238286255463443,-0.1986909789280182]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_15","position":[0.5146286136949509,-0.9303995568637626,0.71338606911949],"aabb_xy":[[0.5075883037614141,-1.0103995562634343],[0.521668923628488,-0.8503995574640915]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_16","position":[0.4066683414201375,1.0089238728324026,0.71338606911949],"aabb_xy":[[0.38415464959668033,0.9389238722313948],[0.4291820332435947,1.07892387343341]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_17","position":[-0.667371860929997,-2.1962215418725193,0.71338606911949],"aabb_xy":[[-0.6851653678649134,-2.214021287468317],[-0.6495783539950806,-2.1784217962767216]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_18","position":[-0.5324486216409793,1.263494570215109,0.71338606911949],"aabb_xy":[[-0.5924486225017919,1.2120681402086224],[-0.4724486207801663,1.3149210002215952]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_19","position":[-0.1188780785454181,1.6722784577186505,0.71338606911949],"aabb_xy":[[-0.16885114407793356,1.6222784579061178],[-0.06890501301290264,1.7222784575311836]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_20","position":[-0.45406239368267226,0.38238264239110675,0.71338606911949],"aabb_xy":[[-0.46276035597338755,0.3702576680836321],[-0.44536443139195697,0.3945076166985816]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_21","position":[-0.5734598447501009,0.4214372444150598,0.71338606911949],"aabb_xy":[[-0.6334598453461172,0.36662477186983633],[-0.5134598441540849,0.4762497169602833]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_22","position":[-0.22858198791588358,0.5417284084159251,0.71338606911949],"aabb_xy":[[-0.2785819874922183,0.4917478294638191],[-0.17858198833954883,0.591708987368031]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_23","position":[0.028502445182062353,0.7590425609213689,0.71338606911949],"aabb_xy":[[-0.0214708488211981,0.7090425603668215],[0.0784757391853228,0.8090425614759161]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_24","position":[0.49179827004494503,0.42099995946115687,0.71338606911949],"aabb_xy":[[0.45679827177482507,0.41392583176616865],[0.5267982683150649,0.428074087156145]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_25","position":[-0.2761651959947217,-2.1833014607881056,0.71338606911949],"aabb_xy":[[-0.31366519593848813,-2.191594550822942],[-0.23866519605095532,-2.175008370753269]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_26","position":[0.28735928561705626,1.6254723007072687,0.71338606911949],"aabb_xy":[[0.27801227803476103,1.6111686784896246],[0.2967062931993515,1.6397759229249127]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_27","position":[0.5988042517056709,-1.8428106883130844,0.71338606911949],"aabb_xy":[[0.5809351439512154,-1.8566435962902952],[0.6166733594601264,-1.828977780335873]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_28","position":[-0.3492555268659154,-1.8037355557117867,0.71338606911949],"aabb_xy":[[-0.42925552829604247,-1.883252710724396],[-0.26925552543578807,-1.724218400699177]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_29","position":[0.6335662268701958,-0.7063325555145881,0.71338606911949],"aabb_xy":[[0.5883949090220268,-0.7703325526591266],[0.6787375447183648,-0.6423325583700497]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_30","position":[-0.2046288324352013,-1.6654684174910859,0.71338606911949],"aabb_xy":[[-0.28462883350832163,-1.6752464638284703],[-0.12462883136208097,-1.6556903711537014]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_31","position":[0.4365380776750736,-1.5769061556630861,0.71338606911949],"aabb_xy":[[0.4246659946635724,-1.6619061553567365],[0.44841016068657463,-1.4919061559694358]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7038555376329991,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2571.png","name":"2571"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2571.png","name":"2571"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3233.png","name":"3233"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2495.png","name":"2495"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5254.png","name":"5254"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9107.png","name":"9107"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":690.2632470492434,"rotation_z_degrees":296.0197224241809,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009864921205741756,-0.011435027148615112,-0.006238436044114781]},{"name":"camera_2","offset_m":[-0.004661946744576935,0.00039364246568111133,0.015039053432176496]},{"name":"camera_3","offset_m":[-0.007867041828548912,0.01631313252354741,-0.015550964837924104]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001298466227514446,-0.0014666961809974,0.0009300064222612751],"end_effector_yaw_offset_degrees":-0.9883147136205266},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0017087572903279886,-0.00020050474522807435,-0.0007390916728686979],"end_effector_yaw_offset_degrees":0.023876670541907563},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0015317089433639222,-0.0015668897684225284,0.0012160462764056325],"end_effector_yaw_offset_degrees":0.8488006861829167},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00025682939656405295,0.0005332357058659169,-8.272813119001264e-05],"end_effector_yaw_offset_degrees":0.5282365232142643}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0009074407002818254,0.0020949275025495167],"position_m":[0.1809074407002818,-0.03150507249745048,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0044260670953643515,-0.0015061240851529335],"position_m":[0.2764260670953644,-0.36880612408515295,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004339134418729198,0.0006187918388187198],"position_m":[0.3243391344187292,0.35371879183881877,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0002536431520644188,0.0007367646498969583],"position_m":[0.3382463568479356,0.10923676464989696,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3713e25d04dea8cf5d4c4631f30bd80184d4a067887a7380062ea0780798d3a5","episode_index":75,"episode_name":"episode_0075"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0075.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_2571/tex_ceiling_textures_9107/tex_floor_textures_5254/tex_table_textures_3233/tex_wall_textures_2495","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":1355188074191346974,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":1355188074191346974,"visual_seed":1355188074191346974,"scene_id":"lab_003","finished_at":"2026-09-05T22:32:35"} +{"episode_id":"ep_000073","started_at":"2026-09-05T22:32:40","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_0","position":[-0.24780916312068546,-0.47888705512727237,0.71338606911949],"aabb_xy":[[-0.2976259425855202,-0.5288870536115757],[-0.19799238365585067,-0.428887056642969]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_1","position":[-0.6614929949748064,-0.572093571948626,0.71338606911949],"aabb_xy":[[-0.6949721622358475,-0.6055726853197331],[-0.6280138277137656,-0.5386144585775191]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_2","position":[0.13421925887773023,-2.1417663314359605,0.71338606911949],"aabb_xy":[[0.07021925860375203,-2.191832431633248],[0.1982192591517085,-2.091700231238672]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_3","position":[-0.3132123987562663,1.0188977825405297,0.71338606911949],"aabb_xy":[[-0.35071240027189793,1.0076710095243846],[-0.2757123972406345,1.0301245555566747]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_4","position":[0.22847365798297192,1.5650890285350516,0.71338606911949],"aabb_xy":[[0.17847882505503035,1.5150890296398083],[0.2784684909109135,1.6150890274302954]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_5","position":[0.40407004553633463,-0.9579361566004909,0.71338606911949],"aabb_xy":[[0.4001561723409121,-0.9666851720070477],[0.40798391873175716,-0.9491871411939341]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_6","position":[0.40240207045389287,0.29140040538344136,0.71338606911949],"aabb_xy":[[0.38979937131681647,0.27880500915857587],[0.4150047695909694,0.30399580160830686]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_7","position":[-0.44170589994011406,-0.6362332959922299,0.71338606911949],"aabb_xy":[[-0.521705903197957,-0.7162298037842137],[-0.36170589668227104,-0.5562367882002458]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_8","position":[0.09668846020903332,0.8681113822671978,0.71338606911949],"aabb_xy":[[0.090593832320915,0.859541987715529],[0.10278308809715164,0.8766807768188665]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_9","position":[0.4985360770445959,1.0903260846727818,0.71338606911949],"aabb_xy":[[0.48298030763433075,1.0747756514283748],[0.5140918464548613,1.1058765179171892]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_10","position":[0.5046941701278913,-1.7608934529885816,0.71338606911949],"aabb_xy":[[0.4868250623734358,-1.7747263609657924],[0.5225632778823468,-1.7470605450113703]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_11","position":[0.4928330525605693,0.0346959755932863,0.71338606911949],"aabb_xy":[[0.4855507361839056,-0.05530402801622269],[0.5001153689372329,0.12469597920279528]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_12","position":[0.22680041783856397,-1.401874595345992,0.71338606911949],"aabb_xy":[[0.22195682307733403,-1.4067262478249762],[0.23164401259979397,-1.397022942867008]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_13","position":[-0.18883929147524592,0.9349557955924164,0.71338606911949],"aabb_xy":[[-0.2171690014237862,0.9304950533986993],[-0.16050958152670575,0.9394165377861334]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_14","position":[0.0029725680997779724,-2.2727059231714715,0.71338606911949],"aabb_xy":[[-0.01308935935873967,-2.357705924984063],[0.019034495558295613,-2.187705921358879]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_15","position":[0.589855677661931,-0.3073539626112147,0.71338606911949],"aabb_xy":[[0.5552645948078856,-0.37235396289624567],[0.624446760515976,-0.2423539623261836]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_16","position":[0.37811944495166805,-2.4051735308503845,0.71338606911949],"aabb_xy":[[0.31411944855609497,-2.469136819269118],[0.4421194413472411,-2.341210242431651]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_17","position":[-0.366559085709021,-2.08169294585068,0.71338606911949],"aabb_xy":[[-0.3800056123430643,-2.0951627975037708],[-0.3531125590749776,-2.068223094197588]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_18","position":[-0.32371075822492523,1.574875516739112,0.71338606911949],"aabb_xy":[[-0.3317047468026286,1.5668754366440214],[-0.31571676964722184,1.582875596834202]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_19","position":[-0.18643723763763986,0.47682673534350783,0.71338606911949],"aabb_xy":[[-0.2514372385947671,0.42487852340980226],[-0.12143723668051266,0.5287749472772134]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_20","position":[0.2709383314956185,-1.1548783226987056,0.71338606911949],"aabb_xy":[[0.25900559713379046,-1.167260475506565],[0.2828710658574466,-1.1424961698908462]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_21","position":[-0.08617042025046084,-2.0586820938337778,0.71338606911949],"aabb_xy":[[-0.16617042052406783,-2.131631641659494],[-0.006170419976853871,-1.9857325460080608]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_22","position":[-0.4197955214062997,-1.8326689624440669,0.71338606911949],"aabb_xy":[[-0.469795522425435,-1.869135178181895],[-0.3697955203871644,-1.7962027467062391]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_23","position":[-0.36704956701643193,-0.24535710485452533,0.71338606911949],"aabb_xy":[[-0.40390011495341954,-0.28285710567755906],[-0.3301990190794443,-0.20785710403149163]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_24","position":[0.5669913414682191,0.7713208533529468,0.71338606911949],"aabb_xy":[[0.529491341296347,0.7386201179700393],[0.6044913416400909,0.8040215887358537]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_25","position":[-0.37502001887469844,-2.2090376389150315,0.71338606911949],"aabb_xy":[[-0.38371798116541384,-2.221162613222506],[-0.3663220565839832,-2.1969126646075567]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_26","position":[-0.0235936954167264,0.6893572677260837,0.71338606911949],"aabb_xy":[[-0.05805617342981417,0.6826935905431608],[0.010868782596361374,0.6960209449090065]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_27","position":[0.1008262081492517,1.077206802700354,0.71338606911949],"aabb_xy":[[0.08332620901488452,1.0673271756627662],[0.11832620728361887,1.087086429737942]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_28","position":[0.3859997819938743,1.7452312925045121,0.71338606911949],"aabb_xy":[[0.37509400590631164,1.6652312961056832],[0.39690555808143707,1.8252312889033415]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_29","position":[0.6438323784503999,0.905325937840062,0.71338606911949],"aabb_xy":[[0.579832375231762,0.8586028259410537],[0.7078323816690377,0.9520490497390705]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_30","position":[0.16980984031121704,-1.7734453991476697,0.71338606911949],"aabb_xy":[[0.0898098429076236,-1.8534379703458523],[0.24980983771481044,-1.6934528279494867]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_31","position":[-0.40536825392243253,-1.646262734125217,0.71338606911949],"aabb_xy":[[-0.41341161384838765,-1.7312627352205834],[-0.3973248939964773,-1.5612627330298505]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7031308372350512,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4033.png","name":"4033"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4033.png","name":"4033"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2379.png","name":"2379"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2354.png","name":"2354"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3529.png","name":"3529"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4429.png","name":"4429"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":721.8647424539469,"rotation_z_degrees":80.31638797873761,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007530030226879595,-0.013488149869662434,0.006046378793040846]},{"name":"camera_2","offset_m":[-0.011690734606666484,0.009535378415831706,0.00604916525063378]},{"name":"camera_3","offset_m":[-0.008104450120235848,0.018388509952718356,-0.017558071855579255]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001532876444443216,-0.0008086934443328722,0.0011076770771216255],"end_effector_yaw_offset_degrees":0.26289284235151245},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00040717282962914026,0.0013672587833001393,0.001861273672027138],"end_effector_yaw_offset_degrees":0.7105671979536594},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00028491826189409636,-0.0010506354163499002,0.0016108505699089911],"end_effector_yaw_offset_degrees":0.44264019045960845},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0016752773515354637,-0.0002531483205774677,-0.0019002476544253315],"end_effector_yaw_offset_degrees":0.8102574019079534}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.002841978841466115,0.001763665347756532],"position_m":[0.1828419788414661,-0.03183633465224347,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004484960309336064,-2.508954173944828e-05],"position_m":[0.27648496030933606,-0.3673250895417395,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003173866301943217,0.004831714280757124],"position_m":[0.3231738663019432,0.35793171428075715,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00415219504310841,0.00361167404229227],"position_m":[0.3343478049568916,0.11211167404229228,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7376ed966a094cfd69232c999657f20e51cd51c0e1d487c145a89fb81fb7c8d7","episode_index":76,"episode_name":"episode_0076"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0076.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_4033/tex_ceiling_textures_4429/tex_floor_textures_3529/tex_table_textures_2379/tex_wall_textures_2354","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":4464499310438336842,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":4464499310438336842,"visual_seed":4464499310438336842,"scene_id":"lab_003","finished_at":"2026-09-05T22:36:07"} +{"episode_id":"ep_000074","started_at":"2026-09-05T22:36:11","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_0","position":[-0.06280314735563075,-2.170304222371104,0.71338606911949],"aabb_xy":[[-0.06624382359568794,-2.1741656553454685],[-0.05936247111557359,-2.1664427893967395]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_1","position":[-0.5827830981980372,1.780400212472832,0.71338606911949],"aabb_xy":[[-0.6202830980150708,1.77576200116169],[-0.5452830983810036,1.7850384237839736]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_2","position":[-0.14306860013522527,0.8507200017793828,0.71338606911949],"aabb_xy":[[-0.15397437622278798,0.7707200053805536],[-0.13216282404766255,0.9307199981782119]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_3","position":[-0.24407653080792469,0.7825176441093205,0.71338606911949],"aabb_xy":[[-0.2940765303842594,0.7325370651572146],[-0.19407653123159,0.8324982230614265]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_4","position":[0.48332189105991197,0.08970431829347802,0.71338606911949],"aabb_xy":[[0.47071919192283546,0.07710892206861254],[0.49592459019698837,0.10229971451834353]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_5","position":[0.35784787019189546,-2.4376820417407323,0.71338606911949],"aabb_xy":[[0.3518813312511596,-2.443643186400096],[0.3638144091326312,-2.4317208970813677]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_6","position":[-0.6720085031824148,1.1823033494750028,0.71338606911949],"aabb_xy":[[-0.6800448378836996,1.1742652301705858],[-0.6639721684811299,1.1903414687794194]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_7","position":[-0.3174500285046683,0.36563919798409117,0.71338606911949],"aabb_xy":[[-0.3974500259082617,0.2856466267859083],[-0.23745003110107485,0.44563176918227393]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_8","position":[-0.3010024431031801,0.979347948737733,0.71338606911949],"aabb_xy":[[-0.30828475947984363,0.8893479451282239],[-0.2937201267265163,1.0693479523472418]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_9","position":[-0.316090877366425,1.1844917707444598,0.71338606911949],"aabb_xy":[[-0.3410908772989429,1.1776091025235365],[-0.2910908774339071,1.191374438965383]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_10","position":[0.5421047921640021,0.9756825224707848,0.71338606911949],"aabb_xy":[[0.4921116800548102,0.9256825217965894],[0.592097904273194,1.0256825231449807]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_11","position":[0.5549538278975281,0.42411492569577813,0.71338606911949],"aabb_xy":[[0.5199538296274082,0.41704079800078997],[0.589953826167648,0.4311890533907663]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_12","position":[-0.3604367004676916,-0.6291843238836627,0.71338606911949],"aabb_xy":[[-0.3867255247881322,-0.6554557575383139],[-0.3341478761472509,-0.6029128902290114]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_13","position":[0.016201169922288594,-2.4012809410936233,0.71338606911949],"aabb_xy":[[0.008497979248211551,-2.408990311792361],[0.023904360596365637,-2.3935715703948848]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_14","position":[0.2126271577663601,1.571638494808202,0.71338606911949],"aabb_xy":[[0.2029955215459305,1.5620011820284931],[0.22225879398678974,1.581275807587911]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_15","position":[0.5697307396835907,-0.7633896822443249,0.71338606911949],"aabb_xy":[[0.5097307380406687,-0.8153898315362692],[0.6297307413265124,-0.7113895329523808]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_16","position":[-0.4925109453792467,0.3343410646310394,0.71338606911949],"aabb_xy":[[-0.5376822632274157,0.270341067486501],[-0.44733962753107787,0.3983410617755779]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_17","position":[-0.6305799009650572,0.16430829830628957,0.71338606911949],"aabb_xy":[[-0.6679111774902999,0.12965524351143726],[-0.5932486244398147,0.19896135310114188]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_18","position":[-0.4852821306471238,1.7069848762284265,0.71338606911949],"aabb_xy":[[-0.5197446086602115,1.7003211990455036],[-0.45081965263403595,1.713648553411349]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_19","position":[0.2862811706976113,0.6306710140594571,0.71338606911949],"aabb_xy":[[0.27111829772067425,0.6155055567643385],[0.3014440436745484,0.645836471354576]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_20","position":[0.40184385504973896,1.5726794618498405,0.71338606911949],"aabb_xy":[[0.3649933071127514,1.5351794610268068],[0.43869440298672663,1.6101794626728743]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_21","position":[0.023497645861043748,-2.035855403320566,0.71338606911949],"aabb_xy":[[-0.011093436993001466,-2.1008554036055966],[0.058088728715088966,-1.9708554030355347]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_22","position":[-0.10024414673869797,-1.4094800864357153,0.71338606911949],"aabb_xy":[[-0.15022295524901386,-1.4594800864414341],[-0.05026533822838207,-1.3594800864299965]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_23","position":[0.6299117217951531,-1.5326158598067965,0.71338606911949],"aabb_xy":[[0.5659117215211749,-1.5826819600040842],[0.6939117220691313,-1.4825497596095083]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_24","position":[-0.6111652984607827,-1.7720214653134312,0.71338606911949],"aabb_xy":[[-0.6172023114614476,-1.7780481663823797],[-0.6051282854601181,-1.765994764244483]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_25","position":[0.5487919498378775,-0.16302912524606628,0.71338606911949],"aabb_xy":[[0.5400939875471622,-0.17515409955354103],[0.5574899121285928,-0.15090415093859158]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_26","position":[-0.5981063959677126,0.8112584667492602,0.71338606911949],"aabb_xy":[[-0.6781063929307518,0.7341828251054867],[-0.5181063990046735,0.8883341083930336]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_27","position":[-0.2566124948289002,-1.2653608493692612,0.71338606911949],"aabb_xy":[[-0.3206124921312466,-1.309727276337118],[-0.1926124975265538,-1.2209944224014044]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_28","position":[-0.6034221372998592,1.2487597425582924,0.71338606911949],"aabb_xy":[[-0.6234805489130995,1.228694655649135],[-0.5833637256866189,1.2688248294674498]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_29","position":[-0.504793184712703,-2.3082331859964778,0.71338606911949],"aabb_xy":[[-0.5297931839846652,-2.32457854959264],[-0.47979318544074073,-2.2918878224003154]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6983865640655167,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5103.png","name":"5103"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5103.png","name":"5103"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9312.png","name":"9312"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5549.png","name":"5549"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5126.png","name":"5126"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6875.png","name":"6875"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":623.1572864812872,"rotation_z_degrees":124.14527185278739,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008109051306989145,-0.012509486399669627,-0.01348777396131788]},{"name":"camera_2","offset_m":[0.014468304944286994,0.008005625094159998,-0.0004963757143887776]},{"name":"camera_3","offset_m":[0.005679471110568653,-0.0072090113666947436,-0.017103133425644172]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0011559775661763405,-0.0007554685450313113,0.0007883291635404181],"end_effector_yaw_offset_degrees":0.28580368417755486},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[9.31664187657122e-05,-0.00160537304393802,-0.0017513742487976316],"end_effector_yaw_offset_degrees":0.8067738935856736},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0010991579356509165,-0.00041732795431257677,0.00044804266448602486],"end_effector_yaw_offset_degrees":-0.45956241704551104},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0014188524732831067,0.0002832755604197535,-0.0005724790641857905],"end_effector_yaw_offset_degrees":-0.598679484278505}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0034394585975820392,0.003988570545867972],"position_m":[0.17656054140241795,-0.029611429454132025,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0035435205432556563,-0.003969395450878679],"position_m":[0.2684564794567444,-0.37126939545087867,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0003217121666392979,-0.0039166762299571315],"position_m":[0.3203217121666393,0.3491833237700429,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002689512943768967,-0.0011834116859298026],"position_m":[0.33581048705623107,0.10731658831407019,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5d4a2c08c4e313863c0fa8e28f43192a2884af8d729fe7dcfc0cdd2d838b318f","episode_index":77,"episode_name":"episode_0077"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0077.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_5103/tex_ceiling_textures_6875/tex_floor_textures_5126/tex_table_textures_9312/tex_wall_textures_5549","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":9026335020971638834,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":9026335020971638834,"visual_seed":9026335020971638834,"scene_id":"lab_003","finished_at":"2026-09-05T22:39:48"} +{"episode_id":"ep_000075","started_at":"2026-09-05T22:39:51","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_0","position":[0.3967023289939142,-0.6417770122888364,0.71338606911949],"aabb_xy":[[0.3327023275859236,-0.6935659638127611],[0.46070233040190495,-0.5899880607649117]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_1","position":[0.49866535141125357,1.2486821289171073,0.71338606911949],"aabb_xy":[[0.4436731007757427,1.1936821271737945],[0.5536576020467645,1.30368213066042]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_2","position":[0.6668643915997432,-0.8966234191869598,0.71338606911949],"aabb_xy":[[0.6418643923277809,-0.9129687827831221],[0.6918643908717055,-0.8802780555907974]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_3","position":[-0.17297010039234162,1.5362072956806556,0.71338606911949],"aabb_xy":[[-0.2566923258924241,1.4462072921459594],[-0.08924787489225913,1.6262072992153513]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_4","position":[0.6299692865403177,-0.14771318768296426,0.71338606911949],"aabb_xy":[[0.5599692831487556,-0.18302896138639513],[0.6999692899318796,-0.11239741397953341]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_5","position":[-0.20421932107552604,-0.8863875802035892,0.71338606911949],"aabb_xy":[[-0.21063313471871095,-0.8927974004512573],[-0.19780550743234107,-0.8799777599559206]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_6","position":[-0.5727062742262669,-1.3795702977300837,0.71338606911949],"aabb_xy":[[-0.5878784435079002,-1.394739154658287],[-0.5575341049446335,-1.3644014408018803]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_7","position":[-0.0702701435747517,-1.1930526787453528,0.71338606911949],"aabb_xy":[[-0.10456705459249231,-1.227349564955294],[-0.03597323255701106,-1.1587557925354113]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_8","position":[-0.4952591685211273,0.5303184612449168,0.71338606911949],"aabb_xy":[[-0.5127591687661766,0.5128186734053498],[-0.47775916827607784,0.5478182490844835]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_9","position":[0.3915023033378553,0.8999111084805675,0.71338606911949],"aabb_xy":[[0.37633943036091827,0.884745651185449],[0.40666517631479243,0.9150765657756865]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_10","position":[0.22039419667104632,-1.9123394165782228,0.71338606911949],"aabb_xy":[[0.1303941972526754,-1.9457149134224125],[0.3103941960894172,-1.878963919734033]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_11","position":[0.3153513464762385,0.6164381004665387,0.71338606911949],"aabb_xy":[[0.2778513463043666,0.5837373650836314],[0.35285134664811046,0.6491388358494458]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_12","position":[-0.4881214565156101,-1.313317198200935,0.71338606911949],"aabb_xy":[[-0.49553391205699854,-1.319168408622563],[-0.4807090009742216,-1.3074659877793071]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_13","position":[0.23243423652927708,1.604699562937379,0.71338606911949],"aabb_xy":[[0.19652073210428736,1.5687860547206247],[0.2683477409542667,1.6406130711541338]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_14","position":[0.3852481215296726,1.4842181377382748,0.71338606911949],"aabb_xy":[[0.35659878916925625,1.4555725784611986],[0.4138974538900887,1.5128636970153502]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_15","position":[0.6345458952307719,0.8553038079453792,0.71338606911949],"aabb_xy":[[0.5975117858027121,0.8209266006116697],[0.6715800046588316,0.8896810152790885]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_16","position":[0.015617729211245157,-2.3867173173013017,0.71338606911949],"aabb_xy":[[0.011657245441510783,-2.3943851818868223],[0.01957821298097953,-2.379049452715781]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_17","position":[0.21892523720146295,0.965231987194112,0.71338606911949],"aabb_xy":[[0.20124960661286462,0.9475517709147093],[0.2366008677900613,0.9829122034735148]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_18","position":[0.5130718008682535,0.579981892869669,0.71338606911949],"aabb_xy":[[0.4579465952386627,0.5199818914283817],[0.5681970064978442,0.639981894310956]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_19","position":[-0.43243129153503457,-2.3354689810408624,0.71338606911949],"aabb_xy":[[-0.4746157056958653,-2.3994689813180736],[-0.3902468773742038,-2.2714689807636512]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_20","position":[-0.165724223658137,-2.4332097601625047,0.71338606911949],"aabb_xy":[[-0.17300654003480062,-2.5232097637720132],[-0.1584419072814733,-2.3432097565529952]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_21","position":[-0.009526237431609297,0.781651615081365,0.71338606911949],"aabb_xy":[[-0.07452623558752836,0.7553553705314529],[0.05547376072430976,0.8079478596312772]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_22","position":[-0.30058548845217414,-0.9417047436210986,0.71338606911949],"aabb_xy":[[-0.31235367524683166,-1.0267047435263201],[-0.2888173016575166,-0.8567047437158771]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_23","position":[-0.001537658653850582,0.6810370397780461,0.71338606911949],"aabb_xy":[[-0.026537658205589065,0.6708945559129114],[0.0234623408978879,0.6911795236431808]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_24","position":[0.5838989957821732,-2.2358223529971024,0.71338606911949],"aabb_xy":[[0.5576101714617324,-2.262093786651753],[0.6101878201026137,-2.2095509193424507]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7002606163513142,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7468.png","name":"7468"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7468.png","name":"7468"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6086.png","name":"6086"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5724.png","name":"5724"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5527.png","name":"5527"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3199.png","name":"3199"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":806.4500330247222,"rotation_z_degrees":175.7889007264302,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008731819210150472,0.001533039531075829,0.019798032533668814]},{"name":"camera_2","offset_m":[-0.014955682621258277,-0.016607409047086304,0.013219167434594514]},{"name":"camera_3","offset_m":[-0.017313164558498004,-0.010137944225529725,-0.004100029982728463]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0016635113738639508,0.001547952057311338,0.0009489937095423064],"end_effector_yaw_offset_degrees":-0.8202401533786339},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.001320112889471241,0.0013698809125040285,0.0016471713079291026],"end_effector_yaw_offset_degrees":-0.03240290303938176},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0019308169231887194,-0.0012099770894702403,-0.001670186366253943],"end_effector_yaw_offset_degrees":0.2855290108248827},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0015405733678271628,0.0006002291371393609,-0.0018819986152046387],"end_effector_yaw_offset_degrees":-0.4597833032589429}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.002853842120076614,-0.0032919043488194156],"position_m":[0.17714615787992338,-0.036891904348819414,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00037566422831169545,-0.0012243887305198077],"position_m":[0.2723756642283117,-0.36852438873051985,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0012305019490971847,0.0006724940144318889],"position_m":[0.3187694980509028,0.3537724940144319,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0036307150187630567,-0.002194318384840369],"position_m":[0.33486928498123697,0.10630568161515963,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7b174d6f72a5501835e0c93dff32a16d9694154b3389193516305e648cbc8961","episode_index":78,"episode_name":"episode_0078"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0078.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_7468/tex_ceiling_textures_3199/tex_floor_textures_5527/tex_table_textures_6086/tex_wall_textures_5724","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":5227266046286519585,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":5227266046286519585,"visual_seed":5227266046286519585,"scene_id":"lab_003","finished_at":"2026-09-05T22:43:14"} +{"episode_id":"ep_000076","started_at":"2026-09-05T22:43:18","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_0","position":[-0.627975145045443,-0.42758021478918806,0.71338606911949],"aabb_xy":[[-0.6919751457489125,-0.4735985972621092],[-0.5639751443419738,-0.38156183231626717]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_1","position":[0.4788858312589115,-0.7623883899594963,0.71338606911949],"aabb_xy":[[0.39888583018579116,-0.7721664362968808],[0.5588858323320318,-0.7526103436221119]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_2","position":[-0.27520568222572633,-2.268530363006597,0.71338606911949],"aabb_xy":[[-0.35520568088261234,-2.28303522193086],[-0.19520568356884033,-2.254025504082334]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_3","position":[0.2572960604025424,1.0618308427647776,0.71338606911949],"aabb_xy":[[0.19329605711283424,1.0184959237608597],[0.32129606369225044,1.105165761768695]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_4","position":[-0.05662033919565124,0.8247283964966989,0.71338606911949],"aabb_xy":[[-0.13662033620989922,0.8045938448232877],[0.02337965781859675,0.8448629481701102]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_5","position":[-0.3559486293641271,0.12584129237656638,0.71338606911949],"aabb_xy":[[-0.3600645794761997,0.12172573734372086],[-0.35183267925205436,0.12995684740941185]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_6","position":[0.07009892273471496,-1.4041699064270752,0.71338606911949],"aabb_xy":[[0.0663956614055761,-1.407871924735793],[0.07380218406385383,-1.4004678881183574]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_7","position":[-0.5226746925950381,1.24400081059202,0.71338606911949],"aabb_xy":[[-0.5866746911816105,1.1969938471925112],[-0.4586746940084656,1.2910077739915287]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_8","position":[-0.2657452154092467,0.3797561000813632,0.71338606911949],"aabb_xy":[[-0.3257452170521686,0.327755950789419],[-0.20574521376632487,0.43175624937330737]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_9","position":[0.6785202144058666,-1.0324694084186588,0.71338606911949],"aabb_xy":[[0.642606709980877,-1.0683829166354133],[0.7144337188308563,-0.9965559002019041]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_10","position":[0.46445683770278134,-0.5212678707881375,0.71338606911949],"aabb_xy":[[0.4422843107261305,-0.5434435379442607],[0.4866293646794322,-0.49909220363201434]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_11","position":[-0.5913629932833709,1.3886984015933272,0.71338606911949],"aabb_xy":[[-0.6176518176038116,1.3624269679386758],[-0.5650741689629303,1.4149698352479783]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_12","position":[-0.11932814200972008,-1.5024684412192595,0.71338606911949],"aabb_xy":[[-0.17432361983037947,-1.5574684426531662],[-0.06433266418906068,-1.4474684397853523]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_13","position":[0.6294348322462051,0.42994962739814424,0.71338606911949],"aabb_xy":[[0.5951379212284644,0.39565274118820276],[0.6637317432639456,0.4642465136080855]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_14","position":[0.4210966176001325,1.5829658585725759,0.71338606911949],"aabb_xy":[[0.3711235520676171,1.5329658587600432],[0.4710696831326481,1.632965858385109]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_15","position":[0.43500707671373573,1.3165482973962988,0.71338606911949],"aabb_xy":[[0.3975070781381149,1.3038120017327408],[0.47250707528935654,1.3292845930598567]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_16","position":[-0.26491472162767227,-0.4590638001619354,0.71338606911949],"aabb_xy":[[-0.2730283763010493,-0.46716961661596446],[-0.2568010669542951,-0.4509579837079063]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_17","position":[-0.5846816843894804,-2.1308154680547275,0.71338606911949],"aabb_xy":[[-0.6221816859051121,-2.1420422410708726],[-0.5471816828738487,-2.1195886950385825]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_18","position":[-0.3201642330472837,1.222578620504616,0.71338606911949],"aabb_xy":[[-0.37014718323476303,1.1725786208620554],[-0.27018128285980436,1.2725786201471763]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_19","position":[-0.38232428892979653,-1.9247955014505107,0.71338606911949],"aabb_xy":[[-0.46232428608937176,-1.9363431024083277],[-0.3023242917702212,-1.9132479004926937]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_20","position":[0.6850036973281388,0.6125761805156076,0.71338606911949],"aabb_xy":[[0.6779633873946018,0.5325761811159363],[0.6920440072616758,0.6925761799152791]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_21","position":[-0.013123731284605422,1.0788711252273862,0.71338606911949],"aabb_xy":[[-0.10312372778547717,1.0329594828089277],[0.07687626521626632,1.1247827676458442]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_22","position":[0.5146232688943153,-1.2976585180113884,0.71338606911949],"aabb_xy":[[0.4803069917196974,-1.3476585179845662],[0.5489395460689332,-1.2476585180382107]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_23","position":[0.14188269634783623,-1.7352755999073906,0.71338606911949],"aabb_xy":[[0.10438269516304342,-1.7396938226034506],[0.179382697532629,-1.7308573772113296]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_24","position":[0.061496946865583046,1.30205325401145,0.71338606911949],"aabb_xy":[[0.001496946614181871,1.2477719289749851],[0.12149694711698422,1.3563345790479144]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_25","position":[0.5335600039858213,0.0500513747893927,0.71338606911949],"aabb_xy":[[0.5010983031038936,0.01991854267449008],[0.5660217048677485,0.0801842069042953]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_26","position":[-0.19055089054420615,-0.5523980166646449,0.71338606911949],"aabb_xy":[[-0.21245957268355717,-0.5742986834847356],[-0.16864220840485508,-0.5304973498445541]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_27","position":[-0.30452184853319225,-2.561347835800232,0.71338606911949],"aabb_xy":[[-0.31255818323447704,-2.569385955104649],[-0.29648551383190735,-2.553309716495815]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_28","position":[-0.5171097349881936,0.17908786418104894,0.71338606911949],"aabb_xy":[[-0.5546097354855518,0.17511918063293053],[-0.4796097344908353,0.18305654772916735]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_29","position":[-0.6299223801427857,0.2306324784751035,0.71338606911949],"aabb_xy":[[-0.6412841147960717,0.21926401206881538],[-0.6185606454894994,0.24200094488139154]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_30","position":[-0.05955869382337298,-1.8889439772083008,0.71338606911949],"aabb_xy":[[-0.13955869429358894,-1.8972546848226495],[0.02044130664684297,-1.880633269593953]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7025455635918197,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4513.png","name":"4513"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4513.png","name":"4513"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/463.png","name":"463"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1617.png","name":"1617"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4593.png","name":"4593"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9599.png","name":"9599"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":741.9740520433083,"rotation_z_degrees":226.91958373637667,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0031273486975476154,0.01471419855743768,0.004037135340800236]},{"name":"camera_2","offset_m":[-0.0014676756072180518,0.01958001562971323,0.0063243912736233275]},{"name":"camera_3","offset_m":[0.007743564205843861,-0.007992509534511352,-0.01778809067209342]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00033531034491895225,-0.0006690164903059754,-0.0016734353848466377],"end_effector_yaw_offset_degrees":0.876752349811948},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0019223792568321242,-0.0004171441691831221,0.0009167959083237146],"end_effector_yaw_offset_degrees":-0.7245665408610109},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0011712669157445902,0.0016019546399249824,-0.0007413646415214959],"end_effector_yaw_offset_degrees":0.5431587357103473},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0006976821978092454,0.000562905304127042,-0.0018703673797384234],"end_effector_yaw_offset_degrees":0.9647192804811453}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0025422031815462865,0.004570657396211629],"position_m":[0.1825422031815463,-0.02902934260378837,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0014552066338334594,-0.00381824465037369],"position_m":[0.2734552066338335,-0.3711182446503737,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0028799248925879877,0.0042815435984164115],"position_m":[0.322879924892588,0.35738154359841645,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0005911511767800635,0.001828419766040145],"position_m":[0.33790884882322,0.11032841976604015,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"cd777a2a3f2d896dc8f25be13227493e0f5e32d56b568ec8eacdf1bbd567860d","episode_index":79,"episode_name":"episode_0079"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0079.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_4513/tex_ceiling_textures_9599/tex_floor_textures_4593/tex_table_textures_463/tex_wall_textures_1617","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":6896419114000407258,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":6896419114000407258,"visual_seed":6896419114000407258,"scene_id":"lab_003","finished_at":"2026-09-05T22:46:40"} +{"episode_id":"ep_000077","started_at":"2026-09-05T22:46:43","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_0","position":[-0.5059311366607369,-2.0558285226281976,0.71338606911949],"aabb_xy":[[-0.555930411829173,-2.105828523904145],[-0.4559318614923007,-2.005828521352251]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_1","position":[-0.5476740085904661,1.492600252364539,0.71338606911949],"aabb_xy":[[-0.572187632687472,1.4683356590625025],[-0.5231603844934603,1.5168648456665754]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_2","position":[-0.0976312570180573,-0.9609416662353125,0.71338606911949],"aabb_xy":[[-0.14744803648289206,-1.010941664719616],[-0.047814477553222545,-0.9109416677510093]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_3","position":[0.28026268766145634,1.4647777881869657,0.71338606911949],"aabb_xy":[[0.26711144169016704,1.4397777884302791],[0.29341393363274576,1.4897777879436522]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_4","position":[-0.4094042373570131,-1.4354639885371574,0.71338606911949],"aabb_xy":[[-0.4507087804207491,-1.4994639881052745],[-0.3680996942932771,-1.3714639889690403]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_5","position":[0.5984805511813205,-2.240955318289621,0.71338606911949],"aabb_xy":[[0.586712364386663,-2.3259553181948425],[0.610248737975978,-2.1559553183843994]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_6","position":[0.40348287467542465,-2.0643164549660895,0.71338606911949],"aabb_xy":[[0.36918596365768397,-2.0986133411760304],[0.4377797856931652,-2.0300195687561478]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_7","position":[0.572646715919958,-0.9481402977894524,0.71338606911949],"aabb_xy":[[0.5476467159874401,-0.9550229660103758],[0.5976467158524759,-0.9412576295685292]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_8","position":[0.04524906360027747,-2.5622074149148335,0.71338606911949],"aabb_xy":[[-0.03475093686993847,-2.5705181225291818],[0.12524906407049344,-2.5538967073004852]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_9","position":[0.3351066313137223,0.6366604227240713,0.71338606911949],"aabb_xy":[[0.2986108106864435,0.6001764802973136],[0.371602451941001,0.6731443651508288]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_10","position":[-0.20928780903742283,-0.1294533997875833,0.71338606911949],"aabb_xy":[[-0.2163292599881704,-0.13648015152537785],[-0.2022463580866752,-0.12242664804978876]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_11","position":[0.06484925625619431,-1.4133185834845674,0.71338606911949],"aabb_xy":[[-0.025150740479415915,-1.4665020468018617],[0.15484925299180452,-1.3601351201672727]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_12","position":[0.22486079860998276,-2.2901263112161603,0.71338606911949],"aabb_xy":[[0.21298871559848162,-2.3751263109098106],[0.23673288162148384,-2.20512631152251]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_13","position":[-0.11876513457046856,0.37162815155254636,0.71338606911949],"aabb_xy":[[-0.14067381670981957,0.3497274847324556],[-0.09685645243111748,0.39352881837263703]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_14","position":[-0.47155656820608266,0.3137243413544515,0.71338606911949],"aabb_xy":[[-0.5090565666294831,0.30056012738662086],[-0.4340565697826823,0.3268885553222821]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_15","position":[0.5085634595144801,-0.6341185515501422,0.71338606911949],"aabb_xy":[[0.49340058653754304,-0.649284008845261],[0.5237263324914172,-0.6189530942550235]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_16","position":[-0.25348176623537955,-1.6409475794844623,0.71338606911949],"aabb_xy":[[-0.308481765411969,-1.6959372542594198],[-0.19848176705879,-1.5859579047095045]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_17","position":[-0.049037290658153876,-2.0148343789117584,0.71338606911949],"aabb_xy":[[-0.08653729132273257,-2.03052143691198],[-0.011537289993575171,-1.999147320911536]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_18","position":[-0.4019349588259151,1.564683489383213,0.71338606911949],"aabb_xy":[[-0.43192662155978545,1.5346834900464126],[-0.3719432960920448,1.5946834887200136]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_19","position":[0.47567849765538694,0.2267657390526585,0.71338606911949],"aabb_xy":[[0.4696414846547224,0.2207390379837104],[0.48171551065605184,0.2327924401216068]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_20","position":[0.060757796089489835,-1.7887019893001366,0.71338606911949],"aabb_xy":[[0.038257796565782425,-1.811197936750757],[0.08325779561319722,-1.7662060418495154]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_21","position":[-0.6252668507863535,-1.0588450494154906,0.71338606911949],"aabb_xy":[[-0.6602668521378351,-1.0792047853723112],[-0.5902668494348716,-1.0384853134586696]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_22","position":[-0.05685919654776017,0.9654434546698782,0.71338606911949],"aabb_xy":[[-0.09904361070859091,0.901443454392667],[-0.014674782386929437,1.0294434549470894]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_23","position":[-0.22680686522254767,-2.265163287126083,0.71338606911949],"aabb_xy":[[-0.29680686735397716,-2.2879252527517786],[-0.15680686309111808,-2.242401321500387]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_24","position":[0.4403636899804928,1.1960750674345015,0.71338606911949],"aabb_xy":[[0.3753636889799923,1.1452887022798266],[0.5053636909809933,1.2468614325891765]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6967828365786101,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9275.png","name":"9275"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9275.png","name":"9275"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2625.png","name":"2625"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8706.png","name":"8706"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9629.png","name":"9629"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4109.png","name":"4109"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":838.5486464271182,"rotation_z_degrees":23.823136438988183,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.019628150388378476,-0.0007947447021820278,-0.002031895187143508]},{"name":"camera_2","offset_m":[0.01876590707563845,-0.015200462647404068,0.007977667526048633]},{"name":"camera_3","offset_m":[0.01472433747122506,-0.017690036925434846,-0.014200082096574107]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-3.7179600515447296e-05,-0.0015806706256465165,-0.0017066121447672775],"end_effector_yaw_offset_degrees":0.6444659257523595},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0011122977435268668,-0.0006674710786305487,0.0008666175180314611],"end_effector_yaw_offset_degrees":0.48021328592201407},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0012896479402491133,-0.0012595937458407267,0.0016107294294347685],"end_effector_yaw_offset_degrees":-0.7271477509209234},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0011617487067937336,0.00022318123447997214,0.0009569995841443367],"end_effector_yaw_offset_degrees":0.00019957008852267144}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0006305504527605588,0.004335376951277447],"position_m":[0.18063055045276055,-0.02926462304872255,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0011056339373387613,0.0030013091382243536],"position_m":[0.27089436606266126,-0.3642986908617757,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0017909078406300157,-0.0002154754692107238],"position_m":[0.32179090784063,0.3528845245307893,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004037210610100153,0.0033736916358230997],"position_m":[0.3425372106101002,0.1118736916358231,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"bdfe5c81e41a4a059297d28f3788393278dbb570e13be6f01cc66707dde7a4ba","episode_index":80,"episode_name":"episode_0080"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0080.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_9275/tex_ceiling_textures_4109/tex_floor_textures_9629/tex_table_textures_2625/tex_wall_textures_8706","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":7413334733526309849,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":7413334733526309849,"visual_seed":7413334733526309849,"scene_id":"lab_003","finished_at":"2026-09-05T22:50:23"} +{"episode_id":"ep_000078","started_at":"2026-09-05T22:50:27","dimensions":{"distractor":{"count":32,"items":[{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_0","position":[-0.5830238983906243,0.9608410324286973,0.71338606911949],"aabb_xy":[[-0.6001259763489925,0.9437342268974276],[-0.5659218204322561,0.9779478379599671]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_1","position":[-0.08217246152566926,1.5433594134582633,0.71338606911949],"aabb_xy":[[-0.11902300946265687,1.5058594126352296],[-0.04532191358868165,1.580859414281297]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_2","position":[-0.17086553662998338,-0.57336876324965,0.71338606911949],"aabb_xy":[[-0.22849600551725419,-0.6333687621763605],[-0.1132350677427125,-0.5133687643229393]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_3","position":[0.27354548567915493,-2.0311533782689897,0.71338606911949],"aabb_xy":[[0.23229667464924017,-2.0861533777812067],[0.3147942967090696,-1.976153378756772]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_4","position":[-0.1862366209743339,-1.3981227869785222,0.71338606911949],"aabb_xy":[[-0.25023661825998256,-1.4396295059313662],[-0.12223662368868526,-1.3566160680256782]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_5","position":[-0.41310873296419304,-0.8996302080450012,0.71338606911949],"aabb_xy":[[-0.5031087352982121,-0.9771125626301137],[-0.323108730630174,-0.8221478534598884]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_6","position":[0.5333103689603549,1.4859197528397705,0.71338606911949],"aabb_xy":[[0.49831036898385905,1.476455136792154],[0.5683103689368507,1.4953843688873871]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_7","position":[0.19725772882389814,-0.6314868751905098,0.71338606911949],"aabb_xy":[[0.18684617014341437,-0.6368326085264082],[0.2076692875043818,-0.6261411418546112]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_8","position":[-0.4214292456173539,1.4624911093128552,0.71338606911949],"aabb_xy":[[-0.4365921185942911,1.4473256520177367],[-0.40626637264041693,1.4776565666079742]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_9","position":[0.21313718185882014,-1.5943273204774782,0.71338606911949],"aabb_xy":[[0.19062349003536294,-1.6643273210784857],[0.23565087368227733,-1.5243273198764706]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_10","position":[0.4096961269838497,1.25411351219245,0.71338606911949],"aabb_xy":[[0.34569613058827664,1.1901502237737163],[0.4736961233794228,1.3180768006111834]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_11","position":[-0.06365123157695396,-2.1623209508246943,0.71338606911949],"aabb_xy":[[-0.07177891977026718,-2.171234559235402],[-0.05552354338364074,-2.1534073424139866]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_12","position":[0.48134728224894463,0.6239872181528292,0.71338606911949],"aabb_xy":[[0.44634728089746295,0.6036274821960085],[0.5163472836004264,0.6443469541096501]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_13","position":[0.3297832101105995,-0.7314946520318895,0.71338606911949],"aabb_xy":[[0.2657832080608675,-0.7715891351211973],[0.3937832121603315,-0.6914001689425814]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_14","position":[-0.330379687264758,-0.28829988100469484,0.71338606911949],"aabb_xy":[[-0.3549259028875087,-0.3185487775537319],[-0.30583347164200725,-0.2580509844556578]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_15","position":[-0.05493830820982748,-2.286109570758921,0.71338606911949],"aabb_xy":[[-0.119938309210328,-2.3368959359135957],[0.010061692790673045,-2.235323205604246]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_16","position":[0.5732190511135931,0.10943336569758921,0.71338606911949],"aabb_xy":[[0.5092190507360594,0.05968809884677695],[0.6372190514911267,0.15917863254840148]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_17","position":[-0.15974631303903364,1.8188630467338869,0.71338606911949],"aabb_xy":[[-0.1972463142238264,1.8144448240378264],[-0.12224631185424083,1.8232812694299474]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_18","position":[-0.4398334936115268,0.02432695230939963,0.71338606911949],"aabb_xy":[[-0.4572642086905332,0.007054837645548816],[-0.4224027785325202,0.041599066973250436]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_19","position":[0.13950243960184694,1.7238634179294077,0.71338606911949],"aabb_xy":[[0.1270350814921113,1.7113980932960844],[0.1519697977115826,1.7363287425627314]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_20","position":[0.49914796063600253,0.8952202366430511,0.71338606911949],"aabb_xy":[[0.4769754336593516,0.8730445694869277],[0.5213204876126533,0.917395903799174]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_21","position":[0.1290786846070363,1.3366835743509222,0.71338606911949],"aabb_xy":[[0.0740786854304468,1.2816938995759644],[0.18407868378362577,1.3916732491258796]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_22","position":[0.30673456590603565,-2.28519137610426,0.71338606911949],"aabb_xy":[[0.2567345642445409,-2.335189818359962],[0.3567345675675304,-2.2351929338485568]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_23","position":[-0.4153684496034507,-0.6829306595041393,0.71338606911949],"aabb_xy":[[-0.47034217163978365,-0.7379306590683725],[-0.3603947275671179,-0.6279306599399062]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_24","position":[0.017973689790641956,-1.269809046757213,0.71338606911949],"aabb_xy":[[-0.06202631163948524,-1.3493262017698224],[0.09797369122076915,-1.1902918917446035]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_25","position":[0.6021844949685122,-1.7314990287842802,0.71338606911949],"aabb_xy":[[0.5121844982329019,-1.7846824921015747],[0.6921844917041223,-1.6783155654669857]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_26","position":[-0.13574286968776528,0.4261629467983945,0.71338606911949],"aabb_xy":[[-0.14170940862850107,0.42020180213903047],[-0.1297763307470295,0.43212409145775854]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_27","position":[0.3873900723707906,-0.9851869778757008,0.71338606911949],"aabb_xy":[[0.3323978217352797,-1.0401869796190137],[0.44238232300630165,-0.9301869761323881]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_28","position":[0.6210920577858852,-2.455992727439555,0.71338606911949],"aabb_xy":[[0.541092056712765,-2.4657707737769394],[0.7010920588590056,-2.4462146811021706]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_29","position":[-0.6171731417868263,-2.3047418175449996,0.71338606911949],"aabb_xy":[[-0.6509487009775192,-2.318780312758164],[-0.5833975825961333,-2.2907033223318343]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_30","position":[-0.20289290392984954,1.5364481375266874,0.71338606911949],"aabb_xy":[[-0.20702876026254977,1.4989481380823304],[-0.19875704759714938,1.5739481369710444]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_31","position":[0.4233859235270938,0.3097223005246805,0.71338606911949],"aabb_xy":[[0.4033275119138535,0.289657213615523],[0.4434443351403341,0.32978738743383806]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7016791544499517,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2452.png","name":"2452"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2452.png","name":"2452"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5689.png","name":"5689"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6497.png","name":"6497"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6987.png","name":"6987"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1954.png","name":"1954"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":673.684135019671,"rotation_z_degrees":16.64188224135424,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013137726931227719,-0.0019507192662976194,0.006567946126328144]},{"name":"camera_2","offset_m":[0.016134359768050482,0.0012451864395259145,-0.01779036928219727]},{"name":"camera_3","offset_m":[-0.009225343760926706,0.003137389964933148,-0.00849010853653445]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001431869838338046,-0.001679013784713009,-0.000638897874538937],"end_effector_yaw_offset_degrees":-0.445424206480892},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0001848022572340552,0.00046023331039810305,0.00026808906852490494],"end_effector_yaw_offset_degrees":-0.08171617283401345},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0014179077644729489,-0.00198731017795851,-0.00023325010038550737],"end_effector_yaw_offset_degrees":-0.5115457393412206},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005091589784047459,4.803870587905077e-05,-0.001355857838889416],"end_effector_yaw_offset_degrees":0.9661922044191842}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0023208897553414444,-0.0024849416257509307],"position_m":[0.18232088975534144,-0.036084941625750926,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001067921484297834,-0.002800027995870773],"position_m":[0.27306792148429787,-0.3701000279958708,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[6.305241056438725e-05,-0.0034760244458810962],"position_m":[0.3200630524105644,0.34962397555411895,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0032334103635480106,-0.00475020189904378],"position_m":[0.335266589636452,0.10374979810095622,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"76ced9af0ff7bc5eca31fef02bfbec710e9397ef8b2586041d25c78a02757310","episode_index":81,"episode_name":"episode_0081"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0081.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_2452/tex_ceiling_textures_1954/tex_floor_textures_6987/tex_table_textures_5689/tex_wall_textures_6497","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":8360686270392724833,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":8360686270392724833,"visual_seed":8360686270392724833,"scene_id":"lab_003","finished_at":"2026-09-05T22:54:09"} +{"episode_id":"ep_000079","started_at":"2026-09-05T22:54:13","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_0","position":[-0.04886971084922531,-2.5620337162543287,0.71338606911949],"aabb_xy":[[-0.07104223782587615,-2.584209383410452],[-0.02669718387257447,-2.5398580490982057]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_1","position":[0.49084649481493825,-1.4727649142933539,0.71338606911949],"aabb_xy":[[0.45334649446671044,-1.4845563098744372],[0.528346495163166,-1.46097351871227]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_2","position":[-0.05823794889383482,0.7725789756078383,0.71338606911949],"aabb_xy":[[-0.09948675992374956,0.7175789760956206],[-0.016989137863920093,0.8275789751200555]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_3","position":[-0.24201072356091113,0.5758148824754019,0.71338606911949],"aabb_xy":[[-0.3316977998690266,0.48581488222095126],[-0.15232364725279568,0.6658148827298523]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_4","position":[-0.3147266562713711,-2.44936031589736,0.71338606911949],"aabb_xy":[[-0.324482645780545,-2.459122849956594],[-0.3049706667621972,-2.439597781838125]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_5","position":[0.22556987848655263,1.4609035494886924,0.71338606911949],"aabb_xy":[[0.20645757112857377,1.4417687706114504],[0.2446821858445315,1.4800383283659344]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_6","position":[-0.5217561597771874,-1.843161041993965,0.71338606911949],"aabb_xy":[[-0.5688855387790229,-1.9071610430383668],[-0.4746267807753516,-1.7791610409495628]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_7","position":[-0.05608710804594119,-0.781609136275917,0.71338606911949],"aabb_xy":[[-0.07858710756964857,-0.8041050837265377],[-0.033587108522233775,-0.7591131888252961]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_8","position":[0.09532525483231458,-1.240031262741274,0.71338606911949],"aabb_xy":[[0.06748021805170747,-1.2708157614795856],[0.12317029161292171,-1.2092467640029623]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_9","position":[-0.6145614725098361,-0.25110259278451785,0.71338606911949],"aabb_xy":[[-0.6520614709332364,-0.2642668067523484],[-0.5770614740864357,-0.23793837881668717]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_10","position":[0.4779340613246905,0.4966935598184228,0.71338606911949],"aabb_xy":[[0.45804302144435033,0.48403774853372594],[0.4978251012050308,0.5093493711031196]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_11","position":[0.1408270983341291,-1.5741581963231939,0.71338606911949],"aabb_xy":[[0.11453827401368842,-1.600429629977845],[0.16711592265456973,-1.5478867626685426]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_12","position":[0.2647590960827295,0.5786893051631821,0.71338606911949],"aabb_xy":[[0.22975909618671067,0.570315069651242],[0.2997590959787484,0.5870635406751219]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_13","position":[0.3121207866689124,1.6871888476095935,0.71338606911949],"aabb_xy":[[0.2778238756511717,1.652891961399652],[0.346417697686653,1.7214857338195346]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_14","position":[0.10721863643691065,1.6583614546909975,0.71338606911949],"aabb_xy":[[0.01721863993603889,1.612449812272539],[0.19721863293778238,1.7042730971094555]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_15","position":[-0.4851372063708105,-1.119262904059084,0.71338606911949],"aabb_xy":[[-0.5351105003740708,-1.1692629046136314],[-0.43516391236755,-1.0692629035045367]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_16","position":[-0.07197038937071198,0.47782723090795587,0.71338606911949],"aabb_xy":[[-0.08484229287165213,0.39782723049411967],[-0.05909848586977185,0.5578272313217919]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_17","position":[-0.5306909969196398,0.9859081955559041,0.71338606911949],"aabb_xy":[[-0.594690996213808,0.92192205518705],[-0.4666909976254716,1.0498943359247583]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_18","position":[0.040804242405451774,-2.1287024095025506,0.71338606911949],"aabb_xy":[[-0.014195756771137713,-2.183692084277508],[0.09580424158204126,-2.0737127347275925]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_19","position":[0.5363260104804153,0.07747421441891555,0.71338606911949],"aabb_xy":[[0.4563260130768218,-0.002518356779267247],[0.6163260078840086,0.15746678561709837]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_20","position":[0.5002645014035936,-2.1094433783003494,0.71338606911949],"aabb_xy":[[0.4777645011600783,-2.121648012960122],[0.5227645016471091,-2.097238743640578]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_21","position":[-0.5727954669724971,-0.9102154122407744,0.71338606911949],"aabb_xy":[[-0.5902954672175463,-0.927715200080341],[-0.5552954667274476,-0.8927156244012073]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_22","position":[-0.22486459826976274,-0.4070770479489929,0.71338606911949],"aabb_xy":[[-0.31486460194668087,-0.4685094545260971],[-0.13486459459284453,-0.34564464137188844]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6993492378388797,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2724.png","name":"2724"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2724.png","name":"2724"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8230.png","name":"8230"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2324.png","name":"2324"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1456.png","name":"1456"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/952.png","name":"952"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":639.4433759718767,"rotation_z_degrees":162.18653824730404,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006318267959057319,0.00900807238904128,-0.012464857656451282]},{"name":"camera_2","offset_m":[-0.01602726226832319,0.016119173141521333,0.0036041675591454297]},{"name":"camera_3","offset_m":[0.014139977730768773,-0.006927077709462463,-0.002927921148192604]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0008240934272089268,-0.00019102174532175027,0.0004710656814789745],"end_effector_yaw_offset_degrees":-0.4436760146143903},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0005769222633290939,-0.0007618152986133744,0.0015555792344411042],"end_effector_yaw_offset_degrees":-0.8952779080439341},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00098013356455323,0.0016650864708710154,0.0007705425760081448],"end_effector_yaw_offset_degrees":0.41231162171207214},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006305791835924809,-0.00045498626115441265,0.0016530057472490087],"end_effector_yaw_offset_degrees":-0.8083152783876904}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.003761350837725036,-0.004677870347651395],"position_m":[0.17623864916227497,-0.03827787034765139,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00011095543704887825,8.094065637071976e-05],"position_m":[0.2721109554370489,-0.3672190593436293,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002835630515109517,0.004492320404559577],"position_m":[0.32283563051510955,0.3575923204045596,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002439846208144352,-0.004730321985130618],"position_m":[0.33606015379185566,0.10376967801486939,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1362ba84a4fbe9fc4848a26e6096520811f96d6a3d48ba21f612d9c90c4e1e71","episode_index":82,"episode_name":"episode_0082"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0082.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_2724/tex_ceiling_textures_952/tex_floor_textures_1456/tex_table_textures_8230/tex_wall_textures_2324","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":9072576043996170456,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":9072576043996170456,"visual_seed":9072576043996170456,"scene_id":"lab_003","finished_at":"2026-09-05T22:57:46"} +{"episode_id":"ep_000080","started_at":"2026-09-05T22:57:49","dimensions":{"distractor":{"count":32,"items":[{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_0","position":[0.022097337621526214,1.25679555676719,0.71338606911949],"aabb_xy":[[-0.057902663808600985,1.1772784017545805],[0.10209733905165341,1.3363127117797995]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_1","position":[-0.3113745863148331,1.2436113067079613,0.71338606911949],"aabb_xy":[[-0.37537458953347097,1.196888194808953],[-0.24737458309619526,1.2903344186069696]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_2","position":[-0.42006555573503307,0.6117515747978812,0.71338606911949],"aabb_xy":[[-0.4287635180257484,0.5996266004904065],[-0.41136759344431784,0.623876549105356]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_3","position":[0.5407473360787045,-0.07050860161288108,0.71338606911949],"aabb_xy":[[0.4908646392010083,-0.12050860085915584],[0.5906300329564007,-0.020508602366606333]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_4","position":[0.7043091860383459,1.055505689801533,0.71338606911949],"aabb_xy":[[0.687398453602004,1.042033484208918],[0.7212199184746876,1.0689778953941473]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_5","position":[-0.6700403985408622,-0.4374063773245407,0.71338606911949],"aabb_xy":[[-0.6950403980926007,-0.44754886118967535],[-0.6450403989891237,-0.4272638934594059]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_6","position":[-0.6008196875982336,-0.8426015330137842,0.71338606911949],"aabb_xy":[[-0.6047335607936561,-0.8513505484203407],[-0.596905814402811,-0.8338525176072271]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_7","position":[-0.2930158377773912,0.5383580857086256,0.71338606911949],"aabb_xy":[[-0.3254775386593186,0.5082252535937228],[-0.2605541368954637,0.568490917823528]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_8","position":[0.13960921955155703,-2.389419533858675,0.71338606911949],"aabb_xy":[[0.04960921982838284,-2.412492886393854],[0.22960921927473119,-2.3663461813234945]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_9","position":[0.38915493378965405,-1.8945816009633192,0.71338606911949],"aabb_xy":[[0.38419891360477293,-1.917081601165441],[0.39411095397453527,-1.8720816007611978]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_10","position":[0.2590890377590487,-0.8558952368283586,0.71338606911949],"aabb_xy":[[0.25184527171280335,-0.9358952350319609],[0.266332803805294,-0.7758952386247562]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_11","position":[0.18551496896092423,-1.1692044096647258,0.71338606911949],"aabb_xy":[[0.17622135072377362,-1.2067044081528597],[0.19480858719807478,-1.131704411176592]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_12","position":[0.07598482742988255,1.7623571726623202,0.71338606911949],"aabb_xy":[[0.050984827497364674,1.755474504441397],[0.10098482736240046,1.7692398408832437]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_13","position":[-0.30838716287591755,1.7347746457432947,0.71338606911949],"aabb_xy":[[-0.35838716453741226,1.6847762034875915],[-0.25838716121442273,1.784773087998997]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_14","position":[0.1803149460748119,-2.0072554063841355,0.71338606911949],"aabb_xy":[[0.14281494455918017,-2.01848217940028],[0.2178149475904436,-1.99602863336799]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_15","position":[0.14717145933578468,-1.8863728826736879,0.71338606911949],"aabb_xy":[[0.08217145837865748,-1.9383210946073937],[0.2121714602929119,-1.8344246707399825]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_16","position":[0.46216436251171666,-0.69989757428283,0.71338606911949],"aabb_xy":[[0.44969700440198107,-0.7123628989161535],[0.47463172062145237,-0.6874322496495064]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_17","position":[-0.5027820667853122,-0.9638941390908837,0.71338606911949],"aabb_xy":[[-0.5162285934193556,-0.977363990743975],[-0.4893355401512689,-0.9504242874377925]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_18","position":[0.32585500679012136,-2.0210797725068677,0.71338606911949],"aabb_xy":[[0.2848370634037505,-2.071079773137825],[0.36687295017649224,-1.9710797718759103]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_19","position":[-0.10396053228420055,-0.7633542585296687,0.71338606911949],"aabb_xy":[[-0.16796052958654695,-0.8077206854975254],[-0.039960534981854146,-0.7189878315618119]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_20","position":[-0.007822891023626877,-2.1731845417097917,0.71338606911949],"aabb_xy":[[-0.012722183330190371,-2.20086146101236],[-0.0029235987170633786,-2.1455076224072225]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_21","position":[0.4858513048043145,-1.175538919035454,0.71338606911949],"aabb_xy":[[0.42185130246151287,-1.2204797702795864],[0.5498513071471159,-1.1305980677913214]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_22","position":[-0.11008529456978045,0.2219292428503894,0.71338606911949],"aabb_xy":[[-0.1740852937395504,0.17516255573142692],[-0.0460852954000105,0.2686959299693519]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_23","position":[-0.2075152675037062,-0.5769983781562487,0.71338606911949],"aabb_xy":[[-0.2875152679739222,-0.585309085770597],[-0.12751526703349028,-0.5686876705419003]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_24","position":[0.008068572554751574,-2.082675451162898,0.71338606911949],"aabb_xy":[[-0.014431427259150809,-2.087150067533379],[0.030568572368653957,-2.078200834792418]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_25","position":[0.6459452467687326,-1.1466067238276374,0.71338606911949],"aabb_xy":[[0.6084452464205048,-1.1583981194087207],[0.6834452471169603,-1.1348153282465536]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_26","position":[0.3424332509446808,-0.6040596204710929,0.71338606911949],"aabb_xy":[[0.28744100030916986,-0.6590596222144056],[0.3974255015801918,-0.5490596187277801]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_27","position":[0.1233107465006914,1.5273963447314434,0.71338606911949],"aabb_xy":[[0.08581074792507058,1.5146600490678854],[0.16081074507631218,1.5401326403950013]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_28","position":[0.6500301019302164,-1.9785996684980358,0.71338606911949],"aabb_xy":[[0.6403984657097866,-1.9882369812777447],[0.6596617381506459,-1.968962355718327]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_29","position":[0.38366003673086535,-1.6134858016832592,0.71338606911949],"aabb_xy":[[0.3677755434655402,-1.6278387419820832],[0.3995445299961905,-1.5991328613844351]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_30","position":[0.19673111328208315,-0.5822602223666284,0.71338606911949],"aabb_xy":[[0.18792905797311044,-0.5900715485215574],[0.20553316859105586,-0.5744488962116993]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_31","position":[0.35941700861942727,-1.4690654691357574,0.71338606911949],"aabb_xy":[[0.3094170090430926,-1.5190460480878634],[0.40941700819576204,-1.4190848901836515]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6989190557014754,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3679.png","name":"3679"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3679.png","name":"3679"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5887.png","name":"5887"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6016.png","name":"6016"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9279.png","name":"9279"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3197.png","name":"3197"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":812.8423139793629,"rotation_z_degrees":331.89770171824784,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008484053723474404,-0.018309284852465586,-0.005090184026543376]},{"name":"camera_2","offset_m":[0.01824370209079752,-0.010120504684683866,-0.008199734451501657]},{"name":"camera_3","offset_m":[-0.01773871243520978,-0.0019210796354218844,0.013372295445216047]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001166766161404495,0.0005720533866385596,-0.000547567019535013],"end_effector_yaw_offset_degrees":0.8412887142871843},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0014646779620432048,0.0014282018333492538,-0.0009590798536876152],"end_effector_yaw_offset_degrees":0.9371986813817037},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-1.2625206423332036e-06,-0.0006380408274621675,-0.0009518000760682815],"end_effector_yaw_offset_degrees":0.6050234019468925},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008063226648383584,-0.0010688564750395745,0.0005029654765176207],"end_effector_yaw_offset_degrees":-0.7717509331586316}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.002168513204960665,0.0016021002433110852],"position_m":[0.18216851320496066,-0.031997899756688916,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0025166069387968604,-0.0033333648426532403],"position_m":[0.26948339306120317,-0.37063336484265325,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0035678284508669474,0.0020849181385013474],"position_m":[0.32356782845086696,0.3551849181385014,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0008624213368665853,0.0017235921864116998],"position_m":[0.3393624213368666,0.1102235921864117,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"bf8812d0351f2fff2a6dcd82e2875e9535a9106d2b1a0a702d98ea35b189c5d6","episode_index":83,"episode_name":"episode_0083"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0083.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_3679/tex_ceiling_textures_3197/tex_floor_textures_9279/tex_table_textures_5887/tex_wall_textures_6016","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":1979455111660502827,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":1979455111660502827,"visual_seed":1979455111660502827,"scene_id":"lab_003","finished_at":"2026-09-05T23:01:26"} +{"episode_id":"ep_000081","started_at":"2026-09-05T23:01:30","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_0","position":[-0.08062497088024712,-0.8456591739854293,0.71338606911949],"aabb_xy":[[-0.14462497310065414,-0.8900322581107176],[-0.01662496865984009,-0.801286089860141]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_1","position":[0.26948796851608725,-2.491583018551555,0.71338606911949],"aabb_xy":[[0.2645886762095237,-2.519259937854123],[0.2743872608226507,-2.4639060992489856]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_2","position":[-0.1340177470942352,-0.05854061609770511,0.71338606911949],"aabb_xy":[[-0.15151768052821854,-0.07604061601793966],[-0.1165178136602518,-0.04104061617747056]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_3","position":[-0.5772347709782591,-1.0949087034699894,0.71338606911949],"aabb_xy":[[-0.6272347696241803,-1.1448282471294517],[-0.527234772332338,-1.044989159810527]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_4","position":[-0.37207844442098703,-2.116803763729213,0.71338606911949],"aabb_xy":[[-0.3896567466099339,-2.134378253303318],[-0.3545001422320402,-2.099229274155108]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_5","position":[0.5560067015176249,-0.9940812144315994,0.71338606911949],"aabb_xy":[[0.49100670051712425,-1.0448675795862745],[0.6210067025181253,-0.9432948492769245]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_6","position":[-0.5457157427323398,0.7628326759983586,0.71338606911949],"aabb_xy":[[-0.5551332173022026,0.7534164988606395],[-0.536298268162477,0.7722488531360776]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_7","position":[0.48279608269147123,-0.6220025130468696,0.71338606911949],"aabb_xy":[[0.44529608202689247,-0.6376895710470917],[0.5202960833560498,-0.6063154550466473]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_8","position":[0.497272886143004,-1.3427756943704448,0.71338606911949],"aabb_xy":[[0.4332728875564315,-1.3897826577699532],[0.5612728847295765,-1.2957687309709358]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_9","position":[-0.38886141543144165,0.647965729906379,0.71338606911949],"aabb_xy":[[-0.43385400214989206,0.6029657306319302],[-0.34386882871299124,0.6929657291808277]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_10","position":[-0.588019081258955,0.9103262461896775,0.71338606911949],"aabb_xy":[[-0.6230190803889105,0.9045810251140135],[-0.5530190821289992,0.9160714672653417]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_11","position":[-0.42786873086759225,0.45030923177194726,0.71338606911949],"aabb_xy":[[-0.45036873111110765,0.4381045971121754],[-0.40536873062407686,0.4625138664317193]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_12","position":[-0.1250748182186826,1.3494657322865087,0.71338606911949],"aabb_xy":[[-0.14095931148400775,1.3351127919876846],[-0.10919032495335745,1.3638186725853327]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_13","position":[0.3172924874692977,-1.5590626898668536,0.71338606911949],"aabb_xy":[[0.3133320036995634,-1.5667305544523742],[0.32125297123903207,-1.551394825281333]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_14","position":[-0.5802035100988654,0.04722142105222016,0.71338606911949],"aabb_xy":[[-0.6187492029240664,0.008675649996031501],[-0.5416578172736644,0.08576719210840882]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_15","position":[-0.5419059918987014,-0.3242571711586977,0.71338606911949],"aabb_xy":[[-0.6069059900546204,-0.3505534157086099],[-0.4769059937427823,-0.2979609266087855]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_16","position":[-0.375211350517763,-2.4595624958089184,0.71338606911949],"aabb_xy":[[-0.43021134871950784,-2.500084462435356],[-0.32021135231601816,-2.419040529182481]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_17","position":[-0.3536761819390565,1.4125078946530163,0.71338606911949],"aabb_xy":[[-0.3871553492000974,1.3790287812819093],[-0.32019701467801553,1.4459870080241233]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_18","position":[0.1562520408051551,1.6418811386355814,0.71338606911949],"aabb_xy":[[0.10625892869596323,1.5918811379613862],[0.20624515291434703,1.6918811393097775]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_19","position":[0.22700180345060095,-1.287251304360093,0.71338606911949],"aabb_xy":[[0.21385055747931164,-1.3122513041167796],[0.24015304942189036,-1.2622513046034065]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_20","position":[0.21083627225599266,1.2933597221403952,0.71338606911949],"aabb_xy":[[0.16083627123685743,1.2568935064025673],[0.260836273275128,1.3298259378782231]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_21","position":[-0.4982183158417934,-1.9087841821049603,0.71338606911949],"aabb_xy":[[-0.5357183157855598,-1.9170772721397968],[-0.46071831589802703,-1.9004910920701237]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_22","position":[-0.5455896906424427,1.027639270119657,0.71338606911949],"aabb_xy":[[-0.6105896891995155,0.9978867367057747],[-0.48058969208536984,1.05739180353354]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_23","position":[-0.46556596384188564,-1.5768027612695916,0.71338606911949],"aabb_xy":[[-0.49553352075171136,-1.6068027615674776],[-0.43559840693206003,-1.546802760971706]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_24","position":[-0.5205717201801539,-0.08938045000923811,0.71338606911949],"aabb_xy":[[-0.533802665714835,-0.10260786903123752],[-0.5073407746454724,-0.07615303098723868]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_25","position":[-0.401838264030774,1.3316497984149853,0.71338606911949],"aabb_xy":[[-0.4081503635671125,1.3258828591617662],[-0.3955261644944356,1.337416737668204]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_26","position":[-0.09779940079185612,-0.6932641907851045,0.71338606911949],"aabb_xy":[[-0.11600522445310381,-0.7042895913670961],[-0.07959357713060845,-0.6822387902031128]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_27","position":[0.5284685917518044,1.5842187236803613,0.71338606911949],"aabb_xy":[[0.4644685884620963,1.5408838046764435],[0.5924685950415125,1.6275536426842787]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_28","position":[0.24595965055573177,-1.7034710341092194,0.71338606911949],"aabb_xy":[[0.1659596502821248,-1.7764205819349361],[0.32595965082933875,-1.6305214862835027]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.697663196036969,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/37.png","name":"37"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/37.png","name":"37"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9298.png","name":"9298"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9376.png","name":"9376"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/451.png","name":"451"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1372.png","name":"1372"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":616.4517743612648,"rotation_z_degrees":101.23829664014382,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011354880496266432,-0.00381379454796036,-0.005624692968644811]},{"name":"camera_2","offset_m":[-0.01012844598451841,-0.012021010649826747,-0.0037221167750397036]},{"name":"camera_3","offset_m":[-0.01655898664913777,-0.014659329118338466,0.0032972241657137635]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00025902875763258006,-0.001052492851021897,-0.0009476534366742344],"end_effector_yaw_offset_degrees":0.7713452407992927},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0013576395168361714,-0.0014745616311421664,-0.00016780694999983482],"end_effector_yaw_offset_degrees":0.6866966904688334},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0016674478087608932,0.0012274267923275467,0.00013032160511658626],"end_effector_yaw_offset_degrees":-0.20726683892207864},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001291746062308694,0.0014829497296575795,-0.001238423244386592],"end_effector_yaw_offset_degrees":-0.2950915481851555}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0039738030922142255,0.003132195174935474],"position_m":[0.17602619690778576,-0.030467804825064525,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004581676520517976,-0.004261846673258481],"position_m":[0.267418323479482,-0.3715618466732585,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0016697496608858299,-0.0028701314224811826],"position_m":[0.31833025033911416,0.35022986857751887,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004568110689847477,-0.004835776005601073],"position_m":[0.3430681106898475,0.10366422399439892,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"2d6c307f5b2fda3f82a7cdd6402fc3a89bce978f82ef8cbfbf959038bc0dd7a2","episode_index":84,"episode_name":"episode_0084"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0084.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_37/tex_ceiling_textures_1372/tex_floor_textures_451/tex_table_textures_9298/tex_wall_textures_9376","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":1083342238817409849,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":1083342238817409849,"visual_seed":1083342238817409849,"scene_id":"lab_003","finished_at":"2026-09-05T23:04:58"} +{"episode_id":"ep_000082","started_at":"2026-09-05T23:05:02","dimensions":{"distractor":{"count":28,"items":[{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_0","position":[0.6341745992038756,-0.8763182952741346,0.71338606911949],"aabb_xy":[[0.5741745989524744,-0.9305996203105992],[0.6941745994552767,-0.8220369702376699]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_1","position":[0.5472915859793084,1.4215847490936304,0.71338606911949],"aabb_xy":[[0.4832915826896002,1.3782498300897126],[0.6112915892690164,1.4649196680975478]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_2","position":[0.04525346688456455,1.8131821521283897,0.71338606911949],"aabb_xy":[[0.03928692794382876,1.8072210074690256],[0.051220005825300334,1.8191432967877539]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_3","position":[0.22050486479749754,0.7579681728709575,0.71338606911949],"aabb_xy":[[0.20959908870993482,0.6779681764721283],[0.23141064088506025,0.8379681692697866]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_4","position":[-0.408018932225385,1.5544625743748335,0.71338606911949],"aabb_xy":[[-0.49801893081985493,1.5382119880614125],[-0.31801893363091505,1.5707131606882545]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_5","position":[-0.3084324058867795,-2.2486151965508974,0.71338606911949],"aabb_xy":[[-0.32510954187987495,-2.2653151205248276],[-0.29175526989368394,-2.231915272576967]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_6","position":[-0.13617393437584968,-0.9072862464781328,0.71338606911949],"aabb_xy":[[-0.20017393354561963,-0.9540529335970953],[-0.07217393520607975,-0.8605195593591703]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_7","position":[0.04609426202774958,0.8223015038697308,0.71338606911949],"aabb_xy":[[0.00859426123575413,0.8159336629115406],[0.08359426281974502,0.8286693448279208]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_8","position":[0.5681895207807739,0.13079846477272117,0.71338606911949],"aabb_xy":[[0.5031895207464712,0.08409778809239385],[0.6331895208150766,0.17749914145304843]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_9","position":[-0.21404968631924326,-2.060889473936604,0.71338606911949],"aabb_xy":[[-0.2440413490531136,-2.0908894732734042],[-0.18405802358537293,-2.030889474599803]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_10","position":[-0.5263450364135382,-1.310522529680538,0.71338606911949],"aabb_xy":[[-0.6063388599920965,-1.3905225322733796],[-0.44635121283498,-1.2305225270876965]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_11","position":[0.6339112159256464,0.8945054407094348,0.71338606911949],"aabb_xy":[[0.5539112137628838,0.8145502570832913],[0.7139112180884087,0.9744606243355786]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_12","position":[-0.4982177527074588,-1.9947284894240034,0.71338606911949],"aabb_xy":[[-0.514102245972784,-2.009081429722827],[-0.4823332594421337,-1.9803755491251795]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_13","position":[-0.6682928549905437,-1.2149581862242949,0.71338606911949],"aabb_xy":[[-0.6853949329489119,-1.2320649917555646],[-0.6511907770321755,-1.197851380693025]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_14","position":[-0.4179508777575279,0.17726589729690856,0.71338606911949],"aabb_xy":[[-0.4979508810153709,0.09726938950492461],[-0.337950874499685,0.25726240508889253]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_15","position":[-0.3734246821110655,-0.8888497229384289,0.71338606911949],"aabb_xy":[[-0.37973678164740393,-0.8946166621916477],[-0.36711258257472706,-0.8830827836852101]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_16","position":[0.31977170279637,-1.0487672427018482,0.71338606911949],"aabb_xy":[[0.26979428593111643,-1.0987672441910965],[0.3697491196616236,-0.9987672412125995]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_17","position":[-0.39770124962841885,1.6787029160356588,0.71338606911949],"aabb_xy":[[-0.47770124828530486,1.664198057111396],[-0.31770125097153284,1.6932077749599217]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_18","position":[0.6434450378728054,-0.08474914191217486,0.71338606911949],"aabb_xy":[[0.6059450379290389,-0.09304223194701144],[0.6809450378165717,-0.07645605187733828]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_19","position":[-0.4077795039991756,1.1099277168695614,0.71338606911949],"aabb_xy":[[-0.45777261610836756,1.0599277161953657],[-0.35778639188998373,1.159927717543757]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_20","position":[-0.5786112217456058,0.7528272796698432,0.71338606911949],"aabb_xy":[[-0.6287086857266794,0.6888272791600314],[-0.5285137577645321,0.816827280179655]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_21","position":[0.5438969459279974,-1.448743361099261,0.71338606911949],"aabb_xy":[[0.46389694852440394,-1.5287359322974436],[0.6238969433315907,-1.368750789901078]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_22","position":[-0.18630747160231098,-1.242956133985955,0.71338606911949],"aabb_xy":[[-0.25130747424010447,-1.2944357326854017],[-0.1213074689645175,-1.1914765352865078]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_23","position":[-0.022562009729557908,-1.425200411390697,0.71338606911949],"aabb_xy":[[-0.03271502528370728,-1.4612699529634372],[-0.012408994175408524,-1.3891308698179565]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_24","position":[-0.4648360799398771,-0.13050022000007644,0.71338606911949],"aabb_xy":[[-0.5023360800454699,-0.13732238185305756],[-0.4273360798342841,-0.12367805814709533]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_25","position":[-0.3400897213802296,0.6247001360333129,0.71338606911949],"aabb_xy":[[-0.35473312693426257,0.6100414163765286],[-0.3254463158261966,0.6393588556900971]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_26","position":[0.28590227301616056,-2.081070960930197,0.71338606911949],"aabb_xy":[[0.26803316526170506,-2.094903868907408],[0.30377138077061605,-2.067238052952986]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_27","position":[0.4785175693839614,0.5068999845285802,0.71338606911949],"aabb_xy":[[0.4285175681001214,0.45692113013795815],[0.5285175706678014,0.5568788389192023]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7003496171504695,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/572.png","name":"572"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/572.png","name":"572"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7276.png","name":"7276"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7157.png","name":"7157"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9741.png","name":"9741"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8899.png","name":"8899"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":660.9484471645869,"rotation_z_degrees":63.63853880550013,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004893366227541791,-0.004415362792637545,0.009947898760419321]},{"name":"camera_2","offset_m":[0.019887105950482046,-0.015235678158424469,0.0018092484886914617]},{"name":"camera_3","offset_m":[0.019827814909955974,0.0041034311226911535,0.0061235191514639915]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0019420351206864417,-0.0008073271239369992,-0.0006754940849502699],"end_effector_yaw_offset_degrees":-0.4335323713312558},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0017565785175358464,-0.000875810697135183,-0.00036932645096768996],"end_effector_yaw_offset_degrees":-0.0683163258725561},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0012087669087887396,0.001163616077597298,0.0011452991556391932],"end_effector_yaw_offset_degrees":0.2842089081799706},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0011564729025336598,0.0006967137893124039,-0.0005430868409524749],"end_effector_yaw_offset_degrees":-0.9273007085824005}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.002582078369928784,0.0036991499071575137],"position_m":[0.1774179216300712,-0.029900850092842483,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0011355653112807484,-0.003822957405932426],"position_m":[0.2708644346887193,-0.37112295740593243,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004350359766784797,-0.00037677818130949035],"position_m":[0.31564964023321523,0.35272322181869054,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0027477900758877674,0.002322617443628227],"position_m":[0.33575220992411225,0.11082261744362823,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e95d0beb87c9240665442113967f1c5ff8e93e07fbc96503915cd72fea7e2b6d","episode_index":85,"episode_name":"episode_0085"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0085.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_572/tex_ceiling_textures_8899/tex_floor_textures_9741/tex_table_textures_7276/tex_wall_textures_7157","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":3092171437368884223,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":3092171437368884223,"visual_seed":3092171437368884223,"scene_id":"lab_003","finished_at":"2026-09-05T23:08:28"} +{"episode_id":"ep_000083","started_at":"2026-09-05T23:08:32","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_0","position":[-0.2797431619735319,0.06379963084561968,0.71338606911949],"aabb_xy":[[-0.29221052008326753,0.05133430621229618],[-0.26727580386379624,0.07626495547894319]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_1","position":[0.41387118530903444,-2.3696496925374197,0.71338606911949],"aabb_xy":[[0.38009562611834147,-2.3836881877505847],[0.4476467444997274,-2.355611197324255]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_2","position":[-0.32112339423114145,-1.0294086432271148,0.71338606911949],"aabb_xy":[[-0.34301314182008225,-1.1194086405163637],[-0.29923364664220065,-0.9394086459378655]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_3","position":[-0.6102957376083199,-2.0260143521344904,0.71338606911949],"aabb_xy":[[-0.6211473438571955,-2.0368736428621412],[-0.5994441313594443,-2.0151550614068396]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_4","position":[-0.4233491739220467,-0.5371141826356247,0.71338606911949],"aabb_xy":[[-0.45834917223274213,-0.5448291975591704],[-0.38834917561135124,-0.5293991677120791]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_5","position":[0.5625924345735744,-2.2536803071913227,0.71338606911949],"aabb_xy":[[0.5459152985804789,-2.270380231165253],[0.57926957056667,-2.2369803832173925]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_6","position":[-0.19738674423551106,1.576595498810661,0.71338606911949],"aabb_xy":[[-0.21053799020680047,1.5515954990539746],[-0.18423549826422173,1.6015954985673477]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_7","position":[0.4296123142567341,-1.0807934863910023,0.71338606911949],"aabb_xy":[[0.3746191029195973,-1.1357934867297959],[0.4846055255938709,-1.0257934860522087]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_8","position":[0.32393591410806377,0.5191049683929339,0.71338606911949],"aabb_xy":[[0.2599359148138955,0.45511882802407966],[0.38793591340223194,0.583091108761788]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_9","position":[-0.09050368412107834,-2.4538907611457486,0.71338606911949],"aabb_xy":[[-0.11056209573431863,-2.4739558480549055],[-0.07044527250783805,-2.4338256742365907]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_10","position":[0.4003282487720765,-1.3953027983091681,0.71338606911949],"aabb_xy":[[0.35533566205362604,-1.440302797583617],[0.44532083549052687,-1.3503027990347194]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_11","position":[0.1042788503608908,0.7714560098174963,0.71338606911949],"aabb_xy":[[0.08069372689699594,0.7064560075720645],[0.12786397382478565,0.8364560120629281]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_12","position":[-0.30915378115541786,-1.3528015583081199,0.71338606911949],"aabb_xy":[[-0.3132896374881181,-1.3903015577524769],[-0.3050179248227177,-1.3153015588637629]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_13","position":[0.6457878303232631,0.7217596204610746,0.71338606911949],"aabb_xy":[[0.5979816627094945,0.6567596177540156],[0.6935939979370318,0.7867596231681334]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_14","position":[0.12605430607871482,1.1573351992777363,0.71338606911949],"aabb_xy":[[0.08503636269234394,1.1073351986467788],[0.1670722494650857,1.2073351999086934]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_15","position":[-0.12753385988154464,-1.955675333848765,0.71338606911949],"aabb_xy":[[-0.14503385915963152,-1.9730134339151109],[-0.11003386060345777,-1.938337233782419]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_16","position":[-0.14357690849106985,-2.176831023620063,0.71338606911949],"aabb_xy":[[-0.2335769070855398,-2.1930816099334844],[-0.05357690989659991,-2.160580437306642]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_17","position":[-0.33729204902877313,1.3832083756287443,0.71338606911949],"aabb_xy":[[-0.37229204729889304,1.3761342479337562],[-0.30229205075865323,1.3902825033237325]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_18","position":[0.4841433175076375,1.4809708427900374,0.71338606911949],"aabb_xy":[[0.43414848457969596,1.430970843894794],[0.5341381504355791,1.530970841685281]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_19","position":[-0.5731162550474375,0.48707999277695446,0.71338606911949],"aabb_xy":[[-0.584685235794374,0.4620799926600228],[-0.5615472743005009,0.5120799928938862]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_20","position":[-0.14950280710065966,1.275518749368472,0.71338606911949],"aabb_xy":[[-0.19950280838449963,1.2255398949778495],[-0.09950280581681971,1.3254976037590938]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_21","position":[0.21579352399359975,1.3043346096941462,0.71338606911949],"aabb_xy":[[0.18016436809364003,1.2687019429372932],[0.2514226798935595,1.3399672764509991]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_22","position":[0.3834266659284513,-1.218801684778658,0.71338606911949],"aabb_xy":[[0.3780941512738383,-1.2241260130238936],[0.38875918058306425,-1.2134773565334225]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_23","position":[-0.10193377728627384,-1.157041057074733,0.71338606911949],"aabb_xy":[[-0.10997713721222901,-1.2420410581700994],[-0.09389041736031867,-1.0720410559793665]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_24","position":[-0.317591375662174,1.2003076435279394,0.71338606911949],"aabb_xy":[[-0.3875913782987602,1.1802027785320737],[-0.24759137302558754,1.2204125085238047]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_25","position":[-0.677278118309763,0.06296688851717169,0.71338606911949],"aabb_xy":[[-0.6947088333887694,0.04569477385332086],[-0.6598474032307564,0.08023900318102248]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_26","position":[-0.49856592339536077,-1.0834181009753272,0.71338606911949],"aabb_xy":[[-0.5335659247468425,-1.1037778369321478],[-0.4635659220438791,-1.0630583650185061]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_27","position":[-0.26363971580166085,-2.3286986709370914,0.71338606911949],"aabb_xy":[[-0.32763971650513024,-2.374717053410013],[-0.19963971509819156,-2.282680288464171]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_28","position":[0.6619442429902742,0.045057822335234476,0.71338606911949],"aabb_xy":[[0.6532462806995589,0.032932848027759754],[0.6706422052809895,0.057182796642709206]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_29","position":[0.575276038738076,0.44064525955753053,0.71338606911949],"aabb_xy":[[0.5576432031445482,0.42302231354190745],[0.5929088743316033,0.4582682055731534]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_30","position":[-0.13424222899480143,0.16287529462741768,0.71338606911949],"aabb_xy":[[-0.19824223228450955,0.11954037562350008],[-0.07024222570509332,0.2062102136313353]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_31","position":[-0.26592891097107363,-2.517574698318039,0.71338606911949],"aabb_xy":[[-0.2881014379477244,-2.5397503654741618],[-0.24375638399442273,-2.4953990311619156]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_32","position":[0.5729947452120898,-0.24023234140120397,0.71338606911949],"aabb_xy":[[0.5354947467886895,-0.2533965553690346],[0.6104947436354902,-0.22706812743337332]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_33","position":[0.49689788713138006,-0.8135252121805305,0.71338606911949],"aabb_xy":[[0.43289788687090924,-0.8585340115334583],[0.5608978873918509,-0.7685164128276023]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_34","position":[-0.19246798479357718,1.4464138020616004,0.71338606911949],"aabb_xy":[[-0.21768882165341683,1.4211900512087134],[-0.1672471479337375,1.471637552914487]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6938112706004422,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6793.png","name":"6793"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6793.png","name":"6793"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6195.png","name":"6195"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2548.png","name":"2548"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7260.png","name":"7260"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7520.png","name":"7520"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":527.4258900667644,"rotation_z_degrees":269.0266116009276,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012197262311659785,0.01111490393989727,-0.012687653867025275]},{"name":"camera_2","offset_m":[-0.0040086824826382275,0.00918334072250004,-0.0006557406480913741]},{"name":"camera_3","offset_m":[0.018416475391521355,0.017980793898657334,0.019272246212310395]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0002969785193402078,-0.0003729588939677408,-0.0009044533862296892],"end_effector_yaw_offset_degrees":0.023559287311144983},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.001423219505181135,0.0006382986202067946,-0.0002902954530977363],"end_effector_yaw_offset_degrees":-0.14717641037159956},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001891353378157179,0.0015133725510789614,-0.00011959843823126448],"end_effector_yaw_offset_degrees":0.957299720072722},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0017081441062652102,-0.001217533452846546,0.0017734254363128256],"end_effector_yaw_offset_degrees":0.4421585820044942}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0002074096132711721,0.0016706410654209903],"position_m":[0.17979259038672882,-0.03192935893457901,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004922307785539268,0.002470432948156699],"position_m":[0.26707769221446076,-0.36482956705184333,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00422149643986114,-8.203361241837688e-06],"position_m":[0.31577850356013887,0.35309179663875817,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002981122157059997,0.0008604650778308975],"position_m":[0.34148112215706,0.1093604650778309,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7f500e1c2cfb38ff5d5f077a5a7fc8beac2ec93ff7bc319678103e1d490acb9e","episode_index":86,"episode_name":"episode_0086"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0086.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_6793/tex_ceiling_textures_7520/tex_floor_textures_7260/tex_table_textures_6195/tex_wall_textures_2548","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":5069306804051667385,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":5069306804051667385,"visual_seed":5069306804051667385,"scene_id":"lab_003","finished_at":"2026-09-05T23:12:23"} +{"episode_id":"ep_000084","started_at":"2026-09-05T23:12:26","dimensions":{"distractor":{"count":21,"items":[{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_0","position":[-0.24875212299173272,1.1027585364906511,0.71338606911949],"aabb_xy":[[-0.2596578990792954,1.022758540091822],[-0.23784634690416998,1.1827585328894803]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_1","position":[-0.5789180068095122,1.577689363178806,0.71338606911949],"aabb_xy":[[-0.6689180062278831,1.5443138663346163],[-0.48891800739114133,1.6110648600229958]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_2","position":[0.14995011207823572,-1.8755176606217703,0.71338606911949],"aabb_xy":[[0.11245011190636375,-1.908218396004677],[0.18745011225010763,-1.8428169252388626]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_3","position":[-0.2226176611974277,0.17817538498173846,0.71338606911949],"aabb_xy":[[-0.24011766033179482,0.1682957579441506],[-0.20511766206306048,0.18805501201932626]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_4","position":[0.09864298241424074,-1.2202280497969586,0.71338606911949],"aabb_xy":[[0.050836814800472085,-1.2852280525040176],[0.1464491500280094,-1.1552280470898997]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_5","position":[0.4819888273478079,-1.8746269919240213,0.71338606911949],"aabb_xy":[[0.4406842842840719,-1.9386269914921384],[0.5232933704115439,-1.8106269923559042]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_6","position":[0.541363828639519,-0.15754395618932548,0.71338606911949],"aabb_xy":[[0.4773638282619853,-0.20728922304013778],[0.6053638290170525,-0.10779868933851325]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_7","position":[-0.025111980746691742,-1.6087750031520174,0.71338606911949],"aabb_xy":[[-0.10511197790626703,-1.6203226041098342],[0.054888016412883545,-1.5972274021942001]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_8","position":[-0.16185888083357802,0.8400556030655255,0.71338606911949],"aabb_xy":[[-0.1722704395140617,0.8347098697296269],[-0.15144732215309428,0.8454013364014239]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_9","position":[-0.0042918625903288765,1.7072110787207344,0.71338606911949],"aabb_xy":[[-0.026756632561733995,1.6847110778418741],[0.018172907381076242,1.7297110795995951]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_10","position":[0.6434269596827327,0.963738747554574,0.71338606911949],"aabb_xy":[[0.5634331361041746,0.8837387449617325],[0.723420783261291,1.0437387501474156]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_11","position":[-0.24743836957734205,-0.8267892823588112,0.71338606911949],"aabb_xy":[[-0.2553616498160904,-0.8492892825968146],[-0.23951508933859372,-0.8042892821208079]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_12","position":[0.29221642684845206,-1.6510071004584024,0.71338606911949],"aabb_xy":[[0.2509676158185373,-1.7060070999706196],[0.3334652378783668,-1.5960071009461847]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_13","position":[0.592948477206928,-1.2139448439859561,0.71338606911949],"aabb_xy":[[0.5847339320912439,-1.2226214342835973],[0.6011630223226119,-1.2052682536883146]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_14","position":[-0.46974318479386123,0.45870433499793384,0.71338606911949],"aabb_xy":[[-0.48684526275222934,0.4415975294666641],[-0.452641106835493,0.4758111405292036]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_15","position":[-0.26875177596772687,-0.6257784395873749,0.71338606911949],"aabb_xy":[[-0.296596812748334,-0.6565629383256865],[-0.24090673918711974,-0.5949939408490631]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_16","position":[-0.5292946473673819,-1.28598465734938,0.71338606911949],"aabb_xy":[[-0.5517946471812842,-1.2904592737198608],[-0.5067946475534795,-1.2815100409788993]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_17","position":[0.15725849631514155,-2.1979682665721914,0.71338606911949],"aabb_xy":[[0.14641801808862662,-2.21515454786284],[0.16809897454165643,-2.1807819852815427]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_18","position":[0.476638641019987,0.6848341579372947,0.71338606911949],"aabb_xy":[[0.452802423379382,0.5948341571288084],[0.500474858660592,0.7748341587457814]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_19","position":[-0.5575407159260878,-2.0833209116365685,0.71338606911949],"aabb_xy":[[-0.6125339272632245,-2.138320911975362],[-0.502547504588951,-2.028320911297775]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_20","position":[-0.6058466649705639,-1.6441355917393305,0.71338606911949],"aabb_xy":[[-0.6121587645069024,-1.6499025309925497],[-0.5995345654342255,-1.6383686524861119]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7011294002938651,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5077.png","name":"5077"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5077.png","name":"5077"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1693.png","name":"1693"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5203.png","name":"5203"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6937.png","name":"6937"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2248.png","name":"2248"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":553.8316128261083,"rotation_z_degrees":14.191550600198436,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00721514709507313,0.0031134056084623947,-0.0019464079167202733]},{"name":"camera_2","offset_m":[-0.013360561640649783,0.014505021880667619,0.019265434600308228]},{"name":"camera_3","offset_m":[-0.014576146783011005,0.006649030792249596,0.0013712476265371615]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0019818385110361063,-0.00027302048809810654,0.0004962180822623724],"end_effector_yaw_offset_degrees":0.2628801093312474},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0005632830149548411,0.0003275959672771507,-0.00026947542136360127],"end_effector_yaw_offset_degrees":0.1316009009399688},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-9.013104613111935e-05,0.0013824952663960754,-4.5527829850233736e-05],"end_effector_yaw_offset_degrees":0.4633109035253933},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006410276587637193,0.001725081960798197,-0.0005069118663285454],"end_effector_yaw_offset_degrees":-0.3957545466725574}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[7.806538874557175e-05,0.00043554719410181936],"position_m":[0.18007806538874557,-0.03316445280589818,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0008515525730857388,-0.004839269541673803],"position_m":[0.2711484474269143,-0.3721392695416738,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0027589304715772943,-0.003353881507712101],"position_m":[0.3227589304715773,0.3497461184922879,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002644867755530387,-0.0006134722723040234],"position_m":[0.3358551322444696,0.10788652772769597,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f7046e65caa52175de62d346e0818fb390d6e5826dbd6198355ae8ce2caa2a34","episode_index":87,"episode_name":"episode_0087"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0087.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_5077/tex_ceiling_textures_2248/tex_floor_textures_6937/tex_table_textures_1693/tex_wall_textures_5203","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":6643855183654669872,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":6643855183654669872,"visual_seed":6643855183654669872,"scene_id":"lab_003","finished_at":"2026-09-05T23:16:09"} +{"episode_id":"ep_000085","started_at":"2026-09-05T23:16:13","dimensions":{"distractor":{"count":28,"items":[{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_0","position":[0.21825358300873776,1.4380061920018048,0.71338606911949],"aabb_xy":[[0.15825358214792493,1.386579761995318],[0.2782535838695505,1.4894326220082907]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_1","position":[-0.36519242903181626,-2.52419213374396,0.71338606911949],"aabb_xy":[[-0.39950870620643414,-2.574192133717138],[-0.33087615185719826,-2.4741921337707824]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_2","position":[-0.4341158586445855,1.4877894736048876,0.71338606911949],"aabb_xy":[[-0.45795207628519063,1.3977894727964013],[-0.4102796410039805,1.5777894744133745]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_3","position":[-0.6343602058675608,-0.9081528073005172,0.71338606911949],"aabb_xy":[[-0.6475911514022419,-0.9213802263225165],[-0.6211292603328793,-0.8949253882785176]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_4","position":[-0.664068400027151,-0.7343680719748611,0.71338606911949],"aabb_xy":[[-0.6746358796852499,-0.7449131020878698],[-0.6535009203690518,-0.7238230418618526]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_5","position":[0.5580250743270063,-1.4813077117468623,0.71338606911949],"aabb_xy":[[0.47802507573968694,-1.560623313685023],[0.6380250729143258,-1.4019921098087011]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_6","position":[0.6721860142041383,-1.0426958193226128,0.71338606911949],"aabb_xy":[[0.6628390066218431,-1.0569994415402568],[0.6815330217864336,-1.0283921971049688]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_7","position":[0.6440952321123192,1.0280709475605314,0.71338606911949],"aabb_xy":[[0.6406545558722622,1.024209514586167],[0.6475359083523765,1.0319323805348959]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_8","position":[0.5847472966795508,1.0991909542204836,0.71338606911949],"aabb_xy":[[0.5622472961675102,1.0766990958550853],[0.6072472971915914,1.121682812585882]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_9","position":[0.5552715211945438,-1.7868499217379799,0.71338606911949],"aabb_xy":[[0.49027152008860064,-1.8118152948061084],[0.6202715223004872,-1.7618845486698518]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_10","position":[0.27383875034648664,-2.0234769242583943,0.71338606911949],"aabb_xy":[[0.22385580015900727,-2.0734769239009543],[0.3238217005339659,-1.9734769246158337]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_11","position":[0.3544235360864987,1.436222144837553,0.71338606911949],"aabb_xy":[[0.3322510091098479,1.4140464776814299],[0.3765960630631495,1.458397811993676]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_12","position":[-0.09232868298844055,0.2000486011105962,0.71338606911949],"aabb_xy":[[-0.13732126970689096,0.1550486018361474],[-0.04733609626999012,0.24504860038504492]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_13","position":[-0.11680770524376871,1.4138582513482807,0.71338606911949],"aabb_xy":[[-0.18080770846240657,1.3671351394492723],[-0.052807702025130854,1.460581363247289]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_14","position":[-0.23260034077821956,-0.319820251325754,0.71338606911949],"aabb_xy":[[-0.24235633028739345,-0.32958278538498836],[-0.22284435126904567,-0.3100577172665195]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_15","position":[-0.6169247259689026,-2.493675405585954,0.71338606911949],"aabb_xy":[[-0.6554704187941036,-2.5322211766421425],[-0.5783790331437015,-2.455129634529765]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_16","position":[-0.02835560269355175,-2.211575227034497,0.71338606911949],"aabb_xy":[[-0.0658556034855472,-2.217943067992687],[0.009144398098443696,-2.2052073860763066]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_17","position":[-0.4486855914668905,-1.532947185564434,0.71338606911949],"aabb_xy":[[-0.49868559312838523,-1.5829456278201366],[-0.3986855898053957,-1.4829487433087312]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_18","position":[-0.6200913459724416,-2.050416026233455,0.71338606911949],"aabb_xy":[[-0.6613958890361775,-2.114416025801572],[-0.5787868029087055,-1.9864160266653377]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_19","position":[-0.44587026959870907,-1.7398928341863904,0.71338606911949],"aabb_xy":[[-0.46337020303269244,-1.7573928341066247],[-0.4283703361647257,-1.7223928342661556]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_20","position":[0.5243762742496467,0.783676065208271,0.71338606911949],"aabb_xy":[[0.4743762738890806,0.733696077998668],[0.5743762746102127,0.8336560524178739]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_21","position":[0.6830194357094257,-2.213987837377785,0.71338606911949],"aabb_xy":[[0.6757581881390182,-2.2267748476412947],[0.6902806832798332,-2.201200827114276]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_22","position":[0.38631497313296714,1.3051289711062104,0.71338606911949],"aabb_xy":[[0.3263149726251142,1.2482822374202889],[0.44631497364082007,1.3619757047921315]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_23","position":[0.5143477886954386,-0.35373247711752054,0.71338606911949],"aabb_xy":[[0.4768477887516722,-0.3620255671523571],[0.551847788639205,-0.34543938708268396]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_24","position":[0.2978415481038118,0.8263342029994583,0.71338606911949],"aabb_xy":[[0.2826693788221784,0.8111653460712549],[0.3130137173854451,0.8415030599276616]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_25","position":[0.22855424771311317,1.2967588661757312,0.71338606911949],"aabb_xy":[[0.22056025913540975,1.2887587860806407],[0.23654823629081653,1.3047589462708213]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_26","position":[0.6635124754342205,-0.6469462281698022,0.71338606911949],"aabb_xy":[[0.6476279821688955,-0.6612991684686262],[0.6793969686995458,-0.6325932878709781]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_27","position":[-0.6142950960770075,1.1280043518547251,0.71338606911949],"aabb_xy":[[-0.626897795214084,1.1154089556298596],[-0.601692396939931,1.1405997480795906]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.704524432007582,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5558.png","name":"5558"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5558.png","name":"5558"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1432.png","name":"1432"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3476.png","name":"3476"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8941.png","name":"8941"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1963.png","name":"1963"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":708.8596720756336,"rotation_z_degrees":286.48286818228263,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013561050152070174,0.015771963057659228,-0.01927472982360255]},{"name":"camera_2","offset_m":[-0.003663455085054876,-0.011188912375761882,-0.011094687687436312]},{"name":"camera_3","offset_m":[0.01602659343044736,-0.019040346200261748,-0.004788545292550581]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0014560808380870722,-0.0010512517931145662,-0.0006470367166877887],"end_effector_yaw_offset_degrees":-0.43590400440275645},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0015387900200907571,0.0005192583543479267,0.0016822853586306152],"end_effector_yaw_offset_degrees":0.4637296598018228},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0011674224211936336,0.001178334121894309,0.0018003649808575064],"end_effector_yaw_offset_degrees":-0.731655608184379},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010478902859557852,-0.0018734124403252878,-3.438069530334103e-05],"end_effector_yaw_offset_degrees":0.7173666180046017}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0014818938627011438,-0.0040389357221909],"position_m":[0.17851810613729885,-0.037638935722190896,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0032446260005959534,-0.00468803014096436],"position_m":[0.27524462600059596,-0.3719880301409644,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0015443591311641736,0.0040076844007872385],"position_m":[0.3215443591311642,0.3571076844007873,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004358405276605412,0.0023244668286330986],"position_m":[0.34285840527660544,0.1108244668286331,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e543dd90df32b8f46a28e57d90280cfff31418425157ad38d89d1216404ab80f","episode_index":88,"episode_name":"episode_0088"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0088.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_5558/tex_ceiling_textures_1963/tex_floor_textures_8941/tex_table_textures_1432/tex_wall_textures_3476","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":7480274510475734878,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":7480274510475734878,"visual_seed":7480274510475734878,"scene_id":"lab_003","finished_at":"2026-09-05T23:19:37"} +{"episode_id":"ep_000086","started_at":"2026-09-05T23:19:41","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_0","position":[-0.07594555594012875,-0.8456200117683053,0.71338606911949],"aabb_xy":[[-0.1459455593316907,-0.8809357854717361],[-0.005945552548566767,-0.8103042380648744]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_1","position":[-0.5715605217424471,-0.40304006933497716,0.71338606911949],"aabb_xy":[[-0.5890605208768142,-0.4129196963725649],[-0.5540605226080798,-0.3931604422973893]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_2","position":[-0.2587917971452825,-0.7874528898093183,0.71338606911949],"aabb_xy":[[-0.2700368527159003,-0.7986946875334135],[-0.2475467415746646,-0.776211092085223]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_3","position":[0.25631469870971435,-1.5811647800743889,0.71338606911949],"aabb_xy":[[0.21946415077272674,-1.6186647808974224],[0.29316524664670196,-1.543664779251355]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_4","position":[0.5581330248814436,0.724051642978254,0.71338606911949],"aabb_xy":[[0.5083162454166088,0.6740516444939507],[0.6079498043462783,0.7740516414625574]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_5","position":[0.38059244903770884,-0.8486659020246905,0.71338606911949],"aabb_xy":[[0.37462591009697305,-0.8546270466840545],[0.3865589879784446,-0.8427047573653265]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_6","position":[0.23502961681916368,-0.6221031822152809,0.71338606911949],"aabb_xy":[[0.14502961709598947,-0.6451765347504607],[0.3250296165423378,-0.599029829680101]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_7","position":[0.6001041053508935,1.5068924719220482,0.71338606911949],"aabb_xy":[[0.5663285461602006,1.4928539767088833],[0.6338796645415865,1.5209309671352131]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_8","position":[0.05518506799457368,-2.1040550885300746,0.71338606911949],"aabb_xy":[[0.02170590073353274,-2.137534201901182],[0.08866423525561462,-2.070575975158968]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_9","position":[-0.21126161613177197,-2.536630035542593,0.71338606911949],"aabb_xy":[[-0.2752616147183444,-2.5836369989421017],[-0.1472616175451995,-2.4896230721430843]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_10","position":[-0.05985522945546551,-1.042552190681505,0.71338606911949],"aabb_xy":[[-0.07162341625012303,-1.1275521905867267],[-0.048087042660807995,-0.9575521907762836]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_11","position":[-0.2596161776785778,0.6941431419714728,0.71338606911949],"aabb_xy":[[-0.28211617720228516,0.6716471945208519],[-0.23711617815487038,0.7166390894220934]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_12","position":[-0.4594714995695792,0.7936642397294515,0.71338606911949],"aabb_xy":[[-0.524471499603882,0.7469635630491241],[-0.3944714995352765,0.8403649164097787]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_13","position":[-0.05304442935258524,0.8433960250758195,0.71338606911949],"aabb_xy":[[-0.061087789278540416,0.758396023980453],[-0.04500106942663007,0.9283960261711859]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_14","position":[-0.009562096098893358,-1.5038812887319066,0.71338606911949],"aabb_xy":[[-0.04456209529171162,-1.514848334729569],[0.025437903093924907,-1.492914242734244]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_15","position":[-0.4421590338812972,0.33962995943315377,0.71338606911949],"aabb_xy":[[-0.4796590324569179,0.32689366376959583],[-0.40465903530567626,0.3523662550967117]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_16","position":[-0.4423990496790744,1.5763752419321562,0.71338606911949],"aabb_xy":[[-0.45500174881615085,1.5637798457072907],[-0.42979635054199794,1.5889706381570217]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_17","position":[0.5003566222889793,-1.6419354843631662,0.71338606911949],"aabb_xy":[[0.4203566220153722,-1.7148850321888829],[0.5803566225625861,-1.5689859365374494]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_18","position":[0.6481913797233498,-1.525037701688587,0.71338606911949],"aabb_xy":[[0.6394934174326345,-1.5371626759960622],[0.6568893420140651,-1.5129127273811127]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_19","position":[-0.32972121969127777,0.3643989405670536,0.71338606911949],"aabb_xy":[[-0.34860560345978797,0.3455130157867008],[-0.31083683592276756,0.38328486534740636]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_20","position":[0.13900615128538085,-1.7095126290311917,0.71338606911949],"aabb_xy":[[0.11649245946192363,-1.779512629632199],[0.16151984310883802,-1.639512628430184]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_21","position":[0.37627304585800836,1.1246393156086114,0.71338606911949],"aabb_xy":[[0.3335063389785882,1.060639312186809],[0.4190397527374286,1.1886393190304139]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_22","position":[0.3731293003334375,-2.4280727144275973,0.71338606911949],"aabb_xy":[[0.36222352424587473,-2.508072710826426],[0.38403507642100015,-2.3480727180287677]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7000738906086045,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8833.png","name":"8833"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8833.png","name":"8833"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6482.png","name":"6482"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/951.png","name":"951"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4412.png","name":"4412"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5755.png","name":"5755"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":806.2458452408579,"rotation_z_degrees":98.70584510923882,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013933510551855646,-0.010548541947758899,0.009800492025462067]},{"name":"camera_2","offset_m":[0.01886434593350565,0.01809564880794159,0.010760211998584672]},{"name":"camera_3","offset_m":[0.001851357676515137,-0.008840527865875556,-0.001819495481593502]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0016765705788035921,-0.0007564943306214791,-0.001140970187762754],"end_effector_yaw_offset_degrees":0.39345556725597874},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0006702022112040958,0.0004999635665815893,-0.0003912571276169915],"end_effector_yaw_offset_degrees":-0.6551734471524846},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0008221141259340519,-0.0016787665001459966,0.0009469817965916095],"end_effector_yaw_offset_degrees":-0.05276918108879336},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0007938379967871063,-0.0013793675462900256,-0.0003005087470347495],"end_effector_yaw_offset_degrees":0.2969982798086732}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004129942626397281,-0.003322959063458132],"position_m":[0.18412994262639729,-0.03692295906345813,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001948206215831506,-0.004601525762246155],"position_m":[0.2700517937841685,-0.37190152576224617,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0039140026071888484,-3.7189808070881014e-06],"position_m":[0.32391400260718883,0.35309628101919294,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0017117046333124386,0.0009369220622500018],"position_m":[0.3367882953666876,0.10943692206225,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a532281b6b531e532a3947747a952a69cd233ddf461ae625d158e3dba38eff79","episode_index":89,"episode_name":"episode_0089"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0089.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_8833/tex_ceiling_textures_5755/tex_floor_textures_4412/tex_table_textures_6482/tex_wall_textures_951","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":7099686617605747093,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":7099686617605747093,"visual_seed":7099686617605747093,"scene_id":"lab_003","finished_at":"2026-09-05T23:23:17"} +{"episode_id":"ep_000087","started_at":"2026-09-05T23:23:21","dimensions":{"distractor":{"count":29,"items":[{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_0","position":[0.38265131456239754,0.8135247475482266,0.71338606911949],"aabb_xy":[[0.35936947236426614,0.7285247462509984],[0.4059331567605288,0.8985247488454545]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_1","position":[0.256733419067916,1.3875195612961946,0.71338606911949],"aabb_xy":[[0.20173341989132648,1.3325298865212367],[0.31173341824450546,1.442509236071152]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_2","position":[-0.6454786544094459,-0.25366718826487356,0.71338606911949],"aabb_xy":[[-0.6558902130899296,-0.25901292160077205],[-0.6350670957289621,-0.2483214549289751]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_3","position":[-0.16534977751871816,-2.5086773655492003,0.71338606911949],"aabb_xy":[[-0.18893490098261304,-2.573677367794632],[-0.14176465405482333,-2.4436773633037685]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_4","position":[-0.3430258303974448,-0.8069072553198544,0.71338606911949],"aabb_xy":[[-0.3581979996790781,-0.8220761122480578],[-0.32785366111581143,-0.791738398391651]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_5","position":[0.481178646285642,-1.9339170534826655,0.71338606911949],"aabb_xy":[[0.46960966553870553,-1.9589170535995974],[0.4927476270325787,-1.908917053365734]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_6","position":[-0.5658705994534203,-1.1136921018101624,0.71338606911949],"aabb_xy":[[-0.5751642176905709,-1.151192100298296],[-0.5565769812162698,-1.0761921033220283]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_7","position":[0.6157731351875693,1.3691722449750943,0.71338606911949],"aabb_xy":[[0.595882095307229,1.3565164336903974],[0.6356641750679095,1.381828056259791]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_8","position":[-0.47348477660749444,-2.2130187788311733,0.71338606911949],"aabb_xy":[[-0.5147335876374091,-2.2680187783433903],[-0.4322359655775797,-2.1580187793189554]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_9","position":[-0.27620136760803665,0.6184615091573753,0.71338606911949],"aabb_xy":[[-0.32617466161129705,0.5684615086028278],[-0.22622807360477615,0.6684615097119225]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_10","position":[0.653726292738197,-1.3431284773150358,0.71338606911949],"aabb_xy":[[0.5887262917376964,-1.3939148424697108],[0.7187262937386975,-1.2923421121603609]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_11","position":[0.4983566307171019,0.6149664433139668,0.71338606911949],"aabb_xy":[[0.44835663114076724,0.5649858643618609],[0.5483566302934366,0.6649470222660728]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_12","position":[0.4829234207284492,-1.3795462773950167,0.71338606911949],"aabb_xy":[[0.4742094516785146,-1.4020462780542045],[0.49163738977838356,-1.357046276735828]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_13","position":[-0.2121530669656947,0.8266172716879789,0.71338606911949],"aabb_xy":[[-0.22150007454798995,0.812313649470335],[-0.2028060593833995,0.8409208939056231]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_14","position":[-0.0974521171736018,-1.1820184888282095,0.71338606911949],"aabb_xy":[[-0.11503041936254865,-1.1995929784023143],[-0.07987381498465496,-1.1644439992541047]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_15","position":[0.01932012774939118,-1.88787948654723,0.71338606911949],"aabb_xy":[[-0.040679872502009995,-1.9421608115836946],[0.07932012800079236,-1.8335981615107653]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_16","position":[-0.6485440217705992,0.23556379907166392,0.71338606911949],"aabb_xy":[[-0.6533876165318292,0.2307121465926798],[-0.6437004270093692,0.24041545155064803]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_17","position":[-0.2869533270920914,-1.7515852189607066,0.71338606911949],"aabb_xy":[[-0.36695332410633935,-1.771719770634118],[-0.2069533300778434,-1.7314506672872954]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_18","position":[0.58071359844529,0.09872402825841631,0.71338606911949],"aabb_xy":[[0.5678416949443498,0.01872402784458017],[0.59358550194623,0.17872402867225246]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_19","position":[-0.17941172510234327,-0.7160695585974979,0.71338606911949],"aabb_xy":[[-0.2118734259842707,-0.7462023907124004],[-0.14695002422041578,-0.6859367264825952]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_20","position":[0.12596577898450512,-1.5120058064713777,0.71338606911949],"aabb_xy":[[0.08946995835722635,-1.5484897488981353],[0.16246159961178383,-1.4755218640446202]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_21","position":[-0.21162821573191232,-2.0842415844727107,0.71338606911949],"aabb_xy":[[-0.30162821940883044,-2.1456739910498146],[-0.12162821205499408,-2.022809177895606]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_22","position":[-0.6327224189427794,1.3848110171922428,0.71338606911949],"aabb_xy":[[-0.6486069122081046,1.3704580768934185],[-0.6168379256774543,1.3991639574910666]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_23","position":[0.15897143698066651,-1.2456379082755886,0.71338606911949],"aabb_xy":[[0.1089714356197793,-1.2956158128510042],[0.20897143834155374,-1.195660003700173]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_24","position":[-0.49311713475731417,0.10983689615297854,0.71338606911949],"aabb_xy":[[-0.5156171352693548,0.08734503778758017],[-0.4706171342452735,0.1323287545183769]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_25","position":[0.1973108977832445,-0.847358276307494,0.71338606911949],"aabb_xy":[[0.1900671317369992,-0.9273582745110964],[0.20455466382948986,-0.7673582781038917]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_26","position":[-0.4492869202817012,0.7704183425024493,0.71338606911949],"aabb_xy":[[-0.49928692194319585,0.7204199002467465],[-0.3992869186202063,0.8204167847581519]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_27","position":[-0.5135526493079345,-2.056430467169449,0.71338606911949],"aabb_xy":[[-0.5635314578182504,-2.1064304671751675],[-0.46357384079761865,-2.00643046716373]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_28","position":[-0.3432596959813264,1.4767269427142042,0.71338606911949],"aabb_xy":[[-0.3551317789928275,1.3917269430205537],[-0.3313876129698253,1.5617269424078544]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6978929173848392,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7779.png","name":"7779"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7779.png","name":"7779"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4928.png","name":"4928"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8621.png","name":"8621"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7042.png","name":"7042"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2331.png","name":"2331"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":605.3958382799184,"rotation_z_degrees":76.40159644151626,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005153042635912892,0.0019228610989952162,-0.007820334187037977]},{"name":"camera_2","offset_m":[0.017834887840142696,-0.01347281331903198,-0.018821983238041306]},{"name":"camera_3","offset_m":[-0.01766192328552407,-0.0010947172924181993,0.0001877606870549671]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[1.6354662169066215e-05,0.0011495580539741049,-0.00018242696230841163],"end_effector_yaw_offset_degrees":-0.2044152792696574},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0013044488580713654,0.0019381805985294806,-0.0007569453324548561],"end_effector_yaw_offset_degrees":-0.07068685666161789},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0015501009059088675,-0.0012931950050385046,0.0005865986436277169],"end_effector_yaw_offset_degrees":-0.022787500250843307},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0016892063465504315,0.0012203241085060814,-0.0007187842178362392],"end_effector_yaw_offset_degrees":0.7064332573345184}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0013337139280440312,0.0022048391595704646],"position_m":[0.17866628607195595,-0.03139516084042954,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0033213806564338856,-0.0026849526728085693],"position_m":[0.2686786193435661,-0.36998495267280856,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0017718428360939597,0.002541758521780766],"position_m":[0.31822815716390607,0.3556417585217808,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002617112537939491,0.004001948772809239],"position_m":[0.3411171125379395,0.11250194877280924,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f757ce6ed5dbf3fd5f72a84eb8ef63ff8d192eb5724fa83b2eb56e10f685510e","episode_index":90,"episode_name":"episode_0090"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0090.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_7779/tex_ceiling_textures_2331/tex_floor_textures_7042/tex_table_textures_4928/tex_wall_textures_8621","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":7224907134643612280,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":7224907134643612280,"visual_seed":7224907134643612280,"scene_id":"lab_003","finished_at":"2026-09-05T23:26:49"} +{"episode_id":"ep_000088","started_at":"2026-09-05T23:26:53","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_0","position":[0.07384788041599066,0.8667303850684438,0.71338606911949],"aabb_xy":[[0.06468800147211405,0.8601991670249066],[0.08300775935986725,0.8732616031119808]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_1","position":[0.10950314516870852,1.7161906684803676,0.71338606911949],"aabb_xy":[[0.04950314532214173,1.659372046287329],[0.1695031450152753,1.7730092906734063]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_2","position":[-0.177347512880484,-0.3514367995165286,0.71338606911949],"aabb_xy":[[-0.26734751655740213,-0.41286920609363287],[-0.0873475092035658,-0.2900043929394242]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_3","position":[-0.07373499937562145,0.03575604296673607,0.71338606911949],"aabb_xy":[[-0.0880694245017849,0.023695827412197223],[-0.059400574249457994,0.04781625852127491]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_4","position":[-0.21625625124098952,-0.6413733619090649,0.71338606911949],"aabb_xy":[[-0.2537562515892172,-0.6531647574901485],[-0.17875625089276173,-0.6295819663279814]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_5","position":[-0.27486077884019455,0.7367770809425394,0.71338606911949],"aabb_xy":[[-0.3398607788744973,0.6900764042622121],[-0.20986077880589182,0.7834777576228666]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_6","position":[-0.12244083075274248,-1.1345710592861775,0.71338606911949],"aabb_xy":[[-0.2074408291701657,-1.2194453547484623],[-0.03744083233531925,-1.0496967638238923]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_7","position":[-0.5977678779272653,-1.2952007190153711,0.71338606911949],"aabb_xy":[[-0.6213530013911601,-1.3602007212608032],[-0.5741827544633704,-1.2302007167699396]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_8","position":[0.25655082498756,1.5927043075655845,0.71338606911949],"aabb_xy":[[0.24498184424062341,1.567704307448653],[0.26811980573449656,1.6177043076825164]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_9","position":[0.4171986283040183,0.7101079389813534,0.71338606911949],"aabb_xy":[[0.36721981979370244,0.6601079389756346],[0.4671774368143342,0.7601079389870722]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_10","position":[0.033609397526920826,-1.6365101426176494,0.71338606911949],"aabb_xy":[[-0.01639060375691913,-1.6864889970082713],[0.0836093988107608,-1.586531288227027]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_11","position":[0.546074092426077,-1.3539107230928604,0.71338606911949],"aabb_xy":[[0.49619139554838076,-1.4039107223391352],[0.5959567893037732,-1.3039107238465857]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_12","position":[-0.28273714025525504,0.9700136924853693,0.71338606911949],"aabb_xy":[[-0.3026281801355954,0.9573578812006727],[-0.2628461003749149,0.9826695037700663]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_13","position":[-0.5037595493531887,-0.2976264741387751,0.71338606911949],"aabb_xy":[[-0.5092174949902086,-0.37762647744643413],[-0.4983016037161685,-0.21762647083111591]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_14","position":[0.25922307702681,-1.0256807446486276,0.71338606911949],"aabb_xy":[[0.20922307536531523,-1.07567918690433],[0.30922307868830473,-0.9756823023929247]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_15","position":[-0.29060934639372676,-0.8396009404193696,0.71338606911949],"aabb_xy":[[-0.32109359652075686,-0.8896009402008656],[-0.26012509626669655,-0.7896009406378737]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_16","position":[0.3363478321954201,-0.9246607164150209,0.71338606911949],"aabb_xy":[[0.3013478339253001,-0.931734844110009],[0.37134783046553993,-0.9175865887200326]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_17","position":[-0.25966427118328583,-1.5684217474712352,0.71338606911949],"aabb_xy":[[-0.3212550304072787,-1.6324217455802823],[-0.19807351195929307,-1.5044217493621885]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_18","position":[-0.500130252799432,-0.739464001677137,0.71338606911949],"aabb_xy":[[-0.5551302524211779,-0.7944476944646097],[-0.4451302531776862,-0.6844803088896643]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_19","position":[-0.5486762997832353,-1.0277901843555026,0.71338606911949],"aabb_xy":[[-0.6336762984753099,-1.0597760477503815],[-0.46367630109116065,-0.9958043209606238]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_20","position":[-0.5543588559956231,0.9996064651669498,0.71338606911949],"aabb_xy":[[-0.5651993342221379,0.9824201838763008],[-0.543518377769108,1.0167927464575983]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_21","position":[-0.048973621745596496,0.7385688111880091,0.71338606911949],"aabb_xy":[[-0.10897362260640929,0.6871423811815227],[0.01102637911521631,0.7899952411944955]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_22","position":[-0.31797247673564993,-0.7062686594924616,0.71338606911949],"aabb_xy":[[-0.32523372430605735,-0.7190556697559711],[-0.3107112291652425,-0.6934816492289522]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_23","position":[0.3753534417535338,-1.1711174949499739,0.71338606911949],"aabb_xy":[[0.3253541665850977,-1.221117496225921],[0.42535271692197,-1.1211174936740267]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_24","position":[0.5785050876756876,1.6396463435169113,0.71338606911949],"aabb_xy":[[0.5652741421410062,1.6264189244949114],[0.5917360332103688,1.6528737625389103]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_25","position":[0.17412544468002966,-1.349771631666827,0.71338606911949],"aabb_xy":[[0.16534421753279344,-1.3585513789553574],[0.1829066718272659,-1.3409918843782969]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_26","position":[0.22531176004947484,0.9432561886474939,0.71338606911949],"aabb_xy":[[0.17531692712153324,0.8932561897522504],[0.27530659297741644,0.9932561875427375]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6959897155027716,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/739.png","name":"739"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/739.png","name":"739"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7780.png","name":"7780"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8788.png","name":"8788"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4563.png","name":"4563"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1122.png","name":"1122"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":653.5616404886891,"rotation_z_degrees":72.4999152247815,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006041175080887192,-0.011816678097802269,0.017027039627335445]},{"name":"camera_2","offset_m":[0.003940692255950326,-0.006746064873538212,0.01996483183669055]},{"name":"camera_3","offset_m":[-0.002703568260163977,0.003339576528708251,0.005098954304122074]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0016354878046060724,-0.0007033053641086044,0.0007359614057602481],"end_effector_yaw_offset_degrees":-0.2672315281507698},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0004134674214401684,0.0016525756981364396,0.0007062413330022415],"end_effector_yaw_offset_degrees":-0.6714188666435801},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0010279594001333272,-0.0019403870354909563,0.0016061258918547146],"end_effector_yaw_offset_degrees":0.34920495668456497},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001496333800438443,-0.0007510095029652493,-0.0007620326016749145],"end_effector_yaw_offset_degrees":0.9993846546809582}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0026596213056874107,0.004229863388035482],"position_m":[0.17734037869431257,-0.029370136611964515,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0038928093783497132,-3.714267608466784e-06],"position_m":[0.2681071906216503,-0.3673037142676085,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004752872914152791,-0.0035531274998751973],"position_m":[0.31524712708584723,0.34954687250012484,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0006010630611787745,0.0018271058978096997],"position_m":[0.3378989369388212,0.1103271058978097,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ca1c48a5f4f0c4749e7dd3bd978286c167a7025205c13a5bf39eedbf75f28921","episode_index":91,"episode_name":"episode_0091"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0091.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_739/tex_ceiling_textures_1122/tex_floor_textures_4563/tex_table_textures_7780/tex_wall_textures_8788","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":2835661110942606955,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":2835661110942606955,"visual_seed":2835661110942606955,"scene_id":"lab_003","finished_at":"2026-09-05T23:30:35"} +{"episode_id":"ep_000089","started_at":"2026-09-05T23:30:39","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_0","position":[-0.6712067496233936,-0.8941947080311257,0.71338606911949],"aabb_xy":[[-0.6886374647024,-0.9114668226949764],[-0.6537760345443869,-0.8769225933672747]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_1","position":[0.2983651106997247,1.2119507626014463,0.71338606911949],"aabb_xy":[[0.2533651092334959,1.1669509057399658],[0.3433651121659536,1.2569506194629272]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_2","position":[0.5333010682212138,1.5217630349469284,0.71338606911949],"aabb_xy":[[0.5200701226865324,1.5085356159249286],[0.546532013755895,1.5349904539689274]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_3","position":[0.0576820210626261,0.9341048319781997,0.71338606911949],"aabb_xy":[[-0.022317982195216857,0.8541083241862156],[0.13768202432046905,1.0141013397701837]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_4","position":[0.14900830783475005,-1.8000579037219877,0.71338606911949],"aabb_xy":[[0.12116327105414293,-1.8308424024602994],[0.17685334461535718,-1.769273404983676]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_5","position":[-0.5311716106617389,0.5627447954923355,0.71338606911949],"aabb_xy":[[-0.5811664435896805,0.5127447965970919],[-0.4811767777337973,0.612744794387579]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_6","position":[0.1877705665820284,1.451662779533541,0.71338606911949],"aabb_xy":[[0.15092001864504076,1.4141627787105073],[0.22462111451901598,1.4891627803565748]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_7","position":[-0.3051965688235805,1.4378917899614057,0.71338606911949],"aabb_xy":[[-0.3092747267306302,1.4338108097131423],[-0.30111841091653074,1.441972770209669]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_8","position":[0.09152743840427191,1.1798645027125492,0.71338606911949],"aabb_xy":[[0.08095995874617289,1.1693194725995406],[0.1020949180623709,1.1904095328255577]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_9","position":[0.6164123672171178,1.6772431111090822,0.71338606911949],"aabb_xy":[[0.5264123674939435,1.6541697585739021],[0.7064123669402919,1.7003164636442618]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_10","position":[0.5586237019286568,-1.7516606538811934,0.71338606911949],"aabb_xy":[[0.5361245662024298,-1.7741606546594562],[0.5811228376548837,-1.7291606531029302]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_11","position":[-0.3664855330526424,0.1409463697103961,0.71338606911949],"aabb_xy":[[-0.3777305886232602,0.1297045719863008],[-0.35524047748202453,0.15218816743449137]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_12","position":[-0.2847870616472765,0.38028780437337106,0.71338606911949],"aabb_xy":[[-0.3487870635596189,0.3243766551153607],[-0.22078705973493423,0.43619895363138156]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_13","position":[-0.14114638489929854,-1.3691723868968315,0.71338606911949],"aabb_xy":[[-0.14647889955391152,-1.3744967151420673],[-0.13581387024468555,-1.3638480586515962]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_14","position":[0.25297925975522406,1.825496441550985,0.71338606911949],"aabb_xy":[[0.2469422467545594,1.819469740482037],[0.25901627275588884,1.8315231426199332]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_15","position":[0.4353210648320509,-1.22052801453126,0.71338606911949],"aabb_xy":[[0.42710651971636693,-1.229204604828901],[0.4435356099477349,-1.2118514242336182]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_16","position":[0.15504473174802424,-1.3067139091845141,0.71338606911949],"aabb_xy":[[0.13120851410741918,-1.3967139099930006],[0.1788809493886293,-1.2167139083760277]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_17","position":[0.5377622362780454,1.0878708188697583,0.71338606911949],"aabb_xy":[[0.5021330803780857,1.0522381521129054],[0.5733913921780052,1.1235034856266113]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_18","position":[-0.5824263108912282,-1.278720280285121,0.71338606911949],"aabb_xy":[[-0.6324051194015441,-1.3287202802908398],[-0.5324475023809123,-1.2287202802794022]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_19","position":[-0.6627509818175638,-1.6574166804261992,0.71338606911949],"aabb_xy":[[-0.6752183399272994,-1.669882005059523],[-0.6502836237078281,-1.6449513557928759]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_20","position":[-0.18578764273282455,0.14612402858535223,0.71338606911949],"aabb_xy":[[-0.20489995009080345,0.1269892497081102],[-0.16667533537484572,0.16525880746259425]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_21","position":[0.2747652330251378,0.5162191685717561,0.71338606911949],"aabb_xy":[[0.27062937669243764,0.4787191691273991],[0.27890108935783803,0.5537191680161131]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.697493503027572,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/32.png","name":"32"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/32.png","name":"32"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3629.png","name":"3629"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5638.png","name":"5638"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4026.png","name":"4026"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7029.png","name":"7029"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":833.9488247323276,"rotation_z_degrees":121.86893412482355,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014248000292067351,-0.00955429037648687,-0.017174265212727004]},{"name":"camera_2","offset_m":[-0.019377579318183735,0.015565057543291055,0.01860641652637861]},{"name":"camera_3","offset_m":[-0.005749162721073323,-0.011888931350189242,0.010995048759916654]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0006370889688755482,-0.0002870747519939712,0.0012007161555534192],"end_effector_yaw_offset_degrees":0.22368413912450857},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0006842205317643653,-0.0003114797666996787,-0.0016022034878625977],"end_effector_yaw_offset_degrees":0.12862859166408813},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0016345246235798614,-0.0004899443638660098,-0.0011898979492136084],"end_effector_yaw_offset_degrees":0.6517026714271639},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0015123376100731373,-0.001789037939495837,-0.00023967627285893887],"end_effector_yaw_offset_degrees":-0.7625514126499366}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.002535625660479584,-0.004082328652083388],"position_m":[0.18253562566047957,-0.03768232865208339,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0013694496494166797,0.00121572634553886],"position_m":[0.27063055035058337,-0.36608427365446117,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0031807809734045144,-0.002907038374372476],"position_m":[0.3168192190265955,0.3501929616256276,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0006435115570007201,0.0010650260957468924],"position_m":[0.3378564884429993,0.10956502609574689,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"79259cd7ffdf62f983068a84a502256a0e2a0d679ee531ba81b60b1e77432732","episode_index":92,"episode_name":"episode_0092"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0092.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_32/tex_ceiling_textures_7029/tex_floor_textures_4026/tex_table_textures_3629/tex_wall_textures_5638","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":8026261874791166235,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":8026261874791166235,"visual_seed":8026261874791166235,"scene_id":"lab_003","finished_at":"2026-09-05T23:34:37"} +{"episode_id":"ep_000090","started_at":"2026-09-05T23:34:42","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_0","position":[-0.02461904634085532,-1.7552003159883969,0.71338606911949],"aabb_xy":[[-0.07471651032192894,-1.819200316498209],[0.025478417640218298,-1.6912003154785853]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_1","position":[0.28076741109630576,1.1831379875606696,0.71338606911949],"aabb_xy":[[0.2695223555256879,1.1718961898365743],[0.29201246666692354,1.1943797852847648]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_2","position":[-0.4559185760922197,-1.876743142321708,0.71338606911949],"aabb_xy":[[-0.5059185773760595,-1.9267219967123301],[-0.4059185748083796,-1.826764287931086]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_3","position":[0.029797274389790074,-0.9639602954231448,0.71338606911949],"aabb_xy":[[-0.034202722722315615,-1.0129926652175554],[0.09379727150189576,-0.9149279256287343]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_4","position":[0.3608934194812454,-2.1278760431809816,0.71338606911949],"aabb_xy":[[0.31091600261599184,-2.1778760446702297],[0.410870836346499,-2.0778760416917326]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_5","position":[0.6705334034596053,-0.7184795466134963,0.71338606911949],"aabb_xy":[[0.6393864846160221,-0.7884795453003035],[0.7016803223031883,-0.6484795479266892]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_6","position":[0.7123355443260884,-2.349433073716317,0.71338606911949],"aabb_xy":[[0.7004634613145873,-2.4344330734099673],[0.7242076273375895,-2.2644330740226666]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_7","position":[0.25331679429486775,1.4279597985702632,0.71338606911949],"aabb_xy":[[0.1733167973318286,1.3508841569264896],[0.3333167912579069,1.5050354402140365]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_8","position":[0.5841611519835745,1.2588593339158933,0.71338606911949],"aabb_xy":[[0.5241611521370076,1.2020407117228544],[0.6441611518301412,1.3156779561089318]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_9","position":[0.2406679429437868,-1.5087482896235027,0.71338606911949],"aabb_xy":[[0.20820624206185928,-1.5388811217384049],[0.27312964382571414,-1.4786154575085997]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_10","position":[-0.39286963186488233,1.4074891268232728,0.71338606911949],"aabb_xy":[[-0.43036963215705715,1.4034476514226693],[-0.3553696315727075,1.4115306022238763]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_11","position":[-0.4754777956838589,-1.4009095053895972,0.71338606911949],"aabb_xy":[[-0.5304777948604484,-1.4558991801645547],[-0.4204777965072694,-1.3459198306146394]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_12","position":[0.3610830077631857,-0.8927463166715321,0.71338606911949],"aabb_xy":[[0.33656938366617983,-0.9170109099735686],[0.38559663186019155,-0.8684817233694957]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_13","position":[-0.39349989309652333,-1.2664270489575296,0.71338606911949],"aabb_xy":[[-0.4137841958199221,-1.2867096741002382],[-0.3732155903731246,-1.2461444238148205]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_14","position":[0.5104457795276935,-0.165063318090366,0.71338606911949],"aabb_xy":[[0.46044577816680626,-0.2150412226657816],[0.5604457808885807,-0.11508541351495037]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_15","position":[0.3692281863665763,-2.5421042747274303,0.71338606911949],"aabb_xy":[[0.36479755701173616,-2.5475526464621137],[0.3736588157214165,-2.5366559029927487]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_16","position":[-0.5439990151856998,1.1781010966786654,0.71338606911949],"aabb_xy":[[-0.5512427812319451,1.0981010984750628],[-0.5367552491394545,1.2581010948822675]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_17","position":[0.6006606584811596,-0.5170038700488959,0.71338606911949],"aabb_xy":[[0.5556606570149307,-0.5620037269103766],[0.6456606599473884,-0.47200401318741525]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_18","position":[-0.5101217249283037,1.4362337021402731,0.71338606911949],"aabb_xy":[[-0.5476217254256619,1.4322650185921544],[-0.4726217244309454,1.4402023856883914]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_19","position":[-0.5029787571064689,-0.9165576487599822,0.71338606911949],"aabb_xy":[[-0.5313084670550091,-0.9210183909536994],[-0.47464904715792866,-0.9120969065662653]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_20","position":[0.07753099937207197,1.7580383744176653,0.71338606911949],"aabb_xy":[[0.03040162037023629,1.694038373373263],[0.12466037837390763,1.8220383754620668]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_21","position":[0.3710095934963258,-2.425336385066935,0.71338606911949],"aabb_xy":[[0.34742447003243093,-2.490336387312367],[0.39459471696022064,-2.3603363828215036]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_22","position":[0.5091794263752771,0.6088261670926323,0.71338606911949],"aabb_xy":[[0.42917942897168365,0.5288335958944493],[0.5891794237788704,0.688818738290815]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_23","position":[-0.6212116004073482,1.0399656706987863,0.71338606911949],"aabb_xy":[[-0.6292050902026304,1.0319675387583107],[-0.6132181106120663,1.047963802639262]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_24","position":[0.577672446453505,1.0097967613806595,0.71338606911949],"aabb_xy":[[0.5697491662147568,0.9872967611426562],[0.5855957266922535,1.032296761618663]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_25","position":[-0.018498891289751573,-1.104681623742099,0.71338606911949],"aabb_xy":[[-0.06849888993567277,-1.1546011674015613],[0.03150110735616962,-1.0547620800826365]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_26","position":[-0.15394384957245388,1.396579392449028,0.71338606911949],"aabb_xy":[[-0.1578577227678764,1.3878303770424711],[-0.15002997637703136,1.4053284078555848]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_27","position":[0.629540576339148,0.7657151968710929,0.71338606911949],"aabb_xy":[[0.5945405771463296,0.7547481508734301],[0.6645405755319661,0.7766822428687553]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_28","position":[-0.22710621561263822,0.14322029424729044,0.71338606911949],"aabb_xy":[[-0.2821016934332976,0.0882202928133835],[-0.17211073779197883,0.19822029568119737]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_29","position":[0.23733485480714356,-0.6039267773677333,0.71338606911949],"aabb_xy":[[0.20030074537908385,-0.6383039847014426],[0.2743689642352033,-0.5695495700340237]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_30","position":[0.12185076160178065,1.1987001826132264,0.71338606911949],"aabb_xy":[[0.0720339821369459,1.148700184128923],[0.17166754106661541,1.2487001810975298]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_31","position":[0.21907897384172415,-2.0322877910152126,0.71338606911949],"aabb_xy":[[0.20087315018047652,-2.0433131915972043],[0.23728479750297188,-2.021262390433221]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_32","position":[0.6871800761763476,-0.20191460420396634,0.71338606911949],"aabb_xy":[[0.6791437414750626,-0.20995272350838312],[0.6952164108776323,-0.19387648489954956]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_33","position":[-0.13026756917609505,-2.3982651294440283,0.71338606911949],"aabb_xy":[[-0.17151638020600976,-2.4532651289562453],[-0.08901875814618031,-2.3432651299318104]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_34","position":[0.2634742426998221,0.8633088832254425,0.71338606911949],"aabb_xy":[[0.17347424410535217,0.8470582969120216],[0.35347424129429206,0.8795594695388637]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6982364830740496,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1244.png","name":"1244"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1244.png","name":"1244"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2157.png","name":"2157"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8539.png","name":"8539"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2719.png","name":"2719"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2510.png","name":"2510"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":611.5028924547867,"rotation_z_degrees":318.5793994935825,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014452963772242216,0.01805113550230834,0.01895859625251391]},{"name":"camera_2","offset_m":[-0.003391581823141133,0.014361452311812666,0.01227004034787334]},{"name":"camera_3","offset_m":[0.012697401520446332,0.015591209825196826,-0.0021694372663818087]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0003399157674935872,-0.001782368305943562,0.001066389833362821],"end_effector_yaw_offset_degrees":-0.5923292925320811},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0007424510820039291,0.0008879421192327084,0.0008919993781824902],"end_effector_yaw_offset_degrees":-0.10987692015659412},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0010991209958343246,-0.0002093950248798944,-0.0002558269632799992],"end_effector_yaw_offset_degrees":0.8876306588208933},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0006961353815705075,-0.0016354037089410848,-0.0006631284413437899],"end_effector_yaw_offset_degrees":-0.3460560527485719}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0026637543823471088,-0.001804862076978251],"position_m":[0.17733624561765288,-0.03540486207697825,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0012228792530254453,3.9031686031183385e-05],"position_m":[0.2707771207469746,-0.3672609683139688,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003141441932532252,-0.004867029458783011],"position_m":[0.31685855806746777,0.348232970541217,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0011415163902053762,0.004142034712487567],"position_m":[0.3396415163902054,0.11264203471248757,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e9be2dd6a1f56d3f39c08dc8f9c4712745954a902eac265a96b7e7ce6674fdba","episode_index":93,"episode_name":"episode_0093"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0093.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_1244/tex_ceiling_textures_2510/tex_floor_textures_2719/tex_table_textures_2157/tex_wall_textures_8539","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":802799867025004431,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":802799867025004431,"visual_seed":802799867025004431,"scene_id":"lab_003","finished_at":"2026-09-05T23:38:07"} +{"episode_id":"ep_000091","started_at":"2026-09-05T23:38:11","dimensions":{"distractor":{"count":35,"items":[{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_0","position":[0.4483205968379924,-0.3184737142437406,0.71338606911949],"aabb_xy":[[0.3883205959771795,-0.36990014425022694],[0.508320597698805,-0.26704728423725416]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_1","position":[0.45969099547449277,-1.868494460640338,0.71338606911949],"aabb_xy":[[0.4418974885395763,-1.8862942062361354],[0.47748450240940915,-1.85069471504454]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_2","position":[-0.2340739779188768,-2.2199716829311593,0.71338606911949],"aabb_xy":[[-0.2405756144268814,-2.2297395049574695],[-0.22757234141087218,-2.21020386090485]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_3","position":[-0.16708496903925774,0.07373102433143242,0.71338606911949],"aabb_xy":[[-0.18714338065249803,0.05366593742227488],[-0.14702655742601745,0.09379611124058995]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_4","position":[0.6587635479415925,-1.3239773870649687,0.71338606911949],"aabb_xy":[[0.6479905740202249,-1.3589773852840077],[0.6695365218629604,-1.2889773888459297]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_5","position":[0.05785028557992822,-0.876750874644185,0.71338606911949],"aabb_xy":[[0.04850327799763299,-0.891054496861829],[0.06719729316222345,-0.862447252426541]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_6","position":[-0.010272152943642254,0.4051616241504221,0.71338606911949],"aabb_xy":[[-0.01517144525020575,0.3774847048478533],[-0.005372860637078758,0.43283854345299083]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_7","position":[-0.2202198484591204,-1.1456522034066914,0.71338606911949],"aabb_xy":[[-0.23268720656885608,-1.158117528040015],[-0.20775249034938478,-1.133186878773368]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_8","position":[-0.4170978873167416,0.6190832444394623,0.71338606911949],"aabb_xy":[[-0.4345978875760783,0.6049917022506897],[-0.39959788705740507,0.6331747866282349]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_9","position":[0.6428596887370939,-0.690385044168836,0.71338606911949],"aabb_xy":[[0.620687161760443,-0.7125607113249591],[0.6650322157137447,-0.6682093770127128]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_10","position":[0.20729535650824227,-1.431292509660437,0.71338606911949],"aabb_xy":[[0.17283300911010044,-1.4657863920582594],[0.24175770390638404,-1.396798627262614]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_11","position":[0.4769285381971653,1.015994941674157,0.71338606911949],"aabb_xy":[[0.4530923205565603,0.9259949408656707],[0.5007647558377704,1.1059949424826436]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_12","position":[0.7062623383729218,1.4171648727876023,0.71338606911949],"aabb_xy":[[0.6983390581341735,1.394664872549599],[0.7141856186116702,1.4396648730256056]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_13","position":[0.24120008891188938,-0.9242090948698154,0.71338606911949],"aabb_xy":[[0.2245229529187939,-0.9409090188437456],[0.2578772249049849,-0.907509170895885]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_14","position":[-0.14293020436245174,1.3438342274315676,0.71338606911949],"aabb_xy":[[-0.18810152221062074,1.2798342302870291],[-0.09775888651428277,1.407834224576106]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_15","position":[-0.43549769395458543,-1.0973400738752705,0.71338606911949],"aabb_xy":[[-0.49949769433211905,-1.1470853407260826],[-0.3714976935770518,-1.047594807024458]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_16","position":[-0.0763903240376076,-0.007589697618819891,0.71338606911949],"aabb_xy":[[-0.0805261803703078,-0.04508969706317689],[-0.07225446770490741,0.02991030182553711]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_17","position":[0.09671918157491766,-1.8895047610584372,0.71338606911949],"aabb_xy":[[0.03908871268764679,-1.9495047599851474],[0.1543496504621885,-1.8295047621317262]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_18","position":[-0.0087646013487519,1.1953338075419668,0.71338606911949],"aabb_xy":[[-0.03741393370916812,1.1666882482648906],[0.01988473101166433,1.2239793668190422]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_19","position":[0.1736465830529621,1.446810366727274,0.71338606911949],"aabb_xy":[[0.10864658489704304,1.4205141221773618],[0.23864658120888116,1.4731066112771862]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_20","position":[-0.26559500812947817,1.372209034565369,0.71338606911949],"aabb_xy":[[-0.27746709114097934,1.2872090348717184],[-0.2537229251179771,1.4572090342590192]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_21","position":[0.2368518641672902,0.6782612429063515,0.71338606911949],"aabb_xy":[[0.20035604354001144,0.6417773004795938],[0.27334768479456895,0.7147451853331089]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_22","position":[-0.11531018886516797,1.79695351571992,0.71338606911949],"aabb_xy":[[-0.1496070998829086,1.7626566295099786],[-0.08101327784742735,1.8312504019298612]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_23","position":[-0.6392338063554741,-0.15647168245965482,0.71338606911949],"aabb_xy":[[-0.6535682314816375,-0.16853189801419366],[-0.6248993812293105,-0.14441146690511597]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_24","position":[0.32510340692220385,-1.7395538938523862,0.71338606911949],"aabb_xy":[[0.2651034066708027,-1.793835218888851],[0.38510340717360503,-1.6852725688159216]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_25","position":[-0.12723131497751383,-0.6812285339438053,0.71338606911949],"aabb_xy":[[-0.19123131688985617,-0.7371396832018158],[-0.06323131306517149,-0.6253173846857949]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_26","position":[0.6371773312590856,-2.1661341031158385,0.71338606911949],"aabb_xy":[[0.5731773292093537,-2.206228586205147],[0.7011773333088177,-2.126039620026531]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_27","position":[0.3884012052529977,-0.6361909793870617,0.71338606911949],"aabb_xy":[[0.3648160817891028,-0.7011909816324936],[0.4119863287168925,-0.57119097714163]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_28","position":[-0.6086794202098997,1.7848196946699058,0.71338606911949],"aabb_xy":[[-0.6174606473571361,1.7760399473813764],[-0.5998981930626636,1.793599441958437]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_29","position":[-0.5253410090689745,-0.6999668637705749,0.71338606911949],"aabb_xy":[[-0.5706196239501238,-0.7639668631187586],[-0.48006239418782526,-0.6359668644223913]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_30","position":[-0.30535669115447434,1.103274637906389,0.71338606911949],"aabb_xy":[[-0.39535668789008455,1.0500911745890942],[-0.21535669441886413,1.1564581012236832]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_31","position":[-0.16946197380961603,-2.2959636477938212,0.71338606911949],"aabb_xy":[[-0.1770862418997943,-2.303596871330365],[-0.1618377057194378,-2.2883304242572775]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_32","position":[0.4676666498610502,-0.1142203344388153,0.71338606911949],"aabb_xy":[[0.46375277666562764,-0.12296934984537206],[0.4715805230564727,-0.10547131903225854]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_33","position":[0.5399217210917711,0.5282589930588721,0.71338606911949],"aabb_xy":[[0.47592171874896955,0.4833181418147396],[0.6039217234345726,0.5731998443030045]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_34","position":[-0.28222482922199804,-1.1261931117448412,0.71338606911949],"aabb_xy":[[-0.2875573438766111,-1.1315174399900767],[-0.2768923145673851,-1.1208687834996056]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.698466279573782,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7705.png","name":"7705"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7705.png","name":"7705"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7686.png","name":"7686"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8910.png","name":"8910"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3119.png","name":"3119"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7261.png","name":"7261"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":790.1966877766426,"rotation_z_degrees":42.28042117257842,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012464422102326952,0.009981152838208045,0.0018851796551773957]},{"name":"camera_2","offset_m":[-0.014045447716446939,-0.016476430101458377,0.0026422325743505545]},{"name":"camera_3","offset_m":[-0.0065768001104018255,-0.016055037193201085,-0.0197849754408375]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0016111196363306872,0.0012049831371557336,0.00016815421275448092],"end_effector_yaw_offset_degrees":0.43208891072832367},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0015059925161964175,0.001557253139933185,0.0019346806415938321],"end_effector_yaw_offset_degrees":-0.9957200798463348},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0007793430328377118,0.0018442871622049435,-0.0014330134039659782],"end_effector_yaw_offset_degrees":-0.00736738466490805},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0015593933575753294,-0.0014792454852276694,-0.0017527598380687134],"end_effector_yaw_offset_degrees":-0.9333633720423833}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0037937567408605345,0.0027770877467585596],"position_m":[0.17620624325913947,-0.03082291225324144,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0031931438602845977,-0.0035607395825632913],"position_m":[0.26880685613971544,-0.3708607395825633,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.001367302004898538,-0.0024181422228570317],"position_m":[0.32136730200489855,0.350681857777143,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0024444901471894877,-0.003013351316489582],"position_m":[0.3360555098528105,0.10548664868351042,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"18ccf0fe6aea2f2ab35e57b98cc9c20dc94b500e09002ee1a49f6ceaf3ef8424","episode_index":94,"episode_name":"episode_0094"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0094.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_7705/tex_ceiling_textures_7261/tex_floor_textures_3119/tex_table_textures_7686/tex_wall_textures_8910","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":576882621759499347,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":576882621759499347,"visual_seed":576882621759499347,"scene_id":"lab_003","finished_at":"2026-09-05T23:41:49"} +{"episode_id":"ep_000092","started_at":"2026-09-05T23:41:54","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_0","position":[-0.5235473050612112,1.1516877333493891,0.71338606911949],"aabb_xy":[[-0.5875473023635576,1.1073213063815324],[-0.45954730775886476,1.1960541603172459]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_1","position":[0.29531776167103796,-1.6737474252953397,0.71338606911949],"aabb_xy":[[0.2775242547361215,-1.6915471708911374],[0.3131112686059544,-1.655947679699542]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_2","position":[0.1634842321991924,1.184760076006294,0.71338606911949],"aabb_xy":[[0.14831206291755908,1.1695912190780908],[0.17865640148082576,1.1999289329344975]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_3","position":[-0.32036046991385364,0.09206361165209298,0.71338606911949],"aabb_xy":[[-0.4003604731778667,0.07850357934317963],[-0.24036046664984045,0.1056236439610063]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_4","position":[-0.5577870264973767,-1.6043890967256755,0.71338606911949],"aabb_xy":[[-0.5650307925436221,-1.6843890949292777],[-0.5505432604511314,-1.524389098522073]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_5","position":[-0.5284394976983302,-0.6028953932678458,0.71338606911949],"aabb_xy":[[-0.5924394997480622,-0.6429898763571538],[-0.4644394956485982,-0.5628009101785378]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_6","position":[-0.0280847068582879,0.20776544981839962,0.71338606911949],"aabb_xy":[[-0.04071149414548425,0.19821937611682675],[-0.015457919571091546,0.21731152351997254]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_7","position":[0.3681742800360823,-0.8059694454611182,0.71338606911949],"aabb_xy":[[0.33317428084326395,-0.8169364914587806],[0.4031742792289005,-0.7950023994634553]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_8","position":[0.6872876584751213,-2.0262922175395035,0.71338606911949],"aabb_xy":[[0.6776560222546917,-2.0359295303192124],[0.6969192946955509,-2.0166549047597946]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_9","position":[-0.41676525058240793,0.4143201529521918,0.71338606911949],"aabb_xy":[[-0.438673932721759,0.3924194861321011],[-0.3948565684430569,0.43622081977228255]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_10","position":[-0.6052170938099278,1.606149837251698,0.71338606911949],"aabb_xy":[[-0.650495708691077,1.5421498379035143],[-0.5599384789287785,1.6701498365998817]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_11","position":[0.6399992643267609,0.6063595086069489,0.71338606911949],"aabb_xy":[[0.5900044313988193,0.5563595097117053],[0.6899940972547025,0.6563595075021924]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_12","position":[0.510562928835486,0.3619233168748077,0.71338606911949],"aabb_xy":[[0.5024352406421729,0.3530097084641001],[0.5186906170287994,0.37083692528551543]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_13","position":[-0.45574919573949946,1.528970895897936,0.71338606911949],"aabb_xy":[[-0.5018342869942309,1.4649708986453807],[-0.409664104484768,1.592970893150491]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_14","position":[-0.037314687850229955,1.0504468970116458,0.71338606911949],"aabb_xy":[[-0.08741215183130358,0.9864468965018343],[0.012782776130843658,1.1144468975214579]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_15","position":[-0.11098039965246931,-1.436536902038357,0.71338606911949],"aabb_xy":[[-0.12113341520661866,-1.4726064436110968],[-0.1008273840983199,-1.4004673604656162]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_16","position":[-0.08923485732453218,-1.717394718175537,0.71338606911949],"aabb_xy":[[-0.10951916004793093,-1.7376773433182453],[-0.0689505546011334,-1.6971120930328276]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_17","position":[-0.5952944991321281,1.3277828519983,0.71338606911949],"aabb_xy":[[-0.6327944989491616,1.3231446406871579],[-0.5577944993150945,1.3324210633094415]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_18","position":[-0.16688416942693274,-0.576630597109236,0.71338606911949],"aabb_xy":[[-0.18121859455309622,-0.5886908126637748],[-0.1525497443007693,-0.5645703815546971]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_19","position":[-0.2819600369932295,-0.22302122357069454,0.71338606911949],"aabb_xy":[[-0.31195169972709985,-0.25302122290749507],[-0.2519683742593592,-0.19302122423389398]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_20","position":[0.5009251743204393,0.22628882713116782,0.71338606911949],"aabb_xy":[[0.4369251770347907,0.18478210817832386],[0.564925171606088,0.2677955460840118]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_21","position":[0.156673426379908,1.3683191232565703,0.71338606911949],"aabb_xy":[[0.06667342696153711,1.3349436264123806],[0.2466734257982789,1.40169462010076]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_22","position":[0.6116087378637083,-0.1791846301066542,0.71338606911949],"aabb_xy":[[0.566616151145258,-0.22418462938110295],[0.6566013245821588,-0.13418463083220544]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_23","position":[-0.14834354439371356,-2.362844070715605,0.71338606911949],"aabb_xy":[[-0.21334354254963261,-2.389140315265517],[-0.0833435462377945,-2.3365478261656927]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_24","position":[-0.49119949207018065,-1.0856476941900632,0.71338606911949],"aabb_xy":[[-0.5361994935364096,-1.1306475510515441],[-0.44619949060395186,-1.0406478373285828]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_25","position":[-0.41137668718194953,-0.8328500732304855,0.71338606911949],"aabb_xy":[[-0.44817132030685575,-0.8697559483270677],[-0.3745820540570432,-0.7959441981339032]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_26","position":[0.30130630499974165,-1.808402924804967,0.71338606911949],"aabb_xy":[[0.2213063078401663,-1.819950525762784],[0.3813063021593169,-1.7968553238471499]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_27","position":[0.4168323660775568,1.3841612398720575,0.71338606911949],"aabb_xy":[[0.40957111850714945,1.3713742296085478],[0.4240936136479643,1.3969482501355668]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_28","position":[-0.2231752072619137,-2.518584564960877,0.71338606911949],"aabb_xy":[[-0.22926983515003202,-2.5271539595125456],[-0.21708057937379538,-2.510015170409208]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_29","position":[0.317797942312841,-1.5425444515094209,0.71338606911949],"aabb_xy":[[0.2977395306996007,-1.5626095384185783],[0.33785635392608127,-1.5224793646002635]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_30","position":[0.4606046398211239,-1.464720850511254,0.71338606911949],"aabb_xy":[[0.39560464193947614,-1.515844514217795],[0.5256046377027717,-1.413597186804713]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_31","position":[0.7087958930508951,0.483541045799567,0.71338606911949],"aabb_xy":[[0.7038966007443315,0.45586412649699826],[0.7136951853574585,0.5112179651021358]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_32","position":[0.04868417765597399,-1.0285976940336437,0.71338606911949],"aabb_xy":[[-0.015315818739599085,-1.0925609824523774],[0.11268417405154707,-0.9646344056149103]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7046316837564853,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9754.png","name":"9754"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9754.png","name":"9754"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8463.png","name":"8463"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9126.png","name":"9126"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7045.png","name":"7045"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/828.png","name":"828"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":776.4953423738617,"rotation_z_degrees":323.7358958193408,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0037029721998999773,-0.009455460780901138,-0.010252523724798741]},{"name":"camera_2","offset_m":[0.006598690852382124,-0.005463238868172984,-0.013234020707377444]},{"name":"camera_3","offset_m":[0.0039553113039694394,-0.018223457241424126,0.019734126283632598]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0012399680570106563,-0.0015263801680351565,0.001522207248085153],"end_effector_yaw_offset_degrees":0.8232893618245589},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0016080159063305293,-0.0007439337211277662,6.476479053798851e-05],"end_effector_yaw_offset_degrees":0.05846145019369153},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0009592406565854944,0.00027436788843348105,-0.001311885396119867],"end_effector_yaw_offset_degrees":0.9393876817352143},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00163864235202499,0.0008187401513173177,-0.0016679020822402376],"end_effector_yaw_offset_degrees":-0.08562087852041578}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0022667912317174965,0.0026870476427993274],"position_m":[0.1777332087682825,-0.030912952357200672,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0034671400943589543,-0.0045331850759222515],"position_m":[0.27546714009435896,-0.3718331850759223,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0009036157020130189,-0.002321534209135566],"position_m":[0.319096384297987,0.35077846579086447,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00048227708400598503,0.004369133985378811],"position_m":[0.338017722915994,0.11286913398537882,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"df567dc67f673228de2beb499a5ca36eb88d6060c192acb450e6166b176e6cff","episode_index":95,"episode_name":"episode_0095"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0095.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_9754/tex_ceiling_textures_828/tex_floor_textures_7045/tex_table_textures_8463/tex_wall_textures_9126","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":5474954428915410117,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":5474954428915410117,"visual_seed":5474954428915410117,"scene_id":"lab_003","finished_at":"2026-09-05T23:45:19"} +{"episode_id":"ep_000093","started_at":"2026-09-05T23:45:22","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_0","position":[-0.11694411181965525,-2.108294237330519,0.71338606911949],"aabb_xy":[[-0.12497038245028126,-2.1170457323078717],[-0.10891784118902927,-2.0995427423531665]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_1","position":[-0.25748736267006644,1.3829655652219697,0.71338606911949],"aabb_xy":[[-0.2924873618628846,1.371998519224307],[-0.22248736347724807,1.393932611219632]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_2","position":[-0.34531839820193144,-1.9636907244482493,0.71338606911949],"aabb_xy":[[-0.3517322118451164,-1.9701005446959174],[-0.3389045845587465,-1.9572809042005808]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_3","position":[0.009416778835360629,-2.509123430769808,0.71338606911949],"aabb_xy":[[-0.04557547180015032,-2.564123432513121],[0.06440902947087158,-2.4541234290264953]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_4","position":[0.5022616985905481,1.723393843482032,0.71338606911949],"aabb_xy":[[0.4823706587102079,1.7107380321973353],[0.5221527384708884,1.736049654766729]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_5","position":[0.30747535678545357,1.1506576533520403,0.71338606911949],"aabb_xy":[[0.2174753570622793,1.1275843008168602],[0.39747535650862764,1.17373100588722]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_6","position":[-0.17725001623241854,0.40132786324673964,0.71338606911949],"aabb_xy":[[-0.18356211576875697,0.39556092399352083],[-0.1709379166960801,0.40709480249995844]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_7","position":[0.27731266673595123,0.5956302676840295,0.71338606911949],"aabb_xy":[[0.2597343645470044,0.5780557781099247],[0.2948909689248981,0.6132047572581345]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_8","position":[-0.18903408027164237,-1.7626877600925486,0.71338606911949],"aabb_xy":[[-0.19783613558061508,-1.7704990862474776],[-0.18023202496266966,-1.7548764339376195]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_9","position":[-0.3131940901818178,1.1592608615958255,0.71338606911949],"aabb_xy":[[-0.39819408859924105,1.0743865661335406],[-0.2281940917643946,1.2441351570581105]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_10","position":[0.49822278515955887,1.2342571378827292,0.71338606911949],"aabb_xy":[[0.4682311224256885,1.2042571385459286],[0.5282144478934292,1.2642571372195297]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_11","position":[0.22108337695412195,0.9573009090991054,0.71338606911949],"aabb_xy":[[0.21304704225283708,0.9492627897946885],[0.22911971165540676,0.965339028403522]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_12","position":[0.3974450639301499,-1.3177960385673402,0.71338606911949],"aabb_xy":[[0.33744506306933697,-1.3692224685738263],[0.4574450647909626,-1.2663696085608536]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_13","position":[-0.5508774234381073,-2.543647633265276,0.71338606911949],"aabb_xy":[[-0.575423639060858,-2.573896529814313],[-0.5263312078153566,-2.5133987367162387]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_14","position":[0.18713025549490947,-1.9785509206241714,0.71338606911949],"aabb_xy":[[0.16963025524986006,-1.9960507084637382],[0.20463025573995883,-1.9610511327846045]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_15","position":[-0.4887266928089648,-0.6182672967397786,0.71338606911949],"aabb_xy":[[-0.5062266930683015,-0.6323588389285514],[-0.4712266925496282,-0.6041757545510061]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_16","position":[0.3794206315073805,-0.8853517372081532,0.71338606911949],"aabb_xy":[[0.29942062934461805,-0.9653069208342967],[0.459420633670143,-0.8053965535820095]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_17","position":[0.4747603793106314,-1.781693575570356,0.71338606911949],"aabb_xy":[[0.4247603780267914,-1.8316724299609781],[0.5247603805944713,-1.731714721179734]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_18","position":[-0.5870759148865854,1.6909550931236734,0.71338606911949],"aabb_xy":[[-0.6120759140522185,1.6840028474183169],[-0.5620759157209523,1.69790733882903]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_19","position":[0.3906767127113524,-0.6916917562238591,0.71338606911949],"aabb_xy":[[0.3406767123507863,-0.7416717434334621],[0.4406767130719184,-0.6417117690142562]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_20","position":[-0.42671752068883506,0.5456363655051097,0.71338606911949],"aabb_xy":[[-0.4642175214808305,0.5392685245469196],[-0.3892175198968396,0.5520042064632998]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_21","position":[0.6422439981795378,0.5623094498999821,0.71338606911949],"aabb_xy":[[0.6335460358888225,0.5501844755925074],[0.6509419604702531,0.5744344242074568]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_22","position":[0.42599182655814216,0.20910759691526826,0.71338606911949],"aabb_xy":[[0.42203134278840787,0.20143973232974763],[0.42995231032787656,0.21677546150078883]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.697410233405904,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5034.png","name":"5034"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5034.png","name":"5034"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8156.png","name":"8156"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9116.png","name":"9116"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/705.png","name":"705"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4575.png","name":"4575"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":675.2179114119737,"rotation_z_degrees":161.85484137665458,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014654887288752253,-0.01944247688388394,0.015449485843576246]},{"name":"camera_2","offset_m":[-0.010415144942474698,-0.006222202243403991,0.004572140156253575]},{"name":"camera_3","offset_m":[0.0072330550213241945,0.01761467562095007,-0.007150723676862052]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001962103863423461,-0.0017896149071351384,-0.0003448359798791474],"end_effector_yaw_offset_degrees":-0.24354143186877097},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[6.8481021591087e-06,-0.0011892491953031064,-0.00040392218992389684],"end_effector_yaw_offset_degrees":0.5410194089300617},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0015518558093008607,-0.00033354333726065815,-0.0015305578511567624],"end_effector_yaw_offset_degrees":-0.2985221414248542},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0008146460003517185,0.0003707673710550744,-0.0009220727277860733],"end_effector_yaw_offset_degrees":0.3587735934962504}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0034620641559152555,-0.0008957404086402578],"position_m":[0.17653793584408473,-0.03449574040864026,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0003841396177554522,0.004234826773418197],"position_m":[0.2723841396177555,-0.3630651732265818,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.002273074063770827,-0.0038715599092443154],"position_m":[0.3177269259362292,0.3492284400907557,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004465748685616228,-0.0023832515683058163],"position_m":[0.34296574868561625,0.10611674843169418,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4d61129b6b28f9f99a4cff0b443413cf667c5a779015b27490dade305a50532b","episode_index":96,"episode_name":"episode_0096"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0096.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_5034/tex_ceiling_textures_4575/tex_floor_textures_705/tex_table_textures_8156/tex_wall_textures_9116","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":6171416563283313259,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":6171416563283313259,"visual_seed":6171416563283313259,"scene_id":"lab_003","finished_at":"2026-09-05T23:48:53"} +{"episode_id":"ep_000094","started_at":"2026-09-05T23:48:56","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_0","position":[0.5987101556079435,1.1257823464559524,0.71338606911949],"aabb_xy":[[0.5892926810380809,1.1163661693182334],[0.6081276301778064,1.1351985235936715]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_1","position":[0.4421465489737162,0.7897906634033838,0.71338606911949],"aabb_xy":[[0.4239407253124685,0.7787652628213922],[0.46035237263496387,0.8008160639853755]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_2","position":[-0.4456242851872727,-1.0118748657622534,0.71338606911949],"aabb_xy":[[-0.4632571207808003,-1.0294978117778761],[-0.42799144959374513,-0.9942519197466303]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_3","position":[-0.01190058978335351,-1.630243529646867,0.71338606911949],"aabb_xy":[[-0.020681816930589736,-1.6390232769353976],[-0.0031193626361172835,-1.621463782358337]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_4","position":[0.6298836595121273,0.35701723153548093,0.71338606911949],"aabb_xy":[[0.6264429832720702,0.35315579856111645],[0.6333243357521845,0.3608786645098454]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_5","position":[-0.10739519606196735,-2.06700222425841,0.71338606911949],"aabb_xy":[[-0.11796267572006636,-2.077547254371418],[-0.09682771640386834,-2.056457194145401]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_6","position":[-0.21586163971929762,0.4032439635233307,0.71338606911949],"aabb_xy":[[-0.27586163997069874,0.348962638486866],[-0.15586163946789638,0.4575252885597953]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_7","position":[-0.27985362406625225,1.4328115007041906,0.71338606911949],"aabb_xy":[[-0.2959155515247699,1.3478114988915986],[-0.2637916966077346,1.5178115025167822]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_8","position":[0.16504985094179503,1.4843648540190828,0.71338606911949],"aabb_xy":[[0.1552938614326211,1.4746023199598484],[0.1748058404509689,1.4941273880783172]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_9","position":[0.07813137942399706,-2.4606900684710116,0.71338606911949],"aabb_xy":[[0.07209436642333235,-2.4667167695399597],[0.0841683924246618,-2.4546633674020635]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_10","position":[-0.21431903005826164,-2.281136047037481,0.71338606911949],"aabb_xy":[[-0.24431069279213197,-2.311136046374281],[-0.1843273673243913,-2.25113604770068]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_11","position":[-0.11551951962681173,-1.458110832134885,0.71338606911949],"aabb_xy":[[-0.12739160263831284,-1.5431108318285354],[-0.10364743661531062,-1.3731108324412347]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_12","position":[-0.5247332887880192,0.16620170214399588,0.71338606911949],"aabb_xy":[[-0.5887332860736679,0.12469498319115194],[-0.46073329150237063,0.20770842109683987]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_13","position":[0.17110991346567395,1.6030112395306042,0.71338606911949],"aabb_xy":[[0.1376697382696543,1.569567613699674],[0.20455008866169352,1.636454865361534]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_14","position":[-0.15490622584814784,-0.4849898272870403,0.71338606911949],"aabb_xy":[[-0.1724061592821312,-0.5024898272072749],[-0.13740629241416447,-0.4674898273668057]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_15","position":[-0.04622163418396186,-1.8685060906277182,0.71338606911949],"aabb_xy":[[-0.05018211795369623,-1.8761739552132388],[-0.04226115041422748,-1.8608382260421976]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_16","position":[0.39726003567979196,-2.1164107648340056,0.71338606911949],"aabb_xy":[[0.34726003623959634,-2.1663786893183214],[0.4472600351199876,-2.066442840349689]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_17","position":[-0.17945614096786522,0.8566530131830916,0.71338606911949],"aabb_xy":[[-0.1923280444688053,0.7766530127692555],[-0.16658423746692502,0.9366530135969278]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_18","position":[-0.5506419718804256,1.7387327899979854,0.71338606911949],"aabb_xy":[[-0.5559744865350387,1.73340846175275],[-0.5453094572258126,1.7440571182432212]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_19","position":[0.47402853380568,1.4173952854914185,0.71338606911949],"aabb_xy":[[0.4390285338291841,1.407930669443802],[0.5090285337821758,1.4268599015390353]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7014797116515114,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5069.png","name":"5069"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5069.png","name":"5069"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8167.png","name":"8167"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1609.png","name":"1609"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1459.png","name":"1459"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6999.png","name":"6999"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":756.3197682932487,"rotation_z_degrees":215.3375944658498,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010934369122110776,-0.00400056326136454,-0.0008642233945358666]},{"name":"camera_2","offset_m":[0.006588186559835157,0.015663922471990836,0.010952460639207701]},{"name":"camera_3","offset_m":[-0.01166294203967631,-0.005941928964243672,-0.008714116874724733]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0016348440716051097,0.0005129910112654204,-0.0015124260097506609],"end_effector_yaw_offset_degrees":-0.4090108251779945},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0007074707861143407,-0.0006195943085887507,-0.0006303838896738704],"end_effector_yaw_offset_degrees":-0.6592782433792632},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001875452694608999,-0.0003641153847960927,-6.98497798997937e-05],"end_effector_yaw_offset_degrees":0.8028365717486516},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001987508816174234,0.0008763332899975568,-0.0013919523515997887],"end_effector_yaw_offset_degrees":-0.6382679468636554}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0032975999499338052,0.0017388115174573338],"position_m":[0.17670240005006618,-0.031861188482542664,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0014171403351332743,-0.001858112772246776],"position_m":[0.2734171403351333,-0.3691581127722468,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0014475311599895491,-0.004311307641053912],"position_m":[0.3185524688400105,0.3487886923589461,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004059786744309842,0.00032341375890337573],"position_m":[0.3344402132556902,0.10882341375890338,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8f84c1c6b14b19d61aed3452af6b3a49515467b5149b49e2ff767740892a7b9e","episode_index":97,"episode_name":"episode_0097"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0097.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_5069/tex_ceiling_textures_6999/tex_floor_textures_1459/tex_table_textures_8167/tex_wall_textures_1609","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":2268924165211334537,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":2268924165211334537,"visual_seed":2268924165211334537,"scene_id":"lab_003","finished_at":"2026-09-05T23:52:18"} +{"episode_id":"ep_000095","started_at":"2026-09-05T23:52:21","dimensions":{"distractor":{"count":24,"items":[{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_0","position":[0.40414578895536213,-1.0208448944444406,0.71338606911949],"aabb_xy":[[0.3141457924544903,-1.0667565368628986],[0.49414578545623383,-0.9749332520259822]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_1","position":[-0.5069802366096922,-0.939472880924674,0.71338606911949],"aabb_xy":[[-0.556980237893532,-0.9894517353152961],[-0.45698023532585214,-0.8894940265340519]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_2","position":[-0.3280374038475404,-1.0558383092137127,0.71338606911949],"aabb_xy":[[-0.33434950338387887,-1.0616052484669316],[-0.321725304311202,-1.0500713699604938]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_3","position":[0.34935667518827684,1.645052582416485,0.71338606911949],"aabb_xy":[[0.31938911827845123,1.615052582118599],[0.37932423209810257,1.6750525827143705]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_4","position":[-0.6067868783319753,-1.7227757026661905,0.71338606911949],"aabb_xy":[[-0.6867868786055822,-1.7957252504919072],[-0.5267868780583682,-1.6498261548404738]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_5","position":[-0.21469059741188135,-2.2403704513041918,0.71338606911949],"aabb_xy":[[-0.2521905958352817,-2.253534665272022],[-0.17719059898848097,-2.2272062373363606]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_6","position":[-0.421799285447214,-1.7553111546683975,0.71338606911949],"aabb_xy":[[-0.43947491603581235,-1.7729913709478002],[-0.4041236548586157,-1.7376309383889947]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_7","position":[0.4212306894125619,1.5357634072857178,0.71338606911949],"aabb_xy":[[0.38623069114244196,1.5286892795907294],[0.45623068768268177,1.5428375349807057]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_8","position":[0.26654321766350386,0.763398988568968,0.71338606911949],"aabb_xy":[[0.20254322036115746,0.7190325616011113],[0.33054321496585026,0.8077654155368248]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_9","position":[0.5678433009360484,-1.3283405459156303,0.71338606911949],"aabb_xy":[[0.5250765940566282,-1.3923405493374328],[0.6106100078154686,-1.2643405424938279]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_10","position":[-0.41835897872193223,0.02044949206597746,0.71338606911949],"aabb_xy":[[-0.4433589779938945,0.0041041284698151185],[-0.39335897944996995,0.0367948556621398]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_11","position":[0.2065952420370034,-0.9117967630093342,0.71338606911949],"aabb_xy":[[0.19955379108625582,-0.9188235147471286],[0.213636692987751,-0.9047700112715396]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_12","position":[0.45880244402226067,-0.8211191972025287,0.71338606911949],"aabb_xy":[[0.4138024425560318,-0.8661190540640096],[0.5038024454884895,-0.7761193403410482]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_13","position":[0.5219807289152043,-1.8123959108679615,0.71338606911949],"aabb_xy":[[0.5137661837995201,-1.8210725011656024],[0.5301952740308881,-1.8037193205703197]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_14","position":[-0.3298693948480325,1.5589602373434999,0.71338606911949],"aabb_xy":[[-0.33867145015700517,1.5511489111885706],[-0.32106733953905975,1.5667715634984287]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_15","position":[0.1538779754496774,-0.6963240898252598,0.71338606911949],"aabb_xy":[[0.09888249762901802,-0.7513240912591667],[0.2088734532703368,-0.6413240883913528]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_16","position":[-0.2915443694286579,0.91785082043336,0.71338606911949],"aabb_xy":[[-0.3290443693724243,0.9095577303985234],[-0.2540443694848915,0.9261439104681966]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_17","position":[0.5750391536734341,-0.6604765242262398,0.71338606911949],"aabb_xy":[[0.5251564567957379,-0.7104765234725147],[0.6249218505511303,-0.6104765249799652]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_18","position":[0.21412530553379283,1.168196358346996,0.71338606911949],"aabb_xy":[[0.16895398768562386,1.1041963612024577],[0.2592966233819618,1.2321963554915345]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_19","position":[-0.060913291301539996,0.694068459089189,0.71338606911949],"aabb_xy":[[-0.09945898412674103,0.6555226880330004],[-0.02236759847633897,0.7326142301453776]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_20","position":[0.03559521426731105,-0.778814327056164,0.71338606911949],"aabb_xy":[[0.021260789141147596,-0.7908745426107029],[0.0499296393934745,-0.7667541115016252]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_21","position":[-0.40757383778520645,0.6638941550967701,0.71338606911949],"aabb_xy":[[-0.41842544403408194,0.6530348643691192],[-0.39672223153633074,0.6747534458244212]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_22","position":[0.5979239609957594,1.18651987942587,0.71338606911949],"aabb_xy":[[0.5339239646001863,1.1225565910071362],[0.6619239573913325,1.2504831678446033]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_23","position":[-0.6473201028574221,-0.9101450814702283,0.71338606911949],"aabb_xy":[[-0.6570760923665958,-0.9199076155294628],[-0.637564113348248,-0.9003825474109939]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7004119512087528,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1579.png","name":"1579"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1579.png","name":"1579"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/79.png","name":"79"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9124.png","name":"9124"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1318.png","name":"1318"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7326.png","name":"7326"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":643.1337177312454,"rotation_z_degrees":93.36327893194543,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0020205458019023972,-0.0017249354796052309,0.017666384746898998]},{"name":"camera_2","offset_m":[0.019193079408050654,-0.013169811608589831,-0.0015015523585444196]},{"name":"camera_3","offset_m":[0.016108607440780253,0.00493880517465814,-0.009684896438020533]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[6.741216636494416e-05,-0.001564812011465517,0.00012443214042256838],"end_effector_yaw_offset_degrees":0.23513488651787084},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.001231162518800128,-0.0003360398743945279,0.00034557430100217454],"end_effector_yaw_offset_degrees":0.8418728437748528},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-5.0903215641254565e-05,0.0016336879417784746,0.001372589671866578],"end_effector_yaw_offset_degrees":0.3401458395678689},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00033538571193634636,-0.001975938934018598,0.0006977608313084799],"end_effector_yaw_offset_degrees":0.7785636945456613}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0022609658169071077,-0.0029653325614397963],"position_m":[0.1777390341830929,-0.036565332561439796,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0027272088220384513,0.0023118999888404506],"position_m":[0.2747272088220385,-0.36498810001115956,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0007432309908519622,0.0030593037018092203],"position_m":[0.31925676900914807,0.35615930370180926,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004881906753771346,-0.0031110256180825026],"position_m":[0.33361809324622865,0.1053889743819175,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b5457c4bf3adf7d2d2224a77c0ed644f95bccb4656c982eb6de17f97770c7d94","episode_index":98,"episode_name":"episode_0098"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0098.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_1579/tex_ceiling_textures_7326/tex_floor_textures_1318/tex_table_textures_79/tex_wall_textures_9124","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":8967179537841359549,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":8967179537841359549,"visual_seed":8967179537841359549,"scene_id":"lab_003","finished_at":"2026-09-05T23:55:59"} +{"episode_id":"ep_000096","started_at":"2026-09-05T23:56:02","dimensions":{"distractor":{"count":34,"items":[{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_0","position":[0.16828955436099657,0.9949474826437497,0.71338606911949],"aabb_xy":[[0.15957558531106203,0.9724474819845612],[0.177003523410931,1.0174474833029374]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_1","position":[0.4812650691645215,1.533210416348187,0.71338606911949],"aabb_xy":[[0.40126507057720207,1.453894814410026],[0.5612650677518409,1.612526018286348]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_2","position":[-0.20069240507026637,-1.0998478701709908,0.71338606911949],"aabb_xy":[[-0.2506654706027819,-1.149847869983524],[-0.15071933953775093,-1.0498478703584582]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_3","position":[0.4755879287686524,0.5252480668670803,0.71338606911949],"aabb_xy":[[0.4609445232146193,0.5105893472102959],[0.4902313343226853,0.5399067865238644]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_4","position":[-0.4899778784743813,-1.8936071019467868,0.71338606911949],"aabb_xy":[[-0.5273091549996239,-1.928260156741639],[-0.45264660194913864,-1.8589540471519346]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_5","position":[-0.1644503900427725,0.5890336873943633,0.71338606911949],"aabb_xy":[[-0.24444421362133073,0.5090336848015219],[-0.08445656646421429,0.669033689987205]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_6","position":[-0.178992679737902,-1.695919335475108,0.71338606911949],"aabb_xy":[[-0.26867975604601746,-1.7859193357295586],[-0.08930560342978655,-1.6059193352206576]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_7","position":[0.400858978624421,0.9376371318283141,0.71338606911949],"aabb_xy":[[0.3509762817467249,0.8876371325820396],[0.45074167550211736,0.9876371310745891]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_8","position":[0.669770067828183,-0.6710924019934748,0.71338606911949],"aabb_xy":[[0.6197700683879873,-0.721060326477791],[0.7197700672683786,-0.6211244775091583]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_9","position":[0.12179688678420986,-1.8070937185552711,0.71338606911949],"aabb_xy":[[0.06020612756021704,-1.871093716664318],[0.18338764600820268,-1.7430937204462242]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_10","position":[0.13815375076430159,1.665263530679931,0.71338606911949],"aabb_xy":[[0.08815374940341437,1.6152856261045154],[0.1881537521251888,1.7152414352553467]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_11","position":[-0.17206913912657373,-2.4493914613301073,0.71338606911949],"aabb_xy":[[-0.23606913938704455,-2.4944002606830353],[-0.10806913886610293,-2.4043826619771793]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_12","position":[-0.5082158385711583,-1.557910389275205,0.71338606911949],"aabb_xy":[[-0.5307122600050224,-1.5804103890819523],[-0.48571941713729416,-1.5354103894684574]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_13","position":[-0.4596460571248589,1.7397823685946565,0.71338606911949],"aabb_xy":[[-0.4669283735015225,1.6497823649851473],[-0.4523637407481952,1.8297823722041653]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_14","position":[-0.32898434685963246,-0.32183361570901514,0.71338606911949],"aabb_xy":[[-0.38898434745564864,-0.3766460882542386],[-0.2689843462636163,-0.26702114316379166]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_15","position":[0.1376194806176506,0.6697833951612315,0.71338606911949],"aabb_xy":[[0.12328505549148716,0.6577231796066928],[0.15195390574381407,0.6818436107157705]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_16","position":[0.22649060187396208,-1.0882376520143742,0.71338606911949],"aabb_xy":[[0.21907814633257364,-1.0940888624360021],[0.23390305741535058,-1.0823864415927462]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_17","position":[-0.2092086710241844,-1.2762057190369496,0.71338606911949],"aabb_xy":[[-0.22663938610319084,-1.2934778337008002],[-0.19177795594517782,-1.2589336043730985]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_18","position":[0.6983984575541251,-1.4878131321841095,0.71338606911949],"aabb_xy":[[0.6783400459408848,-1.507878219093267],[0.7184568691673654,-1.467748045274952]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_19","position":[0.08937833210127466,-0.9157933806308927,0.71338606911949],"aabb_xy":[[0.04224895309943898,-0.9797933816752944],[0.13650771110311033,-0.8517933795864905]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_20","position":[-0.1712604564655068,1.1355826231354316,0.71338606911949],"aabb_xy":[[-0.18732238392402445,1.0505826213228393],[-0.15519852900698916,1.220582624948023]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_21","position":[-0.23383620304808306,-2.0158275233950222,0.71338606911949],"aabb_xy":[[-0.23917377871408765,-2.0408275243241625],[-0.22849862738207852,-1.990827522465883]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_22","position":[-0.2280902258355776,-0.8922792086159916,0.71338606911949],"aabb_xy":[[-0.28309022545732343,-0.9472629014034644],[-0.17309022621383177,-0.8372955158285189]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_23","position":[-0.6327405620981805,-1.630869584558169,0.71338606911949],"aabb_xy":[[-0.6827405631173158,-1.6673358002959975],[-0.5827405610790453,-1.5944033688203416]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_24","position":[0.3298600957404554,1.763226200298679,0.71338606911949],"aabb_xy":[[0.2885555526767194,1.6992262007305616],[0.37116463880419137,1.8272261998667958]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_25","position":[0.3881980237205964,-0.8439570329267103,0.71338606911949],"aabb_xy":[[0.3241980223126057,-0.895745984450635],[0.45219802512858703,-0.7921680814027856]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_26","position":[-0.20672049181075974,1.3594800085669885,0.71338606911949],"aabb_xy":[[-0.21474676244138574,1.350728513589636],[-0.19869422118013375,1.3682315035443413]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_27","position":[-0.5897091120871598,-1.267300657023427,0.71338606911949],"aabb_xy":[[-0.6318935262479906,-1.3313006573006383],[-0.5475246979263291,-1.203300656746216]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_28","position":[0.6173237572864381,-2.0603482075783135,0.71338606911949],"aabb_xy":[[0.5678433360724793,-2.1243482054911658],[0.6668041785003969,-1.9963482096654621]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_29","position":[0.5401873215082664,-1.4225331863943826,0.71338606911949],"aabb_xy":[[0.5360713713961937,-1.4266487414272282],[0.544303271620339,-1.418417631361537]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_30","position":[-0.32251240318357616,0.772492861549904,0.71338606911949],"aabb_xy":[[-0.3450260950070333,0.7024928609488965],[-0.2999987113601189,0.8424928621509116]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_31","position":[-0.5034261878336412,1.0514417110451073,0.71338606911949],"aabb_xy":[[-0.5146712434042591,1.040199913321012],[-0.4921811322630234,1.0626835087692026]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_32","position":[-0.2203181481003058,-0.537459107663723,0.71338606911949],"aabb_xy":[[-0.24531814726593892,-0.5444113533690795],[-0.1953181489346727,-0.5305068619583664]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_33","position":[-0.3323977834586916,1.148169448910405,0.71338606911949],"aabb_xy":[[-0.39739778161461065,1.121873204360493],[-0.26739778530277253,1.1744656934603175]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6947707997264397,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9139.png","name":"9139"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9139.png","name":"9139"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5639.png","name":"5639"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2396.png","name":"2396"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8887.png","name":"8887"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2061.png","name":"2061"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":560.0215068152576,"rotation_z_degrees":128.45926613697924,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0038289024690381576,-0.016534458273398056,-0.0002340321650437481]},{"name":"camera_2","offset_m":[0.017176739509201216,0.017165739875860193,-0.018768146810425698]},{"name":"camera_3","offset_m":[-0.018615386589825852,0.009693189828565957,-0.005974316277448684]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0006780964405623999,-0.0006202370265374437,-0.0017207434658541372],"end_effector_yaw_offset_degrees":0.8313564476921893},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0002026171964618869,0.0016424730545395896,0.0014477522633696551],"end_effector_yaw_offset_degrees":0.887837049688567},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0016985071716532412,-0.0015973173645951486,0.0003836732206329548],"end_effector_yaw_offset_degrees":0.7041753449679906},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00043924963444992343,-0.0006164747404513596,-0.0005887980472851747],"end_effector_yaw_offset_degrees":0.747304553982862}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004195829200343222,-0.002958992916597968],"position_m":[0.17580417079965677,-0.03655899291659796,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003719958524406399,0.0025912940303233854],"position_m":[0.26828004147559364,-0.36470870596967664,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0016525988612048903,0.0017905254915203117],"position_m":[0.3216525988612049,0.35489052549152034,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004611402575277677,0.0007055167177962337],"position_m":[0.3338885974247223,0.10920551671779623,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"376addedc6babee75f5f14925ad71ecc82dbd5aada7aabbfd8a908692a2cfc70","episode_index":99,"episode_name":"episode_0099"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0099.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_9139/tex_ceiling_textures_2061/tex_floor_textures_8887/tex_table_textures_5639/tex_wall_textures_2396","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":6140888826273768124,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":6140888826273768124,"visual_seed":6140888826273768124,"scene_id":"lab_003","finished_at":"2026-09-05T23:59:30"} +{"episode_id":"ep_000097","started_at":"2026-09-05T23:59:33","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_0","position":[-0.17736050605745501,0.4117056389739977,0.71338606911949],"aabb_xy":[[-0.2423605071633983,0.38674026590586946],[-0.11236050495151173,0.43667101204212605]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_1","position":[0.5403653882792199,-0.39345223120990536,0.71338606911949],"aabb_xy":[[0.47636538898505176,-0.45743837157875955],[0.6043653875733882,-0.32946609084105116]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_2","position":[0.5559556652561626,-0.9642374408659979,0.71338606911949],"aabb_xy":[[0.5106770503750133,-1.0282374402141814],[0.6012342801373118,-0.9002374415178142]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_3","position":[0.13205318678318234,-1.5735755324519698,0.71338606911949],"aabb_xy":[[0.12121270855666744,-1.5907618137426185],[0.14289366500969725,-1.5563892511613207]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_4","position":[-0.5346810055836122,-2.414039192195882,0.71338606911949],"aabb_xy":[[-0.5986810072616096,-2.4625565836751964],[-0.47068100390561485,-2.365521800716568]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_5","position":[-0.6461257295219167,0.43244350848479796,0.71338606911949],"aabb_xy":[[-0.6554727371042119,0.4181398862671539],[-0.6367787219396215,0.446747130702442]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_6","position":[0.20850326982194478,-1.49974660688969,0.71338606911949],"aabb_xy":[[0.1735032715112493,-1.5074616218132355],[0.2435032681326402,-1.4920315919661442]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_7","position":[-0.3828969162238085,-1.2642723509357547,0.71338606911949],"aabb_xy":[[-0.4300262952256441,-1.3282723519801565],[-0.3357675372219728,-1.2002723498913526]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_8","position":[-0.1615050060086619,0.0166335377146396,0.71338606911949],"aabb_xy":[[-0.17241078209622462,-0.06336645868418955],[-0.1505992299210992,0.09663353411346876]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_9","position":[0.06894452184628541,1.3119591633117604,0.71338606911949],"aabb_xy":[[0.06124133117220837,1.304249792613022],[0.07664771252036245,1.3196685340104983]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_10","position":[-0.06644142464414315,1.403925111598674,0.71338606911949],"aabb_xy":[[-0.11641449017665864,1.3539251117861413],[-0.0164683591116277,1.453925111411207]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_11","position":[-0.38367378527298823,-0.8445704680355086,0.71338606911949],"aabb_xy":[[-0.3909561016496517,-0.9345704716450173],[-0.3763914688963244,-0.7545704644259993]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_12","position":[-0.5896020510909202,-1.1325508658754264,0.71338606911949],"aabb_xy":[[-0.6536020474864932,-1.19651415429416],[-0.525602054695347,-1.0685875774566929]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_13","position":[0.0003584403330973984,1.230030407512119,0.71338606911949],"aabb_xy":[[-0.022141560178943198,1.2075385491467203],[0.022858440845137995,1.252522265877517]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_14","position":[0.191823540900798,-0.7497992303003105,0.71338606911949],"aabb_xy":[[0.18057848533018017,-0.7610410280244058],[0.20306859647141584,-0.7385574325762152]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_15","position":[-0.5475548801719505,-2.551475165100284,0.71338606911949],"aabb_xy":[[-0.5535918931726153,-2.557501866169232],[-0.5415178671712858,-2.545448464031336]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_16","position":[0.5601476681028279,1.1049043621552102,0.71338606911949],"aabb_xy":[[0.4701476644259095,1.0434719555781056],[0.6501476717797459,1.1663367687323143]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_17","position":[-0.348282210799149,-1.6650608373116376,0.71338606911949],"aabb_xy":[[-0.41228220810149535,-1.7094272642794943],[-0.28428221349680255,-1.6206944103437808]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_18","position":[-0.5696163936806188,1.4563230235974163,0.71338606911949],"aabb_xy":[[-0.5959052180010593,1.4300515899427646],[-0.543327569360178,1.482594457252067]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_19","position":[0.06423597024011785,-2.1619988447318197,0.71338606911949],"aabb_xy":[[0.05624198166241445,-2.1699989248269094],[0.07222995881782124,-2.153998764636729]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_20","position":[-0.005134472461314932,-1.5066973376563884,0.71338606911949],"aabb_xy":[[-0.03553258356045851,-1.5371042396580574],[0.025263638637828652,-1.4762904356547184]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_21","position":[0.2348013954141588,-2.3371458663139526,0.71338606911949],"aabb_xy":[[0.173210636190166,-2.4011458644229995],[0.2963921546381516,-2.2731458682049057]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_22","position":[0.6439206222946658,-1.6873151645187616,0.71338606911949],"aabb_xy":[[0.6331476483732981,-1.7223151627378006],[0.6546935962160336,-1.6523151662997226]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_23","position":[-0.4365723008973559,-1.9952963080794728,0.71338606911949],"aabb_xy":[[-0.45167460235837387,-2.0103978297105343],[-0.4214699994363377,-1.9801947864484104]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_24","position":[-0.1734394090611745,-1.33549035493811,0.71338606911949],"aabb_xy":[[-0.1959394090713228,-1.3495865745777134],[-0.1509394090510262,-1.3213941352985068]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_25","position":[-0.5375705276277232,-1.5403354772613607,0.71338606911949],"aabb_xy":[[-0.5536324550862408,-1.625335479073952],[-0.5215086001692055,-1.4553354754487684]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_26","position":[-0.01980854842488744,0.7088988420951545,0.71338606911949],"aabb_xy":[[-0.08980855181644941,0.6735830683917235],[0.050191454966674535,0.7442146157985853]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_27","position":[-0.4099376200486291,0.7862859284233132,0.71338606911949],"aabb_xy":[[-0.41478121480985913,0.7814342759443292],[-0.4050940252873992,0.7911375809022975]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_28","position":[-0.4579569073194678,1.5729062197989356,0.71338606911949],"aabb_xy":[[-0.4632944829854724,1.5479062188697958],[-0.45261933165346324,1.5979062207280754]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_29","position":[-0.11535065950373347,-0.7508467998224426,0.71338606911949],"aabb_xy":[[-0.16534549243167507,-0.8008467987176862],[-0.06535582657579186,-0.7008468009271991]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_30","position":[-0.39410508512497555,-0.4251953320150492,0.71338606911949],"aabb_xy":[[-0.4023196302406594,-0.43387192231269045],[-0.38589054000929146,-0.4165187417174079]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_31","position":[0.40358910912596513,1.6959279519771697,0.71338606911949],"aabb_xy":[[0.3135891105314952,1.6796773656637487],[0.49358910772043507,1.7121785382905907]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_32","position":[0.3935283317242029,-2.2650305040175835,0.71338606911949],"aabb_xy":[[0.3809256325871264,-2.277625900242449],[0.40613103086127933,-2.252435107792718]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6979751451816573,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2830.png","name":"2830"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2830.png","name":"2830"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2050.png","name":"2050"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1736.png","name":"1736"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2756.png","name":"2756"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7653.png","name":"7653"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":702.8763480878681,"rotation_z_degrees":125.64914956742645,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014807443645232277,0.01605702313127143,0.003788443859757379]},{"name":"camera_2","offset_m":[0.008055114974409819,0.015398084799039192,0.005599484198368358]},{"name":"camera_3","offset_m":[0.010960832395419392,5.8954135477452124e-05,0.014634101965460066]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-2.3996200244909283e-05,-0.0009839651084148087,9.345054568981551e-05],"end_effector_yaw_offset_degrees":0.644408127207948},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0011307394082221934,-0.0009321496070436885,2.15527629464367e-05],"end_effector_yaw_offset_degrees":0.10520538007790492},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0015884738430702807,-0.0019216606324872875,0.0013484229486922664],"end_effector_yaw_offset_degrees":-0.4959199215410113},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001106713853995738,-0.0009583663151332136,0.0010100264582542859],"end_effector_yaw_offset_degrees":-0.6709609836915127}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0032090899197100087,-0.004295413567083655],"position_m":[0.18320908991971,-0.037895413567083654,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00035874959423067617,0.0019389367163701755],"position_m":[0.27164125040576936,-0.36536106328362983,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.000968385602382711,0.002661104456897204],"position_m":[0.3190316143976173,0.35576110445689724,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0028417647861146856,-0.0018815655698900193],"position_m":[0.3356582352138853,0.10661843443010997,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"cdf94e9e36863486abe22b39e5a159869e3e9f2f7b5215949fcec86ab79fb7b1","episode_index":100,"episode_name":"episode_0100"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0100.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_2830/tex_ceiling_textures_7653/tex_floor_textures_2756/tex_table_textures_2050/tex_wall_textures_1736","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":7007515453860418225,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":7007515453860418225,"visual_seed":7007515453860418225,"scene_id":"lab_003","finished_at":"2026-09-06T00:03:05"} +{"episode_id":"ep_000098","started_at":"2026-09-06T00:03:10","dimensions":{"distractor":{"count":28,"items":[{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_0","position":[-0.1637267035804041,-0.6143146410219533,0.71338606911949],"aabb_xy":[[-0.2537267000812758,-0.6602262834404113],[-0.07372670707953231,-0.5684029986034949]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_1","position":[0.4639464171105152,-1.9291768571527155,0.71338606911949],"aabb_xy":[[0.4414464168669998,-1.9413814918124872],[0.4864464173540306,-1.9169722224929433]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_2","position":[-0.3697978603177293,1.3397635811311006,0.71338606911949],"aabb_xy":[[-0.3785790874649656,1.3309838338425706],[-0.3610166331704931,1.348543328419631]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_3","position":[0.21899665510042454,-2.3680420094898076,0.71338606911949],"aabb_xy":[[0.21086896690711132,-2.376955617900515],[0.22712434329373776,-2.3591284010790994]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_4","position":[0.6952644936101391,-0.7693938880377265,0.71338606911949],"aabb_xy":[[0.6880207275638938,-0.8493938862413289],[0.7025082596563844,-0.6893938898341242]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_5","position":[-0.036164007145745636,-0.9950112014730026,0.71338606911949],"aabb_xy":[[-0.04059463650058582,-1.000459573207685],[-0.031733377790905466,-0.98956282973832]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_6","position":[0.053050391977408684,-1.8577556515976057,0.71338606911949],"aabb_xy":[[0.04542612388723045,-1.8653888751341496],[0.06067466006758694,-1.8501224280610622]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_7","position":[0.2275740354445832,-0.6486371997757248,0.71338606911949],"aabb_xy":[[0.21632897987396538,-0.65987899749982],[0.23881909101520105,-0.6373954020516295]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_8","position":[-0.03136437711527906,0.8005955216061813,0.71338606911949],"aabb_xy":[[-0.08899484600254991,0.7405955226794706],[0.02626609177199179,0.8605955205328917]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_9","position":[-0.13736911979852018,0.36694444017460404,0.71338606911949],"aabb_xy":[[-0.17080929499453973,0.3335008143436739],[-0.10392894460250053,0.40038806600553406]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_10","position":[0.3800536712182294,-1.4859571776822498,0.71338606911949],"aabb_xy":[[0.37471609555222485,-1.5109571786113898],[0.385391246884234,-1.4609571767531102]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_11","position":[0.3500211347870297,-0.6275888796284195,0.71338606911949],"aabb_xy":[[0.2950474127506968,-0.6825888791926528],[0.40499485682336256,-0.5725888800641864]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_12","position":[-0.6158430449545507,-1.0082691540435642,0.71338606911949],"aabb_xy":[[-0.6526376780794568,-1.0451750291401465],[-0.5790484118296443,-0.9713632789469819]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_13","position":[0.30780553779286013,0.5011464593939094,0.71338606911949],"aabb_xy":[[0.2998822575541118,0.4786464591559061],[0.31572881803160846,0.5236464596319128]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_14","position":[-0.625725405311413,-1.9446126730287898,0.71338606911949],"aabb_xy":[[-0.659204572572454,-1.9780917863998966],[-0.5922462380503721,-1.9111335596576826]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_15","position":[0.12282338790033831,1.2519300437532994,0.71338606911949],"aabb_xy":[[0.08157457687042356,1.1969300442410817],[0.16407219893025302,1.3069300432655166]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_16","position":[-0.582140708059754,0.6665279533078974,0.71338606911949],"aabb_xy":[[-0.646140704487076,0.6193583294858009],[-0.5181407116324321,0.7136975771299938]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_17","position":[0.560619939008904,0.4676697080947698,0.71338606911949],"aabb_xy":[[0.49662424161380747,0.4036697097940611],[0.6246156364040006,0.5316697063954785]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_18","position":[-0.42136787541292675,1.5043681563942681,0.71338606911949],"aabb_xy":[[-0.47118465487776146,1.4543681579099648],[-0.37155109594809194,1.5543681548785715]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_19","position":[0.25990570485852926,1.1815400772481954,0.71338606911949],"aabb_xy":[[0.20491345422301838,1.1265400755048827],[0.31489795549404026,1.2365400789915082]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_20","position":[0.009785222814374994,-1.2012251269156982,0.71338606911949],"aabb_xy":[[0.001071253764440505,-1.2237251275748862],[0.01849919186430948,-1.1787251262565097]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_21","position":[-0.4257902098956721,-1.0680491596284813,0.71338606911949],"aabb_xy":[[-0.4377229442575002,-1.0804313124363407],[-0.41385747553384405,-1.055667006820622]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_22","position":[1.7281337370445016e-05,-1.3579137579837568,0.71338606911949],"aabb_xy":[[-0.07998271567687754,-1.3780483096571683],[0.08001727835161843,-1.3377792063103457]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_23","position":[0.37886960283442694,1.5493203861667548,0.71338606911949],"aabb_xy":[[0.29886959957041376,1.5357603538578415],[0.45886960609844,1.5628804184756682]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_24","position":[0.2702299940621832,-0.7482871518807186,0.71338606911949],"aabb_xy":[[0.2550671210852461,-0.7634526091758375],[0.28539286703912026,-0.7331216945855998]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_25","position":[-0.40878169744207277,0.45764714537744444,0.71338606911949],"aabb_xy":[[-0.4509661116029035,0.39364714510023324],[-0.366597283281242,0.5216471456546556]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_26","position":[-0.39331946163132764,-0.08602017217713076,0.71338606911949],"aabb_xy":[[-0.40519154464282875,-0.1710201718707811],[-0.3814473786198265,-0.0010201724834804082]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_27","position":[0.17161042207832966,-1.4626510761923381,0.71338606911949],"aabb_xy":[[0.16083744815696188,-1.497651074411377],[0.18238339599969744,-1.427651077973299]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7004150648297983,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8896.png","name":"8896"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8896.png","name":"8896"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8347.png","name":"8347"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9136.png","name":"9136"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9114.png","name":"9114"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7213.png","name":"7213"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":780.8336765619313,"rotation_z_degrees":21.131920040015277,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007864397668680204,-0.012675174969206835,-0.009774909157671697]},{"name":"camera_2","offset_m":[0.007472024400454497,0.006735621804498573,-0.01831188209113048]},{"name":"camera_3","offset_m":[0.013840004245504283,0.00026585904206896313,0.004671449020809463]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0008699976747034604,-0.0017619328010561085,0.0013202853412539284],"end_effector_yaw_offset_degrees":-0.289897840383031},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-6.901193909962674e-05,-0.0012435133039499133,-0.0007415922767182864],"end_effector_yaw_offset_degrees":-0.697436623004724},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0019615076307863675,0.0013771004931521524,0.00031497971895824706],"end_effector_yaw_offset_degrees":0.0972289982702097},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0007481384493977772,-0.0017799691896717383,0.0008628491104598055],"end_effector_yaw_offset_degrees":0.04345079549845354}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.000433462821158543,-0.0017131296872011604],"position_m":[0.17956653717884144,-0.035313129687201156,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0006552735841618106,-0.0031769729068524735],"position_m":[0.27134472641583823,-0.3704769729068525,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.001127254346399609,0.0004083986561114854],"position_m":[0.3188727456536004,0.3535083986561115,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0011020138335968922,-0.00023843138824523793],"position_m":[0.33739798616640315,0.10826156861175476,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"2b4951fb447dda9d8907915791a21e23f4c9412a0356b5e8ebc2c85a7e104de2","episode_index":101,"episode_name":"episode_0101"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0101.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_8896/tex_ceiling_textures_7213/tex_floor_textures_9114/tex_table_textures_8347/tex_wall_textures_9136","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":1290295408547862870,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":1290295408547862870,"visual_seed":1290295408547862870,"scene_id":"lab_003","finished_at":"2026-09-06T00:06:45"} +{"episode_id":"ep_000099","started_at":"2026-09-06T00:06:49","dimensions":{"distractor":{"count":32,"items":[{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_0","position":[0.5204626390985343,-0.4679471017796355,0.71338606911949],"aabb_xy":[[0.46546263947678845,-0.5229307945671082],[0.5754626387202801,-0.4129634089921628]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_1","position":[0.4928924732966842,1.745040694620307,0.71338606911949],"aabb_xy":[[0.484778818623307,1.736934878166278],[0.5010061279700613,1.753146511074336]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_2","position":[0.5603223308798997,-0.6870057295402503,0.71338606911949],"aabb_xy":[[0.522991054354657,-0.7216587843351026],[0.5976536074051422,-0.652352674745398]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_3","position":[-0.306837344807122,-2.1481856951478826,0.71338606911949],"aabb_xy":[[-0.3238474420971726,-2.164320183646156],[-0.2898272475170713,-2.1320512066496082]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_4","position":[0.6353699461794964,-1.7408706599591093,0.71338606911949],"aabb_xy":[[0.5553699491652483,-1.7610052116325206],[0.7153699431937443,-1.720736108285698]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_5","position":[-0.35077832288399974,0.16144879235283405,0.71338606911949],"aabb_xy":[[-0.39296273704483053,0.09744879207562288],[-0.30859390872316905,0.22544879263004527]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_6","position":[0.611719502792403,-1.3875763868279911,0.71338606911949],"aabb_xy":[[0.5988475992914628,-1.467576387241827],[0.6245914062933431,-1.3075763864141547]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_7","position":[0.024968402093578645,0.701703896076332,0.71338606911949],"aabb_xy":[[-0.03903159995615335,0.661609412987024],[0.08896840414331064,0.74179837916564]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_8","position":[0.05782233461413633,1.4095815445332787,0.71338606911949],"aabb_xy":[[0.007849040610875872,1.359581543978731],[0.10779562861739678,1.4595815450878258]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_9","position":[-0.3402069138188043,1.6178137410218842,0.71338606911949],"aabb_xy":[[-0.34617345275954003,1.6118525963625199],[-0.33424037487806846,1.6237748856812482]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_10","position":[0.05175894219014954,1.1494388337216552,0.71338606911949],"aabb_xy":[[-0.009831817033843275,1.0854388356126083],[0.11334970141414236,1.2134388318307021]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_11","position":[0.48828529818696986,0.4691431667082777,0.71338606911949],"aabb_xy":[[0.4242852965089724,0.4206257752289635],[0.5522852998649671,0.5176605581875919]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_12","position":[0.6597226848015487,0.756216127927678,0.71338606911949],"aabb_xy":[[0.6047226856249592,0.7012264531527203],[0.7147226839781382,0.8112058027026355]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_13","position":[-0.26349233211714346,-1.8309573083247104,0.71338606911949],"aabb_xy":[[-0.33349233475372975,-1.8510621733205754],[-0.19349232948055706,-1.8108524433288444]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_14","position":[-0.11717273614517232,0.18030004796719368,0.71338606911949],"aabb_xy":[[-0.13475103833411917,0.16272555839308875],[-0.09959443395622546,0.19787453754129855]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_15","position":[-0.06975685353364547,0.4992623000132852,0.71338606911949],"aabb_xy":[[-0.10725685382582029,0.4952208246126815],[-0.03225685324147065,0.5033037754138887]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_16","position":[-0.5097686072699634,-0.496073186549443,0.71338606911949],"aabb_xy":[[-0.5330504494680947,-0.581073187846671],[-0.48648676507183203,-0.41107318525221487]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_17","position":[0.4191253632788896,-0.28804925042863605,0.71338606911949],"aabb_xy":[[0.40589441774420826,-0.3012766694506354],[0.43235630881357084,-0.2748218314066366]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_18","position":[-0.629521933007704,1.4207293938512824,0.71338606911949],"aabb_xy":[[-0.6455838604662216,1.3357293920386901],[-0.6134600055491863,1.5057293956638738]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_19","position":[0.6790449233042191,-0.0618879320830068,0.71338606911949],"aabb_xy":[[0.663882050327282,-0.07705338937812556],[0.6942077962811561,-0.046722474787888046]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_20","position":[-0.5569788337393128,0.003320493544699765,0.71338606911949],"aabb_xy":[[-0.6069788333156476,-0.04666008540740618],[-0.5069788341629782,0.05330107249680571]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_21","position":[0.6398757272323035,-1.0931634467705726,0.71338606911949],"aabb_xy":[[0.6216699035710558,-1.1041888473525645],[0.6580815508935511,-1.0821380461885812]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_22","position":[-0.3976882863293609,1.6413907868460762,0.71338606911949],"aabb_xy":[[-0.4025875786359243,1.613713867543507],[-0.3927889940227973,1.6690677061486445]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_23","position":[-0.44420095491427153,-1.163283030524585,0.71338606911949],"aabb_xy":[[-0.461994461849188,-1.1810827761203826],[-0.42640744797935515,-1.1454832849287873]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_24","position":[-0.5315760589135017,-0.2817401824032495,0.71338606911949],"aabb_xy":[[-0.5540760594255423,-0.30423204076864785],[-0.5090760584014611,-0.25924832403785114]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_25","position":[-0.17857961743225192,0.04050585698603504,0.71338606911949],"aabb_xy":[[-0.18254010120198633,0.03283799240051444],[-0.17461913366251758,0.04817372157155564]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_26","position":[0.5491832119707187,-0.822157587208695,0.71338606911949],"aabb_xy":[[0.5041906252522682,-0.8671575864831438],[0.594175798689169,-0.7771575879342463]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_27","position":[0.6240941693742286,-2.205797753230328,0.71338606911949],"aabb_xy":[[0.6074170333811331,-2.222497677204258],[0.6407713053673241,-2.1890978292563976]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_28","position":[-0.6648303489405785,-1.7557314762500063,0.71338606911949],"aabb_xy":[[-0.6752419076210621,-1.7610772095859044],[-0.6544187902600946,-1.7503857429141076]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_29","position":[0.5038633725606083,-2.0198872424323024,0.71338606911949],"aabb_xy":[[0.43986336934197046,-2.066610354331311],[0.5678633757792462,-1.973164130533294]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_30","position":[-0.3161275625698389,0.6784781974339742,0.71338606911949],"aabb_xy":[[-0.4061275590707107,0.632566555015516],[-0.2261275660689672,0.7243898398524324]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_31","position":[0.6791963240106178,-0.5257453891128856,0.71338606911949],"aabb_xy":[[0.6406506311854167,-0.5642911601690742],[0.7177420168358187,-0.4871996180566969]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6993600902216685,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4465.png","name":"4465"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4465.png","name":"4465"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1919.png","name":"1919"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4003.png","name":"4003"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4276.png","name":"4276"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/98.png","name":"98"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":620.1645547530239,"rotation_z_degrees":305.0373092353446,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0063510646523316575,-0.012303952957594465,-0.002067857541751296]},{"name":"camera_2","offset_m":[0.009232325014591834,0.0007816587183102665,-0.0054242463143197965]},{"name":"camera_3","offset_m":[0.006992919128454022,0.015757453709391047,0.009150850874830758]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0007952803842340376,-0.0017980265923083678,0.0013447406669000786],"end_effector_yaw_offset_degrees":0.9464763910135472},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0002296655194278436,0.001173919170164136,-0.001995006814193088],"end_effector_yaw_offset_degrees":-0.39037943351182336},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0013904635726238515,-0.00014559534422143184,0.0010776568744098746],"end_effector_yaw_offset_degrees":0.5952994622230874},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00014361522809800938,0.0017166283116953583,-0.0013758687086699432],"end_effector_yaw_offset_degrees":-0.8153342849453034}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0025776960916356097,-0.0005215015977201387],"position_m":[0.1825776960916356,-0.034121501597720136,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0008610579906226171,0.0012787058978919238],"position_m":[0.27286105799062266,-0.3660212941021081,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002373798329761494,-0.002464628950698534],"position_m":[0.3223737983297615,0.3506353710493015,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0025764528054091494,-0.0003031396593305676],"position_m":[0.3359235471945909,0.10819686034066943,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0632b367f69cadfee68c685a927a88de402030db916f31f2bf16de940353bf23","episode_index":102,"episode_name":"episode_0102"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/dataset/episode_0102.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_4465/tex_ceiling_textures_98/tex_floor_textures_4276/tex_table_textures_1919/tex_wall_textures_4003","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":6314269744823636066,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":6314269744823636066,"visual_seed":6314269744823636066,"scene_id":"lab_003","finished_at":"2026-09-06T00:10:14"} diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/resolved_config.yaml b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..36e061fd17ed68d86714f389b7dbd72b5dad2cd3 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/resolved_config.yaml @@ -0,0 +1,257 @@ +name: lab3_heat_2beaker_s04_pslr_hte_00033 +task_type: workflow +controller_type: workflow +mode: collect +usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd +max_episodes: 100 +infer: + type: local + obs_names: + camera_1_rgb: camera_1_rgb + camera_2_rgb: camera_2_rgb + policy_model_path: '' + policy_config_path: '' + normalizer_path: '' + host: 127.0.0.1 + port: 8000 + n_obs_steps: 1 + timeout: 30 + max_retries: 3 +task: + max_steps: 14000 +workflow: + table_prim_path: /World/table + language_instruction: Pick up beaker b from home. Shake the current contents of + beaker b once. Place beaker b on the heater platform. Press the heater button + to start heating. + layout_id: layout_00033 + reproducibility: + enabled: true + layout_id: layout_00033 + action_seed: 2795588802749883146 + step_seeds: + - 6816342363077730166 + - 4358494381448953216 + - 412513956277572572 + - 5816647056012353206 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.32 + - 0.32 + 'y': + - 0.3531 + - 0.3531 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.18 + - 0.18 + 'y': + - -0.0336 + - -0.0336 + z: + - 0.0 + - 0.0 + role: source + - name: inspection_platform + path: /World/target_plat + position_range: + x: + - 0.3385 + - 0.3385 + 'y': + - 0.1085 + - 0.1085 + z: + - 0.0 + - 0.0 + role: placement_target + - name: heat_device + path: /World/heat_device + position_range: + x: + - 0.272 + - 0.272 + 'y': + - -0.3673 + - -0.3673 + z: + - 0.0 + - 0.0 + - name: heater_platform + path: /World/heat_device/heat_device/heat_device/plat + parent_object: heat_device + role: placement_target + - name: heat_button + path: /World/heat_device/button + parent_object: heat_device + steps: + - skill: pick + target_object: beaker_b + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.3 + gripper_distances: 0.019 + reset_at_center: false + require_phase_convergence: false + lock_target_position: true + position_only: false + gripper_control_mode: position + gripper_control_params: + smooth_close: true + - skill: shake + target_object: beaker_b + params: + end_effector_euler: + - 0 + - 90 + - 30 + shake_distance: 0.08 + shake_center_offset_z: 0.0 + fallback_height_offset: 0.23 + events_dt: + - 0.04 + - 0.018 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.015 + position_only: true + position_threshold: 0.04 + - skill: place + target_object: heater_platform + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.005 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.045 + retreat_height: 0.15 + retreat_xy: 0.15 + keep_gripper_closed_until_release: true + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 + - skill: press + target_object: heat_button + params: + end_effector_euler: + - 0 + - 90 + - 10 + events_dt: + - 0.004 + - 0.02 + - 0.01 + - 0.02 + - 0.01 + - 0.02 + press_distance: 0.04 + gripper_gap: 0.0 + lock_target_position: true + initial_offset_z: 0.2 + press_z_tcp_offset: 0.025 + position_threshold: 0.01 + recreate_motion_controllers_on_reset: true +cameras: +- prim_path: /World/Camera1 + name: camera_1 + translation: + - 2.129903 + - 0.0 + - 2.075001 + resolution: + - 512 + - 512 + focal_length: 3.5 + orientation: + - 0.61237 + - 0.35355 + - 0.35355 + - 0.61237 + image_type: rgb +- prim_path: /World/Camera2 + name: camera_2 + translation: + - 0.1 + - 0.0 + - 2.65 + resolution: + - 512 + - 512 + focal_length: 2.825 + orientation: + - 0.70711 + - 0 + - 0 + - -0.70711 + image_type: rgb +- prim_path: /World/Camera3 + name: camera_3 + translation: + - 0.2 + - -3.01678 + - 1.16281 + resolution: + - 512 + - 512 + focal_length: 4 + orientation: + - 0.7681 + - 0.63858 + - -0.03028 + - -0.03642 + image_type: rgb + track_end_effector: true +robot: + type: ur5e + position: + - -0.27 + - 0.0 + - 0.71 +collector: + type: default + compression: gzip +multi_run: + run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_0_success.json new file mode 100644 index 0000000000000000000000000000000000000000..db2f3c35d79d62e60d827d6c71a546576c573720 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_0_success.json @@ -0,0 +1,926 @@ +{ + "episode": 0, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.1986616784774339, + -0.029604896871077046, + 1.0461529974709338 + ], + "current_z": 1.0461529974709338, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.18956654966701303, + "gripper_z": 1.051111723771458, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19366145424757172, + -0.03430795215567864, + 1.051111723771458 + ], + "object_minus_gripper": [ + 0.005000224229862182, + 0.004703055284601593, + -0.0049587263005241855 + ], + "object_to_gripper_xy": 0.0068644716736919985, + "object_to_gripper_z": -0.0049587263005241855, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1986616784774339, + -0.054105044713220876, + 1.0461529974709338 + ], + "finger_b": [ + 0.18735082086503058, + -0.029604896871077046, + 1.0461529974709338 + ], + "finger_midpoint": [ + 0.19300624967123226, + -0.04185497079214896, + 1.0461529974709338 + ], + "object_minus_finger_midpoint": [ + 0.005655428806201651, + 0.012250073921071917, + 0.0 + ], + "finger_gap": 0.02698504667802091, + "fingertip_max_gap": 0.09441473272606121, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013492523339010451, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0461529974709338, + "object_top_z": 1.0927781511986485, + "finger_top_clearance": 0.0466251537277147, + "fingertip_min_top_clearance": 0.013987546118314391, + "object_projection_between_fingers": 0.8243109383546743, + "object_to_finger_line_xy": 0.010269305331646114, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04970736636303061, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.8448483338776176, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 206, + "max_stable_success_frames": 206, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19460912704080588, + -0.027517293518743033, + 1.2458723455024623 + ], + "held_position": [ + 0.1998582360079981, + -0.0224596773845929, + 1.2415550452142747 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008471818440468246, + "max_held_gripper_dist": 0.008474028245888035, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004317300288187553, + "max_held_gripper_z_dist": 0.004998130924613653, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08503744479462079, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.1998582360079981, + -0.04637710354429008, + 1.2415550452142747 + ], + "held_grasp_finger_b": [ + 0.1898058348672615, + -0.0224596773845929, + 1.2415550452142747 + ], + "held_grasp_midpoint": [ + 0.19483203543762978, + -0.03441839046444149, + 1.2415550452142747 + ], + "held_grasp_object_position": [ + 0.1998582360079981, + -0.0224596773845929, + 1.2415550452142747 + ], + "held_grasp_finger_gap": 0.02594405602057723, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023478343638187512, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.02515422926308373, + -0.9922139565801233, + -0.12197839611093927 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004946177704596829, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033208192743778446, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.332645787679013, + -0.3658564539055056, + 0.8470197842653604 + ], + "target_position": [ + 0.3278146813005371, + -0.36832669286629793, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005426017818213179, + "xy_threshold": 0.08, + "gripper_dist": 0.18259877553363213, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470197842653604, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07525654354964384, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0862782857647416, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15194230378861304, + "release_required_pad_clearance": 0.0531391428823708, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.302640481292897, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008523941040039062, + "max_z_decrease": 0.008523941040039062, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035010514543618296, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008523941040039062, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.020976489310673974, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008523941040039062, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008524095244374913, + "max_button_displacement": 0.12, + "button_start": [ + 0.18351460993289942, + -0.424588143825531, + 0.7768088579177856 + ], + "button_final": [ + 0.18351460993289942, + -0.424588143825531, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18357210675557137, + -0.4233742290560986, + 0.8032756053057241 + ], + "closest_button": [ + 0.183551087975502, + -0.4245521128177643, + 0.7682849168777466 + ], + "closest_ee_minus_button": [ + 2.1018780069381737e-05, + 0.0011778837616656657, + 0.03499068842797748 + ], + "button_min_z_position": [ + 0.183551087975502, + -0.4245521128177643, + 0.7682849168777466 + ], + "min_active_finger_to_button": 0.14528290070458827, + "closest_active_finger": [ + 0.05741404742002487, + -0.4879845380783081, + 0.810368001461029 + ], + "closest_active_finger_button": [ + 0.18351811170577997, + -0.42459034919738764, + 0.7759287357330322 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1261040642857551, + -0.06339418888092047, + 0.034439265727996826 + ], + "min_contact_pad_to_button": 0.020976489310673974, + "closest_contact_pad": [ + 0.183551087975502, + -0.4245521128177643, + 0.7892614061884206 + ], + "closest_contact_pad_button": [ + 0.183551087975502, + -0.4245521128177643, + 0.7682849168777466 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.020976489310673974 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 0, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "4ede044ec98d45d206c76eab0cf65c2240896e9c048a911da6923a5e22828ac1", + "visual_seed": 3846120470708069753, + "episode_index": 0, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_100_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_100_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5f9257c687459918f19bbe9dde61a791a3465f6a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_100_success.json @@ -0,0 +1,926 @@ +{ + "episode": 100, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20577836947281755, + -0.0359755278898771, + 1.0451780411717921 + ], + "current_z": 1.0451780411717921, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.1885914741585818, + "gripper_z": 1.0500182836018368, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.20145176911124324, + -0.04044990455267895, + 1.0500182836018368 + ], + "object_minus_gripper": [ + 0.004326600361574312, + 0.00447437666280185, + -0.004840242430044661 + ], + "object_to_gripper_xy": 0.006224107744038561, + "object_to_gripper_z": -0.004840242430044661, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20577836947281755, + -0.059815118369887496, + 1.0451780411717921 + ], + "finger_b": [ + 0.19447086984695441, + -0.0359755278898771, + 1.0451780411717921 + ], + "finger_midpoint": [ + 0.20012461965988598, + -0.0478953231298823, + 1.0451780411717921 + ], + "object_minus_finger_midpoint": [ + 0.005653749812931569, + 0.0119197952400052, + 0.0 + ], + "finger_gap": 0.02638532967471692, + "fingertip_max_gap": 0.09350196973563737, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013192664837358462, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0451780411717921, + "object_top_z": 1.0915184327478844, + "finger_top_clearance": 0.046340391576092266, + "fingertip_min_top_clearance": 0.01390211747282768, + "object_projection_between_fingers": 0.816342734264474, + "object_to_finger_line_xy": 0.010216516668796935, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04925098486781869, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.4145963052236183, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 203, + "max_stable_success_frames": 203, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19971342274420004, + -0.03510885734601321, + 1.2431781848030128 + ], + "held_position": [ + 0.2043450967508231, + -0.030324075619206102, + 1.238958450379554 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007883698299740878, + "max_held_gripper_dist": 0.007886506644113347, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0042197344234586875, + "max_held_gripper_z_dist": 0.004843070332069432, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08425809301174304, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2043450967508231, + -0.05383464047829575, + 1.238958450379554 + ], + "held_grasp_finger_b": [ + 0.19472790978405208, + -0.030324075619206102, + 1.238958450379554 + ], + "held_grasp_midpoint": [ + 0.1995365032674376, + -0.04207935804875093, + 1.238958450379554 + ], + "held_grasp_object_position": [ + 0.2043450967508231, + -0.030324075619206102, + 1.238958450379554 + ], + "held_grasp_finger_gap": 0.025401514623094656, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.022808825203282028, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.04958257075026515, + -0.9904343088327705, + -0.12876897361067716 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00448831344478575, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033318967510971305, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33015434602575155, + -0.3624709962703535, + 0.847019615918426 + ], + "target_position": [ + 0.32470570353050193, + -0.3653688775999487, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00617133869119629, + "xy_threshold": 0.08, + "gripper_dist": 0.18732887767086095, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.847019615918426, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07530716867687688, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08512317137896873, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15647834426485882, + "release_required_pad_clearance": 0.052561585689484366, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.18974551614339244, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008651375770568848, + "max_z_decrease": 0.008651375770568848, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500705403192, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008651375770568848, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02120459119494552, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008651375770568848, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00865150765165706, + "max_button_displacement": 0.12, + "button_start": [ + 0.18040563166141507, + -0.421630322933197, + 0.7768088579177856 + ], + "button_final": [ + 0.18040563166141507, + -0.421630322933197, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18105740491722133, + -0.4222749501659359, + 0.8031514398904842 + ], + "closest_button": [ + 0.18039478361606595, + -0.42158380150794983, + 0.7681574821472168 + ], + "closest_ee_minus_button": [ + 0.0006626213011553805, + -0.0006911486579860848, + 0.03499395774326741 + ], + "button_min_z_position": [ + 0.18039478361606595, + -0.42158380150794983, + 0.7681574821472168 + ], + "min_active_finger_to_button": 0.14518395102099454, + "closest_active_finger": [ + 0.040480196475982666, + -0.40476900339126587, + 0.8075530529022217 + ], + "closest_active_finger_button": [ + 0.18041872978210444, + -0.4216349422931671, + 0.7727518081665039 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13993853330612177, + 0.016865938901901245, + 0.03480124473571777 + ], + "min_contact_pad_to_button": 0.02120459119494552, + "closest_contact_pad": [ + 0.18039478361606595, + -0.42358371706003656, + 0.7892675514396015 + ], + "closest_contact_pad_button": [ + 0.18039478361606595, + -0.42158380150794983, + 0.7681574821472168 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0019999155520867284, + 0.02111006929238468 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 100, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "cdf94e9e36863486abe22b39e5a159869e3e9f2f7b5215949fcec86ab79fb7b1", + "visual_seed": 7007515453860418225, + "episode_index": 100, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_101_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_101_success.json new file mode 100644 index 0000000000000000000000000000000000000000..49124a5607a88d6a9466084625cbdb3a4204431f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_101_success.json @@ -0,0 +1,926 @@ +{ + "episode": 101, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20176778367778744, + -0.034531676827670346, + 1.0460751343710875 + ], + "current_z": 1.0460751343710875, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.1894886269625219, + "gripper_z": 1.0510022539900448, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1967478386423211, + -0.03930734801480952, + 1.0510022539900448 + ], + "object_minus_gripper": [ + 0.00501994503546635, + 0.004775671187139174, + -0.00492711961895731 + ], + "object_to_gripper_xy": 0.006928699982447974, + "object_to_gripper_z": -0.00492711961895731, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20176778367778744, + -0.0589853558879522, + 1.0460751343710875 + ], + "finger_b": [ + 0.19021548651912246, + -0.034531676827670346, + 1.0460751343710875 + ], + "finger_midpoint": [ + 0.19599163509845496, + -0.046758516357811274, + 1.0460751343710875 + ], + "object_minus_finger_midpoint": [ + 0.00577614857933248, + 0.012226839530140927, + 0.0 + ], + "finger_gap": 0.02704511026461838, + "fingertip_max_gap": 0.09257509300197089, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013522555132309183, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0460751343710875, + "object_top_z": 1.0919257045882946, + "finger_top_clearance": 0.045850570217207176, + "fingertip_min_top_clearance": 0.013755171065162119, + "object_projection_between_fingers": 0.8175435626696994, + "object_to_finger_line_xy": 0.010445369398126434, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04878754650098545, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2000497125917593, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 204, + "max_stable_success_frames": 204, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19751793824684458, + -0.03242292017019664, + 1.2428808200074728 + ], + "held_position": [ + 0.2027885898013984, + -0.02729004622077339, + 1.2386200619511147 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008501777579130655, + "max_held_gripper_dist": 0.008506700065013686, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0042607580563580605, + "max_held_gripper_z_dist": 0.0049483959577485415, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0844075268942274, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2027885898013984, + -0.05112234030413474, + 1.2386200619511147 + ], + "held_grasp_finger_b": [ + 0.1925585840259375, + -0.02729004622077339, + 1.2386200619511147 + ], + "held_grasp_midpoint": [ + 0.19767358691366796, + -0.039206193262454066, + 1.2386200619511147 + ], + "held_grasp_object_position": [ + 0.2027885898013984, + -0.02729004622077339, + 1.2386200619511147 + ], + "held_grasp_finger_gap": 0.02593513561641396, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023212511066512977, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.03694171093589687, + -0.9898512035906941, + -0.13722210005382826 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004953533836207186, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03321605551632465, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.32939893864351644, + -0.36810848593409745, + 0.8470192496760212 + ], + "target_position": [ + 0.3244091795405708, + -0.37048478722317135, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005526708217545332, + "xy_threshold": 0.08, + "gripper_dist": 0.18357074274749474, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470192496760212, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07553549516963765, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08605772434732327, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15226113335493938, + "release_required_pad_clearance": 0.05302886217366164, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.0878525535928352, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008514642715454102, + "max_z_decrease": 0.008514642715454102, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502349385772962, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008514642715454102, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021122677242549376, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008514642715454102, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00851474615820859, + "max_button_displacement": 0.12, + "button_start": [ + 0.1801090985536575, + -0.4267462491989136, + 0.7768088579177856 + ], + "button_final": [ + 0.1801090985536575, + -0.4267462491989136, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1792286325893875, + -0.4281725424979192, + 0.8036450427066502 + ], + "closest_button": [ + 0.1800880581140518, + -0.42671340703964233, + 0.7686625123023987 + ], + "closest_ee_minus_button": [ + -0.0008594255246642812, + -0.0014591354582768612, + 0.03498253040425148 + ], + "button_min_z_position": [ + 0.1800817400217056, + -0.42671442031860346, + 0.7682942152023315 + ], + "min_active_finger_to_button": 0.14650459078939487, + "closest_active_finger": [ + 0.03845779597759247, + -0.41238778829574585, + 0.8104710578918457 + ], + "closest_active_finger_button": [ + 0.18011201918125147, + -0.4267493188381195, + 0.7759540677070618 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.141654223203659, + 0.014361530542373657, + 0.034516990184783936 + ], + "min_contact_pad_to_button": 0.021122677242549376, + "closest_contact_pad": [ + 0.1800817400217056, + -0.4293076054922234, + 0.7892571082409422 + ], + "closest_contact_pad_button": [ + 0.1800817400217056, + -0.42671442031860346, + 0.7682942152023315 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0025931851736199496, + 0.020962893038610653 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 101, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "2b4951fb447dda9d8907915791a21e23f4c9412a0356b5e8ebc2c85a7e104de2", + "visual_seed": 1290295408547862870, + "episode_index": 101, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_102_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_102_success.json new file mode 100644 index 0000000000000000000000000000000000000000..fb03af6a8dd1bf7cae8a255eef8a50c03e1e28c7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_102_success.json @@ -0,0 +1,926 @@ +{ + "episode": 102, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20563551418819806, + -0.03273553879861643, + 1.0463145539890284 + ], + "current_z": 1.0463145539890284, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.1897281061851076, + "gripper_z": 1.0513010465810841, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.20103768010294884, + -0.03740451984938979, + 1.0513010465810841 + ], + "object_minus_gripper": [ + 0.0045978340852492194, + 0.00466898105077336, + -0.004986492592055747 + ], + "object_to_gripper_xy": 0.006552820944292636, + "object_to_gripper_z": -0.004986492592055747, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20563551418819806, + -0.056666015597520394, + 1.0463145539890284 + ], + "finger_b": [ + 0.19390824725631667, + -0.03273553879861643, + 1.0463145539890284 + ], + "finger_midpoint": [ + 0.19977188072225738, + -0.04470077719806841, + 1.0463145539890284 + ], + "object_minus_finger_midpoint": [ + 0.005863633465940682, + 0.011965238399451981, + 0.0 + ], + "finger_gap": 0.026649512369168776, + "fingertip_max_gap": 0.09285401693077142, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013324756184584383, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0463145539890284, + "object_top_z": 1.0924044917343763, + "finger_top_clearance": 0.046089937745347864, + "fingertip_min_top_clearance": 0.013826981323604359, + "object_projection_between_fingers": 0.8063510762878584, + "object_to_finger_line_xy": 0.0105307401253847, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04892700846538571, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.240482423469541, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 204, + "max_stable_success_frames": 204, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19849890864408803, + -0.03280678682640707, + 1.2424850742928697 + ], + "held_position": [ + 0.20343481427555388, + -0.027833191340314985, + 1.2381588255321352 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008235061918514558, + "max_held_gripper_dist": 0.008237868661118038, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004326248760734508, + "max_held_gripper_z_dist": 0.004984030645506898, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08508575488927347, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.20343481427555388, + -0.051467334285179696, + 1.2381588255321352 + ], + "held_grasp_finger_b": [ + 0.19353410341149624, + -0.027833191340314985, + 1.2381588255321352 + ], + "held_grasp_midpoint": [ + 0.19848445884352506, + -0.03965026281274734, + 1.2381588255321352 + ], + "held_grasp_object_position": [ + 0.20343481427555388, + -0.027833191340314985, + 1.2381588255321352 + ], + "held_grasp_finger_gap": 0.02562414463649406, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.022801195692131463, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0579062045508125, + -0.9890144243924407, + -0.13600492571303735 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004557923429936885, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03322631453125247, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3303183465933028, + -0.3638004394593334, + 0.847019549526616 + ], + "target_position": [ + 0.3259255111153552, + -0.36602910841842695, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0049258470201115605, + "xy_threshold": 0.08, + "gripper_dist": 0.18405370029918683, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.847019549526616, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07574208108563087, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08569840863461974, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1522607093139191, + "release_required_pad_clearance": 0.05284920431730987, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7412453084200531, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008375763893127441, + "max_z_decrease": 0.008375763893127441, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035046958955518605, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008375763893127441, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02113612795264941, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008375763893127441, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00837577429048834, + "max_button_displacement": 0.12, + "button_start": [ + 0.18162544071674344, + -0.4222905635833739, + 0.7768088579177856 + ], + "button_final": [ + 0.18162544071674344, + -0.4222905635833739, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1812553600161154, + -0.42030081783087136, + 0.8034222950759263 + ], + "closest_button": [ + 0.18162693083286285, + -0.4222774505615233, + 0.7684330940246582 + ], + "closest_ee_minus_button": [ + -0.00037157081674746295, + 0.0019766327306519615, + 0.034989201051268126 + ], + "button_min_z_position": [ + 0.18162693083286285, + -0.4222774505615233, + 0.7684330940246582 + ], + "min_active_finger_to_button": 0.14544669741913283, + "closest_active_finger": [ + 0.05351048707962036, + -0.48169511556625366, + 0.8080218434333801 + ], + "closest_active_finger_button": [ + 0.18163706362247467, + -0.42229419946670527, + 0.7732388973236084 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1281265765428543, + -0.059400916099548395, + 0.03478294610977173 + ], + "min_contact_pad_to_button": 0.02113612795264941, + "closest_contact_pad": [ + 0.18162693083286285, + -0.4222774505615233, + 0.7895692219773076 + ], + "closest_contact_pad_button": [ + 0.18162693083286285, + -0.4222774505615233, + 0.7684330940246582 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02113612795264941 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 102, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0632b367f69cadfee68c685a927a88de402030db916f31f2bf16de940353bf23", + "visual_seed": 6314269744823636066, + "episode_index": 102, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_10_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_10_success.json new file mode 100644 index 0000000000000000000000000000000000000000..93f7cad9ead2b3a38a609fa4140bba8d2398ef6d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_10_success.json @@ -0,0 +1,926 @@ +{ + "episode": 10, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20630256311314762, + -0.03326670407668052, + 1.04636080433605 + ], + "current_z": 1.04636080433605, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.18977435653212915, + "gripper_z": 1.0513851554783702, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.20188679893879738, + -0.03783278680480956, + 1.0513851554783702 + ], + "object_minus_gripper": [ + 0.004415764174350245, + 0.004566082728129042, + -0.005024351142320249 + ], + "object_to_gripper_xy": 0.006352014225707737, + "object_to_gripper_z": -0.005024351142320249, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20630256311314762, + -0.05708007959632839, + 1.04636080433605 + ], + "finger_b": [ + 0.19475594081643044, + -0.03326670407668052, + 1.04636080433605 + ], + "finger_midpoint": [ + 0.20052925196478905, + -0.045173391836504456, + 1.04636080433605 + ], + "object_minus_finger_midpoint": [ + 0.005773311148358579, + 0.011906687759823939, + 0.0 + ], + "finger_gap": 0.026465096638833778, + "fingertip_max_gap": 0.09345235420451165, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013232548319416886, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.04636080433605, + "object_top_z": 1.092486083870999, + "finger_top_clearance": 0.04612527953494916, + "fingertip_min_top_clearance": 0.013837583860484714, + "object_projection_between_fingers": 0.8096455862813227, + "object_to_finger_line_xy": 0.01038968632866408, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049226177102255825, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.6817491478068238, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 204, + "max_stable_success_frames": 204, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19902038091970956, + -0.033359286830528107, + 1.244420073228522 + ], + "held_position": [ + 0.20378556102346274, + -0.028496691544757646, + 1.2400339141812469 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008098775556983644, + "max_held_gripper_dist": 0.008102555673250446, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004386159047275129, + "max_held_gripper_z_dist": 0.005026363984760085, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08546812714221125, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.20378556102346274, + -0.05211029891144309, + 1.2400339141812469 + ], + "held_grasp_finger_b": [ + 0.19410830369488702, + -0.028496691544757646, + 1.2400339141812469 + ], + "held_grasp_midpoint": [ + 0.19894693235917488, + -0.04030349522810037, + 1.2400339141812469 + ], + "held_grasp_object_position": [ + 0.20378556102346274, + -0.028496691544757646, + 1.2400339141812469 + ], + "held_grasp_finger_gap": 0.025519634838129118, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.022881509538595957, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05104519868650374, + -0.9899159708504404, + -0.13213916280302926 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004513879227138402, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033265492673435225, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33228070014933997, + -0.36188188182141245, + 0.8470193195362021 + ], + "target_position": [ + 0.32909539014910316, + -0.3635861218653926, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0036125661135976424, + "xy_threshold": 0.08, + "gripper_dist": 0.18111495503999264, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470193195362021, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07515707635401059, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0854177154381227, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15062972171381922, + "release_required_pad_clearance": 0.05270885771906135, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.4698031329778584, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 147, + "max_placed_release_frames": 147 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008637666702270508, + "max_z_decrease": 0.008637666702270508, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035041465837505746, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008637666702270508, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021296875585167713, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008637666702270508, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008637783147886643, + "max_button_displacement": 0.12, + "button_start": [ + 0.1847953200340271, + -0.4198475778102874, + 0.7768088579177856 + ], + "button_final": [ + 0.1847953200340271, + -0.4198475778102874, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18321883740557357, + -0.4208644823830994, + 0.8072244290189575 + ], + "closest_button": [ + 0.1847844868898392, + -0.41984823346137995, + 0.772232711315155 + ], + "closest_ee_minus_button": [ + -0.0015656494842656299, + -0.001016248921719476, + 0.034991717703802494 + ], + "button_min_z_position": [ + 0.18478143215179446, + -0.4198049306869507, + 0.7681711912155151 + ], + "min_active_finger_to_button": 0.147733017790782, + "closest_active_finger": [ + 0.04231896251440048, + -0.40257444977760315, + 0.807743489742279 + ], + "closest_active_finger_button": [ + 0.18480683863163, + -0.41985327005386347, + 0.7727621793746948 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14248787611722952, + 0.01727882027626032, + 0.03498131036758423 + ], + "min_contact_pad_to_button": 0.021296875585167713, + "closest_contact_pad": [ + 0.18478143215179446, + -0.4221190866230156, + 0.7893419633316588 + ], + "closest_contact_pad_button": [ + 0.18478143215179446, + -0.4198049306869507, + 0.7681711912155151 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002314155936064932, + 0.02117077211614371 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 10, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ae883f2efbe2fc8221ef7e24a7a47ba79cb08864dced7cd2d091614f565e2d3f", + "visual_seed": 8019234074989953182, + "episode_index": 10, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_11_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_11_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ec035fdf3d4202d9fc42ba7bf1c1cd7f845118e1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_11_success.json @@ -0,0 +1,926 @@ +{ + "episode": 11, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.19819206229395678, + -0.03331647848547793, + 1.0458030314526219 + ], + "current_z": 1.0458030314526219, + "required_z": 0.8565864478039206, + "initial_z": 0.7565864478039206, + "lift_margin": 0.1892165836487013, + "gripper_z": 1.050651598833581, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1931974890713235, + -0.03803537067146846, + 1.050651598833581 + ], + "object_minus_gripper": [ + 0.004994573222633275, + 0.004718892185990531, + -0.004848567380959068 + ], + "object_to_gripper_xy": 0.006871222972604501, + "object_to_gripper_z": -0.004848567380959068, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19819206229395678, + -0.05789560932089824, + 1.0458030314526219 + ], + "finger_b": [ + 0.18690964472941834, + -0.03331647848547793, + 1.0458030314526219 + ], + "finger_midpoint": [ + 0.19255085351168755, + -0.045606043903188086, + 1.0458030314526219 + ], + "object_minus_finger_midpoint": [ + 0.00564120878226923, + 0.012289565417710153, + 0.0 + ], + "finger_gap": 0.027044900050200125, + "fingertip_max_gap": 0.09294052597907052, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013522450025100068, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0458030314526219, + "object_top_z": 1.0917290918481775, + "finger_top_clearance": 0.04592606039555558, + "fingertip_min_top_clearance": 0.013777818118666707, + "object_projection_between_fingers": 0.8259662106330726, + "object_to_finger_line_xy": 0.010253763812914606, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04897026298953526, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3542702709678767, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 205, + "max_stable_success_frames": 205, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1955802942117845, + -0.029845168523075463, + 1.2426816010465103 + ], + "held_position": [ + 0.2007789935555716, + -0.024719815362221002, + 1.2384995197724418 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008413413318831288, + "max_held_gripper_dist": 0.008414823953480007, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004182081274068494, + "max_held_gripper_z_dist": 0.004871854035856549, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08548672969904864, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2007789935555716, + -0.04850501051287703, + 1.2384995197724418 + ], + "held_grasp_finger_b": [ + 0.19058563191894864, + -0.024719815362221002, + 1.2384995197724418 + ], + "held_grasp_midpoint": [ + 0.1956823127372601, + -0.036612412937549015, + 1.2384995197724418 + ], + "held_grasp_object_position": [ + 0.2007789935555716, + -0.024719815362221002, + 1.2384995197724418 + ], + "held_grasp_finger_gap": 0.025877405778202876, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02330319634073634, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.024118732315965754, + -0.990071645504257, + -0.13847896417854846 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005085345280879645, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03330277583472906, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33317955398462684, + -0.3603225298000726, + 0.8470195275037076 + ], + "target_position": [ + 0.32824771551148135, + -0.36335909180448966, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005791695738889197, + "xy_threshold": 0.08, + "gripper_dist": 0.18342064274412107, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195275037076, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07582106943413504, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0884484227995289, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15156524767615068, + "release_required_pad_clearance": 0.05422421139976445, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.4658265961088586, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008678555488586426, + "max_z_decrease": 0.008678555488586426, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035065970194245115, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008678555488586426, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021061618715727093, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008678555488586426, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008678657676001802, + "max_button_displacement": 0.12, + "button_start": [ + 0.18394763767719263, + -0.41962054371833796, + 0.7768088579177856 + ], + "button_final": [ + 0.18394763767719263, + -0.41962054371833796, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18517103516825653, + -0.41768708644569064, + 0.8031242287788547 + ], + "closest_button": [ + 0.18396313488483426, + -0.4195813834667206, + 0.7681303024291992 + ], + "closest_ee_minus_button": [ + 0.0012079002834222696, + 0.0018942970210299448, + 0.03499392634965548 + ], + "button_min_z_position": [ + 0.18396313488483426, + -0.4195813834667206, + 0.7681303024291992 + ], + "min_active_finger_to_button": 0.14402669157461442, + "closest_active_finger": [ + 0.058497555553913116, + -0.4813110828399658, + 0.8101478219032288 + ], + "closest_active_finger_button": [ + 0.18395227193832395, + -0.4196232259273529, + 0.7755153179168701 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12545471638441083, + -0.061687856912612915, + 0.03463250398635864 + ], + "min_contact_pad_to_button": 0.021061618715727093, + "closest_contact_pad": [ + 0.18396313488483426, + -0.4195813834667206, + 0.7891919211449263 + ], + "closest_contact_pad_button": [ + 0.18396313488483426, + -0.4195813834667206, + 0.7681303024291992 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021061618715727093 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 11, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ba414aaa2ff28b5e1236d6c6cf8d6700e6c82c8d8d83483343bc2804b8b9888a", + "visual_seed": 8117319930254121303, + "episode_index": 11, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_12_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_12_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4f18b17f6915bc51d9dc346dc5f344d40d175ccd --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_12_success.json @@ -0,0 +1,926 @@ +{ + "episode": 12, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20102628089465566, + -0.031907308099602294, + 1.0452446057211022 + ], + "current_z": 1.0452446057211022, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.18865809831253666, + "gripper_z": 1.0500689912117964, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1961046260901601, + -0.036547566443814516, + 1.0500689912117964 + ], + "object_minus_gripper": [ + 0.004921654804495551, + 0.0046402583442122225, + -0.004824385490694194 + ], + "object_to_gripper_xy": 0.006764220835812895, + "object_to_gripper_z": -0.004824385490694194, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20102628089465566, + -0.056387847052166575, + 1.0452446057211022 + ], + "finger_b": [ + 0.18990702937961879, + -0.031907308099602294, + 1.0452446057211022 + ], + "finger_midpoint": [ + 0.19546665513713724, + -0.04414757757588443, + 1.0452446057211022 + ], + "object_minus_finger_midpoint": [ + 0.005559625757518422, + 0.012240269476282137, + 0.0 + ], + "finger_gap": 0.026887442081065777, + "fingertip_max_gap": 0.09427317739228558, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01344372104053288, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0452446057211022, + "object_top_z": 1.0916556139291294, + "finger_top_clearance": 0.04641100820802713, + "fingertip_min_top_clearance": 0.01392330246240812, + "object_projection_between_fingers": 0.8289779404227982, + "object_to_finger_line_xy": 0.010123881216239146, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04963658869614279, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.9544060856530414, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 207, + "max_stable_success_frames": 207, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19639498667088376, + -0.030016570677184023, + 1.241456612354577 + ], + "held_position": [ + 0.20147840105170792, + -0.025006836342198982, + 1.237190449859806 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00831496736650766, + "max_held_gripper_dist": 0.008316289714691085, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004266162494770853, + "max_held_gripper_z_dist": 0.00487702533703227, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08439356957962667, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.20147840105170792, + -0.0488181568437268, + 1.237190449859806 + ], + "held_grasp_finger_b": [ + 0.19145232317401278, + -0.025006836342198982, + 1.237190449859806 + ], + "held_grasp_midpoint": [ + 0.19646536211286036, + -0.03691249659296289, + 1.237190449859806 + ], + "held_grasp_object_position": [ + 0.20147840105170792, + -0.025006836342198982, + 1.237190449859806 + ], + "held_grasp_finger_gap": 0.0258360450076262, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02348876891751146, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.014473328713714987, + -0.9925480460786799, + -0.120991317793218 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005051258237662531, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033310729786221856, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.32740868694568603, + -0.36499595291539894, + 0.8470196410070076 + ], + "target_position": [ + 0.3222954370586265, + -0.3675203355481467, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00570244088825416, + "xy_threshold": 0.08, + "gripper_dist": 0.1859638498030971, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196410070076, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07517810014392184, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08647147492156625, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1553516008134834, + "release_required_pad_clearance": 0.053235737460783125, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.4919715034194545, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008646786212921143, + "max_z_decrease": 0.008646786212921143, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501277195748359, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008646786212921143, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021113351751690167, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008646786212921143, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008646930396534039, + "max_button_displacement": 0.12, + "button_start": [ + 0.17799536883831021, + -0.42378178238868713, + 0.7768088579177856 + ], + "button_final": [ + 0.17799536883831021, + -0.42378178238868713, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17801251100932547, + -0.4250686903478058, + 0.8031495075916386 + ], + "closest_button": [ + 0.17801737785339355, + -0.42373695969581604, + 0.7681620717048645 + ], + "closest_ee_minus_button": [ + -4.866844068085463e-06, + -0.001331730651989771, + 0.03498743588677411 + ], + "button_min_z_position": [ + 0.17801737785339355, + -0.42373695969581604, + 0.7681620717048645 + ], + "min_active_finger_to_button": 0.1456616359261821, + "closest_active_finger": [ + 0.03723990172147751, + -0.40919944643974304, + 0.8094794750213623 + ], + "closest_active_finger_button": [ + 0.17800161242485046, + -0.4237852692604065, + 0.7749728560447693 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14076171070337296, + 0.014585822820663452, + 0.03450661897659302 + ], + "min_contact_pad_to_button": 0.021113351751690167, + "closest_contact_pad": [ + 0.17801737785339355, + -0.42622305699244845, + 0.7891285435688257 + ], + "closest_contact_pad_button": [ + 0.17801737785339355, + -0.42373695969581604, + 0.7681620717048645 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0024860972966324058, + 0.020966471863961167 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 12, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "707686e67c4df0b1348b489b3e1f905a129b653d49b84eeee74cdd9e8b2a8218", + "visual_seed": 6905598526533527230, + "episode_index": 12, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_13_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_13_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6b7ea34802b38344f6b0b7c06458517b843708d0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_13_success.json @@ -0,0 +1,926 @@ +{ + "episode": 13, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20171001905683814, + -0.026893677034360772, + 1.0465687330503786 + ], + "current_z": 1.0465687330503786, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.18998216603716822, + "gripper_z": 1.0515031345061736, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1972907288912957, + -0.03142614459544468, + 1.0515031345061736 + ], + "object_minus_gripper": [ + 0.004419290165542433, + 0.00453246756108391, + -0.0049344014557950455 + ], + "object_to_gripper_xy": 0.006330354473450756, + "object_to_gripper_z": -0.0049344014557950455, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20171001905683814, + -0.050765946151682936, + 1.0465687330503786 + ], + "finger_b": [ + 0.19030856033510013, + -0.026893677034360772, + 1.0465687330503786 + ], + "finger_midpoint": [ + 0.19600928969596915, + -0.03882981159302185, + 1.0465687330503786 + ], + "object_minus_finger_midpoint": [ + 0.005700729360868989, + 0.01193613455866108, + 0.0 + ], + "finger_gap": 0.02645521675952305, + "fingertip_max_gap": 0.09307446036072858, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013227608379761516, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0465687330503786, + "object_top_z": 1.0929422001248326, + "finger_top_clearance": 0.046373467074454, + "fingertip_min_top_clearance": 0.013912040122336199, + "object_projection_between_fingers": 0.8142631011864205, + "object_to_finger_line_xy": 0.010288280508508553, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049037230180364294, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1401404344626098, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 205, + "max_stable_success_frames": 205, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19494077723706427, + -0.02647614852032297, + 1.2436372906944035 + ], + "held_position": [ + 0.19967803567226444, + -0.021622417807078905, + 1.2393457369211653 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008026067100838304, + "max_held_gripper_dist": 0.008029091303147586, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004291553773238199, + "max_held_gripper_z_dist": 0.004947144370958112, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08496954961557443, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.19967803567226444, + -0.04516800254475391, + 1.2393457369211653 + ], + "held_grasp_finger_b": [ + 0.19002727485169912, + -0.021622417807078905, + 1.2393457369211653 + ], + "held_grasp_midpoint": [ + 0.19485265526198178, + -0.03339521017591641, + 1.2393457369211653 + ], + "held_grasp_object_position": [ + 0.19967803567226444, + -0.021622417807078905, + 1.2393457369211653 + ], + "held_grasp_finger_gap": 0.02544664506481734, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.022730823587330345, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05905521433805223, + -0.9896017277001772, + -0.13115221001687785 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004408016137691994, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03326488542336184, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3282229512449786, + -0.36925130830430214, + 0.8470196645262618 + ], + "target_position": [ + 0.32463513119483306, + -0.3706895392656258, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.003865353930798084, + "xy_threshold": 0.08, + "gripper_dist": 0.18504215928425785, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196645262618, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07528991149498075, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08556837688278439, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1539515031823245, + "release_required_pad_clearance": 0.052784188441392196, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6154824032480761, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008468687534332275, + "max_z_decrease": 0.008468687534332275, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03499537369798649, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008468687534332275, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021015744562342432, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008468687534332275, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008468742908492262, + "max_button_displacement": 0.12, + "button_start": [ + 0.18033505976200104, + -0.426950991153717, + 0.7768088579177856 + ], + "button_final": [ + 0.18033505976200104, + -0.426950991153717, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18023955404179334, + -0.4269861382950535, + 0.8036998076557919 + ], + "closest_button": [ + 0.18032445013523102, + -0.4269233942031859, + 0.7687045931816101 + ], + "closest_ee_minus_button": [ + -8.489609343767524e-05, + -6.274409186757257e-05, + 0.034995214474181746 + ], + "button_min_z_position": [ + 0.18031789362430573, + -0.426925629377365, + 0.7683401703834534 + ], + "min_active_finger_to_button": 0.14590235431704981, + "closest_active_finger": [ + 0.03941912204027176, + -0.41156700253486633, + 0.8087595105171204 + ], + "closest_active_finger_button": [ + 0.1803424209356308, + -0.42695614695549006, + 0.7742443680763245 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14092329889535904, + 0.015389144420623724, + 0.0345151424407959 + ], + "min_contact_pad_to_button": 0.021015744562342432, + "closest_contact_pad": [ + 0.18031789362430573, + -0.4280930237596671, + 0.7893234663558643 + ], + "closest_contact_pad_button": [ + 0.18031789362430573, + -0.426925629377365, + 0.7683401703834534 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0011673943823021227, + 0.020983295972410887 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 13, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "eef02df4c4df594704bdcbf20b6c519dd9edc807477ffa839377ebd28f2da3b7", + "visual_seed": 8685122003348321095, + "episode_index": 13, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_14_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_14_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c035bef8b72f1b7498a4189af84a3b945b5476dc --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_14_success.json @@ -0,0 +1,926 @@ +{ + "episode": 14, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20323993570290616, + -0.03359452043539728, + 1.044740623184427 + ], + "current_z": 1.044740623184427, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.18815411577586139, + "gripper_z": 1.0496174752985974, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1989013202418698, + -0.03801665272491099, + 1.0496174752985974 + ], + "object_minus_gripper": [ + 0.004338615461036366, + 0.004422132289513707, + -0.004876852114170438 + ], + "object_to_gripper_xy": 0.006195065625536467, + "object_to_gripper_z": -0.004876852114170438, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20323993570290616, + -0.05752971769289716, + 1.044740623184427 + ], + "finger_b": [ + 0.1921535046429837, + -0.03359452043539728, + 1.044740623184427 + ], + "finger_midpoint": [ + 0.19769672017294493, + -0.04556211906414722, + 1.044740623184427 + ], + "object_minus_finger_midpoint": [ + 0.005543215529961232, + 0.011967598628749937, + 0.0 + ], + "finger_gap": 0.02637807084306665, + "fingertip_max_gap": 0.09385301490921683, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013189035421533326, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.044740623184427, + "object_top_z": 1.0915260025060922, + "finger_top_clearance": 0.046785379321665266, + "fingertip_min_top_clearance": 0.014035613796499563, + "object_projection_between_fingers": 0.8233565814989499, + "object_to_finger_line_xy": 0.010059716492522248, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049426507454608415, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.355289853843234, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 203, + "max_stable_success_frames": 203, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19797810308873529, + -0.03252275608174651, + 1.2415087919889987 + ], + "held_position": [ + 0.20259090123434997, + -0.027747894272888384, + 1.2372577855500482 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007883417264732137, + "max_held_gripper_dist": 0.007885937263805482, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004251006438950489, + "max_held_gripper_z_dist": 0.00489377100973476, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08545929218315357, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.20259090123434997, + -0.05124147299479108, + 1.2372577855500482 + ], + "held_grasp_finger_b": [ + 0.19309769759082768, + -0.027747894272888384, + 1.2372577855500482 + ], + "held_grasp_midpoint": [ + 0.19784429941258883, + -0.03949468363383973, + 1.2372577855500482 + ], + "held_grasp_object_position": [ + 0.20259090123434997, + -0.027747894272888384, + 1.2372577855500482 + ], + "held_grasp_finger_gap": 0.025339083578133286, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.022779453780032873, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.052013002000353296, + -0.9906206319446725, + -0.12635430815151838 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004393152664334841, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03331672805569405, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3273312659734568, + -0.36985775773294316, + 0.8470195525054212 + ], + "target_position": [ + 0.3234990580817631, + -0.3715328119888123, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0041822988995604635, + "xy_threshold": 0.08, + "gripper_dist": 0.18201686590111255, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195525054212, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07554860630523165, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08538156616131319, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15053640801194965, + "release_required_pad_clearance": 0.0526907830806566, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.4370064567488415, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008465945720672607, + "max_z_decrease": 0.008465945720672607, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500876635875843, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008465945720672607, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021057573238147925, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008465945720672607, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008466018882660702, + "max_button_displacement": 0.12, + "button_start": [ + 0.17919898033142084, + -0.4277942776679992, + 0.7768088579177856 + ], + "button_final": [ + 0.17919898033142084, + -0.4277942776679992, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17983976797383777, + -0.4274755160492652, + 0.8033441253838123 + ], + "closest_button": [ + 0.17917445302009577, + -0.4277690351009369, + 0.768342912197113 + ], + "closest_ee_minus_button": [ + 0.0006653149537420022, + 0.0002935190516716868, + 0.03500121318669924 + ], + "button_min_z_position": [ + 0.17917445302009577, + -0.4277690351009369, + 0.768342912197113 + ], + "min_active_finger_to_button": 0.1452090029909231, + "closest_active_finger": [ + 0.05262184888124466, + -0.4899977743625641, + 0.8105994462966919 + ], + "closest_active_finger_button": [ + 0.1792045086622238, + -0.4277970194816589, + 0.7760516405105591 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12658265978097913, + -0.06220075488090521, + 0.03454780578613281 + ], + "min_contact_pad_to_button": 0.021057573238147925, + "closest_contact_pad": [ + 0.17917445302009577, + -0.42869676220313435, + 0.7893800392135051 + ], + "closest_contact_pad_button": [ + 0.17917445302009577, + -0.4277690351009369, + 0.768342912197113 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.000927727102197462, + 0.021037127016392043 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 14, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a520a1ec36ce05c3df74980f84df3cdea2b781c7e6a1744885078d79331ca9b2", + "visual_seed": 6279617143731071799, + "episode_index": 14, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_15_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_15_success.json new file mode 100644 index 0000000000000000000000000000000000000000..319da9a6e059e48acbbb0ffc1ea5a16fa69bf83c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_15_success.json @@ -0,0 +1,926 @@ +{ + "episode": 15, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.19864236231604565, + -0.03209422668913833, + 1.0446642283756713 + ], + "current_z": 1.0446642283756713, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.18807772096710573, + "gripper_z": 1.0497591376070137, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19373005467249957, + -0.036785369009683974, + 1.0497591376070137 + ], + "object_minus_gripper": [ + 0.004912307643546082, + 0.004691142320545641, + -0.0050949092313423705 + ], + "object_to_gripper_xy": 0.006792465138405614, + "object_to_gripper_z": -0.0050949092313423705, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19864236231604565, + -0.05652276518010131, + 1.0446642283756713 + ], + "finger_b": [ + 0.18725048775486128, + -0.03209422668913833, + 1.0446642283756713 + ], + "finger_midpoint": [ + 0.19294642503545345, + -0.04430849593461982, + 1.0446642283756713 + ], + "object_minus_finger_midpoint": [ + 0.0056959372805922, + 0.012214269245481489, + 0.0 + ], + "finger_gap": 0.02695418889193699, + "fingertip_max_gap": 0.09435515737936837, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.0134770944459685, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0446642283756713, + "object_top_z": 1.0912327509928474, + "finger_top_clearance": 0.046568522617176145, + "fingertip_min_top_clearance": 0.013970556785152842, + "object_projection_between_fingers": 0.8213768049666633, + "object_to_finger_line_xy": 0.010324437782854612, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049677578689684185, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.7977217830511212, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 203, + "max_stable_success_frames": 203, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19536788183369627, + -0.029272924740966558, + 1.2418704089072674 + ], + "held_position": [ + 0.2005203652054948, + -0.024172365311748246, + 1.2374509647636465 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008490893823752217, + "max_held_gripper_dist": 0.008492746879733995, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004419444143620943, + "max_held_gripper_z_dist": 0.0051096845222560194, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08539523983475622, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2005203652054948, + -0.04794667167420355, + 1.2374509647636465 + ], + "held_grasp_finger_b": [ + 0.19040435847441978, + -0.024172365311748246, + 1.2374509647636465 + ], + "held_grasp_midpoint": [ + 0.1954623618399573, + -0.036059518492975895, + 1.2374509647636465 + ], + "held_grasp_object_position": [ + 0.2005203652054948, + -0.024172365311748246, + 1.2374509647636465 + ], + "held_grasp_finger_gap": 0.02583701289234183, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023294655036117558, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.026271194467426085, + -0.9910032392528741, + -0.1312341576403244 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0049966153136153735, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03328713786768613, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33484817703085257, + -0.3654937952026236, + 0.8470195867963939 + ], + "target_position": [ + 0.32975860240823257, + -0.3683754526219716, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0058487365577277245, + "xy_threshold": 0.08, + "gripper_dist": 0.18339218577059582, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195867963939, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07556035794661228, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0874714129366536, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15201808346037377, + "release_required_pad_clearance": 0.0537357064683268, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.480662490935416, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00865781307220459, + "max_z_decrease": 0.00865781307220459, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0349979746122875, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00865781307220459, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02112260030802411, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00865781307220459, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008657936202773173, + "max_button_displacement": 0.12, + "button_start": [ + 0.18545852601528162, + -0.4246369004249572, + 0.7768088579177856 + ], + "button_final": [ + 0.18545852601528162, + -0.4246369004249572, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18598466183952267, + -0.42482265409791165, + 0.8031442669607938 + ], + "closest_button": [ + 0.18545658886432645, + -0.42459076642990107, + 0.768151044845581 + ], + "closest_ee_minus_button": [ + 0.0005280729751962199, + -0.00023188766801057747, + 0.03499322211521272 + ], + "button_min_z_position": [ + 0.18545658886432645, + -0.42459076642990107, + 0.768151044845581 + ], + "min_active_finger_to_button": 0.14534950605357513, + "closest_active_finger": [ + 0.045195624232292175, + -0.4090804159641266, + 0.8076614737510681 + ], + "closest_active_finger_button": [ + 0.18547078967094416, + -0.42464163899421686, + 0.7729166150093079 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14027516543865198, + 0.015561223030090277, + 0.034744858741760254 + ], + "min_contact_pad_to_button": 0.02112260030802411, + "closest_contact_pad": [ + 0.18545658886432645, + -0.4259732068404978, + 0.7892283573470289 + ], + "closest_contact_pad_button": [ + 0.18545658886432645, + -0.42459076642990107, + 0.768151044845581 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001382440410596708, + 0.021077312501447842 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 15, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d131b8271fb461406f33edc4b42f6e435dc82044c27d4d6add3336297e70ac99", + "visual_seed": 8374899086758301460, + "episode_index": 15, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_16_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_16_success.json new file mode 100644 index 0000000000000000000000000000000000000000..719e9771f5e98b3982bc5eacd172bbdefe232d1f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_16_success.json @@ -0,0 +1,926 @@ +{ + "episode": 16, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2006258293257296, + -0.028556788157262827, + 1.0445343349631007 + ], + "current_z": 1.0445343349631007, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.18794788715917987, + "gripper_z": 1.049724466556463, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19551839951601446, + -0.033353613593206266, + 1.049724466556463 + ], + "object_minus_gripper": [ + 0.005107429809715125, + 0.004796825435943439, + -0.005190131593362235 + ], + "object_to_gripper_xy": 0.007006809082890773, + "object_to_gripper_z": -0.005190131593362235, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2006258293257296, + -0.05311761919676973, + 1.0445343349631007 + ], + "finger_b": [ + 0.18923190130977352, + -0.028556788157262827, + 1.0445343349631007 + ], + "finger_midpoint": [ + 0.19492886531775155, + -0.04083720367701628, + 1.0445343349631007 + ], + "object_minus_finger_midpoint": [ + 0.005696964007978034, + 0.012280415519753451, + 0.0 + ], + "finger_gap": 0.02707500723885396, + "fingertip_max_gap": 0.09609236614144614, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01353750361942698, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0445343349631007, + "object_top_z": 1.091548755957548, + "finger_top_clearance": 0.047014420994447415, + "fingertip_min_top_clearance": 0.014104326298334191, + "object_projection_between_fingers": 0.8229035808656036, + "object_to_finger_line_xy": 0.010335891636424413, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.050546183070723075, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.540222088037373, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 206, + "max_stable_success_frames": 206, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19487816359361657, + -0.027029109856136338, + 1.24267395523182 + ], + "held_position": [ + 0.20015457715968954, + -0.021852404182668782, + 1.2380443321137535 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00872193969053247, + "max_held_gripper_dist": 0.008725052411020567, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004629623118066473, + "max_held_gripper_z_dist": 0.005244282477088635, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08543264427429914, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.20015457715968954, + -0.04585477291670502, + 1.2380443321137535 + ], + "held_grasp_finger_b": [ + 0.18985551151891017, + -0.021852404182668782, + 1.2380443321137535 + ], + "held_grasp_midpoint": [ + 0.19500504433929985, + -0.0338535885496869, + 1.2380443321137535 + ], + "held_grasp_object_position": [ + 0.20015457715968954, + -0.021852404182668782, + 1.2380443321137535 + ], + "held_grasp_finger_gap": 0.026118661104997755, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02378723763246353, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.006291731727140145, + -0.9937367788493499, + -0.11156894045383803 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005248081441357881, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03324180719152702, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3331920289329667, + -0.3658822659097333, + 0.8470198399401963 + ], + "target_position": [ + 0.32860258784393426, + -0.36851264384390814, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005289788047388394, + "xy_threshold": 0.08, + "gripper_dist": 0.18374315094674956, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470198399401963, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07533158520829238, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08705687670730398, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15283856200383736, + "release_required_pad_clearance": 0.053528438353651994, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.0680160677575308, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008639156818389893, + "max_z_decrease": 0.008639156818389893, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03504635635234991, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008639156818389893, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021058339405039463, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008639156818389893, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008639383340615243, + "max_button_displacement": 0.12, + "button_start": [ + 0.18430250883102414, + -0.4247741103172302, + 0.7768088579177856 + ], + "button_final": [ + 0.18430250883102414, + -0.4247741103172302, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18591230348354368, + -0.4251565733661996, + 0.8035444875809051 + ], + "closest_button": [ + 0.1842687577009201, + -0.42473822832107544, + 0.7685391902923584 + ], + "closest_ee_minus_button": [ + 0.0016435457826235733, + -0.0004183450451241688, + 0.03500529728854673 + ], + "button_min_z_position": [ + 0.18425475060939786, + -0.4247336983680725, + 0.7681697010993958 + ], + "min_active_finger_to_button": 0.14423662998263054, + "closest_active_finger": [ + 0.04495900869369507, + -0.41098442673683167, + 0.8086303472518921 + ], + "closest_active_finger_button": [ + 0.1843103915452957, + -0.4247789680957794, + 0.7740600109100342 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13935138285160062, + 0.013794541358947754, + 0.03457033634185791 + ], + "min_contact_pad_to_button": 0.021058339405039463, + "closest_contact_pad": [ + 0.18425475060939786, + -0.4261548155129495, + 0.7891800339039559 + ], + "closest_contact_pad_button": [ + 0.18425475060939786, + -0.4247336983680725, + 0.7681697010993958 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001421117144876971, + 0.021010332804560106 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 16, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ac1346ba6c8da520691bda453797ee9b473d725cc43b2bc86a5600959941b105", + "visual_seed": 7143518819100516334, + "episode_index": 16, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_17_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_17_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c13ca630e845a84c3c7ebf231aa778193a5a6598 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_17_success.json @@ -0,0 +1,926 @@ +{ + "episode": 17, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20183252870524576, + -0.026656262870692664, + 1.0447905884494844 + ], + "current_z": 1.0447905884494844, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.1882040810409188, + "gripper_z": 1.0496249638308548, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19742402712135018, + -0.03117149343776228, + 1.0496249638308548 + ], + "object_minus_gripper": [ + 0.00440850158389558, + 0.0045152305670696155, + -0.004834375381370437 + ], + "object_to_gripper_xy": 0.006310482809501159, + "object_to_gripper_z": -0.004834375381370437, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20183252870524576, + -0.05053924612144675, + 1.0447905884494844 + ], + "finger_b": [ + 0.1905050023770953, + -0.026656262870692664, + 1.0447905884494844 + ], + "finger_midpoint": [ + 0.19616876554117052, + -0.03859775449606971, + 1.0447905884494844 + ], + "object_minus_finger_midpoint": [ + 0.005663763164075242, + 0.011941491625377047, + 0.0 + ], + "finger_gap": 0.02643311827368731, + "fingertip_max_gap": 0.09288076964734701, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013216559136843664, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0447905884494844, + "object_top_z": 1.0908829729326652, + "finger_top_clearance": 0.04609238448318087, + "fingertip_min_top_clearance": 0.013827715344954293, + "object_projection_between_fingers": 0.8163574298991132, + "object_to_finger_line_xy": 0.01023470325243449, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04894038482367351, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2373787115104542, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 204, + "max_stable_success_frames": 204, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19491076715825897, + -0.026607711230675304, + 1.2429664840877779 + ], + "held_position": [ + 0.1996353012439228, + -0.021800207753975568, + 1.2387550834181422 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00794790586288534, + "max_held_gripper_dist": 0.007950567408816746, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0042114006696356565, + "max_held_gripper_z_dist": 0.004854509562855824, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0849529259600234, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.1996353012439228, + -0.045390834415975564, + 1.2387550834181422 + ], + "held_grasp_finger_b": [ + 0.1900623577781363, + -0.021800207753975568, + 1.2387550834181422 + ], + "held_grasp_midpoint": [ + 0.19484882951102955, + -0.033595521084975564, + 1.2387550834181422 + ], + "held_grasp_object_position": [ + 0.1996353012439228, + -0.021800207753975568, + 1.2387550834181422 + ], + "held_grasp_finger_gap": 0.025458965275615777, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.022832293940460175, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05431842867887368, + -0.9898966026608129, + -0.1309741361736687 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004423621613233976, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033264090748687476, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3308332972644007, + -0.3707934671695111, + 0.8470194407793694 + ], + "target_position": [ + 0.3274299628459904, + -0.3721398631709737, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.003659981879229801, + "xy_threshold": 0.08, + "gripper_dist": 0.18467340884780362, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470194407793694, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07547648973342184, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0859371280670828, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15316914153591943, + "release_required_pad_clearance": 0.0529685640335414, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.9723608173936076, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008588910102844238, + "max_z_decrease": 0.008588910102844238, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03499873909702868, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008588910102844238, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02099089074520221, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008588910102844238, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008588995484104573, + "max_button_displacement": 0.12, + "button_start": [ + 0.18312989175319672, + -0.42840132117271423, + 0.7768088579177856 + ], + "button_final": [ + 0.18312989175319672, + -0.42840132117271423, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18229487268001132, + -0.4287466937406176, + 0.8035771994629552 + ], + "closest_button": [ + 0.18311738967895508, + -0.4283592998981476, + 0.7685902714729309 + ], + "closest_ee_minus_button": [ + -0.0008225169989437564, + -0.0003873938424699963, + 0.03498692799002434 + ], + "button_min_z_position": [ + 0.18311543762683868, + -0.42836585640907293, + 0.7682199478149414 + ], + "min_active_finger_to_button": 0.1465591172387009, + "closest_active_finger": [ + 0.041389159858226776, + -0.4143030345439911, + 0.8104081749916077 + ], + "closest_active_finger_button": [ + 0.183134064078331, + -0.42840430140495306, + 0.7759246826171875 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14174490422010422, + 0.01410126686096197, + 0.034483492374420166 + ], + "min_contact_pad_to_button": 0.02099089074520221, + "closest_contact_pad": [ + 0.18311543762683868, + -0.42976150463197166, + 0.7891643900446819 + ], + "closest_contact_pad_button": [ + 0.18311543762683868, + -0.42836585640907293, + 0.7682199478149414 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0013956482228987266, + 0.020944442229740456 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 17, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6b929664e538b9679a91287b4f5ac5beecfcbf018e42802ba518e3a0709aa037", + "visual_seed": 7256585601701334829, + "episode_index": 17, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_18_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_18_success.json new file mode 100644 index 0000000000000000000000000000000000000000..184d7bb4a1ea10c3f311544a938ca8e8055b625b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_18_success.json @@ -0,0 +1,926 @@ +{ + "episode": 18, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20193310498354528, + -0.034344424279444105, + 1.0430650464938012 + ], + "current_z": 1.0430650464938012, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.1864785390852356, + "gripper_z": 1.0480728151257381, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19717439562917063, + -0.03904354852004223, + 1.0480728151257381 + ], + "object_minus_gripper": [ + 0.004758709354374641, + 0.004699124240598124, + -0.005007768631936971 + ], + "object_to_gripper_xy": 0.00668783098978956, + "object_to_gripper_z": -0.005007768631936971, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20193310498354528, + -0.058515399537727754, + 1.0430650464938012 + ], + "finger_b": [ + 0.1902748386704727, + -0.034344424279444105, + 1.0430650464938012 + ], + "finger_midpoint": [ + 0.196103971827009, + -0.04642991190858593, + 1.0430650464938012 + ], + "object_minus_finger_midpoint": [ + 0.00582913315653627, + 0.012085487629141828, + 0.0 + ], + "finger_gap": 0.026835633369888683, + "fingertip_max_gap": 0.09133761619020056, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013417816684944338, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0430650464938012, + "object_top_z": 1.0884268718997312, + "finger_top_clearance": 0.045361825405930034, + "fingertip_min_top_clearance": 0.013608547621779026, + "object_projection_between_fingers": 0.8112685642114715, + "object_to_finger_line_xy": 0.010500652722582925, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04816880809510028, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9369453626658427, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 201, + "max_stable_success_frames": 201, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1975965972814426, + -0.032555092710827835, + 1.240681359047861 + ], + "held_position": [ + 0.20268936942141041, + -0.027536078416903254, + 1.2363592913580488 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008355064432281154, + "max_held_gripper_dist": 0.008358776120644434, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004322067689812137, + "max_held_gripper_z_dist": 0.004991640651742735, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08531230721142793, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.20268936942141041, + -0.05130846757025514, + 1.2363592913580488 + ], + "held_grasp_finger_b": [ + 0.19269328232943106, + -0.027536078416903254, + 1.2363592913580488 + ], + "held_grasp_midpoint": [ + 0.19769132587542074, + -0.0394222729935792, + 1.2363592913580488 + ], + "held_grasp_object_position": [ + 0.20268936942141041, + -0.027536078416903254, + 1.2363592913580488 + ], + "held_grasp_finger_gap": 0.025788529295189336, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.022948408037264872, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.054299777667379784, + -0.988171327348092, + -0.14341883402253416 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004674829233088647, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03318323564054009, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.334422933250232, + -0.35965829845400243, + 0.8470196305689878 + ], + "target_position": [ + 0.3290275968704386, + -0.36274688001635025, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00621683124416265, + "xy_threshold": 0.08, + "gripper_dist": 0.18578183604079665, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196305689878, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07516130793729614, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08555563051206898, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15539942108824162, + "release_required_pad_clearance": 0.05277781525603449, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6039293281293482, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008376836776733398, + "max_z_decrease": 0.008376836776733398, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501660396812618, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008376836776733398, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021291009707872094, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008376836776733398, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008376975083103828, + "max_button_displacement": 0.12, + "button_start": [ + 0.1847275197505951, + -0.41900834441184986, + 0.7768088579177856 + ], + "button_final": [ + 0.1847275197505951, + -0.41900834441184986, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18556808230367924, + -0.4197501671395703, + 0.8037927675500727 + ], + "closest_button": [ + 0.18469464778900146, + -0.418995589017868, + 0.7687951922416687 + ], + "closest_ee_minus_button": [ + 0.0008734345146777789, + -0.0007545781217023206, + 0.03499757530840397 + ], + "button_min_z_position": [ + 0.18468332290649414, + -0.4189892709255218, + 0.7684320211410522 + ], + "min_active_finger_to_button": 0.14502844904023962, + "closest_active_finger": [ + 0.044974759221076965, + -0.402415931224823, + 0.8082308173179626 + ], + "closest_active_finger_button": [ + 0.18473930656909943, + -0.4190117716789245, + 0.7732493877410889 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13976454734802246, + 0.016595840454101507, + 0.03498142957687378 + ], + "min_contact_pad_to_button": 0.021291009707872094, + "closest_contact_pad": [ + 0.18468332290649414, + -0.4210359707342217, + 0.7896244281368083 + ], + "closest_contact_pad_button": [ + 0.18468332290649414, + -0.4189892709255218, + 0.7684320211410522 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0020466998086999255, + 0.021192406995756086 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 18, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a292326eddfd15642e1c0238db6a03d94c07443530d3168a1b000afdb268a776", + "visual_seed": 7779371544368525994, + "episode_index": 18, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_19_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_19_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7852bcc5a43b215da11ffabfd97e8b179b7a5ddd --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_19_success.json @@ -0,0 +1,926 @@ +{ + "episode": 19, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20228748919156592, + -0.03386421211930266, + 1.0445288803847483 + ], + "current_z": 1.0445288803847483, + "required_z": 0.8565865074085657, + "initial_z": 0.7565865074085657, + "lift_margin": 0.18794237297618266, + "gripper_z": 1.0494131990666447, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19743500823218957, + -0.03846914364754228, + 1.0494131990666447 + ], + "object_minus_gripper": [ + 0.0048524809593763485, + 0.004604931528239618, + -0.004884318681896316 + ], + "object_to_gripper_xy": 0.006689691012362624, + "object_to_gripper_z": -0.004884318681896316, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20228748919156592, + -0.05831047978395416, + 1.0445288803847483 + ], + "finger_b": [ + 0.19123881885311847, + -0.03386421211930266, + 1.0445288803847483 + ], + "finger_midpoint": [ + 0.19676315402234218, + -0.04608734595162841, + 1.0445288803847483 + ], + "object_minus_finger_midpoint": [ + 0.0055243351692237375, + 0.012223133832325747, + 0.0 + ], + "finger_gap": 0.02682709673034847, + "fingertip_max_gap": 0.09273717238807849, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01341354836517424, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0445288803847483, + "object_top_z": 1.0902250846252513, + "finger_top_clearance": 0.04569620424050291, + "fingertip_min_top_clearance": 0.01370886127215089, + "object_projection_between_fingers": 0.8303817098865858, + "object_to_finger_line_xy": 0.010068132051226754, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04886858619403925, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.6508307766218415, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 206, + "max_stable_success_frames": 206, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19781354670539436, + -0.03244081596997345, + 1.2440277329924194 + ], + "held_position": [ + 0.20289288148453083, + -0.027506809902016434, + 1.2397222322895836 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008287423844555197, + "max_held_gripper_dist": 0.00828993687921393, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004305500702835863, + "max_held_gripper_z_dist": 0.004936996033783725, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08547622292534032, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.20289288148453083, + -0.05143895845616346, + 1.2397222322895836 + ], + "held_grasp_finger_b": [ + 0.19308137595013936, + -0.027506809902016434, + 1.2397222322895836 + ], + "held_grasp_midpoint": [ + 0.1979871287173351, + -0.03947288417908995, + 1.2397222322895836 + ], + "held_grasp_object_position": [ + 0.20289288148453083, + -0.027506809902016434, + 1.2397222322895836 + ], + "held_grasp_finger_gap": 0.025865292870353433, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023481210752531293, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.025488908941853832, + -0.9916073882788794, + -0.12674818748879033 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004845275885052158, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033209535018396526, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3259923929781122, + -0.3619456697143226, + 0.8470194926006638 + ], + "target_position": [ + 0.32140906025747884, + -0.36401069368465555, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005027053095609609, + "xy_threshold": 0.08, + "gripper_dist": 0.18509063654947194, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470194926006638, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07585909739416735, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08820643405900029, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15279329104085485, + "release_required_pad_clearance": 0.05410321702950015, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.219708475437289, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008230924606323242, + "max_z_decrease": 0.008230924606323242, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035023229442297146, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008230924606323242, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02081714610549823, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008230924606323242, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008231233805990409, + "max_button_displacement": 0.12, + "button_start": [ + 0.17710898816585535, + -0.42027214169502247, + 0.7768088579177856 + ], + "button_final": [ + 0.17710898816585535, + -0.42027214169502247, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17535919880317102, + -0.4180977611757577, + 0.8034871015052781 + ], + "closest_button": [ + 0.1771788597106933, + -0.4202577173709869, + 0.7685779333114624 + ], + "closest_ee_minus_button": [ + -0.0018196609075222803, + 0.0021599561952291846, + 0.03490916819381573 + ], + "button_min_z_position": [ + 0.1771788597106933, + -0.4202577173709869, + 0.7685779333114624 + ], + "min_active_finger_to_button": 0.14636268709113429, + "closest_active_finger": [ + 0.049212224781513214, + -0.48264771699905396, + 0.810771644115448 + ], + "closest_active_finger_button": [ + 0.1771107912063598, + -0.42027547955512995, + 0.7765123844146729 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1278985664248466, + -0.062372237443924006, + 0.034259259700775146 + ], + "min_contact_pad_to_button": 0.02081714610549823, + "closest_contact_pad": [ + 0.1771788597106933, + -0.4202577173709869, + 0.7893950794169606 + ], + "closest_contact_pad_button": [ + 0.1771788597106933, + -0.4202577173709869, + 0.7685779333114624 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02081714610549823 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 19, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e0f6243c3484053976a2b7d03c67bd7d2573d3b81bc706ee77232d2b6334c131", + "visual_seed": 7405895543072209812, + "episode_index": 19, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_1_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_1_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5e1d993a3de2710c90e37cf4947c7eac0fe5da42 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_1_success.json @@ -0,0 +1,926 @@ +{ + "episode": 1, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20371756688789155, + -0.02806893742291538, + 1.0445534249189545 + ], + "current_z": 1.0445534249189545, + "required_z": 0.8565865074085653, + "initial_z": 0.7565865074085654, + "lift_margin": 0.1879669175103892, + "gripper_z": 1.049592734633885, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19905608999725144, + -0.03269535538058509, + 1.049592734633885 + ], + "object_minus_gripper": [ + 0.004661476890640115, + 0.004626417957669708, + -0.0050393097149303845 + ], + "object_to_gripper_xy": 0.006567580218087982, + "object_to_gripper_z": -0.0050393097149303845, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20371756688789155, + -0.052155772592598966, + 1.0445534249189545 + ], + "finger_b": [ + 0.19233306128840688, + -0.02806893742291538, + 1.0445534249189545 + ], + "finger_midpoint": [ + 0.19802531408814922, + -0.04011235500775717, + 1.0445534249189545 + ], + "object_minus_finger_midpoint": [ + 0.005692252799742337, + 0.012043417584841794, + 0.0 + ], + "finger_gap": 0.026641745367678223, + "fingertip_max_gap": 0.09426224805411945, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013320872683839111, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0445534249189545, + "object_top_z": 1.0909679215080885, + "finger_top_clearance": 0.04641449658913399, + "fingertip_min_top_clearance": 0.013924348976740197, + "object_projection_between_fingers": 0.8173990621466762, + "object_to_finger_line_xy": 0.010292745692097458, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04963112402705973, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.8992193367733223, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 205, + "max_stable_success_frames": 205, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1962126938373709, + -0.028389933329297803, + 1.2414494609182813 + ], + "held_position": [ + 0.20112506857810394, + -0.02344755393411954, + 1.2369819919604232 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008277488663157476, + "max_held_gripper_dist": 0.008280336954568158, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004467468957858101, + "max_held_gripper_z_dist": 0.005077269755606295, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0850713184463603, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.20112506857810394, + -0.04719812326921102, + 1.2369819919604232 + ], + "held_grasp_finger_b": [ + 0.19128170264772668, + -0.02344755393411954, + 1.2369819919604232 + ], + "held_grasp_midpoint": [ + 0.1962033856129153, + -0.03532283860166528, + 1.2369819919604232 + ], + "held_grasp_object_position": [ + 0.20112506857810394, + -0.02344755393411954, + 1.2369819919604232 + ], + "held_grasp_finger_gap": 0.02570955846723743, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02321056043025762, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.035205208017206474, + -0.9918540411837794, + -0.1224179493206401 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004732800079127748, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033248407005513556, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33093107122171583, + -0.3668854518231709, + 0.8470201141455111 + ], + "target_position": [ + 0.3270704333107808, + -0.3687193529879835, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.004274075170332159, + "xy_threshold": 0.08, + "gripper_dist": 0.18296901517890182, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470201141455111, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07518479968884821, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08538679087829791, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1524750089429258, + "release_required_pad_clearance": 0.05269339543914896, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.4387883847998188, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008596956729888916, + "max_z_decrease": 0.008596956729888916, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03508509374481659, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008596956729888916, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02113092017061021, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008596956729888916, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00859716844231248, + "max_button_displacement": 0.12, + "button_start": [ + 0.1827703565359115, + -0.4249808192253113, + 0.7768088579177856 + ], + "button_final": [ + 0.1827703565359115, + -0.4249808192253113, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18456897478370227, + -0.4264861324149393, + 0.8032144211575283 + ], + "closest_button": [ + 0.1827257722616195, + -0.4249401688575744, + 0.7682119011878967 + ], + "closest_ee_minus_button": [ + 0.0018432025220827541, + -0.0015459635573649155, + 0.03500251996963155 + ], + "button_min_z_position": [ + 0.1827257722616195, + -0.4249401688575744, + 0.7682119011878967 + ], + "min_active_finger_to_button": 0.14393648643841286, + "closest_active_finger": [ + 0.04357966035604477, + -0.4126317799091339, + 0.8080677390098572 + ], + "closest_active_finger_button": [ + 0.18277637660503382, + -0.42498689889907837, + 0.7735809683799744 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13919671624898905, + 0.012355118989944458, + 0.03448677062988281 + ], + "min_contact_pad_to_button": 0.02113092017061021, + "closest_contact_pad": [ + 0.1827257722616195, + -0.4274619214385288, + 0.7891918094616989 + ], + "closest_contact_pad_button": [ + 0.1827257722616195, + -0.4249401688575744, + 0.7682119011878967 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002521752580954384, + 0.02097990827380214 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 1, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "263097c897b794ed2f3d1ffcb2d6d41f2a5e93e61abb9ea8f6e2b5587c4d037b", + "visual_seed": 7579109598790890568, + "episode_index": 1, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_20_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_20_success.json new file mode 100644 index 0000000000000000000000000000000000000000..855249cd998a7e889316e170debafc219235a8bc --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_20_success.json @@ -0,0 +1,926 @@ +{ + "episode": 20, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.199130307383593, + -0.0318172191457153, + 1.044929442905804 + ], + "current_z": 1.044929442905804, + "required_z": 0.8565865074085653, + "initial_z": 0.7565865074085654, + "lift_margin": 0.18834293549723868, + "gripper_z": 1.0499794699043807, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19420450172121284, + -0.03652765578618762, + 1.0499794699043807 + ], + "object_minus_gripper": [ + 0.004925805662380156, + 0.004710436640472319, + -0.0050500269985767066 + ], + "object_to_gripper_xy": 0.006815553885594373, + "object_to_gripper_z": -0.0050500269985767066, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.199130307383593, + -0.05623243233200329, + 1.044929442905804 + ], + "finger_b": [ + 0.18768747630782012, + -0.0318172191457153, + 1.044929442905804 + ], + "finger_midpoint": [ + 0.19340889184570656, + -0.0440248257388593, + 1.044929442905804 + ], + "object_minus_finger_midpoint": [ + 0.005721415537886437, + 0.012207606593143995, + 0.0 + ], + "finger_gap": 0.026963698150672216, + "fingertip_max_gap": 0.0945372216890008, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013481849075336108, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.044929442905804, + "object_top_z": 1.0915625734217815, + "finger_top_clearance": 0.046633130515977506, + "fingertip_min_top_clearance": 0.013989939154793251, + "object_projection_between_fingers": 0.8199023441676359, + "object_to_finger_line_xy": 0.010361307214185341, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049768610844500405, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.8703229365104628, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 203, + "max_stable_success_frames": 203, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19546035603474243, + -0.02898194565774824, + 1.2438364975171383 + ], + "held_position": [ + 0.20065386594605386, + -0.02388886782531207, + 1.239463870753404 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008487158053263067, + "max_held_gripper_dist": 0.008489430401315704, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004372626763734289, + "max_held_gripper_z_dist": 0.005063535333303282, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08535211105129085, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.20065386594605386, + -0.04771060197604194, + 1.239463870753404 + ], + "held_grasp_finger_b": [ + 0.19053350158107035, + -0.02388886782531207, + 1.239463870753404 + ], + "held_grasp_midpoint": [ + 0.19559368376356212, + -0.035799734900677005, + 1.239463870753404 + ], + "held_grasp_object_position": [ + 0.20065386594605386, + -0.02388886782531207, + 1.239463870753404 + ], + "held_grasp_finger_gap": 0.025882364513855335, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02334637162361666, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.026742268811648113, + -0.9914061242771982, + -0.12805759565316707 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004981885912937095, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03325639764968223, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3343163539110895, + -0.3659493941261799, + 0.8470195050143127 + ], + "target_position": [ + 0.3292603860811463, + -0.36888792896192335, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005847888309321462, + "xy_threshold": 0.08, + "gripper_dist": 0.18479285162733022, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195050143127, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07513240750745134, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08613560323057061, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1544313781369277, + "release_required_pad_clearance": 0.05306780161528531, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.1649816828125945, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008442342281341553, + "max_z_decrease": 0.008442342281341553, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035059726904163035, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008442342281341553, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021148272938957796, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008442342281341553, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008442422682833033, + "max_button_displacement": 0.12, + "button_start": [ + 0.18496030569076538, + -0.4251493811607361, + 0.7768088579177856 + ], + "button_final": [ + 0.18496030569076538, + -0.4251493811607361, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18305729893272543, + -0.42410044533517366, + 0.8076249548300453 + ], + "closest_button": [ + 0.18494954705238342, + -0.42514988780021673, + 0.7726320624351501 + ], + "closest_ee_minus_button": [ + -0.001892248119657991, + 0.0010494424650430711, + 0.034992892394895114 + ], + "button_min_z_position": [ + 0.18492555618286133, + -0.4251371324062348, + 0.7683665156364441 + ], + "min_active_finger_to_button": 0.14755344905990736, + "closest_active_finger": [ + 0.05477626621723175, + -0.4852135181427002, + 0.8080130815505981 + ], + "closest_active_finger_button": [ + 0.18497121334075928, + -0.4251532256603241, + 0.773169755935669 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.13019494712352753, + -0.0600602924823761, + 0.0348433256149292 + ], + "min_contact_pad_to_button": 0.021148272938957796, + "closest_contact_pad": [ + 0.18492555618286133, + -0.4253306981618875, + 0.7895139027232426 + ], + "closest_contact_pad_button": [ + 0.18492555618286133, + -0.4251371324062348, + 0.7683665156364441 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00019356575565271372, + 0.02114738708679853 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 20, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c04f936e1e710ad64155010bef0f2ca399fb51fc6eaa1b4514982dbd8c3b5b22", + "visual_seed": 6432176365903930815, + "episode_index": 20, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_21_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_21_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9162f3c10c4acdb438940c9609ca6894b777225c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_21_success.json @@ -0,0 +1,926 @@ +{ + "episode": 21, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20166893308902256, + -0.034845035118733624, + 1.0464414993599285 + ], + "current_z": 1.0464414993599285, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.18985493234671813, + "gripper_z": 1.0514996976440718, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1967036205115611, + -0.039540296955732315, + 1.0514996976440718 + ], + "object_minus_gripper": [ + 0.004965312577461467, + 0.004695261836998692, + -0.005058198284143334 + ], + "object_to_gripper_xy": 0.0068337261219537735, + "object_to_gripper_z": -0.005058198284143334, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20166893308902256, + -0.05933206961942969, + 1.0464414993599285 + ], + "finger_b": [ + 0.19038740358499653, + -0.034845035118733624, + 1.0464414993599285 + ], + "finger_midpoint": [ + 0.19602816833700953, + -0.04708855236908166, + 1.0464414993599285 + ], + "object_minus_finger_midpoint": [ + 0.005640764752013028, + 0.012243517250348036, + 0.0 + ], + "finger_gap": 0.02696085619168073, + "fingertip_max_gap": 0.09449963178841447, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013480428095840375, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0464414993599285, + "object_top_z": 1.0929153638917142, + "finger_top_clearance": 0.0464738645317857, + "fingertip_min_top_clearance": 0.013942159359535676, + "object_projection_between_fingers": 0.8249070712146648, + "object_to_finger_line_xy": 0.010246380909481205, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04974981589420724, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.0084927186054555, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 206, + "max_stable_success_frames": 206, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19754940034066742, + -0.03247084896392362, + 1.2455209210843652 + ], + "held_position": [ + 0.2027326698685446, + -0.027396765830113454, + 1.2410796475581407 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008505146276354056, + "max_held_gripper_dist": 0.008509351320032102, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004441273526224476, + "max_held_gripper_z_dist": 0.005095270351985315, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0853631329541996, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2027326698685446, + -0.05128243620200946, + 1.2410796475581407 + ], + "held_grasp_finger_b": [ + 0.19259904315397003, + -0.027396765830113454, + 1.2410796475581407 + ], + "held_grasp_midpoint": [ + 0.19766585651125732, + -0.03933960101606146, + 1.2410796475581407 + ], + "held_grasp_object_position": [ + 0.2027326698685446, + -0.027396765830113454, + 1.2410796475581407 + ], + "held_grasp_finger_gap": 0.025946399355309593, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023523788196650006, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.017417276767917593, + -0.9922387778442421, + -0.12312126628716369 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005077268153652012, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033261830686335266, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.32884774789317883, + -0.3604610875505617, + 0.8470196842982918 + ], + "target_position": [ + 0.3237301529478118, + -0.36321846802509905, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0058131682502922345, + "xy_threshold": 0.08, + "gripper_dist": 0.18711511396377511, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196842982918, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07539407306192931, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08734280826587597, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15605087229149558, + "release_required_pad_clearance": 0.053671404132937986, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.3517280942363317, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008534133434295654, + "max_z_decrease": 0.008534133434295654, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500129240969588, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008534133434295654, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021062199239899413, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008534133434295654, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008534249480882598, + "max_button_displacement": 0.12, + "button_start": [ + 0.17943008244037623, + -0.4194799363613128, + 0.7768088579177856 + ], + "button_final": [ + 0.17943008244037623, + -0.4194799363613128, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17856882644372973, + -0.4201804059402272, + 0.8032569834542733 + ], + "closest_button": [ + 0.17945985496044153, + -0.41944685578346247, + 0.76827472448349 + ], + "closest_ee_minus_button": [ + -0.0008910285167118004, + -0.0007335501567647396, + 0.03498225897078333 + ], + "button_min_z_position": [ + 0.17945985496044153, + -0.41944685578346247, + 0.76827472448349 + ], + "min_active_finger_to_button": 0.1465743107303815, + "closest_active_finger": [ + 0.03779320418834686, + -0.404336154460907, + 0.8095898032188416 + ], + "closest_active_finger_button": [ + 0.1794354766607284, + -0.4194833934307098, + 0.7750636339187622 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14164227247238154, + 0.015147238969802801, + 0.034526169300079346 + ], + "min_contact_pad_to_button": 0.021062199239899413, + "closest_contact_pad": [ + 0.17945985496044153, + -0.42133268549226544, + 0.7892523288064487 + ], + "closest_contact_pad_button": [ + 0.17945985496044153, + -0.41944685578346247, + 0.76827472448349 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0018858297088029663, + 0.0209776043229587 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 21, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "fe25c8777702b3eb3925c64816399e8af4bca5d474dc4d0511d4204a5d2d4c6c", + "visual_seed": 4662604315484989721, + "episode_index": 21, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_22_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_22_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6966c16ad77d8444e756966fef997d59a6e67139 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_22_success.json @@ -0,0 +1,926 @@ +{ + "episode": 22, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20016401402110096, + -0.03228608734598904, + 1.0440557515336284 + ], + "current_z": 1.0440557515336284, + "required_z": 0.8565865074085657, + "initial_z": 0.7565865074085657, + "lift_margin": 0.18746924412506272, + "gripper_z": 1.0491650030073514, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19542751247472262, + -0.036865410716831165, + 1.0491650030073514 + ], + "object_minus_gripper": [ + 0.0047365015463783355, + 0.004579323370842124, + -0.005109251473722987 + ], + "object_to_gripper_xy": 0.006588220505841106, + "object_to_gripper_z": -0.005109251473722987, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20016401402110096, + -0.056609191086232226, + 1.0440557515336284 + ], + "finger_b": [ + 0.18902961457408957, + -0.03228608734598904, + 1.0440557515336284 + ], + "finger_midpoint": [ + 0.19459681429759526, + -0.04444763921611063, + 1.0440557515336284 + ], + "object_minus_finger_midpoint": [ + 0.005567199723505695, + 0.012161551870121592, + 0.0 + ], + "finger_gap": 0.02675048086678517, + "fingertip_max_gap": 0.09373968611197842, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013375240433392586, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0440557515336284, + "object_top_z": 1.0903554810990874, + "finger_top_clearance": 0.046299729565459025, + "fingertip_min_top_clearance": 0.013889918869637674, + "object_projection_between_fingers": 0.8267511308369071, + "object_to_finger_line_xy": 0.010124048019309927, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04936984305598921, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.6062819628055678, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 204, + "max_stable_success_frames": 204, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1960176296316998, + -0.02974591017965038, + 1.2407871856929056 + ], + "held_position": [ + 0.20094553055701034, + -0.024745988462231396, + 1.236285732828771 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008339454574372303, + "max_held_gripper_dist": 0.008341909053286863, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004501452864134503, + "max_held_gripper_z_dist": 0.0051409024426127825, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08538834024646896, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.20094553055701034, + -0.04843561522600598, + 1.236285732828771 + ], + "held_grasp_finger_b": [ + 0.19100976542496004, + -0.024745988462231396, + 1.236285732828771 + ], + "held_grasp_midpoint": [ + 0.1959776479909852, + -0.036590801844118684, + 1.236285732828771 + ], + "held_grasp_object_position": [ + 0.20094553055701034, + -0.024745988462231396, + 1.236285732828771 + ], + "held_grasp_finger_gap": 0.025688866167392667, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02324132877853262, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.02456861596021287, + -0.9913806161035011, + -0.12868899379528217 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004920024130495355, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03333545257874425, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3310986371423228, + -0.3652057000178315, + 0.8470196027665503 + ], + "target_position": [ + 0.32668850470666677, + -0.36760179230451256, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0050190164720110165, + "xy_threshold": 0.08, + "gripper_dist": 0.18362137056801528, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196027665503, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0752204795247982, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0861957222773702, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15299571246678853, + "release_required_pad_clearance": 0.0530978611386851, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.22331608106414, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008518576622009277, + "max_z_decrease": 0.008518576622009277, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502227339342595, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008518576622009277, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021189225792544068, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008518576622009277, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00851866408969153, + "max_button_displacement": 0.12, + "button_start": [ + 0.18238842487335205, + -0.4238632619380951, + 0.7768088579177856 + ], + "button_final": [ + 0.18238842487335205, + -0.4238632619380951, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18202084789240047, + -0.42535630876668756, + 0.803277097238483 + ], + "closest_button": [ + 0.18240460753440857, + -0.4238282144069671, + 0.7682902812957764 + ], + "closest_ee_minus_button": [ + -0.00038375964200809687, + -0.0015280943597204555, + 0.034986815942706584 + ], + "button_min_z_position": [ + 0.18240460753440857, + -0.4238282144069671, + 0.7682902812957764 + ], + "min_active_finger_to_button": 0.14604521999230122, + "closest_active_finger": [ + 0.041241906583309174, + -0.40951019525527954, + 0.8076832294464111 + ], + "closest_active_finger_button": [ + 0.18239726126194, + -0.42386943101882935, + 0.7730684280395508 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14115535467863083, + 0.014359235763549805, + 0.03461480140686035 + ], + "min_contact_pad_to_button": 0.021189225792544068, + "closest_contact_pad": [ + 0.18240460753440857, + -0.4265123076959404, + 0.7893088191351101 + ], + "closest_contact_pad_button": [ + 0.18240460753440857, + -0.4238282144069671, + 0.7682902812957764 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0026840932889732882, + 0.021018537839333717 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 22, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6fadc40c6d6a79872c1eabb50e1476da30b2ef259c834218f7dc75fe7d12a630", + "visual_seed": 762148927205791466, + "episode_index": 22, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_23_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_23_success.json new file mode 100644 index 0000000000000000000000000000000000000000..65868a7294bc465ca5ec65324fa24bef043dfcaa --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_23_success.json @@ -0,0 +1,926 @@ +{ + "episode": 23, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.1985597890490995, + -0.029972998257330574, + 1.0439489032980422 + ], + "current_z": 1.0439489032980422, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.1873623362848319, + "gripper_z": 1.0487383302087465, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1935547118949042, + -0.03469565261525079, + 1.0487383302087465 + ], + "object_minus_gripper": [ + 0.005005077154195292, + 0.004722654357920214, + -0.004789426910704275 + ], + "object_to_gripper_xy": 0.006881443271860231, + "object_to_gripper_z": -0.004789426910704275, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1985597890490995, + -0.054480679487869305, + 1.0439489032980422 + ], + "finger_b": [ + 0.18721297568930786, + -0.029972998257330574, + 1.0439489032980422 + ], + "finger_midpoint": [ + 0.1928863823692037, + -0.04222683887259994, + 1.0439489032980422 + ], + "object_minus_finger_midpoint": [ + 0.005673406679895798, + 0.012253840615269365, + 0.0 + ], + "finger_gap": 0.027006973409096514, + "fingertip_max_gap": 0.09287652225087353, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01350348670454825, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0439489032980422, + "object_top_z": 1.0898174416485558, + "finger_top_clearance": 0.04586853835051352, + "fingertip_min_top_clearance": 0.013760561505154072, + "object_projection_between_fingers": 0.8234791585352984, + "object_to_finger_line_xy": 0.010296751160962245, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04893826112543677, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.434901412991386, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 204, + "max_stable_success_frames": 204, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1945706960932731, + -0.027572340907921697, + 1.2429612289004095 + ], + "held_position": [ + 0.19981613736877213, + -0.022507084197671542, + 1.2388166084878447 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008387452418922681, + "max_held_gripper_dist": 0.008392962122184166, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004144620412564803, + "max_held_gripper_z_dist": 0.00482184963916521, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08588449788372307, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.19981613736877213, + -0.046372204543781756, + 1.2388166084878447 + ], + "held_grasp_finger_b": [ + 0.1896891234482822, + -0.022507084197671542, + 1.2388166084878447 + ], + "held_grasp_midpoint": [ + 0.19475263040852717, + -0.03443964437072665, + 1.2388166084878447 + ], + "held_grasp_object_position": [ + 0.19981613736877213, + -0.022507084197671542, + 1.2388166084878447 + ], + "held_grasp_finger_gap": 0.025924898844163703, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023356368305189296, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.02831564066533547, + -0.9906977567883223, + -0.13310213818078862 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004986519493005972, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033235287926030685, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3269189422208031, + -0.36450907518226777, + 0.8470195076212613 + ], + "target_position": [ + 0.3228611337217504, + -0.36660285515940655, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.004566149845072044, + "xy_threshold": 0.08, + "gripper_dist": 0.1820920798425248, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195076212613, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07543544718112452, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08701541012816759, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1509358248211063, + "release_required_pad_clearance": 0.053507705064083796, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.027113134442619, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 147, + "max_placed_release_frames": 147 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008703351020812988, + "max_z_decrease": 0.008703351020812988, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035040308979866486, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008703351020812988, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.02105016341140677, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008703351020812988, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008703511304073722, + "max_button_displacement": 0.12, + "button_start": [ + 0.17856106162071222, + -0.4228643178939819, + 0.7768088579177856 + ], + "button_final": [ + 0.17856106162071222, + -0.4228643178939819, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1800129614418429, + -0.4237171313850192, + 0.8031042396385933 + ], + "closest_button": [ + 0.17856648564338679, + -0.42281177639961237, + 0.7681055068969727 + ], + "closest_ee_minus_button": [ + 0.0014464757984561094, + -0.0009053549854068366, + 0.034998732741620686 + ], + "button_min_z_position": [ + 0.17856648564338679, + -0.42281177639961237, + 0.7681055068969727 + ], + "min_active_finger_to_button": 0.1443031984664887, + "closest_active_finger": [ + 0.03911476582288742, + -0.40909236669540405, + 0.8105525374412537 + ], + "closest_active_finger_button": [ + 0.17856509983539576, + -0.42286753654479975, + 0.7760958671569824 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13945033401250834, + 0.013775169849395696, + 0.03445667028427124 + ], + "min_contact_pad_to_button": 0.02105016341140677, + "closest_contact_pad": [ + 0.17856648564338679, + -0.42476181574487765, + 0.7890651520800106 + ], + "closest_contact_pad_button": [ + 0.17856648564338679, + -0.42281177639961237, + 0.7681055068969727 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0019500393452652753, + 0.020959645183037945 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 23, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "89127045cb20a1c63c6c58486b4d48bbc10d0ff2efac6a366d460900dc3d19d5", + "visual_seed": 5402725091076445249, + "episode_index": 23, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_24_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_24_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5f65b250fcfe9329e071036865ab69d98acf52a1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_24_success.json @@ -0,0 +1,926 @@ +{ + "episode": 24, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.19909455103206322, + -0.028283349286398456, + 1.0432345935629703 + ], + "current_z": 1.0432345935629703, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.18664808615440476, + "gripper_z": 1.0480514385625506, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19404571211638463, + -0.033028138584068875, + 1.0480514385625506 + ], + "object_minus_gripper": [ + 0.0050488389156785884, + 0.004744789297670419, + -0.004816844999580239 + ], + "object_to_gripper_xy": 0.006928477457259876, + "object_to_gripper_z": -0.004816844999580239, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19909455103206322, + -0.05280306189252076, + 1.0432345935629703 + ], + "finger_b": [ + 0.18773115284774786, + -0.028283349286398456, + 1.0432345935629703 + ], + "finger_midpoint": [ + 0.19341285193990554, + -0.040543205589459605, + 1.0432345935629703 + ], + "object_minus_finger_midpoint": [ + 0.005681699092157683, + 0.012259856303061149, + 0.0 + ], + "finger_gap": 0.027024861231505604, + "fingertip_max_gap": 0.09253959780431867, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013512430615752802, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0432345935629703, + "object_top_z": 1.0890150973921384, + "finger_top_clearance": 0.045780503829168095, + "fingertip_min_top_clearance": 0.013734151148750444, + "object_projection_between_fingers": 0.8231970508804589, + "object_to_finger_line_xy": 0.010310034724008892, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048769798902159336, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2786309519438332, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 204, + "max_stable_success_frames": 204, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1943139934599078, + -0.026623434185039582, + 1.2393832708574881 + ], + "held_position": [ + 0.19957610541903217, + -0.021527510185375878, + 1.2351854423720112 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008442750006614526, + "max_held_gripper_dist": 0.008446000526358759, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0041978284854768955, + "max_held_gripper_z_dist": 0.0048607079431488565, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08534004426701527, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.19957610541903217, + -0.045394322194540225, + 1.2351854423720112 + ], + "held_grasp_finger_b": [ + 0.18941684904302084, + -0.021527510185375878, + 1.2351854423720112 + ], + "held_grasp_midpoint": [ + 0.1944964772310265, + -0.03346091618995805, + 1.2351854423720112 + ], + "held_grasp_object_position": [ + 0.19957610541903217, + -0.021527510185375878, + 1.2351854423720112 + ], + "held_grasp_finger_gap": 0.025939067168931088, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023320243374459974, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0313005863182668, + -0.9904227697654023, + -0.13447308439372407 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0049732912130297695, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03322211259745404, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3292231178463357, + -0.3659284884153436, + 0.8470194402239279 + ], + "target_position": [ + 0.32346688117265915, + -0.36866319332748276, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006372822890984556, + "xy_threshold": 0.08, + "gripper_dist": 0.1868975539566274, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470194402239279, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0752191736399375, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08632454195631854, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15625007859012108, + "release_required_pad_clearance": 0.05316227097815927, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.3486934347786625, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008705675601959229, + "max_z_decrease": 0.008705675601959229, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035012643351629166, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008705675601959229, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.021061799075417317, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008705675601959229, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008705942777923121, + "max_button_displacement": 0.12, + "button_start": [ + 0.17916680872440333, + -0.4249246418476105, + 0.7768088579177856 + ], + "button_final": [ + 0.17916680872440333, + -0.4249246418476105, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18006385480307857, + -0.42488435040973105, + 0.8034766709060746 + ], + "closest_button": [ + 0.17912769317626948, + -0.4248780906200409, + 0.7684765458106995 + ], + "closest_ee_minus_button": [ + 0.0009361616268090955, + -6.25978969015506e-06, + 0.03500012509537509 + ], + "button_min_z_position": [ + 0.1791176944971084, + -0.4248773157596588, + 0.7681031823158264 + ], + "min_active_finger_to_button": 0.1449723692609387, + "closest_active_finger": [ + 0.03935310244560242, + -0.408550500869751, + 0.8072974681854248 + ], + "closest_active_finger_button": [ + 0.17917647957801813, + -0.42493152618408203, + 0.7726842761039734 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13982337713241572, + 0.016381025314331055, + 0.034613192081451416 + ], + "min_contact_pad_to_button": 0.021061799075417317, + "closest_contact_pad": [ + 0.1791176944971084, + -0.426073577759383, + 0.7891309814760159 + ], + "closest_contact_pad_button": [ + 0.1791176944971084, + -0.4248773157596588, + 0.7681031823158264 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0011962619997241686, + 0.021027799160189486 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 24, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b59f9726ba5bb08f5783cbd848a5947db5be23cf73be92fab19710b7c899b940", + "visual_seed": 783763582450072676, + "episode_index": 24, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_25_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_25_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8f1216a12ec9cf83c839ffa88b00e3afb8c157dd --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_25_success.json @@ -0,0 +1,926 @@ +{ + "episode": 25, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20176418492885564, + -0.03485787213666268, + 1.045212075960838 + ], + "current_z": 1.045212075960838, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.18862556855227253, + "gripper_z": 1.0503076159521618, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19695032237929994, + -0.03956371543260728, + 1.0503076159521618 + ], + "object_minus_gripper": [ + 0.004813862549555709, + 0.004705843295944603, + -0.005095539991323728 + ], + "object_to_gripper_xy": 0.006731881889338356, + "object_to_gripper_z": -0.005095539991323728, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20176418492885564, + -0.059125192423203445, + 1.045212075960838 + ], + "finger_b": [ + 0.19019013449495537, + -0.03485787213666268, + 1.045212075960838 + ], + "finger_midpoint": [ + 0.1959771597119055, + -0.046991532279933065, + 1.045212075960838 + ], + "object_minus_finger_midpoint": [ + 0.0057870252169501535, + 0.012133660143270386, + 0.0 + ], + "finger_gap": 0.026886083339453148, + "fingertip_max_gap": 0.09091731112628643, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013443041669726584, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.045212075960838, + "object_top_z": 1.090551763031677, + "finger_top_clearance": 0.04533968707083891, + "fingertip_min_top_clearance": 0.01360190612125164, + "object_projection_between_fingers": 0.8146828297723813, + "object_to_finger_line_xy": 0.010446712722930462, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047958655563143215, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9682328226480763, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 203, + "max_stable_success_frames": 203, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1975366358835098, + -0.03254534529204711, + 1.2434917098570029 + ], + "held_position": [ + 0.2026352342749444, + -0.027478516603852313, + 1.239067089675547 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008440718112980701, + "max_held_gripper_dist": 0.00844369969898554, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004424620181455952, + "max_held_gripper_z_dist": 0.00509300349974473, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08544510453737464, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2026352342749444, + -0.05125232289544934, + 1.239067089675547 + ], + "held_grasp_finger_b": [ + 0.19253387657522106, + -0.027478516603852313, + 1.239067089675547 + ], + "held_grasp_midpoint": [ + 0.19758455542508274, + -0.039365419749650826, + 1.239067089675547 + ], + "held_grasp_object_position": [ + 0.2026352342749444, + -0.027478516603852313, + 1.239067089675547 + ], + "held_grasp_finger_gap": 0.025830820601911556, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023031183648189554, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.046046587592317986, + -0.9883279274726863, + -0.14521576893935317 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004823904505941591, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03321950008959435, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3270537163103334, + -0.36378041438578124, + 0.8470194242515967 + ], + "target_position": [ + 0.32099719639977764, + -0.3670171778348971, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006867173439814315, + "xy_threshold": 0.08, + "gripper_dist": 0.18539856934935645, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470194242515967, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07523711890415319, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08520594365652566, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15495182706294233, + "release_required_pad_clearance": 0.05260297182826283, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.26834043713169653, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00850135087966919, + "max_z_decrease": 0.00850135087966919, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03504240809895396, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00850135087966919, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02088925713596157, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00850135087966919, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008501530608223456, + "max_button_displacement": 0.12, + "button_start": [ + 0.1766971200704574, + -0.4232786297798157, + 0.7768088579177856 + ], + "button_final": [ + 0.1766971200704574, + -0.4232786297798157, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17641147750521807, + -0.4213961483867161, + 0.8036280568342224 + ], + "closest_button": [ + 0.176733449101448, + -0.42325496673583984, + 0.7686364650726318 + ], + "closest_ee_minus_button": [ + -0.00032197159622993077, + 0.0018588183491237698, + 0.03499159176159061 + ], + "button_min_z_position": [ + 0.17674407362937922, + -0.4232494533061981, + 0.7683075070381165 + ], + "min_active_finger_to_button": 0.1452414122863854, + "closest_active_finger": [ + 0.0505397766828537, + -0.4865850508213043, + 0.8105508685112 + ], + "closest_active_finger_button": [ + 0.17669859528541562, + -0.4232814311981201, + 0.7763211727142334 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12615881860256192, + -0.0633036196231842, + 0.03422969579696655 + ], + "min_contact_pad_to_button": 0.02088925713596157, + "closest_contact_pad": [ + 0.17674407362937922, + -0.4232494533061981, + 0.789196764174078 + ], + "closest_contact_pad_button": [ + 0.17674407362937922, + -0.4232494533061981, + 0.7683075070381165 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02088925713596157 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 25, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1c3c6e846fe00adce21c1e842a3382471c09f2fd69a650255c2b6f761198db51", + "visual_seed": 8486537725070873416, + "episode_index": 25, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_26_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_26_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b5282333fc06614a777faf17722e16ef5dd712da --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_26_success.json @@ -0,0 +1,926 @@ +{ + "episode": 26, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20380302957708119, + -0.03063865452992343, + 1.0436191284853131 + ], + "current_z": 1.0436191284853131, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.18703262107674756, + "gripper_z": 1.0486681283439951, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19874951161237256, + -0.035445381701433895, + 1.0486681283439951 + ], + "object_minus_gripper": [ + 0.005053517964708626, + 0.004806727171510466, + -0.005048999858682013 + ], + "object_to_gripper_xy": 0.006974429720125497, + "object_to_gripper_z": -0.005048999858682013, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20380302957708119, + -0.05506779048504403, + 1.0436191284853131 + ], + "finger_b": [ + 0.19225180108977205, + -0.03063865452992343, + 1.0436191284853131 + ], + "finger_midpoint": [ + 0.1980274153334266, + -0.04285322250748373, + 1.0436191284853131 + ], + "object_minus_finger_midpoint": [ + 0.005775614243654581, + 0.012214567977560303, + 0.0 + ], + "finger_gap": 0.027022464045304756, + "fingertip_max_gap": 0.09345297168355862, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013511232022652385, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0436191284853131, + "object_top_z": 1.0895826293229687, + "finger_top_clearance": 0.045963500837655547, + "fingertip_min_top_clearance": 0.013789050251296663, + "object_projection_between_fingers": 0.8172714308355807, + "object_to_finger_line_xy": 0.010442664691570477, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04922648584177931, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.8288675106705898, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 205, + "max_stable_success_frames": 205, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1971832129253944, + -0.030506808558399046, + 1.2431189963456888 + ], + "held_position": [ + 0.20250369811915164, + -0.025402597760319515, + 1.2386637188846992 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008614524236579978, + "max_held_gripper_dist": 0.008618824263530432, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004455277460989615, + "max_held_gripper_z_dist": 0.005095617850588097, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08544471812476985, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.20250369811915164, + -0.0494457628467788, + 1.2386637188846992 + ], + "held_grasp_finger_b": [ + 0.19235455910812274, + -0.025402597760319515, + 1.2386637188846992 + ], + "held_grasp_midpoint": [ + 0.1974291286136372, + -0.03742418030354916, + 1.2386637188846992 + ], + "held_grasp_object_position": [ + 0.20250369811915164, + -0.025402597760319515, + 1.2386637188846992 + ], + "held_grasp_finger_gap": 0.026097486661361153, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023531892984004314, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.030714055749168818, + -0.9917003073286492, + -0.1248484970822625 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004939599691761069, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03312255725241781, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3333556758599646, + -0.36289436835262023, + 0.8470198300916293 + ], + "target_position": [ + 0.3280347425850669, + -0.36562827739349807, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005982189361739361, + "xy_threshold": 0.08, + "gripper_dist": 0.18528810291407652, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470198300916293, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07559110862632654, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08771561284658828, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15377284315204312, + "release_required_pad_clearance": 0.053857806423294144, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.7219868422200575, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008570671081542969, + "max_z_decrease": 0.008570671081542969, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03504785412693966, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008570671081542969, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021127811956731895, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008570671081542969, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00857078477184713, + "max_button_displacement": 0.12, + "button_start": [ + 0.1837346702814102, + -0.4218897223472595, + 0.7768088579177856 + ], + "button_final": [ + 0.1837346702814102, + -0.4218897223472595, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18536968018037261, + -0.4227097752938602, + 0.8032372550178198 + ], + "closest_button": [ + 0.18373551964759824, + -0.42184558510780334, + 0.7682381868362427 + ], + "closest_ee_minus_button": [ + 0.0016341605327743758, + -0.000864190186056879, + 0.034999068181577164 + ], + "button_min_z_position": [ + 0.18373551964759824, + -0.42184558510780334, + 0.7682381868362427 + ], + "min_active_finger_to_button": 0.14418946837307658, + "closest_active_finger": [ + 0.044477999210357666, + -0.4078626036643982, + 0.8076304793357849 + ], + "closest_active_finger_button": [ + 0.18374425172805786, + -0.4218955934047699, + 0.7730098366737366 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1392662525177002, + 0.014032989740371704, + 0.03462064266204834 + ], + "min_contact_pad_to_button": 0.021127811956731895, + "closest_contact_pad": [ + 0.18373551964759824, + -0.42377866611708376, + 0.7892773796888828 + ], + "closest_contact_pad_button": [ + 0.18373551964759824, + -0.42184558510780334, + 0.7682381868362427 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001933081009280413, + 0.02103919285264011 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 26, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "27f844d2de9429f1e871004f4250c1059fda0e48c48d25aa38085de706abf597", + "visual_seed": 8743746230237035589, + "episode_index": 26, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_27_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_27_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7dee4259b1907e2536ec7bc5692463177e33691e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_27_success.json @@ -0,0 +1,926 @@ +{ + "episode": 27, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.204275213419893, + -0.036112266889148446, + 1.0429075730392163 + ], + "current_z": 1.0429075730392163, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.18632106563065076, + "gripper_z": 1.0478368222154282, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1991863763151661, + -0.04090917464491663, + 1.0478368222154282 + ], + "object_minus_gripper": [ + 0.005088837104726879, + 0.00479690775576818, + -0.004929249176211847 + ], + "object_to_gripper_xy": 0.006993324466646315, + "object_to_gripper_z": -0.004929249176211847, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.204275213419893, + -0.06060818566443103, + 1.0429075730392163 + ], + "finger_b": [ + 0.19273877136204243, + -0.036112266889148446, + 1.0429075730392163 + ], + "finger_midpoint": [ + 0.1985069923909677, + -0.048360226276789736, + 1.0429075730392163 + ], + "object_minus_finger_midpoint": [ + 0.005768221028925297, + 0.01224795938764129, + 0.0 + ], + "finger_gap": 0.027076549484736517, + "fingertip_max_gap": 0.09310598134814665, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013538274742368262, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0429075730392163, + "object_top_z": 1.0889906930665825, + "finger_top_clearance": 0.04608312002736614, + "fingertip_min_top_clearance": 0.01382493600820986, + "object_projection_between_fingers": 0.8184663497940321, + "object_to_finger_line_xy": 0.010436918772244792, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04905299067407333, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.406393440516521, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 202, + "max_stable_success_frames": 202, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19924713511864195, + -0.035137152043512726, + 1.2403555050513408 + ], + "held_position": [ + 0.2046036170154884, + -0.030023370116211253, + 1.2360695160983186 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00855642245431276, + "max_held_gripper_dist": 0.008558495833988131, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004285988953022235, + "max_held_gripper_z_dist": 0.00496693017936245, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08552340157419246, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2046036170154884, + -0.05399878806472436, + 1.2360695160983186 + ], + "held_grasp_finger_b": [ + 0.19447503291659235, + -0.030023370116211253, + 1.2360695160983186 + ], + "held_grasp_midpoint": [ + 0.19953932496604038, + -0.04201107909046781, + 1.2360695160983186 + ], + "held_grasp_object_position": [ + 0.2046036170154884, + -0.030023370116211253, + 1.2360695160983186 + ], + "held_grasp_finger_gap": 0.02602707977576997, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02337063618288182, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.03789232252165454, + -0.9907828013366534, + -0.13005234511306776 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004867105475674316, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033131111299006796, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3309475039689721, + -0.3674300747803626, + 0.8470193117263833 + ], + "target_position": [ + 0.3257234820637162, + -0.36976572183743905, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005722381675650734, + "xy_threshold": 0.08, + "gripper_dist": 0.18662152025241494, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470193117263833, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07551333167433055, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08621144825358477, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15509624383945866, + "release_required_pad_clearance": 0.05310572412679239, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.2373116017169545, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008510410785675049, + "max_z_decrease": 0.008510410785675049, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.034997589893439096, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008510410785675049, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02122258996826955, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008510410785675049, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008510500245867168, + "max_button_displacement": 0.12, + "button_start": [ + 0.18142341077327728, + -0.42602717876434326, + 0.7768088579177856 + ], + "button_final": [ + 0.18142341077327728, + -0.42602717876434326, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1818864517897101, + -0.42637932837647746, + 0.8032906296040175 + ], + "closest_button": [ + 0.181409552693367, + -0.42599070072174067, + 0.7682984471321106 + ], + "closest_ee_minus_button": [ + 0.000476899096343103, + -0.00038862765473679506, + 0.03499218247190694 + ], + "button_min_z_position": [ + 0.181409552693367, + -0.42599070072174067, + 0.7682984471321106 + ], + "min_active_finger_to_button": 0.1454229303848382, + "closest_active_finger": [ + 0.04138587415218353, + -0.4082587957382202, + 0.8079983592033386 + ], + "closest_active_finger_button": [ + 0.18143652379512787, + -0.42603084444999695, + 0.7731013894081116 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14005064964294434, + 0.017772048711776733, + 0.03489696979522705 + ], + "min_contact_pad_to_button": 0.02122258996826955, + "closest_contact_pad": [ + 0.181409552693367, + -0.4277424643826391, + 0.7894486161394176 + ], + "closest_contact_pad_button": [ + 0.181409552693367, + -0.42599070072174067, + 0.7682984471321106 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0017517636608984088, + 0.02115016900730704 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 27, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "bcdb5fc04510a899f71a9e0152574dbadc29b590032b3e4a34fa88868e2858c4", + "visual_seed": 596288506497183223, + "episode_index": 27, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_28_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_28_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4381237d7fd414e1da98df7f75a27f8cc7c390d6 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_28_success.json @@ -0,0 +1,926 @@ +{ + "episode": 28, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20396332644767282, + -0.03416124661564956, + 1.0455877683628367 + ], + "current_z": 1.0455877683628367, + "required_z": 0.8565864478039206, + "initial_z": 0.7565864478039206, + "lift_margin": 0.18900132055891616, + "gripper_z": 1.0506654632685597, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1992610067710882, + -0.03883571510054559, + 1.0506654632685597 + ], + "object_minus_gripper": [ + 0.004702319676584604, + 0.004674468484896034, + -0.0050776949057229626 + ], + "object_to_gripper_xy": 0.006630419742149132, + "object_to_gripper_z": -0.0050776949057229626, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20396332644767282, + -0.058269685002003135, + 1.0455877683628367 + ], + "finger_b": [ + 0.19236578327650872, + -0.03416124661564956, + 1.0455877683628367 + ], + "finger_midpoint": [ + 0.19816455486209078, + -0.04621546580882635, + 1.0455877683628367 + ], + "object_minus_finger_midpoint": [ + 0.005798771585582035, + 0.012054219193176792, + 0.0 + ], + "finger_gap": 0.026752940194222048, + "fingertip_max_gap": 0.09331623200980699, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013376470097111022, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0455877683628367, + "object_top_z": 1.0920067292279059, + "finger_top_clearance": 0.04641896086506914, + "fingertip_min_top_clearance": 0.013925688259520725, + "object_projection_between_fingers": 0.8120730963304654, + "object_to_finger_line_xy": 0.010451137443034076, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049158116004903496, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1642000891823479, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 203, + "max_stable_success_frames": 203, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19825441222787446, + -0.033039571408840646, + 1.2452973420645141 + ], + "held_position": [ + 0.2032794284848957, + -0.028041018924056395, + 1.2408807422602535 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00835120764665003, + "max_held_gripper_dist": 0.008354104931902208, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004416599804260679, + "max_held_gripper_z_dist": 0.005081252607202824, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08530338024630163, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2032794284848957, + -0.05179198256375629, + 1.2408807422602535 + ], + "held_grasp_finger_b": [ + 0.19333359497860242, + -0.028041018924056395, + 1.2408807422602535 + ], + "held_grasp_midpoint": [ + 0.19830651173174907, + -0.03991650074390635, + 1.2408807422602535 + ], + "held_grasp_object_position": [ + 0.2032794284848957, + -0.028041018924056395, + 1.2408807422602535 + ], + "held_grasp_finger_gap": 0.02574932771839398, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02299161701148686, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05322387285536475, + -0.990316567625533, + -0.12821979271804793 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004599173125333034, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03317506068208777, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33022234273524864, + -0.36334179070393413, + 0.8470196811417426 + ], + "target_position": [ + 0.3253166862951312, + -0.36599110063329987, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005575330322976518, + "xy_threshold": 0.08, + "gripper_dist": 0.18539569986184692, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196811417426, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0753644888157503, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08512376438428303, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15448240441735986, + "release_required_pad_clearance": 0.052561882192141515, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.1897448591555436, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008614063262939453, + "max_z_decrease": 0.008614063262939453, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035005069078918954, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008614063262939453, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020986828994470158, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008614063262939453, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008614156118006262, + "max_button_displacement": 0.12, + "button_start": [ + 0.18101660907268524, + -0.42225256562232966, + 0.7768088579177856 + ], + "button_final": [ + 0.18101660907268524, + -0.42225256562232966, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17980212418034935, + -0.42262918270332067, + 0.8035492443283796 + ], + "closest_button": [ + 0.18099796772003174, + -0.42221280932426447, + 0.7685670852661133 + ], + "closest_ee_minus_button": [ + -0.001195843539682384, + -0.00041637337905620075, + 0.034982159062266316 + ], + "button_min_z_position": [ + 0.18099744617938995, + -0.42221745848655695, + 0.7681947946548462 + ], + "min_active_finger_to_button": 0.14691888452678087, + "closest_active_finger": [ + 0.03891146928071976, + -0.40797170996665955, + 0.8100703954696655 + ], + "closest_active_finger_button": [ + 0.18101975321769714, + -0.42225581407546997, + 0.7756268382072449 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1421082839369774, + 0.014284104108810425, + 0.034443557262420654 + ], + "min_contact_pad_to_button": 0.020986828994470158, + "closest_contact_pad": [ + 0.18099744617938995, + -0.4236654727851309, + 0.7891316102158206 + ], + "closest_contact_pad_button": [ + 0.18099744617938995, + -0.42221745848655695, + 0.7681947946548462 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0014480142985739408, + 0.020936815560974376 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 28, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "62a0079f4d2a85e705f006bd306b577abf43de0def693fcc84348a5c49a1f6c5", + "visual_seed": 8387177174657876403, + "episode_index": 28, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_29_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_29_success.json new file mode 100644 index 0000000000000000000000000000000000000000..878b34b386d89032a896c6c8953cf2a096e919b3 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_29_success.json @@ -0,0 +1,926 @@ +{ + "episode": 29, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2040089570216053, + -0.030329153132358583, + 1.0463990210218805 + ], + "current_z": 1.0463990210218805, + "required_z": 0.8565863881992758, + "initial_z": 0.7565863881992758, + "lift_margin": 0.18981263282260474, + "gripper_z": 1.0512233914799358, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19950836898097213, + -0.034881839173272075, + 1.0512233914799358 + ], + "object_minus_gripper": [ + 0.004500588040633163, + 0.004552686040913492, + -0.004824370458055283 + ], + "object_to_gripper_xy": 0.006401737490605095, + "object_to_gripper_z": -0.004824370458055283, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2040089570216053, + -0.05429128884361321, + 1.0463990210218805 + ], + "finger_b": [ + 0.19266416189564883, + -0.030329153132358583, + 1.0463990210218805 + ], + "finger_midpoint": [ + 0.19833655945862705, + -0.0423102209879859, + 1.0463990210218805 + ], + "object_minus_finger_midpoint": [ + 0.005672397562978243, + 0.011981067855627314, + 0.0 + ], + "finger_gap": 0.02651204111898044, + "fingertip_max_gap": 0.09241851998387215, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013256020559490227, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0463990210218805, + "object_top_z": 1.092150924291572, + "finger_top_clearance": 0.04575190326969136, + "fingertip_min_top_clearance": 0.013725570980907376, + "object_projection_between_fingers": 0.8168921406126551, + "object_to_finger_line_xy": 0.010253662447359807, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04870925999193608, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2564736235775649, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 205, + "max_stable_success_frames": 205, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19710269316831344, + -0.030072693723102756, + 1.2437512854849762 + ], + "held_position": [ + 0.20189119083110185, + -0.02522043077796168, + 1.2395332576926763 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008016603021974655, + "max_held_gripper_dist": 0.008019414729822916, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.00421802779229985, + "max_held_gripper_z_dist": 0.0048478446176187795, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0849521739466575, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.20189119083110185, + -0.048830921174932755, + 1.2395332576926763 + ], + "held_grasp_finger_b": [ + 0.19216482897617487, + -0.02522043077796168, + 1.2395332576926763 + ], + "held_grasp_midpoint": [ + 0.19702800990363836, + -0.037025675976447216, + 1.2395332576926763 + ], + "held_grasp_object_position": [ + 0.20189119083110185, + -0.02522043077796168, + 1.2395332576926763 + ], + "held_grasp_finger_gap": 0.025535414069845077, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02289808322654448, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.048450539408422935, + -0.9897859092285177, + -0.13407609452735936 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004573953530775913, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03327993587418582, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3313589076599655, + -0.3603970999993839, + 0.8470191479871816 + ], + "target_position": [ + 0.32648571216702577, + -0.3628828095310811, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005470538016354376, + "xy_threshold": 0.08, + "gripper_dist": 0.18518650131468614, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470191479871816, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07524412790040776, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08507137287757359, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15446870245466132, + "release_required_pad_clearance": 0.0525356864387868, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.13703599163213517, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008503556251525879, + "max_z_decrease": 0.008503556251525879, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03508202119534771, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008503556251525879, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020989505519334428, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008503556251525879, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008503588982764938, + "max_button_displacement": 0.12, + "button_start": [ + 0.18218563497066498, + -0.41914427280426025, + 0.7768088579177856 + ], + "button_final": [ + 0.18218563497066498, + -0.41914427280426025, + 0.7768088579177856 + ], + "closest_ee": [ + 0.180290776783698, + -0.4171928216210213, + 0.8032834269685212 + ], + "closest_button": [ + 0.1821761578321457, + -0.4191226661205291, + 0.7683053016662598 + ], + "closest_ee_minus_button": [ + -0.0018853810484476818, + 0.0019298444995078379, + 0.03497812530226141 + ], + "button_min_z_position": [ + 0.1821761578321457, + -0.4191226661205291, + 0.7683053016662598 + ], + "min_active_finger_to_button": 0.14671081745907874, + "closest_active_finger": [ + 0.05356203019618988, + -0.48070597648620605, + 0.8107818365097046 + ], + "closest_active_finger_button": [ + 0.18218907713890076, + -0.41914641857147217, + 0.7762917280197144 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12862704694271088, + -0.06155955791473389, + 0.034490108489990234 + ], + "min_contact_pad_to_button": 0.020989505519334428, + "closest_contact_pad": [ + 0.1821761578321457, + -0.4191226661205291, + 0.7892948071855942 + ], + "closest_contact_pad_button": [ + 0.1821761578321457, + -0.4191226661205291, + 0.7683053016662598 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.020989505519334428 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 29, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "13ab77451b02ea835f50b9846e1bfe3e9483d673779847b802aec2275de4a1f0", + "visual_seed": 6653085847778042374, + "episode_index": 29, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_2_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_2_success.json new file mode 100644 index 0000000000000000000000000000000000000000..39a2bed6c00db6cb98a563e26a37d759c843749c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_2_success.json @@ -0,0 +1,926 @@ +{ + "episode": 2, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20397258442864138, + -0.029607127067199274, + 1.043699789704342 + ], + "current_z": 1.043699789704342, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.18711334190042128, + "gripper_z": 1.0487436323024968, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19921712158481655, + -0.034382876366283635, + 1.0487436323024968 + ], + "object_minus_gripper": [ + 0.004755462843824831, + 0.004775749299084361, + -0.005043842598154713 + ], + "object_to_gripper_xy": 0.006739600004948611, + "object_to_gripper_z": -0.005043842598154713, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20397258442864138, + -0.053640229362502734, + 1.043699789704342 + ], + "finger_b": [ + 0.19208477720695422, + -0.029607127067199274, + 1.043699789704342 + ], + "finger_midpoint": [ + 0.1980286808177978, + -0.041623678214851, + 1.043699789704342 + ], + "object_minus_finger_midpoint": [ + 0.005943903610843598, + 0.012016551147651728, + 0.0 + ], + "finger_gap": 0.026812496461100337, + "fingertip_max_gap": 0.09180101342451097, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013406248230550172, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.043699789704342, + "object_top_z": 1.0893719823353714, + "finger_top_clearance": 0.045672192631029285, + "fingertip_min_top_clearance": 0.013701657789308786, + "object_projection_between_fingers": 0.8034246746743166, + "object_to_finger_line_xy": 0.010655512344408171, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04840050671225549, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9295590313191688, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 201, + "max_stable_success_frames": 201, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19668321897217625, + -0.029553226940923397, + 1.2416326971790255 + ], + "held_position": [ + 0.20180294217853764, + -0.024498091330991886, + 1.2372654194494754 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008416595304015555, + "max_held_gripper_dist": 0.008421332812089436, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004367277729550034, + "max_held_gripper_z_dist": 0.005040910341662874, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08434472293502643, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.20180294217853764, + -0.04827236755322774, + 1.2372654194494754 + ], + "held_grasp_finger_b": [ + 0.1917544914745807, + -0.024498091330991886, + 1.2372654194494754 + ], + "held_grasp_midpoint": [ + 0.19677871682655917, + -0.03638522944210981, + 1.2372654194494754 + ], + "held_grasp_object_position": [ + 0.20180294217853764, + -0.024498091330991886, + 1.2372654194494754 + ], + "held_grasp_finger_gap": 0.02581060966813883, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.022870074445563035, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06268273501187578, + -0.9884607463397685, + -0.13789933892828762 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004580943390858588, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03313532337027323, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.32587060800246925, + -0.36571970865695214, + 0.8470199147355327 + ], + "target_position": [ + 0.3202116651643299, + -0.3685558150577272, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006329860469382077, + "xy_threshold": 0.08, + "gripper_dist": 0.18571346675442818, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470199147355327, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07548541726913581, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08524812925699464, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1543493300828088, + "release_required_pad_clearance": 0.05262406462849732, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.3090100652300048, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008506059646606445, + "max_z_decrease": 0.008506059646606445, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500786326375396, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008506059646606445, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02089427613226545, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008506059646606445, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008506235037935657, + "max_button_displacement": 0.12, + "button_start": [ + 0.17591159045696253, + -0.4248172640800476, + 0.7768088579177856 + ], + "button_final": [ + 0.17591159045696253, + -0.4248172640800476, + 0.7768088579177856 + ], + "closest_ee": [ + 0.174433772860506, + -0.424609184049582, + 0.8036066259481941 + ], + "closest_button": [ + 0.1759472638368606, + -0.42479628324508667, + 0.7686319947242737 + ], + "closest_ee_minus_button": [ + -0.0015134909763546145, + 0.0001870991955046919, + 0.034974631223920416 + ], + "button_min_z_position": [ + 0.1759571731090545, + -0.42478716373443604, + 0.7683027982711792 + ], + "min_active_finger_to_button": 0.14698994719127698, + "closest_active_finger": [ + 0.048225753009319305, + -0.48909133672714233, + 0.810560405254364 + ], + "closest_active_finger_button": [ + 0.17591270804405204, + -0.424820214509964, + 0.7763360142707825 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12768695503473274, + -0.06427112221717834, + 0.03422439098358154 + ], + "min_contact_pad_to_button": 0.02089427613226545, + "closest_contact_pad": [ + 0.1759571731090545, + -0.42562334517489214, + 0.789180335858021 + ], + "closest_contact_pad_button": [ + 0.1759571731090545, + -0.42478716373443604, + 0.7683027982711792 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0008361814404561074, + 0.020877537586841854 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 2, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ce47695fb60a44fd78d301bf7dd44a2312d0413fc25ab535a52bcdc1e3605a91", + "visual_seed": 5247433395782997128, + "episode_index": 2, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_30_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_30_success.json new file mode 100644 index 0000000000000000000000000000000000000000..bd059955d36588408ab73f7e406bcf9a14ac031b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_30_success.json @@ -0,0 +1,926 @@ +{ + "episode": 30, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2012857182214999, + -0.028938597130177407, + 1.0439556257425948 + ], + "current_z": 1.0439556257425948, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.18736911833402925, + "gripper_z": 1.049078359458957, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19671533827218454, + -0.03358519609442891, + 1.049078359458957 + ], + "object_minus_gripper": [ + 0.004570379949315362, + 0.0046465989642515, + -0.005122733716362182 + ], + "object_to_gripper_xy": 0.006517611127989074, + "object_to_gripper_z": -0.005122733716362182, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2012857182214999, + -0.05289118410323801, + 1.0439556257425948 + ], + "finger_b": [ + 0.18959873910906194, + -0.028938597130177407, + 1.0439556257425948 + ], + "finger_midpoint": [ + 0.19544222866528094, + -0.04091489061670771, + 1.0439556257425948 + ], + "object_minus_finger_midpoint": [ + 0.005843489556218967, + 0.011976293486530301, + 0.0 + ], + "finger_gap": 0.02665167731075464, + "fingertip_max_gap": 0.09337910590478962, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013325838655377314, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0439556257425948, + "object_top_z": 1.0903904492089045, + "finger_top_clearance": 0.04643482346630967, + "fingertip_min_top_clearance": 0.013930447039892867, + "object_projection_between_fingers": 0.8077105562978052, + "object_to_finger_line_xy": 0.01050340585994009, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04918955295239481, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.234351887878292, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 202, + "max_stable_success_frames": 202, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19539605188280285, + -0.027842835038081132, + 1.243097067803134 + ], + "held_position": [ + 0.2003386061363016, + -0.022893663905742132, + 1.2386471988404713 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008290022390248697, + "max_held_gripper_dist": 0.008293350360647454, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.00444986896266264, + "max_held_gripper_z_dist": 0.005108567565239808, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0852819228647273, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2003386061363016, + -0.04662625063326765, + 1.2386471988404713 + ], + "held_grasp_finger_b": [ + 0.19050718849713705, + -0.022893663905742132, + 1.2386471988404713 + ], + "held_grasp_midpoint": [ + 0.19542289731671933, + -0.03475995726950489, + 1.2386471988404713 + ], + "held_grasp_object_position": [ + 0.2003386061363016, + -0.022893663905742132, + 1.2386471988404713 + ], + "held_grasp_finger_gap": 0.025688371796888886, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02290595301097069, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05981182707156058, + -0.9899463692014621, + -0.12817461311509512 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00447069928238076, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03315921340862343, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3343637051071605, + -0.3648260477717622, + 0.8470195685314599 + ], + "target_position": [ + 0.32929083252824737, + -0.3676028483922876, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005783135644962777, + "xy_threshold": 0.08, + "gripper_dist": 0.18265817857371672, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195685314599, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07556753368492426, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08492371967336886, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15130144095835413, + "release_required_pad_clearance": 0.05246185983668443, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.0, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008465766906738281, + "max_z_decrease": 0.008465766906738281, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502123831971614, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008465766906738281, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021198124232640447, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008465766906738281, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008465797628170579, + "max_button_displacement": 0.12, + "button_start": [ + 0.18499076366424555, + -0.4238643050193787, + 0.7768088579177856 + ], + "button_final": [ + 0.18499076366424555, + -0.4238643050193787, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18443988712750148, + -0.42235133318731166, + 0.8033283345654062 + ], + "closest_button": [ + 0.18498472869396204, + -0.4238423109054566, + 0.7683430910110474 + ], + "closest_ee_minus_button": [ + -0.0005448415664605633, + 0.0014909777181449368, + 0.034985243554358836 + ], + "button_min_z_position": [ + 0.18498472869396204, + -0.4238423109054566, + 0.7683430910110474 + ], + "min_active_finger_to_button": 0.1458696931983984, + "closest_active_finger": [ + 0.056571654975414276, + -0.4835498332977295, + 0.8080843687057495 + ], + "closest_active_finger_button": [ + 0.18500232696533198, + -0.42386844754219055, + 0.7731320858001709 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1284306719899177, + -0.05968138575553894, + 0.03495228290557861 + ], + "min_contact_pad_to_button": 0.021198124232640447, + "closest_contact_pad": [ + 0.18498472869396204, + -0.4238423109054566, + 0.7895412152436878 + ], + "closest_contact_pad_button": [ + 0.18498472869396204, + -0.4238423109054566, + 0.7683430910110474 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021198124232640447 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 30, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b92cf582cfc65e7c472cb32aee358cb0a73d0db1924853f8b5db1631a74dc5bc", + "visual_seed": 6268603383261196948, + "episode_index": 30, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_32_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_32_success.json new file mode 100644 index 0000000000000000000000000000000000000000..23513d860ecfb45bf641f7fdd46434945b772753 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_32_success.json @@ -0,0 +1,926 @@ +{ + "episode": 32, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20116569791675354, + -0.028256527095624068, + 1.0460115514935688 + ], + "current_z": 1.0460115514935688, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.18942510368964804, + "gripper_z": 1.0509144135517126, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1963771886466022, + -0.03297584191641219, + 1.0509144135517126 + ], + "object_minus_gripper": [ + 0.004788509270151342, + 0.00471931482078812, + -0.00490286205814372 + ], + "object_to_gripper_xy": 0.006723224926182058, + "object_to_gripper_z": -0.00490286205814372, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20116569791675354, + -0.052405236131411244, + 1.0460115514935688 + ], + "finger_b": [ + 0.1894962601731149, + -0.028256527095624068, + 1.0460115514935688 + ], + "finger_midpoint": [ + 0.19533097904493424, + -0.04033088161351765, + 1.0460115514935688 + ], + "object_minus_finger_midpoint": [ + 0.0058347188718193, + 0.012074354517893585, + 0.0 + ], + "finger_gap": 0.02682043857485867, + "fingertip_max_gap": 0.0910074148758439, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013410219287429326, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0460115514935688, + "object_top_z": 1.091320574377636, + "finger_top_clearance": 0.04530902288406713, + "fingertip_min_top_clearance": 0.013592706865220138, + "object_projection_between_fingers": 0.8106923727091444, + "object_to_finger_line_xy": 0.010506981677269111, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048003707437921955, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9288482444232558, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 204, + "max_stable_success_frames": 204, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19503261165358357, + -0.027290340556879233, + 1.243676170193634 + ], + "held_position": [ + 0.20012807859249343, + -0.02225545796078384, + 1.239442321082305 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008321015826177149, + "max_held_gripper_dist": 0.008324301428542806, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.00423384911132918, + "max_held_gripper_z_dist": 0.004915705675326176, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08530808980018424, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.20012807859249343, + -0.04596022146221841, + 1.239442321082305 + ], + "held_grasp_finger_b": [ + 0.19007712332937274, + -0.02225545796078384, + 1.239442321082305 + ], + "held_grasp_midpoint": [ + 0.19510260096093307, + -0.03410783971150112, + 1.239442321082305 + ], + "held_grasp_object_position": [ + 0.20012807859249343, + -0.02225545796078384, + 1.239442321082305 + ], + "held_grasp_finger_gap": 0.025747572979995574, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02288100133604612, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0533247758975597, + -0.987859097248166, + -0.14591392071873585 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004722144661343188, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.0332237593608254, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3297469256802739, + -0.3691054981820828, + 0.8470193956951888 + ], + "target_position": [ + 0.32541883745896216, + -0.37120044029723925, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.004808443627340726, + "xy_threshold": 0.08, + "gripper_dist": 0.18651535001796457, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470193956951888, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07546613339567845, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08507438456515425, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1551262079830844, + "release_required_pad_clearance": 0.052537192282577125, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.14265154911978792, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008550107479095459, + "max_z_decrease": 0.008550107479095459, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03509460391580907, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008550107479095459, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.020939776708783997, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008550107479095459, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008550236792478133, + "max_button_displacement": 0.12, + "button_start": [ + 0.181118756532669, + -0.4274618923664093, + 0.7768088579177856 + ], + "button_final": [ + 0.181118756532669, + -0.4274618923664093, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18233402378504185, + -0.4251812046211113, + 0.8032613206158981 + ], + "closest_button": [ + 0.18115337193012232, + -0.42743006348609924, + 0.7682587504386902 + ], + "closest_ee_minus_button": [ + 0.0011806518549195288, + 0.002248858864987935, + 0.03500257017720787 + ], + "button_min_z_position": [ + 0.18115337193012232, + -0.42743006348609924, + 0.7682587504386902 + ], + "min_active_finger_to_button": 0.14377736298722568, + "closest_active_finger": [ + 0.056527890264987946, + -0.4904658794403076, + 0.8108793497085571 + ], + "closest_active_finger_button": [ + 0.18112249672412867, + -0.4274641275405884, + 0.7765443325042725 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12459460645914072, + -0.06300175189971924, + 0.03433501720428467 + ], + "min_contact_pad_to_button": 0.020939776708783997, + "closest_contact_pad": [ + 0.18115337193012232, + -0.42743006348609924, + 0.7891985271474742 + ], + "closest_contact_pad_button": [ + 0.18115337193012232, + -0.42743006348609924, + 0.7682587504386902 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.020939776708783997 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 32, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "564e11f0dee0d466ac1a35c2b7f8b71e34e1ff980bc771df80c6ccaa00d8cc02", + "visual_seed": 8718484485302216363, + "episode_index": 32, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_33_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_33_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e39e62e18e968cca4ec2579ff669a9b0f1fd0d6d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_33_success.json @@ -0,0 +1,926 @@ +{ + "episode": 33, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20220978957844113, + -0.03514675720850597, + 1.0457832328576122 + ], + "current_z": 1.0457832328576122, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.18919666584440187, + "gripper_z": 1.0510310207232985, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19725810370990018, + -0.03990123523247836, + 1.0510310207232985 + ], + "object_minus_gripper": [ + 0.004951685868540945, + 0.004754478023972393, + -0.005247787865686249 + ], + "object_to_gripper_xy": 0.006864710789330059, + "object_to_gripper_z": -0.005247787865686249, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20220978957844113, + -0.059529869136485114, + 1.0457832328576122 + ], + "finger_b": [ + 0.19063392128214038, + -0.03514675720850597, + 1.0457832328576122 + ], + "finger_midpoint": [ + 0.19642185543029075, + -0.04733831317249554, + 1.0457832328576122 + ], + "object_minus_finger_midpoint": [ + 0.0057879341481503754, + 0.012191555963989568, + 0.0 + ], + "finger_gap": 0.02699142223199177, + "fingertip_max_gap": 0.0947062036038035, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013495711115995882, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0457832328576122, + "object_top_z": 1.0924274467621171, + "finger_top_clearance": 0.046644213904504905, + "fingertip_min_top_clearance": 0.013993264171351489, + "object_projection_between_fingers": 0.8160687103479861, + "object_to_finger_line_xy": 0.010457236743816364, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04985310180190175, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.0166770500151947, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 204, + "max_stable_success_frames": 204, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19789500285895187, + -0.033124263396720546, + 1.2420879662399027 + ], + "held_position": [ + 0.20310591540435305, + -0.0279646823724677, + 1.2375171101899012 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008641042236413666, + "max_held_gripper_dist": 0.008643166047597564, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004570856050001515, + "max_held_gripper_z_dist": 0.005260741572824745, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08535145916465194, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.20310591540435305, + -0.051784970134969376, + 1.2375171101899012 + ], + "held_grasp_finger_b": [ + 0.192943665770978, + -0.0279646823724677, + 1.2375171101899012 + ], + "held_grasp_midpoint": [ + 0.19802479058766553, + -0.039874826253718534, + 1.2375171101899012 + ], + "held_grasp_object_position": [ + 0.20310591540435305, + -0.0279646823724677, + 1.2375171101899012 + ], + "held_grasp_finger_gap": 0.025897440543409277, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.0233251431681866, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.027682969193516142, + -0.9910234774277522, + -0.1307903681607956 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00500127791638529, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03325633213817993, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3295355788076164, + -0.3658171657351853, + 0.8470195427153896 + ], + "target_position": [ + 0.3250200911773396, + -0.3681672533022438, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005090436141631277, + "xy_threshold": 0.08, + "gripper_dist": 0.18607536086869952, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195427153896, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07568259389352244, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08778360155006502, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15431989260368312, + "release_required_pad_clearance": 0.053891800775032514, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.7926742549653967, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008642256259918213, + "max_z_decrease": 0.008642256259918213, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03504207434717755, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008642256259918213, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021109942538715412, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008642256259918213, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008642333440729585, + "max_button_displacement": 0.12, + "button_start": [ + 0.1807200163602829, + -0.4244287014007568, + 0.7768088579177856 + ], + "button_final": [ + 0.1807200163602829, + -0.4244287014007568, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17855812770135, + -0.4243669779919711, + 0.8031413515963896 + ], + "closest_button": [ + 0.18072910606861115, + -0.42439332604408264, + 0.7681666016578674 + ], + "closest_ee_minus_button": [ + -0.002170978367261156, + 2.634805211154667e-05, + 0.03497474993852212 + ], + "button_min_z_position": [ + 0.18072910606861115, + -0.42439332604408264, + 0.7681666016578674 + ], + "min_active_finger_to_button": 0.14780933710980063, + "closest_active_finger": [ + 0.05068916827440262, + -0.48555058240890503, + 0.808505117893219 + ], + "closest_active_finger_button": [ + 0.18072842061519623, + -0.4244319796562194, + 0.7738365530967712 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1300392523407936, + -0.0611186027526856, + 0.034668564796447754 + ], + "min_contact_pad_to_button": 0.021109942538715412, + "closest_contact_pad": [ + 0.18072910606861115, + -0.42572562587025864, + 0.7892344599059438 + ], + "closest_contact_pad_button": [ + 0.18072910606861115, + -0.42439332604408264, + 0.7681666016578674 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0013322998261759977, + 0.021067858248076332 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 33, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a691dd73f4c8462e913abf42876b5533432a4765d30425a56f1d5a01fc965e3b", + "visual_seed": 4541458159654180896, + "episode_index": 33, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_34_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_34_success.json new file mode 100644 index 0000000000000000000000000000000000000000..50450e2bc1f2209fdc26e495fd1e75ac691d23e6 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_34_success.json @@ -0,0 +1,926 @@ +{ + "episode": 34, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20441898064642505, + -0.03714237146760733, + 1.0464200173603537 + ], + "current_z": 1.0464200173603537, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.18983356955643294, + "gripper_z": 1.0516178229098292, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19924737306051035, + -0.04197545926213839, + 1.0516178229098292 + ], + "object_minus_gripper": [ + 0.0051716075859147, + 0.004833087794531059, + -0.005197805549475465 + ], + "object_to_gripper_xy": 0.00707843645534348, + "object_to_gripper_z": -0.005197805549475465, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20441898064642505, + -0.061729436874663, + 1.0464200173603537 + ], + "finger_b": [ + 0.19289496545147422, + -0.03714237146760733, + 1.0464200173603537 + ], + "finger_midpoint": [ + 0.19865697304894964, + -0.049435904171135164, + 1.0464200173603537 + ], + "object_minus_finger_midpoint": [ + 0.005762007597475416, + 0.012293532703527836, + 0.0 + ], + "finger_gap": 0.027153760541484696, + "fingertip_max_gap": 0.09436514965408815, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013576880270742348, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0464200173603537, + "object_top_z": 1.0928182622778597, + "finger_top_clearance": 0.04639824491750599, + "fingertip_min_top_clearance": 0.013919473475251765, + "object_projection_between_fingers": 0.8198859147048817, + "object_to_finger_line_xy": 0.010434713634499304, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04968257482704408, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.9505703027439307, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 206, + "max_stable_success_frames": 206, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19949119349034516, + -0.03558541381187286, + 1.2429486657123128 + ], + "held_position": [ + 0.2048511732405751, + -0.030351608319411034, + 1.238364740067923 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008782623592588558, + "max_held_gripper_dist": 0.008785251251875887, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004583925644389808, + "max_held_gripper_z_dist": 0.005241659546344923, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08522055107646778, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2048511732405751, + -0.054346174467088254, + 1.238364740067923 + ], + "held_grasp_finger_b": [ + 0.1945449567659032, + -0.030351608319411034, + 1.238364740067923 + ], + "held_grasp_midpoint": [ + 0.19969806500323917, + -0.04234889139324964, + 1.238364740067923 + ], + "held_grasp_object_position": [ + 0.2048511732405751, + -0.030351608319411034, + 1.238364740067923 + ], + "held_grasp_finger_gap": 0.026114312218361344, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02360192707147424, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.019265346596453802, + -0.9919112417984215, + -0.12546288221793753 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005147905650683613, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033200708597591014, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.330604282014368, + -0.36118890860187836, + 0.8470197496535519 + ], + "target_position": [ + 0.32658031391999137, + -0.3634098845405222, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.004596199880835885, + "xy_threshold": 0.08, + "gripper_dist": 0.18550368955472069, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470197496535519, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07567182068717936, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08776163324226254, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1536182927644234, + "release_required_pad_clearance": 0.05388081662113127, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.76931221218732, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008577525615692139, + "max_z_decrease": 0.008577525615692139, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502429469802697, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008577525615692139, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021044250448182367, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008577525615692139, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008577603899576753, + "max_button_displacement": 0.12, + "button_start": [ + 0.18228024244308463, + -0.41967135667800903, + 0.7768088579177856 + ], + "button_final": [ + 0.18228024244308463, + -0.41967135667800903, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18109552503914028, + -0.4182475014829484, + 0.8032085132851561 + ], + "closest_button": [ + 0.18225285410881037, + -0.41964700818061823, + 0.7682313323020935 + ], + "closest_ee_minus_button": [ + -0.0011573290696700878, + 0.0013995066976698056, + 0.03497718098306257 + ], + "button_min_z_position": [ + 0.18225285410881037, + -0.41964700818061823, + 0.7682313323020935 + ], + "min_active_finger_to_button": 0.14637637188557176, + "closest_active_finger": [ + 0.05387848615646362, + -0.48081332445144653, + 0.8084710836410522 + ], + "closest_active_finger_button": [ + 0.18228915333747855, + -0.41967564821243286, + 0.7738455533981323 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12841066718101493, + -0.06113767623901367, + 0.03462553024291992 + ], + "min_contact_pad_to_button": 0.021044250448182367, + "closest_contact_pad": [ + 0.18225285410881037, + -0.41964700818061823, + 0.7892755827502759 + ], + "closest_contact_pad_button": [ + 0.18225285410881037, + -0.41964700818061823, + 0.7682313323020935 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021044250448182367 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 34, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "50bed8c0b32d45ec6f58ec082e4b7ac35488a6e4eda46fb72dc36950e3da73ef", + "visual_seed": 8976029899985827599, + "episode_index": 34, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_35_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_35_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e16ef20988a81369b1cde694174fa116bea465d3 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_35_success.json @@ -0,0 +1,926 @@ +{ + "episode": 35, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20602065614910955, + -0.03232712813801887, + 1.0435080168288526 + ], + "current_z": 1.0435080168288526, + "required_z": 0.8565864478039209, + "initial_z": 0.7565864478039209, + "lift_margin": 0.18692156902493173, + "gripper_z": 1.048457043564568, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.20160607432581162, + -0.03689562881578867, + 1.048457043564568 + ], + "object_minus_gripper": [ + 0.004414581823297931, + 0.004568500677769802, + -0.0049490267357152895 + ], + "object_to_gripper_xy": 0.0063529309076500754, + "object_to_gripper_z": -0.0049490267357152895, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20602065614910955, + -0.056144643666273315, + 1.0435080168288526 + ], + "finger_b": [ + 0.19449542261313377, + -0.03232712813801887, + 1.0435080168288526 + ], + "finger_midpoint": [ + 0.20025803938112166, + -0.044235885902146097, + 1.0435080168288526 + ], + "object_minus_finger_midpoint": [ + 0.005762616767987894, + 0.011908757764127226, + 0.0 + ], + "finger_gap": 0.026459498370101853, + "fingertip_max_gap": 0.09301037322058003, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013229749185050928, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0435080168288526, + "object_top_z": 1.0895466689358642, + "finger_top_clearance": 0.046038652107011524, + "fingertip_min_top_clearance": 0.013811595632103458, + "object_projection_between_fingers": 0.8102698912108267, + "object_to_finger_line_xy": 0.010374438126916219, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04900518661029002, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3858516455900003, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 202, + "max_stable_success_frames": 202, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19845631532190489, + -0.0322497745978924, + 1.2419806837428022 + ], + "held_position": [ + 0.20319172452611825, + -0.027384056571806183, + 1.2376518024865186 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008052237277411327, + "max_held_gripper_dist": 0.008054881234435922, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004328881256283612, + "max_held_gripper_z_dist": 0.004954774928434658, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08529001196929278, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.20319172452611825, + -0.050956132005829394, + 1.2376518024865186 + ], + "held_grasp_finger_b": [ + 0.19343567521222907, + -0.027384056571806183, + 1.2376518024865186 + ], + "held_grasp_midpoint": [ + 0.19831369986917366, + -0.03917009428881779, + 1.2376518024865186 + ], + "held_grasp_object_position": [ + 0.20319172452611825, + -0.027384056571806183, + 1.2376518024865186 + ], + "held_grasp_finger_gap": 0.02551123749413811, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02281699163605754, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05291416325038563, + -0.9898672218082682, + -0.13176864011248046 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004528426636182929, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03327549596170806, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3330642252563685, + -0.3607124959232195, + 0.8470199395371828 + ], + "target_position": [ + 0.32726404801448433, + -0.36404372480374425, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006688732457776492, + "xy_threshold": 0.08, + "gripper_dist": 0.18468065308185933, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470199395371828, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07568748028032271, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08543178931145233, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15310306610071578, + "release_required_pad_clearance": 0.05271589465572617, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.4845665344038387, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00839376449584961, + "max_z_decrease": 0.00839376449584961, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0349979045595766, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00839376449584961, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021138975255718517, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00839376449584961, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008393839149000368, + "max_button_displacement": 0.12, + "button_start": [ + 0.18296396732330317, + -0.4203051924705505, + 0.7768088579177856 + ], + "button_final": [ + 0.18296396732330317, + -0.4203051924705505, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18220510306022888, + -0.4200489021857984, + 0.8034046232842731 + ], + "closest_button": [ + 0.18293075263500208, + -0.42029294371604914, + 0.768415093421936 + ], + "closest_ee_minus_button": [ + -0.0007256495747731961, + 0.00024404153025076036, + 0.034989529862337054 + ], + "button_min_z_position": [ + 0.18293075263500208, + -0.42029294371604914, + 0.768415093421936 + ], + "min_active_finger_to_button": 0.14649139349212806, + "closest_active_finger": [ + 0.05473162233829498, + -0.4820152521133423, + 0.8079660534858704 + ], + "closest_active_finger_button": [ + 0.18297314643859858, + -0.42030960321426386, + 0.7732349038124084 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1282415241003036, + -0.061705648899078425, + 0.034731149673461914 + ], + "min_contact_pad_to_button": 0.021138975255718517, + "closest_contact_pad": [ + 0.18293075263500208, + -0.42132787821231016, + 0.7895287190094643 + ], + "closest_contact_pad_button": [ + 0.18293075263500208, + -0.42029294371604914, + 0.768415093421936 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0010349344962610196, + 0.021113625587528273 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 35, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "51ce0d0ad64d458e48cb1edf5c81631fa60b42f08d4edce94006c292a2212cad", + "visual_seed": 2910126006956263174, + "episode_index": 35, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_36_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_36_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7879038bc9ec9211a32d2f283fc58faa1e63f3cb --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_36_success.json @@ -0,0 +1,926 @@ +{ + "episode": 36, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2028992750691248, + -0.029878930024317883, + 1.0443910910957384 + ], + "current_z": 1.0443910910957384, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.18780464329181756, + "gripper_z": 1.0493292024035128, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1983992654143304, + -0.03444321140913757, + 1.0493292024035128 + ], + "object_minus_gripper": [ + 0.004500009654794412, + 0.00456428138481969, + -0.00493811130777444 + ], + "object_to_gripper_xy": 0.006409582783072115, + "object_to_gripper_z": -0.00493811130777444, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2028992750691248, + -0.05383017654285593, + 1.0443910910957384 + ], + "finger_b": [ + 0.19148288700510468, + -0.029878930024317883, + 1.0443910910957384 + ], + "finger_midpoint": [ + 0.19719108103711475, + -0.04185455328358691, + 1.0443910910957384 + ], + "object_minus_finger_midpoint": [ + 0.005708194032010061, + 0.011975623259269024, + 0.0 + ], + "finger_gap": 0.0265329253234558, + "fingertip_max_gap": 0.09236382669371465, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.0132664626617279, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0443910910957384, + "object_top_z": 1.0902499227415692, + "finger_top_clearance": 0.04585883164583082, + "fingertip_min_top_clearance": 0.013757649493749247, + "object_projection_between_fingers": 0.8148655772751278, + "object_to_finger_line_xy": 0.010305562675025368, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04868191334685733, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0632116535038951, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 203, + "max_stable_success_frames": 203, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19630116978023368, + -0.02897028862933508, + 1.2434994073211676 + ], + "held_position": [ + 0.20110104031767795, + -0.024094630156628577, + 1.2391830680283518 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008089597493658512, + "max_held_gripper_dist": 0.008092452109801621, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0043163392928158295, + "max_held_gripper_z_dist": 0.004951494535068379, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08529187952603452, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.20110104031767795, + -0.0477147506758388, + 1.2391830680283518 + ], + "held_grasp_finger_b": [ + 0.19132440075111457, + -0.024094630156628577, + 1.2391830680283518 + ], + "held_grasp_midpoint": [ + 0.19621272053439626, + -0.03590469041623369, + 1.2391830680283518 + ], + "held_grasp_object_position": [ + 0.20110104031767795, + -0.024094630156628577, + 1.2391830680283518 + ], + "held_grasp_finger_gap": 0.02556350473930577, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.022873509037738573, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05192995650451776, + -0.9898852754021571, + -0.13202432033316702 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0045500756827631045, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03325576997948951, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33044830233057554, + -0.3666062552177964, + 0.847019460791762 + ], + "target_position": [ + 0.32550152565851664, + -0.36915676576022927, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0055655820423642435, + "xy_threshold": 0.08, + "gripper_dist": 0.183640809251595, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.847019460791762, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07530494307971487, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08523782664164174, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1528628518495342, + "release_required_pad_clearance": 0.05261891332082087, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.2987064541206178, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008492827415466309, + "max_z_decrease": 0.008492827415466309, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035001441460243025, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008492827415466309, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021082949118841305, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008492827415466309, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008492880440894012, + "max_button_displacement": 0.12, + "button_start": [ + 0.18120145797729492, + -0.42541822791099554, + 0.7768088579177856 + ], + "button_final": [ + 0.18120145797729492, + -0.42541822791099554, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18173846077868155, + -0.42492740321363154, + 0.803310422828851 + ], + "closest_button": [ + 0.18120919167995453, + -0.4253892302513123, + 0.7683160305023193 + ], + "closest_ee_minus_button": [ + 0.0005292690987270254, + 0.00046182703768077316, + 0.034994392326531676 + ], + "button_min_z_position": [ + 0.18120919167995453, + -0.4253892302513123, + 0.7683160305023193 + ], + "min_active_finger_to_button": 0.1452415883859893, + "closest_active_finger": [ + 0.05449538677930832, + -0.4873870015144348, + 0.8100025057792664 + ], + "closest_active_finger_button": [ + 0.18120776116847986, + -0.42542076110839844, + 0.7753719091415405 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12671237438917154, + -0.06196624040603638, + 0.03463059663772583 + ], + "min_contact_pad_to_button": 0.021082949118841305, + "closest_contact_pad": [ + 0.18120919167995453, + -0.42616001181444596, + 0.7893848852250988 + ], + "closest_contact_pad_button": [ + 0.18120919167995453, + -0.4253892302513123, + 0.7683160305023193 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.000770781563133649, + 0.021068854722779418 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 36, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e0d8ac0b1f3f642f6e967391a04f63aa6940e89dc98f33401d8021c1fe1d7387", + "visual_seed": 7548760002418554341, + "episode_index": 36, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_37_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_37_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c91600f54578d55cabca9270c4990f82af8d4eaa --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_37_success.json @@ -0,0 +1,926 @@ +{ + "episode": 37, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2020561996916889, + -0.028787298683558414, + 1.045297675142484 + ], + "current_z": 1.045297675142484, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.18871110812927372, + "gripper_z": 1.0502335467678037, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19736781402815318, + -0.03339487277018406, + 1.0502335467678037 + ], + "object_minus_gripper": [ + 0.004688385663535716, + 0.004607574086625647, + -0.00493587162531961 + ], + "object_to_gripper_xy": 0.006573484547315176, + "object_to_gripper_z": -0.00493587162531961, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2020561996916889, + -0.05293692875709601, + 1.045297675142484 + ], + "finger_b": [ + 0.19071925951072427, + -0.028787298683558414, + 1.045297675142484 + ], + "finger_midpoint": [ + 0.1963877296012066, + -0.04086211372032721, + 1.045297675142484 + ], + "object_minus_finger_midpoint": [ + 0.005668470090482297, + 0.012074815036768799, + 0.0 + ], + "finger_gap": 0.026678284153136268, + "fingertip_max_gap": 0.09217238892001295, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013339142076568129, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.045297675142484, + "object_top_z": 1.091068626384142, + "finger_top_clearance": 0.045770951241657976, + "fingertip_min_top_clearance": 0.013731285372497392, + "object_projection_between_fingers": 0.8194173914120916, + "object_to_finger_line_xy": 0.010262388314202531, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04858619446000648, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1018979865134737, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 205, + "max_stable_success_frames": 205, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19585601716461687, + -0.02854522812033948, + 1.2426879951271512 + ], + "held_position": [ + 0.20082527821817844, + -0.02361638737136211, + 1.2383750900585733 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008221202872924929, + "max_held_gripper_dist": 0.008224325902902964, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004312905068577955, + "max_held_gripper_z_dist": 0.004970202761225284, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08545639688826498, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.20082527821817844, + -0.04735293425181557, + 1.2383750900585733 + ], + "held_grasp_finger_b": [ + 0.19105706304163772, + -0.02361638737136211, + 1.2383750900585733 + ], + "held_grasp_midpoint": [ + 0.19594117062990807, + -0.03548466081158884, + 1.2383750900585733 + ], + "held_grasp_object_position": [ + 0.20082527821817844, + -0.02361638737136211, + 1.2383750900585733 + ], + "held_grasp_finger_gap": 0.02566791159294354, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023007233382678773, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.049467840615884204, + -0.9896319802724731, + -0.13483870500262538 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004585449492561486, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03321339576301661, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33246662037673647, + -0.36986041196683994, + 0.8470195342057658 + ], + "target_position": [ + 0.32819477295342525, + -0.3718474296272239, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.004711360694186805, + "xy_threshold": 0.08, + "gripper_dist": 0.1858145658289334, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195342057658, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07515763194493169, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08515510964727045, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15515863850581244, + "release_required_pad_clearance": 0.05257755482363523, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.22028683520895048, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008536815643310547, + "max_z_decrease": 0.008536815643310547, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03494129566555337, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008536815643310547, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02096919323698474, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008536815643310547, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008536912848477933, + "max_button_displacement": 0.12, + "button_start": [ + 0.1838946938514709, + -0.42810890078544617, + 0.7768088579177856 + ], + "button_final": [ + 0.1838946938514709, + -0.42810890078544617, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1822371650200064, + -0.42894598099404124, + 0.8031617706171889 + ], + "closest_button": [ + 0.1839305162429809, + -0.4280894994735718, + 0.7682720422744751 + ], + "closest_ee_minus_button": [ + -0.0016933512229745096, + -0.0008564815204694654, + 0.034889728342713755 + ], + "button_min_z_position": [ + 0.1839305162429809, + -0.4280894994735718, + 0.7682720422744751 + ], + "min_active_finger_to_button": 0.14734321952537224, + "closest_active_finger": [ + 0.04140760004520416, + -0.4136260449886322, + 0.808115541934967 + ], + "closest_active_finger_button": [ + 0.18390221893787378, + -0.42811635136604304, + 0.7735418677330017 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14249461889266962, + 0.014490306377410833, + 0.03457367420196533 + ], + "min_contact_pad_to_button": 0.02096919323698474, + "closest_contact_pad": [ + 0.1839305162429809, + -0.4300490690860743, + 0.7891494739159334 + ], + "closest_contact_pad_button": [ + 0.1839305162429809, + -0.4280894994735718, + 0.7682720422744751 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001959569612502543, + 0.020877431641458277 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 37, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8a09e1a16a7f6f6b1d82c77ee4d154471465d0a88c145b43cc45c552e9e3f66d", + "visual_seed": 4431081466507172084, + "episode_index": 37, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_38_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_38_success.json new file mode 100644 index 0000000000000000000000000000000000000000..828fba844d8c9c144a27070cd1407dd940f79e01 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_38_success.json @@ -0,0 +1,926 @@ +{ + "episode": 38, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.1995975642625298, + -0.030257343393092245, + 1.0461881123310142 + ], + "current_z": 1.0461881123310142, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.18960154531780382, + "gripper_z": 1.0509429310518985, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19458438676106116, + -0.03500492870518056, + 1.0509429310518985 + ], + "object_minus_gripper": [ + 0.005013177501468652, + 0.004747585312088312, + -0.004754818720884346 + ], + "object_to_gripper_xy": 0.0069044561666208116, + "object_to_gripper_z": -0.004754818720884346, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1995975642625298, + -0.05475032974054339, + 1.0461881123310142 + ], + "finger_b": [ + 0.18819778490577438, + -0.030257343393092245, + 1.0461881123310142 + ], + "finger_midpoint": [ + 0.19389767458415208, + -0.04250383656681782, + 1.0461881123310142 + ], + "object_minus_finger_midpoint": [ + 0.005699889678377729, + 0.012246493173725573, + 0.0 + ], + "finger_gap": 0.027015946209583988, + "fingertip_max_gap": 0.0929771988754447, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013507973104792, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0461881123310142, + "object_top_z": 1.0921047677423332, + "finger_top_clearance": 0.04591665541131906, + "fingertip_min_top_clearance": 0.013774996623395718, + "object_projection_between_fingers": 0.821945675772415, + "object_to_finger_line_xy": 0.010335179008089451, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04898859943772235, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.415157148496463, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 206, + "max_stable_success_frames": 206, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19512968878127743, + -0.0281357059679314, + 1.2417913938261322 + ], + "held_position": [ + 0.2003530147755024, + -0.023028359786686978, + 1.2376744274716371 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008385554926244477, + "max_held_gripper_dist": 0.008388948435004076, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0041169663544951, + "max_held_gripper_z_dist": 0.004790836559880329, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08537593725116004, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2003530147755024, + -0.04681726427098729, + 1.2376744274716371 + ], + "held_grasp_finger_b": [ + 0.19017959692153744, + -0.023028359786686978, + 1.2376744274716371 + ], + "held_grasp_midpoint": [ + 0.19526630584851992, + -0.03492281202883714, + 1.2376744274716371 + ], + "held_grasp_object_position": [ + 0.2003530147755024, + -0.023028359786686978, + 1.2376744274716371 + ], + "held_grasp_finger_gap": 0.025872966729668573, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023266502650470866, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.028519242725887767, + -0.9902364709205661, + -0.1364492009984846 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005018504231235082, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03327683546744624, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.327187196341194, + -0.3659415548881214, + 0.8470195856980474 + ], + "target_position": [ + 0.32177526486668334, + -0.3687577150263525, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006100799964673541, + "xy_threshold": 0.08, + "gripper_dist": 0.18606298981464375, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195856980474, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07559470298072411, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0874565112800798, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15463460076425364, + "release_required_pad_clearance": 0.0537282556400399, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.465787616834734, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008600890636444092, + "max_z_decrease": 0.008600890636444092, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035005078145904124, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008600890636444092, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020987550510869316, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008600890636444092, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008601029777050162, + "max_button_displacement": 0.12, + "button_start": [ + 0.17747518420219427, + -0.42501917481422424, + 0.7768088579177856 + ], + "button_final": [ + 0.17747518420219427, + -0.42501917481422424, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17613130086895112, + -0.4250029266622247, + 0.8031861292410425 + ], + "closest_button": [ + 0.17750357091426855, + -0.42497932910919184, + 0.7682079672813416 + ], + "closest_ee_minus_button": [ + -0.0013722700453174252, + -2.3597553032883578e-05, + 0.03497816195970094 + ], + "button_min_z_position": [ + 0.17750357091426855, + -0.42497932910919184, + 0.7682079672813416 + ], + "min_active_finger_to_button": 0.1470075046527648, + "closest_active_finger": [ + 0.04908613860607147, + -0.48781874775886536, + 0.8106133937835693 + ], + "closest_active_finger_button": [ + 0.1774780154228211, + -0.4250213205814361, + 0.7762154936790466 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12839187681674963, + -0.06279742717742925, + 0.034397900104522705 + ], + "min_contact_pad_to_button": 0.020987550510869316, + "closest_contact_pad": [ + 0.17750357091426855, + -0.42619764558836626, + 0.7891601266307466 + ], + "closest_contact_pad_button": [ + 0.17750357091426855, + -0.42497932910919184, + 0.7682079672813416 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0012183164791744194, + 0.020952159349405086 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 38, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d2411a1441443c6109c769c736fe8056b25b7d7cc77a260e9ae9cc302646f2f8", + "visual_seed": 6925730594498971453, + "episode_index": 38, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_39_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_39_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f5e4c343b6e591af99ae129154105c994fd3b7aa --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_39_success.json @@ -0,0 +1,926 @@ +{ + "episode": 39, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.19874452230041673, + -0.03255358410466519, + 1.043727614781852 + ], + "current_z": 1.043727614781852, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.1871410477686416, + "gripper_z": 1.0486866010838072, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19383175042822332, + -0.03717082568309989, + 1.0486866010838072 + ], + "object_minus_gripper": [ + 0.004912771872193411, + 0.004617241578434697, + -0.004958986301955237 + ], + "object_to_gripper_xy": 0.006741976510033307, + "object_to_gripper_z": -0.004958986301955237, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19874452230041673, + -0.057046103759515104, + 1.043727614781852 + ], + "finger_b": [ + 0.1876000100770574, + -0.03255358410466519, + 1.043727614781852 + ], + "finger_midpoint": [ + 0.19317226618873706, + -0.04479984393209015, + 1.043727614781852 + ], + "object_minus_finger_midpoint": [ + 0.005572256111679663, + 0.012246259827424957, + 0.0 + ], + "finger_gap": 0.026908802867088213, + "fingertip_max_gap": 0.09262712450172236, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013454401433544106, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.043727614781852, + "object_top_z": 1.0896078485379013, + "finger_top_clearance": 0.04588023375604933, + "fingertip_min_top_clearance": 0.013764070126814798, + "object_projection_between_fingers": 0.8284726509601029, + "object_to_finger_line_xy": 0.010143787741973232, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048813562250861184, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.4806543995499217, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 203, + "max_stable_success_frames": 203, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19589191667220132, + -0.03006251012184888, + 1.2419673101513857 + ], + "held_position": [ + 0.20105857159300505, + -0.025065817833455302, + 1.2376757598978794 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008371299807910822, + "max_held_gripper_dist": 0.008373123922432783, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.00429155025350636, + "max_held_gripper_z_dist": 0.004996543745725335, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08542265809176053, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.20105857159300505, + -0.04891727971064002, + 1.2376757598978794 + ], + "held_grasp_finger_b": [ + 0.19123579436972218, + -0.025065817833455302, + 1.2376757598978794 + ], + "held_grasp_midpoint": [ + 0.19614718298136363, + -0.03699154877204766, + 1.2376757598978794 + ], + "held_grasp_object_position": [ + 0.20105857159300505, + -0.025065817833455302, + 1.2376757598978794 + ], + "held_grasp_finger_gap": 0.025794944971002372, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023315927683672476, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.031124836724913167, + -0.9903652925998558, + -0.1349363989161165 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004818170840530794, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03323652878671466, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3303470794048058, + -0.3612640199954733, + 0.8470194840089071 + ], + "target_position": [ + 0.3249014638152249, + -0.3636981348812932, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005964867511257611, + "xy_threshold": 0.08, + "gripper_dist": 0.18605403478624338, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470194840089071, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0752562639083538, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08630458513651905, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15515580101895965, + "release_required_pad_clearance": 0.053152292568259527, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.329404313217423, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008537054061889648, + "max_z_decrease": 0.008537054061889648, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03503279426299472, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008537054061889648, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02095029375985158, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008537054061889648, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008537167933736189, + "max_button_displacement": 0.12, + "button_start": [ + 0.18060138821601868, + -0.4199596047401428, + 0.7768088579177856 + ], + "button_final": [ + 0.18060138821601868, + -0.4199596047401428, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1792052500530144, + -0.41843984901568504, + 0.8032432256803077 + ], + "closest_button": [ + 0.1806390583515167, + -0.41993668675422663, + 0.768271803855896 + ], + "closest_ee_minus_button": [ + -0.001433808298502287, + 0.0014968377385415899, + 0.03497142182441171 + ], + "button_min_z_position": [ + 0.1806390583515167, + -0.41993668675422663, + 0.768271803855896 + ], + "min_active_finger_to_button": 0.14641464252416542, + "closest_active_finger": [ + 0.05261830985546112, + -0.4821825921535492, + 0.8106600642204285 + ], + "closest_active_finger_button": [ + 0.18060484528541562, + -0.4199613332748413, + 0.7762331962585449 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1279865354299545, + -0.062221258878707886, + 0.034426867961883545 + ], + "min_contact_pad_to_button": 0.02095029375985158, + "closest_contact_pad": [ + 0.1806390583515167, + -0.41993668675422663, + 0.7892220976157476 + ], + "closest_contact_pad_button": [ + 0.1806390583515167, + -0.41993668675422663, + 0.768271803855896 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02095029375985158 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 39, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ca0122eceb05d09ba2a6b1c00256d51a7569f441ccfec87f203bda530a7f5095", + "visual_seed": 1550907044221907346, + "episode_index": 39, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_3_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_3_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d779b7a8740fa7c88280666fcc3740a1f6482565 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_3_success.json @@ -0,0 +1,926 @@ +{ + "episode": 3, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20394713554751392, + -0.029865024002685904, + 1.0447385061096954 + ], + "current_z": 1.0447385061096954, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.1881519390964851, + "gripper_z": 1.0497470232907649, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19920214240839343, + -0.03459014498606554, + 1.0497470232907649 + ], + "object_minus_gripper": [ + 0.004744993139120496, + 0.004725120983379634, + -0.005008517181069427 + ], + "object_to_gripper_xy": 0.006696396657746247, + "object_to_gripper_z": -0.005008517181069427, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20394713554751392, + -0.05396442389139169, + 1.0447385061096954 + ], + "finger_b": [ + 0.19229152529810278, + -0.029865024002685904, + 1.0447385061096954 + ], + "finger_midpoint": [ + 0.19811933042280835, + -0.041914723947038796, + 1.0447385061096954 + ], + "object_minus_finger_midpoint": [ + 0.005827805124705571, + 0.012049699944352892, + 0.0 + ], + "finger_gap": 0.026770026620867048, + "fingertip_max_gap": 0.09263819915707083, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013385013310433524, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0447385061096954, + "object_top_z": 1.0909062606721416, + "finger_top_clearance": 0.04616775456244615, + "fingertip_min_top_clearance": 0.013850326368733845, + "object_projection_between_fingers": 0.8104287703038335, + "object_to_finger_line_xy": 0.01049282529022599, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04881909957853542, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9553348074155581, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 203, + "max_stable_success_frames": 203, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19672666465086258, + -0.029611777055880806, + 1.2410364789377337 + ], + "held_position": [ + 0.20177290053088215, + -0.0245665543834719, + 1.23666343283244 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008369127828514192, + "max_held_gripper_dist": 0.00837135006344218, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004373046105293765, + "max_held_gripper_z_dist": 0.005027524162975139, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08533621381520605, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.20177290053088215, + -0.048283610325890104, + 1.23666343283244 + ], + "held_grasp_finger_b": [ + 0.19174476813230762, + -0.0245665543834719, + 1.23666343283244 + ], + "held_grasp_midpoint": [ + 0.19675883433159488, + -0.036425082354681004, + 1.23666343283244 + ], + "held_grasp_object_position": [ + 0.20177290053088215, + -0.0245665543834719, + 1.23666343283244 + ], + "held_grasp_finger_gap": 0.025749993824836826, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.022902955106108767, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05676111860561461, + -0.9896744003793849, + -0.1316159437467381 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0046117961825755515, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033179539400288095, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.32863736215562156, + -0.3688308632075152, + 0.847019534295949 + ], + "target_position": [ + 0.3229434520482452, + -0.37168243717573946, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00636805201039823, + "xy_threshold": 0.08, + "gripper_dist": 0.18391503866383005, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.847019534295949, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07550694046889024, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08521146228875147, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15263536835423974, + "release_required_pad_clearance": 0.052605731144375736, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.2741122023840185, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008652150630950928, + "max_z_decrease": 0.008652150630950928, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03498062025370008, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008652150630950928, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.020786063442996716, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008652150630950928, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008652349547820432, + "max_button_displacement": 0.12, + "button_start": [ + 0.1786433756351471, + -0.4279438853263855, + 0.7768088579177856 + ], + "button_final": [ + 0.1786433756351471, + -0.4279438853263855, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17686576890408004, + -0.4263677757278891, + 0.803054637679156 + ], + "closest_button": [ + 0.17869834601879117, + -0.4279233813285828, + 0.7681567072868347 + ], + "closest_ee_minus_button": [ + -0.0018325771147111314, + 0.0015556056006937324, + 0.03489793039232125 + ], + "button_min_z_position": [ + 0.17869834601879117, + -0.4279233813285828, + 0.7681567072868347 + ], + "min_active_finger_to_button": 0.14668379581330412, + "closest_active_finger": [ + 0.05059176683425903, + -0.49073654413223267, + 0.8103609681129456 + ], + "closest_active_finger_button": [ + 0.17864564061164856, + -0.42794868350029, + 0.7760677337646484 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12805387377738953, + -0.0627878606319427, + 0.03429323434829712 + ], + "min_contact_pad_to_button": 0.020786063442996716, + "closest_contact_pad": [ + 0.17869834601879117, + -0.4279233813285828, + 0.7889427707298314 + ], + "closest_contact_pad_button": [ + 0.17869834601879117, + -0.4279233813285828, + 0.7681567072868347 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.020786063442996716 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 3, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "44a6b6cfba5ee913d8f823dc44b234a62464d1025fdfebfcd14d395ae1fe9978", + "visual_seed": 2319278225415740586, + "episode_index": 3, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_40_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_40_success.json new file mode 100644 index 0000000000000000000000000000000000000000..897dd84fae570e77bfb467304a81d58e9513f1f6 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_40_success.json @@ -0,0 +1,926 @@ +{ + "episode": 40, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2005901556790404, + -0.032715450341150504, + 1.0438800951239628 + ], + "current_z": 1.0438800951239628, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.18729364732004206, + "gripper_z": 1.0491039680934942, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19623733268955965, + -0.03710025720396326, + 1.0491039680934942 + ], + "object_minus_gripper": [ + 0.0043528229894807535, + 0.004384806862812757, + -0.005223872969531307 + ], + "object_to_gripper_xy": 0.006178478712589534, + "object_to_gripper_z": -0.005223872969531307, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2005901556790404, + -0.056743078553319254, + 1.0438800951239628 + ], + "finger_b": [ + 0.1896719393362991, + -0.032715450341150504, + 1.0438800951239628 + ], + "finger_midpoint": [ + 0.19513104750766974, + -0.04472926444723488, + 1.0438800951239628 + ], + "object_minus_finger_midpoint": [ + 0.005459108171370658, + 0.012013814106084375, + 0.0 + ], + "finger_gap": 0.026391937511465707, + "fingertip_max_gap": 0.10013976542361389, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013195968755732859, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0438800951239628, + "object_top_z": 1.0931119759635362, + "finger_top_clearance": 0.049231880839573305, + "fingertip_min_top_clearance": 0.014769564251872024, + "object_projection_between_fingers": 0.8288563292887099, + "object_to_finger_line_xy": 0.009940113070874093, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.052569882711806945, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.5175482392281716, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 203, + "max_stable_success_frames": 203, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19638411371684056, + -0.030101889679920377, + 1.2397806740928308 + ], + "held_position": [ + 0.20093281692301349, + -0.025268334746111162, + 1.2351578579680875 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008088534050072697, + "max_held_gripper_dist": 0.008090542901398202, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004622816124743245, + "max_held_gripper_z_dist": 0.005243706582495955, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08533119115360295, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.20093281692301349, + -0.0487291933705804, + 1.2351578579680875 + ], + "held_grasp_finger_b": [ + 0.19136442267670845, + -0.025268334746111162, + 1.2351578579680875 + ], + "held_grasp_midpoint": [ + 0.19614861979986098, + -0.036998764058345776, + 1.2351578579680875 + ], + "held_grasp_object_position": [ + 0.20093281692301349, + -0.025268334746111162, + 1.2351578579680875 + ], + "held_grasp_finger_gap": 0.025337049075416337, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023229139451564407, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.012466456766890854, + -0.9952075411431264, + -0.09698730590923496 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004775792220500444, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03346637126682844, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.32660406988141455, + -0.36694814285492355, + 0.8470198047807967 + ], + "target_position": [ + 0.32521966118269174, + -0.3674627734336888, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0014769671891073453, + "xy_threshold": 0.08, + "gripper_dist": 0.18076195942032075, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470198047807967, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07549725231364335, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08963266851731543, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.14920365230199678, + "release_required_pad_clearance": 0.054816334258657715, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 4.687029958572089, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 146, + "max_placed_release_frames": 146 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008688569068908691, + "max_z_decrease": 0.008688569068908691, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501061105870698, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008688569068908691, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.020985723251495614, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008688569068908691, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008688704384661402, + "max_button_displacement": 0.12, + "button_start": [ + 0.18091958761215204, + -0.42372423410415644, + 0.7768088579177856 + ], + "button_final": [ + 0.18091958761215204, + -0.42372423410415644, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18038272892752408, + -0.4224304166899713, + 0.8031038177737215 + ], + "closest_button": [ + 0.18094874918460843, + -0.4236854910850525, + 0.768120288848877 + ], + "closest_ee_minus_button": [ + -0.0005660202570843542, + 0.0012550743950812127, + 0.034983528924844576 + ], + "button_min_z_position": [ + 0.18094874918460843, + -0.4236854910850525, + 0.768120288848877 + ], + "min_active_finger_to_button": 0.14579548753115978, + "closest_active_finger": [ + 0.05357325077056885, + -0.4857633113861084, + 0.8105776309967041 + ], + "closest_active_finger_button": [ + 0.18092472851276398, + -0.4237274825572967, + 0.7760887742042542 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12735147774219513, + -0.0620358288288117, + 0.03448885679244995 + ], + "min_contact_pad_to_button": 0.020985723251495614, + "closest_contact_pad": [ + 0.18094874918460843, + -0.4236854910850525, + 0.7891060121003726 + ], + "closest_contact_pad_button": [ + 0.18094874918460843, + -0.4236854910850525, + 0.768120288848877 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.020985723251495614 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 40, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "bb2a09050db30cf5bf5588390d4eae2ebb1501daf01e61de65403ebc0b3dfa52", + "visual_seed": 3432208082897536991, + "episode_index": 40, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_42_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_42_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d27514421f0ed0d7be15929911b7aebba042ed4f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_42_success.json @@ -0,0 +1,926 @@ +{ + "episode": 42, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.19920947348155896, + -0.029784602028161133, + 1.0451972981975404 + ], + "current_z": 1.0451972981975404, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.1886107907889748, + "gripper_z": 1.0499646554849686, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19423915052491747, + -0.03451867847774635, + 1.0499646554849686 + ], + "object_minus_gripper": [ + 0.0049703229566414875, + 0.00473407644958522, + -0.0047673572874282755 + ], + "object_to_gripper_xy": 0.006864079699700083, + "object_to_gripper_z": -0.0047673572874282755, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19920947348155896, + -0.05422678811727891, + 1.0451972981975404 + ], + "finger_b": [ + 0.18777702218593711, + -0.029784602028161133, + 1.0451972981975404 + ], + "finger_midpoint": [ + 0.19349324783374805, + -0.04200569507272002, + 1.0451972981975404 + ], + "object_minus_finger_midpoint": [ + 0.0057162256478109075, + 0.012221093044558887, + 0.0 + ], + "finger_gap": 0.02698372478813531, + "fingertip_max_gap": 0.09237472177669434, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013491862394067649, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0451972981975404, + "object_top_z": 1.0910178942187003, + "finger_top_clearance": 0.045820596021159954, + "fingertip_min_top_clearance": 0.013746178806347986, + "object_projection_between_fingers": 0.820495672824693, + "object_to_finger_line_xy": 0.010355653425031655, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04868736088834717, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.056338852279203, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 205, + "max_stable_success_frames": 205, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19482358032398653, + -0.027697484847246143, + 1.2422773646752492 + ], + "held_position": [ + 0.2000481334964081, + -0.02261969822229392, + 1.2381678799629487 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00836467198762958, + "max_held_gripper_dist": 0.008367334361687974, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0041094847123004374, + "max_held_gripper_z_dist": 0.004795468680705461, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0853323829187292, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2000481334964081, + -0.046420630166506875, + 1.2381678799629487 + ], + "held_grasp_finger_b": [ + 0.18990707235740317, + -0.02261969822229392, + 1.2381678799629487 + ], + "held_grasp_midpoint": [ + 0.19497760292690564, + -0.0345201641944004, + 1.2381678799629487 + ], + "held_grasp_object_position": [ + 0.2000481334964081, + -0.02261969822229392, + 1.2381678799629487 + ], + "held_grasp_finger_gap": 0.025871325486686848, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023164665980031047, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.03861432967826632, + -0.9897199115292454, + -0.13770777126234002 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0048945410590360275, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03322630169768626, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3318574276091072, + -0.3649663958180773, + 0.8470196513602424 + ], + "target_position": [ + 0.3277571125134999, + -0.36723491995151364, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00468602023333743, + "xy_threshold": 0.08, + "gripper_dist": 0.18347221601571115, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196513602424, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07580800221990301, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08725490973649556, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1516101337672988, + "release_required_pad_clearance": 0.053627454868247784, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.2638833843315735, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00852823257446289, + "max_z_decrease": 0.00852823257446289, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03499587356685653, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00852823257446289, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021065581085213538, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00852823257446289, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008528332340384656, + "max_button_displacement": 0.12, + "button_start": [ + 0.18345703184604645, + -0.4234963655471802, + 0.7768088579177856 + ], + "button_final": [ + 0.18345703184604645, + -0.4234963655471802, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1831775094841256, + -0.42412453875061534, + 0.8032689231083071 + ], + "closest_button": [ + 0.18348047137260437, + -0.4234624207019806, + 0.7682806253433228 + ], + "closest_ee_minus_button": [ + -0.00030296188847878103, + -0.0006621180486347522, + 0.034988297764984355 + ], + "button_min_z_position": [ + 0.18348047137260437, + -0.4234624207019806, + 0.7682806253433228 + ], + "min_active_finger_to_button": 0.14603209643780934, + "closest_active_finger": [ + 0.042310647666454315, + -0.4091145396232605, + 0.8092914819717407 + ], + "closest_active_finger_button": [ + 0.18346257507801056, + -0.42350074648857117, + 0.774729311466217 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14115192741155624, + 0.014386206865310669, + 0.03456217050552368 + ], + "min_contact_pad_to_button": 0.021065581085213538, + "closest_contact_pad": [ + 0.18348047137260437, + -0.4252038554245418, + 0.7892741031772779 + ], + "closest_contact_pad_button": [ + 0.18348047137260437, + -0.4234624207019806, + 0.7682806253433228 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0017414347225612192, + 0.02099347783395511 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 42, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1567e8e3216fef0d2efcb6a3eb08c9a12f7da9c4d86d5583a41665d177f50772", + "visual_seed": 3024881996146676428, + "episode_index": 42, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_43_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_43_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8c609fe4a4c1ac8d9b28d8f2dda9ff6aac6531b7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_43_success.json @@ -0,0 +1,926 @@ +{ + "episode": 43, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20299997735650654, + -0.0353709460045816, + 1.0453273382058719 + ], + "current_z": 1.0453273382058719, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.18874089040195108, + "gripper_z": 1.0503356693284605, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19797085552048804, + -0.04014431226174961, + 1.0503356693284605 + ], + "object_minus_gripper": [ + 0.005029121836018502, + 0.00477336625716801, + -0.005008331122588583 + ], + "object_to_gripper_xy": 0.0069337646244005315, + "object_to_gripper_z": -0.005008331122588583, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20299997735650654, + -0.05983726738775952, + 1.0453273382058719 + ], + "finger_b": [ + 0.19149237331735436, + -0.0353709460045816, + 1.0453273382058719 + ], + "finger_midpoint": [ + 0.19724617533693045, + -0.04760410669617056, + 1.0453273382058719 + ], + "object_minus_finger_midpoint": [ + 0.005753802019576093, + 0.01223316069158896, + 0.0 + ], + "finger_gap": 0.027037489394299553, + "fingertip_max_gap": 0.09278696051195973, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013518744697149776, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0453273382058719, + "object_top_z": 1.091171977575431, + "finger_top_clearance": 0.04584463936955907, + "fingertip_min_top_clearance": 0.013753391810867753, + "object_projection_between_fingers": 0.818850518285627, + "object_to_finger_line_xy": 0.010413272277847439, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048893480255979865, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.411985670903628, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 204, + "max_stable_success_frames": 204, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19837594942241446, + -0.03359472136527039, + 1.244438277106016 + ], + "held_position": [ + 0.20367905419897053, + -0.02848275803438786, + 1.2400813007190956 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008557939740591882, + "max_held_gripper_dist": 0.008560407227131259, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0043569763869204525, + "max_held_gripper_z_dist": 0.005036782793854666, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08503564898699685, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.20367905419897053, + -0.052432004544477884, + 1.2400813007190956 + ], + "held_grasp_finger_b": [ + 0.1935315166406532, + -0.02848275803438786, + 1.2400813007190956 + ], + "held_grasp_midpoint": [ + 0.19860528541981187, + -0.040457381289432874, + 1.2400813007190956 + ], + "held_grasp_object_position": [ + 0.20367905419897053, + -0.02848275803438786, + 1.2400813007190956 + ], + "held_grasp_finger_gap": 0.026010361914024185, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02337591448336673, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0343253280782825, + -0.9906045281736711, + -0.13237991016063153 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00492573047600747, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03316395016825147, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3294498497790101, + -0.3684305503495664, + 0.8470193778183419 + ], + "target_position": [ + 0.3239755243001122, + -0.37104346443851555, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006065934345600793, + "xy_threshold": 0.08, + "gripper_dist": 0.1875478085264723, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470193778183419, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07533418200096531, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08652623306909356, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1565529294387782, + "release_required_pad_clearance": 0.05326311653454678, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.5455683724246172, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008399546146392822, + "max_z_decrease": 0.008399546146392822, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03503059377988993, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008399546146392822, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02112415455091332, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008399546146392822, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008399605033707307, + "max_button_displacement": 0.12, + "button_start": [ + 0.17967544496059423, + -0.42730492353439337, + 0.7768088579177856 + ], + "button_final": [ + 0.17967544496059423, + -0.42730492353439337, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17981649487351237, + -0.4257133821957745, + 0.8034665119929646 + ], + "closest_button": [ + 0.17964890599250796, + -0.4272930920124054, + 0.7684719562530518 + ], + "closest_ee_minus_button": [ + 0.0001675888810044046, + 0.0015797098166309143, + 0.034994555739912836 + ], + "button_min_z_position": [ + 0.1796480417251587, + -0.42728948593139654, + 0.7684093117713928 + ], + "min_active_finger_to_button": 0.1451784397761304, + "closest_active_finger": [ + 0.05189289152622223, + -0.4867899715900421, + 0.8079478144645691 + ], + "closest_active_finger_button": [ + 0.17968782782554626, + -0.4273090958595276, + 0.7732021808624268 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12779493629932404, + -0.059480875730514526, + 0.034745633602142334 + ], + "min_contact_pad_to_button": 0.02112415455091332, + "closest_contact_pad": [ + 0.1796480417251587, + -0.42728948593139654, + 0.7895334663223061 + ], + "closest_contact_pad_button": [ + 0.1796480417251587, + -0.42728948593139654, + 0.7684093117713928 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02112415455091332 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 43, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ef1c0dcb0f5f64970c8bbbf3440e81e0ab717f035fc5598f5425cbd90b50af8e", + "visual_seed": 2205394266411513932, + "episode_index": 43, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_44_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_44_success.json new file mode 100644 index 0000000000000000000000000000000000000000..96f93c1fc023e447dd479adae2dc9eeb1b6174ba --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_44_success.json @@ -0,0 +1,926 @@ +{ + "episode": 44, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20377827968251191, + -0.030190746147745355, + 1.044094913523576 + ], + "current_z": 1.044094913523576, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.18750834651036563, + "gripper_z": 1.0491563084497366, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1987261541986885, + -0.03496921999605536, + 1.0491563084497366 + ], + "object_minus_gripper": [ + 0.005052125483823416, + 0.004778473848310004, + -0.005061394926160645 + ], + "object_to_gripper_xy": 0.006953976144859904, + "object_to_gripper_z": -0.005061394926160645, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20377827968251191, + -0.054637066928149514, + 1.044094913523576 + ], + "finger_b": [ + 0.19231709273238043, + -0.030190746147745355, + 1.044094913523576 + ], + "finger_midpoint": [ + 0.19804768620744617, + -0.04241390653794744, + 1.044094913523576 + ], + "object_minus_finger_midpoint": [ + 0.005730593475065743, + 0.012223160390202083, + 0.0 + ], + "finger_gap": 0.026999655664550325, + "fingertip_max_gap": 0.09396429274706794, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013499827832275164, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.044094913523576, + "object_top_z": 1.0902898089468693, + "finger_top_clearance": 0.04619489542329336, + "fingertip_min_top_clearance": 0.013858468626987974, + "object_projection_between_fingers": 0.8198049974609473, + "object_to_finger_line_xy": 0.010377312073463537, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04948214637353397, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.9594561858510644, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 206, + "max_stable_success_frames": 206, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19709722698650825, + -0.029989962340687362, + 1.2436845085630233 + ], + "held_position": [ + 0.20238708156255367, + -0.024911023409907862, + 1.239190045852591 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008601068372810538, + "max_held_gripper_dist": 0.008604022662515335, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.00449446271043219, + "max_held_gripper_z_dist": 0.005117650011992048, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.085514792808526, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.20238708156255367, + -0.0489605931278485, + 1.239190045852591 + ], + "held_grasp_finger_b": [ + 0.19226261608107634, + -0.024911023409907862, + 1.239190045852591 + ], + "held_grasp_midpoint": [ + 0.197324848821815, + -0.036935808268878184, + 1.239190045852591 + ], + "held_grasp_object_position": [ + 0.20238708156255367, + -0.024911023409907862, + 1.239190045852591 + ], + "held_grasp_finger_gap": 0.026093803956183034, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023605425777932686, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.026205795659954883, + -0.992564346533789, + -0.11886662384278068 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0049582498218018025, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03313219240327057, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.32666006089937594, + -0.3669600753320068, + 0.8470192864677488 + ], + "target_position": [ + 0.32188719184293885, + -0.3690012464170746, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005191017089974903, + "xy_threshold": 0.08, + "gripper_dist": 0.18472120224685676, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470192864677488, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07559594996181483, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08811600439157939, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15310898458866257, + "release_required_pad_clearance": 0.0540580021957897, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.125205164594237, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008714914321899414, + "max_z_decrease": 0.008714914321899414, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502842427195841, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008714914321899414, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.02099474239277308, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008714914321899414, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008715090756223504, + "max_button_displacement": 0.12, + "button_start": [ + 0.17758712172508234, + -0.4252627193927765, + 0.7768088579177856 + ], + "button_final": [ + 0.17758712172508234, + -0.4252627193927765, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17897045924899685, + -0.4256643769400919, + 0.8030925329087786 + ], + "closest_button": [ + 0.17759880423545832, + -0.42520850896835327, + 0.7680939435958862 + ], + "closest_ee_minus_button": [ + 0.0013716550135385308, + -0.0004558679717386327, + 0.03499858931289235 + ], + "button_min_z_position": [ + 0.17759880423545832, + -0.42520850896835327, + 0.7680939435958862 + ], + "min_active_finger_to_button": 0.14439912485239473, + "closest_active_finger": [ + 0.038070015609264374, + -0.41109520196914673, + 0.8105080127716064 + ], + "closest_active_finger_button": [ + 0.1775904595851898, + -0.4252656400203705, + 0.776093602180481 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13952044397592542, + 0.014170438051223755, + 0.03441441059112549 + ], + "min_contact_pad_to_button": 0.02099474239277308, + "closest_contact_pad": [ + 0.17759880423545832, + -0.4267038013209085, + 0.7890353692617594 + ], + "closest_contact_pad_button": [ + 0.17759880423545832, + -0.42520850896835327, + 0.7680939435958862 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0014952923525552442, + 0.020941425665873203 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 44, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "36a74cdd9876c66e33599e9196ed72e676cc8668e91095c006fa0e04076afbf5", + "visual_seed": 3809705790576254521, + "episode_index": 44, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_45_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_45_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e4ef77e0b9885933f0a8c319cb8b9144dfd9e159 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_45_success.json @@ -0,0 +1,926 @@ +{ + "episode": 45, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20147728564520082, + -0.03586918909935147, + 1.0461132531086428 + ], + "current_z": 1.0461132531086428, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.18952674570007721, + "gripper_z": 1.051104201615401, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19657936717629365, + -0.040500458671694356, + 1.051104201615401 + ], + "object_minus_gripper": [ + 0.004897918468907164, + 0.004631269572342889, + -0.004990948506758297 + ], + "object_to_gripper_xy": 0.006740790990660591, + "object_to_gripper_z": -0.004990948506758297, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20147728564520082, + -0.06033399169326316, + 1.0461132531086428 + ], + "finger_b": [ + 0.19032332873374544, + -0.03586918909935147, + 1.0461132531086428 + ], + "finger_midpoint": [ + 0.19590030718947313, + -0.04810159039630731, + 1.0461132531086428 + ], + "object_minus_finger_midpoint": [ + 0.005576978455727688, + 0.012232401296955846, + 0.0 + ], + "finger_gap": 0.026887493760885773, + "fingertip_max_gap": 0.0953355114012572, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013443746880442886, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0461132531086428, + "object_top_z": 1.0928697587134417, + "finger_top_clearance": 0.04675650560479894, + "fingertip_min_top_clearance": 0.01402695168143968, + "object_projection_between_fingers": 0.8279093481368918, + "object_to_finger_line_xy": 0.010148932303118573, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.050167755700628605, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.3627922673144344, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 206, + "max_stable_success_frames": 206, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19777131788354943, + -0.03311543751906325, + 1.2451665530700442 + ], + "held_position": [ + 0.20285777215423315, + -0.028092906217556876, + 1.2407748329281054 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008389579460704732, + "max_held_gripper_dist": 0.008393262660884972, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004391720141938782, + "max_held_gripper_z_dist": 0.00503032233145273, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08589239876956135, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.20285777215423315, + -0.05191296854232256, + 1.2407748329281054 + ], + "held_grasp_finger_b": [ + 0.19277346539031326, + -0.028092906217556876, + 1.2407748329281054 + ], + "held_grasp_midpoint": [ + 0.19781561877227322, + -0.04000293737993972, + 1.2407748329281054 + ], + "held_grasp_object_position": [ + 0.20285777215423315, + -0.028092906217556876, + 1.2407748329281054 + ], + "held_grasp_finger_gap": 0.025866747226208436, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023564612465738315, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.008531187508577691, + -0.992887560711619, + -0.11874978157379765 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005139525434022971, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033331887621044595, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33300529691112, + -0.36211132384678846, + 0.8470196005246362 + ], + "target_position": [ + 0.3296814312013764, + -0.3641623807645709, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.003905754438823929, + "xy_threshold": 0.08, + "gripper_dist": 0.18274397245354046, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196005246362, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07564582986026812, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08805165246174133, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15102861147987665, + "release_required_pad_clearance": 0.05402582623087067, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.062458788448176, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008428633213043213, + "max_z_decrease": 0.008428633213043213, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03503092600438847, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008428633213043213, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02102351685295456, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008428633213043213, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008428695725276433, + "max_button_displacement": 0.12, + "button_start": [ + 0.18538135290145868, + -0.42042383551597595, + 0.7768088579177856 + ], + "button_final": [ + 0.18538135290145868, + -0.42042383551597595, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1844579735268638, + -0.418886106196142, + 0.803365532260117 + ], + "closest_button": [ + 0.1854050904512405, + -0.4204016923904419, + 0.7683802247047424 + ], + "closest_ee_minus_button": [ + -0.0009471169243767119, + 0.0015155861942998672, + 0.034985307555374545 + ], + "button_min_z_position": [ + 0.1854050904512405, + -0.4204016923904419, + 0.7683802247047424 + ], + "min_active_finger_to_button": 0.1460257122774864, + "closest_active_finger": [ + 0.057976819574832916, + -0.4828474819660187, + 0.8106538653373718 + ], + "closest_active_finger_button": [ + 0.18538545072078702, + -0.4204261898994445, + 0.7760976552963257 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1274086311459541, + -0.06242129206657415, + 0.03455621004104614 + ], + "min_contact_pad_to_button": 0.02102351685295456, + "closest_contact_pad": [ + 0.1854050904512405, + -0.4204016923904419, + 0.789403741557697 + ], + "closest_contact_pad_button": [ + 0.1854050904512405, + -0.4204016923904419, + 0.7683802247047424 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02102351685295456 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 45, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "513cbd0aa18f6e56993e09e152a1d19c7b6cf43f27c8553d32df94bc600796d8", + "visual_seed": 7897984863869062531, + "episode_index": 45, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_46_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_46_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5b4a50f8c88edddb2428edf084a29922fc466a86 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_46_success.json @@ -0,0 +1,926 @@ +{ + "episode": 46, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2013557332296751, + -0.02903498786444599, + 1.0462852780354877 + ], + "current_z": 1.0462852780354877, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.1896987706269221, + "gripper_z": 1.0511928291248929, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.196336224839436, + -0.033763056078807585, + 1.0511928291248929 + ], + "object_minus_gripper": [ + 0.005019508390239097, + 0.004728068214361596, + -0.0049075510894052154 + ], + "object_to_gripper_xy": 0.006895657584258164, + "object_to_gripper_z": -0.0049075510894052154, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2013557332296751, + -0.053556556248626846, + 1.0462852780354877 + ], + "finger_b": [ + 0.19010335173575693, + -0.02903498786444599, + 1.0462852780354877 + ], + "finger_midpoint": [ + 0.195729542482716, + -0.041295772056536416, + 1.0462852780354877 + ], + "object_minus_finger_midpoint": [ + 0.005626190746959081, + 0.012260784192090427, + 0.0 + ], + "finger_gap": 0.026980055694989402, + "fingertip_max_gap": 0.09345687183025675, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013490027847494701, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0462852780354877, + "object_top_z": 1.0923211317176205, + "finger_top_clearance": 0.04603585368213281, + "fingertip_min_top_clearance": 0.013810756104639842, + "object_projection_between_fingers": 0.8260584996141639, + "object_to_finger_line_xy": 0.010227037534961384, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04922843591512838, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.6926361293045415, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 208, + "max_stable_success_frames": 208, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1956941362309776, + -0.02836755242320778, + 1.2458398932109351 + ], + "held_position": [ + 0.20093926428836106, + -0.023335570218056333, + 1.2414933148013378 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008469058809696003, + "max_held_gripper_dist": 0.008470713024259507, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.00434657840959729, + "max_held_gripper_z_dist": 0.004966900983999656, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08554027412385945, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.20093926428836106, + -0.047386591230935575, + 1.2414933148013378 + ], + "held_grasp_finger_b": [ + 0.19089918935751998, + -0.023335570218056333, + 1.2414933148013378 + ], + "held_grasp_midpoint": [ + 0.19591922682294052, + -0.03536108072449595, + 1.2414933148013378 + ], + "held_grasp_object_position": [ + 0.20093926428836106, + -0.023335570218056333, + 1.2414933148013378 + ], + "held_grasp_finger_gap": 0.02606251554203589, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02361537362956602, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.025362078946225376, + -0.9924739074405913, + -0.11980111853037931 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004930924772082737, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03313790097800576, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33112876114853024, + -0.3683278941022723, + 0.8470196055660133 + ], + "target_position": [ + 0.32576661270202306, + -0.3711222474699589, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006046573137396168, + "xy_threshold": 0.08, + "gripper_dist": 0.1855100502030848, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196055660133, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0753167970863105, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08701049148239003, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15453926295632564, + "release_required_pad_clearance": 0.053505245741195015, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.0220872338639513, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00850677490234375, + "max_z_decrease": 0.00850677490234375, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035049387733373925, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00850677490234375, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02095105553280341, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00850677490234375, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008506910975523042, + "max_button_displacement": 0.12, + "button_start": [ + 0.18146653473377222, + -0.4273836910724639, + 0.7768088579177856 + ], + "button_final": [ + 0.18146653473377222, + -0.4273836910724639, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18119103258478803, + -0.4253185484896906, + 0.8032909080357933 + ], + "closest_button": [ + 0.18150447309017176, + -0.42735409736633295, + 0.7683020830154419 + ], + "closest_ee_minus_button": [ + -0.000313440505383733, + 0.002035548876642368, + 0.03498882502035139 + ], + "button_min_z_position": [ + 0.18150447309017176, + -0.42735409736633295, + 0.7683020830154419 + ], + "min_active_finger_to_button": 0.14519403333011868, + "closest_active_finger": [ + 0.05488821864128113, + -0.489636093378067, + 0.8104458451271057 + ], + "closest_active_finger_button": [ + 0.18147081136703486, + -0.4273864924907684, + 0.776049017906189 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12658259272575373, + -0.06224960088729864, + 0.03439682722091675 + ], + "min_contact_pad_to_button": 0.02095105553280341, + "closest_contact_pad": [ + 0.18150447309017176, + -0.42735409736633295, + 0.7892531385482453 + ], + "closest_contact_pad_button": [ + 0.18150447309017176, + -0.42735409736633295, + 0.7683020830154419 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02095105553280341 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 46, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "85a0da19d3536965b396940917c6d277ee3df7ba237324cdebb14906084bb05b", + "visual_seed": 395149981113505531, + "episode_index": 46, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_47_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_47_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ca09fa4b8443a1fb9db6d7353febbaee3d4861d5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_47_success.json @@ -0,0 +1,926 @@ +{ + "episode": 47, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20413803373902606, + -0.03526795316476123, + 1.0449892352695604 + ], + "current_z": 1.0449892352695604, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.18840272786099488, + "gripper_z": 1.0499300256461872, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1990934458515966, + -0.040059199864295666, + 1.0499300256461872 + ], + "object_minus_gripper": [ + 0.0050445878874294525, + 0.004791246699534436, + -0.004940790376626758 + ], + "object_to_gripper_xy": 0.006957291994001659, + "object_to_gripper_z": -0.004940790376626758, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20413803373902606, + -0.05971327598694781, + 1.0449892352695604 + ], + "finger_b": [ + 0.1925801643141246, + -0.03526795316476123, + 1.0449892352695604 + ], + "finger_midpoint": [ + 0.19835909902657534, + -0.04749061457585452, + 1.0449892352695604 + ], + "object_minus_finger_midpoint": [ + 0.005778934712450723, + 0.012222661411093287, + 0.0 + ], + "finger_gap": 0.0270399362707087, + "fingertip_max_gap": 0.09365317091977365, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013519968135354346, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0449892352695604, + "object_top_z": 1.0912738410079421, + "finger_top_clearance": 0.04628460573838167, + "fingertip_min_top_clearance": 0.013885381721514517, + "object_projection_between_fingers": 0.8172976051771691, + "object_to_finger_line_xy": 0.010448835618538642, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04932658545988683, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.5792115258031465, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 205, + "max_stable_success_frames": 205, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1988520601611385, + -0.03420468374966944, + 1.2429031255716063 + ], + "held_position": [ + 0.20417413694699393, + -0.0290955950996676, + 1.2386070040206738 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008537209645341139, + "max_held_gripper_dist": 0.008539101661009211, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004296121550932508, + "max_held_gripper_z_dist": 0.0049722150978950275, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08542854551277176, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.20417413694699393, + -0.05304551435808279, + 1.2386070040206738 + ], + "held_grasp_finger_b": [ + 0.19402750937478364, + -0.0290955950996676, + 1.2386070040206738 + ], + "held_grasp_midpoint": [ + 0.19910082316088878, + -0.04107055472887519, + 1.2386070040206738 + ], + "held_grasp_object_position": [ + 0.20417413694699393, + -0.0290955950996676, + 1.2386070040206738 + ], + "held_grasp_finger_gap": 0.02601062635873548, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023376124937790864, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.03570268607955902, + -0.9911677171281829, + -0.1277179499115573 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004891610622946841, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033149900637938524, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3267594571382978, + -0.364314474299378, + 0.8470195996610985 + ], + "target_position": [ + 0.3212535661486188, + -0.3667588970994224, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00602412138121447, + "xy_threshold": 0.08, + "gripper_dist": 0.18446090396080156, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195996610985, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.075695693644543, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08752769256992153, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15271081472212325, + "release_required_pad_clearance": 0.05376384628496077, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.5368236892581266, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008629560470581055, + "max_z_decrease": 0.008629560470581055, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035033671026576355, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008629560470581055, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020949947588997254, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008629560470581055, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008629712593404521, + "max_button_displacement": 0.12, + "button_start": [ + 0.17695349454879752, + -0.4230203628540039, + 0.7768088579177856 + ], + "button_final": [ + 0.17695349454879752, + -0.4230203628540039, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1783004272156359, + -0.4226223479142878, + 0.8035544506255388 + ], + "closest_button": [ + 0.17693108320236198, + -0.4229804277420044, + 0.768549382686615 + ], + "closest_ee_minus_button": [ + 0.001369344013273932, + 0.0003580798277165731, + 0.03500506793892377 + ], + "button_min_z_position": [ + 0.17692135274410242, + -0.4229804575443268, + 0.7681792974472046 + ], + "min_active_finger_to_button": 0.1444832956145738, + "closest_active_finger": [ + 0.052091240882873535, + -0.4871073365211487, + 0.8111252188682556 + ], + "closest_active_finger_button": [ + 0.17695452272891993, + -0.42302379012107844, + 0.7768049240112305 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12486328184604639, + -0.06408354640007025, + 0.034320294857025146 + ], + "min_contact_pad_to_button": 0.020949947588997254, + "closest_contact_pad": [ + 0.17692135274410242, + -0.42364088181109055, + 0.7891188328711246 + ], + "closest_contact_pad_button": [ + 0.17692135274410242, + -0.4229804575443268, + 0.7681792974472046 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0006604242667637705, + 0.02093953542392002 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 47, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "40041d8b39caef11ecb2d5a8f29a24bfb42a40155d0d524508417b7298140732", + "visual_seed": 5176184260076502565, + "episode_index": 47, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_48_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_48_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5995842979ba91948e5046e4018cda2bfb18f784 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_48_success.json @@ -0,0 +1,926 @@ +{ + "episode": 48, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20040607084985232, + -0.029224717674352998, + 1.0447295396891465 + ], + "current_z": 1.0447295396891465, + "required_z": 0.8565864478039209, + "initial_z": 0.7565864478039209, + "lift_margin": 0.1881430918852256, + "gripper_z": 1.049563752742433, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1953928893015742, + -0.033943546161988136, + 1.049563752742433 + ], + "object_minus_gripper": [ + 0.005013181548278123, + 0.004718828487635138, + -0.0048342130532865735 + ], + "object_to_gripper_xy": 0.006884717244136695, + "object_to_gripper_z": -0.0048342130532865735, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20040607084985232, + -0.05372009368496761, + 1.0447295396891465 + ], + "finger_b": [ + 0.18910662776135345, + -0.029224717674352998, + 1.0447295396891465 + ], + "finger_midpoint": [ + 0.19475634930560287, + -0.041472405679660304, + 1.0447295396891465 + ], + "object_minus_finger_midpoint": [ + 0.0056497215442494475, + 0.012247688005307306, + 0.0 + ], + "finger_gap": 0.026975931124089463, + "fingertip_max_gap": 0.09343655072674278, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013487965562044738, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0447295396891465, + "object_top_z": 1.0908225925509913, + "finger_top_clearance": 0.04609305286184484, + "fingertip_min_top_clearance": 0.01382791585855347, + "object_projection_between_fingers": 0.8245468418050429, + "object_to_finger_line_xy": 0.010260409766399229, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049218275363371394, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.613404705029551, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 206, + "max_stable_success_frames": 206, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19523400359978366, + -0.028013461617086233, + 1.2443022267845574 + ], + "held_position": [ + 0.20048150714594346, + -0.022984459908917055, + 1.2400560010330257 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008417694742665524, + "max_held_gripper_dist": 0.008422089243442666, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004246225751531663, + "max_held_gripper_z_dist": 0.004884207582700251, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08503444354599855, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.20048150714594346, + -0.04696327314662733, + 1.2400560010330257 + ], + "held_grasp_finger_b": [ + 0.19040946032421485, + -0.022984459908917055, + 1.2400560010330257 + ], + "held_grasp_midpoint": [ + 0.19544548373507914, + -0.03497386652777219, + 1.2400560010330257 + ], + "held_grasp_object_position": [ + 0.20048150714594346, + -0.022984459908917055, + 1.2400560010330257 + ], + "held_grasp_finger_gap": 0.026008260446790412, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02351867059747363, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.026949981353403072, + -0.9921305043610877, + -0.1222733037963113 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004936376516304876, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03316944819303777, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3317264873511391, + -0.36800639330936263, + 0.847019593542678 + ], + "target_position": [ + 0.32645138292835824, + -0.37048158728623737, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005826947047502573, + "xy_threshold": 0.08, + "gripper_dist": 0.18627066711811846, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.847019593542678, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07522658916616243, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08685262926643765, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15554141736134852, + "release_required_pad_clearance": 0.05342631463321883, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.866702284056712, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008491337299346924, + "max_z_decrease": 0.008491337299346924, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0350175310956641, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008491337299346924, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.0210730698463521, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008491337299346924, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008491430826339684, + "max_button_displacement": 0.12, + "button_start": [ + 0.18215130269527427, + -0.42674306035041804, + 0.7768088579177856 + ], + "button_final": [ + 0.18215130269527427, + -0.42674306035041804, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18090768256456577, + -0.4277397672990662, + 0.8036398020658132 + ], + "closest_button": [ + 0.1821668297052383, + -0.4267243444919585, + 0.7686596512794495 + ], + "closest_ee_minus_button": [ + -0.0012591471406725174, + -0.001015422807107702, + 0.03498015078636374 + ], + "button_min_z_position": [ + 0.18217049539089197, + -0.42670813202857966, + 0.7683175206184387 + ], + "min_active_finger_to_button": 0.1469558199691393, + "closest_active_finger": [ + 0.04002407193183899, + -0.41247326135635376, + 0.8093235492706299 + ], + "closest_active_finger_button": [ + 0.18215611577033985, + -0.42674741148948664, + 0.7748163938522339 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14213204383850087, + 0.014274150133132879, + 0.034507155418395996 + ], + "min_contact_pad_to_button": 0.0210730698463521, + "closest_contact_pad": [ + 0.18217049539089197, + -0.4288339698532884, + 0.7892830896851794 + ], + "closest_contact_pad_button": [ + 0.18217049539089197, + -0.42670813202857966, + 0.7683175206184387 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002125837824708765, + 0.02096556906674063 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 48, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c7d21270d91c874aec234ba1e9dac52723a608373ad0bf8c24f3f856e7b2a09b", + "visual_seed": 6693680388180779333, + "episode_index": 48, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_49_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_49_success.json new file mode 100644 index 0000000000000000000000000000000000000000..131e514462c088905d2e3c155fd24b08f582b622 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_49_success.json @@ -0,0 +1,926 @@ +{ + "episode": 49, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20376686080983059, + -0.0346589230985631, + 1.043443657944851 + ], + "current_z": 1.043443657944851, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.18685715053628538, + "gripper_z": 1.0484636736248727, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1991633792604882, + -0.03926681045454575, + 1.0484636736248727 + ], + "object_minus_gripper": [ + 0.0046034815493423975, + 0.004607887355982644, + -0.00502001568002175 + ], + "object_to_gripper_xy": 0.006513422162009814, + "object_to_gripper_z": -0.00502001568002175, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20376686080983059, + -0.058711862225502336, + 1.043443657944851 + ], + "finger_b": [ + 0.19226349767100426, + -0.0346589230985631, + 1.043443657944851 + ], + "finger_midpoint": [ + 0.19801517924041742, + -0.04668539266203272, + 1.043443657944851 + ], + "object_minus_finger_midpoint": [ + 0.005751681569413164, + 0.012026469563469616, + 0.0 + ], + "finger_gap": 0.026662168781776786, + "fingertip_max_gap": 0.09264622448113566, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013331084390888393, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.043443657944851, + "object_top_z": 1.0897344794870296, + "finger_top_clearance": 0.04629082154217867, + "fingertip_min_top_clearance": 0.013887246462653602, + "object_projection_between_fingers": 0.8138518548991028, + "object_to_finger_line_xy": 0.010377613899225613, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04882311224056783, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9286603274087506, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 201, + "max_stable_success_frames": 201, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1985353861265487, + -0.03357062239729737, + 1.2394804164796414 + ], + "held_position": [ + 0.20346211542574072, + -0.028625177031010682, + 1.2351329623791194 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008223773380546714, + "max_held_gripper_dist": 0.008227241539324498, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0043474541005219525, + "max_held_gripper_z_dist": 0.005019526132253649, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08550215492528099, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.20346211542574072, + -0.05228756384065269, + 1.2351329623791194 + ], + "held_grasp_finger_b": [ + 0.1936684709056411, + -0.028625177031010682, + 1.2351329623791194 + ], + "held_grasp_midpoint": [ + 0.1985652931656909, + -0.04045637043583168, + 1.2351329623791194 + ], + "held_grasp_object_position": [ + 0.20346211542574072, + -0.028625177031010682, + 1.2351329623791194 + ], + "held_grasp_finger_gap": 0.02560906133608175, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.022804292353304546, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.061278270714302134, + -0.989098443101689, + -0.1339001246903064 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004461074956681722, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03319794118897619, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.32874602702567385, + -0.3631517637424159, + 0.8470196987980867 + ], + "target_position": [ + 0.32475763252525736, + -0.36510100111521304, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.004439236085911802, + "xy_threshold": 0.08, + "gripper_dist": 0.1828620176012204, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196987980867, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07582182601422115, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08594626380952895, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15069375686041944, + "release_required_pad_clearance": 0.05297313190476448, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.980377000807232, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00836801528930664, + "max_z_decrease": 0.00836801528930664, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502676121325058, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00836801528930664, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021192923447377814, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00836801528930664, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008368040155579784, + "max_button_displacement": 0.12, + "button_start": [ + 0.18045756220817566, + -0.4213624596595764, + 0.7768088579177856 + ], + "button_final": [ + 0.18045756220817566, + -0.4213624596595764, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17893191294663627, + -0.42223907564228164, + 0.8037841068089793 + ], + "closest_button": [ + 0.18043315410614014, + -0.4213559925556183, + 0.768800675868988 + ], + "closest_ee_minus_button": [ + -0.0015012411595038688, + -0.0008830830866633499, + 0.034983430939991234 + ], + "button_min_z_position": [ + 0.18045835196971896, + -0.42134207487106323, + 0.768440842628479 + ], + "min_active_finger_to_button": 0.14723914222735404, + "closest_active_finger": [ + 0.038374193012714386, + -0.4045393466949463, + 0.8079624772071838 + ], + "closest_active_finger_button": [ + 0.18046765029430392, + -0.42136737704277044, + 0.7732402682304382 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14209345728158954, + 0.016828030347824152, + 0.034722208976745605 + ], + "min_contact_pad_to_button": 0.021192923447377814, + "closest_contact_pad": [ + 0.18045835196971896, + -0.42355418422267077, + 0.7895180003226024 + ], + "closest_contact_pad_button": [ + 0.18045835196971896, + -0.42134207487106323, + 0.768440842628479 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0022121093516075385, + 0.02107715769412344 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 49, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "505e16bacf22f0bcb7a4d60e04dcd3b37e116e0d270b5d26d3be3a1d7dc7b240", + "visual_seed": 3199246315728818732, + "episode_index": 49, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_4_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_4_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ca4996b0e270c60f9060aa79ccd2a378913f77c9 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_4_success.json @@ -0,0 +1,926 @@ +{ + "episode": 4, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20040944157534035, + -0.02867853325961433, + 1.0452074006529033 + ], + "current_z": 1.0452074006529033, + "required_z": 0.8565865074085657, + "initial_z": 0.7565865074085657, + "lift_margin": 0.18862089324433762, + "gripper_z": 1.0502255144710113, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19564678233868157, + -0.033362530210637856, + 1.0502255144710113 + ], + "object_minus_gripper": [ + 0.004762659236658778, + 0.004683996951023527, + -0.0050181138181080165 + ], + "object_to_gripper_xy": 0.006680026230616828, + "object_to_gripper_z": -0.0050181138181080165, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20040944157534035, + -0.05285156071958974, + 1.0452074006529033 + ], + "finger_b": [ + 0.18884024088865362, + -0.02867853325961433, + 1.0452074006529033 + ], + "finger_midpoint": [ + 0.19462484123199697, + -0.04076504698960204, + 1.0452074006529033 + ], + "object_minus_finger_midpoint": [ + 0.005784600343343382, + 0.01208651372998771, + 0.0 + ], + "finger_gap": 0.026798911565762484, + "fingertip_max_gap": 0.09197622357392915, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01339945578288125, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0452074006529033, + "object_top_z": 1.0909257827172287, + "finger_top_clearance": 0.045718382064325436, + "fingertip_min_top_clearance": 0.013715514619297597, + "object_projection_between_fingers": 0.8136315478704284, + "object_to_finger_line_xy": 0.010435595684659583, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04848811178696458, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9854914515060482, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 204, + "max_stable_success_frames": 204, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1949184913092133, + -0.027427272073126202, + 1.2442228188823414 + ], + "held_position": [ + 0.20000741480705542, + -0.022423188168011674, + 1.2398796103161343 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00835472673077291, + "max_held_gripper_dist": 0.008357579581459053, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0043432085662071795, + "max_held_gripper_z_dist": 0.0050288418951314195, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08527912479186986, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.20000741480705542, + -0.04620084041662644, + 1.2398796103161343 + ], + "held_grasp_finger_b": [ + 0.19008365843590413, + -0.022423188168011674, + 1.2398796103161343 + ], + "held_grasp_midpoint": [ + 0.19504553662147978, + -0.03431201429231906, + 1.2398796103161343 + ], + "held_grasp_object_position": [ + 0.20000741480705542, + -0.022423188168011674, + 1.2398796103161343 + ], + "held_grasp_finger_gap": 0.02576543589714757, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023002538159273122, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.052287222208035826, + -0.9892239808982918, + -0.13675511694084277 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004634684661281255, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03318007023165742, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3272344334563583, + -0.36717222941766875, + 0.8470194856645102 + ], + "target_position": [ + 0.32303859473295143, + -0.3690953609626108, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.004615571203219769, + "xy_threshold": 0.08, + "gripper_dist": 0.18297684110966767, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470194856645102, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07532757231088932, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0851001115092289, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15202209976230868, + "release_required_pad_clearance": 0.05255005575461445, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.1678587294569272, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008683443069458008, + "max_z_decrease": 0.008683443069458008, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.034989562969495805, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008683443069458008, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.02094191987509909, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008683443069458008, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008683615482990056, + "max_button_displacement": 0.12, + "button_start": [ + 0.17873851954936984, + -0.42535680532455444, + 0.7768088579177856 + ], + "button_final": [ + 0.17873851954936984, + -0.42535680532455444, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17860041634777288, + -0.42500993247420915, + 0.8031132709847926 + ], + "closest_button": [ + 0.17876921594142917, + -0.42531150579452515, + 0.7681254148483276 + ], + "closest_ee_minus_button": [ + -0.00016879959365628805, + 0.0003015733203159954, + 0.034987856136464934 + ], + "button_min_z_position": [ + 0.17876921594142917, + -0.42531150579452515, + 0.7681254148483276 + ], + "min_active_finger_to_button": 0.14579208170493077, + "closest_active_finger": [ + 0.05229445546865463, + -0.4892931580543518, + 0.810462474822998 + ], + "closest_active_finger_button": [ + 0.17874205112457275, + -0.42536020278930664, + 0.7761271595954895 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12644759565591812, + -0.06393295526504517, + 0.034335315227508545 + ], + "min_contact_pad_to_button": 0.02094191987509909, + "closest_contact_pad": [ + 0.17876921594142917, + -0.4260595857851541, + 0.7890539691314761 + ], + "closest_contact_pad_button": [ + 0.17876921594142917, + -0.42531150579452515, + 0.7681254148483276 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0007480799906289803, + 0.020928554283148437 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 4, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f3fdda3617b5f105c68ddbe1f187f5888d79f547261454a8a89847189a5cb04d", + "visual_seed": 1334883504496065312, + "episode_index": 4, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_50_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_50_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ab337a4f2b02ebe5869d9d60cc425623918ca4f9 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_50_success.json @@ -0,0 +1,926 @@ +{ + "episode": 50, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.204158414665581, + -0.03250620222119108, + 1.0455060081588303 + ], + "current_z": 1.0455060081588303, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.18891956035490953, + "gripper_z": 1.0504016276504609, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19954294196055733, + -0.03705224662323696, + 1.0504016276504609 + ], + "object_minus_gripper": [ + 0.00461547270502366, + 0.004546044402045882, + -0.004895619491630532 + ], + "object_to_gripper_xy": 0.006478356890152867, + "object_to_gripper_z": -0.004895619491630532, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.204158414665581, + -0.056644612764102736, + 1.0455060081588303 + ], + "finger_b": [ + 0.19298015566864085, + -0.03250620222119108, + 1.0455060081588303 + ], + "finger_midpoint": [ + 0.19856928516711092, + -0.04457540749264691, + 1.0455060081588303 + ], + "object_minus_finger_midpoint": [ + 0.005589129498470069, + 0.01206920527145583, + 0.0 + ], + "finger_gap": 0.026601058959011797, + "fingertip_max_gap": 0.09194806629226712, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013300529479505899, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0455060081588303, + "object_top_z": 1.0911860880829212, + "finger_top_clearance": 0.045680079924090844, + "fingertip_min_top_clearance": 0.013704023977227253, + "object_projection_between_fingers": 0.8234163521413214, + "object_to_finger_line_xy": 0.010143408397346024, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04847403314613356, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0188605629353062, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 205, + "max_stable_success_frames": 205, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1981642501800891, + -0.03221995494151765, + 1.2444679565663115 + ], + "held_position": [ + 0.20305861488970736, + -0.027369571296688603, + 1.240164326475057 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008124177458372793, + "max_held_gripper_dist": 0.008127028075530375, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004303630091254451, + "max_held_gripper_z_dist": 0.004934351243001345, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08510924436943938, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.20305861488970736, + -0.05114715172306166, + 1.240164326475057 + ], + "held_grasp_finger_b": [ + 0.19342144712824377, + -0.027369571296688603, + 1.240164326475057 + ], + "held_grasp_midpoint": [ + 0.19824003100897558, + -0.039258361509875134, + 1.240164326475057 + ], + "held_grasp_object_position": [ + 0.20305861488970736, + -0.027369571296688603, + 1.240164326475057 + ], + "held_grasp_finger_gap": 0.025656350741974827, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023071882349168914, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.049175730319375714, + -0.9902520226966935, + -0.13031760852879135 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004508374841353616, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033190369028346, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.32773807864692295, + -0.3638367133986047, + 0.8470183482376139 + ], + "target_position": [ + 0.32364574218138603, + -0.3653608650744937, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.004366950432312984, + "xy_threshold": 0.08, + "gripper_dist": 0.18268217389000002, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470183482376139, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07513116326996014, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08534106903485493, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15215052865596265, + "release_required_pad_clearance": 0.05267053451742747, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.3916459308807846, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008665025234222412, + "max_z_decrease": 0.008665025234222412, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035044636595612785, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008665025234222412, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.02095057066920786, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008665025234222412, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008665185606697082, + "max_button_displacement": 0.12, + "button_start": [ + 0.1793456673622132, + -0.421622335910797, + 0.7768088579177856 + ], + "button_final": [ + 0.1793456673622132, + -0.421622335910797, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18087557537035506, + -0.4211995508488354, + 0.8035233921596452 + ], + "closest_button": [ + 0.17932331562042236, + -0.42158108949661244, + 0.7685152292251587 + ], + "closest_ee_minus_button": [ + 0.0015522597499326996, + 0.0003815386477770133, + 0.0350081629344865 + ], + "button_min_z_position": [ + 0.17931348085403445, + -0.42158058285713185, + 0.7681438326835632 + ], + "min_active_finger_to_button": 0.14432248433451245, + "closest_active_finger": [ + 0.039880022406578064, + -0.4076955318450928, + 0.8093302845954895 + ], + "closest_active_finger_button": [ + 0.17934903502464297, + -0.421627253293991, + 0.7749314308166504 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1394690126180649, + 0.013931721448898204, + 0.03439885377883911 + ], + "min_contact_pad_to_button": 0.02095057066920786, + "closest_contact_pad": [ + 0.17931348085403445, + -0.42213571516427245, + 0.7890870473242778 + ], + "closest_contact_pad_button": [ + 0.17931348085403445, + -0.42158058285713185, + 0.7681438326835632 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0005551323071406045, + 0.02094321464071458 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 50, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d0dfe10c72dbd5923e4fe44c611d734c3c3f9df42c7ac86e23e29aa50b641a2a", + "visual_seed": 7757266124127467067, + "episode_index": 50, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_52_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_52_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3ee8b2afe3aa8a4e246651567407d56642e0da2b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_52_success.json @@ -0,0 +1,926 @@ +{ + "episode": 52, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.1988104866195377, + -0.02886450660602397, + 1.045775463967997 + ], + "current_z": 1.045775463967997, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.1891888969547867, + "gripper_z": 1.050560203265466, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1938417843305299, + -0.03360656083603007, + 1.050560203265466 + ], + "object_minus_gripper": [ + 0.004968702289007809, + 0.0047420542300061035, + -0.004784739297468921 + ], + "object_to_gripper_xy": 0.006868411807478511, + "object_to_gripper_z": -0.004784739297468921, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1988104866195377, + -0.05328403348708372, + 1.045775463967997 + ], + "finger_b": [ + 0.1873255746789303, + -0.02886450660602397, + 1.045775463967997 + ], + "finger_midpoint": [ + 0.193068030649234, + -0.04107427004655385, + 1.045775463967997 + ], + "object_minus_finger_midpoint": [ + 0.005742455970303706, + 0.012209763440529878, + 0.0 + ], + "finger_gap": 0.026985486754518746, + "fingertip_max_gap": 0.09404072716202916, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013492743377259375, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.045775463967997, + "object_top_z": 1.0922940682735915, + "finger_top_clearance": 0.04651860430559451, + "fingertip_min_top_clearance": 0.013955581291678386, + "object_projection_between_fingers": 0.8188681482489856, + "object_to_finger_line_xy": 0.01039284999420306, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04952036358101458, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.6087870980949175, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 205, + "max_stable_success_frames": 205, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19432177429787267, + -0.026790494437930537, + 1.2434524582435753 + ], + "held_position": [ + 0.19955179617035645, + -0.021714664451720222, + 1.239334256922555 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008371186352962431, + "max_held_gripper_dist": 0.008373096481702364, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004118201321020365, + "max_held_gripper_z_dist": 0.004811560664754078, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08532333269958478, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.19955179617035645, + -0.045515769777277566, + 1.239334256922555 + ], + "held_grasp_finger_b": [ + 0.18942064006394302, + -0.021714664451720222, + 1.239334256922555 + ], + "held_grasp_midpoint": [ + 0.19448621811714972, + -0.03361521711449889, + 1.239334256922555 + ], + "held_grasp_object_position": [ + 0.19955179617035645, + -0.021714664451720222, + 1.239334256922555 + ], + "held_grasp_finger_gap": 0.025867604040010983, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023254024806327347, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.03303114738819717, + -0.9910744981898757, + -0.1291521673836935 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004919554625128669, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033238568852083324, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3298522327087048, + -0.36220505502026135, + 0.8470195188219933 + ], + "target_position": [ + 0.3261288671826651, + -0.36416592276169574, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.004208141292767964, + "xy_threshold": 0.08, + "gripper_dist": 0.18408569560075796, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195188219933, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07587110730214221, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08742540113546353, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1519485617359725, + "release_required_pad_clearance": 0.053712700567731766, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.4348011599767005, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008665084838867188, + "max_z_decrease": 0.008665084838867188, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501660978173126, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008665084838867188, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.0212605294739332, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008665084838867188, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00866525759144799, + "max_button_displacement": 0.12, + "button_start": [ + 0.18182879686355585, + -0.4204273819923401, + 0.7768088579177856 + ], + "button_final": [ + 0.18182879686355585, + -0.4204273819923401, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18243642156144882, + -0.42148831670881154, + 0.8031370962531466 + ], + "closest_button": [ + 0.18180842697620386, + -0.42037659883499146, + 0.7681437730789185 + ], + "closest_ee_minus_button": [ + 0.0006279945852449564, + -0.001111717873820084, + 0.0349933231742281 + ], + "button_min_z_position": [ + 0.18180842697620386, + -0.42037659883499146, + 0.7681437730789185 + ], + "min_active_finger_to_button": 0.14518580898414737, + "closest_active_finger": [ + 0.041837550699710846, + -0.40415430068969727, + 0.8075736165046692 + ], + "closest_active_finger_button": [ + 0.18184041976928705, + -0.420430988073349, + 0.7727428078651428 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1400028690695762, + 0.016276687383651733, + 0.03483080863952637 + ], + "min_contact_pad_to_button": 0.0212605294739332, + "closest_contact_pad": [ + 0.18180842697620386, + -0.42278207909195814, + 0.7892677825999664 + ], + "closest_contact_pad_button": [ + 0.18180842697620386, + -0.42037659883499146, + 0.7681437730789185 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0024054802569666855, + 0.02112400952104798 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 52, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "638ef371a15cd445baff808cd65caf4a00bdf8e338e15014bfc3d506f4ffe3dc", + "visual_seed": 6955736923574982884, + "episode_index": 52, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_53_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_53_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f71e25cd49f504370d5dab2c16ca06f292708e50 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_53_success.json @@ -0,0 +1,926 @@ +{ + "episode": 53, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20309094287436102, + -0.030841564739848136, + 1.044533363558638 + ], + "current_z": 1.044533363558638, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.18794691575471723, + "gripper_z": 1.0495536139776618, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19831093660937088, + -0.03558098267053435, + 1.0495536139776618 + ], + "object_minus_gripper": [ + 0.004780006264990144, + 0.004739417930686211, + -0.005020250419023764 + ], + "object_to_gripper_xy": 0.006731310586732349, + "object_to_gripper_z": -0.005020250419023764, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20309094287436102, + -0.054946934100356004, + 1.044533363558638 + ], + "finger_b": [ + 0.1913243817596753, + -0.030841564739848136, + 1.044533363558638 + ], + "finger_midpoint": [ + 0.19720766231701817, + -0.042894249420102074, + 1.044533363558638 + ], + "object_minus_finger_midpoint": [ + 0.005883280557342857, + 0.012052684680253938, + 0.0 + ], + "finger_gap": 0.02682388473864562, + "fingertip_max_gap": 0.09090016104672369, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013411942369322813, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.044533363558638, + "object_top_z": 1.0898394048058684, + "finger_top_clearance": 0.045306041247230366, + "fingertip_min_top_clearance": 0.013591812374169144, + "object_projection_between_fingers": 0.8075775406156958, + "object_to_finger_line_xy": 0.010574057580997847, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047950080523361846, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9536601419411086, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 202, + "max_stable_success_frames": 202, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19665568171876868, + -0.029795608294023723, + 1.2448555792036418 + ], + "held_position": [ + 0.20178093397903454, + -0.024761014145860225, + 1.2405041776282577 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008399407398045249, + "max_held_gripper_dist": 0.008401395598410917, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004351401575384051, + "max_held_gripper_z_dist": 0.005023786719918544, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08575894505078993, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.20178093397903454, + -0.048553155644442875, + 1.2405041776282577 + ], + "held_grasp_finger_b": [ + 0.19172387230446625, + -0.024761014145860225, + 1.2405041776282577 + ], + "held_grasp_midpoint": [ + 0.1967524031417504, + -0.03665708489515155, + 1.2405041776282577 + ], + "held_grasp_object_position": [ + 0.20178093397903454, + -0.024761014145860225, + 1.2405041776282577 + ], + "held_grasp_finger_gap": 0.025830417855982297, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02295061002378267, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.055780938773962875, + -0.9882087481153544, + -0.14259017153289252 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0046829656921703435, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03316392761240437, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3340599057979907, + -0.361610748001193, + 0.8470194965135509 + ], + "target_position": [ + 0.32909182165744594, + -0.36442370513273814, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005709167001537361, + "xy_threshold": 0.08, + "gripper_dist": 0.18460406338728497, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470194965135509, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07566183863044092, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0857364451944299, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1531504302557462, + "release_required_pad_clearance": 0.05286822259721495, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7783304023309442, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008427441120147705, + "max_z_decrease": 0.008427441120147705, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03505693566057474, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008427441120147705, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02113905615663303, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008427441120147705, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008427469125358108, + "max_button_displacement": 0.12, + "button_start": [ + 0.18479174375534058, + -0.42068517208099365, + 0.7768088579177856 + ], + "button_final": [ + 0.18479174375534058, + -0.42068517208099365, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1861219156695637, + -0.4191318343748079, + 0.8033796142273152 + ], + "closest_button": [ + 0.184791848063469, + -0.420663446187973, + 0.7683814167976379 + ], + "closest_ee_minus_button": [ + 0.0013300676060947203, + 0.0015316118131651346, + 0.03499819742967725 + ], + "button_min_z_position": [ + 0.184791848063469, + -0.420663446187973, + 0.7683814167976379 + ], + "min_active_finger_to_button": 0.1441292771681999, + "closest_active_finger": [ + 0.0590616911649704, + -0.48195546865463257, + 0.8079421520233154 + ], + "closest_active_finger_button": [ + 0.18480312824249273, + -0.4206891655921936, + 0.7731746435165405 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12574143707752233, + -0.061266303062438965, + 0.0347675085067749 + ], + "min_contact_pad_to_button": 0.02113905615663303, + "closest_contact_pad": [ + 0.184791848063469, + -0.420663446187973, + 0.789520472954271 + ], + "closest_contact_pad_button": [ + 0.184791848063469, + -0.420663446187973, + 0.7683814167976379 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02113905615663303 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 53, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a289f3ce40e2c09eb98bd71970e1e120b39ffbf0a5c7da7844422069b1f66a75", + "visual_seed": 7433869188221684642, + "episode_index": 53, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_54_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_54_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7c52b604684886f302a4f330ca369b9e0a716b03 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_54_success.json @@ -0,0 +1,926 @@ +{ + "episode": 54, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20338981767960604, + -0.03217479173448313, + 1.0456872195390108 + ], + "current_z": 1.0456872195390108, + "required_z": 0.8565865670132101, + "initial_z": 0.7565865670132101, + "lift_margin": 0.18910065252580066, + "gripper_z": 1.0508894372543833, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19853615805613312, + -0.036972448222045984, + 1.0508894372543833 + ], + "object_minus_gripper": [ + 0.004853659623472922, + 0.0047976564875628555, + -0.005202217715372548 + ], + "object_to_gripper_xy": 0.0068246259614124834, + "object_to_gripper_z": -0.005202217715372548, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20338981767960604, + -0.05632494897023684, + 1.0456872195390108 + ], + "finger_b": [ + 0.19149609417452046, + -0.03217479173448313, + 1.0456872195390108 + ], + "finger_midpoint": [ + 0.19744295592706324, + -0.044249870352359985, + 1.0456872195390108 + ], + "object_minus_finger_midpoint": [ + 0.005946861752542804, + 0.012075078617876857, + 0.0 + ], + "finger_gap": 0.026920080856621745, + "fingertip_max_gap": 0.09287099079103917, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01346004042831088, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0456872195390108, + "object_top_z": 1.0919412985456964, + "finger_top_clearance": 0.046254079006685656, + "fingertip_min_top_clearance": 0.01387622370200568, + "object_projection_between_fingers": 0.8047985873064065, + "object_to_finger_line_xy": 0.01066992682140264, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048935495395519585, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0659603079685032, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 203, + "max_stable_success_frames": 203, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19727788942704866, + -0.031122441330541345, + 1.2423830408236172 + ], + "held_position": [ + 0.2024641428622271, + -0.02599255877792873, + 1.2378653184021704 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008580369198044013, + "max_held_gripper_dist": 0.008584205328213556, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004517722421446768, + "max_held_gripper_z_dist": 0.005194509077504295, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08536132256685493, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2024641428622271, + -0.04979101910022843, + 1.2378653184021704 + ], + "held_grasp_finger_b": [ + 0.19227251263081255, + -0.02599255877792873, + 1.2378653184021704 + ], + "held_grasp_midpoint": [ + 0.19736832774651983, + -0.03789178893907858, + 1.2378653184021704 + ], + "held_grasp_object_position": [ + 0.2024641428622271, + -0.02599255877792873, + 1.2378653184021704 + ], + "held_grasp_finger_gap": 0.025888917329350725, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02296327476683078, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.057432379654857105, + -0.9895011704399097, + -0.13262335942521353 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004684796527460409, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03313325800564287, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33332777268777947, + -0.36099389541377813, + 0.8470195845991486 + ], + "target_position": [ + 0.3275777169666649, + -0.3643978039372785, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006682045647276068, + "xy_threshold": 0.08, + "gripper_dist": 0.18383693844653728, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195845991486, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07587189017860452, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08550259789046354, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15193935124179772, + "release_required_pad_clearance": 0.05275129894523177, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.552491032133223, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00845569372177124, + "max_z_decrease": 0.00845569372177124, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500493358890602, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00845569372177124, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021079847112134478, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00845569372177124, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008455774652076873, + "max_button_displacement": 0.12, + "button_start": [ + 0.18327763676643372, + -0.4206592738628388, + 0.7768088579177856 + ], + "button_final": [ + 0.18327763676643372, + -0.4206592738628388, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18379539354762206, + -0.42099358776243756, + 0.803716288654344 + ], + "closest_button": [ + 0.1832586824893951, + -0.4206367433071137, + 0.7687172889709473 + ], + "closest_ee_minus_button": [ + 0.0005367110582269463, + -0.000356844455323857, + 0.0349989996833967 + ], + "button_min_z_position": [ + 0.183248832821846, + -0.4206360578536988, + 0.7683531641960144 + ], + "min_active_finger_to_button": 0.14530701857434053, + "closest_active_finger": [ + 0.04293244332075119, + -0.40590476989746094, + 0.8088216185569763 + ], + "closest_active_finger_button": [ + 0.18328501284122467, + -0.4206643104553223, + 0.7742175459861755 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14035256952047348, + 0.014759540557861384, + 0.03460407257080078 + ], + "min_contact_pad_to_button": 0.021079847112134478, + "closest_contact_pad": [ + 0.183248832821846, + -0.4220730366438317, + 0.789383976025986 + ], + "closest_contact_pad_button": [ + 0.183248832821846, + -0.4206360578536988, + 0.7683531641960144 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0014369787901329367, + 0.021030811829971574 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 54, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "97efa13b4414947e2a661084f5fd9e8b5b61d7310d540fc1887799197e533db1", + "visual_seed": 3131577097101923007, + "episode_index": 54, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_55_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_55_success.json new file mode 100644 index 0000000000000000000000000000000000000000..96711c7c8cc505e512ae1db6b38c122aa481de70 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_55_success.json @@ -0,0 +1,926 @@ +{ + "episode": 55, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.19852585778904672, + -0.029630743877798287, + 1.0461607777514752 + ], + "current_z": 1.0461607777514752, + "required_z": 0.8565865670132101, + "initial_z": 0.7565865670132101, + "lift_margin": 0.18957421073826508, + "gripper_z": 1.0509823923003252, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19386604278961783, + -0.034203465204262096, + 1.0509823923003252 + ], + "object_minus_gripper": [ + 0.004659814999428885, + 0.004572721326463809, + -0.004821614548849995 + ], + "object_to_gripper_xy": 0.0065286795110802735, + "object_to_gripper_z": -0.004821614548849995, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19852585778904672, + -0.053837137028939254, + 1.0461607777514752 + ], + "finger_b": [ + 0.18725177874490365, + -0.029630743877798287, + 1.0461607777514752 + ], + "finger_midpoint": [ + 0.19288881826697518, + -0.04173394045336877, + 1.0461607777514752 + ], + "object_minus_finger_midpoint": [ + 0.005637039522071535, + 0.012103196575570484, + 0.0 + ], + "finger_gap": 0.026703077120084687, + "fingertip_max_gap": 0.09275050379233349, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013351538560042344, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0461607777514752, + "object_top_z": 1.0923412477653207, + "finger_top_clearance": 0.04618047001384551, + "fingertip_min_top_clearance": 0.013854141004153652, + "object_projection_between_fingers": 0.8217458987915782, + "object_to_finger_line_xy": 0.010219975343377262, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048875251896166746, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9673696974861857, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 205, + "max_stable_success_frames": 205, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19446465030976173, + -0.02723993472454589, + 1.2429660744701159 + ], + "held_position": [ + 0.19937618029086382, + -0.022300286109470616, + 1.2388003630831068 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008116428189513945, + "max_held_gripper_dist": 0.008119269442158478, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004165711387009052, + "max_held_gripper_z_dist": 0.004833382805320197, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08537094913631167, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.19937618029086382, + -0.045892920268849245, + 1.2388003630831068 + ], + "held_grasp_finger_b": [ + 0.18947643525142882, + -0.022300286109470616, + 1.2388003630831068 + ], + "held_grasp_midpoint": [ + 0.19442630777114633, + -0.03409660318915993, + 1.2388003630831068 + ], + "held_grasp_object_position": [ + 0.19937618029086382, + -0.022300286109470616, + 1.2388003630831068 + ], + "held_grasp_finger_gap": 0.025585490779426085, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02290920736495105, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0447503571360215, + -0.9898099692161022, + -0.13517999251596868 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004701165143034473, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03330260415726498, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33310724544263026, + -0.36247491336472165, + 0.8470195061831733 + ], + "target_position": [ + 0.32887478419884536, + -0.3650288258463733, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0049432982050527105, + "xy_threshold": 0.08, + "gripper_dist": 0.18292359004926995, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195061831733, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07536294433181123, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08520555693779351, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1520131329290772, + "release_required_pad_clearance": 0.05260277846889676, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.2683407229423304, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008385121822357178, + "max_z_decrease": 0.008385121822357178, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0350294267112295, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008385121822357178, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021182638910082655, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008385121822357178, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008385142028032118, + "max_button_displacement": 0.12, + "button_start": [ + 0.18457470834255216, + -0.4212902784347534, + 0.7768088579177856 + ], + "button_final": [ + 0.18457470834255216, + -0.4212902784347534, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18309017891086232, + -0.4207260560247117, + 0.8077317616720936 + ], + "closest_button": [ + 0.1845642030239105, + -0.4212909042835235, + 0.7727379202842712 + ], + "closest_ee_minus_button": [ + -0.0014740241130481724, + 0.000564848258811812, + 0.034993841387822355 + ], + "button_min_z_position": [ + 0.1845645904541015, + -0.42127490043640137, + 0.7684237360954285 + ], + "min_active_finger_to_button": 0.1473908634375, + "closest_active_finger": [ + 0.05479723960161209, + -0.48181456327438354, + 0.8081446290016174 + ], + "closest_active_finger_button": [ + 0.1845855414867401, + -0.4212939441204071, + 0.7732688784599304 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12978830188512802, + -0.06052061915397644, + 0.03487575054168701 + ], + "min_contact_pad_to_button": 0.021182638910082655, + "closest_contact_pad": [ + 0.1845645904541015, + -0.42202931443323183, + 0.7895929366168543 + ], + "closest_contact_pad_button": [ + 0.1845645904541015, + -0.42127490043640137, + 0.7684237360954285 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0007544139968304608, + 0.02116920052142579 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 55, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0b19b29f9e52feae9eb6b14bd09181840da06f7a0af4fbe835b9204595c0b6b0", + "visual_seed": 6082170185815256659, + "episode_index": 55, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_56_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_56_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a7e7ff72204dfcbff3167cf3223b4d2497c3481b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_56_success.json @@ -0,0 +1,926 @@ +{ + "episode": 56, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2003523977201975, + -0.026974743768783414, + 1.0435232607518605 + ], + "current_z": 1.0435232607518605, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.18693675334329496, + "gripper_z": 1.0486319675675413, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.195640817157478, + -0.03164265687449547, + 1.0486319675675413 + ], + "object_minus_gripper": [ + 0.004711580562719503, + 0.004667913105712053, + -0.005108706815680764 + ], + "object_to_gripper_xy": 0.0066323754538984425, + "object_to_gripper_z": -0.005108706815680764, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2003523977201975, + -0.05109094801195015, + 1.0435232607518605 + ], + "finger_b": [ + 0.18880107311601793, + -0.026974743768783414, + 1.0435232607518605 + ], + "finger_midpoint": [ + 0.19457673541810772, + -0.039032845890366784, + 1.0435232607518605 + ], + "object_minus_finger_midpoint": [ + 0.005775662302089785, + 0.01205810212158337, + 0.0 + ], + "finger_gap": 0.026739940299283723, + "fingertip_max_gap": 0.09157952033665645, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013369970149641862, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0435232607518605, + "object_top_z": 1.089031538833567, + "finger_top_clearance": 0.04550827808170643, + "fingertip_min_top_clearance": 0.013652483424511946, + "object_projection_between_fingers": 0.8133866497901602, + "object_to_finger_line_xy": 0.010417902968952168, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04828976016832823, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8838676707399161, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 203, + "max_stable_success_frames": 203, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19415293611663437, + -0.025754712844272595, + 1.2408716918267588 + ], + "held_position": [ + 0.19913258779663387, + -0.020725786570019937, + 1.2364024608915802 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008370248232755579, + "max_held_gripper_dist": 0.008373201460666212, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004469230935178592, + "max_held_gripper_z_dist": 0.005123277398433768, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08483717576365488, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.19913258779663387, + -0.04439544327249145, + 1.2364024608915802 + ], + "held_grasp_finger_b": [ + 0.18910850708496496, + -0.020725786570019937, + 1.2364024608915802 + ], + "held_grasp_midpoint": [ + 0.19412054744079943, + -0.0325606149212557, + 1.2364024608915802 + ], + "held_grasp_object_position": [ + 0.19913258779663387, + -0.020725786570019937, + 1.2364024608915802 + ], + "held_grasp_finger_gap": 0.025704763031915066, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.022911529664587496, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.04963474882411346, + -0.9889907862693892, + -0.13940450632394438 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004722515113071518, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.0332469174052007, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3298145400549515, + -0.3673330417690279, + 0.8470196117464844 + ], + "target_position": [ + 0.32419551126013196, + -0.37022814784706665, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006321006549601701, + "xy_threshold": 0.08, + "gripper_dist": 0.18653100209067439, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196117464844, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07528392103313851, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08539122372119122, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1558487731154034, + "release_required_pad_clearance": 0.05269561186059561, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.44587149394114417, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008458375930786133, + "max_z_decrease": 0.008458375930786133, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035013339830416136, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008458375930786133, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021023907353759794, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008458375930786133, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008458421641059817, + "max_button_displacement": 0.12, + "button_start": [ + 0.1798954308032989, + -0.4264895915985107, + 0.7768088579177856 + ], + "button_final": [ + 0.1798954308032989, + -0.4264895915985107, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17970815513861918, + -0.42534394214673993, + 0.8033453909442693 + ], + "closest_button": [ + 0.17987938225269312, + -0.42646688222885126, + 0.7683504819869995 + ], + "closest_ee_minus_button": [ + -0.00017122711407394076, + 0.0011229400821113344, + 0.034994908957269755 + ], + "button_min_z_position": [ + 0.17987938225269312, + -0.42646688222885126, + 0.7683504819869995 + ], + "min_active_finger_to_button": 0.1455754886219833, + "closest_active_finger": [ + 0.05254089832305908, + -0.48796477913856506, + 0.8106356263160706 + ], + "closest_active_finger_button": [ + 0.17989943921566007, + -0.42649203538894653, + 0.7760939598083496 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12735854089260099, + -0.06147274374961853, + 0.03454166650772095 + ], + "min_contact_pad_to_button": 0.021023907353759794, + "closest_contact_pad": [ + 0.17987938225269312, + -0.42655359727767167, + 0.7893742105078824 + ], + "closest_contact_pad_button": [ + 0.17987938225269312, + -0.42646688222885126, + 0.7683504819869995 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -8.671504882040715e-05, + 0.021023728520882856 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 56, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1ef57b01f53210285ce2f1f7d09bf247f94946cdbeb2bab570ec8a946b18167e", + "visual_seed": 2371484627537306613, + "episode_index": 56, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_57_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_57_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d168208cba7b503161142375c80d33b1bf6a14c5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_57_success.json @@ -0,0 +1,926 @@ +{ + "episode": 57, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2042208302399628, + -0.03306314974518607, + 1.0449598342733954 + ], + "current_z": 1.0449598342733954, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.18837338646947466, + "gripper_z": 1.0499563065795567, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19959955585885467, + -0.037699534452333136, + 1.0499563065795567 + ], + "object_minus_gripper": [ + 0.004621274381108126, + 0.0046363847071470635, + -0.0049964723061612926 + ], + "object_to_gripper_xy": 0.006546162238911701, + "object_to_gripper_z": -0.0049964723061612926, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2042208302399628, + -0.05710859679708482, + 1.0449598342733954 + ], + "finger_b": [ + 0.19269636173461033, + -0.03306314974518607, + 1.0449598342733954 + ], + "finger_midpoint": [ + 0.19845859598728655, + -0.045085873271135446, + 1.0449598342733954 + ], + "object_minus_finger_midpoint": [ + 0.005762234252676246, + 0.012022723525949373, + 0.0 + ], + "finger_gap": 0.026664525089649112, + "fingertip_max_gap": 0.09271341805701849, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013332262544824561, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0449598342733954, + "object_top_z": 1.0911048176909168, + "finger_top_clearance": 0.04614498341752138, + "fingertip_min_top_clearance": 0.01384349502525638, + "object_projection_between_fingers": 0.8132011902491564, + "object_to_finger_line_xy": 0.01039249700923039, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04885670902850925, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9615179401449604, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 203, + "max_stable_success_frames": 203, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1979091339231341, + -0.032203820587036566, + 1.241223359083852 + ], + "held_position": [ + 0.20280085630482753, + -0.027221720579317134, + 1.2368595431297311 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008233660062688873, + "max_held_gripper_dist": 0.008236433518237926, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004363815954120831, + "max_held_gripper_z_dist": 0.005006608203961926, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08541836450953932, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.20280085630482753, + -0.050831104676674156, + 1.2368595431297311 + ], + "held_grasp_finger_b": [ + 0.19290272027787728, + -0.027221720579317134, + 1.2368595431297311 + ], + "held_grasp_midpoint": [ + 0.19785178829135242, + -0.039026412627995645, + 1.2368595431297311 + ], + "held_grasp_object_position": [ + 0.20280085630482753, + -0.027221720579317134, + 1.2368595431297311 + ], + "held_grasp_finger_gap": 0.025600314729794734, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02284031403450519, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0529643553063973, + -0.9896303237543247, + -0.1335162887923731 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004601652741358361, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03325581955515573, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.32804876827496193, + -0.36702162960193785, + 0.8470195503726259 + ], + "target_position": [ + 0.3232013886751374, + -0.3695877337649831, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005484704145201727, + "xy_threshold": 0.08, + "gripper_dist": 0.1840776111189135, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195503726259, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07532421341603819, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08547962691398268, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15315203790673285, + "release_required_pad_clearance": 0.052739813456991344, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5308163320500793, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00866478681564331, + "max_z_decrease": 0.00866478681564331, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035021445231644764, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00866478681564331, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02097774331045099, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00866478681564331, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008664911071202819, + "max_button_displacement": 0.12, + "button_start": [ + 0.1789013147354125, + -0.42584919929504395, + 0.7768088579177856 + ], + "button_final": [ + 0.1789013147354125, + -0.42584919929504395, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17854525378127142, + -0.4242681230840267, + 0.8031292081213246 + ], + "closest_button": [ + 0.17893236875534047, + -0.42581471800804144, + 0.7681440711021423 + ], + "closest_ee_minus_button": [ + -0.0003871149740690416, + 0.0015465949240147103, + 0.034985137019182266 + ], + "button_min_z_position": [ + 0.17893236875534047, + -0.42581471800804144, + 0.7681440711021423 + ], + "min_active_finger_to_button": 0.14550956042050223, + "closest_active_finger": [ + 0.0515790656208992, + -0.48727700114250183, + 0.8106066584587097 + ], + "closest_active_finger_button": [ + 0.17890627682209004, + -0.4258524775505066, + 0.7761415839195251 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12732721120119084, + -0.06142452359199524, + 0.03446507453918457 + ], + "min_contact_pad_to_button": 0.02097774331045099, + "closest_contact_pad": [ + 0.17893236875534047, + -0.42581471800804144, + 0.7891218144125933 + ], + "closest_contact_pad_button": [ + 0.17893236875534047, + -0.42581471800804144, + 0.7681440711021423 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02097774331045099 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 57, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "de13453c88f477fcfce04ded909e7c944f74243c370202a0714fedfb86f89431", + "visual_seed": 6770520227768182222, + "episode_index": 57, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_58_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_58_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ffdd5257a540aec930dc22e507351e9ce8119bda --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_58_success.json @@ -0,0 +1,926 @@ +{ + "episode": 58, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2027660690179165, + -0.02891001730704143, + 1.0458714387773276 + ], + "current_z": 1.0458714387773276, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.18928505057805156, + "gripper_z": 1.0509925905722788, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19780891094705302, + -0.03366407020483088, + 1.0509925905722788 + ], + "object_minus_gripper": [ + 0.004957158070863471, + 0.004754052897789449, + -0.005121151794951206 + ], + "object_to_gripper_xy": 0.006868364804995954, + "object_to_gripper_z": -0.005121151794951206, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2027660690179165, + -0.05326265422294272, + 1.0458714387773276 + ], + "finger_b": [ + 0.19127332119828577, + -0.02891001730704143, + 1.0458714387773276 + ], + "finger_midpoint": [ + 0.19701969510810113, + -0.04108633576499207, + 1.0458714387773276 + ], + "object_minus_finger_midpoint": [ + 0.005746373909815361, + 0.012176318457950641, + 0.0 + ], + "finger_gap": 0.02692831552851654, + "fingertip_max_gap": 0.0934444391090204, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013464157764258267, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0458714387773276, + "object_top_z": 1.091889447723008, + "finger_top_clearance": 0.04601800894568053, + "fingertip_min_top_clearance": 0.013805402683704176, + "object_projection_between_fingers": 0.8178499144047551, + "object_to_finger_line_xy": 0.010393472793390939, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0492222195545102, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.7850752645644625, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 207, + "max_stable_success_frames": 207, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19621918396408763, + -0.02871123652759254, + 1.2462587000520093 + ], + "held_position": [ + 0.20145669729351262, + -0.023655814390682376, + 1.24174016649808 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008567729240367632, + "max_held_gripper_dist": 0.008569693728900108, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004518533553929283, + "max_held_gripper_z_dist": 0.005168254431330954, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08544634648013222, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.20145669729351262, + -0.04766750762093847, + 1.24174016649808 + ], + "held_grasp_finger_b": [ + 0.19145989611158062, + -0.023655814390682376, + 1.24174016649808 + ], + "held_grasp_midpoint": [ + 0.1964582967025466, + -0.035661661005810426, + 1.24174016649808 + ], + "held_grasp_object_position": [ + 0.20145669729351262, + -0.023655814390682376, + 1.24174016649808 + ], + "held_grasp_finger_gap": 0.026009564503370743, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023470266204576245, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.03416843700784032, + -0.9916768904092411, + -0.1241348578792407 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004824674196229368, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033123516792057904, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3318241864298097, + -0.36284067604789655, + 0.8470196973843284 + ], + "target_position": [ + 0.3280382490157084, + -0.364670657505796, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.004205015367361709, + "xy_threshold": 0.08, + "gripper_dist": 0.1840726025368437, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196973843284, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07516794838217278, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08575584260815498, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15347230932206038, + "release_required_pad_clearance": 0.052877921304077494, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7952409104855833, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008619546890258789, + "max_z_decrease": 0.008619546890258789, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03505018833386481, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008619546890258789, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02115325423522568, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008619546890258789, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008619710348713921, + "max_button_displacement": 0.12, + "button_start": [ + 0.18373817205429072, + -0.42093211412429804, + 0.7768088579177856 + ], + "button_final": [ + 0.18373817205429072, + -0.42093211412429804, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18169585617456452, + -0.4207691893827152, + 0.8071553446650761 + ], + "closest_button": [ + 0.18372634053230283, + -0.42093330621719355, + 0.7721644043922424 + ], + "closest_ee_minus_button": [ + -0.0020304843577383103, + 0.00016411683447836722, + 0.03499094027283367 + ], + "button_min_z_position": [ + 0.18369573354721067, + -0.42090022563934326, + 0.7681893110275269 + ], + "min_active_finger_to_button": 0.1480238720136683, + "closest_active_finger": [ + 0.05341833084821701, + -0.4818740487098694, + 0.807577908039093 + ], + "closest_active_finger_button": [ + 0.18375028669834131, + -0.42093619704246515, + 0.7727752327919006 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1303319558501243, + -0.06093785166740423, + 0.03480267524719238 + ], + "min_contact_pad_to_button": 0.02115325423522568, + "closest_contact_pad": [ + 0.18369573354721067, + -0.4219557605915656, + 0.7893162135620853 + ], + "closest_contact_pad_button": [ + 0.18369573354721067, + -0.42090022563934326, + 0.7681893110275269 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0010555349522223256, + 0.0211269025345584 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 58, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3ae9462af117790480fef6c14e5ebe76e8be141a08f7e8eacaf3e4cb8580c8be", + "visual_seed": 7145175888697925847, + "episode_index": 58, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_59_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_59_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0abf90a1f17918c975f00c013425b9d70b1bfcc7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_59_success.json @@ -0,0 +1,926 @@ +{ + "episode": 59, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20017897797599177, + -0.028337993399152696, + 1.044935059682729 + ], + "current_z": 1.044935059682729, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.18834855227416336, + "gripper_z": 1.0500570956625113, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19541340930515103, + -0.03300912142986569, + 1.0500570956625113 + ], + "object_minus_gripper": [ + 0.004765568670840742, + 0.004671128030712991, + -0.005122035979782336 + ], + "object_to_gripper_xy": 0.0066730863800651815, + "object_to_gripper_z": -0.005122035979782336, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20017897797599177, + -0.052535012354534893, + 1.044935059682729 + ], + "finger_b": [ + 0.1886804733566165, + -0.028337993399152696, + 1.044935059682729 + ], + "finger_midpoint": [ + 0.19442972566630412, + -0.04043650287684379, + 1.044935059682729 + ], + "object_minus_finger_midpoint": [ + 0.005749252309687647, + 0.012098509477691095, + 0.0 + ], + "finger_gap": 0.02679013502782171, + "fingertip_max_gap": 0.09266843335182115, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013395067513910857, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.044935059682729, + "object_top_z": 1.0910139470203943, + "finger_top_clearance": 0.04607888733766541, + "fingertip_min_top_clearance": 0.013823666201299656, + "object_projection_between_fingers": 0.8157816352210812, + "object_to_finger_line_xy": 0.010385521907397261, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04883421667591058, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0709914389298016, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 204, + "max_stable_success_frames": 204, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19469335616371033, + -0.02695131831828225, + 1.243809881221173 + ], + "held_position": [ + 0.19976124228737044, + -0.021934890222246522, + 1.239347397817552 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008412002064471751, + "max_held_gripper_dist": 0.00841633787661944, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004462483403621098, + "max_held_gripper_z_dist": 0.005139848979135886, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08528784316781882, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.19976124228737044, + -0.04571888074130411, + 1.239347397817552 + ], + "held_grasp_finger_b": [ + 0.1898236077694104, + -0.021934890222246522, + 1.239347397817552 + ], + "held_grasp_midpoint": [ + 0.19479242502839042, + -0.033826885481775315, + 1.239347397817552 + ], + "held_grasp_object_position": [ + 0.19976124228737044, + -0.021934890222246522, + 1.239347397817552 + ], + "held_grasp_finger_gap": 0.025776632534587837, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02305833069766763, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.04925501606310048, + -0.9900697289048543, + -0.13166577117418266 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004654127189805268, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033181581269165615, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.32580389651194097, + -0.36398409651543107, + 0.8470195513998505 + ], + "target_position": [ + 0.3207387957908787, + -0.3662869502470156, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005564025577185826, + "xy_threshold": 0.08, + "gripper_dist": 0.18488102935323794, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195513998505, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07513445727829986, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08539656182521525, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15441909323871708, + "release_required_pad_clearance": 0.05269828091260763, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.45110701126136765, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00854271650314331, + "max_z_decrease": 0.00854271650314331, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.034997144180644396, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00854271650314331, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021041433388101303, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00854271650314331, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008542814517356693, + "max_button_displacement": 0.12, + "button_start": [ + 0.1764387190341949, + -0.42254841327667236, + 0.7768088579177856 + ], + "button_final": [ + 0.1764387190341949, + -0.42254841327667236, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17559147355993288, + -0.42300036404315383, + 0.8032491293809159 + ], + "closest_button": [ + 0.17645934224128718, + -0.42251306772232056, + 0.7682661414146423 + ], + "closest_ee_minus_button": [ + -0.0008678686813543002, + -0.0004872963208332748, + 0.03498298796627353 + ], + "button_min_z_position": [ + 0.17645934224128718, + -0.42251306772232056, + 0.7682661414146423 + ], + "min_active_finger_to_button": 0.14657666659660576, + "closest_active_finger": [ + 0.03489486128091812, + -0.40647831559181213, + 0.8095395565032959 + ], + "closest_active_finger_button": [ + 0.1764439940452575, + -0.42255181074142456, + 0.7750402092933655 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1415491327643394, + 0.016073495149612427, + 0.03449934720993042 + ], + "min_contact_pad_to_button": 0.021041433388101303, + "closest_contact_pad": [ + 0.17645934224128718, + -0.4242149022608739, + 0.7892386395545705 + ], + "closest_contact_pad_button": [ + 0.17645934224128718, + -0.42251306772232056, + 0.7682661414146423 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0017018345385533262, + 0.020972498139928186 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 59, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "fe1d4961bbc6a39f4574bce1881a99fcd67ef2b69c3de7f5b076197aa0f8c1bd", + "visual_seed": 6128768223283006045, + "episode_index": 59, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_5_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_5_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f0b9c0972549e9e635eab65c137b092b136b88d5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_5_success.json @@ -0,0 +1,926 @@ +{ + "episode": 5, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20211361969444466, + -0.030993432863662806, + 1.04485961749764 + ], + "current_z": 1.04485961749764, + "required_z": 0.8565865074085653, + "initial_z": 0.7565865074085654, + "lift_margin": 0.18827311008907455, + "gripper_z": 1.049877873050028, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19711008702272417, + -0.03576378212091452, + 1.049877873050028 + ], + "object_minus_gripper": [ + 0.00500353267172049, + 0.004770349257251717, + -0.005018255552388107 + ], + "object_to_gripper_xy": 0.006913144814998192, + "object_to_gripper_z": -0.005018255552388107, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20211361969444466, + -0.05540625470584248, + 1.04485961749764 + ], + "finger_b": [ + 0.1905962500922968, + -0.030993432863662806, + 1.04485961749764 + ], + "finger_midpoint": [ + 0.19635493489337075, + -0.04319984378475264, + 1.04485961749764 + ], + "object_minus_finger_midpoint": [ + 0.0057586848010739156, + 0.012206410921089834, + 0.0 + ], + "finger_gap": 0.026993252357774236, + "fingertip_max_gap": 0.09393480970760518, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01349662617888711, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.04485961749764, + "object_top_z": 1.0912293731057299, + "finger_top_clearance": 0.04636975560808998, + "fingertip_min_top_clearance": 0.013910926682426994, + "object_projection_between_fingers": 0.8179476966402944, + "object_to_finger_line_xy": 0.010416362150846655, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04946740485380259, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.704384872947822, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 205, + "max_stable_success_frames": 205, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19652780921403007, + -0.029886000930096593, + 1.242371265718169 + ], + "held_position": [ + 0.20179462022409428, + -0.024780624662517462, + 1.2379840923392709 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008547014408891884, + "max_held_gripper_dist": 0.008548801120468293, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004387173378898046, + "max_held_gripper_z_dist": 0.00505432801120409, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08502083731416375, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.20179462022409428, + -0.048701416365570335, + 1.2379840923392709 + ], + "held_grasp_finger_b": [ + 0.19164851906563057, + -0.024780624662517462, + 1.2379840923392709 + ], + "held_grasp_midpoint": [ + 0.19672156964486243, + -0.0367410205140439, + 1.2379840923392709 + ], + "held_grasp_object_position": [ + 0.20179462022409428, + -0.024780624662517462, + 1.2379840923392709 + ], + "held_grasp_finger_gap": 0.025983603376333732, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023385875930513333, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.032595534242322935, + -0.9914635691269071, + -0.12624389981932735 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004921241535184532, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03317656941281733, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33358790888696455, + -0.3667502378349265, + 0.8470194610797747 + ], + "target_position": [ + 0.3295680198841846, + -0.36875068210220147, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00449013194250953, + "xy_threshold": 0.08, + "gripper_dist": 0.18487856312977366, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470194610797747, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07541368702989165, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0863634159265929, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1536717899369476, + "release_required_pad_clearance": 0.05318170796329645, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.3864668769542758, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008630573749542236, + "max_z_decrease": 0.008630573749542236, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501584524921818, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008630573749542236, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021321228992984696, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008630573749542236, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008630694809513534, + "max_button_displacement": 0.12, + "button_start": [ + 0.18526794016361234, + -0.42501214146614075, + 0.7768088579177856 + ], + "button_final": [ + 0.18526794016361234, + -0.42501214146614075, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1850143102812991, + -0.42635506691743597, + 0.8039212747954567 + ], + "closest_button": [ + 0.18527971208095545, + -0.4250208139419555, + 0.7689318656921387 + ], + "closest_ee_minus_button": [ + -0.0002654017996563396, + -0.0013342529754804544, + 0.03498940910331805 + ], + "button_min_z_position": [ + 0.18525117635726926, + -0.42496961355209345, + 0.7681782841682434 + ], + "min_active_finger_to_button": 0.14600649130153226, + "closest_active_finger": [ + 0.044444337487220764, + -0.4088209867477417, + 0.8079230189323425 + ], + "closest_active_finger_button": [ + 0.18527978658676142, + -0.4250150322914123, + 0.7729798555374146 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14083544909954065, + 0.0161940455436706, + 0.03494316339492798 + ], + "min_contact_pad_to_button": 0.021321228992984696, + "closest_contact_pad": [ + 0.18525117635726926, + -0.4276416782485039, + 0.7893314133937147 + ], + "closest_contact_pad_button": [ + 0.18525117635726926, + -0.42496961355209345, + 0.7681782841682434 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002672064696410459, + 0.0211531292254713 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 5, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ec76888e081552c15c98fe374b75f293de33939902da81139b0201295f3be8bc", + "visual_seed": 4940898234713571706, + "episode_index": 5, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_60_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_60_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ad9f2c135d518838b90f1be9f9f14eff1fa960dd --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_60_success.json @@ -0,0 +1,926 @@ +{ + "episode": 60, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20029771301660027, + -0.02752985930948677, + 1.0436213430853902 + ], + "current_z": 1.0436213430853902, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.18703483567682466, + "gripper_z": 1.0484674221727324, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19542691109049948, + -0.032264227933274256, + 1.0484674221727324 + ], + "object_minus_gripper": [ + 0.004870801926100787, + 0.004734368623787486, + -0.004846079087342137 + ], + "object_to_gripper_xy": 0.00679256635368478, + "object_to_gripper_z": -0.004846079087342137, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20029771301660027, + -0.051779962884724196, + 1.0436213430853902 + ], + "finger_b": [ + 0.1886887118392862, + -0.02752985930948677, + 1.0436213430853902 + ], + "finger_midpoint": [ + 0.19449321242794324, + -0.039654911097105484, + 1.0436213430853902 + ], + "object_minus_finger_midpoint": [ + 0.00580450058865703, + 0.012125051787618715, + 0.0 + ], + "finger_gap": 0.026885617563013543, + "fingertip_max_gap": 0.09091875785940068, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013442808781506773, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0436213430853902, + "object_top_z": 1.0890117360708524, + "finger_top_clearance": 0.04539039298546221, + "fingertip_min_top_clearance": 0.013617117895638681, + "object_projection_between_fingers": 0.8135554567862554, + "object_to_finger_line_xy": 0.01047100667466923, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04795937892970034, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8002637390408698, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 203, + "max_stable_success_frames": 203, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19445025472378566, + -0.026395796366400312, + 1.2418826234737954 + ], + "held_position": [ + 0.1996149945694159, + -0.021351264786983532, + 1.2376981392881798 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00834456376501735, + "max_held_gripper_dist": 0.008346822870474826, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004184484185615567, + "max_held_gripper_z_dist": 0.004866003503067651, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0853129362760883, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.1996149945694159, + -0.04511790544803032, + 1.2376981392881798 + ], + "held_grasp_finger_b": [ + 0.18954071783967513, + -0.021351264786983532, + 1.2376981392881798 + ], + "held_grasp_midpoint": [ + 0.1945778562045455, + -0.033234585117506925, + 1.2376981392881798 + ], + "held_grasp_object_position": [ + 0.1996149945694159, + -0.021351264786983532, + 1.2376981392881798 + ], + "held_grasp_finger_gap": 0.025813644840252968, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02295023904378707, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.052590169582611763, + -0.9879413460359074, + -0.14562338705040337 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004740019204622877, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03319529752227802, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.32714829616305224, + -0.35993227280733875, + 0.8470203845130917 + ], + "target_position": [ + 0.32172854377452104, + -0.36269732903534274, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0060843448206863975, + "xy_threshold": 0.08, + "gripper_dist": 0.18469508350429026, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470203845130917, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07565633785811438, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08568455521701045, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15295904563425655, + "release_required_pad_clearance": 0.052842277608505225, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.724148542616723, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008456170558929443, + "max_z_decrease": 0.008456170558929443, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03499508321497651, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008456170558929443, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02102995056304161, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008456170558929443, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008456212458763783, + "max_button_displacement": 0.12, + "button_start": [ + 0.17742846906185145, + -0.41895878314971924, + 0.7768088579177856 + ], + "button_final": [ + 0.17742846906185145, + -0.41895878314971924, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1768642266922476, + -0.41916514031554974, + 0.8037099545604613 + ], + "closest_button": [ + 0.1774170696735382, + -0.41892966628074646, + 0.7687200307846069 + ], + "closest_ee_minus_button": [ + -0.0005528429812906022, + -0.00023547403480328466, + 0.034989923775854415 + ], + "button_min_z_position": [ + 0.1774150282144546, + -0.4189358055591583, + 0.7683526873588562 + ], + "min_active_finger_to_button": 0.14632711486588104, + "closest_active_finger": [ + 0.03612632304430008, + -0.4030579626560211, + 0.8096386790275574 + ], + "closest_active_finger_button": [ + 0.17743404209613797, + -0.4189628064632416, + 0.7751308679580688 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1413077190518379, + 0.01590484380722046, + 0.034507811069488525 + ], + "min_contact_pad_to_button": 0.02102995056304161, + "closest_contact_pad": [ + 0.1774150282144546, + -0.4203320426791587, + 0.7893362366913382 + ], + "closest_contact_pad_button": [ + 0.1774150282144546, + -0.4189358055591583, + 0.7683526873588562 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0013962371200003654, + 0.020983549332482032 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 60, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0fe6a0f51c279272eada0b857f26521deb9a4e3b23729056fe3148df330c8f2e", + "visual_seed": 240421210011087717, + "episode_index": 60, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_61_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_61_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c4653f829c71411f3848e1e3b9e99819614c3b71 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_61_success.json @@ -0,0 +1,926 @@ +{ + "episode": 61, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2069265115495997, + -0.033273037256441436, + 1.0441664528148724 + ], + "current_z": 1.0441664528148724, + "required_z": 0.8565865074085653, + "initial_z": 0.7565865074085654, + "lift_margin": 0.18757994540630707, + "gripper_z": 1.0491024041307828, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.202464831958171, + -0.03786804697054362, + 1.0491024041307828 + ], + "object_minus_gripper": [ + 0.004461679591428708, + 0.004595009714102184, + -0.004935951315910403 + ], + "object_to_gripper_xy": 0.006404740357677653, + "object_to_gripper_z": -0.004935951315910403, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2069265115495997, + -0.05710529490551032, + 1.0441664528148724 + ], + "finger_b": [ + 0.19533481097525268, + -0.033273037256441436, + 1.0441664528148724 + ], + "finger_midpoint": [ + 0.20113066126242618, + -0.04518916608097588, + 1.0441664528148724 + ], + "object_minus_finger_midpoint": [ + 0.005795850287173526, + 0.011916128824534446, + 0.0 + ], + "finger_gap": 0.026501774032259038, + "fingertip_max_gap": 0.09281030428844778, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013250887016129528, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0441664528148724, + "object_top_z": 1.090057933994625, + "finger_top_clearance": 0.04589148117975261, + "fingertip_min_top_clearance": 0.0137674443539258, + "object_projection_between_fingers": 0.8086870293371339, + "object_to_finger_line_xy": 0.010424071775060335, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04890515214422389, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.412350860240361, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 202, + "max_stable_success_frames": 202, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.199259472908555, + -0.03372678925538154, + 1.2428253731267263 + ], + "held_position": [ + 0.20406345900029688, + -0.02885338815448609, + 1.2385173760898682 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008086232690779797, + "max_held_gripper_dist": 0.008088670771445665, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0043079970368580245, + "max_held_gripper_z_dist": 0.004940093189261363, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08497739389140282, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.20406345900029688, + -0.05248042555392003, + 1.2385173760898682 + ], + "held_grasp_finger_b": [ + 0.19432136472930372, + -0.02885338815448609, + 1.2385173760898682 + ], + "held_grasp_midpoint": [ + 0.1991924118648003, + -0.04066690685420306, + 1.2385173760898682 + ], + "held_grasp_object_position": [ + 0.20406345900029688, + -0.02885338815448609, + 1.2385173760898682 + ], + "held_grasp_finger_gap": 0.02555670747688692, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.022844014455101792, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.054870442551988224, + -0.9894836616161822, + -0.1338331720044843 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004508546463667196, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033243664714227295, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3333934799913918, + -0.3688728020136153, + 0.847019743556642 + ], + "target_position": [ + 0.3292288395271902, + -0.37104690340874685, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.004697972655558837, + "xy_threshold": 0.08, + "gripper_dist": 0.18260275285304045, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.847019743556642, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07518176749054997, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08511578132732499, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15209418699214666, + "release_required_pad_clearance": 0.052557890663662496, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.1813050304729008, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008686959743499756, + "max_z_decrease": 0.008686959743499756, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035015587471425344, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008686959743499756, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.021160882439230793, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008686959743499756, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008687107859071792, + "max_button_displacement": 0.12, + "button_start": [ + 0.184928759932518, + -0.42730835080146795, + 0.7768088579177856 + ], + "button_final": [ + 0.184928759932518, + -0.42730835080146795, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18529937253449388, + -0.4285284065688499, + 0.8031626039512918 + ], + "closest_button": [ + 0.18494004011154175, + -0.42726317048072815, + 0.7681717276573181 + ], + "closest_ee_minus_button": [ + 0.0003593324229521355, + -0.001265236088121735, + 0.03499087629397368 + ], + "button_min_z_position": [ + 0.1849391609430313, + -0.42725870013237005, + 0.7681218981742859 + ], + "min_active_finger_to_button": 0.1453794930239058, + "closest_active_finger": [ + 0.04445626586675644, + -0.4132143259048462, + 0.8075830340385437 + ], + "closest_active_finger_button": [ + 0.18493904173374176, + -0.42731407284736633, + 0.7729278206825256 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14048277586698532, + 0.014099746942520142, + 0.034655213356018066 + ], + "min_contact_pad_to_button": 0.021160882439230793, + "closest_contact_pad": [ + 0.1849391609430313, + -0.4296284448040017, + 0.789149671613198 + ], + "closest_contact_pad_button": [ + 0.1849391609430313, + -0.42725870013237005, + 0.7681218981742859 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002369744671631646, + 0.021027773438912156 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 61, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c412c1ac8107b62bc1d270161579e10a7bfbca88e02244917a345f23a52a3346", + "visual_seed": 7987932911973512186, + "episode_index": 61, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_62_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_62_success.json new file mode 100644 index 0000000000000000000000000000000000000000..402fab0c0da2182a95ffc7e91ac8729bbe18f006 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_62_success.json @@ -0,0 +1,926 @@ +{ + "episode": 62, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.19981796202034854, + -0.03342641558434772, + 1.046292007557945 + ], + "current_z": 1.046292007557945, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.18970550014937937, + "gripper_z": 1.0512541498338994, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1949844429263055, + -0.03811012800997694, + 1.0512541498338994 + ], + "object_minus_gripper": [ + 0.004833519094043032, + 0.004683712425629226, + -0.004962142275954484 + ], + "object_to_gripper_xy": 0.006730532588025422, + "object_to_gripper_z": -0.004962142275954484, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19981796202034854, + -0.057732546768811614, + 1.046292007557945 + ], + "finger_b": [ + 0.18829283364396343, + -0.03342641558434772, + 1.046292007557945 + ], + "finger_midpoint": [ + 0.19405539783215597, + -0.045579481176579666, + 1.046292007557945 + ], + "object_minus_finger_midpoint": [ + 0.0057625641881925704, + 0.012153065592231949, + 0.0 + ], + "finger_gap": 0.02690012262515778, + "fingertip_max_gap": 0.09094367002311673, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013450061312578898, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.046292007557945, + "object_top_z": 1.0915940511172262, + "finger_top_clearance": 0.045302043559281246, + "fingertip_min_top_clearance": 0.013590613067784406, + "object_projection_between_fingers": 0.8164378973655058, + "object_to_finger_line_xy": 0.01041375484185403, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04797183501155837, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8867200510889036, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 204, + "max_stable_success_frames": 204, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1963938402779272, + -0.03087598603501568, + 1.244595174409163 + ], + "held_position": [ + 0.20152510472618204, + -0.025843127752552167, + 1.2403235768080265 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008360985790881402, + "max_held_gripper_dist": 0.008365162781684943, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.00427159760113649, + "max_held_gripper_z_dist": 0.004959360768233223, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08530822803049048, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.20152510472618204, + -0.04961406778655656, + 1.2403235768080265 + ], + "held_grasp_finger_b": [ + 0.19150568301904908, + -0.025843127752552167, + 1.2403235768080265 + ], + "held_grasp_midpoint": [ + 0.19651539387261557, + -0.03772859776955437, + 1.2403235768080265 + ], + "held_grasp_object_position": [ + 0.20152510472618204, + -0.025843127752552167, + 1.2403235768080265 + ], + "held_grasp_finger_gap": 0.02579624781718458, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02301285581238032, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.04760350478031234, + -0.9881736005353404, + -0.14576296353207252 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004770746744312595, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03321683747048915, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3301176707903877, + -0.36866959842867353, + 0.847019457851264 + ], + "target_position": [ + 0.32404623040689146, + -0.37181572782688527, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006838166312736249, + "xy_threshold": 0.08, + "gripper_dist": 0.18685768405431466, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.847019457851264, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0755386088243815, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08568247159528052, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15540372208053807, + "release_required_pad_clearance": 0.05284123579764026, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7263122267822003, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008490443229675293, + "max_z_decrease": 0.008490443229675293, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035000319518949434, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008490443229675293, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020988518602075883, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008490443229675293, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00849047448607332, + "max_button_displacement": 0.12, + "button_start": [ + 0.17974615097045898, + -0.42807719111442566, + 0.7768088579177856 + ], + "button_final": [ + 0.17974615097045898, + -0.42807719111442566, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1790539858929418, + -0.4275343448823472, + 0.8036733564154378 + ], + "closest_button": [ + 0.1797377020120621, + -0.4280444383621216, + 0.7686834335327148 + ], + "closest_ee_minus_button": [ + -0.0006837161191202978, + 0.0005100934797743761, + 0.03498992288272296 + ], + "button_min_z_position": [ + 0.17973901331424713, + -0.4280552864074707, + 0.7683184146881104 + ], + "min_active_finger_to_button": 0.14624081646299247, + "closest_active_finger": [ + 0.052101023495197296, + -0.4905644357204437, + 0.8105440735816956 + ], + "closest_active_finger_button": [ + 0.17975087463855743, + -0.4280799627304077, + 0.7760827541351318 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12764985114336014, + -0.06248447299003601, + 0.03446131944656372 + ], + "min_contact_pad_to_button": 0.020988518602075883, + "closest_contact_pad": [ + 0.17973901331424713, + -0.42869576733206183, + 0.7892971586279872 + ], + "closest_contact_pad_button": [ + 0.17973901331424713, + -0.4280552864074707, + 0.7683184146881104 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0006404809245911247, + 0.020978743939876865 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 62, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b8a90f04ee0b0d7b380273ed8f56e4b3a98ebbaa76d8ff8d96be9ba7297c89aa", + "visual_seed": 5539443080623271235, + "episode_index": 62, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_63_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_63_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2c1439f4c33133625c1ecd272ea42e2bb0a205e9 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_63_success.json @@ -0,0 +1,926 @@ +{ + "episode": 63, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2031851969504266, + -0.029349742988633316, + 1.042612965306982 + ], + "current_z": 1.042612965306982, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.1860265175030612, + "gripper_z": 1.0478417369227402, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19819718421470225, + -0.034156381552415155, + 1.0478417369227402 + ], + "object_minus_gripper": [ + 0.0049880127357243564, + 0.004806638563781839, + -0.005228771615758188 + ], + "object_to_gripper_xy": 0.006927051705782419, + "object_to_gripper_z": -0.005228771615758188, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2031851969504266, + -0.053676726031546565, + 1.042612965306982 + ], + "finger_b": [ + 0.1915240374759858, + -0.029349742988633316, + 1.042612965306982 + ], + "finger_midpoint": [ + 0.19735461721320618, + -0.04151323451008994, + 1.042612965306982 + ], + "object_minus_finger_midpoint": [ + 0.005830579737220426, + 0.012163491521456623, + 0.0 + ], + "finger_gap": 0.026977485877274218, + "fingertip_max_gap": 0.094372086806333, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013488742938637112, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.042612965306982, + "object_top_z": 1.0890340751888576, + "finger_top_clearance": 0.046421109881875644, + "fingertip_min_top_clearance": 0.013926332964562676, + "object_projection_between_fingers": 0.8131554125569358, + "object_to_finger_line_xy": 0.010515465751180364, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0496860434031665, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.039914898780066, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 203, + "max_stable_success_frames": 203, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19639722976481044, + -0.029203942065515423, + 1.2429077664077204 + ], + "held_position": [ + 0.20169893060877778, + -0.024088132591374645, + 1.2383123291609575 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008683178099265757, + "max_held_gripper_dist": 0.008684826275333925, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004595437246762923, + "max_held_gripper_z_dist": 0.00526248407734653, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08556056570351854, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.20169893060877778, + -0.048108121115031065, + 1.2383123291609575 + ], + "held_grasp_finger_b": [ + 0.19160968460380084, + -0.024088132591374645, + 1.2383123291609575 + ], + "held_grasp_midpoint": [ + 0.19665430760628932, + -0.03609812685320286, + 1.2383123291609575 + ], + "held_grasp_object_position": [ + 0.20169893060877778, + -0.024088132591374645, + 1.2383123291609575 + ], + "held_grasp_finger_gap": 0.026052883403292024, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023480491289076585, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.03408446841797404, + -0.9918563388334105, + -0.1227161445313811 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004864353155506177, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03311609273445467, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3286276194212564, + -0.36904462782843334, + 0.8470200072977183 + ], + "target_position": [ + 0.3249386699548585, + -0.3706976847712218, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.004042393526332952, + "xy_threshold": 0.08, + "gripper_dist": 0.18200478087132363, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470200072977183, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07547476223361996, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0865673814317822, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15068468370889468, + "release_required_pad_clearance": 0.053283690715891105, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.5850704902304744, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008488595485687256, + "max_z_decrease": 0.008488595485687256, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035022811508669684, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008488595485687256, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02107533223070368, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008488595485687256, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00848863419023127, + "max_button_displacement": 0.12, + "button_start": [ + 0.1806385964155197, + -0.42695915699005127, + 0.7768088579177856 + ], + "button_final": [ + 0.1806385964155197, + -0.42695915699005127, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18094435597296, + -0.4255072679980239, + 0.803312688067579 + ], + "closest_button": [ + 0.18064859509468076, + -0.4269355535507202, + 0.7683202624320984 + ], + "closest_ee_minus_button": [ + 0.00029576087827923314, + 0.0014282855526963067, + 0.03499242563548066 + ], + "button_min_z_position": [ + 0.18064859509468076, + -0.4269355535507202, + 0.7683202624320984 + ], + "min_active_finger_to_button": 0.14504522574772347, + "closest_active_finger": [ + 0.05350770056247711, + -0.4875723719596863, + 0.8088431358337402 + ], + "closest_active_finger_button": [ + 0.1806460320949554, + -0.426961749792099, + 0.7741975784301758 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12713833153247828, + -0.06061062216758728, + 0.03464555740356445 + ], + "min_contact_pad_to_button": 0.02107533223070368, + "closest_contact_pad": [ + 0.18064859509468076, + -0.4269355535507202, + 0.7893955946628021 + ], + "closest_contact_pad_button": [ + 0.18064859509468076, + -0.4269355535507202, + 0.7683202624320984 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02107533223070368 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 63, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6547ae6b96f18229b8ed94be660216512a690528028644b562c55de9778f362e", + "visual_seed": 4950852426457110055, + "episode_index": 63, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_64_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_64_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ec6660f9916bd1a8d0fbc7803a46ff7eddeea5e3 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_64_success.json @@ -0,0 +1,926 @@ +{ + "episode": 64, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20219879143652453, + -0.03057698458329221, + 1.0458605614819008 + ], + "current_z": 1.0458605614819008, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.1892740540733352, + "gripper_z": 1.0509457397817852, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1973002982792363, + -0.03535455710714751, + 1.0509457397817852 + ], + "object_minus_gripper": [ + 0.004898493157288214, + 0.004777572523855297, + -0.005085178299884419 + ], + "object_to_gripper_xy": 0.006842545902856372, + "object_to_gripper_z": -0.005085178299884419, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20219879143652453, + -0.05480791399321846, + 1.0458605614819008 + ], + "finger_b": [ + 0.1904424860388002, + -0.03057698458329221, + 1.0458605614819008 + ], + "finger_midpoint": [ + 0.19632063873766237, + -0.04269244928825534, + 1.0458605614819008 + ], + "object_minus_finger_midpoint": [ + 0.00587815269886216, + 0.012115464704963125, + 0.0 + ], + "finger_gap": 0.026932297649353846, + "fingertip_max_gap": 0.09089475586893858, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013466148824676925, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0458605614819008, + "object_top_z": 1.0911444309916856, + "finger_top_clearance": 0.0452838695097848, + "fingertip_min_top_clearance": 0.01358516085293544, + "object_projection_between_fingers": 0.8094561624496185, + "object_to_finger_line_xy": 0.01057712230581364, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04794737793446929, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9437660534992333, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 204, + "max_stable_success_frames": 204, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1962846715584563, + -0.02951657361188051, + 1.244695026213814 + ], + "held_position": [ + 0.2015152338847641, + -0.024424028425973014, + 1.24028997543848 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00852626946871668, + "max_held_gripper_dist": 0.008528889951439557, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.00440505077533393, + "max_held_gripper_z_dist": 0.005093667274629121, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08529862262200966, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2015152338847641, + -0.04828096648603328, + 1.24028997543848 + ], + "held_grasp_finger_b": [ + 0.19140564143316735, + -0.024424028425973014, + 1.24028997543848 + ], + "held_grasp_midpoint": [ + 0.19646043765896573, + -0.03635249745600315, + 1.24028997543848 + ], + "held_grasp_object_position": [ + 0.2015152338847641, + -0.024424028425973014, + 1.24028997543848 + ], + "held_grasp_finger_gap": 0.02591056450830306, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023038834211775883, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0532310146085623, + -0.988265049601, + -0.14317349901736717 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004738624458085623, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033142663996445276, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.32992976524250367, + -0.3688201906375753, + 0.8470194808705657 + ], + "target_position": [ + 0.3244710124347795, + -0.3715278594428744, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00609339417525458, + "xy_threshold": 0.08, + "gripper_dist": 0.1850145288787356, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470194808705657, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07590515390324845, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08625914971995895, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15267088261945885, + "release_required_pad_clearance": 0.053129574859979475, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.2850978069974668, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008556962013244629, + "max_z_decrease": 0.008556962013244629, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03499386681403275, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008556962013244629, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021032047062696176, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008556962013244629, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008557094204420449, + "max_button_displacement": 0.12, + "button_start": [ + 0.18017093837261197, + -0.42778933048248285, + 0.7768088579177856 + ], + "button_final": [ + 0.18017093837261197, + -0.42778933048248285, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17953199338612896, + -0.4282512032366794, + 0.8032358092241435 + ], + "closest_button": [ + 0.18020142614841458, + -0.42775282263755793, + 0.768251895904541 + ], + "closest_ee_minus_button": [ + -0.0006694327622856211, + -0.0004983805991214951, + 0.03498391331960249 + ], + "button_min_z_position": [ + 0.18020142614841458, + -0.42775282263755793, + 0.768251895904541 + ], + "min_active_finger_to_button": 0.14637997364096506, + "closest_active_finger": [ + 0.038752682507038116, + -0.4124754071235657, + 0.8097928166389465 + ], + "closest_active_finger_button": [ + 0.18017672002315516, + -0.42779269814491266, + 0.7752715349197388 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14142403751611704, + 0.01531729102134699, + 0.034521281719207764 + ], + "min_contact_pad_to_button": 0.021032047062696176, + "closest_contact_pad": [ + 0.18020142614841458, + -0.4293974179278967, + 0.7892195450331024 + ], + "closest_contact_pad_button": [ + 0.18020142614841458, + -0.42775282263755793, + 0.768251895904541 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0016445952903387795, + 0.020967649128561416 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 64, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "beba1ffa932601200c988597d5e9f4ee07130e209d02cb57e901e76ff888abb2", + "visual_seed": 7300996362745173799, + "episode_index": 64, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_65_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_65_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f28d0ff029ef1e64a22df5b404d8b165591d1c30 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_65_success.json @@ -0,0 +1,926 @@ +{ + "episode": 65, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20519417225678047, + -0.03314000533048641, + 1.0458479903716842 + ], + "current_z": 1.0458479903716842, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.18926148296311862, + "gripper_z": 1.0507136268813018, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.200714384082518, + -0.03771717327609711, + 1.0507136268813018 + ], + "object_minus_gripper": [ + 0.004479788174262478, + 0.004577167945610701, + -0.004865636509617577 + ], + "object_to_gripper_xy": 0.006404605256265841, + "object_to_gripper_z": -0.004865636509617577, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20519417225678047, + -0.05706213775534357, + 1.0458479903716842 + ], + "finger_b": [ + 0.1937304825642137, + -0.03314000533048641, + 1.0458479903716842 + ], + "finger_midpoint": [ + 0.19946232741049708, + -0.04510107154291499, + 1.0458479903716842 + ], + "object_minus_finger_midpoint": [ + 0.00573184484628339, + 0.011961066212428581, + 0.0 + ], + "finger_gap": 0.02652705413572837, + "fingertip_max_gap": 0.09316794656207722, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01326352706786419, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0458479903716842, + "object_top_z": 1.0922265823607917, + "finger_top_clearance": 0.04637859198910754, + "fingertip_min_top_clearance": 0.013913577596732295, + "object_projection_between_fingers": 0.8132456200429543, + "object_to_finger_line_xy": 0.010337970492309329, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04908397328103861, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1572287420926208, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 204, + "max_stable_success_frames": 204, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19845205363122181, + -0.032762763508891915, + 1.2445430600846807 + ], + "held_position": [ + 0.20325474535657637, + -0.027897600851730472, + 1.2403078615053784 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008041925297809704, + "max_held_gripper_dist": 0.008044049133234959, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004235198579302324, + "max_held_gripper_z_dist": 0.004874812908493231, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08508417221800905, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.20325474535657637, + -0.05152495895747146, + 1.2403078615053784 + ], + "held_grasp_finger_b": [ + 0.1935216518918586, + -0.027897600851730472, + 1.2403078615053784 + ], + "held_grasp_midpoint": [ + 0.19838819862421747, + -0.039711279904600966, + 1.2403078615053784 + ], + "held_grasp_object_position": [ + 0.20325474535657637, + -0.027897600851730472, + 1.2403078615053784 + ], + "held_grasp_finger_gap": 0.02555357429890887, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.022841851614154154, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.057191512144338805, + -0.990313933641111, + -0.12652052708913852 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004447916328909409, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03322264882564431, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.325615798207026, + -0.36400410337921985, + 0.847019669188257 + ], + "target_position": [ + 0.3223739870739192, + -0.36544536286539836, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0035477553930950514, + "xy_threshold": 0.08, + "gripper_dist": 0.18150325279294732, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.847019669188257, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07528499715372347, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0850257589704103, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15065775522011743, + "release_required_pad_clearance": 0.05251287948520515, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.09691320636008836, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 147, + "max_placed_release_frames": 147 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008554816246032715, + "max_z_decrease": 0.008554816246032715, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502153923666136, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008554816246032715, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020961043079508968, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008554816246032715, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008554946077459467, + "max_button_displacement": 0.12, + "button_start": [ + 0.178073912858963, + -0.4217068254947662, + 0.7768088579177856 + ], + "button_final": [ + 0.178073912858963, + -0.4217068254947662, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17758397215638505, + -0.4201968870264558, + 0.8032404536965508 + ], + "closest_button": [ + 0.17810845375061038, + -0.4216747581958771, + 0.7682540416717529 + ], + "closest_ee_minus_button": [ + -0.0005244815942253289, + 0.0014778711694212743, + 0.03498641202479791 + ], + "button_min_z_position": [ + 0.17810845375061038, + -0.4216747581958771, + 0.7682540416717529 + ], + "min_active_finger_to_button": 0.1456173414648489, + "closest_active_finger": [ + 0.0508585125207901, + -0.48364704847335815, + 0.8106154799461365 + ], + "closest_active_finger_button": [ + 0.1780771017074585, + -0.4217092990875244, + 0.7762126326560974 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1272185891866684, + -0.06193774938583374, + 0.03440284729003906 + ], + "min_contact_pad_to_button": 0.020961043079508968, + "closest_contact_pad": [ + 0.17810845375061038, + -0.4216747581958771, + 0.7892150847512619 + ], + "closest_contact_pad_button": [ + 0.17810845375061038, + -0.4216747581958771, + 0.7682540416717529 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.020961043079508968 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 65, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "619431a5168b7208091a289d829ebf3e2972e2a5f9a4d462970b3d9df2cfcd30", + "visual_seed": 188083177988017801, + "episode_index": 65, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_66_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_66_success.json new file mode 100644 index 0000000000000000000000000000000000000000..78b9b1b453a470813e323ba6cc75bc69f89f9065 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_66_success.json @@ -0,0 +1,926 @@ +{ + "episode": 66, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2052108138631384, + -0.03363845536478417, + 1.043562715838151 + ], + "current_z": 1.043562715838151, + "required_z": 0.8565865670132105, + "initial_z": 0.7565865670132105, + "lift_margin": 0.18697614882494062, + "gripper_z": 1.0486133917016762, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.20034562883056237, + -0.03843243210524186, + 1.0486133917016762 + ], + "object_minus_gripper": [ + 0.004865185032576047, + 0.004793976740457687, + -0.005050675863525145 + ], + "object_to_gripper_xy": 0.006830244387227393, + "object_to_gripper_z": -0.005050675863525145, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2052108138631384, + -0.05782185750963269, + 1.043562715838151 + ], + "finger_b": [ + 0.19341559853485832, + -0.03363845536478417, + 1.043562715838151 + ], + "finger_midpoint": [ + 0.19931320619899837, + -0.04573015643720843, + 1.043562715838151 + ], + "object_minus_finger_midpoint": [ + 0.005897607664140048, + 0.012091701072424257, + 0.0 + ], + "finger_gap": 0.02690657993762785, + "fingertip_max_gap": 0.0914086665198938, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013453289968813925, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.043562715838151, + "object_top_z": 1.088953867133802, + "finger_top_clearance": 0.045391151295650856, + "fingertip_min_top_clearance": 0.013617345388695273, + "object_projection_between_fingers": 0.807825946875295, + "object_to_finger_line_xy": 0.010601437876166839, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0482043332599469, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0977577764447048, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 202, + "max_stable_success_frames": 202, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19847892131683328, + -0.03277830864250161, + 1.2417083499746664 + ], + "held_position": [ + 0.20365194308922668, + -0.027669278801687944, + 1.2373068938986687 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008499126764610471, + "max_held_gripper_dist": 0.008502348726688373, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004401456075997734, + "max_held_gripper_z_dist": 0.0050582348261993815, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08541301232698117, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.20365194308922668, + -0.05147935223605626, + 1.2373068938986687 + ], + "held_grasp_finger_b": [ + 0.19343882445569555, + -0.027669278801687944, + 1.2373068938986687 + ], + "held_grasp_midpoint": [ + 0.19854538377246111, + -0.0395743155188721, + 1.2373068938986687 + ], + "held_grasp_object_position": [ + 0.20365194308922668, + -0.027669278801687944, + 1.2373068938986687 + ], + "held_grasp_finger_gap": 0.02590805645301462, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02303358773512008, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.04971085825580274, + -0.9887113827158929, + -0.14134578967729713 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004818539711847773, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03317572820550957, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3268181232564654, + -0.36286384657064596, + 0.8470198258756798 + ], + "target_position": [ + 0.32078932415084427, + -0.3659717428300031, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006782730852309012, + "xy_threshold": 0.08, + "gripper_dist": 0.18784392648607529, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470198258756798, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07547992146460639, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08503465491869765, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15655047631991528, + "release_required_pad_clearance": 0.052517327459348825, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.10467661503007954, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008458912372589111, + "max_z_decrease": 0.008458912372589111, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500721505820219, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008458912372589111, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021087998788769605, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008458912372589111, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008458948090119444, + "max_button_displacement": 0.12, + "button_start": [ + 0.17648924887180323, + -0.42223319411277765, + 0.7768088579177856 + ], + "button_final": [ + 0.17648924887180323, + -0.42223319411277765, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17525158879553726, + -0.4218996236007353, + 0.8033335149426424 + ], + "closest_button": [ + 0.17649979889392847, + -0.4222109913825989, + 0.7683499455451965 + ], + "closest_ee_minus_button": [ + -0.0012482100983912114, + 0.0003113677818635807, + 0.034983569397445846 + ], + "button_min_z_position": [ + 0.17649979889392847, + -0.4222109913825989, + 0.7683499455451965 + ], + "min_active_finger_to_button": 0.1468444928404442, + "closest_active_finger": [ + 0.04728413373231888, + -0.48281705379486084, + 0.8086031079292297 + ], + "closest_active_finger_button": [ + 0.176497220993042, + -0.422236680984497, + 0.7740010619163513 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12921308726072311, + -0.060580372810363825, + 0.03460204601287842 + ], + "min_contact_pad_to_button": 0.021087998788769605, + "closest_contact_pad": [ + 0.17649979889392847, + -0.42328327212401456, + 0.7894106650705769 + ], + "closest_contact_pad_button": [ + 0.17649979889392847, + -0.4222109913825989, + 0.7683499455451965 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0010722807414156876, + 0.021060719525380356 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 66, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "02a11b7d29545457e69bebc5b4149ae4df452eaf97d8a3afd5ceb94350654acd", + "visual_seed": 2994145588272335891, + "episode_index": 66, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_67_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_67_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ad5ed4ccfca5116676d4a4018a19957205ef5c6e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_67_success.json @@ -0,0 +1,926 @@ +{ + "episode": 67, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20163936036443825, + -0.032058897412912526, + 1.04287855417292 + ], + "current_z": 1.04287855417292, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.18629198715970963, + "gripper_z": 1.0478777121308895, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19659920360293784, + -0.03678821658406299, + 1.0478777121308895 + ], + "object_minus_gripper": [ + 0.005040156761500408, + 0.0047293191711504645, + -0.004999157957969569 + ], + "object_to_gripper_xy": 0.006911558435194598, + "object_to_gripper_z": -0.004999157957969569, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20163936036443825, + -0.056564007639224825, + 1.04287855417292 + ], + "finger_b": [ + 0.19029265656641894, + -0.032058897412912526, + 1.04287855417292 + ], + "finger_midpoint": [ + 0.1959660084654286, + -0.044311452526068676, + 1.04287855417292 + ], + "object_minus_finger_midpoint": [ + 0.005673351899009638, + 0.01225255511315615, + 0.0 + ], + "finger_gap": 0.027004594318073012, + "fingertip_max_gap": 0.09423161183056325, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013502297159036501, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.04287855417292, + "object_top_z": 1.0892967419045803, + "finger_top_clearance": 0.04641818773166029, + "fingertip_min_top_clearance": 0.013925456319498085, + "object_projection_between_fingers": 0.8234514638321044, + "object_to_finger_line_xy": 0.010296478591781365, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04961580591528163, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.9525606620558906, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 204, + "max_stable_success_frames": 204, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19674083532274483, + -0.03052315999924933, + 1.2408678106073685 + ], + "held_position": [ + 0.20199739653690835, + -0.025448448789684268, + 1.2364691482784613 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008528326913438567, + "max_held_gripper_dist": 0.008530893902644613, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004398662328907177, + "max_held_gripper_z_dist": 0.005048454358742127, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08502796659614824, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.20199739653690835, + -0.049397257064007646, + 1.2364691482784613 + ], + "held_grasp_finger_b": [ + 0.19187617315746788, + -0.025448448789684268, + 1.2364691482784613 + ], + "held_grasp_midpoint": [ + 0.19693678484718813, + -0.037422852926845954, + 1.2364691482784613 + ], + "held_grasp_object_position": [ + 0.20199739653690835, + -0.025448448789684268, + 1.2364691482784613 + ], + "held_grasp_finger_gap": 0.02599970346863272, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023544336077124185, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0219577414987486, + -0.992390728236038, + -0.12115485999092332 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005013017050739709, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03320581772063184, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.32782689608030063, + -0.36963127914635585, + 0.8470194942530804 + ], + "target_position": [ + 0.3223962206850837, + -0.37210788988931387, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005968738226823942, + "xy_threshold": 0.08, + "gripper_dist": 0.184732313738138, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470194942530804, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07585343500589295, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08811877425282476, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15274096504473544, + "release_required_pad_clearance": 0.05405938712641238, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.1309614298611432, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008478343486785889, + "max_z_decrease": 0.008478343486785889, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035004518416332016, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008478343486785889, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.020913176248141315, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008478343486785889, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008478469338204288, + "max_button_displacement": 0.12, + "button_start": [ + 0.17809614539146418, + -0.42836934328079224, + 0.7768088579177856 + ], + "button_final": [ + 0.17809614539146418, + -0.42836934328079224, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17866468870085941, + -0.42780944546132316, + 0.8035267934232491 + ], + "closest_button": [ + 0.17812624573707575, + -0.4283432960510254, + 0.7685304880142212 + ], + "closest_ee_minus_button": [ + 0.0005384429637836641, + 0.0005338505897022339, + 0.03499630540902787 + ], + "button_min_z_position": [ + 0.17812801897525782, + -0.42833590507507324, + 0.7683305144309998 + ], + "min_active_finger_to_button": 0.14508163019329254, + "closest_active_finger": [ + 0.052704818546772, + -0.49280157685279846, + 0.810896635055542 + ], + "closest_active_finger_button": [ + 0.17809893190860743, + -0.4283711612224579, + 0.776637077331543 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12539411336183542, + -0.06443041563034058, + 0.03425955772399902 + ], + "min_contact_pad_to_button": 0.020913176248141315, + "closest_contact_pad": [ + 0.17812801897525782, + -0.42878324201123574, + 0.78923890581942 + ], + "closest_contact_pad_button": [ + 0.17812801897525782, + -0.42833590507507324, + 0.7683305144309998 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00044733693616250125, + 0.020908391388420267 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 67, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6243a7a785d4a42305253d8ecbc4c185241ef3dfe8cee0cc8ec33aebe53805bb", + "visual_seed": 3427340311920961186, + "episode_index": 67, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_68_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_68_success.json new file mode 100644 index 0000000000000000000000000000000000000000..40109545ad933a2c85cca485b31d6ac66776091f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_68_success.json @@ -0,0 +1,926 @@ +{ + "episode": 68, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20093952413018593, + -0.02851256115676125, + 1.0461648333572888 + ], + "current_z": 1.0461648333572888, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.18957838555336803, + "gripper_z": 1.0510480342918722, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19632391386179585, + -0.0331001226887266, + 1.0510480342918722 + ], + "object_minus_gripper": [ + 0.00461561026839008, + 0.004587561531965351, + -0.004883200934583387 + ], + "object_to_gripper_xy": 0.006507655411838908, + "object_to_gripper_z": -0.004883200934583387, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20093952413018593, + -0.052604844592120496, + 1.0461648333572888 + ], + "finger_b": [ + 0.18958561328629037, + -0.02851256115676125, + 1.0461648333572888 + ], + "finger_midpoint": [ + 0.19526256870823816, + -0.04055870287444087, + 1.0461648333572888 + ], + "object_minus_finger_midpoint": [ + 0.005676955421947766, + 0.01204614171767962, + 0.0 + ], + "finger_gap": 0.026633614335662643, + "fingertip_max_gap": 0.09257329512261953, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013316807167831313, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0461648333572888, + "object_top_z": 1.0920695151830868, + "finger_top_clearance": 0.04590468182579799, + "fingertip_min_top_clearance": 0.013771404547739364, + "object_projection_between_fingers": 0.8182682763038975, + "object_to_finger_line_xy": 0.01027054138065881, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048786647561309765, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1747045049038711, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 205, + "max_stable_success_frames": 205, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19508858258168701, + -0.027361433598614496, + 1.2429134951179224 + ], + "held_position": [ + 0.1999654340515611, + -0.02242773389093233, + 1.238662088335191 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008136309525641802, + "max_held_gripper_dist": 0.008138998842762715, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004251406782731282, + "max_held_gripper_z_dist": 0.004905069177282506, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08528583739754356, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.1999654340515611, + -0.046020846740880986, + 1.238662088335191 + ], + "held_grasp_finger_b": [ + 0.1901118666698135, + -0.02242773389093233, + 1.238662088335191 + ], + "held_grasp_midpoint": [ + 0.1950386503606873, + -0.03422429031590666, + 1.238662088335191 + ], + "held_grasp_object_position": [ + 0.1999654340515611, + -0.02242773389093233, + 1.238662088335191 + ], + "held_grasp_finger_gap": 0.025568100517970677, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.022905778507110938, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.04483117172653431, + -0.9895907177238739, + -0.1367493233488719 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004685036830164718, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.0333055887408452, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.32804719228405566, + -0.3604322615798219, + 0.8470195089268151 + ], + "target_position": [ + 0.3230520282048028, + -0.3629796240120987, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005607202470040969, + "xy_threshold": 0.08, + "gripper_dist": 0.18570075348961307, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195089268151, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07528122795635331, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08492371967336886, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15476479334703236, + "release_required_pad_clearance": 0.05246185983668443, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.0, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008592367172241211, + "max_z_decrease": 0.008592367172241211, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502516902564623, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008592367172241211, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021124437017698443, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008592367172241211, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008592484755789402, + "max_button_displacement": 0.12, + "button_start": [ + 0.17875196039676666, + -0.4192410707473755, + 0.7768088579177856 + ], + "button_final": [ + 0.17875196039676666, + -0.4192410707473755, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17915275954497414, + -0.4205199178966883, + 0.8035865869946222 + ], + "closest_button": [ + 0.1787341982126236, + -0.4192052483558654, + 0.7685886025428772 + ], + "closest_ee_minus_button": [ + 0.0004185613323505477, + -0.001314669540822877, + 0.03499798445174496 + ], + "button_min_z_position": [ + 0.1787261962890625, + -0.4192042350769043, + 0.7682164907455444 + ], + "min_active_finger_to_button": 0.14529158150414903, + "closest_active_finger": [ + 0.03832915425300598, + -0.40515485405921936, + 0.808922529220581 + ], + "closest_active_finger_button": [ + 0.17875851690769196, + -0.41924554109573364, + 0.7744161486625671 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14042936265468597, + 0.014090687036514282, + 0.034506380558013916 + ], + "min_contact_pad_to_button": 0.021124437017698443, + "closest_contact_pad": [ + 0.1787261962890625, + -0.4216215156113561, + 0.7892021666730067 + ], + "closest_contact_pad_button": [ + 0.1787261962890625, + -0.4192042350769043, + 0.7682164907455444 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0024172805344517823, + 0.020985675927462255 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 68, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6da2c0c9cf6018cfa1a81a7f63f2c4495f616e3b5ea3ddc30aabe0381f3941bc", + "visual_seed": 2091530522282742219, + "episode_index": 68, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_69_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_69_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7adf54da26204f5209f9737c26cf7639ffd33432 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_69_success.json @@ -0,0 +1,926 @@ +{ + "episode": 69, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.19730196628567187, + -0.029685268261194935, + 1.044076986929487 + ], + "current_z": 1.044076986929487, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.18749041991627668, + "gripper_z": 1.0487053621187445, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19283590152822835, + -0.034114520918652594, + 1.0487053621187445 + ], + "object_minus_gripper": [ + 0.004466064757443516, + 0.004429252657457659, + -0.0046283751892575165 + ], + "object_to_gripper_xy": 0.00628999312569376, + "object_to_gripper_z": -0.0046283751892575165, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19730196628567187, + -0.05383929385960936, + 1.044076986929487 + ], + "finger_b": [ + 0.18636011653302165, + -0.029685268261194935, + 1.044076986929487 + ], + "finger_midpoint": [ + 0.19183104140934676, + -0.04176228106040215, + 1.044076986929487 + ], + "object_minus_finger_midpoint": [ + 0.005470924876325112, + 0.012077012799207212, + 0.0 + ], + "finger_gap": 0.02651680653130069, + "fingertip_max_gap": 0.09333926271919618, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013258403265650346, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.044076986929487, + "object_top_z": 1.0905975275277997, + "finger_top_clearance": 0.046520540598312676, + "fingertip_min_top_clearance": 0.013956162179493786, + "object_projection_between_fingers": 0.8297296400911037, + "object_to_finger_line_xy": 0.009966875864465343, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04916963135959809, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0613106478588195, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 203, + "max_stable_success_frames": 203, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19404750978274646, + -0.026716268473307533, + 1.2422821433087565 + ], + "held_position": [ + 0.19875465747808405, + -0.02193103802491956, + 1.238290587726494 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007809493314946382, + "max_held_gripper_dist": 0.007812080298285331, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003991555582262496, + "max_held_gripper_z_dist": 0.0046458488231995165, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08590702965762788, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.19875465747808405, + -0.04543640945274283, + 1.238290587726494 + ], + "held_grasp_finger_b": [ + 0.1891397463186077, + -0.02193103802491956, + 1.238290587726494 + ], + "held_grasp_midpoint": [ + 0.19394720189834586, + -0.033683723738831196, + 1.238290587726494 + ], + "held_grasp_object_position": [ + 0.19875465747808405, + -0.02193103802491956, + 1.238290587726494 + ], + "held_grasp_finger_gap": 0.0253958461675242, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.022877704249297408, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.042517649511066305, + -0.9906887769700102, + -0.12933675682388077 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004568403295586552, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033352569418403415, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33323119844876614, + -0.36507716008226226, + 0.8470196205978869 + ], + "target_position": [ + 0.32972907397444096, + -0.36713762660866384, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.004063298923299739, + "xy_threshold": 0.08, + "gripper_dist": 0.1818824739321535, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196205978869, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07578429027064544, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0867547413248803, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1498946181876956, + "release_required_pad_clearance": 0.05337737066244015, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.7702884323961334, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008501410484313965, + "max_z_decrease": 0.008501410484313965, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03499377651867746, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008501410484313965, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02104061325400656, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008501410484313965, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00850147980864618, + "max_button_displacement": 0.12, + "button_start": [ + 0.1854290068149566, + -0.4233990907669067, + 0.7768088579177856 + ], + "button_final": [ + 0.1854290068149566, + -0.4233990907669067, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1850419425233772, + -0.4230914844455797, + 0.8036648359708181 + ], + "closest_button": [ + 0.18540439009666437, + -0.4233663380146026, + 0.7686740159988403 + ], + "closest_ee_minus_button": [ + -0.00036244757328718347, + 0.0002748535690229037, + 0.03499081997197773 + ], + "button_min_z_position": [ + 0.185403823852539, + -0.4233757555484771, + 0.7683074474334717 + ], + "min_active_finger_to_button": 0.14610684924812242, + "closest_active_finger": [ + 0.05855865031480789, + -0.48708775639533997, + 0.8105690479278564 + ], + "closest_active_finger_button": [ + 0.18543426692485804, + -0.4234018027782439, + 0.776016354560852 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12687561661005015, + -0.06368595361709606, + 0.034552693367004395 + ], + "min_contact_pad_to_button": 0.02104061325400656, + "closest_contact_pad": [ + 0.185403823852539, + -0.4241604886464805, + 0.7893334218477426 + ], + "closest_contact_pad_button": [ + 0.185403823852539, + -0.4233757555484771, + 0.7683074474334717 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0007847330980033651, + 0.021025974414270898 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 69, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "cdbd952d44a8f54f3799ec5e44fab431f62c872a0af7a22b64b2eb142054005a", + "visual_seed": 6249589934387295573, + "episode_index": 69, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_6_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_6_success.json new file mode 100644 index 0000000000000000000000000000000000000000..90980ebcdc6aae23854b6f977c79f1126145afe4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_6_success.json @@ -0,0 +1,926 @@ +{ + "episode": 6, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20507296925345175, + -0.031020791349598134, + 1.0457163539793088 + ], + "current_z": 1.0457163539793088, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.18912984657074328, + "gripper_z": 1.0507534333246122, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.20014413474937465, + -0.035853918651015504, + 1.0507534333246122 + ], + "object_minus_gripper": [ + 0.0049288345040771064, + 0.00483312730141737, + -0.005037079345303397 + ], + "object_to_gripper_xy": 0.00690308112948754, + "object_to_gripper_z": -0.005037079345303397, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20507296925345175, + -0.05521413054813017, + 1.0457163539793088 + ], + "finger_b": [ + 0.19321111647454953, + -0.031020791349598134, + 1.0457163539793088 + ], + "finger_midpoint": [ + 0.19914204286400064, + -0.04311746094886415, + 1.0457163539793088 + ], + "object_minus_finger_midpoint": [ + 0.005930926389451113, + 0.012096669599266016, + 0.0 + ], + "finger_gap": 0.026944780810457106, + "fingertip_max_gap": 0.09094280046054251, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013472390405228548, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0457163539793088, + "object_top_z": 1.091060721796822, + "finger_top_clearance": 0.045344367817513165, + "fingertip_min_top_clearance": 0.013603310345253916, + "object_projection_between_fingers": 0.806199118092213, + "object_to_finger_line_xy": 0.010650590547452416, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04797140023027126, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9985064123674828, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 205, + "max_stable_success_frames": 205, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19752810765642764, + -0.030900053803319324, + 1.2440264532391112 + ], + "held_position": [ + 0.20276665259406923, + -0.025778243372762147, + 1.2396288154650883 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008544853020489455, + "max_held_gripper_dist": 0.008552963059812988, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004397637774022911, + "max_held_gripper_z_dist": 0.005058326898390586, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08536258834528115, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.20276665259406923, + -0.04963911808405837, + 1.2396288154650883 + ], + "held_grasp_finger_b": [ + 0.1925261960493825, + -0.025778243372762147, + 1.2396288154650883 + ], + "held_grasp_midpoint": [ + 0.19764642432172586, + -0.03770868072841026, + 1.2396288154650883 + ], + "held_grasp_object_position": [ + 0.20276665259406923, + -0.025778243372762147, + 1.2396288154650883 + ], + "held_grasp_finger_gap": 0.02596552122010634, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023037337078996703, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.053697005286675675, + -0.9885311923224697, + -0.14114784245166187 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004785620604787031, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03313167457709441, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33106516572295674, + -0.3630316905022003, + 0.8470197508522885 + ], + "target_position": [ + 0.32371763414571736, + -0.36715319302953797, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008424547665090435, + "xy_threshold": 0.08, + "gripper_dist": 0.1870368796052302, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470197508522885, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0754346016212433, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08504187432086134, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15602486083221317, + "release_required_pad_clearance": 0.05252093716043067, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.11190521652362516, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008678674697875977, + "max_z_decrease": 0.008678674697875977, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03499557506671488, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008678674697875977, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.021009915244660688, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008678674697875977, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008678825046490079, + "max_button_displacement": 0.12, + "button_start": [ + 0.17941756546497342, + -0.42341464757919306, + 0.7768088579177856 + ], + "button_final": [ + 0.17941756546497342, + -0.42341464757919306, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17922377465647596, + -0.42381838349038115, + 0.8034971460802912 + ], + "closest_button": [ + 0.17939521372318268, + -0.4233658015727997, + 0.7685049176216125 + ], + "closest_ee_minus_button": [ + -0.00017143906670671893, + -0.0004525819175814627, + 0.034992228458678665 + ], + "button_min_z_position": [ + 0.1793926805257797, + -0.42337003350257874, + 0.7681301832199097 + ], + "min_active_finger_to_button": 0.14592871891634268, + "closest_active_finger": [ + 0.038390181958675385, + -0.40871065855026245, + 0.8099825382232666 + ], + "closest_active_finger_button": [ + 0.1794223040342331, + -0.42341849207878113, + 0.775503396987915 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1410321220755577, + 0.014707833528518677, + 0.03447914123535156 + ], + "min_contact_pad_to_button": 0.021009915244660688, + "closest_contact_pad": [ + 0.1793926805257797, + -0.4248938274212394, + 0.7890847672215375 + ], + "closest_contact_pad_button": [ + 0.1793926805257797, + -0.42337003350257874, + 0.7681301832199097 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001523793918660643, + 0.020954584001627863 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 6, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b6050c54d90dc10367e6820720b83555ed9d4870eba60a5e07822d089201f82c", + "visual_seed": 3836775813132872944, + "episode_index": 6, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_70_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_70_success.json new file mode 100644 index 0000000000000000000000000000000000000000..43d27d6bb1dc73c8d3ff77033122e5311ccc5556 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_70_success.json @@ -0,0 +1,926 @@ +{ + "episode": 70, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20384114330418254, + -0.027016378957717448, + 1.046059066330868 + ], + "current_z": 1.046059066330868, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.1894726185269472, + "gripper_z": 1.051152322424, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19906258830357845, + -0.03180391184206997, + 1.051152322424 + ], + "object_minus_gripper": [ + 0.00477855500060409, + 0.004787532884352526, + -0.005093256093132048 + ], + "object_to_gripper_xy": 0.006764248591865557, + "object_to_gripper_z": -0.005093256093132048, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20384114330418254, + -0.05102727012651923, + 1.046059066330868 + ], + "finger_b": [ + 0.19191961727695395, + -0.027016378957717448, + 1.046059066330868 + ], + "finger_midpoint": [ + 0.19788038029056826, + -0.03902182454211834, + 1.046059066330868 + ], + "object_minus_finger_midpoint": [ + 0.005960763013614284, + 0.012005445584400892, + 0.0 + ], + "finger_gap": 0.026807567542355134, + "fingertip_max_gap": 0.09308482450332706, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01340378377117756, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.046059066330868, + "object_top_z": 1.0923421469507055, + "finger_top_clearance": 0.04628308061983755, + "fingertip_min_top_clearance": 0.013884924185951263, + "object_projection_between_fingers": 0.8022352499150915, + "object_to_finger_line_xy": 0.010677823101762702, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04904241225166353, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2051241223368634, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 204, + "max_stable_success_frames": 204, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.195726732785784, + -0.027395656481354017, + 1.2443887220322432 + ], + "held_position": [ + 0.20085344756636284, + -0.022319262496906585, + 1.239954992761665 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008468230958796537, + "max_held_gripper_dist": 0.008471159673358274, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004433729270578057, + "max_held_gripper_z_dist": 0.005099530287886678, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08436462246273506, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.20085344756636284, + -0.04608352546015214, + 1.239954992761665 + ], + "held_grasp_finger_b": [ + 0.19073650211029775, + -0.022319262496906585, + 1.239954992761665 + ], + "held_grasp_midpoint": [ + 0.1957949748383303, + -0.034201393978529365, + 1.239954992761665 + ], + "held_grasp_object_position": [ + 0.20085344756636284, + -0.022319262496906585, + 1.239954992761665 + ], + "held_grasp_finger_gap": 0.025828139297039584, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.022912919059456624, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05990384499257055, + -0.9896777791185907, + -0.13018994920499982 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004611854845178987, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03313772150368405, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33300496565272897, + -0.368477309932596, + 0.847019647360291 + ], + "target_position": [ + 0.32893272737126295, + -0.3707417745118147, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.004659498304707675, + "xy_threshold": 0.08, + "gripper_dist": 0.1852951911699553, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.847019647360291, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07517551330921068, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08561393565797847, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15471617568403132, + "release_required_pad_clearance": 0.052806967828989235, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6596758544616382, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008702337741851807, + "max_z_decrease": 0.008702337741851807, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502193047791429, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008702337741851807, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.021004792883211738, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008702337741851807, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008702504833286998, + "max_button_displacement": 0.12, + "button_start": [ + 0.18463265895843506, + -0.4270032346248626, + 0.7768088579177856 + ], + "button_final": [ + 0.18463265895843506, + -0.4270032346248626, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18591383629450686, + -0.4270841910112688, + 0.8031052796843478 + ], + "closest_button": [ + 0.18464703857898712, + -0.42695125937461853, + 0.7681065201759338 + ], + "closest_ee_minus_button": [ + 0.0012667977155197407, + -0.00013293163665029084, + 0.03499875950841391 + ], + "button_min_z_position": [ + 0.18464703857898712, + -0.42695125937461853, + 0.7681065201759338 + ], + "min_active_finger_to_button": 0.14457066032765292, + "closest_active_finger": [ + 0.044901713728904724, + -0.41347578167915344, + 0.8084859251976013 + ], + "closest_active_finger_button": [ + 0.18464039266109467, + -0.42700827121734614, + 0.7739801406860352 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13973867893218994, + 0.013532489538192694, + 0.03450578451156616 + ], + "min_contact_pad_to_button": 0.021004792883211738, + "closest_contact_pad": [ + 0.18464703857898712, + -0.4280401577925999, + 0.7890830695657153 + ], + "closest_contact_pad_button": [ + 0.18464703857898712, + -0.42695125937461853, + 0.7681065201759338 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0010888984179813765, + 0.02097654938978144 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 70, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e222e3699d11ad9fd55c5f71fe389b7620a72a09a1e0f673e8c4920646160fd8", + "visual_seed": 6447589685760551756, + "episode_index": 70, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_71_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_71_success.json new file mode 100644 index 0000000000000000000000000000000000000000..cd420ea706987c41294eed5c73d80f3deb3a5305 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_71_success.json @@ -0,0 +1,926 @@ +{ + "episode": 71, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2081868988937006, + -0.03691667754681164, + 1.0462676951026761 + ], + "current_z": 1.0462676951026761, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.18968118769411058, + "gripper_z": 1.051303144727123, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.20344260932772412, + -0.0416749444032542, + 1.051303144727123 + ], + "object_minus_gripper": [ + 0.004744289565976473, + 0.00475826685644256, + -0.005035449624446908 + ], + "object_to_gripper_xy": 0.006719329353659708, + "object_to_gripper_z": -0.005035449624446908, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2081868988937006, + -0.06093333593490994, + 1.0462676951026761 + ], + "finger_b": [ + 0.1963011588698968, + -0.03691667754681164, + 1.0462676951026761 + ], + "finger_midpoint": [ + 0.2022440288817987, + -0.04892500674086079, + 1.0462676951026761 + ], + "object_minus_finger_midpoint": [ + 0.005942870011901885, + 0.01200832919404915, + 0.0 + ], + "finger_gap": 0.02679684115794367, + "fingertip_max_gap": 0.09132320709652536, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01339842057897183, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0462676951026761, + "object_top_z": 1.0915807582896961, + "finger_top_clearance": 0.04531306318702, + "fingertip_min_top_clearance": 0.013593918956105998, + "object_projection_between_fingers": 0.8032633601514042, + "object_to_finger_line_xy": 0.010652589839187916, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04816160354826268, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.230307011234312, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 203, + "max_stable_success_frames": 203, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.20102483425777476, + -0.036959101982549425, + 1.2445917153631934 + ], + "held_position": [ + 0.20613798845342277, + -0.031928898434685514, + 1.2402266902653374 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00839647173914901, + "max_held_gripper_dist": 0.008400137750710562, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004365025097855968, + "max_held_gripper_z_dist": 0.005033171571944717, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08584357269652118, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.20613798845342277, + -0.05571714303072391, + 1.2402266902653374 + ], + "held_grasp_finger_b": [ + 0.1961297326382126, + -0.031928898434685514, + 1.2402266902653374 + ], + "held_grasp_midpoint": [ + 0.20113386054581767, + -0.043823020732704714, + 1.2402266902653374 + ], + "held_grasp_object_position": [ + 0.20613798845342277, + -0.031928898434685514, + 1.2402266902653374 + ], + "held_grasp_finger_gap": 0.025807862472968162, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.022918246170339246, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05822768487812836, + -0.9879250922130154, + -0.1435741929792349 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004637300048951754, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.0331583443148534, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3303692800773673, + -0.3656419055307685, + 0.8470195539582912 + ], + "target_position": [ + 0.3233949434905705, + -0.3693347710090274, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007891680826443058, + "xy_threshold": 0.08, + "gripper_dist": 0.1856243898419606, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195539582912, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07547781663573222, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08515501789467471, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15466348665331273, + "release_required_pad_clearance": 0.052577508947337356, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.22028685498193598, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008622527122497559, + "max_z_decrease": 0.008622527122497559, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035057531119738104, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008622527122497559, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020908111281767616, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008622527122497559, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008622604068717808, + "max_button_displacement": 0.12, + "button_start": [ + 0.17909486591815943, + -0.4255962371826172, + 0.7768088579177856 + ], + "button_final": [ + 0.17909486591815943, + -0.4255962371826172, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17819208502825162, + -0.42341101779064183, + 0.8031664849292109 + ], + "closest_button": [ + 0.17908027768135065, + -0.425562858581543, + 0.7681863307952881 + ], + "closest_ee_minus_button": [ + -0.0008881926530990292, + 0.002151840790901194, + 0.03498015413392286 + ], + "button_min_z_position": [ + 0.17908027768135065, + -0.425562858581543, + 0.7681863307952881 + ], + "min_active_finger_to_button": 0.14568381454224152, + "closest_active_finger": [ + 0.05191471427679062, + -0.4878152012825012, + 0.8111276030540466 + ], + "closest_active_finger_button": [ + 0.17909558117389673, + -0.4255991876125336, + 0.7768060564994812 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12718086689710612, + -0.062216013669967596, + 0.03432154655456543 + ], + "min_contact_pad_to_button": 0.020908111281767616, + "closest_contact_pad": [ + 0.17908027768135065, + -0.425562858581543, + 0.7890944420770557 + ], + "closest_contact_pad_button": [ + 0.17908027768135065, + -0.425562858581543, + 0.7681863307952881 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.020908111281767616 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 71, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "750e95aeffe828afc124c2920dc8ab547277ff9ce0dec98a28db024b377e25b5", + "visual_seed": 8497354195831575619, + "episode_index": 71, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_72_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_72_success.json new file mode 100644 index 0000000000000000000000000000000000000000..fcfc398ead28e21a80ca62bd39bfe10338eda983 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_72_success.json @@ -0,0 +1,926 @@ +{ + "episode": 72, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.204342847252606, + -0.034255278796566986, + 1.0432615857527419 + ], + "current_z": 1.0432615857527419, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.1866750783441763, + "gripper_z": 1.0481935997660734, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19936210478607166, + -0.038984539242364336, + 1.0481935997660734 + ], + "object_minus_gripper": [ + 0.004980742466534349, + 0.0047292604457973494, + -0.004932014013331543 + ], + "object_to_gripper_xy": 0.006868311283141003, + "object_to_gripper_z": -0.004932014013331543, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.204342847252606, + -0.058685584783943645, + 1.0432615857527419 + ], + "finger_b": [ + 0.19296111671842653, + -0.034255278796566986, + 1.0432615857527419 + ], + "finger_midpoint": [ + 0.19865198198551626, + -0.04647043179025531, + 1.0432615857527419 + ], + "object_minus_finger_midpoint": [ + 0.005690865267089756, + 0.012215152993688326, + 0.0 + ], + "finger_gap": 0.02695150534922911, + "fingertip_max_gap": 0.09350967689846393, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01347575267461456, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0432615857527419, + "object_top_z": 1.0893218181601192, + "finger_top_clearance": 0.04606023240737733, + "fingertip_min_top_clearance": 0.013818069722213167, + "object_projection_between_fingers": 0.821659268306845, + "object_to_finger_line_xy": 0.010317017769986114, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049254838449231966, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.7543662635908337, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 204, + "max_stable_success_frames": 204, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19867718420244518, + -0.03361739699004329, + 1.2425174729557278 + ], + "held_position": [ + 0.20389943737244928, + -0.028579797075397137, + 1.2381757237643056 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00845577477898246, + "max_held_gripper_dist": 0.00845884970567676, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004341749191422162, + "max_held_gripper_z_dist": 0.004979617928258184, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08554242658914804, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.20389943737244928, + -0.052543797395645554, + 1.2381757237643056 + ], + "held_grasp_finger_b": [ + 0.19385975753126833, + -0.028579797075397137, + 1.2381757237643056 + ], + "held_grasp_midpoint": [ + 0.1988795974518588, + -0.04056179723552135, + 1.2381757237643056 + ], + "held_grasp_object_position": [ + 0.20389943737244928, + -0.028579797075397137, + 1.2381757237643056 + ], + "held_grasp_finger_gap": 0.025982080029556553, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02347428824768967, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.029186192805397245, + -0.9917921866808113, + -0.12448463595328274 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004903291859541272, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03317006081041678, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3283456718545348, + -0.3697520576156783, + 0.847019691884711 + ], + "target_position": [ + 0.32315040793306454, + -0.371990770173576, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005657084154457949, + "xy_threshold": 0.08, + "gripper_dist": 0.18386212140976224, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.847019691884711, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07529349269931343, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08703018014849116, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1531107729938931, + "release_required_pad_clearance": 0.05351509007424558, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.0405825688690173, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008500099182128906, + "max_z_decrease": 0.008500099182128906, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500776761751901, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008500099182128906, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021103735050622106, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008500099182128906, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00850018310347343, + "max_button_displacement": 0.12, + "button_start": [ + 0.17885033786296842, + -0.42825222015380854, + 0.7768088579177856 + ], + "button_final": [ + 0.17885033786296842, + -0.42825222015380854, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17779459437842204, + -0.4291730401270952, + 0.8037039115712091 + ], + "closest_button": [ + 0.17885589599609372, + -0.4282421171665191, + 0.7687246203422546 + ], + "closest_ee_minus_button": [ + -0.0010613016176716783, + -0.0009309229605760638, + 0.03497929122895449 + ], + "button_min_z_position": [ + 0.17887020111083982, + -0.4282200932502746, + 0.7683087587356567 + ], + "min_active_finger_to_button": 0.1467965998668924, + "closest_active_finger": [ + 0.037094563245773315, + -0.41221219301223755, + 0.8093345761299133 + ], + "closest_active_finger_button": [ + 0.1788552105426788, + -0.4282570779323578, + 0.7747553586959839 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1417606472969055, + 0.01604488492012024, + 0.03457921743392944 + ], + "min_contact_pad_to_button": 0.021103735050622106, + "closest_contact_pad": [ + 0.17887020111083982, + -0.43039921596407454, + 0.7892996867114528 + ], + "closest_contact_pad_button": [ + 0.17887020111083982, + -0.4282200932502746, + 0.7683087587356567 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0021791227137999414, + 0.020990927975796048 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 72, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9576bfc478fcdf4dc3fc53cc880f849d3713e8db69fb750db89758a8bf404d9b", + "visual_seed": 7986159720144453659, + "episode_index": 72, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_73_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_73_success.json new file mode 100644 index 0000000000000000000000000000000000000000..592418c96e7314ce7d354049546fd71b63ebe6c5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_73_success.json @@ -0,0 +1,926 @@ +{ + "episode": 73, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20362702548128836, + -0.035416044112091795, + 1.0431484661702308 + ], + "current_z": 1.0431484661702308, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.18656201836631003, + "gripper_z": 1.04812987527655, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19854092859200037, + -0.04022967808069476, + 1.04812987527655 + ], + "object_minus_gripper": [ + 0.005086096889287989, + 0.004813633968602966, + -0.004981409106319168 + ], + "object_to_gripper_xy": 0.0070028175437400406, + "object_to_gripper_z": -0.004981409106319168, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20362702548128836, + -0.05989453962837122, + 1.0431484661702308 + ], + "finger_b": [ + 0.19202385836451305, + -0.035416044112091795, + 1.0431484661702308 + ], + "finger_midpoint": [ + 0.1978254419229007, + -0.04765529187023151, + 1.0431484661702308 + ], + "object_minus_finger_midpoint": [ + 0.0058015835583876685, + 0.012239247758139712, + 0.0 + ], + "finger_gap": 0.02708930102236541, + "fingertip_max_gap": 0.0939997319077451, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013544650511182713, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0431484661702308, + "object_top_z": 1.089689712967678, + "finger_top_clearance": 0.04654124679744709, + "fingertip_min_top_clearance": 0.013962374039234143, + "object_projection_between_fingers": 0.8165331957477797, + "object_to_finger_line_xy": 0.010484880138034067, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049499865953872554, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.5511855426855277, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 202, + "max_stable_success_frames": 202, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19865485499824456, + -0.03408874720054887, + 1.2417955257518989 + ], + "held_position": [ + 0.20403003131447542, + -0.028955084142470576, + 1.2374750116545068 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00859731695880818, + "max_held_gripper_dist": 0.008599730879379316, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004320514097392092, + "max_held_gripper_z_dist": 0.005008822171836735, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08560898820820571, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.20403003131447542, + -0.05294137964022915, + 1.2374750116545068 + ], + "held_grasp_finger_b": [ + 0.19385753221607788, + -0.028955084142470576, + 1.2374750116545068 + ], + "held_grasp_midpoint": [ + 0.19894378176527666, + -0.040948231891349864, + 1.2374750116545068 + ], + "held_grasp_object_position": [ + 0.20403003131447542, + -0.028955084142470576, + 1.2374750116545068 + ], + "held_grasp_finger_gap": 0.026054214814741437, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023396124203699863, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.03781524077364764, + -0.9914327832990176, + -0.12502417272349528 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004869597455987226, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033117487361285225, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.32859567267187617, + -0.36317609657169275, + 0.8470197030989088 + ], + "target_position": [ + 0.3244390809520963, + -0.36510935873356337, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.004584185566866093, + "xy_threshold": 0.08, + "gripper_dist": 0.18285897333872553, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470197030989088, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07590181309065708, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08736868180847511, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15056036027501515, + "release_required_pad_clearance": 0.05368434090423756, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.3762299158889584, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008594930171966553, + "max_z_decrease": 0.008594930171966553, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03499744023794224, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008594930171966553, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02112822373362482, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008594930171966553, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008594980297331094, + "max_button_displacement": 0.12, + "button_start": [ + 0.18013900518417358, + -0.42137080430984497, + 0.7768088579177856 + ], + "button_final": [ + 0.18013900518417358, + -0.42137080430984497, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17929000662406136, + -0.42083075370558, + 0.8031972412003688 + ], + "closest_button": [ + 0.18014295399188995, + -0.4213417172431946, + 0.7682139277458191 + ], + "closest_ee_minus_button": [ + -0.0008529473678285937, + 0.0005109635376145949, + 0.03498331345454975 + ], + "button_min_z_position": [ + 0.18014295399188995, + -0.4213417172431946, + 0.7682139277458191 + ], + "min_active_finger_to_button": 0.14647467628690494, + "closest_active_finger": [ + 0.05136590451002121, + -0.48189061880111694, + 0.8075315952301025 + ], + "closest_active_finger_button": [ + 0.1801491379737854, + -0.42137411236762995, + 0.7727830410003662 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1287832334637642, + -0.060516506433486994, + 0.03474855422973633 + ], + "min_contact_pad_to_button": 0.02112822373362482, + "closest_contact_pad": [ + 0.18014295399188995, + -0.4222031276340583, + 0.7893245840661853 + ], + "closest_contact_pad_button": [ + 0.18014295399188995, + -0.4213417172431946, + 0.7682139277458191 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0008614103908637372, + 0.02111065632036624 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 73, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1de3a7c04ab84414221249698fc315b2e321904a1804b27c88578238bf351ce8", + "visual_seed": 7865889250832629988, + "episode_index": 73, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_74_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_74_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8c9b47a37a0873682af9324f0c93eef5dc6c1407 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_74_success.json @@ -0,0 +1,926 @@ +{ + "episode": 74, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.19962504437448514, + -0.02900652223387418, + 1.044667309450939 + ], + "current_z": 1.044667309450939, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.18808080204237354, + "gripper_z": 1.0495472717401313, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19454152058790242, + -0.03379531308123382, + 1.0495472717401313 + ], + "object_minus_gripper": [ + 0.005083523786582722, + 0.004788790847359638, + -0.004879962289192186 + ], + "object_to_gripper_xy": 0.00698389088320456, + "object_to_gripper_z": -0.004879962289192186, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19962504437448514, + -0.05356408317140082, + 1.044667309450939 + ], + "finger_b": [ + 0.1882166172021984, + -0.02900652223387418, + 1.044667309450939 + ], + "finger_midpoint": [ + 0.19392083078834177, + -0.0412853027026375, + 1.044667309450939 + ], + "object_minus_finger_midpoint": [ + 0.00570421358614337, + 0.01227878046876332, + 0.0 + ], + "finger_gap": 0.02707814634988342, + "fingertip_max_gap": 0.09271933005076885, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013539073174941709, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.044667309450939, + "object_top_z": 1.0903742029548986, + "finger_top_clearance": 0.04570689350395951, + "fingertip_min_top_clearance": 0.013712068051187869, + "object_projection_between_fingers": 0.8224937347892101, + "object_to_finger_line_xy": 0.010346466920767353, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04885966502538443, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.5170390660807207, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 205, + "max_stable_success_frames": 205, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19474107741063473, + -0.02732071746892413, + 1.2417749058526657 + ], + "held_position": [ + 0.20004005652260554, + -0.022183531244433587, + 1.2375142207158665 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008521930518910613, + "max_held_gripper_dist": 0.008524351259858407, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004260685136799225, + "max_held_gripper_z_dist": 0.004924095853968469, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08534928840392071, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.20004005652260554, + -0.04611378674203082, + 1.2375142207158665 + ], + "held_grasp_finger_b": [ + 0.1898092634516068, + -0.022183531244433587, + 1.2375142207158665 + ], + "held_grasp_midpoint": [ + 0.19492465998710617, + -0.0341486589932322, + 1.2375142207158665 + ], + "held_grasp_object_position": [ + 0.20004005652260554, + -0.022183531244433587, + 1.2375142207158665 + ], + "held_grasp_finger_gap": 0.026025492407289397, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023437142951031463, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.026384226335816066, + -0.9906736897728463, + -0.13367689775168598 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005060371402217042, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03321172193031491, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3276935229759632, + -0.36448842034712614, + 0.8470194587495838 + ], + "target_position": [ + 0.32289129788430043, + -0.3669597025383869, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005400796376446546, + "xy_threshold": 0.08, + "gripper_dist": 0.18618456660683982, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470194587495838, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07589313308255786, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08847042386719405, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1538741760384826, + "release_required_pad_clearance": 0.054235211933597025, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.487890926363893, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008710682392120361, + "max_z_decrease": 0.008710682392120361, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03504618303990229, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008710682392120361, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.02103266939538702, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008710682392120361, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008710852346110062, + "max_button_displacement": 0.12, + "button_start": [ + 0.17859122157096857, + -0.4232211709022521, + 0.7768088579177856 + ], + "button_final": [ + 0.17859122157096857, + -0.4232211709022521, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1803407234716034, + -0.42351377753077096, + 0.8030993378307807 + ], + "closest_button": [ + 0.17859901487827295, + -0.4231673181056976, + 0.7680981755256653 + ], + "closest_ee_minus_button": [ + 0.0017417085933304488, + -0.00034645942507338656, + 0.03500116230511541 + ], + "button_min_z_position": [ + 0.17859901487827295, + -0.4231673181056976, + 0.7680981755256653 + ], + "min_active_finger_to_button": 0.14408672050437654, + "closest_active_finger": [ + 0.039489828050136566, + -0.40839019417762756, + 0.8087807893753052 + ], + "closest_active_finger_button": [ + 0.17859806120395655, + -0.42322599887847895, + 0.7742875814437866 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13910823315381998, + 0.014835804700851385, + 0.034493207931518555 + ], + "min_contact_pad_to_button": 0.02103266939538702, + "closest_contact_pad": [ + 0.17859901487827295, + -0.4246048623297461, + 0.789081660662781 + ], + "closest_contact_pad_button": [ + 0.17859901487827295, + -0.4231673181056976, + 0.7680981755256653 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0014375442240485148, + 0.020983485137115676 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 74, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "4487ae6943a2d26e9a05a298a8eb51dd94bf6e6d9ccff3acd4fec9e788bcda2b", + "visual_seed": 8917235140873974767, + "episode_index": 74, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_75_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_75_success.json new file mode 100644 index 0000000000000000000000000000000000000000..47fbc06d001b0e12feb160300441f735015c2c48 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_75_success.json @@ -0,0 +1,926 @@ +{ + "episode": 75, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20025452222454776, + -0.03177753941596815, + 1.0453060360226905 + ], + "current_z": 1.0453060360226905, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.18871964782341444, + "gripper_z": 1.0506011841814034, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19507861735851867, + -0.03659317440089577, + 1.0506011841814034 + ], + "object_minus_gripper": [ + 0.005175904866029091, + 0.004815634984927618, + -0.0052951481587129035 + ], + "object_to_gripper_xy": 0.0070696769014038, + "object_to_gripper_z": -0.0052951481587129035, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20025452222454776, + -0.056440478678537576, + 1.0453060360226905 + ], + "finger_b": [ + 0.18887836691600687, + -0.03177753941596815, + 1.0453060360226905 + ], + "finger_midpoint": [ + 0.19456644457027733, + -0.04410900904725286, + 1.0453060360226905 + ], + "object_minus_finger_midpoint": [ + 0.005688077654270429, + 0.01233146963128471, + 0.0 + ], + "finger_gap": 0.027160218752308153, + "fingertip_max_gap": 0.0958320247858924, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013580109376154068, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0453060360226905, + "object_top_z": 1.0919804211617181, + "finger_top_clearance": 0.04667438513902766, + "fingertip_min_top_clearance": 0.014002315541708282, + "object_projection_between_fingers": 0.8245616646246872, + "object_to_finger_line_xy": 0.010330160812576553, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0504160123929462, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.6187680416035293, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 207, + "max_stable_success_frames": 207, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19551625136303283, + -0.028873149838282847, + 1.2416521523932216 + ], + "held_position": [ + 0.20077363350137942, + -0.023595786500903413, + 1.2369054383017115 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008833002061013149, + "max_held_gripper_dist": 0.008837256300765326, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0047467140915100625, + "max_held_gripper_z_dist": 0.0053475220490983855, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08496473790181062, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.20077363350137942, + -0.04750991358111853, + 1.2369054383017115 + ], + "held_grasp_finger_b": [ + 0.1903680085102652, + -0.023595786500903413, + 1.2369054383017115 + ], + "held_grasp_midpoint": [ + 0.1955708210058223, + -0.03555285004101097, + 1.2369054383017115 + ], + "held_grasp_object_position": [ + 0.20077363350137942, + -0.023595786500903413, + 1.2369054383017115 + ], + "held_grasp_finger_gap": 0.02607992533471633, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023830812678807173, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.008390571208912113, + -0.9928651571392592, + -0.11894695478919304 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005489694248999382, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033372127763868366, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33438446298546043, + -0.36524996282603006, + 0.8470194871377318 + ], + "target_position": [ + 0.32949052022009695, + -0.3688139384014718, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0060541388894704805, + "xy_threshold": 0.08, + "gripper_dist": 0.1844201496078268, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470194871377318, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07585075645048145, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08903025894159998, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15269833004231137, + "release_required_pad_clearance": 0.05451512947079999, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 4.061715546482719, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008603930473327637, + "max_z_decrease": 0.008603930473327637, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03499902594775362, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008603930473327637, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020994114707099654, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008603930473327637, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008604045488464513, + "max_button_displacement": 0.12, + "button_start": [ + 0.18519043922424316, + -0.42507538199424744, + 0.7768088579177856 + ], + "button_final": [ + 0.18519043922424316, + -0.42507538199424744, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1847618167285921, + -0.4242279216213506, + 0.8031916424292201 + ], + "closest_button": [ + 0.18521475791931152, + -0.4250381290912628, + 0.768204927444458 + ], + "closest_ee_minus_button": [ + -0.00045294119071942474, + 0.0008102074699122275, + 0.034986714984762135 + ], + "button_min_z_position": [ + 0.18521475791931152, + -0.4250381290912628, + 0.768204927444458 + ], + "min_active_finger_to_button": 0.14588197883726037, + "closest_active_finger": [ + 0.05845451354980469, + -0.4885501265525818, + 0.8109646439552307 + ], + "closest_active_finger_button": [ + 0.1851940006017685, + -0.42507708072662354, + 0.7764707803726196 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1267394870519638, + -0.06347304582595825, + 0.034493863582611084 + ], + "min_contact_pad_to_button": 0.020994114707099654, + "closest_contact_pad": [ + 0.18521475791931152, + -0.4252742356885116, + 0.7891977144440346 + ], + "closest_contact_pad_button": [ + 0.18521475791931152, + -0.4250381290912628, + 0.768204927444458 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00023610659724876415, + 0.02099278699957663 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 75, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3713e25d04dea8cf5d4c4631f30bd80184d4a067887a7380062ea0780798d3a5", + "visual_seed": 1355188074191346974, + "episode_index": 75, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_76_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_76_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c865664b98706d30af999cc371e8966081ae0f74 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_76_success.json @@ -0,0 +1,926 @@ +{ + "episode": 76, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20352282816620648, + -0.031066670529651057, + 1.0457465898781766 + ], + "current_z": 1.0457465898781766, + "required_z": 0.8565866266178551, + "initial_z": 0.7565866266178551, + "lift_margin": 0.18915996326032147, + "gripper_z": 1.050742458447166, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19903176857459423, + -0.0355888449969899, + 1.050742458447166 + ], + "object_minus_gripper": [ + 0.004491059591612251, + 0.004522174467338845, + -0.004995868568989481 + ], + "object_to_gripper_xy": 0.006373356899504669, + "object_to_gripper_z": -0.004995868568989481, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20352282816620648, + -0.055037453211616336, + 1.0457465898781766 + ], + "finger_b": [ + 0.19222582080248932, + -0.031066670529651057, + 1.0457465898781766 + ], + "finger_midpoint": [ + 0.19787432448434789, + -0.04305206187063369, + 1.0457465898781766 + ], + "object_minus_finger_midpoint": [ + 0.0056485036818585965, + 0.011985391340982636, + 0.0 + ], + "finger_gap": 0.026499449008647074, + "fingertip_max_gap": 0.09281717107031975, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013249724504323539, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0457465898781766, + "object_top_z": 1.091875224823665, + "finger_top_clearance": 0.046128634945488356, + "fingertip_min_top_clearance": 0.01383859048364649, + "object_projection_between_fingers": 0.8182589069098536, + "object_to_finger_line_xy": 0.010219009021050248, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04890858553515988, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.201361020196834, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 204, + "max_stable_success_frames": 204, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19716316788147326, + -0.030645509140298274, + 1.2459879571574302 + ], + "held_position": [ + 0.20196853498200185, + -0.025818559069044462, + 1.241610230901071 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008096634309195138, + "max_held_gripper_dist": 0.0080991470754744, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004377726256359127, + "max_held_gripper_z_dist": 0.005019176108550294, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08548141052855401, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.20196853498200185, + -0.04950623866002849, + 1.241610230901071 + ], + "held_grasp_finger_b": [ + 0.19236938611138324, + -0.025818559069044462, + 1.241610230901071 + ], + "held_grasp_midpoint": [ + 0.19716896054669253, + -0.03766239886453648, + 1.241610230901071 + ], + "held_grasp_object_position": [ + 0.20196853498200185, + -0.025818559069044462, + 1.241610230901071 + ], + "held_grasp_finger_gap": 0.025558752384367663, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.022959280192994196, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05257893664626, + -0.990556848052407, + -0.12661984914550084 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004437086403628713, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.0332158718289874, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33400955873470783, + -0.36486835316266186, + 0.8470195247876997 + ], + "target_position": [ + 0.3295494134340686, + -0.36733290385805834, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005095773369469372, + "xy_threshold": 0.08, + "gripper_dist": 0.18525264435728966, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195247876997, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0756769391311904, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08584106930017414, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15359317307547135, + "release_required_pad_clearance": 0.05292053465008707, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8793711581419794, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008635103702545166, + "max_z_decrease": 0.008635103702545166, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035037415472784786, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008635103702545166, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02102691448238707, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008635103702545166, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008635289978640864, + "max_button_displacement": 0.12, + "button_start": [ + 0.1852493435144425, + -0.4235943555831909, + 0.7768088579177856 + ], + "button_final": [ + 0.1852493435144425, + -0.4235943555831909, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18673126110286567, + -0.42349190584244173, + 0.8031780419114767 + ], + "closest_button": [ + 0.18520927429199224, + -0.4235542118549347, + 0.7681737542152405 + ], + "closest_ee_minus_button": [ + 0.001521986810873427, + 6.230601249296308e-05, + 0.0350042876962362 + ], + "button_min_z_position": [ + 0.18520927429199224, + -0.4235542118549347, + 0.7681737542152405 + ], + "min_active_finger_to_button": 0.14440249336572217, + "closest_active_finger": [ + 0.04575034976005554, + -0.40961745381355286, + 0.8086087107658386 + ], + "closest_active_finger_button": [ + 0.18525694310665136, + -0.42359960079193115, + 0.774047315120697 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13950659334659582, + 0.013982146978378296, + 0.0345613956451416 + ], + "min_contact_pad_to_button": 0.02102691448238707, + "closest_contact_pad": [ + 0.18520927429199224, + -0.42446925976595945, + 0.7891807487639652 + ], + "closest_contact_pad_button": [ + 0.18520927429199224, + -0.4235542118549347, + 0.7681737542152405 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0009150479110247578, + 0.021006994548724678 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 76, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7376ed966a094cfd69232c999657f20e51cd51c0e1d487c145a89fb81fb7c8d7", + "visual_seed": 4464499310438336842, + "episode_index": 76, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_77_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_77_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4db6ffae6c9991db358ad25dbab880eeeb397fa1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_77_success.json @@ -0,0 +1,926 @@ +{ + "episode": 77, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.19930144728275578, + -0.027414396664021984, + 1.0454718344028717 + ], + "current_z": 1.0454718344028717, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.1888854462035957, + "gripper_z": 1.0505754582653797, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19458066278016714, + -0.03207618778831357, + 1.0505754582653797 + ], + "object_minus_gripper": [ + 0.004720784502588643, + 0.004661791124291589, + -0.0051036238625079555 + ], + "object_to_gripper_xy": 0.006634613990761252, + "object_to_gripper_z": -0.0051036238625079555, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19930144728275578, + -0.051566580791759756, + 1.0454718344028717 + ], + "finger_b": [ + 0.18777056494606217, + -0.027414396664021984, + 1.0454718344028717 + ], + "finger_midpoint": [ + 0.19353600611440896, + -0.03949048872789087, + 1.0454718344028717 + ], + "object_minus_finger_midpoint": [ + 0.005765441168346819, + 0.012076092063868886, + 0.0 + ], + "finger_gap": 0.026763580582627972, + "fingertip_max_gap": 0.09246239148297283, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013381790291313991, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0454718344028717, + "object_top_z": 1.0914623665944394, + "finger_top_clearance": 0.04599053219156768, + "fingertip_min_top_clearance": 0.013797159657470286, + "object_projection_between_fingers": 0.8143749214735536, + "object_to_finger_line_xy": 0.010405782308958781, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04873119574148642, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9449152854070918, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 204, + "max_stable_success_frames": 204, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1939200467981733, + -0.025780789662815037, + 1.2414485985903667 + ], + "held_position": [ + 0.19891187199522625, + -0.020739715361527584, + 1.2370058706060174 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008370697751797879, + "max_held_gripper_dist": 0.008373278326808153, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004442727984349304, + "max_held_gripper_z_dist": 0.005111969752504608, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08485434783967363, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.19891187199522625, + -0.04438785426544253, + 1.2370058706060174 + ], + "held_grasp_finger_b": [ + 0.18889403081160727, + -0.020739715361527584, + 1.2370058706060174 + ], + "held_grasp_midpoint": [ + 0.19390295140341676, + -0.032563784813485055, + 1.2370058706060174 + ], + "held_grasp_object_position": [ + 0.19891187199522625, + -0.020739715361527584, + 1.2370058706060174 + ], + "held_grasp_finger_gap": 0.025682515756815343, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.022904239186768212, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.04894946399329652, + -0.989278997308467, + -0.1375900267429406 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004719628695693472, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033257737416118545, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3265019150430636, + -0.36881412323404805, + 0.8470196121365006 + ], + "target_position": [ + 0.32152093258147696, + -0.3712772097671975, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005556705998378521, + "xy_threshold": 0.08, + "gripper_dist": 0.1862231015938341, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196121365006, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07532180405444618, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08515168447179632, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15526990608855035, + "release_required_pad_clearance": 0.05257584223589816, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.216704496069499, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008414983749389648, + "max_z_decrease": 0.008414983749389648, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035025713919998445, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008414983749389648, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02107064360229248, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008414983749389648, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008415036521267523, + "max_button_displacement": 0.12, + "button_start": [ + 0.17722085118293762, + -0.42753866314888, + 0.7768088579177856 + ], + "button_final": [ + 0.17722085118293762, + -0.42753866314888, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17834950896069415, + -0.4269421694062557, + 0.8033958735493181 + ], + "closest_button": [ + 0.1771976351737976, + -0.4275199770927429, + 0.768393874168396 + ], + "closest_ee_minus_button": [ + 0.0011518737868965456, + 0.0005778076864872417, + 0.03500199938092208 + ], + "button_min_z_position": [ + 0.1771976351737976, + -0.4275199770927429, + 0.768393874168396 + ], + "min_active_finger_to_button": 0.14467237748578393, + "closest_active_finger": [ + 0.050804488360881805, + -0.48878756165504456, + 0.8088641166687012 + ], + "closest_active_finger_button": [ + 0.1772303283214569, + -0.4275434911251068, + 0.7742842435836792 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1264258399605751, + -0.061244070529937744, + 0.03457987308502197 + ], + "min_contact_pad_to_button": 0.02107064360229248, + "closest_contact_pad": [ + 0.1771976351737976, + -0.4282324049737679, + 0.7894524702357782 + ], + "closest_contact_pad_button": [ + 0.1771976351737976, + -0.4275199770927429, + 0.768393874168396 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0007124278810249907, + 0.02105859606738225 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 77, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5d4a2c08c4e313863c0fa8e28f43192a2884af8d729fe7dcfc0cdd2d838b318f", + "visual_seed": 9026335020971638834, + "episode_index": 77, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_78_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_78_success.json new file mode 100644 index 0000000000000000000000000000000000000000..61b983fbff9bad91d56ab86edf06a4dbffd6bb09 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_78_success.json @@ -0,0 +1,926 @@ +{ + "episode": 78, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.198727892949675, + -0.03316955664717281, + 1.045690843946397 + ], + "current_z": 1.045690843946397, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.18910445574712098, + "gripper_z": 1.0506772123842394, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19368973496396666, + -0.03789661768207002, + 1.0506772123842394 + ], + "object_minus_gripper": [ + 0.005038157985708336, + 0.004727061034897208, + -0.004986368437842392 + ], + "object_to_gripper_xy": 0.0069085557040962, + "object_to_gripper_z": -0.004986368437842392, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.198727892949675, + -0.05774872272111514, + 1.045690843946397 + ], + "finger_b": [ + 0.1874126096325601, + -0.03316955664717281, + 1.045690843946397 + ], + "finger_midpoint": [ + 0.19307025129111755, + -0.04545913968414397, + 1.045690843946397 + ], + "object_minus_finger_midpoint": [ + 0.00565764165855745, + 0.012289583036971162, + 0.0 + ], + "finger_gap": 0.027058659269021745, + "fingertip_max_gap": 0.09281429232210417, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01352932963451087, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.045690843946397, + "object_top_z": 1.0915070191406628, + "finger_top_clearance": 0.04581617519426584, + "fingertip_min_top_clearance": 0.013744852558279718, + "object_projection_between_fingers": 0.8251287891757014, + "object_to_finger_line_xy": 0.010278418640774398, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04890714616105209, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.421224235166453, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 205, + "max_stable_success_frames": 205, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.195744047376686, + -0.030065708740088806, + 1.2449200371802887 + ], + "held_position": [ + 0.20099743757162675, + -0.024936222813319534, + 1.2405955396379806 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008521209621095573, + "max_held_gripper_dist": 0.008523698501672455, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0043244975423080145, + "max_held_gripper_z_dist": 0.0050139100668735725, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08588741098214561, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.20099743757162675, + -0.04883579562746464, + 1.2405955396379806 + ], + "held_grasp_finger_b": [ + 0.1908317489696904, + -0.024936222813319534, + 1.2405955396379806 + ], + "held_grasp_midpoint": [ + 0.19591459327065858, + -0.036886009220392084, + 1.2405955396379806 + ], + "held_grasp_object_position": [ + 0.20099743757162675, + -0.024936222813319534, + 1.2405955396379806 + ], + "held_grasp_finger_gap": 0.025971730890530998, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023423034691077343, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.024625207594838636, + -0.9905351475250339, + -0.13503229490929455 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005054389874141803, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033238375428104934, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3300745015385279, + -0.36605027185310884, + 0.847019505525859 + ], + "target_position": [ + 0.3254401173530443, + -0.3685322030468387, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00525713793133393, + "xy_threshold": 0.08, + "gripper_dist": 0.18214955396105234, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.847019505525859, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07561187094062481, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08767028721960672, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15065331831290504, + "release_required_pad_clearance": 0.05383514360980336, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.6790895778072494, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008471786975860596, + "max_z_decrease": 0.008471786975860596, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502674225724385, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008471786975860596, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021106497956791728, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008471786975860596, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008471830463198505, + "max_button_displacement": 0.12, + "button_start": [ + 0.18114005029201502, + -0.42479366064071655, + 0.7768088579177856 + ], + "button_final": [ + 0.18114005029201502, + -0.42479366064071655, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18227715741831854, + -0.4239035211396984, + 0.8033348396556557 + ], + "closest_button": [ + 0.1811442226171493, + -0.4247668385505676, + 0.768337070941925 + ], + "closest_ee_minus_button": [ + 0.0011329348011692442, + 0.0008633174108692021, + 0.034997768713730615 + ], + "button_min_z_position": [ + 0.1811442226171493, + -0.4247668385505676, + 0.768337070941925 + ], + "min_active_finger_to_button": 0.14456404717184695, + "closest_active_finger": [ + 0.05489650368690491, + -0.4860789179801941, + 0.807807207107544 + ], + "closest_active_finger_button": [ + 0.18115119636058802, + -0.42479780316352844, + 0.7731208801269531 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1262546926736831, + -0.06128111481666565, + 0.03468632698059082 + ], + "min_contact_pad_to_button": 0.021106497956791728, + "closest_contact_pad": [ + 0.1811442226171493, + -0.4251668689599682, + 0.7894397776799624 + ], + "closest_contact_pad_button": [ + 0.1811442226171493, + -0.4247668385505676, + 0.768337070941925 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00040003040940056467, + 0.02110270673803738 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 78, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7b174d6f72a5501835e0c93dff32a16d9694154b3389193516305e648cbc8961", + "visual_seed": 5227266046286519585, + "episode_index": 78, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_79_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_79_success.json new file mode 100644 index 0000000000000000000000000000000000000000..daa776bc8fb6b5ef7049b89f4b85f7fe25a6f255 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_79_success.json @@ -0,0 +1,926 @@ +{ + "episode": 79, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2042120157259433, + -0.027359002392715454, + 1.0432927047816989 + ], + "current_z": 1.0432927047816989, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.18670619737313332, + "gripper_z": 1.0483344404786545, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19946033659515103, + -0.0321233849505924, + 1.0483344404786545 + ], + "object_minus_gripper": [ + 0.0047516791307922746, + 0.004764382557876947, + -0.0050417356969556515 + ], + "object_to_gripper_xy": 0.006728877745940173, + "object_to_gripper_z": -0.0050417356969556515, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2042120157259433, + -0.05136411561964905, + 1.0432927047816989 + ], + "finger_b": [ + 0.1923589133137622, + -0.027359002392715454, + 1.0432927047816989 + ], + "finger_midpoint": [ + 0.19828546451985274, + -0.03936155900618225, + 1.0432927047816989 + ], + "object_minus_finger_midpoint": [ + 0.005926551206090563, + 0.0120025566134668, + 0.0 + ], + "finger_gap": 0.026772028272649715, + "fingertip_max_gap": 0.0930725539196543, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013386014136324864, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0432927047816989, + "object_top_z": 1.0895311789547308, + "finger_top_clearance": 0.04623847417303195, + "fingertip_min_top_clearance": 0.013871542251909601, + "object_projection_between_fingers": 0.8039794860229066, + "object_to_finger_line_xy": 0.01062807280035363, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04903627695982715, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2051054150324974, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 202, + "max_stable_success_frames": 202, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19595700079034206, + -0.027857260028052527, + 1.2432571409864213 + ], + "held_position": [ + 0.20106543649273975, + -0.022829490459899737, + 1.2388603742919615 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008408694281604326, + "max_held_gripper_dist": 0.00841141006922639, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004396766694459764, + "max_held_gripper_z_dist": 0.005053029056635072, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08529467414547466, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.20106543649273975, + -0.0466364396010202, + 1.2388603742919615 + ], + "held_grasp_finger_b": [ + 0.19104157365820654, + -0.022829490459899737, + 1.2388603742919615 + ], + "held_grasp_midpoint": [ + 0.19605350507547314, + -0.03473296503045997, + 1.2388603742919615 + ], + "held_grasp_object_position": [ + 0.20106543649273975, + -0.022829490459899737, + 1.2388603742919615 + ], + "held_grasp_finger_gap": 0.02583115664335286, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.022971855989381413, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05968766468783093, + -0.990053652545272, + -0.12740152183501974 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004558900510372635, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033115996007375643, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3306939683380946, + -0.3689794314205812, + 0.8470195530446153 + ], + "target_position": [ + 0.32651965975856606, + -0.37112605896669254, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00469391754708683, + "xy_threshold": 0.08, + "gripper_dist": 0.18279882015209803, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195530446153, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0757182489817426, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0859691944080193, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15098524353628862, + "release_required_pad_clearance": 0.05298459720400965, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.0032624264876338, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008551478385925293, + "max_z_decrease": 0.008551478385925293, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501093166416705, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008551478385925293, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02093831234917046, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008551478385925293, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008551619598889747, + "max_button_displacement": 0.12, + "button_start": [ + 0.1822195798158645, + -0.4273875057697296, + 0.7768088579177856 + ], + "button_final": [ + 0.1822195798158645, + -0.4273875057697296, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1828645368423227, + -0.4265509211813676, + 0.8032538207693193 + ], + "closest_button": [ + 0.18224923312664026, + -0.4273483157157898, + 0.7682573795318604 + ], + "closest_ee_minus_button": [ + 0.0006153037156824415, + 0.00079739453442218, + 0.03499644123745893 + ], + "button_min_z_position": [ + 0.18224923312664026, + -0.4273483157157898, + 0.7682573795318604 + ], + "min_active_finger_to_button": 0.14490113852249561, + "closest_active_finger": [ + 0.057058654725551605, + -0.49181726574897766, + 0.8109318614006042 + ], + "closest_active_finger_button": [ + 0.18222318589687345, + -0.42738926410675043, + 0.7765921950340271 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12516453117132184, + -0.06442800164222723, + 0.03433966636657715 + ], + "min_contact_pad_to_button": 0.02093831234917046, + "closest_contact_pad": [ + 0.18224923312664026, + -0.42750001600141746, + 0.7891951423315189 + ], + "closest_contact_pad_button": [ + 0.18224923312664026, + -0.4273483157157898, + 0.7682573795318604 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00015170028562766502, + 0.020937762799658532 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 79, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "cd777a2a3f2d896dc8f25be13227493e0f5e32d56b568ec8eacdf1bbd567860d", + "visual_seed": 6896419114000407258, + "episode_index": 79, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_7_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_7_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5a3a2b5efbcf361579ddbfa3429560ae9744bbfe --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_7_success.json @@ -0,0 +1,926 @@ +{ + "episode": 7, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2015007975028811, + -0.03043374361244655, + 1.043758405413279 + ], + "current_z": 1.043758405413279, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.18717189800471334, + "gripper_z": 1.0486963256254414, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1970635925267899, + -0.03496114467310622, + 1.0486963256254414 + ], + "object_minus_gripper": [ + 0.004437204976091208, + 0.004527401060659672, + -0.004937920212162439 + ], + "object_to_gripper_xy": 0.006339254559008567, + "object_to_gripper_z": -0.004937920212162439, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2015007975028811, + -0.054364886081613224, + 1.043758405413279 + ], + "finger_b": [ + 0.1901102610094671, + -0.03043374361244655, + 1.043758405413279 + ], + "finger_midpoint": [ + 0.19580552925617412, + -0.042399314847029884, + 1.043758405413279 + ], + "object_minus_finger_midpoint": [ + 0.0056952682467069915, + 0.011965571234583333, + 0.0 + ], + "finger_gap": 0.026503658266121475, + "fingertip_max_gap": 0.09298671202101869, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013251829133060727, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.043758405413279, + "object_top_z": 1.0898728576013668, + "finger_top_clearance": 0.04611445218808785, + "fingertip_min_top_clearance": 0.013834335656426356, + "object_projection_between_fingers": 0.8152958245732125, + "object_to_finger_line_xy": 0.01028494062544459, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048993356010509345, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2519255666620344, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 202, + "max_stable_success_frames": 202, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1960432963983694, + -0.02905221679564661, + 1.2397026711299035 + ], + "held_position": [ + 0.20078439918101681, + -0.024181941545049754, + 1.2354158438318785 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008035827579987984, + "max_held_gripper_dist": 0.008039343880051814, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004286827298024987, + "max_held_gripper_z_dist": 0.0049367322224544985, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08529113349111474, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.20078439918101681, + -0.047714955623515076, + 1.2354158438318785 + ], + "held_grasp_finger_b": [ + 0.1910615241543264, + -0.024181941545049754, + 1.2354158438318785 + ], + "held_grasp_midpoint": [ + 0.1959229616676716, + -0.035948448584282415, + 1.2354158438318785 + ], + "held_grasp_object_position": [ + 0.20078439918101681, + -0.024181941545049754, + 1.2354158438318785 + ], + "held_grasp_finger_gap": 0.02546246355720293, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02279116877723651, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.050576199500287244, + -0.9893724096144819, + -0.1363241839797362 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0045580299733357765, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03331289451012626, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3324202921297702, + -0.3672735620465023, + 0.8470197153910523 + ], + "target_position": [ + 0.3278731628794506, + -0.3695912659531676, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0051037374362405755, + "xy_threshold": 0.08, + "gripper_dist": 0.18326039507373337, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470197153910523, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07541405053778519, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08545158390212564, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15208784274638917, + "release_required_pad_clearance": 0.05272579195106282, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5035763981983207, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008608877658843994, + "max_z_decrease": 0.008608877658843994, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501806434242194, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008608877658843994, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021150547993087063, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008608877658843994, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008608991259162766, + "max_button_displacement": 0.12, + "button_start": [ + 0.18357308208942413, + -0.4258527159690857, + 0.7768088579177856 + ], + "button_final": [ + 0.18357308208942413, + -0.4258527159690857, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18412538537987705, + -0.42703040812763277, + 0.8031925989623463 + ], + "closest_button": [ + 0.18358479440212253, + -0.42581006884574885, + 0.7681999802589417 + ], + "closest_ee_minus_button": [ + 0.0005405909777545237, + -0.0012203392818839198, + 0.03499261870340464 + ], + "button_min_z_position": [ + 0.18358479440212253, + -0.42581006884574885, + 0.7681999802589417 + ], + "min_active_finger_to_button": 0.1451932758344163, + "closest_active_finger": [ + 0.04328863322734833, + -0.4117108881473541, + 0.8081709742546082 + ], + "closest_active_finger_button": [ + 0.18358199298381805, + -0.425857812166214, + 0.7735483646392822 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14029335975646973, + 0.014146924018859863, + 0.03462260961532593 + ], + "min_contact_pad_to_button": 0.021150547993087063, + "closest_contact_pad": [ + 0.18358479440212253, + -0.42813928941649065, + 0.7892218834063903 + ], + "closest_contact_pad_button": [ + 0.18358479440212253, + -0.42581006884574885, + 0.7681999802589417 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002329220570741808, + 0.021021903147448673 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 7, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "644c0e966db2ce2ac3c6b19e4a31a9bf6a9ed727cab15a4673cb85a2b8a42479", + "visual_seed": 358083147423649962, + "episode_index": 7, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_80_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_80_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3a960783a93e48b8ec37161b8de538ee031819bb --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_80_success.json @@ -0,0 +1,926 @@ +{ + "episode": 80, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2028929700788005, + -0.028236903038368278, + 1.0428199823270186 + ], + "current_z": 1.0428199823270186, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.186233474918453, + "gripper_z": 1.047960186440565, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19803098883445128, + -0.033030345219174514, + 1.047960186440565 + ], + "object_minus_gripper": [ + 0.004861981244349223, + 0.0047934421808062365, + -0.005140204113546432 + ], + "object_to_gripper_xy": 0.006827587389490966, + "object_to_gripper_z": -0.005140204113546432, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2028929700788005, + -0.052372433466670025, + 1.0428199823270186 + ], + "finger_b": [ + 0.1910439390578289, + -0.028236903038368278, + 1.0428199823270186 + ], + "finger_midpoint": [ + 0.1969684545683147, + -0.04030466825251915, + 1.0428199823270186 + ], + "object_minus_finger_midpoint": [ + 0.005924515510485812, + 0.012067765214150875, + 0.0 + ], + "finger_gap": 0.02688723424213481, + "fingertip_max_gap": 0.09103390380218715, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013443617121067413, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0428199823270186, + "object_top_z": 1.088103802027879, + "finger_top_clearance": 0.045283819700860484, + "fingertip_min_top_clearance": 0.013585145910258162, + "object_projection_between_fingers": 0.8057891847239298, + "object_to_finger_line_xy": 0.010636372866659144, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04801695190109358, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0755521953128533, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 201, + "max_stable_success_frames": 201, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19574564965177146, + -0.02798404742427338, + 1.2422208372128267 + ], + "held_position": [ + 0.2009577578003275, + -0.022897014107325944, + 1.237750986276571 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008545381601328514, + "max_held_gripper_dist": 0.008550166258463547, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004469850936255737, + "max_held_gripper_z_dist": 0.0051534974888951535, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08529544423945105, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2009577578003275, + -0.04676099281622787, + 1.237750986276571 + ], + "held_grasp_finger_b": [ + 0.19087447637884752, + -0.022897014107325944, + 1.237750986276571 + ], + "held_grasp_midpoint": [ + 0.1959161170895875, + -0.034829003461776906, + 1.237750986276571 + ], + "held_grasp_object_position": [ + 0.2009577578003275, + -0.022897014107325944, + 1.237750986276571 + ], + "held_grasp_finger_gap": 0.025906795325622352, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023016104537354073, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.056255740380123355, + -0.9882403637237294, + -0.1421839483959968 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004688045241078157, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03312493023530724, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3289232004225874, + -0.36187775796940436, + 0.8470196356823849 + ], + "target_position": [ + 0.32395881918739383, + -0.36430650517809454, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005526653060583972, + "xy_threshold": 0.08, + "gripper_dist": 0.18499225269477207, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196356823849, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0752250166677195, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08506801401207052, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15446449576721394, + "release_required_pad_clearance": 0.05253400700603526, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.1370559370137852, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008603572845458984, + "max_z_decrease": 0.008603572845458984, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035011968160499646, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008603572845458984, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021037294479900565, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008603572845458984, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008603674922824768, + "max_button_displacement": 0.12, + "button_start": [ + 0.17965874075889582, + -0.42056795954704285, + 0.7768088579177856 + ], + "button_final": [ + 0.17965874075889582, + -0.42056795954704285, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18059684037628385, + -0.4200437449603717, + 0.8032017303795458 + ], + "closest_button": [ + 0.17967420816421506, + -0.4205290079116822, + 0.7682052850723267 + ], + "closest_ee_minus_button": [ + 0.0009226322120687858, + 0.00048526295131046115, + 0.034996445307219126 + ], + "button_min_z_position": [ + 0.17967420816421506, + -0.4205290079116822, + 0.7682052850723267 + ], + "min_active_finger_to_button": 0.14483783270962383, + "closest_active_finger": [ + 0.05370616912841797, + -0.48318371176719666, + 0.8107467293739319 + ], + "closest_active_finger_button": [ + 0.1796629726886749, + -0.4205697178840637, + 0.7762160301208496 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12595680356025693, + -0.06261399388313293, + 0.034530699253082275 + ], + "min_contact_pad_to_button": 0.021037294479900565, + "closest_contact_pad": [ + 0.17967420816421506, + -0.4212076130879369, + 0.7892316317366622 + ], + "closest_contact_pad_button": [ + 0.17967420816421506, + -0.4205290079116822, + 0.7682052850723267 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0006786051762547318, + 0.02102634666433556 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 80, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "bdfe5c81e41a4a059297d28f3788393278dbb570e13be6f01cc66707dde7a4ba", + "visual_seed": 7413334733526309849, + "episode_index": 80, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_81_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_81_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3fa4de7c8a883ee3364dbf76a452f5cf07b98a33 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_81_success.json @@ -0,0 +1,926 @@ +{ + "episode": 81, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20354909865441143, + -0.036060175262836086, + 1.0441817001409517 + ], + "current_z": 1.0441817001409517, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.1875952523370309, + "gripper_z": 1.0492298897406147, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19846367054967212, + -0.040841317847139555, + 1.0492298897406147 + ], + "object_minus_gripper": [ + 0.0050854281047393035, + 0.004781142584303469, + -0.005048189599663022 + ], + "object_to_gripper_xy": 0.006980036061505158, + "object_to_gripper_z": -0.005048189599663022, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20354909865441143, + -0.06054974159220228, + 1.0441817001409517 + ], + "finger_b": [ + 0.19200089987177943, + -0.036060175262836086, + 1.0441817001409517 + ], + "finger_midpoint": [ + 0.19777499926309544, + -0.04830495842751918, + 1.0441817001409517 + ], + "object_minus_finger_midpoint": [ + 0.005774099391315984, + 0.012244783164683096, + 0.0 + ], + "finger_gap": 0.027075814929999973, + "fingertip_max_gap": 0.0915489433316608, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013537907464999981, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0441817001409517, + "object_top_z": 1.0894127065218808, + "finger_top_clearance": 0.04523100638092914, + "fingertip_min_top_clearance": 0.013569301914278775, + "object_projection_between_fingers": 0.8180862912952268, + "object_to_finger_line_xy": 0.010445129012852675, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048274471665830404, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.5295719022229601, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 203, + "max_stable_success_frames": 203, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19909564309707747, + -0.034966758952117996, + 1.2425974425648245 + ], + "held_position": [ + 0.20449400931786926, + -0.029863173330635855, + 1.238234654086037 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008615269430506898, + "max_held_gripper_dist": 0.008619292875438354, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0043627884787875715, + "max_held_gripper_z_dist": 0.005081317927314366, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08534504043823998, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.20449400931786926, + -0.0538753743129327, + 1.238234654086037 + ], + "held_grasp_finger_b": [ + 0.19450399837132606, + -0.029863173330635855, + 1.238234654086037 + ], + "held_grasp_midpoint": [ + 0.19949900384459768, + -0.04186927382178428, + 1.238234654086037 + ], + "held_grasp_object_position": [ + 0.20449400931786926, + -0.029863173330635855, + 1.238234654086037 + ], + "held_grasp_finger_gap": 0.026007424223215, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02336048613790154, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.038947964006899816, + -0.9890628827480487, + -0.14225916515232684 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004840218361638747, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03313089131008551, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33208406195117046, + -0.3676038387840288, + 0.8470195146992796 + ], + "target_position": [ + 0.32613237460903044, + -0.3701078423121896, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006456981948838917, + "xy_threshold": 0.08, + "gripper_dist": 0.18686708478804334, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195146992796, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07530228873182622, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08626587386510363, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15587144127446337, + "release_required_pad_clearance": 0.05313293693255182, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.2917800699661377, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008744299411773682, + "max_z_decrease": 0.008744299411773682, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.034991645258038856, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008744299411773682, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.020907639074683865, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008744299411773682, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00874446152802062, + "max_button_displacement": 0.12, + "button_start": [ + 0.1818322986364364, + -0.426369309425354, + 0.7768088579177856 + ], + "button_final": [ + 0.1818322986364364, + -0.426369309425354, + 0.7768088579177856 + ], + "closest_ee": [ + 0.181251316915492, + -0.42593835652727446, + 0.8034248830061628 + ], + "closest_button": [ + 0.18181210756301874, + -0.4263104200363159, + 0.7684397101402283 + ], + "closest_ee_minus_button": [ + -0.0005607906475267321, + 0.0003720635090414537, + 0.0349851728659345 + ], + "button_min_z_position": [ + 0.18181166052818296, + -0.42632022500038147, + 0.768064558506012 + ], + "min_active_finger_to_button": 0.14616584765164192, + "closest_active_finger": [ + 0.05546649545431137, + -0.49132055044174194, + 0.8103947043418884 + ], + "closest_active_finger_button": [ + 0.18183547258377072, + -0.42637279629707336, + 0.7760854363441467 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12636897712945935, + -0.06494775414466858, + 0.0343092679977417 + ], + "min_contact_pad_to_button": 0.020907639074683865, + "closest_contact_pad": [ + 0.18181166052818296, + -0.42686165771825335, + 0.7889651858240918 + ], + "closest_contact_pad_button": [ + 0.18181166052818296, + -0.42632022500038147, + 0.768064558506012 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0005414327178718814, + 0.020900627318079845 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 81, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "76ced9af0ff7bc5eca31fef02bfbec710e9397ef8b2586041d25c78a02757310", + "visual_seed": 8360686270392724833, + "episode_index": 81, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_82_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_82_success.json new file mode 100644 index 0000000000000000000000000000000000000000..bc39cafc37c411557df2913792fd219b58d6414c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_82_success.json @@ -0,0 +1,926 @@ +{ + "episode": 82, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.1998556844861322, + -0.03515210122931949, + 1.0454333605524266 + ], + "current_z": 1.0454333605524266, + "required_z": 0.8565865670132101, + "initial_z": 0.7565865670132101, + "lift_margin": 0.18884679353921652, + "gripper_z": 1.050540614176616, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19475283755517447, + -0.039934380753757104, + 1.050540614176616 + ], + "object_minus_gripper": [ + 0.005102846930957722, + 0.004782279524437612, + -0.005107253624189401 + ], + "object_to_gripper_xy": 0.006993514442012676, + "object_to_gripper_z": -0.005107253624189401, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1998556844861322, + -0.05970489911166892, + 1.0454333605524266 + ], + "finger_b": [ + 0.18829841676389833, + -0.03515210122931949, + 1.0454333605524266 + ], + "finger_midpoint": [ + 0.19407705062501526, + -0.04742850017049421, + 1.0454333605524266 + ], + "object_minus_finger_midpoint": [ + 0.005778633861116933, + 0.012276398941174715, + 0.0 + ], + "finger_gap": 0.027136881196167174, + "fingertip_max_gap": 0.09377691177307279, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013568440598083587, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0454333605524266, + "object_top_z": 1.0917301462692315, + "finger_top_clearance": 0.046296785716804845, + "fingertip_min_top_clearance": 0.013889035715041452, + "object_projection_between_fingers": 0.8186195475749822, + "object_to_finger_line_xy": 0.010456738060830953, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0493884558865364, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.7756923666741413, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 204, + "max_stable_success_frames": 204, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19704459983242856, + -0.032372083087584144, + 1.243699531425755 + ], + "held_position": [ + 0.20243451461577316, + -0.02721666490982337, + 1.2392956690858818 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008661611943966124, + "max_held_gripper_dist": 0.008664006192530315, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004403862339873221, + "max_held_gripper_z_dist": 0.005118619357107335, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0850774772926122, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.20243451461577316, + -0.05117932525023971, + 1.2392956690858818 + ], + "held_grasp_finger_b": [ + 0.19224734420148448, + -0.02721666490982337, + 1.2392956690858818 + ], + "held_grasp_midpoint": [ + 0.19734092940862882, + -0.039197995080031536, + 1.2392956690858818 + ], + "held_grasp_object_position": [ + 0.20243451461577316, + -0.02721666490982337, + 1.2392956690858818 + ], + "held_grasp_finger_gap": 0.026038193709240293, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023459532009856853, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.028212326642622052, + -0.9909974707230788, + -0.13087428183516733 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005008444198271611, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03318305518159038, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3298534515440984, + -0.3647691634292885, + 0.8470195772733369 + ], + "target_position": [ + 0.32517540856178145, + -0.36722687365994816, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005284356699002629, + "xy_threshold": 0.08, + "gripper_dist": 0.18443972207067535, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195772733369, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0756649491815243, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08752503194476156, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1528179203181523, + "release_required_pad_clearance": 0.053762515972380784, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.5337362494811595, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008665382862091064, + "max_z_decrease": 0.008665382862091064, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03499861097719379, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008665382862091064, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021143653438617602, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008665382862091064, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008665504022043897, + "max_button_displacement": 0.12, + "button_start": [ + 0.18087533116340637, + -0.4234883189201355, + 0.7768088579177856 + ], + "button_final": [ + 0.18087533116340637, + -0.4234883189201355, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17982904433572236, + -0.42362453051999144, + 0.8031259316830307 + ], + "closest_button": [ + 0.18087659776210788, + -0.4234425127506256, + 0.7681434750556946 + ], + "closest_ee_minus_button": [ + -0.0010475534263855169, + -0.00018201776936582759, + 0.03498245662733612 + ], + "button_min_z_position": [ + 0.18087659776210788, + -0.4234425127506256, + 0.7681434750556946 + ], + "min_active_finger_to_button": 0.14687146798397352, + "closest_active_finger": [ + 0.0392945259809494, + -0.4057897925376892, + 0.8075044751167297 + ], + "closest_active_finger_button": [ + 0.1808857321739197, + -0.4234931468963623, + 0.7727230191230774 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1415912061929703, + 0.017703354358673096, + 0.034781455993652344 + ], + "min_contact_pad_to_button": 0.021143653438617602, + "closest_contact_pad": [ + 0.18087659776210788, + -0.4249610715347448, + 0.7892325257681269 + ], + "closest_contact_pad_button": [ + 0.18087659776210788, + -0.4234425127506256, + 0.7681434750556946 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0015185587841192172, + 0.021089050712432278 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 82, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1362ba84a4fbe9fc4848a26e6096520811f96d6a3d48ba21f612d9c90c4e1e71", + "visual_seed": 9072576043996170456, + "episode_index": 82, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_83_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_83_success.json new file mode 100644 index 0000000000000000000000000000000000000000..63ca6bfe25a19f30d72653af29ad210eee4a164a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_83_success.json @@ -0,0 +1,926 @@ +{ + "episode": 83, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20411761765731762, + -0.02898353065048329, + 1.0442754852271945 + ], + "current_z": 1.0442754852271945, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.18768897781862892, + "gripper_z": 1.0492373304501272, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19955999497018623, + -0.03362421370913167, + 1.0492373304501272 + ], + "object_minus_gripper": [ + 0.004557622687131391, + 0.004640683058648381, + -0.004961845222932748 + ], + "object_to_gripper_xy": 0.006504449539283155, + "object_to_gripper_z": -0.004961845222932748, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20411761765731762, + -0.052892061671422595, + 1.0442754852271945 + ], + "finger_b": [ + 0.19247914780268544, + -0.02898353065048329, + 1.0442754852271945 + ], + "finger_midpoint": [ + 0.19829838273000153, + -0.040937796160952944, + 1.0442754852271945 + ], + "object_minus_finger_midpoint": [ + 0.0058192349273160915, + 0.011954265510469655, + 0.0 + ], + "finger_gap": 0.026590822404288273, + "fingertip_max_gap": 0.09295463719494798, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013295411202144138, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0442754852271945, + "object_top_z": 1.0904738852049807, + "finger_top_clearance": 0.046198399977786186, + "fingertip_min_top_clearance": 0.013859519993335873, + "object_projection_between_fingers": 0.8084296762584502, + "object_to_finger_line_xy": 0.010464464518061161, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04897731859747399, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1610895290972638, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 202, + "max_stable_success_frames": 202, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19655592757421167, + -0.029067941291963814, + 1.2413714675527274 + ], + "held_position": [ + 0.20144428996702962, + -0.02413548902669213, + 1.2370471560057676 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008180760514027429, + "max_held_gripper_dist": 0.008184308307590808, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.00432431154695978, + "max_held_gripper_z_dist": 0.004971336953939032, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08434000563134592, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.20144428996702962, + -0.04777822761062713, + 1.2370471560057676 + ], + "held_grasp_finger_b": [ + 0.19158790146320143, + -0.02413548902669213, + 1.2370471560057676 + ], + "held_grasp_midpoint": [ + 0.19651609571511552, + -0.035956858318659635, + 1.2370471560057676 + ], + "held_grasp_object_position": [ + 0.20144428996702962, + -0.02413548902669213, + 1.2370471560057676 + ], + "held_grasp_finger_gap": 0.02561498549846721, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.022819624404471283, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05868628839691972, + -0.9896509737944559, + -0.1309460561524427 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004507083639952083, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03321197790528739, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3273916471662137, + -0.36823644682462164, + 0.8470195355392531 + ], + "target_position": [ + 0.32254784618593574, + -0.3706411791589721, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005407878099255983, + "xy_threshold": 0.08, + "gripper_dist": 0.18440061784438008, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195355392531, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07574598686840416, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08541959429240002, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15246180501771367, + "release_required_pad_clearance": 0.05270979714620001, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.47312503527445354, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008461356163024902, + "max_z_decrease": 0.008461356163024902, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501051479003811, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008461356163024902, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02118661361247843, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008461356163024902, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008461468788722021, + "max_button_displacement": 0.12, + "button_start": [ + 0.1782477796077728, + -0.42690265178680414, + 0.7768088579177856 + ], + "button_final": [ + 0.1782477796077728, + -0.42690265178680414, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17871219327492768, + -0.42767950771533453, + 0.8037097622365927 + ], + "closest_button": [ + 0.17822267115116117, + -0.4268824160099029, + 0.7687117457389832 + ], + "closest_ee_minus_button": [ + 0.000489522123766517, + -0.0007970917054316295, + 0.034998016497609585 + ], + "button_min_z_position": [ + 0.1782112270593643, + -0.4268787801265716, + 0.7683475017547607 + ], + "min_active_finger_to_button": 0.14533023282771662, + "closest_active_finger": [ + 0.03816399723291397, + -0.40989071130752563, + 0.8078548908233643 + ], + "closest_active_finger_button": [ + 0.17825756967067719, + -0.42690709233283985, + 0.7731401920318604 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14009357243776321, + 0.01701638102531422, + 0.034714698791503906 + ], + "min_contact_pad_to_button": 0.02118661361247843, + "closest_contact_pad": [ + 0.1782112270593643, + -0.4290014066079898, + 0.7894275172477541 + ], + "closest_contact_pad_button": [ + 0.1782112270593643, + -0.4268787801265716, + 0.7683475017547607 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0021226264814181994, + 0.02108001549299332 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 83, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "bf8812d0351f2fff2a6dcd82e2875e9535a9106d2b1a0a702d98ea35b189c5d6", + "visual_seed": 1979455111660502827, + "episode_index": 83, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_84_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_84_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9e30849d0ad47ddddac55755bb312aae43595b1b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_84_success.json @@ -0,0 +1,926 @@ +{ + "episode": 84, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2000951483502483, + -0.027742443752900466, + 1.04379927718048 + ], + "current_z": 1.04379927718048, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.18721282937655925, + "gripper_z": 1.0487898380982212, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19561824154901952, + -0.03231264608715077, + 1.0487898380982212 + ], + "object_minus_gripper": [ + 0.0044769068012287805, + 0.004570202334250307, + -0.004990560917741194 + ], + "object_to_gripper_xy": 0.006397612357971954, + "object_to_gripper_z": -0.004990560917741194, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2000951483502483, + -0.05166933101167757, + 1.04379927718048 + ], + "finger_b": [ + 0.18857978881673745, + -0.027742443752900466, + 1.04379927718048 + ], + "finger_midpoint": [ + 0.19433746858349288, + -0.039705887382289015, + 1.04379927718048 + ], + "object_minus_finger_midpoint": [ + 0.005757679766755425, + 0.011963443629388549, + 0.0 + ], + "finger_gap": 0.026553708574891175, + "fingertip_max_gap": 0.09335053819051714, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013276854287445586, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.04379927718048, + "object_top_z": 1.0902338194897387, + "finger_top_clearance": 0.0464345423092587, + "fingertip_min_top_clearance": 0.013930362692777575, + "object_projection_between_fingers": 0.811936447773961, + "object_to_finger_line_xy": 0.010376204458428543, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04917526909525857, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2390639003220214, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 202, + "max_stable_success_frames": 202, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19442392993546126, + -0.026418772410844546, + 1.2412382385504237 + ], + "held_position": [ + 0.19923302417061933, + -0.02152136311870532, + 1.2369129432167438 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008112963999730004, + "max_held_gripper_dist": 0.008116067976170514, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004325295333679868, + "max_held_gripper_z_dist": 0.004982511098051257, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08534853119465889, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.19923302417061933, + -0.04510874652451011, + 1.2369129432167438 + ], + "held_grasp_finger_b": [ + 0.18946358618927267, + -0.02152136311870532, + 1.2369129432167438 + ], + "held_grasp_midpoint": [ + 0.194348305179946, + -0.033315054821607716, + 1.2369129432167438 + ], + "held_grasp_object_position": [ + 0.19923302417061933, + -0.02152136311870532, + 1.2369129432167438 + ], + "held_grasp_finger_gap": 0.025530502823168478, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.022801072751706522, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.055871251693054756, + -0.9898047222277493, + -0.13101532387434567 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004498439352979217, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03325385786160201, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3256143142676714, + -0.3690812978840346, + 0.8470196358615423 + ], + "target_position": [ + 0.3204827766042146, + -0.37156966098957733, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005703036887177046, + "xy_threshold": 0.08, + "gripper_dist": 0.1865258024022501, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196358615423, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07541621515523551, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0853018870211406, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1552871462817133, + "release_required_pad_clearance": 0.0526509435105703, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.3604514980912737, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008700370788574219, + "max_z_decrease": 0.008700370788574219, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03505760226990174, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008700370788574219, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020995023301182747, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008700370788574219, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008700502965396442, + "max_button_displacement": 0.12, + "button_start": [ + 0.17618270218372337, + -0.42783111333847046, + 0.7768088579177856 + ], + "button_final": [ + 0.17618270218372337, + -0.42783111333847046, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17729755168308242, + -0.4260290101039391, + 0.8031048567113069 + ], + "closest_button": [ + 0.17620907723903645, + -0.4277910590171814, + 0.7681084871292114 + ], + "closest_ee_minus_button": [ + 0.0010884744440459726, + 0.0017620489132422756, + 0.03499636958209551 + ], + "button_min_z_position": [ + 0.17620907723903645, + -0.4277910590171814, + 0.7681084871292114 + ], + "min_active_finger_to_button": 0.144139758889805, + "closest_active_finger": [ + 0.05007946491241455, + -0.4885324239730835, + 0.810560941696167 + ], + "closest_active_finger_button": [ + 0.176187977194786, + -0.42783382534980774, + 0.7760849595069885 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12610851228237144, + -0.06069859862327576, + 0.03447598218917847 + ], + "min_contact_pad_to_button": 0.020995023301182747, + "closest_contact_pad": [ + 0.17620907723903645, + -0.4277910590171814, + 0.7891035104303942 + ], + "closest_contact_pad_button": [ + 0.17620907723903645, + -0.4277910590171814, + 0.7681084871292114 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.020995023301182747 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 84, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "2d6c307f5b2fda3f82a7cdd6402fc3a89bce978f82ef8cbfbf959038bc0dd7a2", + "visual_seed": 1083342238817409849, + "episode_index": 84, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_85_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_85_success.json new file mode 100644 index 0000000000000000000000000000000000000000..75315f65e3f4da52d82b8f2e2ce3e46eb0b08072 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_85_success.json @@ -0,0 +1,926 @@ +{ + "episode": 85, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.19871386002273422, + -0.028796322661037817, + 1.0441622800492145 + ], + "current_z": 1.0441622800492145, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.18757577264064895, + "gripper_z": 1.0489465899733246, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19366079262170663, + -0.03357275517900153, + 1.0489465899733246 + ], + "object_minus_gripper": [ + 0.0050530674010275944, + 0.004776432517963714, + -0.004784309924110053 + ], + "object_to_gripper_xy": 0.006953258067840497, + "object_to_gripper_z": -0.004784309924110053, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19871386002273422, + -0.053279613525717306, + 1.0441622800492145 + ], + "finger_b": [ + 0.18719181095181214, + -0.028796322661037817, + 1.0441622800492145 + ], + "finger_midpoint": [ + 0.19295283548727318, + -0.041037968093377564, + 1.0441622800492145 + ], + "object_minus_finger_midpoint": [ + 0.00576102453546104, + 0.012241645432339746, + 0.0 + ], + "finger_gap": 0.0270589938164233, + "fingertip_max_gap": 0.09340448948646257, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013529496908211652, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0441622800492145, + "object_top_z": 1.090399194537262, + "finger_top_clearance": 0.046236914488047454, + "fingertip_min_top_clearance": 0.013871074346414252, + "object_projection_between_fingers": 0.8186839897132756, + "object_to_finger_line_xy": 0.010425283389113967, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04920224474323129, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.4649857702002536, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 203, + "max_stable_success_frames": 203, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19428436185241127, + -0.026845781689749104, + 1.241516347546958 + ], + "held_position": [ + 0.1996018239153895, + -0.021736012778266648, + 1.2374047782035345 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008443349074019455, + "max_held_gripper_dist": 0.008445314708293981, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0041115693434234935, + "max_held_gripper_z_dist": 0.004812595554811061, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08532175737854274, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.1996018239153895, + -0.04558773916572582, + 1.2374047782035345 + ], + "held_grasp_finger_b": [ + 0.18942146920655303, + -0.021736012778266648, + 1.2374047782035345 + ], + "held_grasp_midpoint": [ + 0.19451164656097125, + -0.033661875971996234, + 1.2374047782035345 + ], + "held_grasp_object_position": [ + 0.1996018239153895, + -0.021736012778266648, + 1.2374047782035345 + ], + "held_grasp_finger_gap": 0.025933462430997232, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023275627769429482, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.03444257374951791, + -0.9905473928171137, + -0.13277639736311533 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004940966401981612, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03321177346324068, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.327957286038417, + -0.3692504202564201, + 0.8470196655002998 + ], + "target_position": [ + 0.32392888781345186, + -0.3711307717222513, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.004445639874523792, + "xy_threshold": 0.08, + "gripper_dist": 0.18384674104569856, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196655002998, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07561119471339971, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08683576876785075, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15227776424960238, + "release_required_pad_clearance": 0.053417884383925376, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.849854059069552, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00845712423324585, + "max_z_decrease": 0.00845712423324585, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501477016700292, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00845712423324585, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021130507711389274, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00845712423324585, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008457160677773657, + "max_button_displacement": 0.12, + "button_start": [ + 0.17962881922721863, + -0.42739224433898926, + 0.7768088579177856 + ], + "button_final": [ + 0.17962881922721863, + -0.42739224433898926, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1803174734594248, + -0.42640693768787724, + 0.8033465164595618 + ], + "closest_button": [ + 0.17962706089019773, + -0.4273674786090851, + 0.7683517336845398 + ], + "closest_ee_minus_button": [ + 0.0006904125692270835, + 0.000960540921207842, + 0.03499478277502199 + ], + "button_min_z_position": [ + 0.17962706089019773, + -0.4273674786090851, + 0.7683517336845398 + ], + "min_active_finger_to_button": 0.14493736262648282, + "closest_active_finger": [ + 0.052434131503105164, + -0.48754793405532837, + 0.8084449768066406 + ], + "closest_active_finger_button": [ + 0.17963826656341553, + -0.4273947775363922, + 0.7736952304840088 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12720413506031036, + -0.06015315651893616, + 0.034749746322631836 + ], + "min_contact_pad_to_button": 0.021130507711389274, + "closest_contact_pad": [ + 0.17962706089019773, + -0.4277717463560675, + 0.7894783738274928 + ], + "closest_contact_pad_button": [ + 0.17962706089019773, + -0.4273674786090851, + 0.7683517336845398 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00040426774698243406, + 0.021126640142952957 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 85, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e95d0beb87c9240665442113967f1c5ff8e93e07fbc96503915cd72fea7e2b6d", + "visual_seed": 3092171437368884223, + "episode_index": 85, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_86_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_86_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d57ddd4dc2e5b3956b77c851d48df2b8b6a0e1a6 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_86_success.json @@ -0,0 +1,926 @@ +{ + "episode": 86, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20147961212853577, + -0.030066580781088058, + 1.0436558704808183 + ], + "current_z": 1.0436558704808183, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.18706936307225275, + "gripper_z": 1.048934804385884, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19650163470206403, + -0.03486178420451563, + 1.048934804385884 + ], + "object_minus_gripper": [ + 0.004977977426471741, + 0.004795203423427576, + -0.005278933905065619 + ], + "object_to_gripper_xy": 0.006911890850593183, + "object_to_gripper_z": -0.005278933905065619, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20147961212853577, + -0.0544122148562394, + 1.0436558704808183 + ], + "finger_b": [ + 0.1898134732566809, + -0.030066580781088058, + 1.0436558704808183 + ], + "finger_midpoint": [ + 0.19564654269260834, + -0.04223939781866373, + 1.0436558704808183 + ], + "object_minus_finger_midpoint": [ + 0.005833069435927429, + 0.012172817037575674, + 0.0 + ], + "finger_gap": 0.02699645707678274, + "fingertip_max_gap": 0.09461419640944688, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013498228538391374, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0436558704808183, + "object_top_z": 1.0902333542207998, + "finger_top_clearance": 0.046577483739981496, + "fingertip_min_top_clearance": 0.013973245121994448, + "object_projection_between_fingers": 0.8132585448453084, + "object_to_finger_line_xy": 0.010520623029765535, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04980709820472344, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.0358486472699164, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 203, + "max_stable_success_frames": 203, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19581075782708987, + -0.028900241614204736, + 1.2412411099986702 + ], + "held_position": [ + 0.20108352518124828, + -0.023735025924600445, + 1.2366320287529178 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008702020375818468, + "max_held_gripper_dist": 0.00870403977708827, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004609081245752433, + "max_held_gripper_z_dist": 0.005299735481286927, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08533305183230407, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.20108352518124828, + -0.047640065321403274, + 1.2366320287529178 + ], + "held_grasp_finger_b": [ + 0.19090616552930087, + -0.023735025924600445, + 1.2366320287529178 + ], + "held_grasp_midpoint": [ + 0.19599484535527456, + -0.03568754562300186, + 1.2366320287529178 + ], + "held_grasp_object_position": [ + 0.20108352518124828, + -0.023735025924600445, + 1.2366320287529178 + ], + "held_grasp_finger_gap": 0.025981330952200708, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02337378863206345, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.03156944292743186, + -0.9912170322512266, + -0.12842182543603167 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004955886711095344, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03319203707509495, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3239701466659617, + -0.36306517563699164, + 0.8470196565405943 + ], + "target_position": [ + 0.32014214533919333, + -0.3648373813681622, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.004218329919687889, + "xy_threshold": 0.08, + "gripper_dist": 0.18251833654450145, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196565405943, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07589999943746081, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0876651839075223, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1503187294038269, + "release_required_pad_clearance": 0.05383259195376115, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.6738253078561582, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008567452430725098, + "max_z_decrease": 0.008567452430725098, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035054813377210094, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008567452430725098, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021053691991209288, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008567452430725098, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008567574834889775, + "max_button_displacement": 0.12, + "button_start": [ + 0.17584207653999318, + -0.4210988283157348, + 0.7768088579177856 + ], + "button_final": [ + 0.17584207653999318, + -0.4210988283157348, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17752284656406425, + -0.42208271624268023, + 0.8032413918083259 + ], + "closest_button": [ + 0.17585429549217213, + -0.4210546910762787, + 0.7682414054870605 + ], + "closest_ee_minus_button": [ + 0.0016685510718921215, + -0.0010280251664015472, + 0.03499998632126533 + ], + "button_min_z_position": [ + 0.17585429549217213, + -0.4210546910762787, + 0.7682414054870605 + ], + "min_active_finger_to_button": 0.14405176578403706, + "closest_active_finger": [ + 0.036658287048339844, + -0.4071795642375946, + 0.8106645345687866 + ], + "closest_active_finger_button": [ + 0.1758451759815215, + -0.42110148072242737, + 0.7762537598609924 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13918688893318165, + 0.013921916484832764, + 0.03441077470779419 + ], + "min_contact_pad_to_button": 0.021053691991209288, + "closest_contact_pad": [ + 0.17585429549217213, + -0.42315078283666047, + 0.7891904948656653 + ], + "closest_contact_pad_button": [ + 0.17585429549217213, + -0.4210546910762787, + 0.7682414054870605 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0020960917603817797, + 0.020949089378604735 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 86, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7f500e1c2cfb38ff5d5f077a5a7fc8beac2ec93ff7bc319678103e1d490acb9e", + "visual_seed": 5069306804051667385, + "episode_index": 86, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_87_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_87_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c8ba43781e17abebe3ed92cab74c2b547a321525 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_87_success.json @@ -0,0 +1,926 @@ +{ + "episode": 87, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20173983356643743, + -0.031177613694659264, + 1.0455411058822333 + ], + "current_z": 1.0455411058822333, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.1889545984736677, + "gripper_z": 1.0505031153500677, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19743944616473705, + -0.03557937417909629, + 1.0505031153500677 + ], + "object_minus_gripper": [ + 0.004300387401700384, + 0.004401760484437026, + -0.004962009467834427 + ], + "object_to_gripper_xy": 0.006153765283714895, + "object_to_gripper_z": -0.004962009467834427, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20173983356643743, + -0.05506006676403453, + 1.0455411058822333 + ], + "finger_b": [ + 0.1906357464809004, + -0.031177613694659264, + 1.0455411058822333 + ], + "finger_midpoint": [ + 0.19618779002366893, + -0.043118840229346894, + 1.0455411058822333 + ], + "object_minus_finger_midpoint": [ + 0.005552043542768503, + 0.01194122653468763, + 0.0 + ], + "finger_gap": 0.026337659626741748, + "fingertip_max_gap": 0.09484379925906664, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013168829813370867, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0455411058822333, + "object_top_z": 1.0927325351862143, + "finger_top_clearance": 0.047191429303981014, + "fingertip_min_top_clearance": 0.014157428791194287, + "object_projection_between_fingers": 0.8222492848488785, + "object_to_finger_line_xy": 0.010068959902167348, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04992189962953332, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.6839965847460934, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 204, + "max_stable_success_frames": 204, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19640859399777794, + -0.029841401117018773, + 1.2427042289524042 + ], + "held_position": [ + 0.2009895462051744, + -0.025081058082005097, + 1.2383644310585644 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007904418681777284, + "max_held_gripper_dist": 0.007907233368883994, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0043397978938397586, + "max_held_gripper_z_dist": 0.004974459326515079, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0852198164898108, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2009895462051744, + -0.04856275924509129, + 1.2383644310585644 + ], + "held_grasp_finger_b": [ + 0.1914875852129141, + -0.025081058082005097, + 1.2383644310585644 + ], + "held_grasp_midpoint": [ + 0.19623856570904424, + -0.036821908663548196, + 1.2383644310585644 + ], + "held_grasp_object_position": [ + 0.2009895462051744, + -0.025081058082005097, + 1.2383644310585644 + ], + "held_grasp_finger_gap": 0.025331355119908607, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.022827498626635953, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.04812101051381008, + -0.99161225286567, + -0.11995627667529708 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004415756633167366, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033329231687682426, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.32724372147157055, + -0.37104885991612113, + 0.8470200908106651 + ], + "target_position": [ + 0.32421290055164687, + -0.37214708385799267, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.003223658058037001, + "xy_threshold": 0.08, + "gripper_dist": 0.18317310499844905, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470200908106651, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07568460070302224, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08725912041712879, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15119545318905014, + "release_required_pad_clearance": 0.053629560208564395, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.266301647977701, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008446991443634033, + "max_z_decrease": 0.008446991443634033, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03505852242364829, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008446991443634033, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02102367813717243, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008446991443634033, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00844701583363434, + "max_button_displacement": 0.12, + "button_start": [ + 0.17991282045841217, + -0.428408533334732, + 0.7768088579177856 + ], + "button_final": [ + 0.17991282045841217, + -0.428408533334732, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17904175427148725, + -0.4263437142073848, + 0.8033499780999871 + ], + "closest_button": [ + 0.1799032688140869, + -0.42839062213897705, + 0.7683618664741516 + ], + "closest_ee_minus_button": [ + -0.0008615145425996396, + 0.0020469079315922345, + 0.03498811162583548 + ], + "button_min_z_position": [ + 0.1799032688140869, + -0.42839062213897705, + 0.7683618664741516 + ], + "min_active_finger_to_button": 0.14580754858871461, + "closest_active_finger": [ + 0.05171570926904678, + -0.48866188526153564, + 0.8105606436729431 + ], + "closest_active_finger_button": [ + 0.17991854250431058, + -0.42841118574142456, + 0.776010274887085 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1282028332352638, + -0.060250699520111084, + 0.034550368785858154 + ], + "min_contact_pad_to_button": 0.02102367813717243, + "closest_contact_pad": [ + 0.1799032688140869, + -0.42839062213897705, + 0.789385544611324 + ], + "closest_contact_pad_button": [ + 0.1799032688140869, + -0.42839062213897705, + 0.7683618664741516 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02102367813717243 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 87, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f7046e65caa52175de62d346e0818fb390d6e5826dbd6198355ae8ce2caa2a34", + "visual_seed": 6643855183654669872, + "episode_index": 87, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_88_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_88_success.json new file mode 100644 index 0000000000000000000000000000000000000000..57f6b047aeb82cd70601699c511abc8a1cf48cf0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_88_success.json @@ -0,0 +1,926 @@ +{ + "episode": 88, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20112332385015266, + -0.03587892571398443, + 1.0443635933547633 + ], + "current_z": 1.0443635933547633, + "required_z": 0.8565865074085657, + "initial_z": 0.7565865074085657, + "lift_margin": 0.18777708594619757, + "gripper_z": 1.049341722391388, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19616783299776952, + -0.040592138474142836, + 1.049341722391388 + ], + "object_minus_gripper": [ + 0.004955490852383143, + 0.004713212760158403, + -0.0049781290366246456 + ], + "object_to_gripper_xy": 0.006838951974577172, + "object_to_gripper_z": -0.0049781290366246456, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20112332385015266, + -0.060335007608070756, + 1.0443635933547633 + ], + "finger_b": [ + 0.18970828561987063, + -0.03587892571398443, + 1.0443635933547633 + ], + "finger_midpoint": [ + 0.19541580473501163, + -0.048106966661027595, + 1.0443635933547633 + ], + "object_minus_finger_midpoint": [ + 0.00570751911514103, + 0.012228040947043162, + 0.0 + ], + "finger_gap": 0.02698894291018189, + "fingertip_max_gap": 0.0942461857856067, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01349447145509095, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0443635933547633, + "object_top_z": 1.0909078465675934, + "finger_top_clearance": 0.04654425321283018, + "fingertip_min_top_clearance": 0.013963275963849053, + "object_projection_between_fingers": 0.8211112656744083, + "object_to_finger_line_xy": 0.010343758579688004, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04962309289280335, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.7270009547061453, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 203, + "max_stable_success_frames": 203, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19771461738734164, + -0.03315937281002711, + 1.2436685186988403 + ], + "held_position": [ + 0.20293096766697974, + -0.028084626878071173, + 1.2393570267210188 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008458860419028283, + "max_held_gripper_dist": 0.008460537840010225, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004311491977821547, + "max_held_gripper_z_dist": 0.004996320502207441, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08533802355643744, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.20293096766697974, + -0.051945521661674585, + 1.2393570267210188 + ], + "held_grasp_finger_b": [ + 0.19283597255022297, + -0.028084626878071173, + 1.2393570267210188 + ], + "held_grasp_midpoint": [ + 0.19788347010860136, + -0.04001507426987288, + 1.2393570267210188 + ], + "held_grasp_object_position": [ + 0.20293096766697974, + -0.028084626878071173, + 1.2393570267210188 + ], + "held_grasp_finger_gap": 0.02590851648168099, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023373169883077288, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.028322976375205807, + -0.991542454960026, + -0.12665452625585316 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004946910613238452, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03322771971607241, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3321711367139475, + -0.3699260767521543, + 0.8470196532180141 + ], + "target_position": [ + 0.32830907912532853, + -0.37199584445728323, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.004381715094686565, + "xy_threshold": 0.08, + "gripper_dist": 0.18434547391988101, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196532180141, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07522273755787563, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08599122614279651, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15378757770028065, + "release_required_pad_clearance": 0.05299561307139826, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.02410970046341, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008768022060394287, + "max_z_decrease": 0.008768022060394287, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03503971691436261, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008768022060394287, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.021137576026190975, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008768022060394287, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008768233609104404, + "max_button_displacement": 0.12, + "button_start": [ + 0.184009000658989, + -0.4282573163509369, + 0.7768088579177856 + ], + "button_final": [ + 0.184009000658989, + -0.4282573163509369, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18489837353570376, + -0.42982167149226974, + 0.8030313780159656 + ], + "closest_button": [ + 0.18400195240974426, + -0.42819681763648987, + 0.7680408358573914 + ], + "closest_ee_minus_button": [ + 0.0008964211259595012, + -0.001624853855779873, + 0.03499054215857422 + ], + "button_min_z_position": [ + 0.18400195240974426, + -0.42819681763648987, + 0.7680408358573914 + ], + "min_active_finger_to_button": 0.14481860260009094, + "closest_active_finger": [ + 0.04393579065799713, + -0.4156592786312103, + 0.8089607954025269 + ], + "closest_active_finger_button": [ + 0.1840155124664307, + -0.4282618463039398, + 0.7744459509849548 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14007972180843356, + 0.012602567672729492, + 0.03451484441757202 + ], + "min_contact_pad_to_button": 0.021137576026190975, + "closest_contact_pad": [ + 0.18400195240974426, + -0.43082701112679156, + 0.7890141332249151 + ], + "closest_contact_pad_button": [ + 0.18400195240974426, + -0.42819681763648987, + 0.7680408358573914 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002630193490301691, + 0.020973297367523736 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 88, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e543dd90df32b8f46a28e57d90280cfff31418425157ad38d89d1216404ab80f", + "visual_seed": 7480274510475734878, + "episode_index": 88, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_89_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_89_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ae38175f88398b7e347a7330cc55bb776b5b5646 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_89_success.json @@ -0,0 +1,926 @@ +{ + "episode": 89, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20587190159026236, + -0.03537313946154855, + 1.0436267198749705 + ], + "current_z": 1.0436267198749705, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.18704015286176012, + "gripper_z": 1.0485499712398243, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.20126903949289163, + -0.03998392556013923, + 1.0485499712398243 + ], + "object_minus_gripper": [ + 0.004602862097370736, + 0.004610786098590683, + -0.004923251364853831 + ], + "object_to_gripper_xy": 0.006515035528250726, + "object_to_gripper_z": -0.004923251364853831, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20587190159026236, + -0.05940922582656548, + 1.0436267198749705 + ], + "finger_b": [ + 0.19440577969578285, + -0.03537313946154855, + 1.0436267198749705 + ], + "finger_midpoint": [ + 0.20013884064302262, + -0.04739118264405701, + 1.0436267198749705 + ], + "object_minus_finger_midpoint": [ + 0.005733060947239743, + 0.012018043182508466, + 0.0 + ], + "finger_gap": 0.026630910593624383, + "fingertip_max_gap": 0.09246339732174197, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013315455296812185, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0436267198749705, + "object_top_z": 1.0894020619447409, + "finger_top_clearance": 0.04577534206977041, + "fingertip_min_top_clearance": 0.013732602620931122, + "object_projection_between_fingers": 0.8146207692778628, + "object_to_finger_line_xy": 0.010348902458990705, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04873169866087099, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.252903706380564, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 202, + "max_stable_success_frames": 202, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19952977899885338, + -0.03480677637502384, + 1.2413934140887184 + ], + "held_position": [ + 0.20442743998728224, + -0.029884179247404614, + 1.2370954765841453 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00816647490852932, + "max_held_gripper_dist": 0.008169126148274898, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0042979375045730794, + "max_held_gripper_z_dist": 0.004936766732403619, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08511101719814827, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.20442743998728224, + -0.05355413443296779, + 1.2370954765841453 + ], + "held_grasp_finger_b": [ + 0.1945743223694614, + -0.029884179247404614, + 1.2370954765841453 + ], + "held_grasp_midpoint": [ + 0.19950088117837184, + -0.041719156840186206, + 1.2370954765841453 + ], + "held_grasp_object_position": [ + 0.20442743998728224, + -0.029884179247404614, + 1.2370954765841453 + ], + "held_grasp_finger_gap": 0.02563885148124191, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.022953046094755396, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.047993181763497414, + -0.9896904483288831, + -0.13494247289415753 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0046421314313113355, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033250819453663885, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.32776625758963296, + -0.369866600256079, + 0.8470194817609467 + ], + "target_position": [ + 0.32311624690890106, + -0.371909340078565, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005078915761586426, + "xy_threshold": 0.08, + "gripper_dist": 0.18586852804376172, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470194817609467, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07547526616049151, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08580283760237177, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.154476423350173, + "release_required_pad_clearance": 0.05290141880118589, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8420884968311346, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008582651615142822, + "max_z_decrease": 0.008582651615142822, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502210135856198, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008582651615142822, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02107515052174057, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008582651615142822, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008582808257781353, + "max_button_displacement": 0.12, + "button_start": [ + 0.1788161695003509, + -0.4281708002090454, + 0.7768088579177856 + ], + "button_final": [ + 0.1788161695003509, + -0.4281708002090454, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17950515300376813, + -0.4292365102804847, + 0.80359179696097 + ], + "closest_button": [ + 0.1787926852703094, + -0.4281409680843353, + 0.7685940861701965 + ], + "closest_ee_minus_button": [ + 0.0007124677334587326, + -0.0010955421961493794, + 0.03499771079077352 + ], + "button_min_z_position": [ + 0.17877867817878718, + -0.4281349778175354, + 0.7682262063026428 + ], + "min_active_finger_to_button": 0.14502690386427522, + "closest_active_finger": [ + 0.03865952789783478, + -0.41404902935028076, + 0.809135913848877 + ], + "closest_active_finger_button": [ + 0.17882183194160456, + -0.4281754493713379, + 0.7746717929840088 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14016230404376978, + 0.014126420021057129, + 0.034464120864868164 + ], + "min_contact_pad_to_button": 0.02107515052174057, + "closest_contact_pad": [ + 0.17877867817878718, + -0.430324283089101, + 0.7891873348968268 + ], + "closest_contact_pad_button": [ + 0.17877867817878718, + -0.4281349778175354, + 0.7682262063026428 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002189305271565578, + 0.020961128594183975 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 89, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a532281b6b531e532a3947747a952a69cd233ddf461ae625d158e3dba38eff79", + "visual_seed": 7099686617605747093, + "episode_index": 89, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_8_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_8_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b9a40e8a9f98bbd2995bca1d7c5dd6fb28f4e568 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_8_success.json @@ -0,0 +1,926 @@ +{ + "episode": 8, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20219285486501834, + -0.02862640257039321, + 1.0463604038344505 + ], + "current_z": 1.0463604038344505, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.18977383682124016, + "gripper_z": 1.05129923367917, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1974833627026241, + -0.03333437593379342, + 1.05129923367917 + ], + "object_minus_gripper": [ + 0.0047094921623942465, + 0.0047079733634002065, + -0.0049388298447194945 + ], + "object_to_gripper_xy": 0.006659153821480526, + "object_to_gripper_z": -0.0049388298447194945, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20219285486501834, + -0.05266803565066117, + 1.0463604038344505 + ], + "finger_b": [ + 0.19045504895112605, + -0.02862640257039321, + 1.0463604038344505 + ], + "finger_midpoint": [ + 0.1963239519080722, + -0.04064721911052719, + 1.0463604038344505 + ], + "object_minus_finger_midpoint": [ + 0.005868902956946143, + 0.01202081654013398, + 0.0 + ], + "finger_gap": 0.026753994259520193, + "fingertip_max_gap": 0.09120632397304179, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013376997129760097, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0463604038344505, + "object_top_z": 1.0916861757070997, + "finger_top_clearance": 0.04532577187264919, + "fingertip_min_top_clearance": 0.01359773156179479, + "object_projection_between_fingers": 0.807515133960952, + "object_to_finger_line_xy": 0.01054780905654042, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0481031619865209, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1240772947812876, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 204, + "max_stable_success_frames": 204, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19551463766280688, + -0.027992244085408735, + 1.2461996179849213 + ], + "held_position": [ + 0.20057259583894796, + -0.02299245898405957, + 1.2419253736275622 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008297587408258002, + "max_held_gripper_dist": 0.008299771147640845, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004274244357359125, + "max_held_gripper_z_dist": 0.00494528340744016, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08584417257393587, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.20057259583894796, + -0.04672327480975595, + 1.2419253736275622 + ], + "held_grasp_finger_b": [ + 0.19056688979574543, + -0.02299245898405957, + 1.2419253736275622 + ], + "held_grasp_midpoint": [ + 0.19556974281734668, + -0.03485786689690776, + 1.2419253736275622 + ], + "held_grasp_object_position": [ + 0.20057259583894796, + -0.02299245898405957, + 1.2419253736275622 + ], + "held_grasp_finger_gap": 0.025753946749500385, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02291181417574829, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05387703501218863, + -0.9882042034630056, + -0.14335172603195923 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004683671790163419, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03320524010312534, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33099962851645104, + -0.35911008073490164, + 0.847019835627502 + ], + "target_position": [ + 0.3239597445014094, + -0.36305757939190253, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008071103554797357, + "xy_threshold": 0.08, + "gripper_dist": 0.18865879528186064, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.847019835627502, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07565609424157901, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08530082860658715, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15708365124210347, + "release_required_pad_clearance": 0.05265041430329358, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.356073995892906, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008594632148742676, + "max_z_decrease": 0.008594632148742676, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035030096222631577, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008594632148742676, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020970231212564236, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008594632148742676, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008594748968923004, + "max_button_displacement": 0.12, + "button_start": [ + 0.17965966463088986, + -0.4193190336227416, + 0.7768088579177856 + ], + "button_final": [ + 0.17965966463088986, + -0.4193190336227416, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18092418982080818, + -0.41908491433004047, + 0.8035896768503087 + ], + "closest_button": [ + 0.1796441078186035, + -0.4192827641963958, + 0.7685835361480713 + ], + "closest_ee_minus_button": [ + 0.0012800820022046966, + 0.00019784986635534851, + 0.0350061407022374 + ], + "button_min_z_position": [ + 0.1796343624591827, + -0.4192820489406585, + 0.768214225769043 + ], + "min_active_finger_to_button": 0.14457568945283258, + "closest_active_finger": [ + 0.039958372712135315, + -0.40520450472831726, + 0.8100331425666809 + ], + "closest_active_finger_button": [ + 0.17966416478157038, + -0.4193224012851714, + 0.7756077647209167 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13970579206943506, + 0.014117896556854137, + 0.03442537784576416 + ], + "min_contact_pad_to_button": 0.020970231212564236, + "closest_contact_pad": [ + 0.1796343624591827, + -0.42005378712355673, + 0.7891702515679739 + ], + "closest_contact_pad_button": [ + 0.1796343624591827, + -0.4192820489406585, + 0.768214225769043 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0007717381828982184, + 0.020956025798930966 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 8, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "717618888118db3c8305a104e371962cec48211833daa864728b64678f28ba34", + "visual_seed": 4526386240969550246, + "episode_index": 8, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_90_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_90_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d353bb3e5e1b86827f6f6febebdf612466c6d60e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_90_success.json @@ -0,0 +1,926 @@ +{ + "episode": 90, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.19952582422928067, + -0.02844585779446375, + 1.044687352203382 + ], + "current_z": 1.044687352203382, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.18810084479481637, + "gripper_z": 1.049714858677196, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19479156367580744, + -0.03307717820173055, + 1.049714858677196 + ], + "object_minus_gripper": [ + 0.00473426055347323, + 0.004631320407266798, + -0.005027506473814114 + ], + "object_to_gripper_xy": 0.006622865822507546, + "object_to_gripper_z": -0.005027506473814114, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19952582422928067, + -0.05269410343566854, + 1.044687352203382 + ], + "finger_b": [ + 0.18821203919168727, + -0.02844585779446375, + 1.044687352203382 + ], + "finger_midpoint": [ + 0.19386893171048397, + -0.04056998061506614, + 1.044687352203382 + ], + "object_minus_finger_midpoint": [ + 0.005656892518796697, + 0.012124122820602393, + 0.0 + ], + "finger_gap": 0.026757786690103487, + "fingertip_max_gap": 0.09191040946503007, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01337889334505174, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.044687352203382, + "object_top_z": 1.0902784619602823, + "finger_top_clearance": 0.045591109756900394, + "fingertip_min_top_clearance": 0.013677332927070117, + "object_projection_between_fingers": 0.8212214250435218, + "object_to_finger_line_xy": 0.010252695482650582, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048455204732515036, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9903437481799741, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 204, + "max_stable_success_frames": 204, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19441109733017523, + -0.026624360336207173, + 1.2414553599864209 + ], + "held_position": [ + 0.19937969971290656, + -0.021614843313980107, + 1.2370558821698572 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00831490682401807, + "max_held_gripper_dist": 0.008317377768227318, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0043994778165636905, + "max_held_gripper_z_dist": 0.0050554856913076485, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08545269848017095, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.19937969971290656, + -0.045309271797350295, + 1.2370558821698572 + ], + "held_grasp_finger_b": [ + 0.1894083932291903, + -0.021614843313980107, + 1.2370558821698572 + ], + "held_grasp_midpoint": [ + 0.19439404647104844, + -0.0334620575556652, + 1.2370558821698572 + ], + "held_grasp_object_position": [ + 0.19937969971290656, + -0.021614843313980107, + 1.2370558821698572 + ], + "held_grasp_finger_gap": 0.02570705922788031, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023038759715057606, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0409288920336061, + -0.9895522172235424, + -0.1382433911073977 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004790417649355258, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033272730581775954, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.32820563477148235, + -0.3666743300592458, + 0.8470197122184353 + ], + "target_position": [ + 0.3217430724682987, + -0.3699927669891274, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007264759815722221, + "xy_threshold": 0.08, + "gripper_dist": 0.18516256117429408, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470197122184353, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07548721841979644, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08530899932338269, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1540939952069687, + "release_required_pad_clearance": 0.05265449966169135, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.366907665812208, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008719027042388916, + "max_z_decrease": 0.008719027042388916, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03507101821684619, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008719027042388916, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.020932859539846027, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008719027042388916, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008719233835275326, + "max_button_displacement": 0.12, + "button_start": [ + 0.17744299769401545, + -0.42625421285629267, + 0.7768088579177856 + ], + "button_final": [ + 0.17744299769401545, + -0.42625421285629267, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17909666696599785, + -0.42474690210384314, + 0.8030930766936492 + ], + "closest_button": [ + 0.177476555109024, + -0.42620441317558283, + 0.7680898308753967 + ], + "closest_ee_minus_button": [ + 0.0016201118569738604, + 0.0014575110717396922, + 0.035003245818252426 + ], + "button_min_z_position": [ + 0.177476555109024, + -0.42620441317558283, + 0.7680898308753967 + ], + "min_active_finger_to_button": 0.14372138065018564, + "closest_active_finger": [ + 0.05300725996494293, + -0.48945528268814087, + 0.8103781938552856 + ], + "closest_active_finger_button": [ + 0.1774456948041915, + -0.4262575209140777, + 0.7760714292526245 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12443843483924857, + -0.06319776177406317, + 0.03430676460266113 + ], + "min_contact_pad_to_button": 0.020932859539846027, + "closest_contact_pad": [ + 0.177476555109024, + -0.42620441317558283, + 0.7890226904152428 + ], + "closest_contact_pad_button": [ + 0.177476555109024, + -0.42620441317558283, + 0.7680898308753967 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.020932859539846027 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 90, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f757ce6ed5dbf3fd5f72a84eb8ef63ff8d192eb5724fa83b2eb56e10f685510e", + "visual_seed": 7224907134643612280, + "episode_index": 90, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_91_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_91_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8c16ea5e56e542665bb2a71e37a264171f20f9c3 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_91_success.json @@ -0,0 +1,926 @@ +{ + "episode": 91, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.1988164686664699, + -0.027997108151684456, + 1.045689940082392 + ], + "current_z": 1.045689940082392, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.18910349227847123, + "gripper_z": 1.0504947694689641, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19379828651682438, + -0.03277889619313107, + 1.0504947694689641 + ], + "object_minus_gripper": [ + 0.005018182149645528, + 0.004781788041446612, + -0.004804829386572118 + ], + "object_to_gripper_xy": 0.0069316411448042264, + "object_to_gripper_z": -0.004804829386572118, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1988164686664699, + -0.05243029001208906, + 1.045689940082392 + ], + "finger_b": [ + 0.18724926136624198, + -0.027997108151684456, + 1.045689940082392 + ], + "finger_midpoint": [ + 0.19303286501635594, + -0.04021369908188676, + 1.045689940082392 + ], + "object_minus_finger_midpoint": [ + 0.005783603650113961, + 0.012216590930202303, + 0.0 + ], + "finger_gap": 0.02703295508356515, + "fingertip_max_gap": 0.09403124098520627, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013516477541782574, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.045689940082392, + "object_top_z": 1.0922407817259199, + "finger_top_clearance": 0.04655084164352785, + "fingertip_min_top_clearance": 0.013965252493058338, + "object_projection_between_fingers": 0.8169077372330351, + "object_to_finger_line_xy": 0.010454783012431041, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049515620492603135, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.5621805806202362, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 205, + "max_stable_success_frames": 205, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19401756875025078, + -0.02619670084618815, + 1.244018039636714 + ], + "held_position": [ + 0.19931658769043462, + -0.021095475421882195, + 1.239888937595137 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00843513996491866, + "max_held_gripper_dist": 0.008437870470935842, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004129102041577015, + "max_held_gripper_z_dist": 0.004830543655480302, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08531427906980853, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.19931658769043462, + -0.04495338903149404, + 1.239888937595137 + ], + "held_grasp_finger_b": [ + 0.18915688972989092, + -0.021095475421882195, + 1.239888937595137 + ], + "held_grasp_midpoint": [ + 0.19423673871016278, + -0.03302443222668812, + 1.239888937595137 + ], + "held_grasp_object_position": [ + 0.19931658769043462, + -0.021095475421882195, + 1.239888937595137 + ], + "held_grasp_finger_gap": 0.02593105289904708, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02327781624841221, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.036192306940640594, + -0.9910975260593673, + -0.12812420051386234 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004893482160825911, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03319361393459247, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3256751958202062, + -0.3651462169039801, + 0.8470197240196415 + ], + "target_position": [ + 0.32117164374638285, + -0.36731152858392735, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0049970547278326595, + "xy_threshold": 0.08, + "gripper_dist": 0.1862242581130981, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470197240196415, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07563752050966177, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0869924623937001, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1545029920538238, + "release_required_pad_clearance": 0.053496231196850055, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.003420737588329, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008545935153961182, + "max_z_decrease": 0.008545935153961182, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500669698117407, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008545935153961182, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020913125414989044, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008545935153961182, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008546111722536115, + "max_button_displacement": 0.12, + "button_start": [ + 0.1768715679645538, + -0.42357298731803894, + 0.7768088579177856 + ], + "button_final": [ + 0.1768715679645538, + -0.42357298731803894, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1754716853489831, + -0.42415523115039294, + 0.8036292983354237 + ], + "closest_button": [ + 0.17690379917621613, + -0.4235532283782959, + 0.7686570882797241 + ], + "closest_ee_minus_button": [ + -0.001432113827233017, + -0.0006020027720970433, + 0.034972210055699615 + ], + "button_min_z_position": [ + 0.17691433429718015, + -0.4235385060310364, + 0.7682629227638245 + ], + "min_active_finger_to_button": 0.14708899493055272, + "closest_active_finger": [ + 0.03442077338695526, + -0.4106113910675049, + 0.8105542659759521 + ], + "closest_active_finger_button": [ + 0.17687253654003143, + -0.4235759675502777, + 0.776282012462616 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14245176315307617, + 0.012964576482772827, + 0.03427225351333618 + ], + "min_contact_pad_to_button": 0.020913125414989044, + "closest_contact_pad": [ + 0.17691433429718015, + -0.42507642498445686, + 0.7891194234270654 + ], + "closest_contact_pad_button": [ + 0.17691433429718015, + -0.4235385060310364, + 0.7682629227638245 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0015379189534204807, + 0.020856500663240962 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 91, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ca1c48a5f4f0c4749e7dd3bd978286c167a7025205c13a5bf39eedbf75f28921", + "visual_seed": 2835661110942606955, + "episode_index": 91, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_92_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_92_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4717310449c34ed75c5f84b1f90d1668108374d4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_92_success.json @@ -0,0 +1,926 @@ +{ + "episode": 92, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20463620350904602, + -0.035481913467215034, + 1.0459396472711775 + ], + "current_z": 1.0459396472711775, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.18935313986261193, + "gripper_z": 1.0508648187541232, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19994356662917814, + -0.04012333077996487, + 1.0508648187541232 + ], + "object_minus_gripper": [ + 0.004692636879867873, + 0.004641417312749835, + -0.004925171482945689 + ], + "object_to_gripper_xy": 0.006600272385090632, + "object_to_gripper_z": -0.004925171482945689, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20463620350904602, + -0.059619279626100384, + 1.0459396472711775 + ], + "finger_b": [ + 0.19316238975405794, + -0.035481913467215034, + 1.0459396472711775 + ], + "finger_midpoint": [ + 0.19889929663155198, + -0.047550596546657706, + 1.0459396472711775 + ], + "object_minus_finger_midpoint": [ + 0.005736906877494036, + 0.012068683079442671, + 0.0 + ], + "finger_gap": 0.026725658966099547, + "fingertip_max_gap": 0.09212344835417702, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01336282948304977, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0459396472711775, + "object_top_z": 1.0917144363354327, + "finger_top_clearance": 0.04577478906425525, + "fingertip_min_top_clearance": 0.013732436719276542, + "object_projection_between_fingers": 0.8156858203759221, + "object_to_finger_line_xy": 0.010362612356698097, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04856172417708851, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9596400398088424, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 204, + "max_stable_success_frames": 204, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19905970625738775, + -0.034474089415469394, + 1.242728791354921 + ], + "held_position": [ + 0.20402666384884616, + -0.02949464156485087, + 1.2384475882173644 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008233727522659443, + "max_held_gripper_dist": 0.008236698753336014, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004281203137556533, + "max_held_gripper_z_dist": 0.004939537856715415, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08510970276299057, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.20402666384884616, + -0.053156631900125886, + 1.2384475882173644 + ], + "held_grasp_finger_b": [ + 0.1941061335323478, + -0.02949464156485087, + 1.2384475882173644 + ], + "held_grasp_midpoint": [ + 0.19906639869059697, + -0.041325636732488374, + 1.2384475882173644 + ], + "held_grasp_object_position": [ + 0.20402666384884616, + -0.02949464156485087, + 1.2384475882173644 + ], + "held_grasp_finger_gap": 0.025657488349158642, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02291042381980502, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.04992547644786378, + -0.9891691565598656, + -0.138028354015028 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004665002471305495, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03324972585324161, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.32881656709860474, + -0.3633946128202925, + 0.8470194471269042 + ], + "target_position": [ + 0.32369500347531593, + -0.36609208797078, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005788504654476214, + "xy_threshold": 0.08, + "gripper_dist": 0.18286436764762584, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470194471269042, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07576093966988472, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08601192268615675, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1510341980357535, + "release_required_pad_clearance": 0.053005961343078375, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.0437913536385648, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00861811637878418, + "max_z_decrease": 0.00861811637878418, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0350325449799401, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00861811637878418, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021242651116519223, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00861811637878418, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008618200708475167, + "max_button_displacement": 0.12, + "button_start": [ + 0.17939493060111994, + -0.4223535358905792, + 0.7768088579177856 + ], + "button_final": [ + 0.17939493060111994, + -0.4223535358905792, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17766124821314058, + -0.4239404745873179, + 0.8036676641658659 + ], + "closest_button": [ + 0.17940226197242734, + -0.42234015464782715, + 0.7687150239944458 + ], + "closest_ee_minus_button": [ + -0.001741013759286758, + -0.0016003199394907242, + 0.03495264017142008 + ], + "button_min_z_position": [ + 0.17939323186874384, + -0.42231544852256775, + 0.7681907415390015 + ], + "min_active_finger_to_button": 0.14743234148709253, + "closest_active_finger": [ + 0.03704378008842468, + -0.4060790538787842, + 0.8074544668197632 + ], + "closest_active_finger_button": [ + 0.17940410971641538, + -0.4223615229129791, + 0.7727454900741577 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1423603296279907, + 0.016282469034194946, + 0.03470897674560547 + ], + "min_contact_pad_to_button": 0.021242651116519223, + "closest_contact_pad": [ + 0.17939323186874384, + -0.4252272527810404, + 0.7892328807462802 + ], + "closest_contact_pad_button": [ + 0.17939323186874384, + -0.42231544852256775, + 0.7681907415390015 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00291180425847265, + 0.02104213920727871 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 92, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "79259cd7ffdf62f983068a84a502256a0e2a0d679ee531ba81b60b1e77432732", + "visual_seed": 8026261874791166235, + "episode_index": 92, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_93_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_93_success.json new file mode 100644 index 0000000000000000000000000000000000000000..96d0499daa903dae125d2bbe280bd6fe068ea912 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_93_success.json @@ -0,0 +1,926 @@ +{ + "episode": 93, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.19985271526403126, + -0.03458521819199528, + 1.0460948300588537 + ], + "current_z": 1.0460948300588537, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.1895082630456434, + "gripper_z": 1.0511158724194463, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19480244284728182, + -0.039324269256099595, + 1.0511158724194463 + ], + "object_minus_gripper": [ + 0.005050272416749435, + 0.004739051064104313, + -0.005021042360592531 + ], + "object_to_gripper_xy": 0.006925594304575486, + "object_to_gripper_z": -0.005021042360592531, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19985271526403126, + -0.05912178514706512, + 1.0460948300588537 + ], + "finger_b": [ + 0.18841362972774767, + -0.03458521819199528, + 1.0460948300588537 + ], + "finger_midpoint": [ + 0.19413317249588946, + -0.0468535016695302, + 1.0460948300588537 + ], + "object_minus_finger_midpoint": [ + 0.005719542768141794, + 0.01226828347753492, + 0.0 + ], + "finger_gap": 0.02707204823885769, + "fingertip_max_gap": 0.09301134744753084, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013536024119428844, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0460948300588537, + "object_top_z": 1.0922452963373124, + "finger_top_clearance": 0.046150466278458646, + "fingertip_min_top_clearance": 0.013845139883537578, + "object_projection_between_fingers": 0.8214580044695431, + "object_to_finger_line_xy": 0.010367737442301347, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04900567372376542, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3490595836013803, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 205, + "max_stable_success_frames": 205, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1969361391379401, + -0.03215843983465924, + 1.2451134910075041 + ], + "held_position": [ + 0.20227572626848783, + -0.02705060943910162, + 1.240800043238646 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008556106224747397, + "max_held_gripper_dist": 0.00855913388206991, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004313447768858225, + "max_held_gripper_z_dist": 0.005042397294433343, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08546986878418195, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.20227572626848783, + -0.05097468457385164, + 1.240800043238646 + ], + "held_grasp_finger_b": [ + 0.19224451936069525, + -0.02705060943910162, + 1.240800043238646 + ], + "held_grasp_midpoint": [ + 0.19726012281459154, + -0.03901264700647663, + 1.240800043238646 + ], + "held_grasp_object_position": [ + 0.20227572626848783, + -0.02705060943910162, + 1.240800043238646 + ], + "held_grasp_finger_gap": 0.02594198302135189, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023315205604914607, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.03731240824000962, + -0.9901947706972748, + -0.13461835043968692 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0048456385298415875, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03316833367606991, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.32874251998073717, + -0.3650380939145197, + 0.8470196000074599 + ], + "target_position": [ + 0.32384157387170714, + -0.36726878263028767, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005384723290037394, + "xy_threshold": 0.08, + "gripper_dist": 0.18576219516395734, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196000074599, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07586894270000397, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08763963028101905, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15345298109388292, + "release_required_pad_clearance": 0.05381981514050953, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.6485294984184335, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008405983448028564, + "max_z_decrease": 0.008405983448028564, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0350240847100401, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008405983448028564, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021216278256644412, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008405983448028564, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008406027070243528, + "max_button_displacement": 0.12, + "button_start": [ + 0.1795414984226226, + -0.423530250787735, + 0.7768088579177856 + ], + "button_final": [ + 0.1795414984226226, + -0.423530250787735, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17997196398684212, + -0.4249075937099329, + 0.8033963003240789 + ], + "closest_button": [ + 0.1795499771833419, + -0.4235045313835144, + 0.7684028744697571 + ], + "closest_ee_minus_button": [ + 0.0004219868035002239, + -0.0014030623264185138, + 0.03499342585432186 + ], + "button_min_z_position": [ + 0.1795499771833419, + -0.4235045313835144, + 0.7684028744697571 + ], + "min_active_finger_to_button": 0.14529863414325883, + "closest_active_finger": [ + 0.039289429783821106, + -0.408112496137619, + 0.8078271746635437 + ], + "closest_active_finger_button": [ + 0.17955178022384638, + -0.42353546619415283, + 0.7731818556785583 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14026235044002527, + 0.015422970056533813, + 0.03464531898498535 + ], + "min_contact_pad_to_button": 0.021216278256644412, + "closest_contact_pad": [ + 0.1795499771833419, + -0.42614839739277366, + 0.7894537755333326 + ], + "closest_contact_pad_button": [ + 0.1795499771833419, + -0.4235045313835144, + 0.7684028744697571 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0026438660092592547, + 0.021050901063575544 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 93, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e9be2dd6a1f56d3f39c08dc8f9c4712745954a902eac265a96b7e7ce6674fdba", + "visual_seed": 802799867025004431, + "episode_index": 93, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_94_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_94_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e85d5a8ff03f35022231aae350b35c7b675c3ddb --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_94_success.json @@ -0,0 +1,926 @@ +{ + "episode": 94, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.19900988712459125, + -0.026656099120686255, + 1.0452606773001885 + ], + "current_z": 1.0452606773001885, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.1886741698916229, + "gripper_z": 1.0500919154591561, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19454157665955227, + -0.031186844648117287, + 1.0500919154591561 + ], + "object_minus_gripper": [ + 0.004468310465038983, + 0.004530745527431032, + -0.004831238158967688 + ], + "object_to_gripper_xy": 0.006363446664058181, + "object_to_gripper_z": -0.004831238158967688, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19900988712459125, + -0.05063213584952265, + 1.0452606773001885 + ], + "finger_b": [ + 0.18766049018200315, + -0.026656099120686255, + 1.0452606773001885 + ], + "finger_midpoint": [ + 0.19333518865329719, + -0.03864411748510445, + 1.0452606773001885 + ], + "object_minus_finger_midpoint": [ + 0.005674698471294065, + 0.011988018364418193, + 0.0 + ], + "finger_gap": 0.026526574377083445, + "fingertip_max_gap": 0.09308223518648176, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013263287188541726, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0452606773001885, + "object_top_z": 1.0915911467042194, + "finger_top_clearance": 0.04633046940403096, + "fingertip_min_top_clearance": 0.013899140821209304, + "object_projection_between_fingers": 0.816944309907643, + "object_to_finger_line_xy": 0.010258149208316827, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04904111759324088, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0693683734753532, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 204, + "max_stable_success_frames": 204, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19361422022367158, + -0.025125426708840756, + 1.2447080818750118 + ], + "held_position": [ + 0.19840429351298003, + -0.020284084979688914, + 1.2405304192310562 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007989759509652033, + "max_held_gripper_dist": 0.007993963850414763, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004177662643955582, + "max_held_gripper_z_dist": 0.0048350978575582015, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08579992270358733, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.19840429351298003, + -0.04388331362963556, + 1.2405304192310562 + ], + "held_grasp_finger_b": [ + 0.18873098729797583, + -0.020284084979688914, + 1.2405304192310562 + ], + "held_grasp_midpoint": [ + 0.19356764040547791, + -0.03208369930466223, + 1.2405304192310562 + ], + "held_grasp_object_position": [ + 0.19840429351298003, + -0.020284084979688914, + 1.2405304192310562 + ], + "held_grasp_finger_gap": 0.02550483181676957, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.022838257376849903, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05435297403293808, + -0.9900336441046986, + -0.12991973581617944 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0044658074380390204, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03325532331586904, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.32561095712577304, + -0.3691897684028106, + 0.8470189995271171 + ], + "target_position": [ + 0.321871309264448, + -0.3708685538988822, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00409918124367942, + "xy_threshold": 0.08, + "gripper_dist": 0.18387803317952867, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470189995271171, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07549480610143375, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0857099949196116, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15234754600171554, + "release_required_pad_clearance": 0.052854997459805805, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7475457500940743, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008395969867706299, + "max_z_decrease": 0.008395969867706299, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500779144399147, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008395969867706299, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02118148217451301, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008395969867706299, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00839600649957713, + "max_button_displacement": 0.12, + "button_start": [ + 0.17757123708724976, + -0.4271300137042999, + 0.7768088579177856 + ], + "button_final": [ + 0.17757123708724976, + -0.4271300137042999, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17576830564161589, + -0.428389455565687, + 0.8035993220064135 + ], + "closest_button": [ + 0.17758557200431824, + -0.4271213114261627, + 0.7686617374420166 + ], + "closest_ee_minus_button": [ + -0.0018172663627023522, + -0.0012681441395243076, + 0.034937584564396884 + ], + "button_min_z_position": [ + 0.17754991352558136, + -0.42711734771728516, + 0.7684128880500793 + ], + "min_active_finger_to_button": 0.14748542927529587, + "closest_active_finger": [ + 0.03524594008922577, + -0.4101089835166931, + 0.8078315258026123 + ], + "closest_active_finger_button": [ + 0.17758087813854218, + -0.4271397590637207, + 0.7731519937515259 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1423349380493164, + 0.017030775547027588, + 0.034679532051086426 + ], + "min_contact_pad_to_button": 0.02118148217451301, + "closest_contact_pad": [ + 0.17758557200431824, + -0.42976510701795084, + 0.789677577467532 + ], + "closest_contact_pad_button": [ + 0.17758557200431824, + -0.4271213114261627, + 0.7686617374420166 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002643795591788123, + 0.021015840025515375 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 94, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "18ccf0fe6aea2f2ab35e57b98cc9c20dc94b500e09002ee1a49f6ceaf3ef8424", + "visual_seed": 576882621759499347, + "episode_index": 94, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_95_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_95_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8a39d0f1366d96c8961be44080a7be6c31a70572 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_95_success.json @@ -0,0 +1,926 @@ +{ + "episode": 95, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20152117475495265, + -0.02880683166095293, + 1.0462818979719346 + ], + "current_z": 1.0462818979719346, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.18969533095872426, + "gripper_z": 1.0514067566215928, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1969619410636526, + -0.03343544488054352, + 1.0514067566215928 + ], + "object_minus_gripper": [ + 0.004559233691300041, + 0.004628613219590592, + -0.0051248586496581705 + ], + "object_to_gripper_xy": 0.0064969740794045185, + "object_to_gripper_z": -0.0051248586496581705, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20152117475495265, + -0.05276353558694087, + 1.0462818979719346 + ], + "finger_b": [ + 0.1898976518341977, + -0.02880683166095293, + 1.0462818979719346 + ], + "finger_midpoint": [ + 0.1957094132945752, + -0.0407851836239469, + 1.0462818979719346 + ], + "object_minus_finger_midpoint": [ + 0.005811761460377457, + 0.011978351962993967, + 0.0 + ], + "finger_gap": 0.02662761626745364, + "fingertip_max_gap": 0.09274684954126736, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013313808133726809, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0462818979719346, + "object_top_z": 1.0923218140020987, + "finger_top_clearance": 0.04603991603016411, + "fingertip_min_top_clearance": 0.013811974809049232, + "object_projection_between_fingers": 0.8094491136038967, + "object_to_finger_line_xy": 0.010457612667710631, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04887342477063368, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1676331804082452, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 204, + "max_stable_success_frames": 204, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1953855537176112, + -0.02774573243369037, + 1.2450055087768497 + ], + "held_position": [ + 0.20028363236015714, + -0.022780833518064186, + 1.2405523363919027 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00827478941852936, + "max_held_gripper_dist": 0.008278132399270034, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004453172384947024, + "max_held_gripper_z_dist": 0.005119105676472557, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08528762704994024, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.20028363236015714, + -0.046425984069259206, + 1.2405523363919027 + ], + "held_grasp_finger_b": [ + 0.19041631616183272, + -0.022780833518064186, + 1.2405523363919027 + ], + "held_grasp_midpoint": [ + 0.19534997426099493, + -0.034603408793661694, + 1.2405523363919027 + ], + "held_grasp_object_position": [ + 0.20028363236015714, + -0.022780833518064186, + 1.2405523363919027 + ], + "held_grasp_finger_gap": 0.02562141825790278, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.022845578076308354, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.055134285279054104, + -0.9891924964437708, + -0.13586175166730552 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004572698557159895, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03323340850143955, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3336804458451238, + -0.369050958179197, + 0.8470195425415856 + ], + "target_position": [ + 0.32853159321909153, + -0.37184099939224113, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005856194441365848, + "xy_threshold": 0.08, + "gripper_dist": 0.18344470963755868, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195425415856, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07588982667850984, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08613847210433344, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15131515216185826, + "release_required_pad_clearance": 0.05306923605216672, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.1676659966019163, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008671700954437256, + "max_z_decrease": 0.008671700954437256, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035035063921281015, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008671700954437256, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021079770865662446, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008671700954437256, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00867181351745752, + "max_button_displacement": 0.12, + "button_start": [ + 0.18423151969909668, + -0.4281024634838104, + 0.7768088579177856 + ], + "button_final": [ + 0.18423151969909668, + -0.4281024634838104, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1854847362264933, + -0.42695885860606725, + 0.8031327821123136 + ], + "closest_button": [ + 0.18423902988433838, + -0.428058922290802, + 0.7681371569633484 + ], + "closest_ee_minus_button": [ + 0.0012457063421549286, + 0.0011000636847347534, + 0.03499562514896526 + ], + "button_min_z_position": [ + 0.18423902988433838, + -0.428058922290802, + 0.7681371569633484 + ], + "min_active_finger_to_button": 0.14436594673370398, + "closest_active_finger": [ + 0.058507367968559265, + -0.48999473452568054, + 0.8081384301185608 + ], + "closest_active_finger_button": [ + 0.1842426061630249, + -0.4281059503555298, + 0.7734692096710205 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12573523819446564, + -0.06188878417015076, + 0.03466922044754028 + ], + "min_contact_pad_to_button": 0.021079770865662446, + "closest_contact_pad": [ + 0.18423902988433838, + -0.4281375135074997, + 0.7892167813236042 + ], + "closest_contact_pad_button": [ + 0.18423902988433838, + -0.428058922290802, + 0.7681371569633484 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -7.859121669767655e-05, + 0.02107962436025579 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 95, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "df567dc67f673228de2beb499a5ca36eb88d6060c192acb450e6166b176e6cff", + "visual_seed": 5474954428915410117, + "episode_index": 95, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_96_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_96_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6761a1fa6301d352bd4db35528afb2a47e5ea461 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_96_success.json @@ -0,0 +1,926 @@ +{ + "episode": 96, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.19949555377760833, + -0.033260760307980516, + 1.044506902696977 + ], + "current_z": 1.044506902696977, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.18792033568376676, + "gripper_z": 1.0493852325429631, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1948189523150789, + -0.037823959216739866, + 1.0493852325429631 + ], + "object_minus_gripper": [ + 0.004676601462529434, + 0.00456319890875935, + -0.004878329845986018 + ], + "object_to_gripper_xy": 0.006534017563508302, + "object_to_gripper_z": -0.004878329845986018, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19949555377760833, + -0.05751499732616447, + 1.044506902696977 + ], + "finger_b": [ + 0.18826564361161166, + -0.033260760307980516, + 1.044506902696977 + ], + "finger_midpoint": [ + 0.19388059869461, + -0.04538787881707249, + 1.044506902696977 + ], + "object_minus_finger_midpoint": [ + 0.005614955082998335, + 0.012127118509091976, + 0.0 + ], + "finger_gap": 0.02672786739847757, + "fingertip_max_gap": 0.09185379846938777, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013363933699238785, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.044506902696977, + "object_top_z": 1.090236225957122, + "finger_top_clearance": 0.045729323260145005, + "fingertip_min_top_clearance": 0.0137187969780435, + "object_projection_between_fingers": 0.8234677940507007, + "object_to_finger_line_xy": 0.01019059615936702, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048426899234693885, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8325834937347681, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 203, + "max_stable_success_frames": 203, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19615669399704083, + -0.030225543414907838, + 1.241721822952013 + ], + "held_position": [ + 0.20108011003829554, + -0.025281599029230137, + 1.2375021858010926 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008154014305198772, + "max_held_gripper_dist": 0.00815638269799183, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004219637150920441, + "max_held_gripper_z_dist": 0.004887797684841377, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08533345461146397, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.20108011003829554, + -0.04889931952550965, + 1.2375021858010926 + ], + "held_grasp_finger_b": [ + 0.19118193439875258, + -0.025281599029230137, + 1.2375021858010926 + ], + "held_grasp_midpoint": [ + 0.19613102221852408, + -0.0370904592773699, + 1.2375021858010926 + ], + "held_grasp_object_position": [ + 0.20108011003829554, + -0.025281599029230137, + 1.2375021858010926 + ], + "held_grasp_finger_gap": 0.02560801832301014, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.022940289278395146, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.042959684912743844, + -0.9893212085714056, + -0.13927674516232558 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0047373928560491135, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03330485781992744, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3310709872923625, + -0.3599754896783315, + 0.8470195499129687 + ], + "target_position": [ + 0.32544859274248805, + -0.3630729875429007, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0064191754529276356, + "xy_threshold": 0.08, + "gripper_dist": 0.18337459302011208, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195499129687, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07538255791688987, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08527619545222508, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15249951127505135, + "release_required_pad_clearance": 0.05263809772611254, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.33571744306197776, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008574306964874268, + "max_z_decrease": 0.008574306964874268, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03499752294310936, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008574306964874268, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020964136548961586, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008574306964874268, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008574445852986267, + "max_button_displacement": 0.12, + "button_start": [ + 0.18114851415157315, + -0.4193344414234161, + 0.7768088579177856 + ], + "button_final": [ + 0.18114851415157315, + -0.4193344414234161, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18020985460694847, + -0.41866681216197005, + 0.8032126225691533 + ], + "closest_button": [ + 0.1811869293451309, + -0.4193043410778045, + 0.7682345509529114 + ], + "closest_ee_minus_button": [ + -0.0009770747381824263, + 0.0006375289158344621, + 0.03497807161624189 + ], + "button_min_z_position": [ + 0.1811869293451309, + -0.4193043410778045, + 0.7682345509529114 + ], + "min_active_finger_to_button": 0.14637643737447673, + "closest_active_finger": [ + 0.0537218376994133, + -0.4825984239578247, + 0.8106396198272705 + ], + "closest_active_finger_button": [ + 0.1811517626047134, + -0.41933622956275934, + 0.7762075066566467 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1274299249053001, + -0.06326219439506536, + 0.03443211317062378 + ], + "min_contact_pad_to_button": 0.020964136548961586, + "closest_contact_pad": [ + 0.1811869293451309, + -0.41974943727010267, + 0.789193961980493 + ], + "closest_contact_pad_button": [ + 0.1811869293451309, + -0.4193043410778045, + 0.7682345509529114 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00044509619229815556, + 0.020959411027581587 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 96, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "4d61129b6b28f9f99a4cff0b443413cf667c5a779015b27490dade305a50532b", + "visual_seed": 6171416563283313259, + "episode_index": 96, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_97_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_97_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7f80906c19c368b6809bb5ef1dd74da0b4fbeab5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_97_success.json @@ -0,0 +1,926 @@ +{ + "episode": 97, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.19840699434553952, + -0.029114324372495205, + 1.0437226219562523 + ], + "current_z": 1.0437226219562523, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.18713605494304197, + "gripper_z": 1.0485007681483058, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19342139041455644, + -0.03385484436620309, + 1.0485007681483058 + ], + "object_minus_gripper": [ + 0.0049856039309830735, + 0.004740519993707885, + -0.004778146192053523 + ], + "object_to_gripper_xy": 0.006879591293629156, + "object_to_gripper_z": -0.004778146192053523, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19840699434553952, + -0.05356349100448833, + 1.0437226219562523 + ], + "finger_b": [ + 0.18694251621996522, + -0.029114324372495205, + 1.0437226219562523 + ], + "finger_midpoint": [ + 0.19267475528275235, + -0.04133890768849177, + 1.0437226219562523 + ], + "object_minus_finger_midpoint": [ + 0.0057322390627871644, + 0.012224583315996566, + 0.0 + ], + "finger_gap": 0.027003629528097473, + "fingertip_max_gap": 0.09414277712592062, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013501814764048745, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0437226219562523, + "object_top_z": 1.090307139530298, + "finger_top_clearance": 0.04658451757404558, + "fingertip_min_top_clearance": 0.013975355272213691, + "object_projection_between_fingers": 0.8197545552834201, + "object_to_finger_line_xy": 0.010379972653281848, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04957138856296031, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.60597670065917, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 203, + "max_stable_success_frames": 203, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19423439687929606, + -0.026667967589007344, + 1.2407209244682535 + ], + "held_position": [ + 0.1994703680074941, + -0.021577898621494417, + 1.2366121679339759 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008378906611684547, + "max_held_gripper_dist": 0.008381185927990439, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004108756534277669, + "max_held_gripper_z_dist": 0.0048020929652146105, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08535693431366134, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.1994703680074941, + -0.045362892453931276, + 1.2366121679339759 + ], + "held_grasp_finger_b": [ + 0.18929658693136353, + -0.021577898621494417, + 1.2366121679339759 + ], + "held_grasp_midpoint": [ + 0.1943834774694288, + -0.033470395537712846, + 1.2366121679339759 + ], + "held_grasp_object_position": [ + 0.1994703680074941, + -0.021577898621494417, + 1.2366121679339759 + ], + "held_grasp_finger_gap": 0.0258695139690349, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023251770868306078, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.03147875735805483, + -0.991046246228962, + -0.12975525295985735 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004959596317828689, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03325408154574826, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33045680213691664, + -0.3670599890503675, + 0.8470196471620679 + ], + "target_position": [ + 0.3264815934598659, + -0.36916592708856566, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00449858411578904, + "xy_threshold": 0.08, + "gripper_dist": 0.18548898462394942, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196471620679, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07583005161779156, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08740170587772687, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15324446363475988, + "release_required_pad_clearance": 0.05370085293886344, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.410569531529382, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008529603481292725, + "max_z_decrease": 0.008529603481292725, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035044354163361456, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008529603481292725, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021145343377292913, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008529603481292725, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00852967584668204, + "max_button_displacement": 0.12, + "button_start": [ + 0.1821815222501754, + -0.4254273772239685, + 0.7768088579177856 + ], + "button_final": [ + 0.1821815222501754, + -0.4254273772239685, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18362755585236948, + -0.4242528246583093, + 0.8032750306102506 + ], + "closest_button": [ + 0.1821772009134292, + -0.42539250850677485, + 0.7682792544364929 + ], + "closest_ee_minus_button": [ + 0.0014503549389402737, + 0.0011396838484655225, + 0.03499577617375771 + ], + "button_min_z_position": [ + 0.1821772009134292, + -0.42539250850677485, + 0.7682792544364929 + ], + "min_active_finger_to_button": 0.14420913952761052, + "closest_active_finger": [ + 0.05606488138437271, + -0.48607003688812256, + 0.8078625798225403 + ], + "closest_active_finger_button": [ + 0.18219295144081107, + -0.42542964220046997, + 0.773067057132721 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12612807005643836, + -0.06064039468765259, + 0.034795522689819336 + ], + "min_contact_pad_to_button": 0.021145343377292913, + "closest_contact_pad": [ + 0.1821772009134292, + -0.425552551993204, + 0.7894239921417963 + ], + "closest_contact_pad_button": [ + 0.1821772009134292, + -0.42539250850677485, + 0.7682792544364929 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00016004348642917332, + 0.02114473770530334 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 97, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8f84c1c6b14b19d61aed3452af6b3a49515467b5149b49e2ff767740892a7b9e", + "visual_seed": 2268924165211334537, + "episode_index": 97, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_98_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_98_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e202e99126c934fd1f3c9ef366e615f4161fd269 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_98_success.json @@ -0,0 +1,926 @@ +{ + "episode": 98, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2017052010851362, + -0.034428224030425336, + 1.0450112309112403 + ], + "current_z": 1.0450112309112403, + "required_z": 0.8565865670132101, + "initial_z": 0.7565865670132101, + "lift_margin": 0.18842466389803014, + "gripper_z": 1.0500874373469977, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1970101602358297, + -0.0390606779590658, + 1.0500874373469977 + ], + "object_minus_gripper": [ + 0.004695040849306498, + 0.004632453928640465, + -0.005076206435757458 + ], + "object_to_gripper_xy": 0.0065956832836055095, + "object_to_gripper_z": -0.005076206435757458, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2017052010851362, + -0.05860520789213258, + 1.0450112309112403 + ], + "finger_b": [ + 0.19023195329036266, + -0.034428224030425336, + 1.0450112309112403 + ], + "finger_midpoint": [ + 0.19596857718774943, + -0.04651671596127896, + 1.0450112309112403 + ], + "object_minus_finger_midpoint": [ + 0.005736623897386772, + 0.012088491930853623, + 0.0 + ], + "finger_gap": 0.026761202581527022, + "fingertip_max_gap": 0.09171207781239216, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013380601290763511, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0450112309112403, + "object_top_z": 1.0905846266082087, + "finger_top_clearance": 0.04557339569696839, + "fingertip_min_top_clearance": 0.0136720187090905, + "object_projection_between_fingers": 0.8161932333060244, + "object_to_finger_line_xy": 0.01036532367820744, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04835603890619608, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9153139600356044, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 203, + "max_stable_success_frames": 203, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19746038464930704, + -0.032138920477775, + 1.2427585466922106 + ], + "held_position": [ + 0.2024446443976062, + -0.02714504457869276, + 1.2383494945967983 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008319938828742037, + "max_held_gripper_dist": 0.008323753771017281, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004409052095412314, + "max_held_gripper_z_dist": 0.005074561686678081, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08533358840264745, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2024446443976062, + -0.05084530539860115, + 1.2383494945967983 + ], + "held_grasp_finger_b": [ + 0.19248968301127128, + -0.02714504457869276, + 1.2383494945967983 + ], + "held_grasp_midpoint": [ + 0.19746716370443873, + -0.038995174988646956, + 1.2383494945967983 + ], + "held_grasp_object_position": [ + 0.2024446443976062, + -0.02714504457869276, + 1.2383494945967983 + ], + "held_grasp_finger_gap": 0.025706100815469937, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02295888042227141, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.04830838508986283, + -0.9890097289894633, + -0.13973566436024096 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0047064820050438175, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03323987664646928, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3346811978337588, + -0.3611152862506589, + 0.8470198533818141 + ], + "target_position": [ + 0.32779166194677106, + -0.3649959143274784, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007907273803827209, + "xy_threshold": 0.08, + "gripper_dist": 0.18741579629447447, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470198533818141, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07563546757147209, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08562237887459932, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15601435780276238, + "release_required_pad_clearance": 0.05281118943729966, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6679295691768691, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00849926471710205, + "max_z_decrease": 0.00849926471710205, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035032849482127225, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00849926471710205, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021124505497161154, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00849926471710205, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008499352488403394, + "max_button_displacement": 0.12, + "button_start": [ + 0.18349158763885498, + -0.4212573766708374, + 0.7768088579177856 + ], + "button_final": [ + 0.18349158763885498, + -0.4212573766708374, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18305180199906632, + -0.42293478983789085, + 0.8036658930590966 + ], + "closest_button": [ + 0.18347419798374176, + -0.42122840881347656, + 0.7686771750450134 + ], + "closest_ee_minus_button": [ + -0.00042239598467544437, + -0.001706381024414283, + 0.03498871801408321 + ], + "button_min_z_position": [ + 0.18346665799617767, + -0.42122787237167353, + 0.7683095932006836 + ], + "min_active_finger_to_button": 0.14606895666276526, + "closest_active_finger": [ + 0.04208969324827194, + -0.4089144170284271, + 0.8093156218528748 + ], + "closest_active_finger_button": [ + 0.1834956854581833, + -0.4212623536586761, + 0.7748480439186096 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14140599220991135, + 0.012347936630248968, + 0.03446757793426514 + ], + "min_contact_pad_to_button": 0.021124505497161154, + "closest_contact_pad": [ + 0.18346665799617767, + -0.42391459760824945, + 0.7892625462145845 + ], + "closest_contact_pad_button": [ + 0.18346665799617767, + -0.42122787237167353, + 0.7683095932006836 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0026867252365759264, + 0.020952953013900877 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 98, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b5457c4bf3adf7d2d2224a77c0ed644f95bccb4656c982eb6de17f97770c7d94", + "visual_seed": 8967179537841359549, + "episode_index": 98, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_99_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_99_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c98b75ad6d06488377d4b7c776355ad67a08acae --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_99_success.json @@ -0,0 +1,926 @@ +{ + "episode": 99, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20153923678002264, + -0.032479390954061486, + 1.0429345671203436 + ], + "current_z": 1.0429345671203436, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.18634805971177804, + "gripper_z": 1.0480520897442134, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19694314467096907, + -0.037119732758399276, + 1.0480520897442134 + ], + "object_minus_gripper": [ + 0.004596092109053568, + 0.00464034180433779, + -0.005117522623869775 + ], + "object_to_gripper_xy": 0.006531220003643222, + "object_to_gripper_z": -0.005117522623869775, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20153923678002264, + -0.05649947177503708, + 1.0429345671203436 + ], + "finger_b": [ + 0.18992693558565404, + -0.032479390954061486, + 1.0429345671203436 + ], + "finger_midpoint": [ + 0.19573308618283836, + -0.04448943136454928, + 1.0429345671203436 + ], + "object_minus_finger_midpoint": [ + 0.005806150597184284, + 0.012010040410487796, + 0.0 + ], + "finger_gap": 0.026679764273226513, + "fingertip_max_gap": 0.09366328684361455, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01333988213661325, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0429345671203436, + "object_top_z": 1.0894493407875911, + "finger_top_clearance": 0.046514773667247544, + "fingertip_min_top_clearance": 0.013954432100174297, + "object_projection_between_fingers": 0.8105595976303978, + "object_to_finger_line_xy": 0.010454680571752778, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04933164342180728, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3245707707104473, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 201, + "max_stable_success_frames": 201, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19678091356215754, + -0.030703037003911374, + 1.242187423334026 + ], + "held_position": [ + 0.2017379491240368, + -0.025750427681754028, + 1.2377438445524136 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008297344939681088, + "max_held_gripper_dist": 0.008300067881985038, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0044435787816123895, + "max_held_gripper_z_dist": 0.005094980189958687, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0853029912523544, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2017379491240368, + -0.04950355263655884, + 1.2377438445524136 + ], + "held_grasp_finger_b": [ + 0.19188006722049378, + -0.025750427681754028, + 1.2377438445524136 + ], + "held_grasp_midpoint": [ + 0.1968090081722653, + -0.03762699015915644, + 1.2377438445524136 + ], + "held_grasp_object_position": [ + 0.2017379491240368, + -0.025750427681754028, + 1.2377438445524136 + ], + "held_grasp_finger_gap": 0.025717480062066193, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.022977771508390293, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05530055768923646, + -0.9903083455355043, + -0.12740184096782814 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00453092331585184, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033166192844715066, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3254110765344834, + -0.3627182456959205, + 0.8470195680852813 + ], + "target_position": [ + 0.3213444946003262, + -0.3647165202859955, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.004531025266377715, + "xy_threshold": 0.08, + "gripper_dist": 0.1830642301122609, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195680852813, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07578841168403774, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08593014948470233, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15114360199335783, + "release_required_pad_clearance": 0.05296507474235117, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.964277413598111, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008519113063812256, + "max_z_decrease": 0.008519113063812256, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.034995306479059296, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008519113063812256, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02094758410742383, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008519113063812256, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008519160851088205, + "max_button_displacement": 0.12, + "button_start": [ + 0.17704442143440244, + -0.42097797989845276, + 0.7768088579177856 + ], + "button_final": [ + 0.17704442143440244, + -0.42097797989845276, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1766318300801732, + -0.4213472509481737, + 0.8036492730380691 + ], + "closest_button": [ + 0.17704211175441736, + -0.420943796634674, + 0.7686586976051331 + ], + "closest_ee_minus_button": [ + -0.00041028167424417283, + -0.00040345431349969596, + 0.034990575432936044 + ], + "button_min_z_position": [ + 0.1770411133766174, + -0.42094963788986206, + 0.7682897448539734 + ], + "min_active_finger_to_button": 0.1461047958463754, + "closest_active_finger": [ + 0.035700857639312744, + -0.40722793340682983, + 0.8106364607810974 + ], + "closest_active_finger_button": [ + 0.17704609036445615, + -0.42098063230514526, + 0.7762998938560486 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1413452327251434, + 0.01375269889831543, + 0.03433656692504883 + ], + "min_contact_pad_to_button": 0.02094758410742383, + "closest_contact_pad": [ + 0.1770411133766174, + -0.4223343009460736, + 0.789191514830661 + ], + "closest_contact_pad_button": [ + 0.1770411133766174, + -0.42094963788986206, + 0.7682897448539734 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0013846630562115436, + 0.02090176997668758 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 99, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "376addedc6babee75f5f14925ad71ecc82dbd5aada7aabbfd8a908692a2cfc70", + "visual_seed": 6140888826273768124, + "episode_index": 99, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_9_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_9_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ee4cb50d1fc0dc9d98221928e15cfa6b2ee23c45 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/episode_9_success.json @@ -0,0 +1,926 @@ +{ + "episode": 9, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.19825629574675463, + -0.028725751991056325, + 1.0465952211519023 + ], + "current_z": 1.0465952211519023, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.1900087733479815, + "gripper_z": 1.0514228142973487, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19324458438874456, + -0.033457445355951285, + 1.0514228142973487 + ], + "object_minus_gripper": [ + 0.005011711358010068, + 0.00473169336489496, + -0.004827593145446452 + ], + "object_to_gripper_xy": 0.006892472186044577, + "object_to_gripper_z": -0.004827593145446452, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19825629574675463, + -0.05321474275079374, + 1.0465952211519023 + ], + "finger_b": [ + 0.1868685013183034, + -0.028725751991056325, + 1.0465952211519023 + ], + "finger_midpoint": [ + 0.19256239853252902, + -0.040970247370925035, + 1.0465952211519023 + ], + "object_minus_finger_midpoint": [ + 0.005693897214225613, + 0.01224449537986871, + 0.0 + ], + "finger_gap": 0.027007268102775026, + "fingertip_max_gap": 0.09360598371061538, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013503634051387515, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0465952211519023, + "object_top_z": 1.0927694089819155, + "finger_top_clearance": 0.04617418783001326, + "fingertip_min_top_clearance": 0.013852256349003944, + "object_projection_between_fingers": 0.8222056621858167, + "object_to_finger_line_xy": 0.010325946018341501, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04930299185530769, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.656348848408967, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 207, + "max_stable_success_frames": 207, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19399548776238165, + -0.026478987592855427, + 1.244353887807579 + ], + "held_position": [ + 0.19922917283734437, + -0.021389820929129014, + 1.24016767845929 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008415190164385683, + "max_held_gripper_dist": 0.008418449959100478, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0041862093482889495, + "max_held_gripper_z_dist": 0.0048633326106675145, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0853851354610772, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.19922917283734437, + -0.045210811689323366, + 1.24016767845929 + ], + "held_grasp_finger_b": [ + 0.18904103790804594, + -0.021389820929129014, + 1.24016767845929 + ], + "held_grasp_midpoint": [ + 0.19413510537269515, + -0.03330031630922619, + 1.24016767845929 + ], + "held_grasp_object_position": [ + 0.19922917283734437, + -0.021389820929129014, + 1.24016767845929 + ], + "held_grasp_finger_gap": 0.0259082553278845, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023357152232360998, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.024733146139934093, + -0.9911064195496158, + -0.1307529602325004 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005046894472151346, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03326966421953057, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3293242240354878, + -0.3620182712281862, + 0.8470196056964719 + ], + "target_position": [ + 0.3256168513833995, + -0.3639988454924843, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.004203247125479523, + "xy_threshold": 0.08, + "gripper_dist": 0.18448678536238733, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196056964719, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07562746929294774, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08756222043775795, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15279540392733354, + "release_required_pad_clearance": 0.05378111021887898, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.571149485386896, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008340120315551758, + "max_z_decrease": 0.008340120315551758, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500328121912807, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008340120315551758, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021265604975360435, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008340120315551758, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008340144618733161, + "max_button_displacement": 0.12, + "button_start": [ + 0.18131677806377408, + -0.42026031017303467, + 0.7768088579177856 + ], + "button_final": [ + 0.18131677806377408, + -0.42026031017303467, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18145180560343782, + -0.4210525737639856, + 0.8034623706630164 + ], + "closest_button": [ + 0.18130496144294736, + -0.4202440083026886, + 0.7684687376022339 + ], + "closest_ee_minus_button": [ + 0.00014684416049046134, + -0.0008085654612969839, + 0.034993633060782514 + ], + "button_min_z_position": [ + 0.18130496144294736, + -0.4202440083026886, + 0.7684687376022339 + ], + "min_active_finger_to_button": 0.1456941450799904, + "closest_active_finger": [ + 0.04092074930667877, + -0.40306368470191956, + 0.8081142902374268 + ], + "closest_active_finger_button": [ + 0.1813276559114456, + -0.42026424407958984, + 0.7732312679290771 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14040690660476682, + 0.017200559377670288, + 0.03488302230834961 + ], + "min_contact_pad_to_button": 0.021265604975360435, + "closest_contact_pad": [ + 0.18130496144294736, + -0.4224034087774244, + 0.7896244211070934 + ], + "closest_contact_pad_button": [ + 0.18130496144294736, + -0.4202440083026886, + 0.7684687376022339 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0021594004747357842, + 0.021155683504859524 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 9, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "workflow_spec_digest": "a41be2d08d4bf5d9ae56f03e848c93f461e964893f87b4306778dd9d031bb54f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ac97497c838691dcea4cce96dc5a81f1e3a85b1c6fd8060da2fa3b2121fd2513", + "visual_seed": 1484175873044237586, + "episode_index": 9, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206 + ], + "runtime_workflow_digest": "fe4ea72e509cfa06f0cdbba7d33e6b26b9fe3e756313ed491b4b10a8f5b28189" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/summary.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..f82bebd522edaa72a95acc63159f568a8a790748 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00033/results/summary.json @@ -0,0 +1,9 @@ +{ + "scope": "published_success_subset", + "case": "lab3_heat_2beaker_s04_pslr_hte_00033", + "family": "lab3_v1", + "published_episodes": 100, + "published_successes": 100, + "published_failures": 0, + "matched_success_results": 100 +} diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0000.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0000.h5 new file mode 100644 index 0000000000000000000000000000000000000000..77ca2967ea1fbca80c3ee0b74b0c737d4f53b2aa --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0000.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:495e3a8797c2c45d25b18c2b97fb043549ea95a4249a73958d816aab5a121543 +size 5452864 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0001.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0001.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5e838c7aef0fd12294480c210ebfba162200dd2b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0001.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ab13df49412a6d5a34a9c575bec9fe1baefa109ecbfa944f9a3ebc7ef1932db6 +size 6420015 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0002.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0002.h5 new file mode 100644 index 0000000000000000000000000000000000000000..98f1a723acac194fb552b90ca81ad3524fc6c6d9 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0002.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d7bdf65e721926bf2907f365eb80ec343818ac5cf4d6fb5b6b4b0c3f8a39db9f +size 5967775 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0003.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0003.h5 new file mode 100644 index 0000000000000000000000000000000000000000..43a11c38b7a8177e7a49b46694d7fabbed1cfea3 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0003.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:948e528e8ff0ec875735ddd583d38e5370c4f8340c0ecebeb22dfe7feb6249d2 +size 5468844 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0005.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0005.h5 new file mode 100644 index 0000000000000000000000000000000000000000..87ec0a2eb102475dcef9772dba6308da0f3be752 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0005.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5c441d2aec132824b3b3006d06553bb329a6d2112c86ee3358480ab1a1549180 +size 6644382 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0006.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0006.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4719796df326eca4e03304a69cfc33d2ec67466b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0006.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:00b0f7b0ad97131ee7d9fdc0b947c0f832ea57421f96797bc0c33aa0075ab276 +size 5183073 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0007.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0007.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d4f1ab729c8992b29503f4c3373e0b08fd4c2339 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0007.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c2dd2563a474e6ecfe32b0fdcb13c2b882f92957f2c4a0da3011f8ea1bc73372 +size 7404262 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0008.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0008.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f19b3e9bd9849ebadda0ba156e6c0915cf4c0513 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0008.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:072a1aa8d4bcae7246c0c8eedadc9f26e3d8987f89c02a3b97293340257b19a1 +size 9167233 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0009.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0009.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5f8eb184b7b1421bbe809c320ae64b6cd8a82d95 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0009.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9334a998b7ffded35105dc513dcd6cf597907effa302ae60b33ff17d45253211 +size 7912577 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0010.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0010.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6f7146a7fd2e77a38399cbee66f2f32ee9d16c79 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0010.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:467eb66d35fee9b3467cccd28e295e4f1adec2c34c5c959f53050339f4d844d6 +size 5824036 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0011.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0011.h5 new file mode 100644 index 0000000000000000000000000000000000000000..df2352bf8c503c23352566c84b41cdd114784727 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0011.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4de94a6ac6dcfc47a13ecd13f7052b6392b9ae0252b3e09ca87bc50a858d4027 +size 7111927 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0012.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0012.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a5847305b69c1b9b3d216a8d58efa437c2960b07 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0012.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:168adc2cd4a3028552326dfe9c13745be229c89a11db92ae8ace67db0e633e05 +size 5960938 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0015.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0015.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3bba0622216fa28e0a5f3b45e1c51a2aae8240e4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0015.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4f98d7daf954ccbfb6cdacc3d48253e351b704b2c13320cf6bb8ceb978536d8f +size 7245397 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0017.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0017.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c3e19f50da0037bc9925dcbb17e14c3688612d48 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0017.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ff1f690bc90a9973c77b725fc0f7db57b4945a21b2ad6ac7b3ac433ecbd5350f +size 6099911 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0018.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0018.h5 new file mode 100644 index 0000000000000000000000000000000000000000..cf297ba2bea927068b0456d5ce7f98eccf837ba8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0018.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:32ef2a09cf7afc0db318d4a570c99913cb509ad2e26c7e0dc5d61af8ab60762c +size 8336062 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0019.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0019.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2afb9210642818f1c71a1d50fe424d758af9b42b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0019.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dd25cc5ddd2f0c1bf9a161cfaa265e403454b7b388eb2a31ffb1054be2e8c0e3 +size 5700466 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0020.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0020.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0765dc4da4362481dc87e0d9d6eaaed637eb31dc --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0020.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f8273fafcac5a6ff76dbb956d6920f85629c51638309b204569c9a51aeb86d3e +size 5733982 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0021.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0021.h5 new file mode 100644 index 0000000000000000000000000000000000000000..bbd5ea3380a7540eb0282ab348739e901e5eb033 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0021.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6e2a19835fdfd9930138e1baf017c5b385e918d97eba4bf8f01a408f9e28219a +size 6199915 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0022.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0022.h5 new file mode 100644 index 0000000000000000000000000000000000000000..fc07b6dbe578aa1fe00ba91df606ab5921fd1a50 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0022.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ca859eb7f1e16dadfb8f0187d7e11394f30bc2ea2b907e267eb339b66b17ab08 +size 6537536 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0023.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0023.h5 new file mode 100644 index 0000000000000000000000000000000000000000..394c6286c67bafdc254ad98385e9e1a9d02f6598 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0023.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:479068f1cd682e4c754915483faaac4f8dc9285043d5ecd0cb544513982ac17f +size 5531244 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0024.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0024.h5 new file mode 100644 index 0000000000000000000000000000000000000000..363efbc8a982074b7b412af9d1777c72e6be2774 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0024.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f04b72c86751c9023785e9fc467c8f7e7d16a33e02944e7da12d693849cb825d +size 5227519 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0025.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0025.h5 new file mode 100644 index 0000000000000000000000000000000000000000..49da3578c6c13a087f24b96ab448cd4b85b26e69 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0025.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c8698d0cded598e65df134ea635a680e8a13d239898759efa94cce24ecd59c28 +size 5715478 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0027.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0027.h5 new file mode 100644 index 0000000000000000000000000000000000000000..442293324cbf809cfa1f1af49fdc2e1e9b24fb35 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0027.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f2c724d4290d4c96378be693f8a9b8be1674e148846508522628382267214a25 +size 6959364 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0029.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0029.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e53769e9dd0183fe3bddffb00d9cef3e6e4fde70 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0029.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eb513a5fcf280bcdbdb51eb09c20281e356a527e05a54440019716d4d1fa1156 +size 6780542 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0030.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0030.h5 new file mode 100644 index 0000000000000000000000000000000000000000..98a781ae5553cdd940ba96e10e0bbccd297245ad --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0030.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1d2f7a8a1ab72d99e7b46b8dfa362b38b44e235b2d4251414c7623d9f657e75f +size 4653510 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0031.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0031.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c0e7b36de17d6c668089498a627eeabfb5cf1ad5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0031.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9b6e47bae17044a0cebb02720676c09d3bd3d33ea3a3017047e90c312e279427 +size 5718424 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0033.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0033.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b4fed293f257ade6da562853a53e51aab08353e3 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0033.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8e1728ff014ad95497f2c68046020a32c20adada887154f8b27f5a021c8aaf87 +size 6669604 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0034.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0034.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9885ecd7d190c91d5ca4e6b5180d782a5ed11e85 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0034.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1096f282679822d1a4cf4e94edc70bc04b2b54e0ef517b0dffc001c8ff249766 +size 6029989 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0035.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0035.h5 new file mode 100644 index 0000000000000000000000000000000000000000..636443bdba92df7bfb47004095d9dee306141401 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0035.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ebf0c1eeb2f8fd232438a4cc96c741ee2131c3979e7615865f1ab6c0d0f8af50 +size 6512786 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0036.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0036.h5 new file mode 100644 index 0000000000000000000000000000000000000000..56efc056c5daf513837d7c5bedb23e6cbf6f72fb --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0036.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5799ab77db7a1f30ed396aa63367b0626907dffecfa2a909d2fbf4057e3f4245 +size 6441128 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0037.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0037.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ad940939170a1392d1c76fd0b7375723a28490a6 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0037.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6592a8bf3bd044d1acf3b14f9d16bd57ea87694e5e5b2c10152f675c360a86b1 +size 5351089 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0038.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0038.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9fb155de3da535b7594e60bbfae67e98e9492e47 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0038.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ecfbc42cbc9140279ba18de9c9c2dbafd55a3c5003da3c7804684ecbc5d36a19 +size 4828478 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0039.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0039.h5 new file mode 100644 index 0000000000000000000000000000000000000000..dd55faba619518623aabd02476bf666f7a6bf263 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0039.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c13ee67d7dba30defcb9fb93712aab56654c84c6ec6ced3c6e56363072cc3fb0 +size 7691332 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0040.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0040.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4ef52b5f492f336ef59800da3529b99783bb5897 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0040.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dc7d8bdd7f2d2656b3c367dfc2cb0a245c0d58628a8520d6beee7c40d637993f +size 8095173 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0041.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0041.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0c6a0aa0d35612e06de1bca7bb1c03e1a4a444f7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0041.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d56b90fb14590f8baae5ec19bba5b45e93d6c6cb4aaa65aee9dbfd715570de2b +size 5024065 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0042.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0042.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3a7f827b331f548b8505f0c1b1cd7d694d83c679 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0042.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:34cea627dd955baf473c85043bafd3fe3415f628601add7378fdf899f791c63b +size 8038855 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0045.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0045.h5 new file mode 100644 index 0000000000000000000000000000000000000000..92d571c5260b9d0f0e480764bfa65ed1e8609ab0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0045.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:932b9b8bf43fc35657ad6001d0dcccaf5ab3916e82c8ccc8f40e2bf9022f24a7 +size 6176182 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0046.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0046.h5 new file mode 100644 index 0000000000000000000000000000000000000000..604a6d3cde031b3296e831bd0f8fb1851ea0d603 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0046.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:19461d745bcc7c9a0e78d068b78f916b0e2f2787131cf4c209cc1de5495214c5 +size 6031971 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0047.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0047.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ef0b4b91421a8b54871f7ca2ebb80fbca4ada8f2 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0047.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:687027f49b0e78cb581de30291c552dfcad509e685e9ef8827e227865c4fddca +size 6177947 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0048.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0048.h5 new file mode 100644 index 0000000000000000000000000000000000000000..46d636bb0aee1cfad18b8cb438db6e2f5b058768 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0048.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a8fa5e32d7c3a6abea1d303a8527d2a65e34648b15af0e53a256400556c2f1ca +size 6596154 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0049.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0049.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f40a309e0e9b34aeb3819b62141729f768134c2c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0049.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dc6a7301216f1a4cee66dbe592595da27180c57bd949a03dc04de16929b36850 +size 5832933 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0050.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0050.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d300e1dffa486fdc5cb8ee5b2c8a873f253d3fca --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0050.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a4779e83d865f903e6fbe7b56f757d084bf526aeec0426c940edcdec1b9e7dee +size 5885231 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0051.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0051.h5 new file mode 100644 index 0000000000000000000000000000000000000000..616fc4c960a8fbf1f0c05ae289b445ae9a5dd9ea --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0051.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8414ec922d98be579d29879c5f97341d17b103f34839234510b95eefe4470a0c +size 7328174 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0052.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0052.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a8ea9de1e6cd53ecf44a1beb208010fb99f06ac2 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0052.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3d1256010872546a72ab5f976c279950847cd4702a9d5695c321a7a333df7fd3 +size 7632619 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0053.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0053.h5 new file mode 100644 index 0000000000000000000000000000000000000000..bf1a09b6b4a5c0bf67b290b4115e8b115026877a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0053.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9d0ccbe0f74dc97a2c0de7cb3836eb0b8bf59a97ec504e363ae5633eb2008320 +size 7696225 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0054.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0054.h5 new file mode 100644 index 0000000000000000000000000000000000000000..cc38b5af563596a53d5727b8d079599d52d82248 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0054.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c9cc31d151102e242cd57dd33fb7fc86f22e0f2c631a4c1d5e889fef568561bc +size 7278390 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0056.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0056.h5 new file mode 100644 index 0000000000000000000000000000000000000000..639dc0d85f440dccfcee69519dfabe83406adf1d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0056.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:457b0cc95a20dd6bb76d87c8d7db37d3f93fcffa0da4216fd7ec47796a8c52f9 +size 5367974 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0057.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0057.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f80755db1fb5c38cbfa87bfa936b3203287caefb --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0057.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:59f7fa5e037407c63fdac6f3f24c7287bc0822bdd13a0627937c3f920fd3729c +size 6241171 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0059.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0059.h5 new file mode 100644 index 0000000000000000000000000000000000000000..66f7e4b556d7a6ee5bd3eed08de3fc270b422666 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0059.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7f1e66f572d79d2532b7dfa8c7d19ea3e58f9aabf325524143a5ec36da70570c +size 5771862 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0062.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0062.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d47ae8112fe934b0637432971a5b8e43079aac5b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0062.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c908220aadf12a491d80469abe4f416bdbc0be21f46c9d880f744003fe3c1604 +size 6145197 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0063.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0063.h5 new file mode 100644 index 0000000000000000000000000000000000000000..003993311cb91429d9077412ff7d919eb9ccd1df --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0063.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a086259cd6b8fcba13cfbf0b17166159f4bfcc434cdc786a8faa8b4ce6a66f7a +size 5931134 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0064.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0064.h5 new file mode 100644 index 0000000000000000000000000000000000000000..690c8278c1c49053a2fec3526331fd92de21c41d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0064.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:22e62e7127c90ecc510da8d71725b635903a393bc513267956f05519b407d1e6 +size 5449136 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0065.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0065.h5 new file mode 100644 index 0000000000000000000000000000000000000000..189f1e105d699f91ccac3480259447022d558523 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0065.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:640d0731ade3840f4c5a7d13e5f1c0b05bac8d0de488b68e64b61b560407c89f +size 5884004 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0066.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0066.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4232f79bc6413b3712bc8be8009bda5b933e707b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0066.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:49492b0cfe0bfc415e2d1126fe64b601f101bb4f2183f120542715a7685f7212 +size 6900038 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0067.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0067.h5 new file mode 100644 index 0000000000000000000000000000000000000000..47e3b27d3eadc4cea0c89c8f6f6da2c734633566 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0067.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e674f8f822876036aea26f1c22f4ea0ac6203a9ddf0551334498d38845a45219 +size 6475452 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0069.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0069.h5 new file mode 100644 index 0000000000000000000000000000000000000000..388acab41763afe35e9dd2b757722eb8552ddbf8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0069.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:48cb7677b882c2c864107fc72521e89656370ed8a251a129d05202370d7abfbe +size 7349079 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0070.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0070.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d0bcd5d3a1b32e6e7b6637c53d915c67236891a2 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0070.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:185789cd50a69564c7021213e56d2101819b6f855188a7096877a3b4347db034 +size 4670078 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0071.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0071.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0ccdef948640d45214b94362e110e598823265f8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0071.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:371066dc75909466cd22bc982c073da40bb41c82a325ad02bfec19ec3ffd9d19 +size 6176651 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0072.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0072.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6b08c203335030ba1499f62e778a0938255294d9 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0072.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3d405946e121f5f7d946499568d31c671ddabfbe0667be94e3811d61beeef621 +size 5714985 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0073.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0073.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f7711a7938ea1eaca6dbe9ad1371408724e8f00e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0073.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:522bafca21685ebc38197d5c81caec5b74e7a7d6de0a32202a4ff1b1a32d71ca +size 5511733 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0074.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0074.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9a5740f22f3af4e19a14ab2ba04261eee3e546e4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0074.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9f35216d716a80128d74d503da9fa6c6d73dcf3c25b726b4b428cbffe39ad6c7 +size 6918393 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0075.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0075.h5 new file mode 100644 index 0000000000000000000000000000000000000000..de49f8ecb058b15bd29225b271793b40a7a375b4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0075.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:155123b0e82306884be431e5faefa0948bb7c41fe0db21d33da88afa93186188 +size 7696329 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0077.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0077.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a387aa307d750e5a44a82b2243b0e3df194633dc --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0077.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:873c3dfa06194db47e42a403979402d1247bca29a76b58b61d5ac5d2a071ca79 +size 5932899 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0078.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0078.h5 new file mode 100644 index 0000000000000000000000000000000000000000..dffaab31f24bf7d3952432dd085638eb9c55ac68 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0078.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b0aa058c716419af54831f14f1c98cbf56985d0bf09590d482fef817e186e4b3 +size 6799964 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0079.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0079.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0095633e799aeac084a114eaa6381765a6448f12 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0079.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f8502f32ffe7febb75b1964da67735e5c4fb700566d268986cd1786de68905d9 +size 5091461 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0080.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0080.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b92b4f3e21f5f146f042643568abbab86d2c1f75 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0080.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5f6d5dc94fa37062c08e6ad489f16fbc5b39cbf4f743c65d7f1ef4ec4e0a26cf +size 6836746 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0081.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0081.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d2d60538247c3b3148e73212e5115c6315d5351d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0081.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a7cdb1487198a592a069d169d42e53d358bc8b417a680418337c08e7206906eb +size 5028581 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0082.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0082.h5 new file mode 100644 index 0000000000000000000000000000000000000000..eb4fdc207401e696f4485a1b212b5d44a23b54db --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0082.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:374386ae6215ba1386cd8a20634261024d44d33d5f47db90b609f6ac25fbdfab +size 5513742 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0083.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0083.h5 new file mode 100644 index 0000000000000000000000000000000000000000..59008ba96066472742b76b9f290d622a650af90f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0083.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:82a3c4197aea476bb9f0017a6872a4197ed579b0709411d586fda859a58fde44 +size 6144079 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0084.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0084.h5 new file mode 100644 index 0000000000000000000000000000000000000000..486464a697bd41f4218829ca43986ec002794b81 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0084.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f0dca060afe7648db3a5a62eed8fab1204b2be21a09fe6adf42236c90a44db41 +size 5826328 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0085.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0085.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3bdff318ac545fd348aff5613a333ff5d2346e50 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0085.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6a25f2dd4bb8dac99d65ea2064d3fbbc2a2dc396a29aace079114d9c4ff8ffbf +size 5497383 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0086.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0086.h5 new file mode 100644 index 0000000000000000000000000000000000000000..03f651d38cbd264b9380a41061f5af6aa08b5c8b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0086.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ca6bf68215d775625cd54eaf8d84c774a585c23fe780df04d599b08cf0aca9d8 +size 6195691 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0087.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0087.h5 new file mode 100644 index 0000000000000000000000000000000000000000..26950da799743746bcdfcce3fb710949a2cd2b06 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0087.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:412bf2861e69da1d307a8b2829e891ed7e33667e55b23f27e837f5e43a539462 +size 5590329 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0088.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0088.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ae61b005e3b1d7a35b03917a131994128e877115 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0088.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:63635aa79e0e0ae280c35621faa2fff01c2f1825f9d7540e906ea5a49ec98ee0 +size 7179670 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0089.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0089.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2b25fd103801a49429bc659a5c01adb5c1e80c21 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0089.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dd6adaf2be5d1f91c09256848c698c6b5fd8ad7c537f585e22ac2962a4001ed6 +size 5873547 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0090.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0090.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4031da58c7388bd9d28814eb7a6a40ec9189ff17 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0090.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:70d465138d6429dce56f3a8a13a4e32ec275c79aa10ca930174e521c5e88ae67 +size 6092162 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0091.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0091.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d64f56bce1fa6e0e251346b192536ac7652f22a9 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0091.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cc636c9945d67d6714eb227d10b0b51204846e74b582618e87428d52705a8d1b +size 8479516 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0093.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0093.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4adb2745573c22dcb30f9e50f248dfa7cde1755a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0093.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:daa6d0dca0a91b371ca18efd87a542299e7cd835f07827e90ab7cb4ae5d367c3 +size 6479670 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0094.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0094.h5 new file mode 100644 index 0000000000000000000000000000000000000000..779b134fc077937023bc686fa7fa389418f107bb --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0094.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aae11b2336a7ef6d8948610a292566900c14de8814924a9195f64129ff7935e9 +size 6753238 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0095.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0095.h5 new file mode 100644 index 0000000000000000000000000000000000000000..92dad46565a5bd9584bb10aeb5695ad48cc5fbb6 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0095.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:284393b26c39a23fe41e066876aee444b6d12bcdc9f7aada2344c2b9fe250af0 +size 4947608 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0096.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0096.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b8ff5dfbf95b460aa4a768f205c67f165d10995e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0096.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7b9f22f53c8c8b41d3b48be54c666fb22056be489f238b49c409f4399d8c9038 +size 6246606 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0097.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0097.h5 new file mode 100644 index 0000000000000000000000000000000000000000..7b654f635b25942b76b4378333c1d0430ef124d2 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0097.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:68226138731f45ceae24eb63de213679e1df6502e65744d74bbd9bd1a9a77fe0 +size 7364582 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0099.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0099.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1c15bd7c57c2ffa85e3d0d6a1ebaa7624dac4002 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0099.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f2dfcfc681a338ffde612ac24eff27b45107e16818a5e1a539d1dc8706584940 +size 6435876 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0100.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0100.h5 new file mode 100644 index 0000000000000000000000000000000000000000..93149f9fe772d9963ba18f23b8e4f275a9240937 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0100.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0a30c0ecd6e3a5fdd29dee95ef80868fd261b65ce0155f5fd10b78497c78c36c +size 6048169 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0101.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0101.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3149ee95d31434d2de34a6e4d7792877f27c9cfa --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0101.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ac5892bef520a9546a5a398a055a9370c13497ec25d7f736098aa5121527cbf8 +size 5881073 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0102.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0102.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1a341406f506a37365c79fd6426167685ea6ccd6 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0102.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ac5c34761b8367206c820ca03dbe7d6198321c0dfb20b088e62465a1ffaa5d9d +size 5763609 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0103.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0103.h5 new file mode 100644 index 0000000000000000000000000000000000000000..06acc075274105f0a7345e8fb284c0e4d16bfeab --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0103.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:efd1e7a53eec93cf43fbd8e449c70c8cdec23374aed24b6886a40b06d8285ef5 +size 7116645 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0104.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0104.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a170afc0e8e63625568305dc7c2bf11cc332ea93 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0104.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b0151d12c17ab6f822a0efede3de84e78ab89062d6002fbd756023a3568cd308 +size 5770190 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0106.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0106.h5 new file mode 100644 index 0000000000000000000000000000000000000000..810dd5e647daaadde49838a8c35d8c670f83b616 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0106.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:14681126a883a64a803921633e8896d01da96dc3d95e8fcbb76f2ffe5ed417ba +size 8549536 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0107.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0107.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5affe4f3737ce1e3e313a8013574d7e5b939b4b8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0107.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:569ba1911b382d9259e38756401d90b4ed875f962ed1b8ebd91f457619bc2a4e +size 6894752 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0108.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0108.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b2a681aa47d900e3b681473d00d0f903c16cf262 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0108.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dc5dfbdf8a0e25de18e7ed36c5a5a8ad5cfd7989b5ada682d68a89c9d9113079 +size 8235362 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0109.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0109.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9c9f07e950192f0ff3a84daba93e178882410fd1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0109.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6cd869ecfe8fd886b8804c0276434caefd36d5e0a36fa8dd18fde6b1e19d00cd +size 6393153 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0110.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0110.h5 new file mode 100644 index 0000000000000000000000000000000000000000..46a1559d4314172bba5878d781f3e674a9df0f1f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0110.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8905e891839978faa37bdf67faf7cb54b495bb865a731666fff91e762bbae0a1 +size 6138678 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0111.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0111.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2d9f919ac200488790869d899071649cc7791ffa --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0111.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:66c46f9483d8936d88a22dd13ce92cf0677409f4c9ffc6746088423ee3865d62 +size 6277310 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0112.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0112.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2261072ec9dc68486adbd4046ef6ef49bc406e7c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0112.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a31042519336060a7898bb9da09ed7010dd42720d816b6f27fbe6809dc596069 +size 8570542 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0114.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0114.h5 new file mode 100644 index 0000000000000000000000000000000000000000..cf21bd7dfd8e7b6cc84fa9bf7cbba105bf3bc576 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0114.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ba12446e2df76534815e00b5675431ff2cd8cce5346c92819ae30de32b2cae73 +size 6222583 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0115.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0115.h5 new file mode 100644 index 0000000000000000000000000000000000000000..36d370808207f4ad72ec2f231dcf15e9ac432b67 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0115.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:707c28172866854ca269b284a78dc2e519b492671ef01c5706b2c17ca4f91424 +size 5638005 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0118.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0118.h5 new file mode 100644 index 0000000000000000000000000000000000000000..864332581e43157535aa017a05a2b6e02721e47d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0118.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7864d236f7f7058c13945ad7c6c40787798b78a5c7fea8ba75c3f141f8f224e0 +size 5361557 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0119.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0119.h5 new file mode 100644 index 0000000000000000000000000000000000000000..380d495b39a334f3b90508957626683dc1a01616 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0119.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:03ecb9081a0f51850e5a93adbfc3ed4be6c8d10690b98f133bc3a03e0858b4bd +size 6307018 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0120.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0120.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6c53adf1e91553b197ae33a802444b0e1a616b59 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0120.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c38f54ad29be5f35b2dfee59a9d4f0f507249fe28715670e1c5c9ba147720084 +size 6168367 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/meta/episode.jsonl b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/meta/episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..083d1472de9e137748947713351baef4be2c814c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/meta/episode.jsonl @@ -0,0 +1,100 @@ +{"episode_index":0,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1173,"success":true,"robot_type":"ur5e"} +{"episode_index":1,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1190,"success":true,"robot_type":"ur5e"} +{"episode_index":2,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1186,"success":true,"robot_type":"ur5e"} +{"episode_index":3,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1184,"success":true,"robot_type":"ur5e"} +{"episode_index":5,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1187,"success":true,"robot_type":"ur5e"} +{"episode_index":6,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1186,"success":true,"robot_type":"ur5e"} +{"episode_index":7,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1186,"success":true,"robot_type":"ur5e"} +{"episode_index":8,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1185,"success":true,"robot_type":"ur5e"} +{"episode_index":9,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1187,"success":true,"robot_type":"ur5e"} +{"episode_index":10,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1186,"success":true,"robot_type":"ur5e"} +{"episode_index":11,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1189,"success":true,"robot_type":"ur5e"} +{"episode_index":12,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1189,"success":true,"robot_type":"ur5e"} +{"episode_index":15,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1190,"success":true,"robot_type":"ur5e"} +{"episode_index":17,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1188,"success":true,"robot_type":"ur5e"} +{"episode_index":18,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1188,"success":true,"robot_type":"ur5e"} +{"episode_index":19,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1188,"success":true,"robot_type":"ur5e"} +{"episode_index":20,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1184,"success":true,"robot_type":"ur5e"} +{"episode_index":21,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1185,"success":true,"robot_type":"ur5e"} +{"episode_index":22,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1190,"success":true,"robot_type":"ur5e"} +{"episode_index":23,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1185,"success":true,"robot_type":"ur5e"} +{"episode_index":24,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1186,"success":true,"robot_type":"ur5e"} +{"episode_index":25,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1196,"success":true,"robot_type":"ur5e"} +{"episode_index":27,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1188,"success":true,"robot_type":"ur5e"} +{"episode_index":29,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1191,"success":true,"robot_type":"ur5e"} +{"episode_index":30,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1184,"success":true,"robot_type":"ur5e"} +{"episode_index":31,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1185,"success":true,"robot_type":"ur5e"} +{"episode_index":33,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1185,"success":true,"robot_type":"ur5e"} +{"episode_index":34,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1185,"success":true,"robot_type":"ur5e"} +{"episode_index":35,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1188,"success":true,"robot_type":"ur5e"} +{"episode_index":36,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1188,"success":true,"robot_type":"ur5e"} +{"episode_index":37,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1190,"success":true,"robot_type":"ur5e"} +{"episode_index":38,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1186,"success":true,"robot_type":"ur5e"} +{"episode_index":39,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1188,"success":true,"robot_type":"ur5e"} +{"episode_index":40,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1185,"success":true,"robot_type":"ur5e"} +{"episode_index":41,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1189,"success":true,"robot_type":"ur5e"} +{"episode_index":42,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1186,"success":true,"robot_type":"ur5e"} +{"episode_index":45,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1187,"success":true,"robot_type":"ur5e"} +{"episode_index":46,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1183,"success":true,"robot_type":"ur5e"} +{"episode_index":47,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1185,"success":true,"robot_type":"ur5e"} +{"episode_index":48,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1186,"success":true,"robot_type":"ur5e"} +{"episode_index":49,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1184,"success":true,"robot_type":"ur5e"} +{"episode_index":50,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1184,"success":true,"robot_type":"ur5e"} +{"episode_index":51,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1241,"success":true,"robot_type":"ur5e"} +{"episode_index":52,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1187,"success":true,"robot_type":"ur5e"} +{"episode_index":53,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1186,"success":true,"robot_type":"ur5e"} +{"episode_index":54,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1184,"success":true,"robot_type":"ur5e"} +{"episode_index":56,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1185,"success":true,"robot_type":"ur5e"} +{"episode_index":57,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1188,"success":true,"robot_type":"ur5e"} +{"episode_index":59,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1184,"success":true,"robot_type":"ur5e"} +{"episode_index":62,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1189,"success":true,"robot_type":"ur5e"} +{"episode_index":63,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1182,"success":true,"robot_type":"ur5e"} +{"episode_index":64,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1186,"success":true,"robot_type":"ur5e"} +{"episode_index":65,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1188,"success":true,"robot_type":"ur5e"} +{"episode_index":66,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1187,"success":true,"robot_type":"ur5e"} +{"episode_index":67,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1185,"success":true,"robot_type":"ur5e"} +{"episode_index":69,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1184,"success":true,"robot_type":"ur5e"} +{"episode_index":70,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1186,"success":true,"robot_type":"ur5e"} +{"episode_index":71,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1185,"success":true,"robot_type":"ur5e"} +{"episode_index":72,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1183,"success":true,"robot_type":"ur5e"} +{"episode_index":73,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1184,"success":true,"robot_type":"ur5e"} +{"episode_index":74,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1184,"success":true,"robot_type":"ur5e"} +{"episode_index":75,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1186,"success":true,"robot_type":"ur5e"} +{"episode_index":77,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1188,"success":true,"robot_type":"ur5e"} +{"episode_index":78,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1196,"success":true,"robot_type":"ur5e"} +{"episode_index":79,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1186,"success":true,"robot_type":"ur5e"} +{"episode_index":80,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1185,"success":true,"robot_type":"ur5e"} +{"episode_index":81,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1187,"success":true,"robot_type":"ur5e"} +{"episode_index":82,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1185,"success":true,"robot_type":"ur5e"} +{"episode_index":83,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1182,"success":true,"robot_type":"ur5e"} +{"episode_index":84,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1186,"success":true,"robot_type":"ur5e"} +{"episode_index":85,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1190,"success":true,"robot_type":"ur5e"} +{"episode_index":86,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1184,"success":true,"robot_type":"ur5e"} +{"episode_index":87,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1188,"success":true,"robot_type":"ur5e"} +{"episode_index":88,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1189,"success":true,"robot_type":"ur5e"} +{"episode_index":89,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1184,"success":true,"robot_type":"ur5e"} +{"episode_index":90,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1187,"success":true,"robot_type":"ur5e"} +{"episode_index":91,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1187,"success":true,"robot_type":"ur5e"} +{"episode_index":93,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1185,"success":true,"robot_type":"ur5e"} +{"episode_index":94,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1184,"success":true,"robot_type":"ur5e"} +{"episode_index":95,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1185,"success":true,"robot_type":"ur5e"} +{"episode_index":96,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1186,"success":true,"robot_type":"ur5e"} +{"episode_index":97,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1186,"success":true,"robot_type":"ur5e"} +{"episode_index":99,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1187,"success":true,"robot_type":"ur5e"} +{"episode_index":100,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1186,"success":true,"robot_type":"ur5e"} +{"episode_index":101,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1185,"success":true,"robot_type":"ur5e"} +{"episode_index":102,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1185,"success":true,"robot_type":"ur5e"} +{"episode_index":103,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1185,"success":true,"robot_type":"ur5e"} +{"episode_index":104,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1183,"success":true,"robot_type":"ur5e"} +{"episode_index":106,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1192,"success":true,"robot_type":"ur5e"} +{"episode_index":107,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1182,"success":true,"robot_type":"ur5e"} +{"episode_index":108,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1188,"success":true,"robot_type":"ur5e"} +{"episode_index":109,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1187,"success":true,"robot_type":"ur5e"} +{"episode_index":110,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1186,"success":true,"robot_type":"ur5e"} +{"episode_index":111,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1189,"success":true,"robot_type":"ur5e"} +{"episode_index":112,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1186,"success":true,"robot_type":"ur5e"} +{"episode_index":114,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1191,"success":true,"robot_type":"ur5e"} +{"episode_index":115,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1185,"success":true,"robot_type":"ur5e"} +{"episode_index":118,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1183,"success":true,"robot_type":"ur5e"} +{"episode_index":119,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1183,"success":true,"robot_type":"ur5e"} +{"episode_index":120,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1183,"success":true,"robot_type":"ur5e"} diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/meta/randomization_episodes.jsonl b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/meta/randomization_episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..60aa7d64fd60c6a4ca58d2e71df875c917b074fb --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/meta/randomization_episodes.jsonl @@ -0,0 +1,100 @@ +{"episode_id":"ep_000000","started_at":"2026-09-05T18:12:28","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_0","position":[0.510400901136496,1.3814816311108098,0.71338606911949],"aabb_xy":[[0.445400902980577,1.3551853865608974],[0.5754008992924151,1.4077778756607218]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_1","position":[-0.19895499307097314,-0.7218000693991857,0.71338606911949],"aabb_xy":[[-0.2289225499807988,-0.7518000696970715],[-0.16898743616114748,-0.6918000691013]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_2","position":[0.0013109911521840267,1.47210384914851,0.71338606911949],"aabb_xy":[[-0.06868901097924551,1.449341883522814],[0.07131099328361357,1.4948658147742053]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_3","position":[0.14545365346018635,-2.1068087624846514,0.71338606911949],"aabb_xy":[[0.0654536502023434,-2.1868052702766354],[0.2254536567180293,-2.0268122546926675]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_4","position":[-0.6735995499269987,1.3844061144725304,0.71338606911949],"aabb_xy":[[-0.6808607974974061,1.371619104209021],[-0.6663383023565912,1.3971931247360398]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_5","position":[0.4092431099631484,-2.046145243765782,0.71338606911949],"aabb_xy":[[0.34524310805080605,-2.1020563930237928],[0.47324311187549073,-1.990234094507772]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_6","position":[-0.14623799882882627,0.48581070331215637,0.71338606911949],"aabb_xy":[[-0.23623799855200045,0.46273735077697653],[-0.0562379991056521,0.5088840558473362]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_7","position":[-0.39889268750747003,-1.7428255296448112,0.71338606911949],"aabb_xy":[[-0.41639262094145335,-1.7603255295650457],[-0.3813927540734866,-1.7253255297245766]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_8","position":[-0.17336878683770485,-0.051443029014422326,0.71338606911949],"aabb_xy":[[-0.19588247866116204,-0.12144302961542985],[-0.15085509501424765,0.01855697158658521]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_9","position":[-0.6563558550479255,-1.7363209678465172,0.71338606911949],"aabb_xy":[[-0.6919850109478852,-1.7719536346033702],[-0.6207266991479657,-1.7006883010896643]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_10","position":[0.190270827955472,1.1500878044138103,0.71338606911949],"aabb_xy":[[0.1841762000673537,1.1415184098621416],[0.19636545584359033,1.158657198965479]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_11","position":[-0.31898942847964146,-0.35191109208561855,0.71338606911949],"aabb_xy":[[-0.40867650478775697,-0.4419110923400691],[-0.22930235217152606,-0.261911091831168]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_12","position":[-0.2758273836994963,1.255950327805993,0.71338606911949],"aabb_xy":[[-0.31286149312755596,1.2215731204722833],[-0.2387932742714365,1.290327535139702]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_13","position":[0.5781151893028764,-1.5822820793373036,0.71338606911949],"aabb_xy":[[0.5412646413658889,-1.6197820801603373],[0.6149657372398641,-1.5447820785142699]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_14","position":[-0.22234443592802738,1.6588233486849924,0.71338606911949],"aabb_xy":[[-0.2923444393195893,1.6235075749815613],[-0.15234443253646537,1.694139122388423]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_15","position":[-0.18704118924084712,0.3525851282221457,0.71338606911949],"aabb_xy":[[-0.22454118934644005,0.3457629663691646],[-0.14954118913525413,0.35940729007512684]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_16","position":[-0.5411204252114101,-2.0361136313930093,0.71338606911949],"aabb_xy":[[-0.5614047279348088,-2.056396256535718],[-0.5208361224880113,-2.0158310062502998]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_17","position":[-0.46152381873196047,0.9001628030504696,0.71338606911949],"aabb_xy":[[-0.49902381902413534,0.8961213276498659],[-0.4240238184397857,0.9042042784510731]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_18","position":[-0.5352931732518162,-1.0513568346879778,0.71338606911949],"aabb_xy":[[-0.5487396998858596,-1.064826686341069],[-0.5218466466177729,-1.0378869830348867]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_19","position":[0.5573448080053762,-0.8484720975915663,0.71338606911949],"aabb_xy":[[0.5323448087334138,-0.8648174611877287],[0.5823448072773384,-0.832126733995404]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_20","position":[0.024155799704566827,-0.7425550488589767,0.71338606911949],"aabb_xy":[[0.006362292769650391,-0.7603547944547744],[0.041949306639483264,-0.724755303263179]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_21","position":[0.3227440899512559,1.7431946968525724,0.71338606911949],"aabb_xy":[[0.26115333072726316,1.6791946987435258],[0.3843348491752488,1.8071946949616196]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_22","position":[-0.3385854909744478,0.8822117184076652,0.71338606911949],"aabb_xy":[[-0.37104719185637514,0.8520788862927624],[-0.3061237900925202,0.9123445505225676]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_23","position":[0.48903241961196864,-1.1260916499378801,0.71338606911949],"aabb_xy":[[0.42403242173032096,-1.177215313644421],[0.5540324174936165,-1.0749679862313393]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_24","position":[0.1405789244025717,-1.8262241369788252,0.71338606911949],"aabb_xy":[[0.1180789243924234,-1.8403203566184287],[0.16307892441271998,-1.8121279173392222]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_25","position":[-0.4343128491587146,1.5904737298845109,0.71338606911949],"aabb_xy":[[-0.4562025967476554,1.5004737325952617],[-0.4124231015697738,1.68047372717376]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_26","position":[0.6186199648278985,0.24288947648038262,0.71338606911949],"aabb_xy":[[0.5961199645843831,0.2306848418206107],[0.6411199650714139,0.25509411114015457]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6716833873830063,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6942.png","name":"6942"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6942.png","name":"6942"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/480.png","name":"480"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5476.png","name":"5476"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6783.png","name":"6783"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7212.png","name":"7212"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":816.4565153638614,"rotation_z_degrees":179.6585838777899,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012039745576389293,0.0007057469576119829,-0.008557239058209185]},{"name":"camera_2","offset_m":[-0.0026036144776960986,0.006417669726954411,-0.006498896539041761]},{"name":"camera_3","offset_m":[-0.01205129483705436,0.007586974249908316,0.014803900373887843]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.000514703532571552,-0.0014112622653677555,0.0012252547657102607],"end_effector_yaw_offset_degrees":-0.4814669065669319},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0019042496422584931,0.00024011706917085544,0.0004206776521435054],"end_effector_yaw_offset_degrees":-0.3929210573764157},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0014650095804127584,0.001097818336784611,0.00011654533377118562],"end_effector_yaw_offset_degrees":0.4947167176582794},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001838218649663741,-0.0009923773242802346,-0.0008553378775665403],"end_effector_yaw_offset_degrees":0.6991595121513621}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003563659221344246,0.0017326203230435466],"position_m":[0.26236365922134425,0.15833262032304354,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004814208030801248,-0.0002320319074733965],"position_m":[0.20828579196919877,-0.3283320319074734,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0033196801750422157,0.0025838464092792736],"position_m":[0.2602803198249578,-0.12851615359072072,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004172652979043423,0.0014619519140957405],"position_m":[0.3256273470209566,0.31046195191409576,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"307cf784fe119a38e1c4a1ec89bf8e9b3375204bbb212f140bbfd7c2531bf3e2","episode_index":0,"episode_name":"episode_0000"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0000.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_6942/tex_ceiling_textures_7212/tex_floor_textures_6783/tex_table_textures_480/tex_wall_textures_5476","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":5413264574417456890,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":5413264574417456890,"visual_seed":5413264574417456890,"scene_id":"lab_003","finished_at":"2026-09-05T18:15:50"} +{"episode_id":"ep_000001","started_at":"2026-09-05T18:15:55","dimensions":{"distractor":{"count":23,"items":[{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_0","position":[-0.2857908572101514,-2.381648622325572,0.71338606911949],"aabb_xy":[[-0.2938342171361066,-2.4666486234209386],[-0.27774749728419623,-2.2966486212302057]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_1","position":[-0.5112911826882246,-1.4945715036426033,0.71338606911949],"aabb_xy":[[-0.5612642482207402,-1.5445715034551366],[-0.46131811715570925,-1.4445715038300706]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_2","position":[-0.05520921160690073,-1.7022239035091526,0.71338606911949],"aabb_xy":[[-0.060052806368130714,-1.707075555988137],[-0.050365616845670765,-1.6973722510301688]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_3","position":[0.2995284741516395,1.487302257359104,0.71338606911949],"aabb_xy":[[0.28041616679366066,1.4681674784818621],[0.3186407815096184,1.5064370362363462]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_4","position":[0.474846149670223,-1.9319535041465148,0.71338606911949],"aabb_xy":[[0.45741543459121636,-1.9492256188103652],[0.4922768647492294,-1.9146813894826635]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_5","position":[-0.6867639406001119,1.679188965903951,0.71338606911949],"aabb_xy":[[-0.6916632329066753,1.6515120466013822],[-0.6818646482935483,1.7068658852065197]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_6","position":[-0.29409043859078315,-1.0542281384172723,0.71338606911949],"aabb_xy":[[-0.3219354753713903,-1.085012637155584],[-0.26624540181017603,-1.0234436396789606]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_7","position":[-0.5617436933781209,0.22014831655195755,0.71338606911949],"aabb_xy":[[-0.5880325176985615,0.19387688289730629],[-0.5354548690576801,0.24641975020660875]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_8","position":[-0.34698522586718156,-0.5937615894311097,0.71338606911949],"aabb_xy":[[-0.39695851987044195,-0.6437615899856569],[-0.29701193186392105,-0.5437615888765622]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_9","position":[0.1257953528113961,-0.9108558570919905,0.71338606911949],"aabb_xy":[[0.10287963992634622,-0.9337601542284141],[0.14871106569644602,-0.8879515599555671]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_10","position":[-0.15544024546696567,0.33287196095843186,0.71338606911949],"aabb_xy":[[-0.16731232847846678,0.2478719612647815],[-0.14356816245546455,0.4178719606520822]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_11","position":[-0.349159186254978,-0.7705347393172695,0.71338606911949],"aabb_xy":[[-0.3570824664937264,-0.7930347395552728],[-0.3412359060162297,-0.7480347390792661]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_12","position":[0.5439191528851037,-0.6207815498904146,0.71338606911949],"aabb_xy":[[0.5189191536131414,-0.6371269134865768],[0.568919152157066,-0.6044361862942521]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_13","position":[-0.10477996754278862,-1.964570289648364,0.71338606911949],"aabb_xy":[[-0.18477379112134684,-2.0445702922412057],[-0.0247861439642304,-1.8845702870555225]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_14","position":[-0.15974103703748888,-0.6033401299526786,0.71338606911949],"aabb_xy":[[-0.1972410368545224,-0.6079783412638204],[-0.12224103722045529,-0.5987019186415368]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_15","position":[-0.5812662797783362,1.5609286982210242,0.71338606911949],"aabb_xy":[[-0.589302614479621,1.5528905789166074],[-0.5732299450770513,1.568966817525441]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_16","position":[-0.03281751339141881,-1.1380341757421462,0.71338606911949],"aabb_xy":[[-0.1128175105509941,-1.149581776699963],[0.04718248376815648,-1.126486574784329]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_17","position":[0.2802839081864562,-1.7769568612664086,0.71338606911949],"aabb_xy":[[0.24173821536125512,-1.8155026323225971],[0.3188296010116572,-1.7384110902102197]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_18","position":[-0.019933284109361238,1.7642078544666586,0.71338606911949],"aabb_xy":[[-0.05370884330005421,1.7501693592534935],[0.013842275081331734,1.7782463496798233]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_19","position":[-0.3845879645875164,1.132223460580899,0.71338606911949],"aabb_xy":[[-0.4645879667502788,1.0522682769547553],[-0.30458796242475383,1.2121786442070426]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_20","position":[-0.6496010904543942,-2.0682317680609015,0.71338606911949],"aabb_xy":[[-0.667147785370513,-2.1057317696251525],[-0.6320543955382751,-2.0307317664966504]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_21","position":[0.38344860559245575,0.7388537583654564,0.71338606911949],"aabb_xy":[[0.3356424379786871,0.6738537556583973],[0.43125477320622435,0.8038537610725152]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_22","position":[0.5738220161057268,0.9466376312695277,0.71338606911949],"aabb_xy":[[0.5098263187106302,0.8826376329688189],[0.6378177135008234,1.0106376295702364]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6718956764003061,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8148.png","name":"8148"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8148.png","name":"8148"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7708.png","name":"7708"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5861.png","name":"5861"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9327.png","name":"9327"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2003.png","name":"2003"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":555.7594735398583,"rotation_z_degrees":208.6174818831713,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005803116171635411,0.00031634489206894614,0.006520428300334499]},{"name":"camera_2","offset_m":[0.003837103380130779,-0.012918963260555376,0.006218455117628672]},{"name":"camera_3","offset_m":[-0.018890661503580156,0.003799932240293683,-0.0017774400206095019]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001590973419595883,0.0003544239651485058,-0.0014675354794822409],"end_effector_yaw_offset_degrees":-0.8696482894250122},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0012958181179091176,0.000720516040670183,-0.0012832382127352586],"end_effector_yaw_offset_degrees":-0.024690665669968803},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00030181377326706036,0.00078636792679064,0.0008362357962534944],"end_effector_yaw_offset_degrees":-0.9566877355578216},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008189649780421071,0.000706546173961555,-0.001987628150676],"end_effector_yaw_offset_degrees":-0.9891697483359778}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00453880474614165,-0.004127347985320273],"position_m":[0.26333880474614163,0.15247265201467972,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002225909991113245,-0.003901560013772767],"position_m":[0.21087409000888677,-0.3320015600137728,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0020385743263554587,-0.0030404477618756775],"position_m":[0.26563857432635546,-0.13414044776187567,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0032988836106512907,0.00024133829771193042],"position_m":[0.3265011163893487,0.30924133829771194,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4f8cf92344d78fff2cda592f50d1d30e11d540cf87299a4bd6b475efb5a77c77","episode_index":1,"episode_name":"episode_0001"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0001.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_8148/tex_ceiling_textures_2003/tex_floor_textures_9327/tex_table_textures_7708/tex_wall_textures_5861","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":7704033295609450877,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":7704033295609450877,"visual_seed":7704033295609450877,"scene_id":"lab_003","finished_at":"2026-09-05T18:19:47"} +{"episode_id":"ep_000002","started_at":"2026-09-05T18:19:51","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_0","position":[-0.5378292473422603,0.8578978064605338,0.71338606911949],"aabb_xy":[[-0.6018292446446067,0.813531379492677],[-0.47382925003991394,0.9022642334283905]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_1","position":[0.478775795570775,-0.20978050442062512,0.71338606911949],"aabb_xy":[[0.4612757962926881,-0.22711860448697105],[0.49627579484886186,-0.19244240435427915]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_2","position":[-0.39902840891361024,-1.6828635084911707,0.71338606911949],"aabb_xy":[[-0.448845188378445,-1.7328635069754739],[-0.3492116294487755,-1.6328635100068671]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_3","position":[-0.27588007574697315,-2.04788505836549,0.71338606911949],"aabb_xy":[[-0.30627818684611674,-2.0782919603671592],[-0.2454819646478296,-2.01747815636382]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_4","position":[0.3766596641627993,-0.819163764643607,0.71338606911949],"aabb_xy":[[0.3266596632122664,-0.8507129116471283],[0.42665966511333203,-0.7876146176400854]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_5","position":[-0.2949392027463042,-1.8039496957886998,0.71338606911949],"aabb_xy":[[-0.33243920256333775,-1.8085879070998416],[-0.25743920292927064,-1.799311484477558]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_6","position":[0.4799907751322765,0.49776758019983625,0.71338606911949],"aabb_xy":[[0.3999907740591563,0.4879895338624518],[0.559990776205397,0.5075456265372207]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_7","position":[-0.3784667955194129,-0.8074732671248122,0.71338606911949],"aabb_xy":[[-0.4197156065493276,-0.8624732666370295],[-0.33721798448949813,-0.7524732676125946]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_8","position":[0.21705672740829896,0.618346606044017,0.71338606911949],"aabb_xy":[[0.12705672373138072,0.5569141994669125],[0.307056731085217,0.6797790126211212]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_9","position":[0.12412604518533443,0.9899042405439213,0.71338606911949],"aabb_xy":[[0.07412604390149448,0.939925386153299],[0.1741260464691744,1.039883094934543]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_10","position":[-0.3149704552828663,0.7907514516904697,0.71338606911949],"aabb_xy":[[-0.36997045445945576,0.735761776915512],[-0.2599704561062768,0.8457411264654273]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_11","position":[-0.6199876111277353,0.08213432158713774,0.71338606911949],"aabb_xy":[[-0.6319203454895634,0.06975216877927837],[-0.6080548767659073,0.09451647439499711]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_12","position":[-0.5679552216764668,-2.392731180183015,0.71338606911949],"aabb_xy":[[-0.6379552243130532,-2.4128360451788806],[-0.4979552190398805,-2.3726263151871496]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_13","position":[-0.4348676430299763,1.4583700784426168,0.71338606911949],"aabb_xy":[[-0.4988676394572983,1.4112004546205204],[-0.3708676466026545,1.5055397022647132]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_14","position":[0.1929103234257733,-0.7819902350891639,0.71338606911949],"aabb_xy":[[0.15791032207429154,-0.8023499710459847],[0.227910324777255,-0.761630499132343]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_15","position":[-0.3040193842977434,-0.18949481457724948,0.71338606911949],"aabb_xy":[[-0.3120128740930254,-0.19749294651772517],[-0.29602589450246136,-0.18149668263677382]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_16","position":[-0.4341063060314914,-0.3323262706913579,0.71338606911949],"aabb_xy":[[-0.49910630713743476,-0.3572916437594862],[-0.3691063049255482,-0.3073608976232296]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_17","position":[-0.626201942754145,-2.1562162971921794,0.71338606911949],"aabb_xy":[[-0.6637019432515032,-2.160184980740298],[-0.5887019422567867,-2.152247613644061]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_18","position":[-0.5664732257439877,-1.2813879183006147,0.71338606911949],"aabb_xy":[[-0.6304732279643946,-1.325761002425903],[-0.5024732235235806,-1.2370148341753264]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_19","position":[0.44009707543870613,-1.0781985521905684,0.71338606911949],"aabb_xy":[[0.3800970737957843,-1.1301987014825126],[0.500097077081628,-1.0261984028986242]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_20","position":[0.13867099360363777,-1.5251161079738804,0.71338606911949],"aabb_xy":[[0.08868675789546054,-1.5751161067873758],[0.188655229311815,-1.4751161091603846]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_21","position":[-0.08771210951255315,-1.6106914120244946,0.71338606911949],"aabb_xy":[[-0.14270436014806412,-1.6656914137678078],[-0.032719858877042214,-1.5556914102811823]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_22","position":[0.5385397854818534,-1.7249662734643572,0.71338606911949],"aabb_xy":[[0.523437484020835,-1.7400677950954186],[0.5536420869428712,-1.7098647518332948]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_23","position":[-0.19509389790241444,1.1531473127466212,0.71338606911949],"aabb_xy":[[-0.2590938998147568,1.0972361634886107],[-0.1310938959900721,1.2090584620046316]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_24","position":[-0.18174916169043243,0.3241949582806005,0.71338606911949],"aabb_xy":[[-0.19691203466736953,0.30902950098548176],[-0.16658628871349535,0.3393604155757193]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_25","position":[0.3133967665118891,-1.4752225473079768,0.71338606911949],"aabb_xy":[[0.2908967669881816,-1.4977184947585973],[0.33589676603559643,-1.4527265998573557]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_26","position":[0.3187404624317203,1.4864376364206513,0.71338606911949],"aabb_xy":[[0.25374046455007254,1.4353139727141104],[0.38374046031336817,1.5375613001271924]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_27","position":[-0.4307397112542687,1.1899445004520048,0.71338606911949],"aabb_xy":[[-0.46573970956496413,1.1822294855284592],[-0.39573971294357324,1.1976595153755505]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_28","position":[0.5861693115693654,1.4543616475656473,0.71338606911949],"aabb_xy":[[0.5361960175661048,1.4043616470110996],[0.6361426055726257,1.5043616481201942]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_29","position":[-0.5607111648352563,0.6151752109401634,0.71338606911949],"aabb_xy":[[-0.5906787217450821,0.5851752106422776],[-0.5307436079254307,0.6451752112380491]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_30","position":[-0.47892068227626916,-2.493511959245046,0.71338606911949],"aabb_xy":[[-0.5014206820901717,-2.4979865756155264],[-0.45642068246236683,-2.4890373428745654]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_31","position":[0.3223941903402283,0.8361901796121334,0.71338606911949],"aabb_xy":[[0.27241538182991243,0.7861901796064147],[0.3723729988505442,0.8861901796178523]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_32","position":[0.21660454284179764,-2.078073073475165,0.71338606911949],"aabb_xy":[[0.1821421954436558,-2.1125669558729867],[0.2510668902399394,-2.0435791910773413]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_33","position":[-0.4974892726584254,1.2898136129662832,0.71338606911949],"aabb_xy":[[-0.5474892740193127,1.2398357083908675],[-0.44748927129753824,1.3397915175416988]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.673087223755276,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5891.png","name":"5891"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5891.png","name":"5891"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8592.png","name":"8592"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6911.png","name":"6911"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7564.png","name":"7564"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7737.png","name":"7737"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":668.2503857839453,"rotation_z_degrees":330.11017975615516,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0026410885983999717,-0.01426293440849276,0.005738080611373236]},{"name":"camera_2","offset_m":[-0.007803461072030537,0.015002667016377574,-0.010650064357544831]},{"name":"camera_3","offset_m":[0.012367477429170343,0.0005153137008513664,0.012304129752073397]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0009304414303601466,0.0012657576302495233,0.0014023075898272905],"end_effector_yaw_offset_degrees":-0.12489604456516923},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0004829834990232062,-0.0011731810323472622,-0.0014435208659197424],"end_effector_yaw_offset_degrees":0.1447952646423487},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[5.291990104681378e-05,-0.00031045319112028564,0.0014549774963283106],"end_effector_yaw_offset_degrees":0.8732987298727133},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0010738580966630348,-0.0006445126488111325,0.0009378067415837603],"end_effector_yaw_offset_degrees":0.6558474575660187}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0010858294711489956,0.0039401266107305264],"position_m":[0.257714170528851,0.16054012661073053,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0037413868449115957,0.0034686820051677307],"position_m":[0.2168413868449116,-0.32463131799483225,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0027443386419878715,0.0002868028068387773],"position_m":[0.26634433864198787,-0.13081319719316123,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00013239190222000003,-0.0038319756987741883],"position_m":[0.32993239190221996,0.3051680243012258,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4f43a7cf1ac54cae4f66f9840b26b61754f66b9a7d651a1f40af0a2c81729250","episode_index":2,"episode_name":"episode_0002"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0002.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_5891/tex_ceiling_textures_7737/tex_floor_textures_7564/tex_table_textures_8592/tex_wall_textures_6911","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":1543394478702801583,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":1543394478702801583,"visual_seed":1543394478702801583,"scene_id":"lab_003","finished_at":"2026-09-05T18:23:34"} +{"episode_id":"ep_000003","started_at":"2026-09-05T18:23:38","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_0","position":[0.40276867775269154,-2.527765114727193,0.71338606911949],"aabb_xy":[[0.3895377322180102,-2.5409925337491925],[0.4159996232873728,-2.5145376957051937]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_1","position":[-0.6305913841158789,-0.3291162471133009,0.71338606911949],"aabb_xy":[[-0.6650537315140206,-0.3636101295111235],[-0.596129036717737,-0.2946223647154781]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_2","position":[0.13809752769135064,-1.8846283579125331,0.71338606911949],"aabb_xy":[[0.08809825252291448,-1.9346283591884803],[0.1880968028597868,-1.834628356636586]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_3","position":[-0.28665731147112034,0.9332334475506356,0.71338606911949],"aabb_xy":[[-0.3018294807527537,0.9180645906224324],[-0.271485142189487,0.9484023044788391]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_4","position":[0.5074033579490307,-0.8902278995743258,0.71338606911949],"aabb_xy":[[0.5001210415723668,-0.9802279031838347],[0.5146856743256941,-0.8002278959648167]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_5","position":[0.1447614941288644,0.586313045441091,0.71338606911949],"aabb_xy":[[0.13663380593555116,0.5773994370303832],[0.1528891823221776,0.5952266538517985]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_6","position":[0.11845435275062877,-1.5831145365454093,0.71338606911949],"aabb_xy":[[0.09216552843018809,-1.6093859702000604],[0.1447431770710694,-1.556843102890758]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_7","position":[0.1480895376561835,-0.6501869038350425,0.71338606911949],"aabb_xy":[[0.09045906876891262,-0.710186902761753],[0.2057200065434543,-0.5901869049083318]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_8","position":[0.4389363558529933,-0.4521385700196525,0.71338606911949],"aabb_xy":[[0.39113018823922463,-0.5171385727267115],[0.48674252346676194,-0.3871385673125935]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_9","position":[0.4470946447617583,-1.554705757864958,0.71338606911949],"aabb_xy":[[0.433648118127715,-1.5681756095180492],[0.46054117139580164,-1.541235906211867]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_10","position":[-0.3555779172303127,1.107181650941068,0.71338606911949],"aabb_xy":[[-0.39004039524340045,1.100517973758145],[-0.3211154392172249,1.1138453281239904]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_11","position":[-0.1233907270423018,0.7795741974182193,0.71338606911949],"aabb_xy":[[-0.1593042314672915,0.7436606892014646],[-0.08747722261731213,0.8154877056349739]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_12","position":[-0.031103533658023652,1.4848060343079417,0.71338606911949],"aabb_xy":[[-0.04085952316719754,1.475043500248707],[-0.021347544148849762,1.4945685683671759]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_13","position":[-0.4251064760030335,-0.107977416175423,0.71338606911949],"aabb_xy":[[-0.5147935523111489,-0.19797741642987354],[-0.335419399694918,-0.01797741592097246]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_14","position":[-0.1548312752389327,-1.8190600628821176,0.71338606911949],"aabb_xy":[[-0.2098312734406775,-1.8595820295085552],[-0.09983127703718785,-1.77853809625568]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_15","position":[0.675972267710691,-0.37301471103531547,0.71338606911949],"aabb_xy":[[0.6666252601283957,-0.3873183332529595],[0.6853192752929862,-0.35871108881767144]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_16","position":[-0.20255507763543196,-1.3954398314490777,0.71338606911949],"aabb_xy":[[-0.2400550784274274,-1.4018076724072677],[-0.1650550768434365,-1.3890719904908873]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_17","position":[-0.1391706386724133,0.17555082935663702,0.71338606911949],"aabb_xy":[[-0.1454827382087517,0.16978389010341818],[-0.13285853913607484,0.18131776860985585]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_18","position":[0.6654482355752405,1.5638205906555993,0.71338606911949],"aabb_xy":[[0.615475170042725,1.5138205908430666],[0.7154213011077559,1.6138205904681324]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_19","position":[-0.4258052316321368,-0.9954421173105501,0.71338606911949],"aabb_xy":[[-0.48739599085612967,-1.059442115419597],[-0.36421447240814403,-0.9314421192015032]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_20","position":[-0.6552751681650923,-1.226285930112489,0.71338606911949],"aabb_xy":[[-0.69277516851332,-1.2380773256935724],[-0.6177751678168645,-1.2144945345314053]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_21","position":[-0.5399731041732316,-1.4105277009525736,0.71338606911949],"aabb_xy":[[-0.5624722398994586,-1.4330277017308366],[-0.5174739684470047,-1.3880277001743107]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_22","position":[-0.6595081228899796,0.21428433068577046,0.71338606911949],"aabb_xy":[[-0.6676217775633567,0.20617851423174138],[-0.6513944682166025,0.22239014713979954]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_23","position":[0.5444863655849852,1.6730281579677686,0.71338606911949],"aabb_xy":[[0.523208357441513,1.6080281556416955],[0.5657643737284574,1.7380281602938417]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_24","position":[0.41557616992616486,-1.2305652948490942,0.71338606911949],"aabb_xy":[[0.37994701402620507,-1.266197961605947],[0.45120532582612455,-1.1949326280922412]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_25","position":[0.0941807625560458,1.1916905497093309,0.71338606911949],"aabb_xy":[[0.08647757188196875,1.1839811790105927],[0.10188395323012284,1.199399920408069]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_26","position":[0.6363234128332707,-0.2745652177318174,0.71338606911949],"aabb_xy":[[0.6247544320863341,-0.2995652178487492],[0.6478923935802072,-0.24956521761488576]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_27","position":[0.46729078243824906,-2.244821394787263,0.71338606911949],"aabb_xy":[[0.4032907800954475,-2.2897622460313953],[0.5312907847810506,-2.1998805435431303]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_28","position":[-0.6142055464044167,1.2597973202669888,0.71338606911949],"aabb_xy":[[-0.6320746541588721,1.245964412289778],[-0.5963364386499611,1.2736302282442]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_29","position":[-0.22642069319354552,-0.22279656299844453,0.71338606911949],"aabb_xy":[[-0.24832937533289653,-0.24469722981853526],[-0.20451201105419445,-0.2008958961783538]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_30","position":[-0.12863685771922673,-1.590572754002786,0.71338606911949],"aabb_xy":[[-0.19863686111078868,-1.625888527706217],[-0.05863685432766474,-1.5552569802993552]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_31","position":[0.12598443940601833,1.3233088230071126,0.71338606911949],"aabb_xy":[[0.061984442293912645,1.274276453212702],[0.18998443651812402,1.3723411928015232]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_32","position":[-0.38213460833413937,-1.4726396542963403,0.71338606911949],"aabb_xy":[[-0.45213460474410105,-1.4930775899480218],[-0.31213461192417746,-1.4522017186446583]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6747992234353906,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4278.png","name":"4278"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4278.png","name":"4278"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2979.png","name":"2979"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4891.png","name":"4891"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5743.png","name":"5743"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1277.png","name":"1277"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":679.7601582055983,"rotation_z_degrees":63.17179223911333,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01608281808921452,-0.017684375272853763,-0.005154004845109781]},{"name":"camera_2","offset_m":[0.0007850863610119191,-0.01047946778202026,0.002565362736978171]},{"name":"camera_3","offset_m":[-0.010509480642096837,0.009690583508511551,-0.01798336526747428]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00036109869193790434,0.0004565426137176781,-0.00039772070062840605],"end_effector_yaw_offset_degrees":0.9142320451553942},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0004832873783755104,-0.001736574066032599,-0.0005644021287658965],"end_effector_yaw_offset_degrees":-0.4876108228710261},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.000352623490611113,-0.001238483787225502,-0.0008576960519125606],"end_effector_yaw_offset_degrees":0.8020776851756166},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001319741276804062,-0.0008535982687691371,9.693627165942298e-06],"end_effector_yaw_offset_degrees":0.6369065990745011}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.001547403148295642,0.004040150416250534],"position_m":[0.2572525968517043,0.16064015041625052,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0006125262242732323,0.00012687379393241417],"position_m":[0.21371252622427325,-0.3279731262060676,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0028701550554964374,-0.0013344127914960311],"position_m":[0.2607298449445036,-0.13243441279149604,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00032781743503545145,-0.0004540847583284083],"position_m":[0.33012781743503544,0.3085459152416716,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f2b43dc50d041499f0f50ea3d9ec2158290720b28e371eba42eb442625a2dba5","episode_index":3,"episode_name":"episode_0003"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0003.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_4278/tex_ceiling_textures_1277/tex_floor_textures_5743/tex_table_textures_2979/tex_wall_textures_4891","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":5261904996812429029,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":5261904996812429029,"visual_seed":5261904996812429029,"scene_id":"lab_003","finished_at":"2026-09-05T18:27:28"} +{"episode_id":"ep_000004","started_at":"2026-09-05T18:31:25","dimensions":{"distractor":{"count":35,"items":[{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_0","position":[-0.10946382355740591,-0.279462059715176,0.71338606911949],"aabb_xy":[[-0.1203695996449686,-0.3594620561140051],[-0.09855804746984317,-0.1994620633163468]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_1","position":[-0.11159298826405673,-2.2450234997716896,0.71338606911949],"aabb_xy":[[-0.14909298683967753,-2.257759795435247],[-0.07409298968843592,-2.232287204108131]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_2","position":[-0.07690836973714044,1.572249300853907,0.71338606911949],"aabb_xy":[[-0.086201987974291,1.5347493023657728],[-0.06761475149998984,1.6097492993420406]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_3","position":[-0.35783960687449373,0.9542818322898725,0.71338606911949],"aabb_xy":[[-0.3803532986979509,0.884281831688865],[-0.33532591505103654,1.02428183289088]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_4","position":[0.220944320459182,-1.4625683368843923,0.71338606911949],"aabb_xy":[[0.20917613366452453,-1.5475683367896145],[0.23271250725383957,-1.3775683369791711]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_5","position":[-0.5948048769214227,-0.9786587197376131,0.71338606911949],"aabb_xy":[[-0.6056564831702983,-0.9895180104652641],[-0.5839532706725471,-0.9677994290099621]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_6","position":[0.5186458898521042,-1.3921808718255428,0.71338606911949],"aabb_xy":[[0.43864589244851077,-1.4721734430237257],[0.5986458872556976,-1.31218830062736]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_7","position":[-0.641162852516519,-1.6162762333667762,0.71338606911949],"aabb_xy":[[-0.6636592739503832,-1.6387762331735236],[-0.618666431082655,-1.5937762335600287]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_8","position":[0.06823061319016632,1.7410681156027237,0.71338606911949],"aabb_xy":[[0.003230612084223053,1.7161027425345952],[0.1332306142961096,1.7660334886708517]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_9","position":[0.5492425419096281,-1.7785695551064773,0.71338606911949],"aabb_xy":[[0.49924254024813325,-1.82856799736218],[0.5992425435711227,-1.7285711128507746]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_10","position":[-0.4344680535131937,0.778330534734244,0.71338606911949],"aabb_xy":[[-0.44324928066043,0.7695507874457139],[-0.42568682636595756,0.7871102820227742]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_11","position":[0.24484506867207,-2.2140682810122905,0.71338606911949],"aabb_xy":[[0.16112284317198752,-2.3040682845469864],[0.32856729417215247,-2.1240682774775945]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_12","position":[-0.5008180797530544,-0.3274459360531523,0.71338606911949],"aabb_xy":[[-0.510449715973484,-0.33708324883286117],[-0.49118644353262475,-0.31780862327344334]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_13","position":[0.5967076995227742,0.9023966124360459,0.71338606911949],"aabb_xy":[[0.5617076981712924,0.882036876479225],[0.6317077008742559,0.9227563483928667]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_14","position":[-0.46908109668830844,0.1580508546727586,0.71338606911949],"aabb_xy":[[-0.503378007706049,0.12375396846281722],[-0.43478418567056776,0.19234774088269996]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_15","position":[0.21367980092062344,-0.9689466642108091,0.71338606911949],"aabb_xy":[[0.2056434662193386,-0.9769847835152259],[0.22171613562190828,-0.9609085449063923]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_16","position":[-0.175216372540846,-1.492128458693156,0.71338606911949],"aabb_xy":[[-0.2251993227283253,-1.5421284583357162],[-0.12523342235336662,-1.4421284590505954]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_17","position":[-0.05981675755426463,-0.6661879409379698,0.71338606911949],"aabb_xy":[[-0.09731675749803104,-0.6744810309728064],[-0.022316757610498235,-0.6578948509031333]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_18","position":[-0.17418837307009105,0.3410714660609546,0.71338606911949],"aabb_xy":[[-0.19168837331514044,0.3235716782213877],[-0.15668837282504167,0.3585712539005214]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_19","position":[-0.46030254703266715,1.5668441209333301,0.71338606911949],"aabb_xy":[[-0.5030692539120873,1.5028441175115277],[-0.41753584015324696,1.6308441243551326]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_20","position":[-0.21891371200773796,-0.952791520594066,0.71338606911949],"aabb_xy":[[-0.2839137129648651,-1.0047397325277714],[-0.15391371105061075,-0.9008433086603603]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_21","position":[0.4155567556212918,-0.4257156438302756,0.71338606911949],"aabb_xy":[[0.40308939751155626,-0.4381809684635991],[0.42802411373102756,-0.4132503191969521]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_22","position":[0.474228974042771,0.2924513189116187,0.71338606911949],"aabb_xy":[[0.41923672340726004,0.23745131716830598],[0.5292212246782819,0.3474513206549315]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_23","position":[-0.21448108882382755,-0.5805445296636105,0.71338606911949],"aabb_xy":[[-0.30448108824219844,-0.6139200265078001],[-0.12448108940545663,-0.5471690328194206]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_24","position":[0.09924748800398375,1.2130210688461238,0.71338606911949],"aabb_xy":[[0.051441320390215095,1.1480210661390646],[0.1470536556177524,1.2780210715531826]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_25","position":[-0.4087037731877864,-0.8981599063125476,0.71338606911949],"aabb_xy":[[-0.4238666461647236,-0.9133253636076665],[-0.3935409002108494,-0.882994449017429]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_26","position":[-0.5139492731324136,0.2979038685886284,0.71338606911949],"aabb_xy":[[-0.5514492715558138,0.28473965462079776],[-0.4764492747090131,0.311068082556459]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_27","position":[0.37251797322731517,1.3132671751703464,0.71338606911949],"aabb_xy":[[0.3475179736755767,1.3031246913052117],[0.39751797277905365,1.3234096590354811]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_28","position":[-0.07539215378748332,1.0765232501336874,0.71338606911949],"aabb_xy":[[-0.13939215449095269,1.0305048676607664],[-0.01139215308401398,1.1225416326066084]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_29","position":[0.3596606941645577,0.999115412802043,0.71338606911949],"aabb_xy":[[0.35622001792450053,0.9952539798276785],[0.3631013704046149,1.0029768457764074]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_30","position":[-0.6703970028845619,0.9104409316371123,0.71338606911949],"aabb_xy":[[-0.6791990581935347,0.9026296054821832],[-0.6615949475755892,0.9182522577920413]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_31","position":[0.6833657035346759,0.09989847389516626,0.71338606911949],"aabb_xy":[[0.6489033561365338,0.06540459149734357],[0.7178280509328174,0.13439235629298896]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_32","position":[0.45530778664598537,-0.041305000058329266,0.71338606911949],"aabb_xy":[[0.42030778837586547,-0.04837912775331743],[0.49030778491610527,-0.0342308723633411]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_33","position":[0.565621106098634,-0.4137884906302065,0.71338606911949],"aabb_xy":[[0.5600394344645051,-0.426288490447982],[0.5712027777327627,-0.401288490812431]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_34","position":[0.2536133334183768,-1.186987633450704,0.71338606911949],"aabb_xy":[[0.21611333324650478,-1.2196883688336109],[0.29111333359024866,-1.1542868980677965]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6767948967376854,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6553.png","name":"6553"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6553.png","name":"6553"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1660.png","name":"1660"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2772.png","name":"2772"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5686.png","name":"5686"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4995.png","name":"4995"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":763.3619678460012,"rotation_z_degrees":153.37434090545233,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016466121532026357,0.0029591143242561867,0.007293869324820488]},{"name":"camera_2","offset_m":[0.014918661639479889,0.013750079568404027,-0.005481001029590064]},{"name":"camera_3","offset_m":[0.011019565311185652,-0.010370960769201343,-0.012113733566427101]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0014567791194932509,0.0002549557086369979,0.001578116698165322],"end_effector_yaw_offset_degrees":0.83828014466287},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0018778689071706092,0.0016024461096873135,-0.0018635244610160397],"end_effector_yaw_offset_degrees":-0.687897233079547},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00019839471227735663,-0.0018954955517191667,-0.0008826361746762177],"end_effector_yaw_offset_degrees":0.08107248890987728},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00047463879082998645,-0.0007338796265098783,0.00028239382086137424],"end_effector_yaw_offset_degrees":0.33484944665613114}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.00023928776529512016,0.0028156640978804293],"position_m":[0.25856071223470484,0.1594156640978804,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00041274858351591625,6.156447352065764e-05],"position_m":[0.2126872514164841,-0.3280384355264793,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0035365334874994945,0.0006626393503951456],"position_m":[0.2600634665125005,-0.13043736064960484,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0010054552507856819,0.0025832542021215444],"position_m":[0.33080545525078564,0.3115832542021215,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c074627d3d1aaf9a66cf92507793c30aaeb8dbb6c0b975ffcc9bcc928d192abd","episode_index":5,"episode_name":"episode_0005"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0005.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_6553/tex_ceiling_textures_4995/tex_floor_textures_5686/tex_table_textures_1660/tex_wall_textures_2772","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":5233939765248549837,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":5233939765248549837,"visual_seed":5233939765248549837,"scene_id":"lab_003","finished_at":"2026-09-05T18:34:54"} +{"episode_id":"ep_000005","started_at":"2026-09-05T18:34:58","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_0","position":[0.3645449537577359,-1.0876923047148552,0.71338606911949],"aabb_xy":[[0.3536933475088603,-1.0985515954425062],[0.3753965600066115,-1.0768330139872042]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_1","position":[-0.14321683037782706,-1.136156999927453,0.71338606911949],"aabb_xy":[[-0.16571596610405404,-1.158657000705716],[-0.1207176946516001,-1.11365699914919]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_2","position":[0.4472267328798649,1.0252345655729904,0.71338606911949],"aabb_xy":[[0.4295938972863373,1.0076116195573672],[0.46485956847339244,1.0428575115886132]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_3","position":[0.6534480103841318,-1.9609615908843228,0.71338606911949],"aabb_xy":[[0.6159480119607313,-1.9741258048521533],[0.690948008807532,-1.9477973769164922]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_4","position":[0.020443934536527153,1.0823443800125792,0.71338606911949],"aabb_xy":[[0.0043820070780095045,0.9973443781999872],[0.03650586199504478,1.1673443818251708]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_5","position":[-0.5471550991259766,0.2829435120738104,0.71338606911949],"aabb_xy":[[-0.5526130447629967,0.2029435087661513],[-0.5416971534889565,0.3629435153814695]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_6","position":[0.23783787326754158,-2.2803224137103153,0.71338606911949],"aabb_xy":[[0.21400165562693652,-2.370322414518802],[0.26167409090814664,-2.1903224129018293]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_7","position":[-0.609441855517604,0.6346441554817366,0.71338606911949],"aabb_xy":[[-0.6694418560254568,0.5777974217958152],[-0.549441855009751,0.6914908891676578]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_8","position":[0.31179730454844967,1.1702793813478247,0.71338606911949],"aabb_xy":[[0.2690305976690295,1.1062793779260223],[0.35456401142786986,1.2342793847696272]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_9","position":[-0.40044244051020245,-2.029267250446374,0.71338606911949],"aabb_xy":[[-0.4454424419764314,-2.074267107307855],[-0.35544243904397366,-1.9842673935848936]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_10","position":[-0.611411091587173,0.015964965986983604,0.71338606911949],"aabb_xy":[[-0.675411090756943,-0.03080172113197887],[-0.547411092417403,0.06273165310594607]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_11","position":[-0.3336311062634524,-2.4463292349911883,0.71338606911949],"aabb_xy":[[-0.34539929305810996,-2.53132923489641],[-0.3218629194687949,-2.3613292350859667]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_12","position":[0.2812562865121576,0.7467047130476581,0.71338606911949],"aabb_xy":[[0.2768256571573175,0.7412563413129756],[0.28568691586699785,0.7521530847823408]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_13","position":[-0.10142022979470133,0.9166941319152255,0.71338606911949],"aabb_xy":[[-0.1714202262046631,0.8962561962635436],[-0.03142023338473953,0.937132067566907]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_14","position":[0.031703614039807815,1.329662523440852,0.71338606911949],"aabb_xy":[[-0.03829638935175416,1.294346749737421],[0.10170361743136978,1.3649782971442828]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_15","position":[0.5018411050898719,-2.3075694864885823,0.71338606911949],"aabb_xy":[[0.4768411059242388,-2.314521732193939],[0.526841104255505,-2.3006172407832257]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_16","position":[0.5403526748428582,-0.278102560428902,0.71338606911949],"aabb_xy":[[0.5324293946041099,-0.3006025606669054],[0.5482759550816065,-0.25560256019089866]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_17","position":[-0.6026786840824883,0.35111451505753166,0.71338606911949],"aabb_xy":[[-0.6082603557166171,0.33861451523975616],[-0.5970970124483594,0.36361451487530716]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_18","position":[-0.5845722763527414,-2.169595751130936,0.71338606911949],"aabb_xy":[[-0.6020722097867247,-2.18709575105117],[-0.567072342918758,-2.152095751210701]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_19","position":[0.2775056799985749,-1.1969084114333475,0.71338606911949],"aabb_xy":[[0.2695116914208715,-1.2049084915284376],[0.2854996685762783,-1.188908331338257]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_20","position":[-0.34561079590409044,1.27446979394069,0.71338606911949],"aabb_xy":[[-0.3630415109830969,1.2571976792768391],[-0.3281800808250839,1.2917419086045407]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_21","position":[-0.5335093135958622,1.2743760188851017,0.71338606911949],"aabb_xy":[[-0.5585093131476007,1.264233535019967],[-0.5085093140441237,1.2845185027502364]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_22","position":[-0.5907183918570452,-1.0893684211946648,0.71338606911949],"aabb_xy":[[-0.5983426599472235,-1.0970016447312088],[-0.583094123766867,-1.0817351976581213]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_23","position":[-0.6388686803010829,0.806779822773712,0.71338606911949],"aabb_xy":[[-0.6888516304885621,0.7567798231311516],[-0.5888857301136035,0.8567798224162724]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_24","position":[0.1654327363589312,1.7083225814918035,0.71338606911949],"aabb_xy":[[0.10143273468093383,1.6598051900124893],[0.22943273803692854,1.7568399729711177]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_25","position":[-0.48849768688936335,-1.2260731420109146,0.71338606911949],"aabb_xy":[[-0.522960034287505,-1.260567024408737],[-0.4540353394912215,-1.1915792596130916]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6756737230421002,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2561.png","name":"2561"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2561.png","name":"2561"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6409.png","name":"6409"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/37.png","name":"37"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4892.png","name":"4892"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7748.png","name":"7748"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":515.6719062996033,"rotation_z_degrees":21.461238405784343,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01934239942235939,-0.01954568360032847,0.015962529189711517]},{"name":"camera_2","offset_m":[0.002508175043675124,0.016793644071697072,0.009177087388284665]},{"name":"camera_3","offset_m":[0.005242924321511699,-0.008090247979344505,-0.007249025353475588]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00020168117744571177,-0.0011861419252338625,0.001140843912958676],"end_effector_yaw_offset_degrees":0.8074710243425209},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.000896086900344571,0.0006991671240331476,-0.00030025461440174217],"end_effector_yaw_offset_degrees":0.4061865047425033},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0009611087296786686,0.0006045030632009125,0.0009375873993899154],"end_effector_yaw_offset_degrees":-0.524795335139052},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006377894003746815,-0.0012890394600005642,0.0008257265302724815],"end_effector_yaw_offset_degrees":0.646139095163162}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.003066017157022726,0.002832475329653938],"position_m":[0.25573398284297727,0.15943247532965393,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0008409754593008776,-0.00026837584392292325],"position_m":[0.21394097545930088,-0.3283683758439229,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.001546078017060555,-0.0016604771546115627],"position_m":[0.2620539219829394,-0.13276047715461156,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00016492985072951577,0.0017684830946198184],"position_m":[0.3299649298507295,0.3107684830946198,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"561603166aeb3b392176bb47fcc05b50f8a57586c9eab19a8e5682307e0c7fea","episode_index":6,"episode_name":"episode_0006"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0006.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_2561/tex_ceiling_textures_7748/tex_floor_textures_4892/tex_table_textures_6409/tex_wall_textures_37","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":2165520191989363305,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":2165520191989363305,"visual_seed":2165520191989363305,"scene_id":"lab_003","finished_at":"2026-09-05T18:38:51"} +{"episode_id":"ep_000006","started_at":"2026-09-05T18:38:55","dimensions":{"distractor":{"count":27,"items":[{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_0","position":[0.11870539413778125,0.7011439028521629,0.71338606911949],"aabb_xy":[[0.03370539572035801,0.6162696073898779],[0.20370539255520448,0.7860181983144479]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_1","position":[0.3333182327307771,1.6957090215985429,0.71338606911949],"aabb_xy":[[0.32924007482372736,1.6916280413502798],[0.33739639063782684,1.6997900018468064]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_2","position":[-0.6149721043372537,1.243568967705786,0.71338606911949],"aabb_xy":[[-0.623099792530567,1.2346553592950784],[-0.6068444161439406,1.252482576116494]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_3","position":[-0.1798168391822753,-0.17376100452473153,0.71338606911949],"aabb_xy":[[-0.23481231700293467,-0.22876100595863846],[-0.1248213613616159,-0.1187610030908246]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_4","position":[0.45809340301706136,-2.1079604313591487,0.71338606911949],"aabb_xy":[[0.39409340263952775,-2.157705698209961],[0.522093403394595,-2.0582151645083364]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_5","position":[0.4545261086988197,-1.610060854834863,0.71338606911949],"aabb_xy":[[0.39452610844741853,-1.6643421798713272],[0.5145261089502209,-1.5557795297983978]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_6","position":[0.12058770283475873,-2.2878899431890303,0.71338606911949],"aabb_xy":[[0.07058770181562345,-2.324356158926858],[0.170587703853894,-2.2514237274512023]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_7","position":[0.34760543631913166,-1.8143012767342803,0.71338606911949],"aabb_xy":[[0.3101054362135387,-1.8211234385872614],[0.3851054364247246,-1.8074791148812992]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_8","position":[-0.42521959379469765,-1.5200642022190196,0.71338606911949],"aabb_xy":[[-0.4892195940551684,-1.5650730015719474],[-0.3612195935342268,-1.4750554028660914]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_9","position":[-0.1546355164833284,-1.7123354528103956,0.71338606911949],"aabb_xy":[[-0.2346355179134556,-1.7918526078230048],[-0.0746355150532012,-1.6328182977977859]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_10","position":[0.5298138562472599,-1.0137101404788313,0.71338606911949],"aabb_xy":[[0.46581385695309163,-1.0776962808476855],[0.5938138555414281,-0.9497240001099772]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_11","position":[0.39857806587683786,0.9636112767282654,0.71338606911949],"aabb_xy":[[0.37529622367870646,0.8786112754310372],[0.42185990807496915,1.0486112780254933]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_12","position":[0.6121634489883119,1.0281488330178652,0.71338606911949],"aabb_xy":[[0.5643572813745431,0.963148830310806],[0.6599696166020804,1.093148835724924]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_13","position":[-0.37608295138629305,-2.2887431773149802,0.71338606911949],"aabb_xy":[[-0.42125426923446213,-2.352743174459519],[-0.33091163353812414,-2.2247431801704423]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_14","position":[-0.2484298804936088,-2.462026714053437,0.71338606911949],"aabb_xy":[[-0.26276430561977226,-2.474086929607976],[-0.23409545536744533,-2.449966498498898]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_15","position":[-0.024589316846651887,-0.7218559725011211,0.71338606911949],"aabb_xy":[[-0.06208931542227269,-0.7345922681646789],[0.012910681728968918,-0.709119676837563]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_16","position":[-0.6433049495134148,-1.901345062350122,0.71338606911949],"aabb_xy":[[-0.693304950874302,-1.9513229669255379],[-0.5933049481525275,-1.8513671577747066]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_17","position":[-0.3286187005074352,0.13359354716265903,0.71338606911949],"aabb_xy":[[-0.3432621060614681,0.11893482750587475],[-0.31397529495340215,0.1482522668194433]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_18","position":[0.294581994077485,-1.183663716616351,0.71338606911949],"aabb_xy":[[0.28687880340340793,-1.191373087315089],[0.302285184751562,-1.1759543459176132]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_19","position":[-0.27653429149455966,0.5243015168175873,0.71338606911949],"aabb_xy":[[-0.3415342893762075,0.47317785311104643],[-0.21153429361291193,0.5754251805241282]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_20","position":[0.5451262814408127,-0.12616571316960012,0.71338606911949],"aabb_xy":[[0.5101262831301171,-0.13388072809314577],[0.580126279751508,-0.11845069824605448]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_21","position":[-0.09298902784888663,1.039211066779298,0.71338606911949],"aabb_xy":[[-0.15698902812286486,0.9891449665820098],[-0.0289890275749084,1.0892771669765857]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_22","position":[0.033416833154939485,-1.6418878642086612,0.71338606911949],"aabb_xy":[[-0.016583168506555276,-1.6918863064643634],[0.08341683481643423,-1.591889421952958]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_23","position":[-0.18817840137259745,-0.606876502976855,0.71338606911949],"aabb_xy":[[-0.2781783981082076,-0.6600599662941495],[-0.09817840463698718,-0.5536930396595605]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_24","position":[0.037911092810708924,1.2479277250647653,0.71338606911949],"aabb_xy":[[-0.03208890982587743,1.2278228600688998],[0.10791109544729527,1.2680325900606308]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_25","position":[-0.33892548586393684,0.2614599405488063,0.71338606911949],"aabb_xy":[[-0.4029254891536449,0.21812502154488864],[-0.27492548257422866,0.30479485955272384]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_26","position":[0.13391004508473348,1.4488134077860892,0.71338606911949],"aabb_xy":[[0.0699100434067361,1.4002960163067748],[0.1979100467627308,1.4973307992654032]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6726616281293292,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5151.png","name":"5151"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5151.png","name":"5151"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7063.png","name":"7063"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8071.png","name":"8071"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5490.png","name":"5490"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5063.png","name":"5063"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":756.9202559842117,"rotation_z_degrees":197.89457809172106,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.002548864334542298,0.006306054986132979,0.008302481906355443]},{"name":"camera_2","offset_m":[-0.003917777819966162,-0.017144050838325247,0.0019065453972173727]},{"name":"camera_3","offset_m":[0.011595832732084903,3.46050441132513e-05,-0.013089379845599929]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0015226081528003977,0.000732538190261449,0.00142529023487424],"end_effector_yaw_offset_degrees":-0.6121197588984517},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00047050790487219735,-0.00035625520437556225,0.00010374179550916036],"end_effector_yaw_offset_degrees":0.6625915160167484},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0009320706531478072,0.0019553984502186546,-0.0019434388783162047],"end_effector_yaw_offset_degrees":-0.2605627266115358},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00018403031566026893,-1.5710679700507626e-05,0.0005313405646904688],"end_effector_yaw_offset_degrees":0.6070258918312814}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0007613137491299408,-0.0014656770205016888],"position_m":[0.25956131374912994,0.1551343229794983,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0002467259675105471,0.0011781022678745215],"position_m":[0.21334672596751056,-0.3269218977321255,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0011913777475397094,0.0022412900109272625],"position_m":[0.2647913777475397,-0.12885870998907273,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[8.822991013637382e-05,-0.0046847609785566425],"position_m":[0.32988822991013633,0.30431523902144336,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4b70602935abe229e6a1532d44a7423a552d41b19c74a6ebbf7992d04a7f6e36","episode_index":7,"episode_name":"episode_0007"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0007.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_5151/tex_ceiling_textures_5063/tex_floor_textures_5490/tex_table_textures_7063/tex_wall_textures_8071","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":5428448163156868770,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":5428448163156868770,"visual_seed":5428448163156868770,"scene_id":"lab_003","finished_at":"2026-09-05T18:42:52"} +{"episode_id":"ep_000007","started_at":"2026-09-05T18:42:56","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_0","position":[-0.48579919478944666,-1.7743077245515764,0.71338606911949],"aabb_xy":[[-0.5497991980791546,-1.8176426435554938],[-0.42179919149973844,-1.7309728055476585]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_1","position":[0.18378425459671277,-1.3830316955544628,0.71338606911949],"aabb_xy":[[0.1677223271381951,-1.4680316973670544],[0.1998461820552304,-1.2980316937418708]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_2","position":[-0.2025225575785103,-0.5993976907688505,0.71338606911949],"aabb_xy":[[-0.2625225578299114,-0.6536790158053151],[-0.14252255732710908,-0.5451163657323858]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_3","position":[-0.3137528506476967,-1.837467179878813,0.71338606911949],"aabb_xy":[[-0.3288551521087147,-1.8525687015098744],[-0.2986505491866785,-1.8223656582477505]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_4","position":[0.34417210299391066,1.158011316839489,0.71338606911949],"aabb_xy":[[0.26417210156378346,1.0784941618268795],[0.42417210442403785,1.2375284718520985]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_5","position":[-0.05935220736644542,0.39415080926375756,0.71338606911949],"aabb_xy":[[-0.07846451472442428,0.37501603038651554],[-0.04023990000846655,0.4132855881409996]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_6","position":[-0.402982128304245,-0.5265880753063721,0.71338606911949],"aabb_xy":[[-0.4275283439269957,-0.5568369718554091],[-0.37843591268149424,-0.4963391787573351]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_7","position":[0.40430812522207704,-0.1839487773032058,0.71338606911949],"aabb_xy":[[0.3972678152885401,-0.26394877670287725],[0.4113484351556141,-0.10394877790353443]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_8","position":[0.4445361528494831,0.5633481080014757,0.71338606911949],"aabb_xy":[[0.4270362194154997,0.5458481080812412],[0.46203608628346643,0.5808481079217103]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_9","position":[-0.26837678962422157,0.6313485110863883,0.71338606911949],"aabb_xy":[[-0.2908759253504485,0.6088485103081254],[-0.24587765389799454,0.6538485118646513]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_10","position":[-0.2039924235451503,-2.2910641970734327,0.71338606911949],"aabb_xy":[[-0.26799242676378815,-2.337787308972441],[-0.13999242032651243,-2.2443410851744243]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_11","position":[0.5719188937983637,-2.27865355225479,0.71338606911949],"aabb_xy":[[0.48691889510628894,-2.310639415649669],[0.6569188924904382,-2.2466676888599113]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_12","position":[0.3558893990577192,0.5294924372820056,0.71338606911949],"aabb_xy":[[0.3333929776238551,0.5069924374752582],[0.3783858204915833,0.5519924370887531]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_13","position":[-0.053001545374736114,-0.20203949102737306,0.71338606911949],"aabb_xy":[[-0.08759262822878132,-0.26703949131240406],[-0.018410462520690892,-0.13703949074234198]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_14","position":[-0.23344921273218422,1.2564026434239652,0.71338606911949],"aabb_xy":[[-0.25102751492113107,1.2388281538498602],[-0.21587091054323737,1.2739771329980702]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_15","position":[0.22304448187048231,-2.4622211078687073,0.71338606911949],"aabb_xy":[[0.18086006770965157,-2.5262211081459185],[0.26522889603131306,-2.398221107591496]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_16","position":[0.31099502769525045,-1.5175963374847201,0.71338606911949],"aabb_xy":[[0.24699502578290816,-1.5735074867427306],[0.37499502960759284,-1.4616851882267097]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_17","position":[-0.42876652066811133,0.42471045666608775,0.71338606911949],"aabb_xy":[[-0.4360277682385187,0.4119234464025783],[-0.42150527309770386,0.43749746692959723]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_18","position":[-0.6207709144573106,-0.6633788092774289,0.71338606911949],"aabb_xy":[[-0.6847709137514788,-0.727364949646283],[-0.5567709151631424,-0.5993926689085746]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_19","position":[0.08498814813088762,-1.7926651616734217,0.71338606911949],"aabb_xy":[[0.07065372300472417,-1.8047253772279606],[0.09932257325705107,-1.7806049461188829]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_20","position":[0.3030501390686623,0.6973952397502043,0.71338606911949],"aabb_xy":[[0.2578788212204933,0.633395242605666],[0.34822145691683126,0.761395236894743]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_21","position":[-0.5648078671763471,1.3826574556381601,0.71338606911949],"aabb_xy":[[-0.6348078689850926,1.3613036868739725],[-0.4948078653676017,1.4040112244023473]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_22","position":[0.07163312033952407,-1.63080927476122,0.71338606911949],"aabb_xy":[[0.054531042381155914,-1.6479160802924897],[0.08873519829789223,-1.6137024692299502]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_23","position":[-0.3016971935478215,1.4352609122531734,0.71338606911949],"aabb_xy":[[-0.3087386444985691,1.428234160515379],[-0.2946557425970739,1.4422876639909679]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_24","position":[-0.5120913301398157,-1.3673236940277562,0.71338606911949],"aabb_xy":[[-0.5491254395678753,-1.4017009013614654],[-0.4750572207117558,-1.3329464866940466]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6746147196033595,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2639.png","name":"2639"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2639.png","name":"2639"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3798.png","name":"3798"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/506.png","name":"506"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8885.png","name":"8885"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7941.png","name":"7941"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":830.7477558835785,"rotation_z_degrees":334.6400890925956,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011702918565126206,0.004287589506105496,-0.007910251908911316]},{"name":"camera_2","offset_m":[0.018683902230369764,-0.015320234581297509,0.011746316028427888]},{"name":"camera_3","offset_m":[-0.00237993111267535,-0.019936295097346766,0.004366081168220178]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[5.129602857383529e-05,0.001225912789308987,0.0006455622950154462],"end_effector_yaw_offset_degrees":0.7420016449871705},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00023390240953102825,-0.0005365853067360088,-3.123340636037664e-05],"end_effector_yaw_offset_degrees":-0.35169339199960303},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0009081585432734456,-0.0009696400987242676,1.686445508862185e-05],"end_effector_yaw_offset_degrees":0.9613921558597205},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0011087619440688047,-0.0017705948199648537,-0.00010492062604248184],"end_effector_yaw_offset_degrees":-0.655294361777486}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004786953012727724,-0.000896788169215821],"position_m":[0.2635869530127277,0.15570321183078417,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004015613731923107,0.0013563424501827296],"position_m":[0.2090843862680769,-0.32674365754981727,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0009398453404571563,-0.004985801042866417],"position_m":[0.26266015465954284,-0.1360858010428664,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0014716633373078325,0.0026219000860533137],"position_m":[0.3283283366626921,0.3116219000860533,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5e415fae56f1135c1ee9e6c0dacb3bd562a0964ae3c8619f7f57615737a5a207","episode_index":8,"episode_name":"episode_0008"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0008.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_2639/tex_ceiling_textures_7941/tex_floor_textures_8885/tex_table_textures_3798/tex_wall_textures_506","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":5780170354535022466,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":5780170354535022466,"visual_seed":5780170354535022466,"scene_id":"lab_003","finished_at":"2026-09-05T18:46:27"} +{"episode_id":"ep_000008","started_at":"2026-09-05T18:46:31","dimensions":{"distractor":{"count":34,"items":[{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_0","position":[-0.483291563594204,0.5764663729236683,0.71338606911949],"aabb_xy":[[-0.5057915638377195,0.5642617382638964],[-0.46079156335068866,0.5886710075834403]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_1","position":[0.6954382703228801,1.291846534965118,0.71338606911949],"aabb_xy":[[0.6793763428643623,1.2068465331525262],[0.7115001977813976,1.3768465367777099]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_2","position":[0.018669916748442206,-2.340464174358567,0.71338606911949],"aabb_xy":[[-0.031427547232631414,-2.404464174868379],[0.06876738072951583,-2.276464173848755]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_3","position":[0.6634772921510248,-2.085545032419445,0.71338606911949],"aabb_xy":[[0.625977291486446,-2.101232090419667],[0.7009772928156034,-2.0698579744192225]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_4","position":[0.4917501444527599,0.7355423122543532,0.71338606911949],"aabb_xy":[[0.47395663751784345,0.7177425666585555],[0.5095436513876763,0.7533420578501508]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_5","position":[0.5432263350596438,-1.3837597684619218,0.71338606911949],"aabb_xy":[[0.488252613023311,-1.4387597680261548],[0.5982000570959768,-1.3287597688976884]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_6","position":[-0.14047226302298887,-0.030578724068370366,0.71338606911949],"aabb_xy":[[-0.1626447899996397,-0.05275439122449353],[-0.118299736046338,-0.008403056912247188]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_7","position":[0.4287843157960791,-1.5588793721187169,0.71338606911949],"aabb_xy":[[0.4087259041828388,-1.5789444590278743],[0.44884272740931935,-1.5388142852095594]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_8","position":[-0.38945225838611924,-1.7979163533499014,0.71338606911949],"aabb_xy":[[-0.4194198152959449,-1.8279163536477874],[-0.3594847014762936,-1.7679163530520159]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_9","position":[-0.32355831509273025,-1.1313757271953946,0.71338606911949],"aabb_xy":[[-0.3539564261918738,-1.161782629197064],[-0.2931602039935866,-1.100968825193725]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_10","position":[-0.2309458210901188,0.8828082612484773,0.71338606911949],"aabb_xy":[[-0.2572346454105594,0.8565368275938261],[-0.20465699676967813,0.9090796949031286]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_11","position":[-0.5667496183059793,-0.7653714013817194,0.71338606911949],"aabb_xy":[[-0.6217450961266386,-0.8203714028156263],[-0.5117541404853199,-0.7103713999478124]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_12","position":[-0.4441030473118902,-0.5501436975390179,0.71338606911949],"aabb_xy":[[-0.47409471004576054,-0.5801436968758185],[-0.4141113845780199,-0.5201436982022174]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_13","position":[-0.5259193424341273,-1.0356932590176637,0.71338606911949],"aabb_xy":[[-0.5759193437179673,-1.0856721134082856],[-0.4759193411502874,-0.9857144046270415]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_14","position":[0.01589826280663187,1.51407114774698,0.71338606911949],"aabb_xy":[[-0.02540628025710412,1.4500711481788626],[0.05720280587036786,1.5780711473150968]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_15","position":[0.012739221856034044,-1.0550468216815483,0.71338606911949],"aabb_xy":[[-0.00977446996742315,-1.1250468222825556],[0.03525291367949124,-0.9850468210805405]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_16","position":[-0.24722868254963276,-2.2550904206003652,0.71338606911949],"aabb_xy":[[-0.2544899301200402,-2.2678774308638743],[-0.23996743497922535,-2.2423034103368553]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_17","position":[0.38510028880446723,-0.8712492451500189,0.71338606911949],"aabb_xy":[[0.3201002902473944,-0.9010017785639014],[0.45010028736154006,-0.8414967117361362]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_18","position":[0.09446000989636394,-1.6644344618432756,0.71338606911949],"aabb_xy":[[0.07117816769823258,-1.7494344631405034],[0.11774185209449527,-1.5794344605460473]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_19","position":[0.5525131949097839,-0.623900730853985,0.71338606911949],"aabb_xy":[[0.48251319277835425,-0.6466626964796804],[0.6225131970412133,-0.6011387652282891]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_20","position":[-0.15626490457458397,1.1324179211797456,0.71338606911949],"aabb_xy":[[-0.16710538280109885,1.115231639889097],[-0.14542442634806904,1.1496042024703943]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_21","position":[0.6290990891748338,-0.40253096080954576,0.71338606911949],"aabb_xy":[[0.5791040782153818,-0.4525309598451376],[0.6790941001342858,-0.3525309617739541]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_22","position":[-0.5743173679004188,-0.02181696076210704,0.71338606911949],"aabb_xy":[[-0.6111679158374064,-0.05931696158514077],[-0.5374668199634312,0.015683040060926693]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_23","position":[-0.20195525551977167,-1.2433889677272791,0.71338606911949],"aabb_xy":[[-0.21210827107392102,-1.2794585093000193],[-0.19180223996562226,-1.2073194261545386]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_24","position":[-0.3940808423075124,1.6457196935424352,0.71338606911949],"aabb_xy":[[-0.41657726374137644,1.6232196937356878],[-0.37158442087364824,1.6682196933491826]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_25","position":[0.3302700745469498,0.965302353584641,0.71338606911949],"aabb_xy":[[0.31936429845938713,0.8853023571858117],[0.34117585063451256,1.0453023499834702]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_26","position":[-0.43654123063731154,-0.06479113310953233,0.71338606911949],"aabb_xy":[[-0.4815338173557619,-0.10979113238398107],[-0.3915486439188611,-0.01979113383508356]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_27","position":[-0.2553329451656469,-2.4357568266424026,0.71338606911949],"aabb_xy":[[-0.2887731203616664,-2.469200452473332],[-0.22189276996962723,-2.4023132008114723]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_28","position":[0.5338357061345105,-1.8028871814826632,0.71338606911949],"aabb_xy":[[0.4538357028766675,-1.882883689274647],[0.6138357093923534,-1.722890673690679]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_29","position":[0.5625015452737829,-1.620850231898963,0.71338606911949],"aabb_xy":[[0.5125015466278617,-1.6707697755584252],[0.6125015439197041,-1.5709306882395004]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_30","position":[0.5194360142178251,1.2467856552325185,0.71338606911949],"aabb_xy":[[0.4824019047897654,1.212408447898809],[0.5564701236458849,1.281162862566228]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_31","position":[0.20722993370479548,-1.80129288606549,0.71338606911949],"aabb_xy":[[0.18364481024090062,-1.866292888310922],[0.23081505716869033,-1.7362928838200584]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_32","position":[-0.3625941025746767,1.2619141618956173,0.71338606911949],"aabb_xy":[[-0.4000941026802696,1.255092000042636],[-0.3250941024690837,1.2687363237485982]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_33","position":[0.44936216853414535,0.5748225670476668,0.71338606911949],"aabb_xy":[[0.4268630328079184,0.5523225662694038],[0.4718613042603723,0.5973225678259297]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6768685299726824,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2281.png","name":"2281"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2281.png","name":"2281"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/560.png","name":"560"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2281.png","name":"2281"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5218.png","name":"5218"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6000.png","name":"6000"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":664.7932136052218,"rotation_z_degrees":0.7099656439208335,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004520179131864612,0.003887469748941049,-0.00033277500713264213]},{"name":"camera_2","offset_m":[-0.003188200423718243,0.018730266621776997,0.006185663453493584]},{"name":"camera_3","offset_m":[-0.007349829672591249,-0.004254620056019683,-0.015547425520746509]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00012619055209870116,-0.001525461668262455,0.001134732196522816],"end_effector_yaw_offset_degrees":0.35256423140919124},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0018370684319842234,0.0004579944239899536,0.00031901764097543505],"end_effector_yaw_offset_degrees":-0.8055697258344523},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001570234800355971,-0.0004247612330424877,0.001410908942781371],"end_effector_yaw_offset_degrees":0.5514060676165182},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0012017654968048234,-0.00025733682682688424,-0.001876478720103537],"end_effector_yaw_offset_degrees":-0.9382056734686566}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0035387479199650027,0.002706594452143686],"position_m":[0.262338747919965,0.15930659445214368,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0016140702886772254,0.004619854347931405],"position_m":[0.2114859297113228,-0.3234801456520686,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0008415260274536708,0.0016232658044347762],"position_m":[0.2627584739725463,-0.1294767341955652,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004049184953418183,-0.00319425162159776],"position_m":[0.33384918495341814,0.30580574837840224,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"282409dd579db985220ce0214dde0600b85da2c8265e95f5460726666238bbc3","episode_index":9,"episode_name":"episode_0009"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0009.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_2281/tex_ceiling_textures_6000/tex_floor_textures_5218/tex_table_textures_560/tex_wall_textures_2281","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":8739093965235083857,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":8739093965235083857,"visual_seed":8739093965235083857,"scene_id":"lab_003","finished_at":"2026-09-05T18:50:00"} +{"episode_id":"ep_000009","started_at":"2026-09-05T18:50:04","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_0","position":[0.5421120176378813,1.6813957994547448,0.71338606911949],"aabb_xy":[[0.5121203549040109,1.6513958001179443],[0.5721036803717515,1.7113957987915454]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_1","position":[-0.3486695774788426,-1.3439518916282063,0.71338606911949],"aabb_xy":[[-0.41366957751314537,-1.3906525683085336],[-0.2836695774445399,-1.297251214947879]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_2","position":[-0.37668515926716434,0.0923856240867913,0.71338606911949],"aabb_xy":[[-0.411147637280252,0.08572194690386847],[-0.34222268125407646,0.09904930126971412]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_3","position":[-0.0943037575146608,-0.02047215609437769,0.71338606911949],"aabb_xy":[[-0.11209726444957722,-0.03827190169017536],[-0.07651025057974435,-0.0026724104985800246]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_4","position":[0.01496722813477347,-0.9287831848360457,0.71338606911949],"aabb_xy":[[-0.035032770511147726,-0.9787027284955081],[0.06496722678069466,-0.8788636411765833]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_5","position":[0.4465334652847812,-0.17096002492775186,0.71338606911949],"aabb_xy":[[0.4392511489081175,-0.26096002853726075],[0.4538157816614448,-0.08096002131824283]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_6","position":[-0.28271468910867054,0.84192018567389,0.71338606911949],"aabb_xy":[[-0.33271469039251045,0.7919413312832678],[-0.23271468782483054,0.891899040064512]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_7","position":[-0.215044982066962,-0.5277683458174725,0.71338606911949],"aabb_xy":[[-0.256349525130698,-0.5917683453855894],[-0.17374043900322597,-0.46376834624935526]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_8","position":[0.19833047143730842,-1.3249082318391097,0.71338606911949],"aabb_xy":[[0.1343304743252027,-1.3739406016335205],[0.2623304685494141,-1.2758758620446993]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_9","position":[-0.5530435120788478,1.6985280575639288,0.71338606911949],"aabb_xy":[[-0.5905435118958814,1.6938898462527867],[-0.5155435122618143,1.7031662688750704]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_10","position":[0.4247303631078365,-0.9742365542275029,0.71338606911949],"aabb_xy":[[0.4095581938262032,-0.9894054111557062],[0.43990253238946986,-0.9590676972992995]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_11","position":[-0.21430291557260767,1.6288259865419934,0.71338606911949],"aabb_xy":[[-0.2355809237160799,1.5638259842159203],[-0.1930249074291354,1.6938259888680665]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_12","position":[-0.2916191551077087,1.4981751024624823,0.71338606911949],"aabb_xy":[[-0.3253947142984016,1.4841366072493172],[-0.25784359591701567,1.512213597675647]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_13","position":[-0.021572171977801702,0.7862342077890703,0.71338606911949],"aabb_xy":[[-0.10157217523564466,0.7062376999970864],[0.058427831280041254,0.8662307155810544]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_14","position":[-0.5563415684843658,0.490704401148375,0.71338606911949],"aabb_xy":[[-0.6463415670788358,0.47445381483495397],[-0.46634156988989595,0.506954987461796]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_15","position":[0.42280598286182736,-0.8464697155825962,0.71338606911949],"aabb_xy":[[0.40770368140080915,-0.8615712372136579],[0.43790828432284534,-0.8313681939515343]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_16","position":[0.6024165937492658,-0.23562062530265404,0.71338606911949],"aabb_xy":[[0.5854064964592152,-0.25175511380092797],[0.6194266910393165,-0.21948613680438012]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_17","position":[0.08069450746809792,1.0208449703417686,0.71338606911949],"aabb_xy":[[0.04384395953111031,0.9833449695187351],[0.11754505540508553,1.0583449711648025]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_18","position":[0.5677883985046028,0.8510510916809957,0.71338606911949],"aabb_xy":[[0.5597949087093209,0.8430529597405203],[0.575781888299885,0.8590492236214715]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_19","position":[-0.5348278779766331,-0.6589401913530304,0.71338606911949],"aabb_xy":[[-0.59882788019704,-0.7033132754783186],[-0.470827875756226,-0.614567107227742]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_20","position":[-0.15002356246790172,-2.1142431591397837,0.71338606911949],"aabb_xy":[[-0.1539840462376361,-2.1219110237253043],[-0.14606307869816734,-2.106575294554263]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_21","position":[-0.10384323789899319,-1.9011739397885683,0.71338606911949],"aabb_xy":[[-0.11644593703606965,-1.9137693360134338],[-0.09124053876191673,-1.8885785435637028]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.672236887630764,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1040.png","name":"1040"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1040.png","name":"1040"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4995.png","name":"4995"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1890.png","name":"1890"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3295.png","name":"3295"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8378.png","name":"8378"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":597.1392059331198,"rotation_z_degrees":213.21557127104225,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005916540957124048,0.0038913372863088116,0.010107367268987193]},{"name":"camera_2","offset_m":[0.012622764432098862,0.010700889629343933,-0.003897323648949444]},{"name":"camera_3","offset_m":[0.008128264153347699,0.013883099966768061,-0.008759507385124338]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0007038672891563407,0.0013014699723068782,0.001345839068282484],"end_effector_yaw_offset_degrees":0.22685421693626062},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0009264809457761047,0.001980433367087372,0.0014012589368972463],"end_effector_yaw_offset_degrees":-0.01295588486057575},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00028344642963221297,0.0019881081492237693,0.00019542671097482096],"end_effector_yaw_offset_degrees":0.8206477292777528},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[9.514427974089291e-05,0.0016821894970179955,0.001950185918315652],"end_effector_yaw_offset_degrees":0.3467483674713734}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0015064191117654482,0.00045575598406728205],"position_m":[0.2572935808882345,0.15705575598406726,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004713215103280002,-0.0036875352895211267],"position_m":[0.20838678489672002,-0.33178753528952115,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002417072062631527,-0.0003621891243419228],"position_m":[0.26601707206263153,-0.1314621891243419,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0006902398771801328,-0.004090315730095766],"position_m":[0.32910976012281984,0.3049096842699042,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b9c1a1a20faba56fdf57e9f9e19c810d4e243f0368686f352289792ed6ffb6bf","episode_index":10,"episode_name":"episode_0010"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0010.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_1040/tex_ceiling_textures_8378/tex_floor_textures_3295/tex_table_textures_4995/tex_wall_textures_1890","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":8359444054174255536,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":8359444054174255536,"visual_seed":8359444054174255536,"scene_id":"lab_003","finished_at":"2026-09-05T18:53:38"} +{"episode_id":"ep_000010","started_at":"2026-09-05T18:53:42","dimensions":{"distractor":{"count":32,"items":[{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_0","position":[-0.5223620670801551,1.738262075139105,0.71338606911949],"aabb_xy":[[-0.6023620640431943,1.6611864334953312],[-0.4423620701171159,1.8153377167828781]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_1","position":[-0.054342794122473004,-1.2365010522664357,0.71338606911949],"aabb_xy":[[-0.06749404009376236,-1.2615010520231222],[-0.04119154815118364,-1.2115010525097492]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_2","position":[-0.2726534889590873,0.3647560608519558,0.71338606911949],"aabb_xy":[[-0.3038004078026704,0.29475606216514855],[-0.2415065701155042,0.4347560595387629]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_3","position":[0.4668718932326532,-0.2539868504669722,0.71338606911949],"aabb_xy":[[0.38687189276243733,-0.2622975580813206],[0.5468718937028691,-0.24567614285262385]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_4","position":[0.16075074140174994,-1.6147539326027236,0.71338606911949],"aabb_xy":[[0.10075074080573379,-1.669566405147947],[0.22075074199776615,-1.5599414600575001]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_5","position":[-0.3427142389794773,-0.11960066138266834,0.71338606911949],"aabb_xy":[[-0.38373218236584816,-0.16960066201362567],[-0.3016962955931064,-0.06960066075171101]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_6","position":[-0.37465970632839685,-2.3339399591320524,0.71338606911949],"aabb_xy":[[-0.38976200778941483,-2.3490414807631135],[-0.35955740486737864,-2.3188384375009896]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_7","position":[-0.4238685045406401,-1.7042562545042461,0.71338606911949],"aabb_xy":[[-0.47386850590152746,-1.754234159079662],[-0.373868503179753,-1.6542783499288307]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_8","position":[-0.14834108981356942,0.959281787656074,0.71338606911949],"aabb_xy":[[-0.1580970793227433,0.9495192535968394],[-0.13858510030439553,0.9690443217153083]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_9","position":[-0.03447892375888362,1.5609116041388371,0.71338606911949],"aabb_xy":[[-0.0389095531137238,1.5554632324041546],[-0.030048294404043448,1.5663599758735196]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_10","position":[-0.44402678860198297,-0.7487614325718335,0.71338606911949],"aabb_xy":[[-0.47902678995346465,-0.7691211685286542],[-0.4090267872505012,-0.7284016966150125]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_11","position":[0.6025710490509273,-1.8467864268649303,0.71338606911949],"aabb_xy":[[0.5385753516558306,-1.9107864251656388],[0.6665667464460238,-1.7827864285642214]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_12","position":[0.6744283716663999,-0.6927052642817835,0.71338606911949],"aabb_xy":[[0.6531503635229277,-0.7577052666078563],[0.6957063798098722,-0.6277052619557102]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_13","position":[0.2020747406312523,0.9190236742244688,0.71338606911949],"aabb_xy":[[0.1469495350016615,0.8590236727831817],[0.257199946260843,0.979023675665756]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_14","position":[0.26986527457841547,1.1968913620939623,0.71338606911949],"aabb_xy":[[0.22487268785996506,1.1518913628195135],[0.3148578612968659,1.241891361368411]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_15","position":[-0.40682549614957125,0.3076090602756092,0.71338606911949],"aabb_xy":[[-0.41408674371997867,0.2948220500120997],[-0.39956424857916384,0.32039607053911867]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_16","position":[-0.5080233442183462,1.4206084419681315,0.71338606911949],"aabb_xy":[[-0.5580183551777983,1.3706084429325398],[-0.45802833325889425,1.4706084410037232]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_17","position":[-0.3674180907228003,0.8439303118381938,0.71338606911949],"aabb_xy":[[-0.4049180908283932,0.8371081499852127],[-0.3299180906172073,0.8507524736911749]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_18","position":[0.13521747111810678,-1.287656089205822,0.71338606911949],"aabb_xy":[[0.1102174715663683,-1.2977985730709567],[0.16021747066984526,-1.2775136053406873]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_19","position":[0.7096512424534716,-1.3923554647237248,0.71338606911949],"aabb_xy":[[0.6944790731718382,-1.4075243216519284],[0.7248234117351049,-1.3771866077955217]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_20","position":[0.012816074498632424,-2.5766981396276574,0.71338606911949],"aabb_xy":[[-0.0671839265744879,-2.5864761859650423],[0.09281607557175275,-2.5669200932902734]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_21","position":[-0.39417615383553317,-0.5241479242167442,0.71338606911949],"aabb_xy":[[-0.44130553283736873,-0.5881479252611459],[-0.3470467748336974,-0.460147923172342]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_22","position":[-0.20585823832819683,-1.3054886931957355,0.71338606911949],"aabb_xy":[[-0.2131020043744421,-1.3854886913993376],[-0.19861447228195145,-1.2254886949921329]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_23","position":[-0.6037518034683516,-0.4148589350697489,0.71338606911949],"aabb_xy":[[-0.6124497657590668,-0.42698390937722364],[-0.5950538411776363,-0.4027339607622742]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_24","position":[-0.1311392634275853,-0.6289609453406662,0.71338606911949],"aabb_xy":[[-0.14804999586392706,-0.6424331509332805],[-0.11422853099124351,-0.6154887397480514]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_25","position":[0.3964510932039558,-0.9437188188542658,0.71338606911949],"aabb_xy":[[0.32645108981239374,-0.9790345925576966],[0.4664510965955177,-0.9084030451508349]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_26","position":[-0.4362797644749422,-1.271808974818043,0.71338606911949],"aabb_xy":[[-0.444316099176227,-1.2798470941224596],[-0.4282434297736573,-1.263770855513626]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_27","position":[-0.325654609834208,0.10309656392379996,0.71338606911949],"aabb_xy":[[-0.36065460810432787,0.09602243622881178],[-0.29065461156408806,0.1101706916187881]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_28","position":[0.6091759083155588,1.2045191430852236,0.71338606911949],"aabb_xy":[[0.5451759119199858,1.14055585466649],[0.673175904711132,1.2684824315039571]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_29","position":[-0.4805854435384369,-2.2746456602199383,0.71338606911949],"aabb_xy":[[-0.4994698273069471,-2.2935315850002906],[-0.4617010597699267,-2.255759735439585]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_30","position":[-0.3491960630319304,0.5910991422878005,0.71338606911949],"aabb_xy":[[-0.4091960632833315,0.5368178172513357],[-0.2891960627805292,0.645380467324265]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_31","position":[-0.573298813065858,1.5437035464812205,0.71338606911949],"aabb_xy":[[-0.5933572246790982,1.5236384595720631],[-0.5532404014526177,1.563768633390378]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6763043481287128,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/892.png","name":"892"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/892.png","name":"892"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4795.png","name":"4795"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5751.png","name":"5751"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8191.png","name":"8191"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/740.png","name":"740"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":501.07722881307825,"rotation_z_degrees":224.56908194492237,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0051677891775489294,-0.009204206594326995,0.014474069996579252]},{"name":"camera_2","offset_m":[0.0005618082721058383,0.015441415597181585,-0.01109054119111354]},{"name":"camera_3","offset_m":[-0.012104680610071177,-0.0034341562764181356,0.016680923760362867]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0014157829088950239,0.0005575205502467884,-0.0008986066716007519],"end_effector_yaw_offset_degrees":-0.036178490102170446},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0007403502229030106,-0.0014444931220460064,0.00016689720247952842],"end_effector_yaw_offset_degrees":-0.17195898974660917},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0013155177661622669,0.0007590908799523497,0.0006982178470984848],"end_effector_yaw_offset_degrees":0.05410977940957307},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0016029304715463452,0.0008399157761443468,0.0019413651774414882],"end_effector_yaw_offset_degrees":-0.4674567201485118}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.00129604029463532,0.0013663797149879985],"position_m":[0.25750395970536466,0.15796637971498798,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003019750444740771,-0.0013948830449194184],"position_m":[0.21008024955525925,-0.3294948830449194,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0034717214366989076,-0.0037548054321174017],"position_m":[0.2670717214366989,-0.1348548054321174,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0035564924036860937,-0.003470130060090707],"position_m":[0.3333564924036861,0.30552986993990927,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"223e59a9134b8a1f4313cf73994f1b96458cc6b5958b55574c578bab228e8eb8","episode_index":11,"episode_name":"episode_0011"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0011.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_892/tex_ceiling_textures_740/tex_floor_textures_8191/tex_table_textures_4795/tex_wall_textures_5751","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":4995115220824877993,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":4995115220824877993,"visual_seed":4995115220824877993,"scene_id":"lab_003","finished_at":"2026-09-05T18:57:15"} +{"episode_id":"ep_000011","started_at":"2026-09-05T18:57:19","dimensions":{"distractor":{"count":20,"items":[{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_0","position":[-0.26840466898421217,-1.4940441379452343,0.71338606911949],"aabb_xy":[[-0.29340466853595065,-1.504186621810369],[-0.24340466943247369,-1.4839016540800996]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_1","position":[0.08907270062956596,-1.6884193261950333,0.71338606911949],"aabb_xy":[[0.07991282168568936,-1.6949505442385704],[0.09823257957344256,-1.6818881081514963]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_2","position":[-0.41188651541373605,-2.1700327706643034,0.71338606911949],"aabb_xy":[[-0.46136693662769485,-2.2340327685771557],[-0.36240609419977726,-2.106032772751452]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_3","position":[0.19419839284529117,0.8013133648444604,0.71338606911949],"aabb_xy":[[0.11419839418840519,0.7868085059201977],[0.2741983915021772,0.8158182237687233]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_4","position":[0.08599196107105145,-1.4888379541970274,0.71338606911949],"aabb_xy":[[0.05099196187823317,-1.4998050001946897],[0.1209919602638697,-1.4778709081993646]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_5","position":[-0.26830706657388975,0.13011826495626266,0.71338606911949],"aabb_xy":[[-0.32830706716990593,0.07530579241103919],[-0.20830706597787357,0.18493073750148614]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_6","position":[-0.6571606365560414,1.2750276322962217,0.71338606911949],"aabb_xy":[[-0.6784386446995136,1.2100276299701485],[-0.6358826284125692,1.3400276346222946]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_7","position":[0.1343759332719634,-2.3649440866890203,0.71338606911949],"aabb_xy":[[0.07938272193482666,-2.419944087027814],[0.1893691446091002,-2.3099440863502267]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_8","position":[-0.31598295794395675,-1.2317911692053898,0.71338606911949],"aabb_xy":[[-0.3534829582361316,-1.2358326446059933],[-0.27848295765178194,-1.2277496938047863]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_9","position":[-0.439570711347757,-1.5343431174637574,0.71338606911949],"aabb_xy":[[-0.45707071160709367,-1.5484346596525305],[-0.4220707110884204,-1.5202515752749852]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_10","position":[-0.17656645988681363,-0.04092588902768002,0.71338606911949],"aabb_xy":[[-0.19545084365532384,-0.0598118138080328],[-0.15768207611830343,-0.022039964247327237]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_11","position":[0.5686551691138364,0.42576778225193923,0.71338606911949],"aabb_xy":[[0.5606616793185544,0.4177696503114636],[0.5766486589091184,0.43376591419241495]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_12","position":[-0.47308084708525266,0.02384023171380356,0.71338606911949],"aabb_xy":[[-0.4863117926199339,0.010612812691804141],[-0.4598499015505713,0.03706765073580298]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_13","position":[-0.18753398777858954,-0.5318211137160982,0.71338606911949],"aabb_xy":[[-0.1968809953608848,-0.5461247359337422],[-0.17818698019629434,-0.5175174914984542]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_14","position":[-0.4263059519604078,-2.562243575770202,0.71338606911949],"aabb_xy":[[-0.44541825931838663,-2.581378354647444],[-0.4071936446024289,-2.5431087968929598]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_15","position":[0.2560286714711334,1.7079937340081721,0.71338606911949],"aabb_xy":[[0.22143758861708815,1.642993733723141],[0.29061975432517856,1.7729937342932032]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_16","position":[0.25848435273899095,0.5858221453020827,0.71338606911949],"aabb_xy":[[0.22098435239076314,0.5740307497209991],[0.29598435308721865,0.5976135408831662]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_17","position":[-0.22410911659034644,-0.24785273181390544,0.71338606911949],"aabb_xy":[[-0.2881091130176684,-0.2950223556360019],[-0.16010912016302456,-0.20068310799180902]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_18","position":[0.18532308488716764,-1.406058429169665,0.71338606911949],"aabb_xy":[[0.16745397713271215,-1.419891337146876],[0.20319219264162314,-1.392225521192454]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_19","position":[0.5378276025963811,0.3656773605561505,0.71338606911949],"aabb_xy":[[0.5302033345062028,0.35804413701960686],[0.5454518706865593,0.3733105840926943]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6747263647241221,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8637.png","name":"8637"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8637.png","name":"8637"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9792.png","name":"9792"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5058.png","name":"5058"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9517.png","name":"9517"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2375.png","name":"2375"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":835.9455869856736,"rotation_z_degrees":272.83870333385926,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.001549932089556276,-0.01013270474540652,-0.017098403523250358]},{"name":"camera_2","offset_m":[-0.013934315194109984,0.0017971053290530524,0.006351306320230399]},{"name":"camera_3","offset_m":[-0.0068444813177368415,-0.007377956803296067,-0.003117259001725478]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0011354821769451167,0.001525678258382384,0.0016528487503421445],"end_effector_yaw_offset_degrees":0.41626742072803835},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00011606167787590362,-0.000454299225721007,0.000653483667511048],"end_effector_yaw_offset_degrees":0.6084776286184725},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0014120685614122355,-0.0004803585644755524,-8.845476565933906e-05],"end_effector_yaw_offset_degrees":-0.10736426135703536},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00043832651006388973,0.001978222475929872,-0.0012592246548411294],"end_effector_yaw_offset_degrees":0.35684455588543584}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0003894985179509307,0.004089733139954734],"position_m":[0.258410501482049,0.16068973313995472,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0007032020850305919,-0.0014081864143830024],"position_m":[0.21239679791496943,-0.329508186414383,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003951888528655517,0.002294046873469833],"position_m":[0.2675518885286555,-0.12880595312653015,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0003103090054285759,-0.0005793920596943239],"position_m":[0.33011030900542854,0.3084206079403057,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"64f480e7af3098182b3719e4d64e2b1bf239d179c675bc595acccf1be33af4de","episode_index":12,"episode_name":"episode_0012"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0012.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_8637/tex_ceiling_textures_2375/tex_floor_textures_9517/tex_table_textures_9792/tex_wall_textures_5058","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":8334264268716113665,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":8334264268716113665,"visual_seed":8334264268716113665,"scene_id":"lab_003","finished_at":"2026-09-05T19:01:11"} +{"episode_id":"ep_000012","started_at":"2026-09-05T19:06:35","dimensions":{"distractor":{"count":30,"items":[{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_0","position":[0.05778903390026269,-1.1303186998370787,0.71338606911949],"aabb_xy":[[0.0028153118639297967,-1.1853186994013118],[0.11276275593659557,-1.0753187002728455]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_1","position":[0.211032772951104,1.0212409179321686,0.71338606911949],"aabb_xy":[[0.20499575995043928,1.0152142168632206],[0.21706978595176873,1.0272676190011167]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_2","position":[0.10583160240657719,-0.8480563626789188,0.71338606911949],"aabb_xy":[[0.07083160321375889,-0.8590234086765814],[0.14083160159939542,-0.8370893166812562]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_3","position":[-0.38475595584342037,1.6755080871816763,0.71338606911949],"aabb_xy":[[-0.43975143366407965,1.6205080857477692],[-0.3297604780227609,1.730508088615583]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_4","position":[-0.03393432243605832,-0.6760280084803667,0.71338606911949],"aabb_xy":[[-0.055212330579530566,-0.7410280108064397],[-0.012656314292586068,-0.6110280061542935]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_5","position":[-0.08419179923247921,0.2330563003955759,0.71338606911949],"aabb_xy":[[-0.15419179564244095,0.2126183647438941],[-0.014191802822517403,0.2534942360472575]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_6","position":[-0.45382096535678357,-0.038555646728932746,0.71338606911949],"aabb_xy":[[-0.4913209637801839,-0.05171986069676337],[-0.4163209669333832,-0.02539143276110211]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_7","position":[-0.272120951148682,1.4002559190956196,0.71338606911949],"aabb_xy":[[-0.32160137236264086,1.336255921182768],[-0.22264052993472327,1.4642559170084717]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_8","position":[-0.48839095079665884,0.10632475549128495,0.71338606911949],"aabb_xy":[[-0.5733909492140821,0.021450460028999974],[-0.40339095237923556,0.19119905095356993]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_9","position":[0.45573700952470153,-2.0293017434598375,0.71338606911949],"aabb_xy":[[0.40073701034811193,-2.084291418234795],[0.5107370087012909,-1.9743120686848799]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_10","position":[-0.5596223906040143,-0.20017877445654353,0.71338606911949],"aabb_xy":[[-0.6096172235319559,-0.25017877335178706],[-0.5096275576760727,-0.1501787755613]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_11","position":[0.5904881021816859,-1.7711082486855685,0.71338606911949],"aabb_xy":[[0.5404881018211197,-1.8210882358951712],[0.6404881025422519,-1.7211282614759653]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_12","position":[0.48549348716662655,-1.091814305346801,0.71338606911949],"aabb_xy":[[0.42149349073930464,-1.1389839291688975],[0.5494934835939485,-1.0446446815247046]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_13","position":[0.395801073181302,1.385565689044065,0.71338606911949],"aabb_xy":[[0.34582365631604833,1.335565687554816],[0.4457784900465555,1.4355656905333132]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_14","position":[-0.6152812100232079,1.1615257998573316,0.71338606911949],"aabb_xy":[[-0.6502812113746895,1.1411660639005103],[-0.5802812086717261,1.181885535814152]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_15","position":[0.139286242809198,-1.4770241883306712,0.71338606911949],"aabb_xy":[[0.1142862428766801,-1.4839068565515947],[0.16428624274171588,-1.470141520109748]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_16","position":[0.40373598733933624,-0.41520049842070605,0.71338606911949],"aabb_xy":[[0.33973598875276373,-0.4622074618202148],[0.46773598592590865,-0.3681935350211974]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_17","position":[0.5573072792960456,0.6190119573222193,0.71338606911949],"aabb_xy":[[0.5235317201053525,0.6049734621090542],[0.5910828384867385,0.6330504525353843]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_18","position":[-0.553682705164422,-0.9360528297728008,0.71338606911949],"aabb_xy":[[-0.5617089757950481,-0.9448043247501533],[-0.5456564345337961,-0.9273013347954481]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_19","position":[-0.3694311886751655,0.6951052671228162,0.71338606911949],"aabb_xy":[[-0.4334311919648736,0.6517703481188986],[-0.3054311853854574,0.7384401861267338]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_20","position":[0.12625831189847303,1.543176276251487,0.71338606911949],"aabb_xy":[[0.11115601043745492,1.5280747546204247],[0.1413606133594911,1.5582777978825486]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_21","position":[0.20044703225649296,-0.8019814988000069,0.71338606911949],"aabb_xy":[[0.1916658051092568,-0.8107612460885372],[0.20922825940372924,-0.7932017515114769]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_22","position":[-0.6828641761799462,-1.0100647850714242,0.71338606911949],"aabb_xy":[[-0.6899056271306938,-1.0170915368092186],[-0.6758227252291986,-1.0030380333336297]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_23","position":[-0.3063725346701463,-1.7509101782604586,0.71338606911949],"aabb_xy":[[-0.32995765813404115,-1.8159101805058904],[-0.28278741120625145,-1.6859101760150268]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_24","position":[-0.16941964436411527,1.0450840085015392,0.71338606911949],"aabb_xy":[[-0.23341964164976392,1.0035772895486954],[-0.10541964707846663,1.0865907274543833]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_25","position":[0.6268159288551576,-0.7556785553914023,0.71338606911949],"aabb_xy":[[0.6164043701746739,-0.7610242887273008],[0.6372274875356413,-0.7503328220555038]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_26","position":[-0.6536317314478619,-1.7545260843231147,0.71338606911949],"aabb_xy":[[-0.6715008392023173,-1.7683589923003256],[-0.6357626236934063,-1.740693176345904]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_27","position":[-0.3069627500413648,-0.806472997986825,0.71338606911949],"aabb_xy":[[-0.3294618857675918,-0.8289729987650879],[-0.28446361431513784,-0.783972997208562]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_28","position":[0.6793293531967053,1.4002619330251704,0.71338606911949],"aabb_xy":[[0.6732347253085871,1.391692538473502],[0.6854239810848237,1.4088313275768394]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_29","position":[0.36472804854385665,-0.8226027934277236,0.71338606911949],"aabb_xy":[[0.300728047135866,-0.8743917449516483],[0.4287280499518473,-0.7708138419037989]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6745325737985349,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6133.png","name":"6133"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6133.png","name":"6133"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8836.png","name":"8836"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4382.png","name":"4382"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8358.png","name":"8358"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3164.png","name":"3164"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":738.882646500973,"rotation_z_degrees":168.46287083901288,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015036023315399345,0.00820761219670275,0.007319270247650757]},{"name":"camera_2","offset_m":[0.011799606606578552,0.0049937187778616166,-0.00915871705730988]},{"name":"camera_3","offset_m":[-0.0017368510194801894,0.005809238449753441,-0.006571944135175686]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0009246224402864435,-0.001685625255357269,-0.000118753809809609],"end_effector_yaw_offset_degrees":-0.5299975098525351},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-8.236597498749942e-05,-0.0006820432883893424,-0.0015011858738167567],"end_effector_yaw_offset_degrees":-0.6630184690289751},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00010171624902606123,-0.00021698860382021712,0.0012202163169944846],"end_effector_yaw_offset_degrees":-0.9680495956709176},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0008295278068114955,0.0013230273091910296,0.0010641296717593327],"end_effector_yaw_offset_degrees":-0.7663600608143009}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0046495975843932015,0.0020271082336853017],"position_m":[0.2634495975843932,0.15862710823368528,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0019626116354290613,0.00496886056117021],"position_m":[0.21506261163542909,-0.3231311394388298,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0025529420968862194,-0.0018044229885321983],"position_m":[0.2661529420968862,-0.1329044229885322,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001647227013529943,-0.0036225068421808283],"position_m":[0.3314472270135299,0.30537749315781915,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"11fdafb7b535c05bedb864e8226101b73ef0032e9958ec9d4a239b9e4cc297e9","episode_index":15,"episode_name":"episode_0015"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0015.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_6133/tex_ceiling_textures_3164/tex_floor_textures_8358/tex_table_textures_8836/tex_wall_textures_4382","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":7088285970458264341,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":7088285970458264341,"visual_seed":7088285970458264341,"scene_id":"lab_003","finished_at":"2026-09-05T19:10:26"} +{"episode_id":"ep_000013","started_at":"2026-09-05T19:14:43","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_0","position":[0.4796039658757383,-0.29549192117537526,0.71338606911949],"aabb_xy":[[0.46919240719525457,-0.30083765451127376],[0.490015524556222,-0.29014618783947677]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_1","position":[-0.33244224679256973,-1.3918257144536306,0.71338606911949],"aabb_xy":[[-0.3964422470530405,-1.4368345138065586],[-0.26844224653209886,-1.3468169151007026]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_2","position":[0.6778857112391983,1.371486145540767,0.71338606911949],"aabb_xy":[[0.6495560012906582,1.36702540334705],[0.7062154211877386,1.375946887734484]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_3","position":[-0.30430606180706177,0.9075005353389454,0.71338606911949],"aabb_xy":[[-0.3399352177070215,0.8718678685820924],[-0.268676905907102,0.9431332020957983]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_4","position":[-0.3808670721841373,-1.7415261379927125,0.71338606911949],"aabb_xy":[[-0.3850029285168375,-1.7790261374370697],[-0.3767312158514371,-1.7040261385483557]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_5","position":[-0.3246700641429352,-0.7914759799029272,0.71338606911949],"aabb_xy":[[-0.3747675281240088,-0.8554759804127391],[-0.2745726001618616,-0.7274759793931155]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_6","position":[0.3051899427632745,1.7278053130208098,0.71338606911949],"aabb_xy":[[0.24118994248929626,1.6777392128235218],[0.3691899430372527,1.7778714132180977]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_7","position":[-0.6695726628217359,1.0092570492620565,0.71338606911949],"aabb_xy":[[-0.6945726623734744,0.9991145653969218],[-0.6445726632699974,1.0193995331271912]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_8","position":[-0.18836188364188056,1.3685128076934414,0.71338606911949],"aabb_xy":[[-0.20082924175161623,1.3560474830601181],[-0.17589452553214494,1.3809781323267651]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_9","position":[0.5996112412200658,-0.30852525164426803,0.71338606911949],"aabb_xy":[[0.5496112398591785,-0.3585031562196836],[0.6496112425809529,-0.25854734706885235]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_10","position":[0.41898335223620986,0.9495806476266218,0.71338606911949],"aabb_xy":[[0.33398335354413516,0.9175947842317429],[0.5039833509282845,0.9815665110215006]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_11","position":[-0.46195488697770287,-0.12892871846159082,0.71338606911949],"aabb_xy":[[-0.49695488832918466,-0.14928845441841163],[-0.4269548856262212,-0.10856898250476997]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_12","position":[0.41313120986279417,-2.10065670657746,0.71338606911949],"aabb_xy":[[0.3756312095706193,-2.1046981819780637],[0.45063121015496893,-2.096615231176856]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_13","position":[0.19859315621452678,-1.4374917649307983,0.71338606911949],"aabb_xy":[[0.17948084885654791,-1.4566265438080404],[0.21770546357250564,-1.4183569860535563]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_14","position":[-0.3469857185352003,-1.8483047939738495,0.71338606911949],"aabb_xy":[[-0.3640877964935685,-1.8654115995051193],[-0.32988364057683217,-1.8311979884425797]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_15","position":[-0.2909361861113326,0.7992931387374713,0.71338606911949],"aabb_xy":[[-0.3128448682506836,0.7773924719173805],[-0.2690275039719815,0.8211938055575619]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_16","position":[0.12580838723878407,-1.6203168422800913,0.71338606911949],"aabb_xy":[[0.10992389397345892,-1.6346697825789156],[0.14169288050410922,-1.6059639019812675]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_17","position":[0.03446784050137208,1.4060153177267356,0.71338606911949],"aabb_xy":[[0.010882717037477237,1.341015315481304],[0.05805296396526694,1.4710153199721676]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_18","position":[-0.43488730540400106,-2.0224314592322634,0.71338606911949],"aabb_xy":[[-0.4468200397658291,-2.034813612040123],[-0.422954571042173,-2.010049306424404]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_19","position":[-0.15546480613909353,1.806661605425695,0.71338606911949],"aabb_xy":[[-0.1730976417326211,1.789038659410072],[-0.13783197054556595,1.824284551441318]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_20","position":[-0.4820758122467534,0.5792800308597008,0.71338606911949],"aabb_xy":[[-0.5470758133526967,0.5543146577915725],[-0.41707581114081016,0.6042454039278291]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_21","position":[0.08035982967543209,1.6061256744347259,0.71338606911949],"aabb_xy":[[0.06429790221691443,1.5211256726221343],[0.09642175713394972,1.691125676247318]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_22","position":[-0.24158842099045974,0.13868519855657446,0.71338606911949],"aabb_xy":[[-0.27891969751570234,0.10403214376172215],[-0.20425714446521712,0.17333825335142677]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_23","position":[-0.3157467458728113,0.41926240562499206,0.71338606911949],"aabb_xy":[[-0.3610253607539606,0.35526240627680833],[-0.27046813099166206,0.4832624049731757]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_24","position":[-0.39227990997425727,0.05124332983347735,0.71338606911949],"aabb_xy":[[-0.45627990725990597,0.009736610880633371],[-0.3282799126886087,0.09275004878632132]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_25","position":[-0.06604322074070279,-1.9619788903602862,0.71338606911949],"aabb_xy":[[-0.08068662629473577,-1.9766376100170702],[-0.051399815186669806,-1.9473201707035017]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_26","position":[0.06261362262834291,0.6214505042171079,0.71338606911949],"aabb_xy":[[0.03761362269582502,0.6145678359961846],[0.0876136225608608,0.6283331724380312]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_27","position":[0.32097391866007396,-1.1619617564334113,0.71338606911949],"aabb_xy":[[0.24097392067928894,-1.169563297395263],[0.400973916640859,-1.154360215471559]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_28","position":[0.23465178618010551,-2.3155411816845124,0.71338606911949],"aabb_xy":[[0.21948891320316846,-2.3307066389796316],[0.24981465915704262,-2.300375724389394]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_29","position":[-0.05854210041708696,1.1701144873977012,0.71338606911949],"aabb_xy":[[-0.09354209868720685,1.163040359702713],[-0.023542102146967045,1.1771886150926893]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6751354523242322,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9144.png","name":"9144"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9144.png","name":"9144"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/739.png","name":"739"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3840.png","name":"3840"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/201.png","name":"201"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1164.png","name":"1164"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":717.3506846595914,"rotation_z_degrees":109.24168340427305,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012676612542320385,-0.014574213275566374,-0.018571042068097527]},{"name":"camera_2","offset_m":[-0.0074941382160498195,0.003882515390288513,-0.0033156764900406192]},{"name":"camera_3","offset_m":[0.002338619611963969,-0.018667360286045195,0.0020464088529438366]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0016330539509520178,0.0007200698882887675,-0.0007004770108884606],"end_effector_yaw_offset_degrees":-0.1979570378542177},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0005358696195229831,-0.00033879661670821416,5.15722226989185e-05],"end_effector_yaw_offset_degrees":0.150030126587696},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001638210493008344,0.0005200569653247282,-0.001470028296992003],"end_effector_yaw_offset_degrees":0.8302473710701821},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00141774708299734,-0.0018577291640183482,-0.00123678575836413],"end_effector_yaw_offset_degrees":-0.13566136078064828}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0017018818937938511,-0.004198124785311789],"position_m":[0.2605018818937938,0.1524018752146882,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0028269014000192718,-0.0008947364870284117],"position_m":[0.21027309859998075,-0.3289947364870284,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0008237440454681036,-0.004506197320316327],"position_m":[0.2627762559545319,-0.1356061973203163,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0016855388008572359,0.004156442461848071],"position_m":[0.3281144611991427,0.3131564424618481,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6ce73496294f626a0b25909d56fb41dc088b87a4aa95b5277ca84f42e540125d","episode_index":17,"episode_name":"episode_0017"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0017.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_9144/tex_ceiling_textures_1164/tex_floor_textures_201/tex_table_textures_739/tex_wall_textures_3840","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":2120607640082594325,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":2120607640082594325,"visual_seed":2120607640082594325,"scene_id":"lab_003","finished_at":"2026-09-05T19:18:29"} +{"episode_id":"ep_000014","started_at":"2026-09-05T19:18:33","dimensions":{"distractor":{"count":21,"items":[{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_0","position":[-0.14491022793046182,1.4286951157239902,0.71338606911949],"aabb_xy":[[-0.20491022879127457,1.3772686857175036],[-0.08491022706964897,1.4801215457304764]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_1","position":[0.6065164504105156,0.7059394979610136,0.71338606911949],"aabb_xy":[[0.5843439234338647,0.6837638308048903],[0.6286889773871663,0.7281151651171367]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_2","position":[0.16879504907351184,1.0242007955684365,0.71338606911949],"aabb_xy":[[0.14873663746027158,1.004135708659279],[0.18885346068675216,1.0442658824775939]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_3","position":[-0.16529270068569257,-2.5224549306683484,0.71338606911949],"aabb_xy":[[-0.17125923962642833,-2.5284160753277125],[-0.15932616174495676,-2.516493786008984]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_4","position":[-0.3073452102542457,-1.09405034369275,0.71338606911949],"aabb_xy":[[-0.3571619897190805,-1.1440503421770536],[-0.25752843078941096,-1.0440503452084469]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_5","position":[-0.14651524685850847,-1.1558212576318272,0.71338606911949],"aabb_xy":[[-0.1558622544408037,-1.1701248798494712],[-0.13716823927621324,-1.1415176354141832]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_6","position":[-0.5764758923472181,0.024067319715688207,0.71338606911949],"aabb_xy":[[-0.6264758933663533,-0.01239889602213973],[-0.5264758913280828,0.060533535453516155]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_7","position":[0.5353343534609045,1.3433527828229668,0.71338606911949],"aabb_xy":[[0.470334352460404,1.2925664176682918],[0.600334354461405,1.3941391479776417]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_8","position":[0.46403362584361973,-0.7685243794689414,0.71338606911949],"aabb_xy":[[0.4140405137344279,-0.8185243801431372],[0.5140267379528116,-0.7185243787947458]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_9","position":[-0.5509542195367221,-1.3516190261028043,0.71338606911949],"aabb_xy":[[-0.6009542211982168,-1.4016174683585068],[-0.5009542178752273,-1.3016205838471013]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_10","position":[-0.10540427832383004,1.6016001399606021,0.71338606911949],"aabb_xy":[[-0.1553816951890836,1.5516001384713534],[-0.05542686145857644,1.6516001414498505]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_11","position":[0.2113753333927305,-0.658592950414342,0.71338606911949],"aabb_xy":[[0.17487951276545172,-0.6950768928410995],[0.2478711540200092,-0.6221090079875844]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_12","position":[-0.680379451772129,0.032965044453898695,0.71338606911949],"aabb_xy":[[-0.69225153478363,-0.05203495523975166],[-0.6685073687606278,0.11796504414754905]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_13","position":[0.14643935990476398,-2.1024717584343473,0.71338606911949],"aabb_xy":[[0.10513481684102796,-2.1664717580024644],[0.18774390296849994,-2.03847175886623]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_14","position":[-0.6240467758013618,1.634913376908678,0.71338606911949],"aabb_xy":[[-0.674046774447283,1.5849938332492155],[-0.5740467771554406,1.6848329205681403]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_15","position":[-0.3752581538052663,-2.313442017872479,0.71338606911949],"aabb_xy":[[-0.3833718084786434,-2.321547834326508],[-0.3671444991318892,-2.3053362014184495]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_16","position":[-0.5766834500005691,1.149120690998255,0.71338606911949],"aabb_xy":[[-0.621854767848738,1.0851206938537166],[-0.5315121321524001,1.2131206881427934]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_17","position":[0.06719620761562373,-1.0372886778475616,0.71338606911949],"aabb_xy":[[-0.012803792657983244,-1.1102382256732781],[0.1471962078892307,-0.9643391300218448]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_18","position":[-0.20711983567128667,-0.949311542056811,0.71338606911949],"aabb_xy":[[-0.22422191362965482,-0.9664183475880808],[-0.1900177577129185,-0.9322047365255413]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_19","position":[0.5455746418665017,-2.4536275254285473,0.71338606911949],"aabb_xy":[[0.5252903391431029,-2.473910150571255],[0.5658589445899004,-2.433344900285838]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_20","position":[0.04811153779678867,1.3020322691602133,0.71338606911949],"aabb_xy":[[-0.011888462799227506,1.2472197966149898],[0.10811153839280485,1.3568447417054368]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6725860316615329,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6806.png","name":"6806"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6806.png","name":"6806"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7749.png","name":"7749"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7910.png","name":"7910"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3277.png","name":"3277"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1453.png","name":"1453"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":802.3357918230588,"rotation_z_degrees":121.90521394456717,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.019423354381517054,-0.016544327221483225,-0.007635208190312546]},{"name":"camera_2","offset_m":[-0.017088749131674238,-0.00645030189260162,0.010525571424606018]},{"name":"camera_3","offset_m":[-0.014605294562186818,-0.006027207040787559,0.010860798911977602]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0002904717416020988,-0.0019148854495938123,0.0006520968442669597],"end_effector_yaw_offset_degrees":-0.11774571226775388},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00045369172076700965,0.0012721439810547967,0.00011454264803558269],"end_effector_yaw_offset_degrees":0.7516250091432042},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-9.798839456648086e-05,-0.0007218570093768327,-7.782098245580739e-05],"end_effector_yaw_offset_degrees":-0.12043097169169448},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0008619086104253539,0.0018035380847585126,0.001049309830186993],"end_effector_yaw_offset_degrees":0.4095240750831117}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004644851845470726,0.0036482458011362013],"position_m":[0.2634448518454707,0.1602482458011362,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.000976528567817876,0.0032791642287090363],"position_m":[0.21212347143218213,-0.32482083577129095,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004411428809637962,0.002353955483999766],"position_m":[0.25918857119036204,-0.12874604451600022,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004823518725187479,0.004647802398232768],"position_m":[0.3249764812748125,0.31364780239823276,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a1d656fdd215755a9dd350156c75c0373b0cbb38d7728e832611d4b29fbef71d","episode_index":18,"episode_name":"episode_0018"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0018.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_6806/tex_ceiling_textures_1453/tex_floor_textures_3277/tex_table_textures_7749/tex_wall_textures_7910","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":1886493872248732079,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":1886493872248732079,"visual_seed":1886493872248732079,"scene_id":"lab_003","finished_at":"2026-09-05T19:22:07"} +{"episode_id":"ep_000015","started_at":"2026-09-05T19:22:13","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_0","position":[0.6334027811177503,1.2289536398446295,0.71338606911949],"aabb_xy":[[0.5833053171366767,1.1649536393348177],[0.6835002450988239,1.2929536403544413]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_1","position":[-0.00535262436424111,0.6887777780760769,0.71338606911949],"aabb_xy":[[-0.01781998247397676,0.6763124534427535],[0.007114733745494539,0.7012431027094005]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_2","position":[0.644735442673513,-2.0250039821524037,0.71338606911949],"aabb_xy":[[0.6359542155262768,-2.033783729440934],[0.6535166698207494,-2.0162242348638735]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_3","position":[-0.270019692217861,-2.0708849446519215,0.71338606911949],"aabb_xy":[[-0.28890407598637124,-2.0897708694322743],[-0.25113530844935084,-2.0519990198715687]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_4","position":[-0.34811434830939664,-0.18803174529642952,0.71338606911949],"aabb_xy":[[-0.370614347833104,-0.21052769274705024],[-0.3256143487856892,-0.16553579784580869]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_5","position":[0.08130598594109528,-2.3190715569000098,0.71338606911949],"aabb_xy":[[0.011305982549533312,-2.35438733060344],[0.15130598933265726,-2.2837557831965785]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_6","position":[-0.5418802197227838,-2.0525277182132573,0.71338606911949],"aabb_xy":[[-0.5619386313360241,-2.0725928051224147],[-0.5218218081095435,-2.0324626313041]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_7","position":[-0.497051595625379,-1.3115773569743896,0.71338606911949],"aabb_xy":[[-0.5807738211254614,-1.4015773605090855],[-0.4133293701252965,-1.2215773534396936]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_8","position":[-0.13661248556503047,-2.282203466659789,0.71338606911949],"aabb_xy":[[-0.19424295445230128,-2.3422034655864987],[-0.0789820166777596,-2.2222034677330775]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_9","position":[0.44218468217026663,-1.5887700684551334,0.71338606911949],"aabb_xy":[[0.36219085859170846,-1.6687700710479747],[0.5221785057488249,-1.5087700658622916]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_10","position":[-0.4407651500781764,1.4831674680325828,0.71338606911949],"aabb_xy":[[-0.5007651517210983,1.4311673187406386],[-0.38076514843525455,1.535167617324527]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_11","position":[0.48082376595175114,0.18429021567429693,0.71338606911949],"aabb_xy":[[0.45217443359133486,0.1556446563972211],[0.5094730983121674,0.2129357749513727]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_12","position":[-0.5883458774149626,-0.5557311619436867,0.71338606911949],"aabb_xy":[[-0.6108458779270032,-0.5782230203090849],[-0.565845876902922,-0.5332393035782882]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_13","position":[-0.09481700989917374,0.7915831403008422,0.71338606911949],"aabb_xy":[[-0.11231700917726062,0.7742450402344963],[-0.07731701062108687,0.8089212403671882]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_14","position":[-0.6828800276641379,-2.498901584850599,0.71338606911949],"aabb_xy":[[-0.6909062982947639,-2.5076530798279517],[-0.6748537570335119,-2.4901500898732465]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_15","position":[-0.03426427889456185,1.1676736582242184,0.71338606911949],"aabb_xy":[[-0.045833259641498425,1.1426736581072867],[-0.022695298147625276,1.1926736583411501]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_16","position":[0.1072037479307435,1.5262575435783172,0.71338606911949],"aabb_xy":[[0.02720374685762318,1.5164794972409328],[0.18720374900386383,1.5360355899157017]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_17","position":[0.22407613354806022,-0.7249735483418822,0.71338606911949],"aabb_xy":[[0.16008043615296363,-0.7889735466425908],[0.2880718309431568,-0.6609735500411734]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_18","position":[0.08834350901214805,1.1232922926475082,0.71338606911949],"aabb_xy":[[0.04121413001031238,1.0592922916031058],[0.13547288801398372,1.1872922936919097]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_19","position":[0.29460302889828427,-1.354491171256098,0.71338606911949],"aabb_xy":[[0.2811565022642409,-1.3679610229091896],[0.30804955553232755,-1.341021319603007]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_20","position":[-0.014216970533876605,-1.8461478966653897,0.71338606911949],"aabb_xy":[[-0.034108010414216856,-1.8588037079500868],[0.00567406934646364,-1.833492085380693]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_21","position":[-0.604136499496981,-1.4650678500091332,0.71338606911949],"aabb_xy":[[-0.6173674450316622,-1.4782952690311326],[-0.5909055539622996,-1.4518404309871338]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_22","position":[-0.10372857290943005,-0.5900404605753324,0.71338606911949],"aabb_xy":[[-0.13964207733441975,-0.625953968792087],[-0.06781506848444036,-0.5541269523585777]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_23","position":[0.4522780922664802,-0.8383041981497583,0.71338606911949],"aabb_xy":[[0.44737879995991664,-0.8659811174523269],[0.45717738457304363,-0.8106272788471893]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_24","position":[-0.17865013178797462,-2.4813200636966917,0.71338606911949],"aabb_xy":[[-0.21365013009867004,-2.4890350786202378],[-0.14365013347727915,-2.4736050487731465]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_25","position":[0.3962753617637207,1.3503014596078216,0.71338606911949],"aabb_xy":[[0.39215941165164797,1.3461859045749758],[0.4003913118757933,1.3544170146406669]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_26","position":[-0.2849849535568897,-1.5306573155955099,0.71338606911949],"aabb_xy":[[-0.3549849553656351,-1.5520110843596973],[-0.21498495174814425,-1.5093035468313225]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6744579108318587,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4136.png","name":"4136"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4136.png","name":"4136"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6925.png","name":"6925"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3281.png","name":"3281"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8237.png","name":"8237"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8243.png","name":"8243"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":634.6501702355577,"rotation_z_degrees":115.56046796026149,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012223980342278024,-0.008649058461444002,-0.008527277686273918]},{"name":"camera_2","offset_m":[0.016095524871511013,0.016097589555905432,0.003974831455440208]},{"name":"camera_3","offset_m":[0.01910311218777513,0.009404114247713896,0.010892269631009536]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0018925677646610124,-8.605255601178857e-05,-0.0013296845403851076],"end_effector_yaw_offset_degrees":-0.30500401837165647},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0008436255851152694,-0.0017797076008954486,0.0008452980690488139],"end_effector_yaw_offset_degrees":0.9772899428646291},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0019754032728896307,0.0013496662803247662,-0.0004858581929662372],"end_effector_yaw_offset_degrees":-0.8626833418626829},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00025206374146061216,-0.0005047827465600051,-0.0011703674869217163],"end_effector_yaw_offset_degrees":0.9040043597886487}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0007397492559915973,0.0035766131224944106],"position_m":[0.2580602507440084,0.1601766131224944,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004263941370247446,-0.0004145380994735595],"position_m":[0.20883605862975257,-0.32851453809947356,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.002188180419347432,-0.003367859798322428],"position_m":[0.26141181958065257,-0.13446785979832243,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0001304545683300769,-0.0008167585802218245],"position_m":[0.32993045456833003,0.30818324141977815,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a20d3ce77ba7f19b767c463a7d122059e68f79a6d4ff31e9faf5969e2ae472d9","episode_index":19,"episode_name":"episode_0019"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0019.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_4136/tex_ceiling_textures_8243/tex_floor_textures_8237/tex_table_textures_6925/tex_wall_textures_3281","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":2400602515939540948,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":2400602515939540948,"visual_seed":2400602515939540948,"scene_id":"lab_003","finished_at":"2026-09-05T19:25:59"} +{"episode_id":"ep_000016","started_at":"2026-09-05T19:26:03","dimensions":{"distractor":{"count":26,"items":[{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_0","position":[-0.03559919731872141,1.4602679989947718,0.71338606911949],"aabb_xy":[[-0.07309919726248781,1.4519749089599352],[0.001900802625044995,1.4685610890296084]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_1","position":[-0.3129822047384727,-0.36910586746446317,0.71338606911949],"aabb_xy":[[-0.3540001481248436,-0.4191058680954205],[-0.27196426135210183,-0.31910586683350584]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_2","position":[-0.2768801972892859,0.7746558377954358,0.71338606911949],"aabb_xy":[[-0.2990527242659367,0.7524801706393124],[-0.254707670312635,0.7968315049515587]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_3","position":[0.5861519329251996,-0.4260378269627756,0.71338606911949],"aabb_xy":[[0.5752461568376368,-0.5060378233616047],[0.5970577090127622,-0.34603783056394644]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_4","position":[-0.4861744855931689,-1.0136338357115853,0.71338606911949],"aabb_xy":[[-0.5111744848651311,-1.0299791993077474],[-0.46117448632120656,-0.9972884721154228]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_5","position":[0.5515210652793916,1.5727461276412167,0.71338606911949],"aabb_xy":[[0.5015477712761311,1.5227461270866691],[0.601494359282652,1.6227461281957638]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_6","position":[0.16693449947713368,-1.7626644236513966,0.71338606911949],"aabb_xy":[[0.13193449950063785,-1.772129039699013],[0.2019344994536295,-1.7531998076037798]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_7","position":[-0.4184843247075209,-0.2895451484658085,0.71338606911949],"aabb_xy":[[-0.426597979380898,-0.29765096491983756],[-0.4103706700341438,-0.2814393320117794]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_8","position":[0.3477887948936047,-1.1470520870415972,0.71338606911949],"aabb_xy":[[0.33223302548333944,-1.1626025202860046],[0.36334456430386997,-1.1315016537971903]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_9","position":[0.005417745391290363,-2.1182056152443547,0.71338606911949],"aabb_xy":[[-0.00016392624283839607,-2.13070561506213],[0.010999417025419123,-2.1057056154265794]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_10","position":[0.1546058978062248,-0.7521416751355781,0.71338606911949],"aabb_xy":[[0.14267316344439673,-0.7645238279434374],[0.16653863216805287,-0.7397595223277187]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_11","position":[-0.35428118479466675,0.9033233397748939,0.71338606911949],"aabb_xy":[[-0.38212622157527387,0.8725388410365822],[-0.3264361480140596,0.9341078385132056]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_12","position":[0.6607778152802146,-2.01367251321544,0.71338606911949],"aabb_xy":[[0.6057778170784697,-2.0541944798418776],[0.7157778134819593,-1.9731505465890027]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_13","position":[0.2398766926251943,0.8711690676534314,0.71338606911949],"aabb_xy":[[0.2169609797401444,0.8482647705170081],[0.2627924055102442,0.8940733647898551]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_14","position":[-0.6294875726267165,-1.7167042191400437,0.71338606911949],"aabb_xy":[[-0.6844875722484625,-1.7716879119275166],[-0.5744875730049708,-1.6617205263525712]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_15","position":[-0.38944860286739064,1.6106993376018512,0.71338606911949],"aabb_xy":[[-0.398162571917325,1.588199336942663],[-0.38073463381745604,1.6331993382610395]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_16","position":[-0.06175735160410323,-2.1412658610312993,0.71338606911949],"aabb_xy":[[-0.06968063184285156,-2.1637658612693027],[-0.05383407136535489,-2.118765860793296]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_17","position":[0.19098348698184509,-2.4031967516395776,0.71338606911949],"aabb_xy":[[0.14098348562095786,-2.4531746562149928],[0.2409834883427323,-2.3532188470641615]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_18","position":[0.6624403876996143,0.6978722767441266,0.71338606911949],"aabb_xy":[[0.6450096726206077,0.6806001620802756],[0.6798711027786207,0.7151443914079773]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_19","position":[-0.3618481485061841,1.2999553106829853,0.71338606911949],"aabb_xy":[[-0.3699758366994973,1.2910417022722778],[-0.35372046031287085,1.3088689190936933]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_20","position":[-0.2342669527034449,-1.0235109581569901,0.71338606911949],"aabb_xy":[[-0.2625966626519851,-1.027971700350707],[-0.2059372427549047,-1.0190502159632728]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_21","position":[0.26498043096734236,-2.130923182312155,0.71338606911949],"aabb_xy":[[0.21498043139100764,-2.180903761264261],[0.3149804305436771,-2.0809426033600493]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_22","position":[-0.07981771998819931,-0.8240385172520135,0.71338606911949],"aabb_xy":[[-0.15981772324604226,-0.9040350250439975],[0.00018228326964364605,-0.7440420094600295]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_23","position":[0.4321392470845755,-2.3886592019491473,0.71338606911949],"aabb_xy":[[0.3946392469789825,-2.395481363802128],[0.4696392471901684,-2.3818370400961664]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_24","position":[0.5359589936466744,0.45739875411558195,0.71338606911949],"aabb_xy":[[0.4759589920037526,0.40539860482363776],[0.5959589952895963,0.5093989034075261]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_25","position":[-0.5987617386875858,1.6132937190457786,0.71338606911949],"aabb_xy":[[-0.6250505630080264,1.5870222853911273],[-0.5724729143671451,1.6395651527004298]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.67409663590444,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4991.png","name":"4991"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4991.png","name":"4991"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3152.png","name":"3152"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7378.png","name":"7378"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5526.png","name":"5526"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1021.png","name":"1021"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":643.900442735044,"rotation_z_degrees":17.65877226881163,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01818851357149096,-0.002325504331484325,0.0009586656768400502]},{"name":"camera_2","offset_m":[0.01850169040153452,-0.013346077510897704,-0.01757007393449564]},{"name":"camera_3","offset_m":[0.006931708956490656,0.012231676117988092,-0.0117837842625848]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0017998427545790714,0.0006147495709747449,-4.6473047037798136e-05],"end_effector_yaw_offset_degrees":0.9547760045582407},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0013071919596064178,0.0005579626105462546,9.183206565707095e-05],"end_effector_yaw_offset_degrees":0.046070169593422694},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00041626321078025615,-0.0003650813456708155,-0.0019020961009994731],"end_effector_yaw_offset_degrees":-0.8186136462674538},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0018746934343220696,-0.00013032684427290945,-0.0006939496715016702],"end_effector_yaw_offset_degrees":-0.0076567472043962415}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0040281612422054585,-0.00032563750816371785],"position_m":[0.2628281612422054,0.15627436249183627,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0007472083495927385,0.0030306614803589987],"position_m":[0.21235279165040727,-0.325069338519641,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002836935975391382,-0.0015862811468495032],"position_m":[0.26643693597539136,-0.1326862811468495,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0006775760696906162,-3.627587404181863e-05],"position_m":[0.3291224239303094,0.3089637241259582,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1524840246003154bd53a7ab73ad3f1c2cacb818268b212b744ff84ad70a4a60","episode_index":20,"episode_name":"episode_0020"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0020.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_4991/tex_ceiling_textures_1021/tex_floor_textures_5526/tex_table_textures_3152/tex_wall_textures_7378","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":7495569489143606301,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":7495569489143606301,"visual_seed":7495569489143606301,"scene_id":"lab_003","finished_at":"2026-09-05T19:29:53"} +{"episode_id":"ep_000017","started_at":"2026-09-05T19:29:57","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_0","position":[-0.305660763069512,-0.9659541164258081,0.71338606911949],"aabb_xy":[[-0.32924588653340686,-1.0309541186712399],[-0.28207563960561716,-0.9009541141803762]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_1","position":[0.6633034199866252,-1.0449113105165926,0.71338606911949],"aabb_xy":[[0.6056729510993543,-1.1049113094433027],[0.720933888873896,-0.9849113115898815]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_2","position":[0.07994819032518663,-0.7473450089010192,0.71338606911949],"aabb_xy":[[0.07065457208803605,-0.7848450073891531],[0.08924180856233721,-0.7098450104128853]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_3","position":[-0.10098120207328087,1.0403215375649504,0.71338606911949],"aabb_xy":[[-0.11154868173137987,1.0297765074519418],[-0.09041372241518185,1.050866567677959]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_4","position":[-0.21665817684730904,-0.7051773891113122,0.71338606911949],"aabb_xy":[[-0.22706973552779272,-0.7105231224472107],[-0.2062466181668253,-0.6998316557754137]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_5","position":[0.3597358310353498,-0.8121234140529103,0.71338606911949],"aabb_xy":[[0.34849077546473195,-0.8233652117770055],[0.3709808866059676,-0.8008816163288149]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_6","position":[0.6183861498303731,0.28986553645084845,0.71338606911949],"aabb_xy":[[0.6103926600350911,0.28186740451037284],[0.6263796396256551,0.29786366839132417]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_7","position":[0.11327890253571182,-1.1673439747125527,0.71338606911949],"aabb_xy":[[0.04927890523336541,-1.2117104016804092],[0.17727889983805822,-1.1229775477446957]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_8","position":[-0.28035636225504557,0.08022618766602152,0.71338606911949],"aabb_xy":[[-0.30285636249856096,0.06802155300624957],[-0.25785636201153017,0.09243082232579347]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_9","position":[0.30414551205991736,1.0681845228522637,0.71338606911949],"aabb_xy":[[0.2961515234822139,1.0601844427571734],[0.3121395006376207,1.076184602947354]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_10","position":[-0.6337834534576433,-0.7133113538778866,0.71338606911949],"aabb_xy":[[-0.6837784644170954,-0.7633113529134784],[-0.5837884424981914,-0.6633113548422949]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_11","position":[-0.019454792739063476,-0.7571385506054698,0.71338606911949],"aabb_xy":[[-0.05508394863902322,-0.7927712173623226],[0.016174363160896266,-0.7215058838486167]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_12","position":[-0.5461649763914594,-0.19338040613066143,0.71338606911949],"aabb_xy":[[-0.5826607970187382,-0.22986434855741897],[-0.5096691557641807,-0.15689646370390384]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_13","position":[-0.130574131367986,0.4746806396947352,0.71338606911949],"aabb_xy":[[-0.19457413304598337,0.42616324821542095],[-0.06657412968998866,0.5231980311740494]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_14","position":[-0.6074219709474571,1.6853471729504839,0.71338606911949],"aabb_xy":[[-0.6167689785297523,1.6710435507328398],[-0.5980749633651619,1.699650795168128]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_15","position":[-0.642895340339395,0.8841235314600877,0.71338606911949],"aabb_xy":[[-0.6546635271340526,0.7991235315548664],[-0.6311271535447376,0.9691235313653095]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_16","position":[0.025933527171494997,-2.1107871376525544,0.71338606911949],"aabb_xy":[[-0.00652817371043246,-2.1409199697674564],[0.05839522805342245,-2.0806543055376507]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_17","position":[0.6636121001404949,-1.587618278933476,0.71338606911949],"aabb_xy":[[0.628612100163999,-1.5970828949810927],[0.6986121001169907,-1.5781536628858595]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_18","position":[0.0461954019170745,1.028306047235315,0.71338606911949],"aabb_xy":[[0.028764686838067984,1.011033932571464],[0.06362611699608099,1.0455781618991655]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_19","position":[0.09320115950281649,-1.0306510612956932,0.71338606911949],"aabb_xy":[[0.05820115960679762,-1.039025296807633],[0.12820115939883536,-1.022276825783753]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_20","position":[-0.6166133514709273,0.6689075062680012,0.71338606911949],"aabb_xy":[[-0.6248278965866112,0.6602309159703597],[-0.6083988063552432,0.6775840965656423]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_21","position":[0.4543330918467017,-1.4932375198171495,0.71338606911949],"aabb_xy":[[0.4298194677496958,-1.517502113119186],[0.47884671594370753,-1.468972926515113]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_22","position":[0.5355982140767066,1.4066647687081084,0.71338606911949],"aabb_xy":[[0.5261807395068437,1.3972485915703894],[0.5450156886465692,1.4160809458458274]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_23","position":[-0.33359229028698045,0.7039831599721116,0.71338606911949],"aabb_xy":[[-0.3885877681076398,0.6489831585382045],[-0.278596812466321,0.7589831614060184]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_24","position":[-0.4713451728151568,-0.3118788562168824,0.71338606911949],"aabb_xy":[[-0.49656600967499637,-0.3371026070697691],[-0.44612433595531703,-0.2866551053639956]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_25","position":[-0.47660483046330526,0.5216005256198208,0.71338606911949],"aabb_xy":[[-0.5566048315364256,0.5118224792824364],[-0.39660482939018493,0.5313785719572053]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_26","position":[0.19301272692968208,0.8538895056406082,0.71338606911949],"aabb_xy":[[0.18293101985110857,0.7738895077484933],[0.20309443400825553,0.9338895035327226]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_27","position":[0.6142801598753405,-1.3409931621222424,0.71338606911949],"aabb_xy":[[0.6062538892447146,-1.3497446570995952],[0.6223064305059666,-1.33224166714489]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6774230907407189,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8998.png","name":"8998"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8998.png","name":"8998"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8809.png","name":"8809"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2434.png","name":"2434"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4361.png","name":"4361"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/489.png","name":"489"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":800.8581075071245,"rotation_z_degrees":24.447770926324782,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01454188156674387,-0.01506278975053921,-0.017614958585140693]},{"name":"camera_2","offset_m":[-0.00604259094281347,-0.014370912430469441,-0.01422071602256162]},{"name":"camera_3","offset_m":[0.009978268129905231,-0.008434466534753424,-0.01524053530392263]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00045538196007624413,-0.001241951415524395,0.00011454054046126363],"end_effector_yaw_offset_degrees":0.1501099406498405},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.000946564866636529,0.0015812550336188327,-0.0009282416623688512],"end_effector_yaw_offset_degrees":-0.7625666666536843},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0015464779342083924,0.0019448237342484511,0.0008044714911599202],"end_effector_yaw_offset_degrees":0.29011200103101276},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0012595002893187276,0.00015341012436784858,0.0005199099436628569],"end_effector_yaw_offset_degrees":-0.7312915901690278}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0019753975665288636,0.0014521726139266385],"position_m":[0.2568246024334711,0.15805217261392662,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00425920849499177,9.965464832455487e-05],"position_m":[0.20884079150500823,-0.32800034535167544,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003407495069661038,-0.001993722699436762],"position_m":[0.26019250493033896,-0.13309372269943676,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002409930912577969,0.0012341535952371252],"position_m":[0.33220993091257794,0.3102341535952371,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d885593b0c68d787c4334a08cfc213b6ad02d133c10043c725a6ca4f9b843c8a","episode_index":21,"episode_name":"episode_0021"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0021.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_8998/tex_ceiling_textures_489/tex_floor_textures_4361/tex_table_textures_8809/tex_wall_textures_2434","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":4813874061196817061,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":4813874061196817061,"visual_seed":4813874061196817061,"scene_id":"lab_003","finished_at":"2026-09-05T19:33:22"} +{"episode_id":"ep_000018","started_at":"2026-09-05T19:33:25","dimensions":{"distractor":{"count":26,"items":[{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_0","position":[-0.16522160881886305,-0.5029008266464476,0.71338606911949],"aabb_xy":[[-0.20022160871488193,-0.5112750621583875],[-0.13022160892284418,-0.49452659113450764]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_1","position":[0.14465562546888522,-2.5449541676296237,0.71338606911949],"aabb_xy":[[0.14053967535681255,-2.549069722662469],[0.14877157558095788,-2.5408386125967777]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_2","position":[0.5677029462846686,-0.7139373538600065,0.71338606911949],"aabb_xy":[[0.5037029498890955,-0.77790064227874],[0.6317029426802416,-0.6499740654412729]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_3","position":[0.12488569915510428,-1.7159467142434814,0.71338606911949],"aabb_xy":[[0.11559208091795369,-1.7534467127316151],[0.13417931739225486,-1.6784467157553473]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_4","position":[-0.4136936378624004,1.2668003200068783,0.71338606911949],"aabb_xy":[[-0.43619005929626453,1.2443003202001308],[-0.39119721642853633,1.2893003198136257]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_5","position":[-0.15975898924423282,0.7059499913438096,0.71338606911949],"aabb_xy":[[-0.16917646381409554,0.6965338142060905],[-0.15034151467437004,0.7153661684815286]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_6","position":[0.3180576393825052,1.6274812531295502,0.71338606911949],"aabb_xy":[[0.29176881506206453,1.6012098194748985],[0.34434646370294586,1.653752686784201]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_7","position":[0.6107656945752278,-1.0100480958188667,0.71338606911949],"aabb_xy":[[0.5307656935021074,-1.0198261421562511],[0.6907656956483481,-1.0002700494814822]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_8","position":[-0.1465381331241573,-2.0951992466659397,0.71338606911949],"aabb_xy":[[-0.21653813472643682,-2.1086320398675977],[-0.07653813152187786,-2.0817664534642826]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_9","position":[-0.03022600612037618,1.029790032948163,0.71338606911949],"aabb_xy":[[-0.06772600678495487,1.0141029749479407],[0.007273994544202518,1.045477090948385]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_10","position":[-0.5212962519695059,0.43311908127936016,0.71338606911949],"aabb_xy":[[-0.5462962519020238,0.4262364130584369],[-0.496296252036988,0.44000174950028353]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_11","position":[-0.2623665756983277,1.7662136790813663,0.71338606911949],"aabb_xy":[[-0.2923582384321981,1.7362136797445655],[-0.23237491296445745,1.7962136784181666]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_12","position":[0.6361766029283571,1.578667123339811,0.71338606911949],"aabb_xy":[[0.5761766012854354,1.5266669740478669],[0.6961766045712791,1.6306672726317553]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_13","position":[-0.5161009267027323,0.6926622504576074,0.71338606911949],"aabb_xy":[[-0.5390166395877822,0.669757953321184],[-0.49318521381768243,0.715566547594031]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_14","position":[-0.11333404388416513,-0.18743330837671346,0.71338606911949],"aabb_xy":[[-0.19333404128775852,-0.2674258795748963],[-0.03333404648057169,-0.10744073717853066]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_15","position":[0.6480109110997119,0.05387318216427284,0.71338606911949],"aabb_xy":[[0.5830109132180642,0.0027495184577319633],[0.7130109089813598,0.10499684587081373]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_16","position":[0.5899848815511166,-2.0765092743216425,0.71338606911949],"aabb_xy":[[0.5721913746162002,-2.0943090199174397],[0.607778388486033,-2.0587095287258443]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_17","position":[0.6143112693487276,-1.5846992225255767,0.71338606911949],"aabb_xy":[[0.5246241930406121,-1.6746992227800275],[0.703998345656843,-1.4946992222711264]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_18","position":[0.022628783700902155,-2.228812537906119,0.71338606911949],"aabb_xy":[[0.0050820887847832265,-2.2663125394703707],[0.04017547861702109,-2.1913125363418677]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_19","position":[-0.35605344189317834,-1.5352307645866046,0.71338606911949],"aabb_xy":[[-0.40604845285263047,-1.5852307636221967],[-0.30605843093372637,-1.485230765551013]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_20","position":[0.2799767431800546,-1.4919130771994575,0.71338606911949],"aabb_xy":[[0.19997674270983867,-1.5002237848138065],[0.35997674365027055,-1.4836023695851093]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_21","position":[-0.2251240478074889,0.29670541049034727,0.71338606911949],"aabb_xy":[[-0.2951240499389184,0.2739434448646515],[-0.15512404567605934,0.3194673761160428]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_22","position":[0.2412298857433719,-1.7006387875023954,0.71338606911949],"aabb_xy":[[0.2341884347926243,-1.7076655392401898],[0.2482713366941195,-1.693612035764601]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_23","position":[0.0902078515953848,1.761634192895706,0.71338606911949],"aabb_xy":[[0.0403251547176886,1.7116341936494315],[0.140090548473081,1.811634192141981]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_24","position":[-0.19824795817524393,-2.502471223447535,0.71338606911949],"aabb_xy":[[-0.21713234194375414,-2.521357148227888],[-0.17936357440673373,-2.4835852986671823]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_25","position":[0.523764893185757,1.2867207977703599,0.71338606911949],"aabb_xy":[[0.5004830509876256,1.2017207964731316],[0.5470467353838883,1.3717207990675877]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6796609138780415,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7455.png","name":"7455"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7455.png","name":"7455"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2716.png","name":"2716"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6413.png","name":"6413"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2662.png","name":"2662"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3492.png","name":"3492"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":526.1205614925678,"rotation_z_degrees":21.47362741838507,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0034751267857169345,-0.013887584827968907,-0.004739276874860407]},{"name":"camera_2","offset_m":[0.016030694872637693,-0.0035913722709133566,-0.010325869826106433]},{"name":"camera_3","offset_m":[0.01800395707595785,0.013203276316958622,-0.017484673824214474]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0010360868996918762,0.0019014288377512305,0.0006165986330172652],"end_effector_yaw_offset_degrees":-0.07404540728484443},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0015755561388443432,0.001378252803392566,0.0014238569802940866],"end_effector_yaw_offset_degrees":-0.5367859869865863},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0011577779667050468,0.0005786073867627755,0.0013808148725223618],"end_effector_yaw_offset_degrees":0.7221947850697037},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0015097223645168718,-0.0006245534534493613,-0.0010316568461206646],"end_effector_yaw_offset_degrees":-0.784128134578373}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004349474097949492,0.002510160567889104],"position_m":[0.2631494740979495,0.1591101605678891,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00450494367630101,0.004058149875185117],"position_m":[0.208595056323699,-0.3240418501248149,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0042326233008415535,0.003300159780103917],"position_m":[0.26783262330084157,-0.12779984021989607,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00435418951717063,0.002346527487689455],"position_m":[0.33415418951717063,0.31134652748768943,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"76bc54e933debd2009a750cbd097d109f3f58b2068e87facb5ddfd7c44eeb1db","episode_index":22,"episode_name":"episode_0022"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0022.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_7455/tex_ceiling_textures_3492/tex_floor_textures_2662/tex_table_textures_2716/tex_wall_textures_6413","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":1629257473882686883,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":1629257473882686883,"visual_seed":1629257473882686883,"scene_id":"lab_003","finished_at":"2026-09-05T19:36:52"} +{"episode_id":"ep_000019","started_at":"2026-09-05T19:36:55","dimensions":{"distractor":{"count":24,"items":[{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_0","position":[0.17580993316668292,1.129643025703797,0.71338606911949],"aabb_xy":[[0.158263238250564,1.0921430241395458],[0.19335662808280185,1.1671430272680483]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_1","position":[0.40468422077205135,-0.31892403907767397,0.71338606911949],"aabb_xy":[[0.3796842216064182,-0.32587628478303055],[0.4296842199376844,-0.3119717933723174]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_2","position":[-0.6440148440727339,1.3529487122930708,0.71338606911949],"aabb_xy":[[-0.6628992278412441,1.334062787512718],[-0.6251304603042237,1.3718346370734236]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_3","position":[-0.6036961207685734,0.07941661229421237,0.71338606911949],"aabb_xy":[[-0.6124773479158097,0.07063686500568224],[-0.5949148936213371,0.08819635958274254]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_4","position":[-0.17499614589270118,1.1643760368845797,0.71338606911949],"aabb_xy":[[-0.23499614614410236,1.110094711848115],[-0.11499614564130001,1.2186573619210443]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_5","position":[0.4556828001635611,0.369166334861982,0.71338606911949],"aabb_xy":[[0.39168279825121877,0.3132551856039717],[0.5196828020759034,0.4250774841199926]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_6","position":[-0.08751487267757307,-1.4922791886549698,0.71338606911949],"aabb_xy":[[-0.1451453415648439,-1.55227918758168],[-0.02988440379030221,-1.432279189728259]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_7","position":[-0.32099700474612397,1.2175591016733045,0.71338606911949],"aabb_xy":[[-0.3580311141741837,1.183181894339595],[-0.28396289531806423,1.251936309007014]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_8","position":[-0.4463536349277286,-2.0547892494428295,0.71338606911949],"aabb_xy":[[-0.5103536313233017,-2.118752537861563],[-0.3823536385321555,-1.990825961024096]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_9","position":[0.43117307640917635,-0.5470160609504875,0.71338606911949],"aabb_xy":[[0.3899242653792616,-0.6020160604627048],[0.4724218874390911,-0.49201606143827]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_10","position":[-0.26127273309991916,-1.1088785904215266,0.71338606911949],"aabb_xy":[[-0.3252727363896272,-1.1522135094254442],[-0.19727272981021102,-1.065543671417609]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_11","position":[0.3181138160721064,-2.017363280226647,0.71338606911949],"aabb_xy":[[0.23811381280809324,-2.03092331253556],[0.3981138193361195,-2.0038032479177335]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_12","position":[0.1296003651841655,-1.0744172036141104,0.71338606911949],"aabb_xy":[[0.0496003680245902,-1.0859648045719275],[0.20960036234374077,-1.0628696026562934]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_13","position":[-0.3628836083627289,1.758206522087757,0.71338606911949],"aabb_xy":[[-0.4003836091547244,1.7518386811295665],[-0.3253836075707335,1.764574363045947]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_14","position":[-0.12776556209480283,-0.6679009163875216,0.71338606911949],"aabb_xy":[[-0.17776556345569006,-0.7178788209629373],[-0.07776556073391562,-0.6179230118121061]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_15","position":[-0.15179061396378457,1.3572177435113644,0.71338606911949],"aabb_xy":[[-0.15981688459441057,1.348466248534012],[-0.14376434333315857,1.3659692384887172]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_16","position":[0.2959469135563598,-1.7378642800974178,0.71338606911949],"aabb_xy":[[0.29203304036093725,-1.7466132955039748],[0.2998607867517823,-1.7291152646908612]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_17","position":[0.058671153434723955,1.1672759809322186,0.71338606911949],"aabb_xy":[[0.039558846076745084,1.1481412020549766],[0.07778346079270282,1.1864107598094606]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_18","position":[-0.326124292538551,0.21284173003225693,0.71338606911949],"aabb_xy":[[-0.38771505176254384,0.14884173192321004],[-0.2645335333145582,0.2768417281413038]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_19","position":[0.5947004757331504,0.3282360396600348,0.71338606911949],"aabb_xy":[[0.5892425300961303,0.24823603635237562],[0.6001584213701704,0.40823604296769384]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_20","position":[-0.5825159509833789,1.7048758598719478,0.71338606911949],"aabb_xy":[[-0.5976182524443968,1.6897743382408856],[-0.5674136495223606,1.7199773815030095]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_21","position":[0.281063370069511,1.822361454466455,0.71338606911949],"aabb_xy":[[0.2747512705331726,1.8165945152132361],[0.2873754696058495,1.828128393719674]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_22","position":[-0.5098804284141535,-2.214356162204752,0.71338606911949],"aabb_xy":[[-0.5192274359964487,-2.228659784422396],[-0.5005334208318583,-2.200052539987108]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_23","position":[-0.3498426089844083,-0.45376636804978165,0.71338606911949],"aabb_xy":[[-0.3547419012909717,-0.48144328735235037],[-0.3449433166778447,-0.42608944874721283]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6791114005390448,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3203.png","name":"3203"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3203.png","name":"3203"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6630.png","name":"6630"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6021.png","name":"6021"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5612.png","name":"5612"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9185.png","name":"9185"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":501.0047523954528,"rotation_z_degrees":260.5665996213151,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011041142965585093,0.010484761923666007,0.019870497209537413]},{"name":"camera_2","offset_m":[0.005396627461819702,-0.016746614933567876,-0.019861096128206763]},{"name":"camera_3","offset_m":[0.012007022596452591,0.004669965662476364,0.013817575153992002]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001902307475897738,-0.0015080641179628658,0.0005269279984522579],"end_effector_yaw_offset_degrees":0.9424701236720829},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0005310154178649247,0.0008274686058206281,-0.00099915222202037],"end_effector_yaw_offset_degrees":0.8183622830945747},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00022336995293830287,0.0006066520033333233,-0.0013272559819536448],"end_effector_yaw_offset_degrees":0.3127935475118859},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.000921673063369724,0.0008793539458096995,-0.0010564129732392865],"end_effector_yaw_offset_degrees":0.6105714452028528}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004657418064151289,1.0071197547900299e-05],"position_m":[0.26345741806415124,0.15661007119754788,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0021017230631556584,-0.004439656941671545],"position_m":[0.21099827693684436,-0.33253965694167154,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0008388513500054238,-0.004498585675236367],"position_m":[0.26276114864999456,-0.13559858567523636,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0024115528231881313,0.004900505043125601],"position_m":[0.3322115528231881,0.3139005050431256,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5dd70140030ab3186de94d6ce431d7ee59c7d8ce4ca434b073fbe00af16e6265","episode_index":23,"episode_name":"episode_0023"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0023.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_3203/tex_ceiling_textures_9185/tex_floor_textures_5612/tex_table_textures_6630/tex_wall_textures_6021","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":513697137977666171,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":513697137977666171,"visual_seed":513697137977666171,"scene_id":"lab_003","finished_at":"2026-09-05T19:40:45"} +{"episode_id":"ep_000020","started_at":"2026-09-05T19:40:48","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_0","position":[-0.3778323634635106,0.6706779416120092,0.71338606911949],"aabb_xy":[[-0.38582635204121396,0.6626778615169188],[-0.3698383748858072,0.6786780217070995]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_1","position":[-0.37759903899337116,-0.16168604914383256,0.71338606911949],"aabb_xy":[[-0.38947112200487227,-0.2466860488374829],[-0.36572695598187005,-0.0766860494501822]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_2","position":[-0.21455143051925651,0.5339618288891792,0.71338606911949],"aabb_xy":[[-0.21918654567148987,0.5300944938120304],[-0.2099163153670231,0.5378291639663277]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_3","position":[0.34133821161397915,-1.623913894120745,0.71338606911949],"aabb_xy":[[0.2773425142188825,-1.6879138924214534],[0.4053339090090757,-1.559913895820036]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_4","position":[-0.1019637679684734,-0.8560435035980529,0.71338606911949],"aabb_xy":[[-0.10607971808054605,-0.8601590586308984],[-0.09784781785640072,-0.8519279485652073]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_5","position":[-0.13078065398345662,1.5808976611789647,0.71338606911949],"aabb_xy":[[-0.1543657774473515,1.5158976589335327],[-0.1071955305195618,1.6458976634243963]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_6","position":[-0.03592933651400876,1.3772358722722293,0.71338606911949],"aabb_xy":[[-0.043632527188085794,1.3695265015734912],[-0.02822614583993171,1.3849452429709674]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_7","position":[-0.5669154375751412,-0.45588527934640233,0.71338606911949],"aabb_xy":[[-0.5713460669299814,-0.461333651081085],[-0.562484808220301,-0.4504369076117198]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_8","position":[0.533689585547555,-0.9723462332679575,0.71338606911949],"aabb_xy":[[0.48370534983937774,-1.022346232081453],[0.5836738212557322,-0.9223462344544618]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_9","position":[0.33020583732648356,0.6332724339153506,0.71338606911949],"aabb_xy":[[0.2874391304470634,0.5692724304935481],[0.37297254420590376,0.697272437337153]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_10","position":[0.5271695258791764,0.6738897817548248,0.71338606911949],"aabb_xy":[[0.5201280749284288,0.6668630300170303],[0.534210976829924,0.6809165334926194]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_11","position":[-0.5132570059343364,0.9623894487362388,0.71338606911949],"aabb_xy":[[-0.5240974841608513,0.9452031674455899],[-0.5024165277078215,0.9795757300268875]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_12","position":[-0.3874971601137062,-0.620861054714211,0.71338606911949],"aabb_xy":[[-0.41077900231183756,-0.705861056011439],[-0.3642153179155749,-0.5358610534169829]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_13","position":[0.70305063009351,0.008498001246609377,0.71338606911949],"aabb_xy":[[0.6854177944999823,-0.009124944769013595],[0.7206834656870375,0.026120947262232352]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_14","position":[0.2830592906602414,-0.5209554694890515,0.71338606911949],"aabb_xy":[[0.27371228307794615,-0.5352590917066955],[0.2924062982425366,-0.5066518472714074]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_15","position":[-0.4619052243698468,-2.106057147112201,0.71338606911949],"aabb_xy":[[-0.5259052246438249,-2.1561232473094893],[-0.39790522409586854,-2.0559910469149134]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_16","position":[-0.5347628015874043,-1.6296327592589401,0.71338606911949],"aabb_xy":[[-0.6047628042239905,-1.6497376242548054],[-0.46476279895081785,-1.6095278942630744]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_17","position":[-0.23796208188363566,-1.4404399057684005,0.71338606911949],"aabb_xy":[[-0.25546201531761903,-1.4579399056886349],[-0.22046214844965226,-1.4229399058481658]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_18","position":[-0.6287456668439209,0.34618526323864796,0.71338606911949],"aabb_xy":[[-0.6430800919700844,0.334125047684109],[-0.6144112417177575,0.3582454787931867]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_19","position":[-0.26485339090926086,0.29461341391643403,0.71338606911949],"aabb_xy":[[-0.34485339416710376,0.21461690612445],[-0.18485338765141784,0.37460992170841795]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_20","position":[0.45103302187412875,-2.4199678466905876,0.71338606911949],"aabb_xy":[[0.3870330204661381,-2.4717567982145123],[0.5150330232821194,-2.368178895166663]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_21","position":[-0.14912512707291625,-0.5765764412448857,0.71338606911949],"aabb_xy":[[-0.15640744344957985,-0.6665764448543946],[-0.14184281069625254,-0.48657643763537667]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_22","position":[0.014882837366800183,1.5230124943431096,0.71338606911949],"aabb_xy":[[-0.0155152737323434,1.4926055923414399],[0.045280948465943764,1.5534193963447789]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_23","position":[0.5265174306713774,0.5226757783234453,0.71338606911949],"aabb_xy":[[0.4767006512065427,0.4726757798391419],[0.5763342101362122,0.5726757768077486]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_24","position":[-0.09306971711404888,0.7612712568909643,0.71338606911949],"aabb_xy":[[-0.13056971790604432,0.7549034159327741],[-0.05556971632205343,0.7676390978491543]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_25","position":[0.21002580626549772,-2.417079435791846,0.71338606911949],"aabb_xy":[[0.14602580297578957,-2.460414354795763],[0.2740258095552058,-2.373744516787928]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_26","position":[-0.6537499455379194,-1.7943500481854133,0.71338606911949],"aabb_xy":[[-0.6663767328251157,-1.803896121886986],[-0.641123158250723,-1.7848039744838402]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_27","position":[0.47524530424408207,-0.185278017622156,0.71338606911949],"aabb_xy":[[0.41124530354061284,-0.23129640009507704],[0.5392453049475515,-0.139259635149235]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_28","position":[0.47476070164650364,-1.0835885987135723,0.71338606911949],"aabb_xy":[[0.44976070209476504,-1.093731082578707],[0.499760701198242,-1.0734461148484375]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_29","position":[-0.11420898951568748,-2.033957738543696,0.71338606911949],"aabb_xy":[[-0.12336886845956409,-2.040488956587233],[-0.10504911057181089,-2.027426520500159]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_30","position":[-0.5310817135007734,1.3835130128551798,0.71338606911949],"aabb_xy":[[-0.5411634205793467,1.303513014963065],[-0.5210000064221998,1.4635130107472942]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_31","position":[-0.07770671756918546,0.9273354980453044,0.71338606911949],"aabb_xy":[[-0.13270219538984485,0.8723354966113974],[-0.02271123974852607,0.9823354994792113]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_32","position":[-0.08008566806471251,0.3910085478162637,0.71338606911949],"aabb_xy":[[-0.09564143747497779,0.37545811457185657],[-0.06452989865444725,0.40655898106067095]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6797302614117239,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1147.png","name":"1147"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1147.png","name":"1147"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2053.png","name":"2053"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3082.png","name":"3082"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6970.png","name":"6970"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9751.png","name":"9751"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":690.9636381914783,"rotation_z_degrees":322.7437179004925,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015811577689251458,-0.00973609744378499,0.0189792500634457]},{"name":"camera_2","offset_m":[0.018659996883244195,-0.01319675048934629,-0.016804453381727865]},{"name":"camera_3","offset_m":[-0.0008080251555324693,0.009778532513913658,0.003009998099636216]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00015483249265841616,-0.0011439048724800425,0.0007743898676948998],"end_effector_yaw_offset_degrees":-0.5862247917781753},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0014740347978108126,0.0004857253036996147,-0.0018932230297802985],"end_effector_yaw_offset_degrees":-0.3271346053330355},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00026741119066885457,-0.00011436872942443719,-0.0012015448375587501],"end_effector_yaw_offset_degrees":-0.950245012934908},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0010121259040901842,-0.00019728540700150493,0.0007441263349227474],"end_effector_yaw_offset_degrees":0.176198297059718}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004941619389153807,-0.00022426873212562197],"position_m":[0.2637416193891538,0.15637573126787438,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0015674726931787552,0.0038610344780855175],"position_m":[0.21466747269317876,-0.3242389655219145,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0003467568968494074,-6.717287154895182e-06],"position_m":[0.26325324310315057,-0.1311067172871549,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004289881749849318,0.0026225763386549528],"position_m":[0.3340898817498493,0.311622576338655,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e2d72edeffbb09c5b7d222d54a151d6842c29bc6c49db48b3535b8ee85d787aa","episode_index":24,"episode_name":"episode_0024"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0024.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_1147/tex_ceiling_textures_9751/tex_floor_textures_6970/tex_table_textures_2053/tex_wall_textures_3082","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":801949963308785995,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":801949963308785995,"visual_seed":801949963308785995,"scene_id":"lab_003","finished_at":"2026-09-05T19:44:22"} +{"episode_id":"ep_000021","started_at":"2026-09-05T19:44:26","dimensions":{"distractor":{"count":21,"items":[{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_0","position":[0.5813090921619026,-0.7836208952113586,0.71338606911949],"aabb_xy":[[0.5313090918013365,-0.8336008824209614],[0.6313090925224686,-0.7336409080017555]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_1","position":[0.5927407857466851,-2.449420809404102,0.71338606911949],"aabb_xy":[[0.5577407865538668,-2.460387855401764],[0.6277407849395034,-2.438453763406439]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_2","position":[0.18558352013122614,0.7935908298676648,0.71338606911949],"aabb_xy":[[0.1480835203141926,0.7889526185565229],[0.22308351994825973,0.7982290411788066]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_3","position":[-0.29482871569813834,-0.40708427296700966,0.71338606911949],"aabb_xy":[[-0.3123287159431877,-0.42458406080657646],[-0.2773287154530889,-0.38958448512744276]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_4","position":[-0.007865313479127112,-1.4375841426399003,0.71338606911949],"aabb_xy":[[-0.04489942290718683,-1.4719613499736095],[0.029168795948932603,-1.4032069353061907]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_5","position":[0.21885141714542977,-0.9273149867749744,0.71338606911949],"aabb_xy":[[0.15485141785126152,-0.9913011271438285],[0.282851416439598,-0.8633288464061201]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_6","position":[0.33928430483845173,-1.0619743843047145,0.71338606911949],"aabb_xy":[[0.33558104350931284,-1.065676402613432],[0.34298756616759063,-1.0582723659959965]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_7","position":[-0.5420293002097756,-2.4726754735282963,0.71338606911949],"aabb_xy":[[-0.5898354678235442,-2.5376754762353553],[-0.4942231325960069,-2.4076754708212373]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_8","position":[0.005490433908571735,-0.789654618626636,0.71338606911949],"aabb_xy":[[-0.01339394985993847,-0.8085405434069889],[0.02437481767708194,-0.7707686938462833]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_9","position":[-0.5573328884121422,-0.7038538746934229,0.71338606911949],"aabb_xy":[[-0.5699355875492187,-0.7164492709182884],[-0.5447301892750658,-0.6912584784685574]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_10","position":[-0.2540889908816583,-0.7925629806320418,0.71338606911949],"aabb_xy":[[-0.27158899114099494,-0.8066545228208145],[-0.2365889906223217,-0.7784714384432693]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_11","position":[-0.2138554312199441,1.5232681969603372,0.71338606911949],"aabb_xy":[[-0.22016753075628256,1.5175012577071183],[-0.2075433316836057,1.5290351362135561]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_12","position":[-0.1650256322304865,1.3844088075433008,0.71338606911949],"aabb_xy":[[-0.22902563293395586,1.3383904250703798],[-0.10102563152701716,1.4304271900162218]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_13","position":[0.5306206556933954,0.6902061740278178,0.71338606911949],"aabb_xy":[[0.5250389840592666,0.6777061742100422],[0.5362023273275243,0.7027061738455932]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_14","position":[-0.55603752618933,-1.978846031284985,0.71338606911949],"aabb_xy":[[-0.620037529407968,-2.0255691431839935],[-0.49203752297069225,-1.9321229193859768]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_15","position":[-0.3966715934264765,-0.953766697704221,0.71338606911949],"aabb_xy":[[-0.40011226966653374,-0.9576281306785855],[-0.3932309171864194,-0.9499052647298566]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_16","position":[-0.5853766099525697,0.6767386574112013,0.71338606911949],"aabb_xy":[[-0.6158608600795998,0.6267386576297053],[-0.5548923598255395,0.7267386571926971]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_17","position":[-0.07494174473887905,-0.1997938674722306,0.71338606911949],"aabb_xy":[[-0.10533985583802263,-0.23020076947390009],[-0.044543633639735465,-0.16938696547056106]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_18","position":[0.21920417816642412,-1.0594684498649403,0.71338606911949],"aabb_xy":[[0.20486975304026067,-1.071528665419479],[0.23353860329258758,-1.0474082343104014]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_19","position":[0.5925261747715005,-1.562112043924952,0.71338606911949],"aabb_xy":[[0.5075261760794259,-1.5940979073198305],[0.6775261734635751,-1.5301261805300728]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_20","position":[0.13154598914861337,-1.8668623448436095,0.71338606911949],"aabb_xy":[[0.08156303896113402,-1.9168623444861694],[0.18152893933609268,-1.8168623452010486]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6732078747161375,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4387.png","name":"4387"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4387.png","name":"4387"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7962.png","name":"7962"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2372.png","name":"2372"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7450.png","name":"7450"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/625.png","name":"625"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":684.1691808066106,"rotation_z_degrees":272.30180764259455,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.017132021691041128,0.00844619230309021,0.003629628409427023]},{"name":"camera_2","offset_m":[0.005736818937881694,-0.018508675830150242,0.01482397718566614]},{"name":"camera_3","offset_m":[-0.012834136147684815,-0.018008136397856953,-0.008559299413929175]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0010606671138898341,-0.00030775008836549144,0.0012279626854619576],"end_effector_yaw_offset_degrees":-0.6170650375016169},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0014591224333189018,0.0014489442877282654,0.0006059021469843671],"end_effector_yaw_offset_degrees":-0.5138474712154473},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00018062793654526023,-0.0011179806534561652,0.0005484311994015498],"end_effector_yaw_offset_degrees":0.8419031433722799},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008846435989226854,-0.0012162470145241585,-0.0013774900978579122],"end_effector_yaw_offset_degrees":0.7485179894770675}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0019516922162371377,0.0032664066706980374],"position_m":[0.25684830778376283,0.159866406670698,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004969136914074868,-0.00497863481749089],"position_m":[0.21806913691407487,-0.3330786348174909,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004750852130046663,0.0018297602866621902],"position_m":[0.25884914786995333,-0.12927023971333781,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0008203118564976877,-0.00492094666467329],"position_m":[0.33062031185649765,0.3040790533353267,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9fa598d775cfb4c03bc6d41194c7951766fef3ba7e391e3eadea50b2fded054c","episode_index":25,"episode_name":"episode_0025"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0025.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_4387/tex_ceiling_textures_625/tex_floor_textures_7450/tex_table_textures_7962/tex_wall_textures_2372","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":8436285730439629170,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":8436285730439629170,"visual_seed":8436285730439629170,"scene_id":"lab_003","finished_at":"2026-09-05T19:47:51"} +{"episode_id":"ep_000022","started_at":"2026-09-05T19:50:30","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_0","position":[0.04022239316269627,-1.1489782197635414,0.71338606911949],"aabb_xy":[[0.009075474319113153,-1.2189782184503484],[0.07136931200627938,-1.078978221076734]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_1","position":[0.11102289996161319,1.628838110908346,0.71338606911949],"aabb_xy":[[0.06602289849538434,1.5838382540468654],[0.15602290142784203,1.6738379677698267]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_2","position":[-0.16127660334959826,-1.8173834813468657,0.71338606911949],"aabb_xy":[[-0.22527660063524688,-1.8588902002997096],[-0.09727660606394958,-1.7758767623940217]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_3","position":[-0.3971983609471594,1.060097592539306,0.71338606911949],"aabb_xy":[[-0.4611983612211376,1.010031492342018],[-0.33319836067318115,1.1101636927365939]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_4","position":[-0.38677614110146424,0.6583631799848,0.71338606911949],"aabb_xy":[[-0.42896055526229504,0.5943631797075888],[-0.34459172694063356,0.7223631802620112]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_5","position":[-0.5838071820776072,-1.1679469409074428,0.71338606911949],"aabb_xy":[[-0.5908474920111442,-1.2479469403071142],[-0.5767668721440702,-1.0879469415077714]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_6","position":[-0.1282893797519976,-2.493685955957041,0.71338606911949],"aabb_xy":[[-0.20828937671503678,-2.5707615976008142],[-0.048289382788958446,-2.4166103143132673]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_7","position":[0.6326934966788256,-1.2598118214253353,0.71338606911949],"aabb_xy":[[0.5916755532924547,-1.3098118220562927],[0.6737114400651965,-1.209811820794378]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_8","position":[0.4160466288336102,0.4389376203929305,0.71338606911949],"aabb_xy":[[0.36607333483034976,0.38893761983838304],[0.46601992283687066,0.4889376209474777]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_9","position":[0.04914999682796761,-1.5889818534232967,0.71338606911949],"aabb_xy":[[0.036523209540771255,-1.5985279271248694],[0.061776784115163956,-1.5794357797217236]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_10","position":[0.5899719308644451,1.3238479141410053,0.71338606911949],"aabb_xy":[[0.5654583067674392,1.2995833208389689],[0.614485554961451,1.3481125074430418]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_11","position":[0.4683539008444406,0.9504035042733441,0.71338606911949],"aabb_xy":[[0.45512295530975927,0.9371760852513447],[0.48158484637912186,0.9636309232953435]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_12","position":[0.041087223453610155,-1.904659690717461,0.71338606911949],"aabb_xy":[[0.034045772502862566,-1.9116864424552555],[0.04812867440435776,-1.8976329389796667]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_13","position":[0.09876922165705615,1.2128960627883338,0.71338606911949],"aabb_xy":[[0.0774912135135839,1.1478960604622606],[0.1200472298005284,1.2778960651144067]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_14","position":[-0.457644957990228,-2.3668035814128636,0.71338606911949],"aabb_xy":[[-0.4989495010539639,-2.4308035809809807],[-0.41634041492649193,-2.3028035818447465]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_15","position":[0.622009396909394,1.674123383610255,0.71338606911949],"aabb_xy":[[0.5742032292956253,1.6091233809031955],[0.6698155645231626,1.7391233863173134]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_16","position":[-0.08619105928297566,-0.6246254109307245,0.71338606911949],"aabb_xy":[[-0.12369105910000922,-0.6292636222418664],[-0.0486910594659421,-0.6199871996195827]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_17","position":[0.5965643658163118,-1.8610480788887505,0.71338606911949],"aabb_xy":[[0.5165643625584688,-1.9410445866807344],[0.6765643690741547,-1.7810515710967665]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_18","position":[-0.01735914435390362,-0.9445231616755976,0.71338606911949],"aabb_xy":[[-0.10735914407707779,-0.9675965142107772],[0.07264085536927055,-0.9214498091404175]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_19","position":[-0.5915407086953972,-1.87619992148471,0.71338606911949],"aabb_xy":[[-0.6034734430572253,-1.8885820742925694],[-0.5796079743335691,-1.8638177686768507]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_20","position":[-0.07982905409208918,-1.9884262095014156,0.71338606911949],"aabb_xy":[[-0.0870903016624966,-2.0012132197649253],[-0.07256780652168177,-1.975639199237906]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_21","position":[-0.16944319510489236,-0.7768853585784381,0.71338606911949],"aabb_xy":[[-0.17814115739560765,-0.7890103328859129],[-0.16074523281417707,-0.7647603842709635]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_22","position":[-0.3777073682629661,1.2197037685912582,0.71338606911949],"aabb_xy":[[-0.39520736852230276,1.2056122264024858],[-0.36020736800362946,1.233795310780031]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6711209216048157,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9955.png","name":"9955"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9955.png","name":"9955"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4704.png","name":"4704"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1514.png","name":"1514"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7557.png","name":"7557"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6178.png","name":"6178"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":561.6882081294548,"rotation_z_degrees":251.11540418402558,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.003922290401722504,-0.00632586350588773,0.019348280258026113]},{"name":"camera_2","offset_m":[0.008837532890811645,0.01589803329282211,0.01196528506656368]},{"name":"camera_3","offset_m":[-0.018265260111303975,-0.006487531784635561,-0.011694497840525137]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0018384232552132538,0.0004899947608078136,0.0007279418773722874],"end_effector_yaw_offset_degrees":-0.5764749334919006},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0011790483299229581,-0.0016216775359249062,0.0008472594535529595],"end_effector_yaw_offset_degrees":0.3771823780292629},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0015311848607144274,0.0007044724779953181,-0.00012326537941304266],"end_effector_yaw_offset_degrees":-0.9451758939697319},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00022374330727348963,-0.0008361348345990152,0.0004442966971328036],"end_effector_yaw_offset_degrees":0.008621402467890338}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0005497422294771194,-0.003846823019177356],"position_m":[0.25825025777052285,0.15275317698082264,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0021112787208115444,-0.00014395371708108857],"position_m":[0.21521127872081156,-0.3282439537170811,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0028126061428880513,-0.002537409993304649],"position_m":[0.26078739385711197,-0.13363740999330465,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0017225119255615475,-0.004522419805798229],"position_m":[0.32807748807443843,0.3044775801942018,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f28e53b01ad030ebc103ab6fe741d66ca3ad768555c8a4e2218b1472d2857db9","episode_index":27,"episode_name":"episode_0027"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0027.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_9955/tex_ceiling_textures_6178/tex_floor_textures_7557/tex_table_textures_4704/tex_wall_textures_1514","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":60623669132693419,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":60623669132693419,"visual_seed":60623669132693419,"scene_id":"lab_003","finished_at":"2026-09-05T19:53:56"} +{"episode_id":"ep_000023","started_at":"2026-09-05T19:56:10","dimensions":{"distractor":{"count":28,"items":[{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_0","position":[0.4537818980166537,1.6109109436402362,0.71338606911949],"aabb_xy":[[0.4213201971347262,1.5807781115253332],[0.4862435988985811,1.6410437757551384]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_1","position":[-0.1889037154253671,1.2854463663461773,0.71338606911949],"aabb_xy":[[-0.22640371384876748,1.2722821523783463],[-0.15140371700196678,1.2986105803140078]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_2","position":[-0.02275518994026937,-1.9196049105602357,0.71338606911949],"aabb_xy":[[-0.08775519104621265,-1.944570283628364],[0.04224481116567391,-1.8946395374921075]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_3","position":[-0.32182153702073135,1.4263880052929836,0.71338606911949],"aabb_xy":[[-0.33505248255541253,1.413160586270984],[-0.30859059148604995,1.4396154243149828]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_4","position":[0.45485926455378345,-1.2697510264445562,0.71338606911949],"aabb_xy":[[0.4373593311198,-1.2872510263647907],[0.47235919798776677,-1.2522510265243216]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_5","position":[0.42824671376898626,-2.3910863401103613,0.71338606911949],"aabb_xy":[[0.40818830215574603,-2.4111514270195182],[0.4483051253822266,-2.3710212532012034]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_6","position":[-0.313161053123284,-1.3081962980669002,0.71338606911949],"aabb_xy":[[-0.31723921103033376,-1.3122772783151635],[-0.3090828952162343,-1.3041153178186369]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_7","position":[-0.22205057263529737,-0.8598823413590677,0.71338606911949],"aabb_xy":[[-0.27153099384925616,-0.9238823392719197],[-0.17257015142133855,-0.795882343446216]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_8","position":[-0.12250888699499973,0.37751512738521553,0.71338606911949],"aabb_xy":[[-0.19250888340496147,0.3570771917335337],[-0.052508890585037916,0.39795306303689715]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_9","position":[-0.2617964973218308,-2.4181455703579413,0.71338606911949],"aabb_xy":[[-0.27613092244799425,-2.43020578591248],[-0.24746207219566735,-2.4060853548034027]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_10","position":[-0.19364236909835575,-1.67453964778495,0.71338606911949],"aabb_xy":[[-0.2271215363593967,-1.7080187611560569],[-0.1601632018373148,-1.641060534413843]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_11","position":[0.6515520536532484,-0.5543440662440382,0.71338606911949],"aabb_xy":[[0.6369086480992153,-0.5690027859008223],[0.6661954592072813,-0.5396853465872539]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_12","position":[-0.3804719809543816,-0.07464632563821816,0.71338606911949],"aabb_xy":[[-0.43047125612281784,-0.12464632691416533],[-0.3304727057859455,-0.024646324362270988]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_13","position":[-0.4737239176864524,1.5063851800085541,0.71338606911949],"aabb_xy":[[-0.5313543865737231,1.4463851810818436],[-0.41609344879918136,1.5663851789352645]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_14","position":[0.31404782838648626,-1.87667378270599,0.71338606911949],"aabb_xy":[[0.29076598618835486,-1.9616737840032181],[0.33732967058461755,-1.791673781408762]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_15","position":[-0.4035127083560164,-2.0951057248467206,0.71338606911949],"aabb_xy":[[-0.4285127076279786,-2.1114510884428825],[-0.37851270908405404,-2.078760361250558]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_16","position":[0.6042791667232528,-1.5308275961993598,0.71338606911949],"aabb_xy":[[0.5955812044325376,-1.5429525705068345],[0.6129771290139682,-1.518702621891885]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_17","position":[0.11141649619208638,1.298132238347414,0.71338606911949],"aabb_xy":[[0.10537948319142165,1.2921055372784662],[0.1174535091927511,1.3041589394163624]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_18","position":[0.20711853081370668,1.050639852057936,0.71338606911949],"aabb_xy":[[0.20367785457364956,1.0467784190835718],[0.2105592070537639,1.0545012850323008]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_19","position":[0.5001695836410762,-0.01795887696586984,0.71338606911949],"aabb_xy":[[0.48266958436298923,-0.03529697703221579],[0.517669582919163,-0.0006207768995238928]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_20","position":[-0.340932055505927,0.7749419815520677,0.71338606911949],"aabb_xy":[[-0.3481758215521723,0.6949419833484654],[-0.33368828945968165,0.8549419797556701]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_21","position":[0.6032937749701353,1.0042168240146028,0.71338606911949],"aabb_xy":[[0.5572086837154037,0.9402168267620475],[0.6493788662248666,1.0682168212671577]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_22","position":[0.3751729400192403,1.4429770350869506,0.71338606911949],"aabb_xy":[[0.3376729385036085,1.4317502620708054],[0.41267294153487194,1.4542038081030955]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_23","position":[-0.5737925410628273,0.04623473411621548,0.71338606911949],"aabb_xy":[[-0.6537925380258665,-0.030840907527557977],[-0.4937925440997881,0.12331037575998893]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_24","position":[0.32264841197772864,-1.3002674164259922,0.71338606911949],"aabb_xy":[[0.28514841162950083,-1.3120588120070755],[0.36014841232595635,-1.2884760208449084]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_25","position":[-0.23858136855914197,1.2099532911831563,0.71338606911949],"aabb_xy":[[-0.25625699914774025,1.1922730749037536],[-0.2209057379705436,1.227633507462559]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_26","position":[-0.26722145990865886,0.6042627177175017,0.71338606911949],"aabb_xy":[[-0.3312214615866562,0.5557453262381875],[-0.2032214582306615,0.652780109196816]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_27","position":[0.18071067751947512,-1.6373616991169837,0.71338606911949],"aabb_xy":[[0.14727050232345545,-1.6708053249479138],[0.21415085271549467,-1.6039180732860536]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.676881810030497,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8969.png","name":"8969"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8969.png","name":"8969"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5151.png","name":"5151"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9465.png","name":"9465"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1438.png","name":"1438"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9451.png","name":"9451"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":831.1457959720954,"rotation_z_degrees":48.84187683203892,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012920911155398878,0.015059170540888848,-0.010766698884428872]},{"name":"camera_2","offset_m":[0.0023644190169843544,0.006697051877692827,-0.016546489761519696]},{"name":"camera_3","offset_m":[0.014312886889866972,-0.004344500386422895,-0.00732502588932837]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001572882460163441,-0.0016667664376422038,0.0019210086349274822],"end_effector_yaw_offset_degrees":-0.501425230357595},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0007566189433961409,-0.0005362267247505219,0.0002439793113002309],"end_effector_yaw_offset_degrees":-0.15610067494275737},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[6.434884012370334e-05,-0.00040369394896902977,6.845219795142098e-05],"end_effector_yaw_offset_degrees":0.6468299752800806},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0018963979717477434,-0.001310446600467623,0.0006166721696192015],"end_effector_yaw_offset_degrees":-0.6412845759031263}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0030753004691861435,0.001132566054100963],"position_m":[0.2618753004691861,0.15773256605410096,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0032381474571426673,0.0035485335606522403],"position_m":[0.20986185254285736,-0.32455146643934774,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002371083349795764,0.001297759666463615],"position_m":[0.26597108334979574,-0.12980224033353638,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004821537111222642,-0.004694612867840766],"position_m":[0.3346215371112226,0.3043053871321592,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"be5be4f98abfc99c9ccd8bbba07349ac97d0d639d3f5cf3702acf970dc096ba6","episode_index":29,"episode_name":"episode_0029"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0029.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_8969/tex_ceiling_textures_9451/tex_floor_textures_1438/tex_table_textures_5151/tex_wall_textures_9465","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":8415087509396164259,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":8415087509396164259,"visual_seed":8415087509396164259,"scene_id":"lab_003","finished_at":"2026-09-05T19:59:22"} +{"episode_id":"ep_000024","started_at":"2026-09-05T19:59:26","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_0","position":[-0.45802237027117304,-0.0774770658538686,0.71338606911949],"aabb_xy":[[-0.5080216454396091,-0.12747706712981577],[-0.4080230951027369,-0.027477064577921442]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_1","position":[-0.15117072317275282,1.4011465009464579,0.71338606911949],"aabb_xy":[[-0.16241577874337065,1.3899047032223624],[-0.13992566760213498,1.412388298670553]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_2","position":[0.15683769374870027,-2.475193099380922,0.71338606911949],"aabb_xy":[[0.09283769663659458,-2.5242254691753327],[0.22083769086080596,-2.4261607295865115]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_3","position":[0.07811568325686435,0.726902164249855,0.71338606911949],"aabb_xy":[[0.056837675113392105,0.6619021619237818],[0.0993936914003366,0.7919021665759279]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_4","position":[-0.4952025182438822,0.12218317749468888,0.71338606911949],"aabb_xy":[[-0.503417063359566,0.11350658719704755],[-0.48698797312819814,0.1308597677923301]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_5","position":[-0.4677929065493234,0.609938339758755,0.71338606911949],"aabb_xy":[[-0.49029290679283877,0.597733705098983],[-0.445292906305808,0.622142974418527]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_6","position":[-0.5484928404386687,0.9414538660624987,0.71338606911949],"aabb_xy":[[-0.5858241169639113,0.9068008112676464],[-0.5111615639134262,0.976106920857351]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_7","position":[-0.4788700349952036,-1.8180846522191279,0.71338606911949],"aabb_xy":[[-0.4917419384961438,-1.8980846526329642],[-0.4659981314942635,-1.738084651805292]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_8","position":[-0.47594324615355543,-1.620317694750974,0.71338606911949],"aabb_xy":[[-0.48396951678418143,-1.629069189728327],[-0.46791697552292943,-1.6115661997736217]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_9","position":[0.5253123351403588,0.7344870179948488,0.71338606911949],"aabb_xy":[[0.475312334189826,0.7029378709913274],[0.5753123360908916,0.7660361649983702]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_10","position":[-0.23590698548353178,-1.515282715092092,0.71338606911949],"aabb_xy":[[-0.26090698541604973,-1.5221653833130155],[-0.21090698555101395,-1.508400046871169]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_11","position":[0.14026965773411837,-0.6708731357231121,0.71338606911949],"aabb_xy":[[0.1251067847571813,-0.6860385930182308],[0.15543253071105545,-0.6557076784279933]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_12","position":[-0.33155627105122726,1.3204345403631814,0.71338606911949],"aabb_xy":[[-0.3665562693213471,1.3133604126681933],[-0.2965562727811073,1.3275086680581696]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_13","position":[0.6226105000204398,1.538640353002703,0.71338606911949],"aabb_xy":[[0.5726105004441052,1.4886597740505974],[0.6726104995967747,1.5886209319548092]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_14","position":[-0.5331532109482924,-1.491355767262952,0.71338606911949],"aabb_xy":[[-0.5418511732390077,-1.5034807415704268],[-0.5244552486575771,-1.479230792955477]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_15","position":[-0.23124885048387295,-0.21534453515469965,0.71338606911949],"aabb_xy":[[-0.25315753262322394,-0.23724520197479035],[-0.20934016834452188,-0.1934438683346089]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_16","position":[0.03953116590244299,1.080912953137053,0.71338606911949],"aabb_xy":[[0.02346923844392534,0.995912951324461],[0.055593093360960626,1.1659129549496445]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_17","position":[0.4522723957841619,0.45262813315829886,0.71338606911949],"aabb_xy":[[0.43477239553911246,0.43512834531873196],[0.4697723960292112,0.47012792099786566]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_18","position":[0.5819574442504352,-0.3126631173644632,0.71338606911949],"aabb_xy":[[0.5771138494892052,-0.3175147698434473],[0.5868010390116651,-0.30781146488547906]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_19","position":[-0.5220225661700226,1.496069138175819,0.71338606911949],"aabb_xy":[[-0.529646834260201,1.4884359146392756],[-0.5143982980798445,1.5037023617123633]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_20","position":[0.5309845347536408,-1.999886399488262,0.71338606911949],"aabb_xy":[[0.4609845313620788,-2.035202173191693],[0.6009845381452027,-1.9645706257848312]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_21","position":[0.4275988467630658,-0.37630059593287557,0.71338606911949],"aabb_xy":[[0.42055739581231827,-0.38332734767067006],[0.43464029771381346,-0.36927384419508097]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_22","position":[0.6817184227998025,-2.091869748406845,0.71338606911949],"aabb_xy":[[0.6735907346064893,-2.1007833568175527],[0.6898461109931158,-2.082956139996137]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_23","position":[-0.5707803568997395,-1.1283091577021171,0.71338606911949],"aabb_xy":[[-0.6307803585426613,-1.1803093069940613],[-0.5107803552568176,-1.076309008410173]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_24","position":[-0.2714566194742858,0.8960743938962654,0.71338606911949],"aabb_xy":[[-0.3089566178976861,0.8829101799284346],[-0.23395662105088538,0.9092386078640958]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_25","position":[-0.5027074039211463,1.1424129206408984,0.71338606911949],"aabb_xy":[[-0.5667074032153145,1.0784267802720442],[-0.4387074046269781,1.2063990610097526]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_26","position":[0.34441596129791385,1.559712481299011,0.71338606911949],"aabb_xy":[[0.2894204834772544,1.5047124798651041],[0.3994114391185732,1.614712482732918]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_27","position":[0.5992310448028593,-0.4710652882716104,0.71338606911949],"aabb_xy":[[0.5492579792703439,-0.5210652880841433],[0.6492041103353748,-0.4210652884590776]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_28","position":[-0.5350612802139267,0.39782281104935935,0.71338606911949],"aabb_xy":[[-0.5575749720373838,0.3278228104483518],[-0.5125475883904694,0.4678228116503669]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_29","position":[0.5901142576705967,-2.4007016422727063,0.71338606911949],"aabb_xy":[[0.5201142560683173,-2.414134435474364],[0.6601142592728763,-2.3872688490710487]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_30","position":[0.09040499346886233,-2.1266522346049217,0.71338606911949],"aabb_xy":[[0.03541274283335139,-2.1816522363482345],[0.1453972441043733,-2.071652232861609]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_31","position":[0.11147920439218661,-1.9675256191965165,0.71338606911949],"aabb_xy":[[0.07770364520149364,-1.9815641144096814],[0.1452547635828796,-1.9534871239833516]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6789770983073115,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7959.png","name":"7959"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7959.png","name":"7959"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3287.png","name":"3287"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1543.png","name":"1543"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1810.png","name":"1810"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1554.png","name":"1554"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":753.6872531586707,"rotation_z_degrees":306.338290759168,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017622746426825476,0.014214390063987375,0.0017365477342946994]},{"name":"camera_2","offset_m":[-0.009551668273370045,0.004304678645852787,-0.01667623298910099]},{"name":"camera_3","offset_m":[-0.018128466110262097,0.005606442899995234,-0.005521187810754627]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00020090865296860678,-0.0009959722333657823,-0.0008052037824883959],"end_effector_yaw_offset_degrees":0.3461202685614537},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0009504490255682629,-0.0016835870284680544,-0.0007638212712648804],"end_effector_yaw_offset_degrees":0.7744557208700709},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0005636186896229997,0.0011239519727812715,0.0006557690171641348],"end_effector_yaw_offset_degrees":0.1644614284495114},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0017301055249197617,0.0019936061674765346,-0.0005693995983360733],"end_effector_yaw_offset_degrees":0.3903431718407582}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0023850665216271407,-0.003882745669729769],"position_m":[0.25641493347837285,0.15271725433027022,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0009668886759429838,-0.0026300579735779686],"position_m":[0.21213311132405702,-0.33073005797357796,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0012080909601163295,-0.0017733321357621947],"position_m":[0.2648080909601163,-0.1328733321357622,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004121266215514477,0.0013046749240521252],"position_m":[0.33392126621551443,0.3103046749240521,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"62757e83328e2f95c6f00a9237f1af1a3f25cfdca10c355acd73b829dd0ee45b","episode_index":30,"episode_name":"episode_0030"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0030.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_7959/tex_ceiling_textures_1554/tex_floor_textures_1810/tex_table_textures_3287/tex_wall_textures_1543","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":9072045802263383292,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":9072045802263383292,"visual_seed":9072045802263383292,"scene_id":"lab_003","finished_at":"2026-09-05T20:02:55"} +{"episode_id":"ep_000025","started_at":"2026-09-05T20:02:58","dimensions":{"distractor":{"count":22,"items":[{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_0","position":[-0.5132104945579212,0.7799258491303744,0.71338606911949],"aabb_xy":[[-0.5303125725162893,0.7628190435991047],[-0.49610841659955296,0.7970326546616442]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_1","position":[0.6336201821143281,-0.5049996374123773,0.71338606911949],"aabb_xy":[[0.611711499974977,-0.526900304232468],[0.6555288642536791,-0.48309897059228657]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_2","position":[0.14339378073406817,1.2453340619880051,0.71338606911949],"aabb_xy":[[0.1339763061642054,1.2359178848502859],[0.1528112553039309,1.254750239125724]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_3","position":[0.07397017433163489,-0.9529742801808203,0.71338606911949],"aabb_xy":[[0.009970171112997028,-0.9996973920798287],[0.13797017755027274,-0.906251168281812]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_4","position":[-0.142378856321143,0.9943704408708363,0.71338606911949],"aabb_xy":[[-0.16487885683318354,0.9718785825054379],[-0.11987885580910235,1.0168622992362346]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_5","position":[0.3982430819045035,1.2244232222730367,0.71338606911949],"aabb_xy":[[0.38809006635035403,1.1883536807002961],[0.4083960974586528,1.2604927638457768]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_6","position":[0.3674931911775652,-2.091872832603121,0.71338606911949],"aabb_xy":[[0.34999319204319795,-2.1017524596407084],[0.3849931903119323,-2.081993205565533]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_7","position":[-0.33523611082030014,-0.7138756259268564,0.71338606911949],"aabb_xy":[[-0.38520917635281565,-0.7638756257393895],[-0.2852630452877847,-0.6638756261143236]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_8","position":[-0.3411592556517085,1.0667895585366254,0.71338606911949],"aabb_xy":[[-0.3786592559999362,1.0549981629555416],[-0.3036592553034807,1.0785809541177087]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_9","position":[0.08376059635204469,-1.1997210920830221,0.71338606911949],"aabb_xy":[[0.018760596317741962,-1.2464217687633494],[0.14876059638634742,-1.1530204154026948]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_10","position":[0.10222321949020463,1.3614000836081042,0.71338606911949],"aabb_xy":[[0.09292960125305406,1.3239000851199703],[0.11151683772735523,1.398900082096238]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_11","position":[-0.47855851713295905,-0.6089427551993354,0.71338606911949],"aabb_xy":[[-0.4826744672450316,-0.6130583102321808],[-0.4744425670208863,-0.6048272001664897]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_12","position":[-0.23578250623247787,0.7402807778374716,0.71338606911949],"aabb_xy":[[-0.2501169313586413,0.7282205622829327],[-0.22144808110631445,0.7523409933920104]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_13","position":[0.21639420653719232,-1.9974697521303857,0.71338606911949],"aabb_xy":[[0.19450445894825152,-2.087469749419635],[0.23828395412613312,-1.9074697548411368]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_14","position":[-0.5064291206060058,-1.4093663986452043,0.71338606911949],"aabb_xy":[[-0.5437603971312484,-1.4440194534400566],[-0.46909784408076316,-1.374713343850352]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_15","position":[-0.4457694678267837,-1.8623154134521607,0.71338606911949],"aabb_xy":[[-0.5007626791639206,-1.9173154137909543],[-0.39077625648964703,-1.807315413113367]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_16","position":[-0.06826716428051383,1.1316990372430902,0.71338606911949],"aabb_xy":[[-0.09825882701438415,1.1016990379062896],[-0.0382755015466435,1.1616990365798907]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_17","position":[-0.058012240748823274,-2.164420503046753,0.71338606911949],"aabb_xy":[[-0.07317511372576035,-2.179585960341872],[-0.04284936777188619,-2.1492550457516346]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_18","position":[0.5732486400079053,0.5578734707853266,0.71338606911949],"aabb_xy":[[0.53865755715386,0.49287347050029534],[0.6078397228619504,0.6228734710703574]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_19","position":[-0.046330139676440285,-1.9617105356626394,0.71338606911949],"aabb_xy":[[-0.08010569886713326,-1.9757490308758041],[-0.012554580485747313,-1.9476720404494738]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_20","position":[-0.27464195269345654,-0.47526523540872523,0.71338606911949],"aabb_xy":[[-0.2968144796701073,-0.49744090256484835],[-0.25246942571680564,-0.453089568252602]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_21","position":[-0.41868232290906005,0.3007848130400448,0.71338606911949],"aabb_xy":[[-0.4436823220746932,0.2938325673346882],[-0.393682323743427,0.30773705874540136]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6768534563037419,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6762.png","name":"6762"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6762.png","name":"6762"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2342.png","name":"2342"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1159.png","name":"1159"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7290.png","name":"7290"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7938.png","name":"7938"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":627.13916813624,"rotation_z_degrees":276.5952731584315,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005550322265843278,0.007155388959359233,-0.00193310665023275]},{"name":"camera_2","offset_m":[0.01403241663075135,-0.011946954140501244,0.0036159727277360713]},{"name":"camera_3","offset_m":[0.005433929805154943,0.0011936084052561607,0.0018321975810601243]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00011984892379613083,-0.001292940853311948,-0.0018779893277867732],"end_effector_yaw_offset_degrees":-0.011004167083183747},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.001611863322302899,-0.0017047992230277641,-0.001340856199717714],"end_effector_yaw_offset_degrees":-0.6435688341473922},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001378913856911614,0.0009934638189858132,0.0008631805504457305],"end_effector_yaw_offset_degrees":0.08706763279428809},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010815741349388462,-0.0005670171975367016,0.0010932576943734388],"end_effector_yaw_offset_degrees":0.768214370212787}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0019348840668461098,0.0017075415042216964],"position_m":[0.2607348840668461,0.1583075415042217,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0024539290609849537,-0.003229367051927533],"position_m":[0.21555392906098497,-0.33132936705192756,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003338487959642791,-0.004656733436711235],"position_m":[0.2669384879596428,-0.13575673343671124,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0038326562124479857,-0.0028003842071738006],"position_m":[0.333632656212448,0.3061996157928262,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"aaf21e5fdbbbe3a3226450d0477820727271983394f60765c893cbb5738edbc2","episode_index":31,"episode_name":"episode_0031"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0031.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_6762/tex_ceiling_textures_7938/tex_floor_textures_7290/tex_table_textures_2342/tex_wall_textures_1159","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":4609119725571970552,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":4609119725571970552,"visual_seed":4609119725571970552,"scene_id":"lab_003","finished_at":"2026-09-05T20:06:20"} +{"episode_id":"ep_000026","started_at":"2026-09-05T20:08:55","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_0","position":[-0.37434400390660366,-1.6889764020108609,0.71338606911949],"aabb_xy":[[-0.3799256755407324,-1.7014764018286366],[-0.3687623322724749,-1.6764764021930856]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_1","position":[0.4202009973538563,0.549500746586101,0.71338606911949],"aabb_xy":[[0.37502967950568744,0.48550074944156263],[0.4653723152020254,0.6135007437306395]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_2","position":[-0.40746215371592687,-2.00787462109325,0.71338606911949],"aabb_xy":[[-0.42256445517694485,-2.022976142724311],[-0.39235985225490866,-1.9927730994621873]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_3","position":[0.3605847229965078,-0.8355869715500717,0.71338606911949],"aabb_xy":[[0.325584721645026,-0.8559467075068925],[0.39558472434798947,-0.8152272355932508]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_4","position":[0.45753087761831535,0.7223808037637767,0.71338606911949],"aabb_xy":[[0.3675308811174436,0.6764691613453182],[0.5475308741191871,0.7682924461822347]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_5","position":[0.3726097926648062,-0.6198205568971931,0.71338606911949],"aabb_xy":[[0.36391183037409097,-0.6319455312046679],[0.3813077549555216,-0.6076955825897185]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_6","position":[-0.3789195344198815,-1.3991641501703695,0.71338606911949],"aabb_xy":[[-0.443919537057675,-1.4506437488698163],[-0.31391953178208803,-1.3476845514709224]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_7","position":[0.06620689515699318,1.461243321036092,0.71338606911949],"aabb_xy":[[0.05297594962231189,1.4480159020140924],[0.07943784069167448,1.4744707400580912]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_8","position":[-0.30186566553470723,1.7667210737673282,0.71338606911949],"aabb_xy":[[-0.336328012932849,1.7322271913695053],[-0.26740331813656537,1.8012149561651507]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_9","position":[0.6655613672574643,-1.495621138771781,0.71338606911949],"aabb_xy":[[0.6330996663755366,-1.525753970886683],[0.6980230681393915,-1.4654883066568778]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_10","position":[-0.14531596521588985,-1.7290268948258556,0.71338606911949],"aabb_xy":[[-0.20931596559342347,-1.7787721616766676],[-0.08131596483835624,-1.679281627975043]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_11","position":[-0.28949809880382393,-0.16277696794347074,0.71338606911949],"aabb_xy":[[-0.29674186485006926,-0.24277696614707311],[-0.2822543327575786,-0.08277696973986837]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_12","position":[-0.4665597625371579,0.77746120490804,0.71338606911949],"aabb_xy":[[-0.5015597624331767,0.7690869693961001],[-0.43155976264113904,0.78583544041998]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_13","position":[-0.6310515623856827,1.7664391784034001,0.71338606911949],"aabb_xy":[[-0.6810303708959986,1.7164391783976811],[-0.5810727538753668,1.8164391784091187]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_14","position":[-0.6281302787180796,-0.701735638864758,0.71338606911949],"aabb_xy":[[-0.6526439028150854,-0.7260002321667944],[-0.6036166546210737,-0.6774710455627215]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_15","position":[-0.613554428966708,-1.410314298438253,0.71338606911949],"aabb_xy":[[-0.6447013478102911,-1.48031429712506],[-0.5824075101231249,-1.3403142997514457]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_16","position":[0.6659100011441812,0.7378499423921729,0.71338606911949],"aabb_xy":[[0.6159367071409207,0.6878499418376256],[0.7158832951474416,0.7878499429467203]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_17","position":[0.1967270635294085,-2.1802914514309277,0.71338606911949],"aabb_xy":[[0.17422706301736784,-2.2027833097963256],[0.21922706404144904,-2.157799593065529]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_18","position":[-0.35150173968809345,-2.4040111965710658,0.71338606911949],"aabb_xy":[[-0.4165017407940368,-2.428976569639194],[-0.2865017385821502,-2.3790458235029375]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_19","position":[0.17593821336294047,-0.8814960026059471,0.71338606911949],"aabb_xy":[[0.09593821308933347,-0.9544455504316637],[0.2559382136365474,-0.8085464547802302]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6787160913389215,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5998.png","name":"5998"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5998.png","name":"5998"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3535.png","name":"3535"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8979.png","name":"8979"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4892.png","name":"4892"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6191.png","name":"6191"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":512.4602818863233,"rotation_z_degrees":327.4872855331342,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013032511919273803,0.007006396911845344,-0.016055787648112246]},{"name":"camera_2","offset_m":[0.011180104795251406,-0.003628019746531687,-0.004578490541693316]},{"name":"camera_3","offset_m":[-0.016146290848367557,-0.015208087104446572,-0.01852468676962757]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0015658391959050603,0.0008217846594902236,0.0005282412740166874],"end_effector_yaw_offset_degrees":0.22176082452088153},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0005427416786854679,8.89998650243631e-06,0.0006247721836680343],"end_effector_yaw_offset_degrees":-0.6171076118620655},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001321642198850117,0.00044072913659285026,0.0005602953210134477],"end_effector_yaw_offset_degrees":-0.6369803479000968},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0006577315417888164,0.00145613139842562,-0.0013717822924216162],"end_effector_yaw_offset_degrees":-0.723758486721148}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.001527740459763672,0.0020532958798857573],"position_m":[0.26032774045976365,0.15865329587988575,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0009130843020805739,0.003004695089065388],"position_m":[0.21401308430208058,-0.32509530491093463,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0029034931494102655,0.002306118745329224],"position_m":[0.26069650685058976,-0.12879388125467078,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004804146920648401,-0.0006019695339469985],"position_m":[0.3346041469206484,0.308398030466053,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"34e5f85fc951e8b91e29b764bd39b03b893c2f241484b180571ff2edbb866a64","episode_index":33,"episode_name":"episode_0033"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0033.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_5998/tex_ceiling_textures_6191/tex_floor_textures_4892/tex_table_textures_3535/tex_wall_textures_8979","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":4140121595766873287,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":4140121595766873287,"visual_seed":4140121595766873287,"scene_id":"lab_003","finished_at":"2026-09-05T20:12:21"} +{"episode_id":"ep_000027","started_at":"2026-09-05T20:12:24","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_0","position":[-0.4747726482569497,-1.9201413176001192,0.71338606911949],"aabb_xy":[[-0.5387726446842716,-1.9673109414222159],[-0.41077265182962786,-1.872971693778023]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_1","position":[-0.21038083124372065,-2.1123321365250893,0.71338606911949],"aabb_xy":[[-0.274380833156063,-2.1682432857830998],[-0.14638082933137833,-2.056420987267079]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_2","position":[0.6209983473892215,0.22262976326655082,0.71338606911949],"aabb_xy":[[0.5372761218891391,0.13262975973185484],[0.704720572889304,0.31262976680124677]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_3","position":[0.5315136318680915,-0.0031397927569303263,0.71338606911949],"aabb_xy":[[0.5255470929273557,-0.009100937416294363],[0.5374801708088272,0.0028213519024337112]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_4","position":[0.15097645272218863,1.1460803800914143,0.71338606911949],"aabb_xy":[[0.10580513487401969,1.082080382946876],[0.19614777057035765,1.2100803772359527]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_5","position":[-0.035355033656993884,-1.8963594682587206,0.71338606911949],"aabb_xy":[[-0.05356085731824157,-1.9073848688407125],[-0.017149209995746213,-1.8853340676767292]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_6","position":[0.03453171743344363,-1.0133362190608786,0.71338606911949],"aabb_xy":[[-0.010746897447705628,-1.0773362184090622],[0.07981033231459289,-0.9493362197126949]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_7","position":[-0.44578803382193954,1.0301983949669355,0.71338606911949],"aabb_xy":[[-0.47627228394896964,0.9801983951854394],[-0.41530378369490933,1.0801983947484313]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_8","position":[0.18881491341577927,-2.455651799267539,0.71338606911949],"aabb_xy":[[0.12381491077798579,-2.5071313979669863],[0.25381491605357276,-2.4041722005680923]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_9","position":[-0.32101797980053043,-2.3971683972861464,0.71338606911949],"aabb_xy":[[-0.3401302871585093,-2.4163031761633884],[-0.30190567244255156,-2.3780336184089044]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_10","position":[-0.3495229040133282,1.2607131297053233,0.71338606911949],"aabb_xy":[[-0.3720229045253688,1.2382212713399248],[-0.3270229035012876,1.2832049880707215]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_11","position":[0.42196923698432953,1.5597229822995327,0.71338606911949],"aabb_xy":[[0.34196923958073605,1.4797304111013496],[0.5019692343879228,1.6397155534977153]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_12","position":[0.6766764227545796,-1.3317084084936737,0.71338606911949],"aabb_xy":[[0.6528402051139747,-1.4217084093021601],[0.7005126403951848,-1.2417084076851872]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_13","position":[-0.35845424086074074,1.8121686493910878,0.71338606911949],"aabb_xy":[[-0.39222980005143365,1.7981301541779227],[-0.3246786816700477,1.8262071446042525]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_14","position":[-0.29597672874165765,0.42806068362818595,0.71338606911949],"aabb_xy":[[-0.3420618199963891,0.3640606863756308],[-0.2498916374869262,0.49206068088074106]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_15","position":[0.25675763861904355,-1.3013193588427805,0.71338606911949],"aabb_xy":[[0.2391793364300967,-1.3188938484168853],[0.2743359408079904,-1.2837448692686757]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_16","position":[-0.28647953252312985,0.8676061901984382,0.71338606911949],"aabb_xy":[[-0.33647953418462456,0.8176077479427354],[-0.23647953086163506,0.9176046324541408]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_17","position":[0.1563794364543677,0.8627564607445155,0.71338606911949],"aabb_xy":[[0.14031750899585002,0.7777564589319235],[0.1724413639128853,0.9477564625571071]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_18","position":[-0.18824584362569186,-1.072297533345461,0.71338606911949],"aabb_xy":[[-0.21013559121463263,-1.16229753063471],[-0.16635609603675103,-0.982297536056212]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_19","position":[-0.5532294296652892,1.5889882932476316,0.71338606911949],"aabb_xy":[[-0.5684015989469225,1.5738194363194284],[-0.5380572603836559,1.6041571501758352]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_20","position":[-0.2921662574718201,-0.3257595033170353,0.71338606911949],"aabb_xy":[[-0.32215792020569045,-0.35575950265383577],[-0.2621745947379498,-0.2957595039802347]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_21","position":[-0.07952449514910842,-2.233326303914733,0.71338606911949],"aabb_xy":[[-0.10452449431474155,-2.2402785496200894],[-0.05452449598347532,-2.2263740582093763]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_22","position":[-0.5197230338618044,-1.4009109747183925,0.71338606911949],"aabb_xy":[[-0.5565176669867107,-1.4378168498149748],[-0.48292840073689813,-1.3640050996218103]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_23","position":[0.06153281122399634,-0.6591031472738533,0.71338606911949],"aabb_xy":[[0.03653281167225786,-0.6692456311389879],[0.08653281077573483,-0.6489606634087185]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_24","position":[-0.13047545146567674,0.21184322530849586,0.71338606911949],"aabb_xy":[[-0.15053386307891703,0.19177813839933835],[-0.11041703985243645,0.23190831221765343]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_25","position":[0.4850791344088583,1.2104130517422922,0.71338606911949],"aabb_xy":[[0.4210791327308609,1.1618956602629777],[0.5490791360868557,1.2589304432216062]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_26","position":[0.5266436143292794,-1.7408480843508243,0.71338606911949],"aabb_xy":[[0.4366436106523611,-1.8022804909279282],[0.6166436180061975,-1.6794156777737195]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_27","position":[-0.22128280848543724,-1.741464378626489,0.71338606911949],"aabb_xy":[[-0.28528280578778364,-1.7858308055943455],[-0.15728281118309081,-1.697097951658632]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_28","position":[0.12868146181904816,1.617115564908358,0.71338606911949],"aabb_xy":[[0.11998349952833287,1.6049905906008834],[0.13737942410976345,1.629240539215833]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6713755134306142,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3446.png","name":"3446"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3446.png","name":"3446"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/641.png","name":"641"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9053.png","name":"9053"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3366.png","name":"3366"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3756.png","name":"3756"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":716.2898341348791,"rotation_z_degrees":178.45516173229007,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016544974200082913,0.007451320162520928,-0.003097496504614012]},{"name":"camera_2","offset_m":[-0.013717195168437151,0.0070914553626052305,0.017854834116561132]},{"name":"camera_3","offset_m":[0.0015062794626312,-0.014313193749342652,-0.0006580798598635335]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[1.5617976583037416e-05,-0.0011339476045798924,-9.079391765819231e-05],"end_effector_yaw_offset_degrees":0.16282472644865664},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[8.82463829150657e-05,-0.001228703329699694,0.0017667008531197922],"end_effector_yaw_offset_degrees":0.1222682823050043},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0012661513100312573,0.0008395767549413649,0.0009605395606328664],"end_effector_yaw_offset_degrees":0.17234032123994836},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00048521201522254117,0.00044178235675418993,-0.0018043908672274104],"end_effector_yaw_offset_degrees":0.22191432884884965}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0010896964692451386,-0.001155015966082037],"position_m":[0.2598896964692451,0.15544498403391796,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0020784265869280274,-0.003193033101342637],"position_m":[0.21517842658692804,-0.3312930331013426,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002972485203082257,0.0031492574805784415],"position_m":[0.26657248520308224,-0.12795074251942154,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002672928270474315,-0.002105347995463297],"position_m":[0.32712707172952565,0.3068946520045367,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"96476746447e5c940de14115100d2ff9a3c400dc62722bff3b9c9fa0fe062f67","episode_index":34,"episode_name":"episode_0034"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0034.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_3446/tex_ceiling_textures_3756/tex_floor_textures_3366/tex_table_textures_641/tex_wall_textures_9053","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":8145919974444582311,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":8145919974444582311,"visual_seed":8145919974444582311,"scene_id":"lab_003","finished_at":"2026-09-05T20:15:55"} +{"episode_id":"ep_000028","started_at":"2026-09-05T20:15:59","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_0","position":[-0.2746209358723281,1.660729829545279,0.71338606911949],"aabb_xy":[[-0.2921208693063115,1.6432298296250445],[-0.25712100243834474,1.6782298294655136]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_1","position":[0.6989224275841774,-1.38051634540522,0.71338606911949],"aabb_xy":[[0.6891664380750036,-1.3902788794644543],[0.7086784170933513,-1.3707538113459854]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_2","position":[-0.2890880474450328,-1.3848768178822972,0.71338606911949],"aabb_xy":[[-0.3787751237531482,-1.4748768181367478],[-0.1994009711369173,-1.2948768176278467]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_3","position":[0.11797835403963408,-2.0456889007242935,0.71338606911949],"aabb_xy":[[0.034256128539551595,-2.1356889042589895],[0.2017005795397165,-1.9556888971895976]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_4","position":[-0.521309230245071,-1.403301312111476,0.71338606911949],"aabb_xy":[[-0.5277230438882559,-1.409711132359144],[-0.514895416601886,-1.3968914918638073]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_5","position":[0.3873500018062981,1.7947739684242108,0.71338606911949],"aabb_xy":[[0.37856877465906197,1.7859942211356807],[0.3961312289535344,1.8035537157127413]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_6","position":[-0.3595384597094096,1.7509084658432168,0.71338606911949],"aabb_xy":[[-0.3873834964900168,1.720123967104905],[-0.33169342292880255,1.7816929645815283]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_7","position":[0.6028137898252222,-0.9129135578906871,0.71338606911949],"aabb_xy":[[0.5948905095864737,-0.9354135581286904],[0.6107370700639704,-0.8904135576526837]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_8","position":[0.34486323514647643,-2.1520398003740695,0.71338606911949],"aabb_xy":[[0.3198632359808434,-2.158992046079426],[0.3698632343121096,-2.145087554668713]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_9","position":[0.397349919923653,-0.26105101352771864,0.71338606911949],"aabb_xy":[[0.36288744191056516,-0.2677146907106414],[0.4318123979367407,-0.25438733634479577]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_10","position":[0.010839105981270136,1.3674133698717434,0.71338606911949],"aabb_xy":[[-0.025656714646008605,1.3309294274449859],[0.04733492660854888,1.403897312298501]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_11","position":[0.5373073020668904,-1.7418859396815705,0.71338606911949],"aabb_xy":[[0.5191014784056428,-1.752911340263562],[0.5555131257281382,-1.7308605390995788]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_12","position":[-0.36171199597970816,0.8638470518837074,0.71338606911949],"aabb_xy":[[-0.426711994536781,0.8340945184698247],[-0.2967119974226353,0.89359958529759]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_13","position":[-0.17885140648269293,1.2601019174727197,0.71338606911949],"aabb_xy":[[-0.18418392113730592,1.2547775892274842],[-0.17351889182807995,1.2654262457179553]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_14","position":[-0.4510602262692406,-2.3634110212572668,0.71338606911949],"aabb_xy":[[-0.5150602265432188,-2.4134771214545547],[-0.38706022599526235,-2.313344921059979]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_15","position":[-0.3677180061102347,1.1583002978114894,0.71338606911949],"aabb_xy":[[-0.39021800635375015,1.1460956631517174],[-0.34521800586671936,1.1705049324712613]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_16","position":[0.4769131490174139,-0.6656233341760824,0.71338606911949],"aabb_xy":[[0.44191314988745817,-0.6713685552517465],[0.5119131481473695,-0.6598781131004183]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_17","position":[-0.16942744307497615,-0.5854147280037898,0.71338606911949],"aabb_xy":[[-0.2494274400380153,-0.6624903696475632],[-0.08942744611193698,-0.5083390863600163]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_18","position":[-0.27683436994415317,-0.8812375433013446,0.71338606911949],"aabb_xy":[[-0.28053763127329195,-0.8849395616100625],[-0.2731311086150143,-0.8775355249926268]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_19","position":[0.40951375871384443,0.4721032715873772,0.71338606911949],"aabb_xy":[[0.36342866745911295,0.4081032743348221],[0.4555988499685759,0.5361032688399323]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6750281559703961,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2244.png","name":"2244"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2244.png","name":"2244"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3456.png","name":"3456"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7209.png","name":"7209"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3191.png","name":"3191"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/996.png","name":"996"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":786.0038899189464,"rotation_z_degrees":230.0755861831509,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0005357208133264998,0.01217004941658351,0.011856040491150608]},{"name":"camera_2","offset_m":[0.016128614654242212,-0.009935375012795289,0.0023683597813368186]},{"name":"camera_3","offset_m":[-0.006402487452743829,0.017110306050414848,0.014894883331537833]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0003885690256743616,0.00023084167256047982,-0.0018861157871096679],"end_effector_yaw_offset_degrees":-0.06326868070771274},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0006781973744893386,0.0017804212956043734,0.00019912951045540075],"end_effector_yaw_offset_degrees":0.5496989750864261},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0007999533698434371,-0.00014409421345132952,-0.000462674712231157],"end_effector_yaw_offset_degrees":-0.8389523996358541},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00035218941935207925,-0.0014098650931124918,-0.0013789672046970792],"end_effector_yaw_offset_degrees":-0.20688687136495187}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004141438969838329,0.000825285317727519],"position_m":[0.2629414389698383,0.1574252853177275,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001481129231071211,0.004587568558915608],"position_m":[0.21458112923107123,-0.3235124314410844,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004482861708680429,0.003554540413149342],"position_m":[0.25911713829131955,-0.12754545958685065,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0018666131936307994,0.0042709106584899745],"position_m":[0.3279333868063692,0.31327091065849,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"579a626b383eaeaeb4fd1f525b12d72c37c61c431bb5a85f9c9898ba0970546d","episode_index":35,"episode_name":"episode_0035"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0035.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_2244/tex_ceiling_textures_996/tex_floor_textures_3191/tex_table_textures_3456/tex_wall_textures_7209","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":6060889260130512350,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":6060889260130512350,"visual_seed":6060889260130512350,"scene_id":"lab_003","finished_at":"2026-09-05T20:19:28"} +{"episode_id":"ep_000029","started_at":"2026-09-05T20:19:31","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_0","position":[0.011039576724883315,1.1612868928946511,0.71338606911949],"aabb_xy":[[-0.038440844489075476,1.0972868949817993],[0.06051999793884211,1.225286890807503]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_1","position":[-0.008685247532529194,-1.6532313503454237,0.71338606911949],"aabb_xy":[[-0.03983216637611231,-1.7232313490322306],[0.02246167131105392,-1.5832313516586163]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_2","position":[-0.42533870908696714,-2.4538857872701585,0.71338606911949],"aabb_xy":[[-0.4314333369750854,-2.462455181821827],[-0.41924408119884876,-2.4453163927184898]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_3","position":[0.1455301167036459,0.7864005972381545,0.71338606911949],"aabb_xy":[[0.13229917116896456,0.7731731782161549],[0.15876106223832714,0.7996280162601538]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_4","position":[0.19041006834843777,1.24875544101696,0.71338606911949],"aabb_xy":[[0.1304100680970366,1.194474115980495],[0.25041006859983894,1.3030367660534243]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_5","position":[-0.33356134914691477,-1.759037120586982,0.71338606911949],"aabb_xy":[[-0.33997516279009965,-1.7654469408346503],[-0.32714753550372977,-1.7526273003393136]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_6","position":[0.4649048514964289,-1.213566552854159,0.71338606911949],"aabb_xy":[[0.3811826259963464,-1.303566556388855],[0.5486270769965114,-1.123566549319463]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_7","position":[-0.366785930162367,0.2697244452732366,0.71338606911949],"aabb_xy":[[-0.40178592847306244,0.262009430349691],[-0.33178593185167155,0.2774394601967823]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_8","position":[0.4619167146286747,-0.5111998907518629,0.71338606911949],"aabb_xy":[[0.44681441316765647,-0.5263014123829245],[0.47701901608969266,-0.4960983691208009]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_9","position":[-0.5427389703329109,0.532065387422505,0.71338606911949],"aabb_xy":[[-0.565235391766775,0.5095653876157575],[-0.5202425488990468,0.5545653872292524]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_10","position":[-0.09366680831216045,1.4744991688387645,0.71338606911949],"aabb_xy":[[-0.14866680651390526,1.433977202212327],[-0.03866681011041561,1.5150211354652021]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_11","position":[0.45656384682241313,1.307637335785076,0.71338606911949],"aabb_xy":[[0.39256384447961157,1.2626964845409434],[0.5205638491652147,1.3525781870292084]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_12","position":[-0.5748993162302025,-0.3679114550557556,0.71338606911949],"aabb_xy":[[-0.6548931398087607,-0.4479114576485972],[-0.4949054926516443,-0.28791145246291405]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_13","position":[-0.29970866954127473,1.3749053826114537,0.71338606911949],"aabb_xy":[[-0.3331488447372942,1.3414617567805234],[-0.266268494345255,1.4083490084423835]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_14","position":[0.6118301556872188,-0.1490434212315721,0.71338606911949],"aabb_xy":[[0.5999580726757177,-0.23404342092522246],[0.6237022386987199,-0.06404342153792175]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_15","position":[0.6961068151231882,-2.04854691801533,0.71338606911949],"aabb_xy":[[0.6907743004685752,-2.0538712462605657],[0.7014393297778013,-2.043222589770094]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_16","position":[0.5370958134046582,-2.1490679156778087,0.71338606911949],"aabb_xy":[[0.48709581304409205,-2.1990479028874113],[0.5870958137652241,-2.0990879284682054]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_17","position":[0.669970124388519,-1.4753284839779104,0.71338606911949],"aabb_xy":[[0.647470988662292,-1.4978284847561731],[0.692469260114746,-1.4528284831996472]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_18","position":[0.6777747824165907,-0.8946392033209298,0.71338606911949],"aabb_xy":[[0.671808243475855,-0.9006003479802939],[0.6837413213573265,-0.8886780586615658]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_19","position":[0.12104882675468842,0.9877626553180461,0.71338606911949],"aabb_xy":[[0.10354882649535181,0.9736711131292737],[0.13854882701402504,1.001854197506819]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_20","position":[0.1686577964107434,1.7417050505977953,0.71338606911949],"aabb_xy":[[0.1568896096160859,1.6567050506925742],[0.18042598320540093,1.8267050505030173]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6728442332336952,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2868.png","name":"2868"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2868.png","name":"2868"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7544.png","name":"7544"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4950.png","name":"4950"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4668.png","name":"4668"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/680.png","name":"680"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":544.0945974190327,"rotation_z_degrees":11.535745700306732,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018238288529752036,0.005582965722475561,-0.005662209472063121]},{"name":"camera_2","offset_m":[-0.017654966049686235,-0.013724940559716878,-0.0019126085392535547]},{"name":"camera_3","offset_m":[-0.0012628024931952593,0.017802300682271312,0.012061984534140747]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0009987541084972916,0.001752636571132695,0.00036027777815309317],"end_effector_yaw_offset_degrees":0.5192737424364642},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.001639330543659551,-0.0016755281966805105,-0.0011698494957686667],"end_effector_yaw_offset_degrees":0.7145389318708921},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0018371218735431136,-0.0011160746653451586,0.001166748891921283],"end_effector_yaw_offset_degrees":-0.5452514762813747},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00010579987236607755,-0.001959693456036839,0.0015978827722187647],"end_effector_yaw_offset_degrees":-0.3203942826923232}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004403390949259923,-0.001786730947827784],"position_m":[0.2543966090507401,0.15481326905217221,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00023906381859371134,-0.0016592001637945842],"position_m":[0.21333906381859372,-0.32975920016379456,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003035684234988979,-0.002541936742438381],"position_m":[0.26663568423498896,-0.13364193674243838,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00034198875253694996,-0.0034358625687526644],"position_m":[0.32945801124746305,0.30556413743124733,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8d5df697d40d1a4f60296eda1a8fc8b384b2c042fbb54fc253bd6a68449f441f","episode_index":36,"episode_name":"episode_0036"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0036.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_2868/tex_ceiling_textures_680/tex_floor_textures_4668/tex_table_textures_7544/tex_wall_textures_4950","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":7972294262472238749,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":7972294262472238749,"visual_seed":7972294262472238749,"scene_id":"lab_003","finished_at":"2026-09-05T20:23:04"} +{"episode_id":"ep_000030","started_at":"2026-09-05T20:23:09","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_0","position":[0.42525909394718786,-2.258696049212163,0.71338606911949],"aabb_xy":[[0.4218184177071307,-2.2625574821865273],[0.42869977018724503,-2.2548346162377984]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_1","position":[0.16579540436872808,0.9873117412830141,0.71338606911949],"aabb_xy":[[0.1611602892164947,0.9834444062058654],[0.17043051952096147,0.9911790763601627]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_2","position":[0.34592616797493947,0.4263833365860785,0.71338606911949],"aabb_xy":[[0.3378125133015623,0.4182775201320494],[0.3540398226483165,0.43448915304010755]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_3","position":[-0.22428251341028815,-1.6482867931054948,0.71338606911949],"aabb_xy":[[-0.2356442480635743,-1.6596552595117826],[-0.212920778757002,-1.6369183266992064]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_4","position":[0.6229811190191867,0.6913108509796864,0.71338606911949],"aabb_xy":[[0.5589811198494169,0.6445441638607238],[0.6869811181889568,0.7380775380986487]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_5","position":[-0.37792837315464856,-2.2432068902076496,0.71338606911949],"aabb_xy":[[-0.38662633544536384,-2.2553318645151244],[-0.3692304108639332,-2.231081915900175]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_6","position":[-0.15279234960371224,-2.1537468296852547,0.71338606911949],"aabb_xy":[[-0.19029234970930517,-2.1605689915382356],[-0.11529234949811927,-2.146924667832273]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_7","position":[0.10716478862110501,1.205249658985983,0.71338606911949],"aabb_xy":[[0.017164786287085954,1.1277673044008703],[0.19716479095512407,1.2827320135710956]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_8","position":[-0.323245247583158,-0.15682442199459778,0.71338606911949],"aabb_xy":[[-0.3582452458532779,-0.16389854968958592],[-0.2882452493130381,-0.1497502942996096]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_9","position":[0.6963722803203247,-1.0296921154548022,0.71338606911949],"aabb_xy":[[0.6902776524322064,-1.038261510006471],[0.702466908208443,-1.0211227209031335]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_10","position":[-0.631378312872333,-0.05393510607862062,0.71338606911949],"aabb_xy":[[-0.6863783124940789,-0.10891879886609335],[-0.5763783132505872,0.0010485867088520992]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_11","position":[0.6272072853532467,-1.1002881935552136,0.71338606911949],"aabb_xy":[[0.6178602777709515,-1.1145918157728576],[0.636554292935542,-1.0859845713375695]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_12","position":[0.46754695551284775,-1.2823511564624122,0.71338606911949],"aabb_xy":[[0.4175469545623149,-1.3139003034659336],[0.5175469564633806,-1.2508020094588908]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_13","position":[0.328325712569596,-1.666299238940429,0.71338606911949],"aabb_xy":[[0.24832571229598902,-1.7392487867661457],[0.40832571284320296,-1.5933496911147123]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_14","position":[0.5274282158395309,-1.4293832684827796,0.71338606911949],"aabb_xy":[[0.5049634458681257,-1.45188326936164],[0.5498929858109359,-1.406883267603919]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_15","position":[0.24375159998954876,-0.7712623707735107,0.71338606911949],"aabb_xy":[[0.17875160143247587,-0.8010149041873932],[0.30875159854662154,-0.7415098373596279]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_16","position":[-0.3899598585676452,0.2813984383118888,0.71338606911949],"aabb_xy":[[-0.4699598618254881,0.20140193051990485],[-0.3099598553098022,0.3613949461038728]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_17","position":[0.5703565352570747,-1.8974335510734843,0.71338606911949],"aabb_xy":[[0.5063565332073426,-1.9375280341627923],[0.6343565373068066,-1.8573390679841764]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_18","position":[-0.5208436836861161,0.9928869245411414,0.71338606911949],"aabb_xy":[[-0.6108436834092903,0.9698135720059614],[-0.430843683962942,1.015960277076321]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_19","position":[-0.6365068076011419,-2.0668460327389826,0.71338606911949],"aabb_xy":[[-0.6709691549992834,-2.1013399151368044],[-0.6020444602029998,-2.032352150341159]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_20","position":[0.5467805300211628,-1.6365024683139135,0.71338606911949],"aabb_xy":[[0.5092805295238044,-1.6404711518620319],[0.5842805305185209,-1.6325337847657948]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_21","position":[-0.4514622709106413,1.1588227020321051,0.71338606911949],"aabb_xy":[[-0.46026432621961394,1.1510113758771758],[-0.4426602156016685,1.166634028187034]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_22","position":[-0.6511780256427219,0.830868800715082,0.71338606911949],"aabb_xy":[[-0.6620185038692367,0.813682519424433],[-0.6403375474162069,0.8480550820057307]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_23","position":[0.17522250119526683,-1.2834652538570304,0.71338606911949],"aabb_xy":[[0.16818105024451924,-1.290492005594825],[0.18226395214601443,-1.2764385021192357]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_24","position":[-0.01978772520761285,-2.0551685461581704,0.71338606911949],"aabb_xy":[[-0.027200180749001327,-2.0610197565797983],[-0.012375269666224379,-2.0493173357365424]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_25","position":[0.39826354986064527,-0.23342107145030022,0.71338606911949],"aabb_xy":[[0.3827077804503801,-0.24897150469470744],[0.41381931927091065,-0.21787063820589306]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6778488309777103,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/174.png","name":"174"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/174.png","name":"174"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2713.png","name":"2713"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2038.png","name":"2038"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8564.png","name":"8564"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2110.png","name":"2110"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":757.9517032234276,"rotation_z_degrees":43.96603423936596,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011175221920767956,0.012743825852957618,0.01373925181758889]},{"name":"camera_2","offset_m":[-0.015408575567140956,0.0066000572275320135,-0.00041843818734293645]},{"name":"camera_3","offset_m":[-0.016159483920308824,-0.011676441027752458,-0.013195907866297315]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0009866117662768693,0.0018767273003176721,0.0009884784854437452],"end_effector_yaw_offset_degrees":0.013157752861846062},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-5.332815441673987e-05,0.0006229328775477815,0.0013692330796834054],"end_effector_yaw_offset_degrees":0.4301301468348184},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0012806368825003917,-0.000996817572532747,0.0016361877721502022],"end_effector_yaw_offset_degrees":0.826344342344612},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00016309410374968367,-0.0006263504081697225,-0.001351438949362283],"end_effector_yaw_offset_degrees":-0.6517580493623367}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.00022743105888746798,0.0005323512675909081],"position_m":[0.2585725689411125,0.1571323512675909,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0047174571104462515,0.004024213826904099],"position_m":[0.20838254288955377,-0.3240757861730959,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0038701161559241077,0.0031496472534122107],"position_m":[0.2674701161559241,-0.12795035274658778,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0013895666758696034,0.0041295733044071315],"position_m":[0.3311895666758696,0.3131295733044071,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"aa2a4032cc162966e1e0f373faa53fffd246557310d44ef5447b16726dacc0b7","episode_index":37,"episode_name":"episode_0037"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0037.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_174/tex_ceiling_textures_2110/tex_floor_textures_8564/tex_table_textures_2713/tex_wall_textures_2038","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":1657069848573687092,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":1657069848573687092,"visual_seed":1657069848573687092,"scene_id":"lab_003","finished_at":"2026-09-05T20:26:35"} +{"episode_id":"ep_000031","started_at":"2026-09-05T20:26:39","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_0","position":[0.6831499522341968,-0.42500205566584004,0.71338606911949],"aabb_xy":[[0.6738029446519017,-0.43930567788348407],[0.6924969598164922,-0.410698433448196]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_1","position":[0.4347398380808043,-2.2568677222270463,0.71338606911949],"aabb_xy":[[0.4156275307228255,-2.2760025011042884],[0.4538521454387832,-2.2377329433498043]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_2","position":[-0.10652323127779617,-2.3249546778998433,0.71338606911949],"aabb_xy":[[-0.18652322843737146,-2.3365022788576604],[-0.02652323411822087,-2.3134070769420263]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_3","position":[-0.39948349592883475,0.8315423385899203,0.71338606911949],"aabb_xy":[[-0.4544789737494941,0.7765423371560134],[-0.3444880181081753,0.8865423400238273]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_4","position":[-0.27054361213716954,-1.6419627754764623,0.71338606911949],"aabb_xy":[[-0.287974327216176,-1.6592348901403131],[-0.253112897058163,-1.6246906608126115]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_5","position":[-0.2946048843091978,-1.4800736733855377,0.71338606911949],"aabb_xy":[[-0.3586048857171885,-1.5318626249094625],[-0.2306048829012072,-1.428284721861613]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_6","position":[-0.041682025361616026,1.0155211976795258,0.71338606911949],"aabb_xy":[[-0.13168202769563508,0.9380388430944131],[0.04831797697240303,1.0930035522646384]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_7","position":[-0.41132106941177915,-2.413834031433114,0.71338606911949],"aabb_xy":[[-0.4483551788398389,-2.4482112387668233],[-0.3742869599837194,-2.3794568240994045]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_8","position":[-0.5417780224946932,-1.7269446741456798,0.71338606911949],"aabb_xy":[[-0.5845447293741135,-1.7909446775674822],[-0.4990113156152731,-1.6629446707238773]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_9","position":[0.12438833157177942,1.3452688296578628,0.71338606911949],"aabb_xy":[[0.07658216395801076,1.2802688269508038],[0.17219449918554808,1.4102688323649217]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_10","position":[0.35525881519399904,-1.9763740699628,0.71338606911949],"aabb_xy":[[0.30025881699225415,-2.016896036589237],[0.4102588133957438,-1.9358521033363623]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_11","position":[0.6007264453458625,-0.601871678737808,0.71338606911949],"aabb_xy":[[0.5506289813647889,-0.6658716792476198],[0.6508239093269361,-0.5378716782279962]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_12","position":[0.6107739364443971,0.7103127315876776,0.71338606911949],"aabb_xy":[[0.5932739373100299,0.7004331045500898],[0.6282739355787642,0.7201923586252654]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_13","position":[0.13929700542776835,-0.5902651048087924,0.71338606911949],"aabb_xy":[[0.12261986943467285,-0.6069650287827226],[0.15597414142086385,-0.5735651808348621]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_14","position":[-0.4997111917699117,1.2505222676601058,0.71338606911949],"aabb_xy":[[-0.5175046987048282,1.2327225220643079],[-0.4819176848349953,1.2683220132559032]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_15","position":[0.46268025221318254,-0.3996365191758371,0.71338606911949],"aabb_xy":[[0.3826802552501433,-0.47671216081961054],[0.5426802491762217,-0.32256087753206364]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_16","position":[-0.3768026162317374,0.6294372052834682,0.71338606911949],"aabb_xy":[[-0.44080261945037524,0.5827140933844599],[-0.31280261301309953,0.6761603171824766]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_17","position":[0.2131549790327062,1.035989328179586,0.71338606911949],"aabb_xy":[[0.18275686793356255,1.005582426177916],[0.24355309013184973,1.066396230181255]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_18","position":[-0.4595593784636265,1.3849541605933169,0.71338606911949],"aabb_xy":[[-0.5095593780399612,1.3349735816412112],[-0.40955937888729177,1.434934739545423]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_19","position":[0.417783619152194,1.5031063372516162,0.71338606911949],"aabb_xy":[[0.34778361754991455,1.4896735440499589],[0.4877836207544735,1.516539130453274]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_20","position":[0.6362546035858581,0.4277323676159934,0.71338606911949],"aabb_xy":[[0.5994599704609519,0.3908264925194112],[0.6730492367107644,0.46463824271257576]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_21","position":[0.1719466288869932,-1.867215161238244,0.71338606911949],"aabb_xy":[[0.13694663061687326,-1.874289288933232],[0.20694662715711307,-1.8601410335432558]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_22","position":[-0.26057123675253163,-2.3933984862676656,0.71338606911949],"aabb_xy":[[-0.28511745237528235,-2.4236473828167027],[-0.23602502112978094,-2.3631495897186285]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_23","position":[0.09580346910338688,-1.07670034621661,0.71338606911949],"aabb_xy":[[0.07389478696403583,-1.0986010130367008],[0.11771215124273791,-1.0547996793965193]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_24","position":[-0.2986321788436087,-0.6611633170097184,0.71338606911949],"aabb_xy":[[-0.3361321803592404,-0.6723900900258634],[-0.261132177327977,-0.6499365439935733]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6777514253500295,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6367.png","name":"6367"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6367.png","name":"6367"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2791.png","name":"2791"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6538.png","name":"6538"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8542.png","name":"8542"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6461.png","name":"6461"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":792.0429107365893,"rotation_z_degrees":284.23049411837445,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015835915965687578,0.01620975311507433,0.00032276636090653593]},{"name":"camera_2","offset_m":[-0.009091279519463473,0.009338698396801948,-0.013794506256934444]},{"name":"camera_3","offset_m":[0.007264082057211137,0.009179572383473552,0.0031390479512424865]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001185067787603161,0.0009373375088960086,0.0018326922694085427],"end_effector_yaw_offset_degrees":0.6327551661429056},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0018813326091854893,-7.01917643569879e-05,-0.00056286809509845],"end_effector_yaw_offset_degrees":0.874848669997309},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.000882895715818577,0.0009218139316803792,-0.00024911824339389314],"end_effector_yaw_offset_degrees":-0.8977318024168648},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0019684159413739244,0.0014578543267530397,0.0006436039592206131],"end_effector_yaw_offset_degrees":0.6419785884123881}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0032791123349993016,-0.00012766984938538794],"position_m":[0.2555208876650007,0.1564723301506146,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002934125322971901,0.0006139260869229002],"position_m":[0.2101658746770281,-0.3274860739130771,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003980798106080731,0.0035388151369340455],"position_m":[0.2596192018939193,-0.12756118486306595,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003948185756429231,-0.0010469032388436498],"position_m":[0.3337481857564292,0.30795309676115634,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"201d37ee8c9620f0bde3b0b7b9b6a6c2833f641bf3b1ac28c95e42e463b10c67","episode_index":38,"episode_name":"episode_0038"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0038.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_6367/tex_ceiling_textures_6461/tex_floor_textures_8542/tex_table_textures_2791/tex_wall_textures_6538","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":5452790357676950576,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":5452790357676950576,"visual_seed":5452790357676950576,"scene_id":"lab_003","finished_at":"2026-09-05T20:30:10"} +{"episode_id":"ep_000032","started_at":"2026-09-05T20:30:13","dimensions":{"distractor":{"count":31,"items":[{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_0","position":[0.2825155258095101,0.6589748603147481,0.71338606911949],"aabb_xy":[[0.22739032017991936,0.5989748588734607],[0.3376407314391009,0.718974861756035]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_1","position":[0.46662478199304447,-0.6230653197208125,0.71338606911949],"aabb_xy":[[0.4066247811322316,-0.6744917497272988],[0.5266247828538572,-0.571638889714326]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_2","position":[0.3836535040569329,0.8769176134528629,0.71338606911949],"aabb_xy":[[0.3502133288609132,0.8434739876219327],[0.41709367925295243,0.9103612392837929]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_3","position":[0.17010843795124175,-1.0274203659428927,0.71338606911949],"aabb_xy":[[0.13260843952784138,-1.0405845799107232],[0.20760843637464207,-1.0142561519750617]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_4","position":[-0.13578435207569306,0.24253747179685403,0.71338606911949],"aabb_xy":[[-0.15279444936574368,0.2264029832985801],[-0.11877425478564238,0.25867196029512796]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_5","position":[0.6345989810158159,1.332061014583363,0.71338606911949],"aabb_xy":[[0.6157145972473057,1.3131750898030101],[0.6534833647843261,1.3509469393637157]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_6","position":[0.47217437703425413,1.6532780087188912,0.71338606911949],"aabb_xy":[[0.44717437748251565,1.6431355248537562],[0.4971743765859926,1.6634204925840257]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_7","position":[-0.5765113400185823,0.768020536268442,0.71338606911949],"aabb_xy":[[-0.6108082510363227,0.7337236500585006],[-0.5422144290008416,0.8023174224783832]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_8","position":[0.49523332069494996,-1.0106938965733303,0.71338606911949],"aabb_xy":[[0.45773332075118356,-1.018986986608167],[0.5327333206387164,-1.0024008065384937]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_9","position":[0.17415499286154346,0.7462983678187731,0.71338606911949],"aabb_xy":[[0.16616100428384004,0.7382982877236827],[0.18214898143924682,0.7542984479138634]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_10","position":[0.35425582198341,-1.6598321858364598,0.71338606911949],"aabb_xy":[[0.29026012458831335,-1.7238321841371682],[0.4182515193785065,-1.5958321875357508]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_11","position":[-0.4672805256602528,1.1293103945889338,0.71338606911949],"aabb_xy":[[-0.4753067962908788,1.1205588996115814],[-0.4592542550296268,1.1380618895662866]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_12","position":[-0.08813926899296587,-0.6645207411011333,0.71338606911949],"aabb_xy":[[-0.13811807750328176,-0.714520741106852],[-0.03816046048264997,-0.6145207410954144]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_13","position":[-0.4329724756076974,0.4412163122094195,0.71338606911949],"aabb_xy":[[-0.47151816843289845,0.40267054115323075],[-0.3944267827824964,0.4797620832656081]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_14","position":[0.07198489559970811,-2.381877776654182,0.71338606911949],"aabb_xy":[[0.03448489525148035,-2.3936691722352657],[0.10948489594793587,-2.3700863810730985]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_15","position":[-0.14598551372796953,-2.503369777080208,0.71338606911949],"aabb_xy":[[-0.17646976385499968,-2.5533697768617034],[-0.11550126360093937,-2.4533697772987115]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_16","position":[0.32280448417744134,-2.4536967723844065,0.71338606911949],"aabb_xy":[[0.27283119017418084,-2.5036967729389534],[0.37277777818070174,-2.4036967718298587]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_17","position":[-0.621124164811919,-1.6465598734951705,0.71338606911949],"aabb_xy":[[-0.6436205862457832,-1.669059873301918],[-0.598627743378055,-1.624059873688423]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_18","position":[-0.4881559513593513,-0.8496774091763053,0.71338606911949],"aabb_xy":[[-0.5681559535221137,-0.9296325928024488],[-0.40815594919658876,-0.7697222255501616]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_19","position":[-0.016003912094619044,1.6385626151986004,0.71338606911949],"aabb_xy":[[-0.02757289284155562,1.6135626150816686],[-0.004434931347682469,1.663562615315532]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_20","position":[-0.3223957227098394,1.187234808572403,0.71338606911949],"aabb_xy":[[-0.3823957243527613,1.1352346592804585],[-0.2623957210669176,1.239234957864347]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_21","position":[0.47618135145615037,0.2299130656821391,0.71338606911949],"aabb_xy":[[0.4509605145963106,0.20468931482925232],[0.5014021883159898,0.2551368165350258]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_22","position":[0.4538770197158777,-2.298243639930249,0.71338606911949],"aabb_xy":[[0.4260319829352705,-2.3290281386685607],[0.48172205649648475,-2.2674591411919374]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_23","position":[0.5310093255430601,0.051887780804154016,0.71338606911949],"aabb_xy":[[0.5204418458849611,0.04134275069114545],[0.5415768052011591,0.062432810917162566]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_24","position":[0.20273495082411852,1.2203040425113905,0.71338606911949],"aabb_xy":[[0.16773495251342307,1.2125890275878448],[0.23773494913481397,1.2280190574349361]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_25","position":[-0.2653573600785856,1.6410075106665176,0.71338606911949],"aabb_xy":[[-0.32935736148657624,1.5892185591425927],[-0.20135735867059493,1.692796462190442]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_26","position":[0.573989447104557,-2.5260955742773126,0.71338606911949],"aabb_xy":[[0.5239894484586358,-2.576015117936775],[0.6239894457504782,-2.47617603061785]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_27","position":[-0.35863270421858845,-2.13736933717752,0.71338606911949],"aabb_xy":[[-0.4386327028059078,-2.216684939115681],[-0.27863270563126896,-2.0580537352393593]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_28","position":[-0.32973695566829797,-1.3197509427000358,0.71338606911949],"aabb_xy":[[-0.3937369529539467,-1.3612576616528798],[-0.2657369583826494,-1.2782442237471918]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_29","position":[-0.06013087002575235,-1.518430661717435,0.71338606911949],"aabb_xy":[[-0.06546338468036535,-1.5237549899626708],[-0.054798355371139376,-1.5131063334721997]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_30","position":[-0.15585742976104833,1.103723799516367,0.71338606911949],"aabb_xy":[[-0.2056742092258831,1.0537238010320633],[-0.10604065029621357,1.15372379800067]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6695874006603103,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7622.png","name":"7622"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7622.png","name":"7622"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7852.png","name":"7852"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9798.png","name":"9798"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4657.png","name":"4657"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6435.png","name":"6435"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":690.1772586841405,"rotation_z_degrees":41.96457773926816,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01960306203451925,0.012975821984909566,-0.005458094424791336]},{"name":"camera_2","offset_m":[-0.009037311082497626,0.011814852716336786,-0.0007736442163854933]},{"name":"camera_3","offset_m":[0.012503643249094278,-0.007814116213903585,-0.011803581823750072]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0015211621259176755,-1.058889468600211e-05,0.0016533040782007822],"end_effector_yaw_offset_degrees":0.9962346743611727},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0007478604836781248,-0.0002249903564301957,0.0011631987090256965],"end_effector_yaw_offset_degrees":-0.9796321398423182},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008192023153880737,4.729748878294681e-05,0.0016106921540324733],"end_effector_yaw_offset_degrees":-0.3859009312777466},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00036348832139336713,-0.0008663142630818972,-0.0012601608809448463],"end_effector_yaw_offset_degrees":0.06265306835845696}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004077637469706696,-4.1903938371271564e-05],"position_m":[0.2547223625302933,0.1565580960616287,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0006433857602183455,-0.0012951433388962963],"position_m":[0.21374338576021837,-0.3293951433388963,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0007057733440563804,0.0012098146485176068],"position_m":[0.26289422665594364,-0.1298901853514824,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004715641897069081,-0.0020441707751284546],"position_m":[0.3250843581029309,0.3069558292248715,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0ed4d76e5ca619764417c9638efcfeeffd7032e18cf17983ea3f232e0708c2c3","episode_index":39,"episode_name":"episode_0039"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0039.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_7622/tex_ceiling_textures_6435/tex_floor_textures_4657/tex_table_textures_7852/tex_wall_textures_9798","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":4036995913010167814,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":4036995913010167814,"visual_seed":4036995913010167814,"scene_id":"lab_003","finished_at":"2026-09-05T20:33:47"} +{"episode_id":"ep_000033","started_at":"2026-09-05T20:33:51","dimensions":{"distractor":{"count":30,"items":[{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_0","position":[0.3815954549258229,0.5313579729644746,0.71338606911949],"aabb_xy":[[0.3440954534101912,0.5201311999483296],[0.41909545644145463,0.5425847459806197]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_1","position":[-0.19677481387865736,-1.8100339245586623,0.71338606911949],"aabb_xy":[[-0.260774814256191,-1.8597791914094743],[-0.13277481350112375,-1.7602886577078498]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_2","position":[-0.008289652609442366,-1.9096812971209505,0.71338606911949],"aabb_xy":[[-0.013747598246462434,-1.9896813004286096],[-0.0028317069724222987,-1.8296812938132914]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_3","position":[0.4853781834363433,1.2845059460182444,0.71338606911949],"aabb_xy":[[0.39537818693547155,1.238594303599786],[0.5753781799372151,1.3304175884367024]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_4","position":[0.640201215576562,-1.799982166997777,0.71338606911949],"aabb_xy":[[0.6329188991998982,-1.8899821706072852],[0.6474835319532255,-1.7099821633882673]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_5","position":[0.49417164493395505,-0.18131936373394586,0.71338606911949],"aabb_xy":[[0.4241716428025254,-0.20408132935964152],[0.5641716470653845,-0.1585573981082502]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_6","position":[-0.40769159647519215,-1.8539064143298059,0.71338606911949],"aabb_xy":[[-0.47169159788318277,-1.9056953658537308],[-0.3436915950672014,-1.8021174628058814]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_7","position":[0.5998166996547143,-2.360081393935163,0.71338606911949],"aabb_xy":[[0.5938501607139784,-2.3660425385945265],[0.6057832385954499,-2.354120249275798]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_8","position":[-0.21610844862578588,0.9673695259275168,0.71338606911949],"aabb_xy":[[-0.23374128421931345,0.9497465799118937],[-0.1984756130322583,0.9849924719431397]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_9","position":[-0.051562342166760256,-0.7143831620044787,0.71338606911949],"aabb_xy":[[-0.10156234352764748,-0.7643610665798943],[-0.001562340805873037,-0.6644052574290631]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_10","position":[0.113778528019428,-2.037070347185319,0.71338606911949],"aabb_xy":[[0.04977853071708159,-2.081436774153176],[0.1777785253217744,-1.9927039202174623]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_11","position":[0.6960182094877565,-0.1379565472097264,0.71338606911949],"aabb_xy":[[0.678518209242707,-0.1554563350492932],[0.7135182097328058,-0.12045675937015952]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_12","position":[-0.19241929077157993,-2.2485850126332725,0.71338606911949],"aabb_xy":[[-0.22741928908227538,-2.256300027556818],[-0.15741929246088449,-2.240869997709727]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_13","position":[0.5262843745951402,-2.3337866178646136,0.71338606911949],"aabb_xy":[[0.503787953161276,-2.3562866176713606],[0.5487807960290042,-2.3112866180578657]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_14","position":[-0.24733918724500392,1.3078694091202157,0.71338606911949],"aabb_xy":[[-0.311339183640577,1.243906120701482],[-0.18333919084943082,1.3718326975389492]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_15","position":[-0.23881187397758852,-0.12879283035959643,0.71338606911949],"aabb_xy":[[-0.24673515421633685,-0.1512928305975998],[-0.2308885937388402,-0.10629283012159307]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_16","position":[-0.26211446016073947,-0.5129467532397589,0.71338606911949],"aabb_xy":[[-0.27404719452256754,-0.5253289060476182],[-0.2501817257989114,-0.5005646004318994]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_17","position":[0.46459166578587463,0.7666892320372489,0.71338606911949],"aabb_xy":[[0.43111249852483374,0.733210118666142],[0.49807083304691563,0.800168345408356]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_18","position":[0.38627901647434615,1.1222017195180416,0.71338606911949],"aabb_xy":[[0.35513209763076303,1.0522017208312342],[0.41742593531792926,1.1922017182048485]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_19","position":[0.11345686712115355,-1.771028021278224,0.71338606911949],"aabb_xy":[[0.10861327235992359,-1.775879673757208],[0.11830046188238354,-1.7661763687992398]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_20","position":[0.53962753703738,-0.9062440160539378,0.71338606911949],"aabb_xy":[[0.5028329039124737,-0.9431498911505202],[0.5764221701622863,-0.8693381409573556]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_21","position":[-0.1326023745752074,-0.5839581891362733,0.71338606911949],"aabb_xy":[[-0.1508081982364551,-0.594983589718265],[-0.11439655091395975,-0.5729327885542818]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_22","position":[0.3174938333977406,-0.5487980211181775,0.71338606911949],"aabb_xy":[[0.2747271265183204,-0.6127980245399799],[0.36026054027716076,-0.484798017696375]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_23","position":[0.13984030670578806,-0.9999983160529404,0.71338606911949],"aabb_xy":[[0.06984030510350861,-1.013431109254598],[0.20984030830806757,-0.9865655228512827]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_24","position":[0.20195137967903187,-0.8736317959660753,0.71338606911949],"aabb_xy":[[0.1644513795071599,-0.9063325313489824],[0.23945137985090378,-0.840931060583168]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_25","position":[0.6754821340876416,-1.3504002950763483,0.71338606911949],"aabb_xy":[[0.664630527838766,-1.361259585803999],[0.6863337403365172,-1.339541004348697]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_26","position":[-0.39892936068281565,-2.2148821856394743,0.71338606911949],"aabb_xy":[[-0.45892936052938244,-2.2717008078325125],[-0.33892936083624886,-2.158063563446435]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_27","position":[0.691544092001211,0.45137803148817257,0.71338606911949],"aabb_xy":[[0.6690440917576956,0.43917339682840073],[0.7140440922447264,0.46358266614794463]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_28","position":[0.35302057469587855,-2.011826108852256,0.71338606911949],"aabb_xy":[[0.33273627197247974,-2.0321087339949653],[0.37330487741927726,-1.9915434837095476]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_29","position":[-0.5298102026673839,1.3578881187011493,0.71338606911949],"aabb_xy":[[-0.5683558954925849,1.3193423476449606],[-0.49126450984218284,1.396433889757338]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6760138552128648,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1593.png","name":"1593"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1593.png","name":"1593"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8784.png","name":"8784"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2799.png","name":"2799"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9407.png","name":"9407"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7839.png","name":"7839"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":589.4419027370113,"rotation_z_degrees":205.90600918754694,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0012480190356760623,-0.018339294962531397,0.00011228200178026518]},{"name":"camera_2","offset_m":[0.014550389268146457,0.007588747613845696,-0.011914889055806835]},{"name":"camera_3","offset_m":[0.0023976664989162483,0.005779424892554511,0.017347322654101962]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0001780171744818718,0.00021552720462967526,0.0001222484943232292],"end_effector_yaw_offset_degrees":-0.5466368835313609},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0002916094979643225,-0.0004045849518237606,-0.00014619839246146908],"end_effector_yaw_offset_degrees":-0.37433420833629305},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.000691190035614028,-0.0016365878621484758,-0.0007069677680181488],"end_effector_yaw_offset_degrees":-0.16178993019736398},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0014366031054991587,-0.0001918220992105893,-0.0013820714510132026],"end_effector_yaw_offset_degrees":-0.4727296260729692}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00041013309305530914,-0.0008949346538537142],"position_m":[0.2592101330930553,0.15570506534614628,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0016011757505407344,-0.004089670910664049],"position_m":[0.21470117575054073,-0.33218967091066404,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0007749092461536988,0.004472679371897708],"position_m":[0.2643749092461537,-0.12662732062810228,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0035732629232331876,-0.004146879494164545],"position_m":[0.33337326292323316,0.30485312050583546,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"343b8ef65fb3843bf299828498c990d93c7a515f99f5420ca53e649c7d13273b","episode_index":40,"episode_name":"episode_0040"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0040.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_1593/tex_ceiling_textures_7839/tex_floor_textures_9407/tex_table_textures_8784/tex_wall_textures_2799","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":2509075597103467722,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":2509075597103467722,"visual_seed":2509075597103467722,"scene_id":"lab_003","finished_at":"2026-09-05T20:37:24"} +{"episode_id":"ep_000034","started_at":"2026-09-05T20:37:28","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_0","position":[0.10679806104515632,0.664929154595749,0.71338606911949],"aabb_xy":[[0.07683050413533066,0.6349291542978632],[0.136765617954982,0.6949291548936347]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_1","position":[0.0765484868112617,-1.7263657707447515,0.71338606911949],"aabb_xy":[[0.056490075198021406,-1.746430857653909],[0.09660689842450199,-1.706300683835594]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_2","position":[0.26020530729754543,1.5880190961851688,0.71338606911949],"aabb_xy":[[0.18020530702393842,1.5150695483594518],[0.34020530757115236,1.6609686440108853]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_3","position":[-0.29419307921557747,-1.1619946619670054,0.71338606911949],"aabb_xy":[[-0.34400985868041223,-1.2119946604513088],[-0.2443762997507427,-1.111994663482702]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_4","position":[-0.6416626278748481,-2.035121124631534,0.71338606911949],"aabb_xy":[[-0.6791626264504688,-2.0478574202950917],[-0.6041626292992271,-2.022384828967976]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_5","position":[-0.25570469030038767,-0.0686955693433644,0.71338606911949],"aabb_xy":[[-0.27320469055972435,-0.08278711153213704],[-0.2382046900410511,-0.0546040271545918]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_6","position":[0.44317855105305193,-0.053308472857302114,0.71338606911949],"aabb_xy":[[0.43261107139495286,-0.06385350297031067],[0.4537460307111509,-0.042763442744293556]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_7","position":[0.4024585629050643,-1.4243147408507604,0.71338606911949],"aabb_xy":[[0.39802793355022426,-1.4297631125854433],[0.4068891922599046,-1.4188663691160779]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_8","position":[-0.22437459901843954,-1.0095731760826763,0.71338606911949],"aabb_xy":[[-0.25937459899493537,-1.0190377921302929],[-0.1893745990419437,-1.0001085600350597]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_9","position":[-0.07044206654246499,0.7824227108915007,0.71338606911949],"aabb_xy":[[-0.13544206918025847,0.7309431121920538],[-0.005442063904671501,0.8339023095909477]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_10","position":[0.16791901840793444,-2.392389031160053,0.71338606911949],"aabb_xy":[[0.14602927081899364,-2.482389028449302],[0.18980876599687524,-2.3023890338708037]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_11","position":[0.0013099899272641657,-1.8345073132536789,0.71338606911949],"aabb_xy":[[-0.009530488299250739,-1.8516935945443276],[0.01215046815377907,-1.8173210319630302]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_12","position":[0.009422707475658654,1.0756105155579032,0.71338606911949],"aabb_xy":[[-0.025577292420360217,1.067236280045963],[0.04442270737167752,1.083984751069843]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_13","position":[-0.5336514341261426,-2.2499891369317617,0.71338606911949],"aabb_xy":[[-0.5462782214133389,-2.259535210633334],[-0.5210246468389462,-2.2404430632301886]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_14","position":[0.4516503809380399,1.3895943996881304,0.71338606911949],"aabb_xy":[[0.4429524186473246,1.3774694253806554],[0.4603483432287552,1.4017193739956049]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_15","position":[-0.2536514708418043,1.765641441932201,0.71338606911949],"aabb_xy":[[-0.28709164603782383,1.7321978161012708],[-0.22021129564578465,1.799085067763131]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_16","position":[0.6709208201327208,0.6816970109353235,0.71338606911949],"aabb_xy":[[0.633420819468142,0.6660099529351011],[0.7084208207972994,0.6973840689355455]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_17","position":[-0.5342203094306084,-0.14418971567276406,0.71338606911949],"aabb_xy":[[-0.5892203076323532,-0.18471168229920165],[-0.4792203112288636,-0.10366774904632649]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_18","position":[0.006148226538935098,1.3013429693165204,0.71338606911949],"aabb_xy":[[-0.07385177144184994,1.2937414283546684],[0.08614822451972014,1.3089445102783723]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_19","position":[0.36347968860276514,-2.3892080015964217,0.71338606911949],"aabb_xy":[[0.35003316196872186,-2.402677853249513],[0.3769262152368085,-2.3757381499433303]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_20","position":[-0.4021290696609286,1.630420405871193,0.71338606911949],"aabb_xy":[[-0.4101553402915546,1.6216689108938405],[-0.3941027990303026,1.6391719008485457]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_21","position":[-0.17407340989386055,-2.2889218040144597,0.71338606911949],"aabb_xy":[[-0.2640734096170347,-2.311995156549639],[-0.08407341017068636,-2.2658484514792794]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_22","position":[0.5114472107366572,-0.24618575005383736,0.71338606911949],"aabb_xy":[[0.4474472085162502,-0.29055883417912565],[0.5754472129570642,-0.20181266592854905]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_23","position":[0.4969195033988334,-1.5393579685145387,0.71338606911949],"aabb_xy":[[0.4802423674057379,-1.556057892488469],[0.5135966393919289,-1.5226580445406084]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6717861506247229,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3089.png","name":"3089"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3089.png","name":"3089"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6846.png","name":"6846"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9135.png","name":"9135"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5119.png","name":"5119"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1837.png","name":"1837"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":629.2943174572687,"rotation_z_degrees":294.04395137942595,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014782719895063964,-0.0007666685194663327,-0.008397063935219556]},{"name":"camera_2","offset_m":[-0.011773939045585236,-0.0025013839442274213,-0.004766769266661846]},{"name":"camera_3","offset_m":[6.386734402707636e-05,-0.013905345918538151,-0.012910020023553508]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0009274169129708917,-0.0007317176814922929,-4.694155338811961e-05],"end_effector_yaw_offset_degrees":-0.1373697553072406},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0004236346003591751,0.001262790783693484,0.0016304760038947028],"end_effector_yaw_offset_degrees":-0.2701028810395274},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001356639180499295,-0.0008103077932061712,-0.0007268687851571167],"end_effector_yaw_offset_degrees":-0.3113783828757899},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0007959840109557663,-0.0011632118957668003,-0.0017422462525311518],"end_effector_yaw_offset_degrees":0.40983030897716577}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004234001515229174,0.0008286174621121066],"position_m":[0.26303400151522915,0.1574286174621121,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0031066520219051033,0.0035184809481296495],"position_m":[0.21620665202190512,-0.3245815190518703,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0019601752892089916,0.001261898537262638],"position_m":[0.265560175289209,-0.12983810146273736,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0012648458572756018,-0.003955267897711534],"position_m":[0.3285351541427244,0.30504473210228844,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0684a59d098ead5fdb38d0ae3d73aa82d9f0bed8df23f3044412b516fcddc033","episode_index":41,"episode_name":"episode_0041"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0041.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_3089/tex_ceiling_textures_1837/tex_floor_textures_5119/tex_table_textures_6846/tex_wall_textures_9135","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":7261118019693279733,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":7261118019693279733,"visual_seed":7261118019693279733,"scene_id":"lab_003","finished_at":"2026-09-05T20:40:58"} +{"episode_id":"ep_000035","started_at":"2026-09-05T20:41:02","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_0","position":[-0.4580810628643781,1.5409691237737833,0.71338606911949],"aabb_xy":[[-0.4781394744776184,1.5209040368646258],[-0.4380226512511378,1.5610342106829407]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_1","position":[-0.5474771481903198,-1.382543878652049,0.71338606911949],"aabb_xy":[[-0.5737659725107603,-1.4088153123067002],[-0.521188323869879,-1.3562724449973977]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_2","position":[0.2230713854027757,1.0412473151006956,0.71338606911949],"aabb_xy":[[0.20116270326342464,1.0193466482806048],[0.24498006754212673,1.0631479819207863]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_3","position":[-0.14666601317214345,-0.03872798035107161,0.71338606911949],"aabb_xy":[[-0.20666601403295623,-0.09015441035755799],[-0.08666601231133063,0.012698449655414777]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_4","position":[-0.22821357056610703,-1.5707766393559042,0.71338606911949],"aabb_xy":[[-0.28320582120161797,-1.6257766410992172],[-0.17322131993059608,-1.5157766376125916]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_5","position":[-0.6152857537752098,-1.1132298910768343,0.71338606911949],"aabb_xy":[[-0.6319628897683053,-1.1299298150507646],[-0.5986086177821143,-1.096529967102904]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_6","position":[0.18921474901874158,-2.214016718612854,0.71338606911949],"aabb_xy":[[0.17153911843014322,-2.2316969348922564],[0.20689037960733989,-2.196336502333451]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_7","position":[-0.15961222257948005,0.26480019809631994,0.71338606911949],"aabb_xy":[[-0.21473742820907082,0.20480019665503277],[-0.10448701694988928,0.324800199537607]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_8","position":[-0.6900914023302628,0.983401201053804,0.71338606911949],"aabb_xy":[[-0.6941695602373126,0.9793202208055406],[-0.686013244423213,0.9874821813020672]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_9","position":[-0.38566242981244736,-1.0312310967019687,0.71338606911949],"aabb_xy":[[-0.40815885124631146,-1.0537310965087163],[-0.36316600837858326,-1.0087310968952214]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_10","position":[-0.10248899664083488,1.0573836436184876,0.71338606911949],"aabb_xy":[[-0.17248899844958032,1.0360298748543002],[-0.032488994832089446,1.078737412382675]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_11","position":[0.01632502266104674,-1.1926436426021993,0.71338606911949],"aabb_xy":[[-0.04867497833945378,-1.2434300077568743],[0.08132502366154726,-1.1418572774475244]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_12","position":[-0.5618509231311728,-0.02499361802292599,0.71338606911949],"aabb_xy":[[-0.6518509196320443,-0.0709052604413842],[-0.47185092663030087,0.020918024395532257]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_13","position":[0.26753764046721484,-1.586640842149794,0.71338606911949],"aabb_xy":[[0.20253764231129584,-1.6129370866997061],[0.33253763862313396,-1.5603445975998818]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_14","position":[-0.2371359179835773,-1.3267353186542112,0.71338606911949],"aabb_xy":[[-0.3271359165780473,-1.3429859049676323],[-0.14713591938910742,-1.3104847323407902]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_15","position":[0.37293685754001715,-2.038941406681646,0.71338606911949],"aabb_xy":[[0.2832497812319017,-2.128941406936096],[0.4626239338481326,-1.948941406427195]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_16","position":[0.6441695668920429,-2.330138360527637,0.71338606911949],"aabb_xy":[[0.5946891456780842,-2.3941383584404887],[0.6936499881060018,-2.266138362614785]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_17","position":[0.34321892580171154,-1.7550093536960316,0.71338606911949],"aabb_xy":[[0.33593660942504777,-1.8450093573055404],[0.3505012421783751,-1.6650093500865224]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_18","position":[-0.5507871958747088,0.5240473318527199,0.71338606911949],"aabb_xy":[[-0.6147871972826994,0.47225838032879525],[-0.4867871944667181,0.5758362833766446]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_19","position":[-0.4498873025870076,-1.789991351178271,0.71338606911949],"aabb_xy":[[-0.5138872989825807,-1.8539546395970046],[-0.38588730619143446,-1.7260280627595375]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6774490956045341,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4172.png","name":"4172"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4172.png","name":"4172"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1845.png","name":"1845"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7877.png","name":"7877"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1004.png","name":"1004"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6073.png","name":"6073"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":800.9393904687099,"rotation_z_degrees":84.97928821385563,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011937681389745958,0.018647977234498587,0.010060837037382985]},{"name":"camera_2","offset_m":[-0.0013119078972298262,-0.0052463998815652745,-0.017410590135538202]},{"name":"camera_3","offset_m":[0.011149390499726942,-0.0009580975691173728,0.005957621842090241]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0002193742356006224,0.00015800926032300466,0.000988620106492632],"end_effector_yaw_offset_degrees":0.2600229157392415},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0008392235594964007,0.0003784760513982411,-0.0017956717240068336],"end_effector_yaw_offset_degrees":0.6674834214772221},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[1.6755513025116988e-05,0.0011355037852558386,0.0012800684074300108],"end_effector_yaw_offset_degrees":-0.5122670831674159},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00018541865655729325,-0.0012310938319826234,0.0018531116967048771],"end_effector_yaw_offset_degrees":-0.20178761597039085}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0022191853301757507,-0.003773570494341365],"position_m":[0.2610191853301757,0.1528264295056586,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0006639341678518198,0.0017705530886733796],"position_m":[0.21376393416785183,-0.32632944691132665,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00406571811699793,0.0015511779335433355],"position_m":[0.2595342818830021,-0.12954882206645665,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0012811083077446488,0.003472023504718302],"position_m":[0.3310811083077446,0.3124720235047183,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"53ea2813d70db0c2e4f602ae14c89cf15fa120a5a7a28db75311328320ea5e56","episode_index":42,"episode_name":"episode_0042"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0042.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_4172/tex_ceiling_textures_6073/tex_floor_textures_1004/tex_table_textures_1845/tex_wall_textures_7877","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":8519432016803595212,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":8519432016803595212,"visual_seed":8519432016803595212,"scene_id":"lab_003","finished_at":"2026-09-05T20:44:31"} +{"episode_id":"ep_000036","started_at":"2026-09-05T20:49:38","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_0","position":[-0.35316603939215674,-1.3817692662708718,0.71338606911949],"aabb_xy":[[-0.35966767590016135,-1.3915370882971818],[-0.3466644028841521,-1.3720014442445623]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_1","position":[-0.4647677616448739,-1.8370254840720373,0.71338606911949],"aabb_xy":[[-0.4708047746455386,-1.8430521851409856],[-0.45873074864420915,-1.8309987830030894]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_2","position":[-0.49391115065543334,0.25086057260709493,0.71338606911949],"aabb_xy":[[-0.5539111522983552,0.19886042331515075],[-0.4339111490125115,0.3028607218990391]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_3","position":[0.12776531263186774,0.8337851690139617,0.71338606911949],"aabb_xy":[[0.05776530999528137,0.8136803040180961],[0.19776531526845406,0.8538900340098271]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_4","position":[-0.3738806248411059,0.7863925696428935,0.71338606911949],"aabb_xy":[[-0.4538806270038684,0.7064373860167499],[-0.2938806226783434,0.8663477532690371]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_5","position":[0.6575080587260629,1.4080982429735198,0.71338606911949],"aabb_xy":[[0.6075080583654967,1.3581182557639166],[0.7075080590866288,1.4580782301831225]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_6","position":[-0.37495669453308555,1.7067334446545028,0.71338606911949],"aabb_xy":[[-0.392387409612092,1.6894613299906518],[-0.357525979454079,1.7240055593183534]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_7","position":[-0.22392523032642658,0.8012240675408973,0.71338606911949],"aabb_xy":[[-0.22882452263299002,0.7735471482383284],[-0.21902593801986303,0.8289009868434659]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_8","position":[-0.48135835155165757,-1.0210731334154548,0.71338606911949],"aabb_xy":[[-0.5463583497075766,-1.047369377965367],[-0.4163583533957385,-0.9947768888655426]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_9","position":[-0.30216121384695893,-1.4667944395138626,0.71338606911949],"aabb_xy":[[-0.37216121565570437,-1.4881482082780502],[-0.2321612120382135,-1.4454406707496754]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_10","position":[0.4714704872387814,-1.2848361300028779,0.71338606911949],"aabb_xy":[[0.46205301266891863,-1.2942523071405971],[0.4808879618086441,-1.275419952865159]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_11","position":[-0.6441630740817401,-1.3561017245867422,0.71338606911949],"aabb_xy":[[-0.6691630732473732,-1.3630539702920987],[-0.619163074916107,-1.3491494788813856]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_12","position":[-0.5582701807384438,-0.7666312744488617,0.71338606911949],"aabb_xy":[[-0.6122857770203437,-0.8306312773411189],[-0.5042545844565437,-0.7026312715566045]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_13","position":[0.2792855117362619,-1.974345399404022,0.71338606911949],"aabb_xy":[[0.275582250407123,-1.9780474177127403],[0.28298877306540077,-1.9706433810953043]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_14","position":[0.02373071943187366,-2.1857809711108165,0.71338606911949],"aabb_xy":[[0.005524895770625985,-2.1968063716928086],[0.04193654309312134,-2.1747555705288253]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_15","position":[-0.5185769391565269,-1.5128350680389357,0.71338606911949],"aabb_xy":[[-0.5410769389704294,-1.5173096844094163],[-0.49607693934262465,-1.5083604516684548]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_16","position":[-0.020365182918010816,1.6278466135232024,0.71338606911949],"aabb_xy":[[-0.044878807015016675,1.603582020221166],[0.004148441178995044,1.6521112068252388]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_17","position":[-0.08606588789425562,1.4864450376485974,0.71338606911949],"aabb_xy":[[-0.11391092467486275,1.4556605389102857],[-0.0582208511136485,1.517229536386909]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_18","position":[-0.2682260546483509,0.4214248197442223,0.71338606911949],"aabb_xy":[[-0.2965557645968912,0.41696407755050524],[-0.23989634469981075,0.42588556193793936]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_19","position":[-0.2000414772543841,1.6000494882778926,0.71338606911949],"aabb_xy":[[-0.21915378461236296,1.5809147094006504],[-0.18092916989640523,1.6191842671551344]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_20","position":[0.5704766391944787,-0.4637444785485103,0.71338606911949],"aabb_xy":[[0.5468915157305839,-0.5287444807939421],[0.5940617626583736,-0.3987444763030785]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_21","position":[-0.015408909061746634,1.2892090668260519,0.71338606911949],"aabb_xy":[[-0.07040438688240602,1.2342090653921447],[0.039586568758912755,1.3442090682599586]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_22","position":[-0.5819159759515392,-0.368021165228162,0.71338606911949],"aabb_xy":[[-0.5898392561902877,-0.3905211654661653],[-0.573992695712791,-0.34552116499015856]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_23","position":[-0.08593600972795357,-1.5621367220965086,0.71338606911949],"aabb_xy":[[-0.08989649349768794,-1.5698045866820292],[-0.08197552595821919,-1.554468857510988]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_24","position":[-0.026126779830614844,-1.7669128716195592,0.71338606911949],"aabb_xy":[[-0.09612678143289433,-1.7803456648212168],[0.04387322177166464,-1.7534800784179017]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_25","position":[-0.5138943247476913,-2.0650727538456204,0.71338606911949],"aabb_xy":[[-0.5185294398999246,-2.0689400889227687],[-0.5092592095954579,-2.061205418768471]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_26","position":[0.38841210260509684,-1.4229522873783647,0.71338606911949],"aabb_xy":[[0.3659473326336917,-1.445452288257225],[0.41087687257650196,-1.400452286499504]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6747806005789899,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6046.png","name":"6046"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6046.png","name":"6046"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7179.png","name":"7179"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5357.png","name":"5357"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2314.png","name":"2314"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3781.png","name":"3781"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":663.8162336719691,"rotation_z_degrees":128.42942850962126,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010887827493526854,-0.0017567147408009062,0.005544672151957402]},{"name":"camera_2","offset_m":[0.013261385386835547,-0.0146080018417153,-0.016039421391668675]},{"name":"camera_3","offset_m":[0.004176883669163068,0.00051957095407364,-0.011091428945192284]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001981775769706145,0.0009955210825738922,0.0009460924815705356],"end_effector_yaw_offset_degrees":0.44657543040518943},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0009454347642222729,-0.0015374254615478557,9.416631979399306e-05],"end_effector_yaw_offset_degrees":0.36305610991862025},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007864669533516021,0.00016248678794902232,0.0006929779189547994],"end_effector_yaw_offset_degrees":0.7272420965717563},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-3.7966397100578503e-06,0.0018997854122131423,0.00010206055044235029],"end_effector_yaw_offset_degrees":-0.47954366567811135}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0006748044322356702,0.0028709160005600835],"position_m":[0.2581251955677643,0.15947091600056007,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0006344618191754699,-0.0019074851276887272],"position_m":[0.21246553818082453,-0.33000748512768874,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004626398914278423,-0.0005306470299916329],"position_m":[0.2682263989142784,-0.13163064702999164,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0021316963223982563,-0.004029380162400861],"position_m":[0.3319316963223982,0.30497061983759916,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9e760e6e5d15356dffba3e33ddbc297756e018f7664b151ab165640b3f8eb76c","episode_index":45,"episode_name":"episode_0045"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0045.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_6046/tex_ceiling_textures_3781/tex_floor_textures_2314/tex_table_textures_7179/tex_wall_textures_5357","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":468030995481065434,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":468030995481065434,"visual_seed":468030995481065434,"scene_id":"lab_003","finished_at":"2026-09-05T20:53:10"} +{"episode_id":"ep_000037","started_at":"2026-09-05T20:53:15","dimensions":{"distractor":{"count":24,"items":[{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_0","position":[-0.6315779478559675,1.2704222646128565,0.71338606911949],"aabb_xy":[[-0.6690779482041953,1.258630869031773],[-0.5940779475077398,1.28221366019394]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_1","position":[-0.26977919031289604,-1.5339716680021844,0.71338606911949],"aabb_xy":[[-0.27941082653332566,-1.5436089807818931],[-0.2601475540924664,-1.5243343552224753]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_2","position":[0.1784416723498773,-1.0940885096604513,0.71338606911949],"aabb_xy":[[0.11444167318010738,-1.1408551967794136],[0.24244167151964727,-1.0473218225414886]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_3","position":[-0.15412771769846867,-1.2244549680936507,0.71338606911949],"aabb_xy":[[-0.2441277162929386,-1.240705554407072],[-0.06412771910399873,-1.20820438178023]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_4","position":[-0.5254023209024233,-1.7402361266783128,0.71338606911949],"aabb_xy":[[-0.5794179171843233,-1.8042361295705698],[-0.47138672462052333,-1.6762361237860555]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_5","position":[0.20643499944273935,1.118118568138363,0.71338606911949],"aabb_xy":[[0.19701752487287658,1.1087023910006437],[0.21585247401260207,1.1275347452760818]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_6","position":[0.14698681904443922,-1.6790976630694148,0.71338606911949],"aabb_xy":[[0.0569868196260683,-1.7124731599136047],[0.23698681846281008,-1.6457221662252253]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_7","position":[-0.22343152870120453,0.536762796920585,0.71338606911949],"aabb_xy":[[-0.26561594286203527,0.47276279664337395],[-0.1812471145403738,0.6007627971977963]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_8","position":[0.1442037438829853,-0.9037172564416371,0.71338606911949],"aabb_xy":[[0.1328420092296991,-0.9150857228479251],[0.15556547853627142,-0.892348790035349]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_9","position":[0.6929518528518963,-0.40051174014426705,0.71338606911949],"aabb_xy":[[0.6803250655647,-0.4100578138458399],[0.7055786401390927,-0.3909656664426941]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_10","position":[0.06483891343458303,0.6839054128329507,0.71338606911949],"aabb_xy":[[0.004838913588016247,0.627086790639912],[0.12483891328114982,0.7407240350259894]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_11","position":[-0.13183276821973022,1.685493938846268,0.71338606911949],"aabb_xy":[[-0.21183276849333718,1.6125443910205512],[-0.05183276794612323,1.7584434866719847]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_12","position":[-0.6249913322749094,-1.4101553787801229,0.71338606911949],"aabb_xy":[[-0.6889913325488877,-1.4602214789774108],[-0.5609913320009312,-1.360089278582835]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_13","position":[0.5533087365297451,-0.8866366299589716,0.71338606911949],"aabb_xy":[[0.503308735245905,-0.9366154843495935],[0.603308737813585,-0.8366577755683493]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_14","position":[0.48333143831439074,0.421907446287491,0.71338606911949],"aabb_xy":[[0.47729442531372607,0.4158807452185429],[0.4893684513150555,0.4279341473564393]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_15","position":[0.13126552888704002,-2.4284453641412407,0.71338606911949],"aabb_xy":[[0.1273516556916175,-2.4371943795477975],[0.13517940208246254,-2.419696348734684]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_16","position":[-0.4985829828194955,0.2553150326533413,0.71338606911949],"aabb_xy":[[-0.5163764897544119,0.23751528705754366],[-0.480789475884579,0.273114778249139]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_17","position":[-0.49254671150916385,-2.1592328089618817,0.71338606911949],"aabb_xy":[[-0.5154624243942139,-2.1821371060983052],[-0.469630998624114,-2.1363285118254582]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_18","position":[-0.47675310156818473,-1.2108615362908273,0.71338606911949],"aabb_xy":[[-0.5417531001252576,-1.2406140697047099],[-0.41175310301111195,-1.1811090028769446]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_19","position":[-0.37514411012915094,0.03899646498945675,0.71338606911949],"aabb_xy":[[-0.42514410956934656,-0.010971459494859566],[-0.3251441106889553,0.08896438947377305]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_20","position":[0.6751426673941001,0.4295278701491192,0.71338606911949],"aabb_xy":[[0.6376426689706997,0.4163636561812885],[0.7126426658175004,0.44269208411694977]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_21","position":[-0.16012581462909392,1.3891309141777364,0.71338606911949],"aabb_xy":[[-0.22012581627201577,1.337130764885792],[-0.10012581298617207,1.4411310634696803]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_22","position":[0.5836421983708733,-1.9888610315003574,0.71338606911949],"aabb_xy":[[0.5763809508004658,-2.001648041763867],[0.5909034459412807,-1.976074021236848]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_23","position":[-0.1586570659373927,-2.254416505834591,0.71338606911949],"aabb_xy":[[-0.16743829308462893,-2.263196253123122],[-0.14987583879015648,-2.2456367585460613]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6748400672078723,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8949.png","name":"8949"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8949.png","name":"8949"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/607.png","name":"607"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4382.png","name":"4382"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3753.png","name":"3753"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7939.png","name":"7939"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":723.657545217213,"rotation_z_degrees":163.6678980038402,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005144705155507917,-0.01433279855961155,0.0032592262958949098]},{"name":"camera_2","offset_m":[0.01164642234109788,0.002179192440116093,-0.0057821468427427854]},{"name":"camera_3","offset_m":[-0.009711093505115684,-0.010120884017783102,0.013473807614797908]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0016736740411280888,-0.0006739564404163688,-0.0007718695507271832],"end_effector_yaw_offset_degrees":-0.7210506686865938},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.000496537304109392,0.0013292769064763908,0.0006030801521747535],"end_effector_yaw_offset_degrees":0.663182660987037},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007665527328308177,-2.8312050467029816e-05,4.498062235830727e-05],"end_effector_yaw_offset_degrees":0.6141491723768742},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0008364147308502416,-0.0010096706700305656,0.0017925763234349639],"end_effector_yaw_offset_degrees":0.545166583382446}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0005222231633932916,-0.003344304971752674],"position_m":[0.25932222316339326,0.15325569502824732,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001926256354625535,0.003973515580641881],"position_m":[0.21502625635462555,-0.3241264844193581,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0009064477633694513,-0.0019619471010788535],"position_m":[0.26269355223663055,-0.13306194710107885,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0009379980574925548,-0.0015541330436159516],"position_m":[0.33073799805749254,0.30744586695638404,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"fe3fd8d2d0f3e6d583ff1aabedfd3792659498a4ff58d6404ca4f60469ea0a04","episode_index":46,"episode_name":"episode_0046"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0046.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_8949/tex_ceiling_textures_7939/tex_floor_textures_3753/tex_table_textures_607/tex_wall_textures_4382","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":3829205306856421388,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":3829205306856421388,"visual_seed":3829205306856421388,"scene_id":"lab_003","finished_at":"2026-09-05T20:56:51"} +{"episode_id":"ep_000038","started_at":"2026-09-05T20:56:55","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_0","position":[-0.44685195852976245,-0.17290662381228739,0.71338606911949],"aabb_xy":[[-0.49694942251083607,-0.2369066243220992],[-0.39675449454868883,-0.10890662330247558]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_1","position":[0.5562145017326701,-1.3921026504543608,0.71338606911949],"aabb_xy":[[0.5062356932223541,-1.4421026504600793],[0.6061933102429858,-1.3421026504486417]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_2","position":[0.5248625763456325,-0.13408383991511208,0.71338606911949],"aabb_xy":[[0.4348625798447608,-0.1799954823335703],[0.6148625728465043,-0.08817219749665382]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_3","position":[0.5354602634231513,-0.7327202436702678,0.71338606911949],"aabb_xy":[[0.45546026126038885,-0.8126754272964113],[0.6154602655859138,-0.652765060044124]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_4","position":[-0.5170757924856195,1.0676581515372439,0.71338606911949],"aabb_xy":[[-0.524358108862283,0.9776581479277345],[-0.5097934761089556,1.1576581551467524]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_5","position":[0.07563832478888644,-1.2674430476577283,0.71338606911949],"aabb_xy":[[0.03813832461701448,-1.3001437830406355],[0.11313832496075836,-1.2347423122748211]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_6","position":[0.3757869654352619,1.2585414391031082,0.71338606911949],"aabb_xy":[[0.341470688260644,1.2085414391299307],[0.41010324260987985,1.3085414390762862]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_7","position":[-0.6451620857001064,-1.330792910638998,0.71338606911949],"aabb_xy":[[-0.681657906327385,-1.3672768530657553],[-0.6086662650728275,-1.2943089682122402]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_8","position":[0.0984289869071846,-2.5184158324971873,0.71338606911949],"aabb_xy":[[0.043428987730595114,-2.5734055072721445],[0.1534289860837741,-2.463426157722229]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_9","position":[0.09236711998449354,1.2597441246774221,0.71338606911949],"aabb_xy":[[0.08432376005853835,1.1747441235820557],[0.1004104799104487,1.3447441257727886]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_10","position":[0.007535477146270453,1.7952186917900854,0.71338606911949],"aabb_xy":[[-0.02286263395287313,1.7648117897884157],[0.037933588245414034,1.8256255937917547]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_11","position":[-0.2056489818096755,-2.542699092347119,0.71338606911949],"aabb_xy":[[-0.21357226204842383,-2.5651990925851225],[-0.19772570157092717,-2.5201990921091157]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_12","position":[-0.5599297857487442,-0.7547394529106366,0.71338606911949],"aabb_xy":[[-0.61492978537049,-0.8097231456981093],[-0.5049297861269983,-0.6997557601231639]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_13","position":[0.6289240216799861,0.5151959142963038,0.71338606911949],"aabb_xy":[[0.58761947861625,0.45119591472818676],[0.6702285647437219,0.5791959138644209]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_14","position":[0.3636893611703229,-0.6137894372819779,0.71338606911949],"aabb_xy":[[0.31368936021979005,-0.6453385842854993],[0.41368936212085566,-0.5822402902784565]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_15","position":[0.4768112103151241,-1.796017479417551,0.71338606911949],"aabb_xy":[[0.46672950323655055,-1.8760174773096656],[0.4868929173936975,-1.7160174815254363]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_16","position":[0.27683873951237004,-1.4468412877214476,0.71338606911949],"aabb_xy":[[0.26507055271771257,-1.5318412876266696],[0.2886069263070276,-1.3618412878162263]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_17","position":[-0.3954853029452332,-1.3881348685657318,0.71338606911949],"aabb_xy":[[-0.44530208241006797,-1.4381348670500351],[-0.34566852348039845,-1.3381348700814284]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_18","position":[0.4289137489245243,1.5338571044683902,0.71338606911949],"aabb_xy":[[0.41962013068737375,1.4963571059802563],[0.4382073671616749,1.571357102956524]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_19","position":[-0.28706367969738583,0.39497039516440413,0.71338606911949],"aabb_xy":[[-0.3245636803619645,0.3792833371641819],[-0.2495636790328071,0.41065745316462626]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_20","position":[0.5902913457107464,1.5724535742926942,0.71338606911949],"aabb_xy":[[0.5202913435793167,1.5496916086669983],[0.6602913478421758,1.5952155399183896]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_21","position":[-0.19498819890427133,1.7311121267770173,0.71338606911949],"aabb_xy":[[-0.2849881983226422,1.6977366299328274],[-0.10498819948590041,1.7644876236212068]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_22","position":[0.2606323615478512,-2.214450236131629,0.71338606911949],"aabb_xy":[[0.21063236197151647,-2.264430815083735],[0.3106323611241859,-2.164469657179523]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_23","position":[0.4713666717429803,1.1022604862025864,0.71338606911949],"aabb_xy":[[0.4484509588579304,1.0793561890661632],[0.4942823846280302,1.1251647833390102]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_24","position":[0.49746826240147923,-0.26261752140392725,0.71338606911949],"aabb_xy":[[0.4599682638258584,-0.27535381706748513],[0.5349682609771,-0.24988122574036928]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_25","position":[-0.12019881283401612,0.4000709473802888,0.71338606911949],"aabb_xy":[[-0.1751920241711529,0.3450709470414952],[-0.06520560149687939,0.45507094771908246]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_26","position":[-0.4606259484345208,-0.35878303841564163,0.71338606911949],"aabb_xy":[[-0.524625947728689,-0.4227691787844958],[-0.3966259491403526,-0.29479689804678744]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_27","position":[-0.30367859247116835,1.0896240591561042,0.71338606911949],"aabb_xy":[[-0.3341628425981985,1.0396240593746082],[-0.2731943423441382,1.1396240589376]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_28","position":[-0.3911139559668408,-1.7863543110644258,0.71338606911949],"aabb_xy":[[-0.44108724997010124,-1.836354311618973],[-0.34114066196358034,-1.7363543105098782]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_29","position":[0.24509870067122375,0.8922556454703767,0.71338606911949],"aabb_xy":[[0.19509869931033652,0.8422777408949611],[0.29509870203211097,0.9422335500457923]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_30","position":[-0.22597789942496077,-2.016203422849594,0.71338606911949],"aabb_xy":[[-0.23475912657219705,-2.0249831701381247],[-0.2171966722777246,-2.007423675561064]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_31","position":[-0.5343530989621599,-2.518446512198262,0.71338606911949],"aabb_xy":[[-0.5513631962522105,-2.5345810006965355],[-0.5173430016721092,-2.5023120236999876]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_32","position":[-0.017868637207245186,0.7896221019654299,0.71338606911949],"aabb_xy":[[-0.0428686363728783,0.7826698562600732],[0.007131361958387931,0.7965743476707864]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_33","position":[0.08286650495058723,1.6316362015629884,0.71338606911949],"aabb_xy":[[0.07524223686040898,1.6240029780264447],[0.09049077304076547,1.639269425099532]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_34","position":[0.4302888564698031,0.00966896455209243,0.71338606911949],"aabb_xy":[[0.41951588254843525,-0.025331033666946556],[0.4410618303911708,0.044668962771131415]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6747178879583647,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4885.png","name":"4885"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4885.png","name":"4885"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3374.png","name":"3374"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4690.png","name":"4690"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4964.png","name":"4964"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7964.png","name":"7964"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":666.4043930828943,"rotation_z_degrees":47.37844453165436,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0014797019093245635,0.01334042653477448,0.007921361463354731]},{"name":"camera_2","offset_m":[-0.015408718085970219,0.011978540293452331,-0.009331691355653251]},{"name":"camera_3","offset_m":[-0.006572129420379396,0.01042931527587344,0.019304879069827304]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0005238465402726887,6.630796187205752e-05,0.0008500542841539957],"end_effector_yaw_offset_degrees":0.6050810947177485},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0017148440411748921,-0.00036024527415987615,0.001952628212177068],"end_effector_yaw_offset_degrees":-0.4236716063991446},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007880597888479798,0.0012762466221166867,0.0005206616008548641],"end_effector_yaw_offset_degrees":-0.9796383186501303},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0014535248693827284,-0.001772695819693873,-0.0002784375394139498],"end_effector_yaw_offset_degrees":-0.6374042578226526}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.001273227176062023,-0.003636294663274373],"position_m":[0.25752677282393793,0.15296370533672562,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004547130776366671,0.0001358588993387597],"position_m":[0.2176471307763667,-0.32796414110066124,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0013179007386346807,-0.0024426697191448524],"position_m":[0.2649179007386347,-0.13354266971914486,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0015046822043463456,-0.002933186072832219],"position_m":[0.33130468220434633,0.3060668139271678,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5c9167fb737fae0110857d4e6f011cabbc069fd0311f1b089c1028c212bae821","episode_index":47,"episode_name":"episode_0047"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0047.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_4885/tex_ceiling_textures_7964/tex_floor_textures_4964/tex_table_textures_3374/tex_wall_textures_4690","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":1002147702809927661,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":1002147702809927661,"visual_seed":1002147702809927661,"scene_id":"lab_003","finished_at":"2026-09-05T21:00:30"} +{"episode_id":"ep_000039","started_at":"2026-09-05T21:00:33","dimensions":{"distractor":{"count":35,"items":[{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_0","position":[0.23155956456685034,-2.384582340643464,0.71338606911949],"aabb_xy":[[0.15155956429324335,-2.4575318884691804],[0.3115595648404573,-2.311632792817747]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_1","position":[-0.19309240021948781,-0.49312462307566474,0.71338606911949],"aabb_xy":[[-0.20897689348481296,-0.5074775633744888],[-0.17720790695416266,-0.4787716827768407]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_2","position":[-0.5235076733527112,0.5692048350925307,0.71338606911949],"aabb_xy":[[-0.5648122164164472,0.5052048355244136],[-0.4822031302889752,0.6332048346606478]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_3","position":[-0.027948716926751382,-0.7719402813976972,0.71338606911949],"aabb_xy":[[-0.045448650360734755,-0.7894402813179318],[-0.01044878349276801,-0.7544402814774627]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_4","position":[-0.38527083044818483,-1.2183923722228875,0.71338606911949],"aabb_xy":[[-0.3977381885579205,-1.230857696856211],[-0.3728034723384492,-1.205927047589564]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_5","position":[-0.203453263270498,-2.2016245355640174,0.71338606911949],"aabb_xy":[[-0.20976536280683644,-2.207391474817236],[-0.19714116373415957,-2.1958575963107987]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_6","position":[-0.03814662952761594,-2.0351019628779605,0.71338606911949],"aabb_xy":[[-0.060055311666966975,-2.0570026296980513],[-0.016237947388264888,-2.01320129605787]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_7","position":[-0.5848172312238057,-0.11855831086265933,0.71338606911949],"aabb_xy":[[-0.6648172333865681,-0.19851349448880296],[-0.5048172290610431,-0.0386031272365157]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_8","position":[0.11558656987559368,-1.953950148523083,0.71338606911949],"aabb_xy":[[0.05159087248049708,-2.0179501468237913],[0.17958226727069027,-1.889950150222374]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_9","position":[0.12383406943296615,-0.6547810599267423,0.71338606911949],"aabb_xy":[[0.05883407155131838,-0.7059047236332832],[0.188834067314614,-0.6036573962202014]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_10","position":[0.7104719162342714,-0.4999974839376762,0.71338606911949],"aabb_xy":[[0.7044349032336067,-0.5060241850066245],[0.7165089292349361,-0.49397078286872803]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_11","position":[-0.5149907680463771,-0.5977312425058683,0.71338606911949],"aabb_xy":[[-0.5374907682898925,-0.6099358771656401],[-0.4924907678028617,-0.5855266078460962]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_12","position":[-0.08317276681475028,0.871712880795461,0.71338606911949],"aabb_xy":[[-0.16317276547163628,0.8572080218711983],[-0.0031727681578642836,0.8862177397197238]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_13","position":[0.5116332471734923,-2.5110526536232123,0.71338606911949],"aabb_xy":[[0.46450386817165656,-2.5750526546676133],[0.5587626261753279,-2.4470526525788094]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_14","position":[-0.06645227202329196,1.24901699981901,0.71338606911949],"aabb_xy":[[-0.1314522705803648,1.2192644664051273],[-0.0014522734662191228,1.2787695332328926]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_15","position":[0.3878625710896628,0.4282256950063563,0.71338606911949],"aabb_xy":[[0.3543834038286219,0.3947465816352494],[0.42134173835070377,0.46170480837746336]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_16","position":[-0.3362278966652586,-0.655726786492975,0.71338606911949],"aabb_xy":[[-0.4012278976223858,-0.7076749984266806],[-0.2712278957081314,-0.6037785745592694]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_17","position":[0.2308161131627351,0.8617180286203125,0.71338606911949],"aabb_xy":[[0.22118447694230547,0.8520807158406035],[0.2404477493831647,0.8713553414000214]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_18","position":[-0.4258075135200471,0.20851377680197203,0.71338606911949],"aabb_xy":[[-0.46012379069466497,0.1585137768287943],[-0.3914912363454291,0.25851377677514975]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_19","position":[0.02569362175936718,1.582037597081516,0.71338606911949],"aabb_xy":[[-0.029306377417222307,1.527047922306558],[0.08069362093595667,1.6370272718564733]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_20","position":[0.5765172425219414,1.6929208869066765,0.71338606911949],"aabb_xy":[[0.541926159667896,1.6279208866216452],[0.6111083253759865,1.7579208871917074]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_21","position":[0.19494275440044317,1.7465674117491363,0.71338606911949],"aabb_xy":[[0.10494275789957143,1.7006557693306779],[0.28494275090131493,1.7924790541675943]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_22","position":[-0.16620935834728245,-0.2181609804034843,0.71338606911949],"aabb_xy":[[-0.23020935563293107,-0.2596676993563283],[-0.10220936106163378,-0.17665426145064034]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_23","position":[-0.5588618899334519,-1.4343073570544425,0.71338606911949],"aabb_xy":[[-0.5956565230583581,-1.4712132321510247],[-0.5220672568085456,-1.3974014819578602]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_24","position":[-0.18625439915469644,1.5969426579024169,0.71338606911949],"aabb_xy":[[-0.25025440137510346,1.5525695737771286],[-0.12225439693428941,1.6413157420277051]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_25","position":[-0.3305660272041644,0.5856002668691809,0.71338606911949],"aabb_xy":[[-0.35556602636979745,0.5786480211638244],[-0.3055660280385312,0.5925525125745376]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_26","position":[-0.07402191935753322,-1.4182846518437897,0.71338606911949],"aabb_xy":[[-0.08919408863916656,-1.433453508771993],[-0.058849750075899876,-1.4031157949155864]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_27","position":[-0.05908956120279096,-2.1944202322419777,0.71338606911949],"aabb_xy":[[-0.10408214792124137,-2.2394202315164264],[-0.014096974484340545,-2.149420232967529]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_28","position":[-0.33405418329626907,-1.808973193834911,0.71338606911949],"aabb_xy":[[-0.3709047312332567,-1.846473194657945],[-0.29720363535928146,-1.7714731930118774]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_29","position":[0.49472489186041435,0.9838132307968319,0.71338606911949],"aabb_xy":[[0.490089776708181,0.9799458957196833],[0.4993600070126477,0.9876805658739806]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_30","position":[-0.13693707745166117,1.7448074902939337,0.71338606911949],"aabb_xy":[[-0.17443707811623985,1.7291204322937113],[-0.09943707678708245,1.7604945482941556]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_31","position":[-0.45654020934516865,-2.0470912272144934,0.71338606911949],"aabb_xy":[[-0.464164477435347,-2.0547244507510376],[-0.4489159412549905,-2.03945800367795]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_32","position":[0.5027790928316309,-0.8075594316493713,0.71338606911949],"aabb_xy":[[0.4527790911701361,-0.857557873905074],[0.5527790944931256,-0.7575609893936686]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_33","position":[0.15445286660414015,1.4491870909050628,0.71338606911949],"aabb_xy":[[0.1368745644151933,1.4316126013309578],[0.172031168793087,1.4667615804791678]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_34","position":[0.5163271670656597,-2.0958778553736557,0.71338606911949],"aabb_xy":[[0.5054755608167841,-2.106737146101307],[0.5271787733145353,-2.0850185646460044]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6751190303977699,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8798.png","name":"8798"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8798.png","name":"8798"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2286.png","name":"2286"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/751.png","name":"751"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1310.png","name":"1310"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6576.png","name":"6576"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":717.498705233571,"rotation_z_degrees":96.88857336014613,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012471939815401446,-0.016490408124695963,0.00792762266587297]},{"name":"camera_2","offset_m":[-0.008250606019971567,-0.018066200103379924,-0.007716952416657987]},{"name":"camera_3","offset_m":[0.0008234186327996489,-0.009161213723880937,0.0031521329872399514]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0008920958189044259,-0.0010959326197049935,-0.001223835034321483],"end_effector_yaw_offset_degrees":-0.23021734005214256},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0009882996478674895,-0.0015496231979790296,0.001911254727705096],"end_effector_yaw_offset_degrees":0.9937099878377622},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00021761664727519038,0.001411206540803114,0.0006018221031835378],"end_effector_yaw_offset_degrees":-0.2235986039994089},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0017888132329492864,0.0009332551815436582,-0.00039654107814607667],"end_effector_yaw_offset_degrees":-0.3322253413670113}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004331725377008711,-0.0015552524092761534],"position_m":[0.2631317253770087,0.15504474759072384,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002039962771889615,0.00023154606678972914],"position_m":[0.21513996277188963,-0.3278684539332103,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0046436515442048465,-0.0014375187090435969],"position_m":[0.2589563484557952,-0.1325375187090436,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00039988764455753303,0.00010481587609241245],"position_m":[0.3301998876445575,0.3091048158760924,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7c234f9eb91be095ca592c3ddae1d7481a0f0e0b5f5ab5a393c189fdefae64f5","episode_index":48,"episode_name":"episode_0048"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0048.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_8798/tex_ceiling_textures_6576/tex_floor_textures_1310/tex_table_textures_2286/tex_wall_textures_751","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":5221313172085002151,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":5221313172085002151,"visual_seed":5221313172085002151,"scene_id":"lab_003","finished_at":"2026-09-05T21:04:20"} +{"episode_id":"ep_000040","started_at":"2026-09-05T21:04:24","dimensions":{"distractor":{"count":27,"items":[{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_0","position":[0.0010515718445428535,1.4834953488287161,0.71338606911949],"aabb_xy":[[-0.021447563881684117,1.460995348050453],[0.023550707570769824,1.505995349606979]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_1","position":[-0.5837505353262414,1.216722224576798,0.71338606911949],"aabb_xy":[[-0.599812462784759,1.1317222227642059],[-0.5676886078677237,1.3017222263893895]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_2","position":[-0.23633312230953013,-2.493097043378435,0.71338606911949],"aabb_xy":[[-0.2482052053210312,-2.578097043072085],[-0.224461039298029,-2.4080970436847844]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_3","position":[0.4911386722308848,-1.5307420196223633,0.71338606911949],"aabb_xy":[[0.4698606640874125,-1.5957420219484364],[0.5124166803743571,-1.4657420172962903]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_4","position":[-0.04598627540524369,1.0375176824974508,0.71338606911949],"aabb_xy":[[-0.054788330714216404,1.0297063563425215],[-0.03718422009627098,1.0453290086523797]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_5","position":[0.3076355152891217,-0.5509265646700405,0.71338606911949],"aabb_xy":[[0.257635515712787,-0.6009071436221466],[0.3576355148654564,-0.5009459857179347]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_6","position":[-0.5786720019240005,-0.3665131784492277,0.71338606911949],"aabb_xy":[[-0.6436720028811277,-0.4184613903829333],[-0.5136720009668733,-0.3145649665155221]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_7","position":[-0.41567820506605585,-0.01828599845271306,0.71338606911949],"aabb_xy":[[-0.4696938013479558,-0.08228600134497022],[-0.3616626087841558,0.0457140044395441]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_8","position":[-0.1476311840274348,-1.6246687577603605,0.71338606911949],"aabb_xy":[[-0.17547622080804193,-1.6554532564986721],[-0.11978614724682768,-1.5938842590220488]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_9","position":[-0.5427190402566189,-2.522967142879326,0.71338606911949],"aabb_xy":[[-0.6067190394263888,-2.5697338299982886],[-0.478719041086849,-2.4762004557603636]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_10","position":[-0.6850684945118778,-2.3108755072734892,0.71338606911949],"aabb_xy":[[-0.692692762602056,-2.3185087308100334],[-0.6774442264216995,-2.303242283736946]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_11","position":[0.5516252914750399,-1.0783810886433642,0.71338606911949],"aabb_xy":[[0.4666252930576167,-1.1632553841056492],[0.6366252898924631,-0.9935067931810793]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_12","position":[-0.45908464461189646,-1.7513915172104846,0.71338606911949],"aabb_xy":[[-0.4651216576125612,-1.757418218279433],[-0.45304763161123174,-1.7453648161415367]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_13","position":[-0.04774560993005039,-0.6842594494033136,0.71338606911949],"aabb_xy":[[-0.11774560634001216,-0.7046973850549952],[0.022254386479911407,-0.6638215137516318]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_14","position":[0.43415133030805864,-2.303491436917966,0.71338606911949],"aabb_xy":[[0.4210000843367693,-2.328491436674653],[0.447302576279348,-2.27849143716128]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_15","position":[0.5141603027884789,-0.14139985557822143,0.71338606911949],"aabb_xy":[[0.4966603693544954,-0.15889985549845595],[0.5316602362224622,-0.12389985565798686]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_16","position":[0.19015641761911994,0.948353669768065,0.71338606911949],"aabb_xy":[[0.14302703861728425,0.884353668723663],[0.23728579662095559,1.012353670812467]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_17","position":[0.6391045663350212,0.19964169712002722,0.71338606911949],"aabb_xy":[[0.5891095553755692,0.1496416980844355],[0.6890995772944732,0.24964169615561896]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_18","position":[0.17218394856496055,-1.2943786086860998,0.71338606911949],"aabb_xy":[[0.1562994552996354,-1.308731548984924],[0.1880684418302857,-1.280025668387276]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_19","position":[0.14300399387099294,-1.9509810387151418,0.71338606911949],"aabb_xy":[[0.10567271734575034,-1.9856340935099943],[0.1803352703962356,-1.9163279839202898]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_20","position":[-0.44462516078840525,-2.4117911832363967,0.71338606911949],"aabb_xy":[[-0.482125162304037,-2.4230179562525413],[-0.4071251592727736,-2.4005644102202512]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_21","position":[0.1625449279848441,-2.474569133059847,0.71338606911949],"aabb_xy":[[0.07285785167672865,-2.5645691333142975],[0.25223200429295956,-2.3845691328053964]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_22","position":[-0.41217829620347834,-1.8983882246386854,0.71338606911949],"aabb_xy":[[-0.4621782948493995,-1.9483077682981478],[-0.3621782975575571,-1.848468680979223]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_23","position":[-0.024273437269935805,-1.150267931329084,0.71338606911949],"aabb_xy":[[-0.05775260453097675,-1.1837470447001912],[0.009205729991105128,-1.1167888179579772]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_24","position":[-0.2223592242374438,-2.248616804572172,0.71338606911949],"aabb_xy":[[-0.2315191031813204,-2.255148022615709],[-0.2131993452935672,-2.2420855865286353]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_25","position":[0.48976128928561047,0.06795421717119776,0.71338606911949],"aabb_xy":[[0.4347658114649511,0.012954215737290817],[0.5447567671062699,0.12295421860510468]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_26","position":[-0.02602175334386725,-2.09606722731961,0.71338606911949],"aabb_xy":[[-0.05601341607773758,-2.1260672266564105],[0.0039699093900030825,-2.0660672279828094]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6713062934092684,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9779.png","name":"9779"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9779.png","name":"9779"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8409.png","name":"8409"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4439.png","name":"4439"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1612.png","name":"1612"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1407.png","name":"1407"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":575.9369084716811,"rotation_z_degrees":45.632228291543456,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014479465545552576,-0.0031308023945753015,-0.017203771523426354]},{"name":"camera_2","offset_m":[-0.018550106372486865,0.0032770395554916516,-0.01698958979225592]},{"name":"camera_3","offset_m":[0.01844919586949655,0.0033348903340684327,0.005788456476855424]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0019129844048690922,0.0004293242411809251,-0.000879030083436259],"end_effector_yaw_offset_degrees":-0.253426872629142},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0018726063763693382,-0.00017590127814157835,0.00021879129265406447],"end_effector_yaw_offset_degrees":-0.38028873971084454},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0010668263837530115,0.0018028626775554992,-0.0006043405056074644],"end_effector_yaw_offset_degrees":0.38166315060079326},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0018237201119486804,-2.2441164195230543e-05,-0.00189785380758159],"end_effector_yaw_offset_degrees":-0.7082679499739368}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004349607834198161,0.002543604313564489],"position_m":[0.26314960783419816,0.15914360431356447,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004412927165941677,0.004878069003584726],"position_m":[0.2175129271659417,-0.3232219309964153,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0031658709140542575,0.0003821842475153362],"position_m":[0.26043412908594576,-0.13071781575248465,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004346921172388959,0.0009802537397705603],"position_m":[0.32545307882761104,0.30998025373977056,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"158e60ef4ca2c944f13c0314cb46e342a1d4121cb9059cba047925ee37efa99e","episode_index":49,"episode_name":"episode_0049"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0049.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_9779/tex_ceiling_textures_1407/tex_floor_textures_1612/tex_table_textures_8409/tex_wall_textures_4439","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":182905149634150737,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":182905149634150737,"visual_seed":182905149634150737,"scene_id":"lab_003","finished_at":"2026-09-05T21:08:00"} +{"episode_id":"ep_000041","started_at":"2026-09-05T21:08:03","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_0","position":[-0.37460877406067367,-0.3024330129471431,0.71338606911949],"aabb_xy":[[-0.3904932673259988,-0.3167859532459672],[-0.3587242807953485,-0.2880800726483191]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_1","position":[0.4515579439109958,-1.424562355829207,0.71338606911949],"aabb_xy":[[0.42905794339895514,-1.4470542141946052],[0.47405794442303634,-1.4020704974638085]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_2","position":[0.6118874372857048,-0.439919515656193,0.71338606911949],"aabb_xy":[[0.5618874369251388,-0.489899502865796],[0.6618874376462709,-0.3899395284465901]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_3","position":[-0.11924844811484536,1.603298178706376,0.71338606911949],"aabb_xy":[[-0.1542484480913412,1.5938335626587596],[-0.08424844813834954,1.6127627947539929]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_4","position":[0.39951468842016347,1.646613422275967,0.71338606911949],"aabb_xy":[[0.3645146892902078,1.6408682012003026],[0.4345146875501191,1.6523586433516309]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_5","position":[-0.38940984508209003,-1.5527218867722585,0.71338606911949],"aabb_xy":[[-0.4544098477198835,-1.6042014854717055],[-0.32440984244429655,-1.5012422880728116]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_6","position":[-0.23864985421381296,-0.6489615577569179,0.71338606911949],"aabb_xy":[[-0.2926654504957129,-0.7129615606491749],[-0.18463425793191293,-0.5849615548646606]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_7","position":[0.05320584024146491,-0.8342016349300825,0.71338606911949],"aabb_xy":[[0.04057905295426856,-0.8437477086316552],[0.06583262752866126,-0.8246555612285094]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_8","position":[0.3913619078087027,1.2020061581739747,0.71338606911949],"aabb_xy":[[0.35386190799166917,1.1973679468628329],[0.4288619076257363,1.2066443694851166]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_9","position":[-0.20582707066076922,0.5237520605964718,0.71338606911949],"aabb_xy":[[-0.21072636296733271,0.49607514129390295],[-0.20092777835420572,0.5514289798990405]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_10","position":[-0.33064487459308045,0.423185696344627,0.71338606911949],"aabb_xy":[[-0.34072658167165387,0.34318569845251223],[-0.3205631675145069,0.5031856942367415]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_11","position":[-0.14234604052462252,0.602607104701713,0.71338606911949],"aabb_xy":[[-0.15992434271356937,0.5850326151276081],[-0.12476773833567567,0.6201815942758179]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_12","position":[0.6334628363010075,0.15750003326422357,0.71338606911949],"aabb_xy":[[0.5881842214198583,0.09350003391603987],[0.6787414511821568,0.22150003261240722]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_13","position":[-0.48068823373527175,1.6072621219901602,0.71338606911949],"aabb_xy":[[-0.5031846551691359,1.5847621221834127],[-0.45819181230140765,1.6297621217969076]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_14","position":[-0.29580595390300707,1.5983707450802558,0.71338606911949],"aabb_xy":[[-0.313352648819126,1.5608707435160043],[-0.27825925898688814,1.6358707466445068]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_15","position":[-0.6014696514862389,1.371335491854289,0.71338606911949],"aabb_xy":[[-0.6514427170187544,1.3213354920417564],[-0.5514965859537235,1.4213354916668222]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_16","position":[0.15918613157192663,-0.6220217182193886,0.71338606911949],"aabb_xy":[[0.10930343469423043,-0.6720217174656634],[0.20906882844962285,-0.5720217189731139]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_17","position":[0.09123029726842014,-2.464119853117147,0.71338606911949],"aabb_xy":[[0.04123029624928486,-2.500586068854975],[0.1412302982875554,-2.427653637379319]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_18","position":[-0.053634566363419456,0.40885255872655035,0.71338606911949],"aabb_xy":[[-0.059092512000439516,0.3288525554188912],[-0.04817662072639938,0.4888525620342094]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_19","position":[-0.6073821337968641,0.0031791797098166263,0.71338606911949],"aabb_xy":[[-0.6873821352269913,-0.07633797530279285],[-0.5273821323667369,0.0826963347224261]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_20","position":[0.6448771197270153,-2.343630442930235,0.71338606911949],"aabb_xy":[[0.5808771193494816,-2.3933757097810466],[0.7088771201045488,-2.293885176079422]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_21","position":[-0.5999497620078653,-0.5756000123145184,0.71338606911949],"aabb_xy":[[-0.6499339977160425,-0.625600011128014],[-0.5499655262996881,-0.5256000135010228]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_22","position":[-0.35471895860967184,-1.9551547620641196,0.71338606911949],"aabb_xy":[[-0.39748566548909203,-2.019154765485922],[-0.31195225173025165,-1.891154758642317]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_23","position":[-0.3914457365301964,-1.0839436674582525,0.71338606911949],"aabb_xy":[[-0.3995593912035735,-1.0920494839122816],[-0.3833320818568193,-1.0758378510042235]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_24","position":[0.5860729600280321,0.986129568495707,0.71338606911949],"aabb_xy":[[0.5615593359310262,0.9618649751936708],[0.610586584125038,1.0103941617977437]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_25","position":[0.5111381376979154,0.7159092838233923,0.71338606911949],"aabb_xy":[[0.4982662341969752,0.6359092834095561],[0.5240100411988554,0.7959092842372284]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_26","position":[0.09218136364656804,1.2900464980910682,0.71338606911949],"aabb_xy":[[0.04218136407023333,1.2400659191389625],[0.14218136322290276,1.3400270770431744]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6749163955801019,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5109.png","name":"5109"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5109.png","name":"5109"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7122.png","name":"7122"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6173.png","name":"6173"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9547.png","name":"9547"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6570.png","name":"6570"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":693.4380792172641,"rotation_z_degrees":79.13231135940896,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0036212204047342995,0.016531930648124037,0.008368543683028994]},{"name":"camera_2","offset_m":[0.008998619012436104,-0.012247458604085382,-0.002346028551378939]},{"name":"camera_3","offset_m":[0.01015917040297232,-0.0008498715732158761,-0.0011197131672094317]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0009122888744593906,5.811656761331224e-05,-0.00017697209424807122],"end_effector_yaw_offset_degrees":0.8487278648382779},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0007489390899077511,0.0004916623365612519,-0.001657678021642222],"end_effector_yaw_offset_degrees":0.3616322167570436},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0016594899198223122,0.0010855308620755272,-0.0012028814728247852],"end_effector_yaw_offset_degrees":0.904158415025951},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00046173836028519117,0.00015312024533705414,0.0018828911426442725],"end_effector_yaw_offset_degrees":0.5172741953828053}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.000834307616298745,-0.0015139607910684728],"position_m":[0.25963430761629874,0.15508603920893152,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003575362746753653,0.000740746825195814],"position_m":[0.20952463725324635,-0.3273592531748042,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.001797508841811347,0.0038267150921076796],"position_m":[0.26539750884181135,-0.1272732849078923,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0014573126308264207,0.0032469481926616335],"position_m":[0.32834268736917355,0.31224694819266163,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"35f05fd70854a4ff2a64dd4e3647940ce0c1e0c4a3e6e8fb69d4b0bde7d53968","episode_index":50,"episode_name":"episode_0050"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0050.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_5109/tex_ceiling_textures_6570/tex_floor_textures_9547/tex_table_textures_7122/tex_wall_textures_6173","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":3240165696905546291,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":3240165696905546291,"visual_seed":3240165696905546291,"scene_id":"lab_003","finished_at":"2026-09-05T21:11:46"} +{"episode_id":"ep_000042","started_at":"2026-09-05T21:11:50","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_0","position":[0.22013975856207457,0.8046016440075805,0.71338606911949],"aabb_xy":[[0.150139756430645,0.7818396783818848],[0.2901397606935041,0.8273636096332762]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_1","position":[-0.05567228217067377,0.731699001238626,0.71338606911949],"aabb_xy":[[-0.07817228218082206,0.7176027815990227],[-0.03317228216052547,0.7457952208782292]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_2","position":[0.591898283365142,1.5376573355323324,0.71338606911949],"aabb_xy":[[0.5543982832595491,1.5308351736793513],[0.629398283470735,1.5444794973853135]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_3","position":[-0.31112966965425015,-2.2614391112119496,0.71338606911949],"aabb_xy":[[-0.31916600435553494,-2.269477230516366],[-0.30309333495296525,-2.253400991907533]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_4","position":[0.5060608638915816,0.6304023121234636,0.71338606911949],"aabb_xy":[[0.46872958736633896,0.5957492573286114],[0.5433921404168242,0.6650553669183159]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_5","position":[0.42531258019012563,-2.3610105083387096,0.71338606911949],"aabb_xy":[[0.41555659068095174,-2.370773042397944],[0.4350685696992995,-2.351247974279475]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_6","position":[0.32993462263983986,-0.9938226540400978,0.71338606911949],"aabb_xy":[[0.24621239713975734,-1.0838226575747936],[0.41365684813992226,-0.9038226505054017]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_7","position":[-0.5694500820884046,-2.4662173094453337,0.71338606911949],"aabb_xy":[[-0.6334500823488753,-2.5112261087982617],[-0.5054500818279337,-2.4212085100924057]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_8","position":[-0.46820241428577225,-1.2239558658358796,0.71338606911949],"aabb_xy":[[-0.48408690755109735,-1.2383088061347036],[-0.45231792102044704,-1.2096029255370555]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_9","position":[0.21521530371864594,-1.8290627802252337,0.71338606911949],"aabb_xy":[[0.12521530512417606,-1.8453133665386547],[0.30521530231311594,-1.8128121939118127]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_10","position":[-0.2414361607814467,-0.26008209885162925,0.71338606911949],"aabb_xy":[[-0.321436161854567,-0.2698601451890137],[-0.16143615970832634,-0.2503040525142448]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_11","position":[0.5517170769862472,-0.42067798945964796,0.71338606911949],"aabb_xy":[[0.5017170760357142,-0.4522271364631693],[0.6017170779367799,-0.3891288424561265]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_12","position":[0.43947453097204314,1.5547953584634704,0.71338606911949],"aabb_xy":[[0.419583491091703,1.5421395471787738],[0.4593655708523835,1.5674511697481674]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_13","position":[0.43234512254041446,1.4205901350924086,0.71338606911949],"aabb_xy":[[0.4177017169863815,1.4059314154356244],[0.44698852809444745,1.4352488547491928]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_14","position":[0.0935804255653957,-1.2276168288805032,0.71338606911949],"aabb_xy":[[0.03358042470458288,-1.2790432588869893],[0.15358042642620848,-1.1761903988740166]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_15","position":[-0.21581852707596882,-0.9424535524181379,0.71338606911949],"aabb_xy":[[-0.2517320315009585,-0.9783670606348924],[-0.17990502265097913,-0.9065400442013831]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_16","position":[-0.5204645500641651,-0.7105870804030272,0.71338606911949],"aabb_xy":[[-0.5579645505615234,-0.7145557639511455],[-0.4829645495668069,-0.7066183968549087]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_17","position":[-0.2686854802273183,0.8374831469774704,0.71338606911949],"aabb_xy":[[-0.29701519017585853,0.8330224047837534],[-0.24035577027877808,0.8419438891711876]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_18","position":[-0.010607944760185117,-1.3865305477511332,0.71338606911949],"aabb_xy":[[-0.07560794571731232,-1.4384787596848387],[0.05439205619694209,-1.3345823358174276]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_19","position":[0.5824943223606203,0.43003896958321297,0.71338606911949],"aabb_xy":[[0.5449943215686247,0.4236711286250229],[0.6199943231526156,0.43640681054140307]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6724052999898603,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2687.png","name":"2687"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2687.png","name":"2687"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8839.png","name":"8839"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2811.png","name":"2811"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1641.png","name":"1641"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7347.png","name":"7347"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":664.7095644303487,"rotation_z_degrees":72.18063344234183,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013578963535990075,-0.0123094149360933,0.019952538997587272]},{"name":"camera_2","offset_m":[-0.008905916511438128,-0.01094575924436184,0.013202852004240869]},{"name":"camera_3","offset_m":[0.012814615941245003,0.008931951508119242,0.01083318670928024]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0007869367082702276,0.0016599793502445484,-0.0009469872950943422],"end_effector_yaw_offset_degrees":-0.5356748177016148},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0002009169405338073,-0.00010598679823903669,-0.0012562718951247276],"end_effector_yaw_offset_degrees":-0.8440140306959798},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0001449223689545284,0.0003035908803415404,0.0008275368585879996],"end_effector_yaw_offset_degrees":-0.1461660042437698},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005150284877116773,0.0009865339648219627,-0.0017971257361299275],"end_effector_yaw_offset_degrees":-0.10009780834842164}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0012176111582782598,-0.0003397526385519045],"position_m":[0.26001761115827826,0.15626024736144808,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0005295845662661976,0.002414129901137139],"position_m":[0.2125704154337338,-0.32568587009886285,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0014897193613409732,-0.0015991916873499545],"position_m":[0.26508971936134096,-0.13269919168734995,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002725624720277209,0.00024272833319230382],"position_m":[0.3270743752797228,0.3092427283331923,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"02b8bbabf747442f32dc455e5a4bdbe27dbaeffa2d8edade68aa29a52e4bc9cf","episode_index":51,"episode_name":"episode_0051"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0051.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_2687/tex_ceiling_textures_7347/tex_floor_textures_1641/tex_table_textures_8839/tex_wall_textures_2811","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":4639277797039831226,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":4639277797039831226,"visual_seed":4639277797039831226,"scene_id":"lab_003","finished_at":"2026-09-05T21:15:46"} +{"episode_id":"ep_000043","started_at":"2026-09-05T21:15:51","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_0","position":[-0.6442746561586914,-0.356228701615632,0.71338606911949],"aabb_xy":[[-0.651316107109439,-0.36325545335342657],[-0.6372332052079438,-0.3492019498778375]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_1","position":[-0.29962202215555206,-1.1995870401829498,0.71338606911949],"aabb_xy":[[-0.35461427279106306,-1.2545870419262628],[-0.24462977152004117,-1.1445870384396373]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_2","position":[0.45642250487518243,0.18984481199859538,0.71338606911949],"aabb_xy":[[0.4064225054349868,0.13987688751427904],[0.506422504315378,0.23981273648291165]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_3","position":[0.4277294768603408,-1.331032454780419,0.71338606911949],"aabb_xy":[[0.36373377946524416,-1.3950324530811276],[0.4917251742554373,-1.2670324564797102]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_4","position":[0.254670995209874,0.7607861555408588,0.71338606911949],"aabb_xy":[[0.2171709949176992,0.7567446801402551],[0.29217099550204884,0.7648276309414623]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_5","position":[0.24057467523912146,-2.2420904238825727,0.71338606911949],"aabb_xy":[[0.23000719558102245,-2.2526354539955813],[0.25114215489722047,-2.231545393769564]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_6","position":[-0.03099550030196596,-1.8143993599214059,0.71338606911949],"aabb_xy":[[-0.06849550109396141,-1.8207672008795959],[0.006504500490029486,-1.8080315189632155]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_7","position":[-0.42862178237197707,-2.5428143979394675,0.71338606911949],"aabb_xy":[[-0.46362178068267246,-2.550529412863013],[-0.39362178406128157,-2.535099383015922]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_8","position":[0.08990428327219924,-2.2803192814423827,0.71338606911949],"aabb_xy":[[0.07235758835608029,-2.317819283006634],[0.10745097818831816,-2.2428192798781312]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_9","position":[-0.14640019869290488,-1.3784343673060169,0.71338606911949],"aabb_xy":[[-0.1524372116935696,-1.384461068374965],[-0.14036318569224016,-1.3724076662370683]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_10","position":[0.10161915323876847,-2.033791593540123,0.71338606911949],"aabb_xy":[[0.016619154546693826,-2.065777456935002],[0.1866191519308431,-2.0018057301452443]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_11","position":[0.5704983396888068,-1.7934943286343739,0.71338606911949],"aabb_xy":[[0.5054983385828635,-1.818459701702502],[0.6354983407947501,-1.7685289555662453]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_12","position":[-0.49598209842348484,0.7051448930289821,0.71338606911949],"aabb_xy":[[-0.5188978113085347,0.6822405958925586],[-0.473066385538435,0.7280491901654056]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_13","position":[-0.39446321423937264,-2.1731185683766174,0.71338606911949],"aabb_xy":[[-0.402386494478121,-2.1956185686146212],[-0.38653993400062436,-2.1506185681386145]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_14","position":[0.024711224580140856,-0.6400356546399877,0.71338606911949],"aabb_xy":[[0.007211224320804234,-0.6541271968287604],[0.042211224839477486,-0.6259441124512152]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_15","position":[-0.6339358545928242,-1.4107674558770948,0.71338606911949],"aabb_xy":[[-0.6514358538709112,-1.428105555943441],[-0.6164358553147374,-1.3934293558107491]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_16","position":[-0.563445010505582,-2.3628700748676343,0.71338606911949],"aabb_xy":[[-0.643445009162468,-2.3773749337918972],[-0.48344501184869604,-2.3483652159433714]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_17","position":[0.11905036579136119,1.3833670530804465,0.71338606911949],"aabb_xy":[[0.09653667396790398,1.313367052479439],[0.14156405761481838,1.453367053681454]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_18","position":[-0.40408654178415604,-1.6509151962510522,0.71338606911949],"aabb_xy":[[-0.46567730100814886,-1.7149151943600993],[-0.3424957825601632,-1.5869151981420055]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_19","position":[-0.038003849650960375,1.547184292960781,0.71338606911949],"aabb_xy":[[-0.08800385093480033,1.4972054385701588],[0.01199615163287959,1.597163147351403]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_20","position":[0.6434771917843474,-2.4671384242207255,0.71338606911949],"aabb_xy":[[0.6091609146097294,-2.517138424193903],[0.6777934689589653,-2.4171384242475478]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_21","position":[-0.4716677363100621,-0.05134256168243079,0.71338606911949],"aabb_xy":[[-0.5072968922100218,-0.08697522843928374],[-0.4360385804101023,-0.01570989492557784]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_22","position":[0.4880764910242501,-0.7593699735640516,0.71338606911949],"aabb_xy":[[0.424076494628677,-0.8233332619827851],[0.5520764874198232,-0.695406685145318]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_23","position":[-0.03216327267977481,-0.958678996132021,0.71338606911949],"aabb_xy":[[-0.0731812160661457,-1.0086789967629783],[0.008854670706596068,-0.9086789955010637]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_24","position":[-0.12453856059797686,0.6269907107387223,0.71338606911949],"aabb_xy":[[-0.13334061590694954,0.6191793845837931],[-0.11573650528900413,0.6348020368936512]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_25","position":[0.33286857324058805,-1.112703977282064,0.71338606911949],"aabb_xy":[[0.32196279715302534,-1.192703973680893],[0.34377434932815076,-1.0327039808832348]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_26","position":[-0.4788881430406854,-0.41471648737175615,0.71338606911949],"aabb_xy":[[-0.49203938901197486,-0.43971648712844275],[-0.46573689706939614,-0.38971648761506966]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_27","position":[0.6277040020633984,-0.2782210522237727,0.71338606911949],"aabb_xy":[[0.5727302800270655,-0.3332210517880059],[0.6826777240997313,-0.2232210526595395]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_28","position":[0.6699862800388869,-0.41781272021848936,0.71338606911949],"aabb_xy":[[0.6612723109889523,-0.44031272087767753],[0.6787002490888213,-0.3953127195593011]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_29","position":[-0.24264654688905296,1.1742166623459833,0.71338606911949],"aabb_xy":[[-0.322646547359269,1.165905954731635],[-0.16264654641883708,1.1825273699603316]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6746190136644715,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9995.png","name":"9995"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9995.png","name":"9995"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3350.png","name":"3350"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7204.png","name":"7204"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3308.png","name":"3308"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9498.png","name":"9498"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":837.6571847266559,"rotation_z_degrees":85.10265604287119,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015379191032823456,0.012143156779058143,-0.017423840114950843]},{"name":"camera_2","offset_m":[-0.01629297125013741,0.0047359495979587725,0.0034139971606755824]},{"name":"camera_3","offset_m":[-0.01598421493337181,-0.0034737500361721775,0.005747446174185374]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0012102658968516857,-0.0007871855188358744,0.001031076420705161],"end_effector_yaw_offset_degrees":-0.4503648008490042},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0010395459064942852,0.001027960655519276,0.001460119460027953],"end_effector_yaw_offset_degrees":-0.8060784561060557},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0005530666814645008,-0.00014902883808282931,-0.0017847797996696283],"end_effector_yaw_offset_degrees":0.8211094891768527},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0007849097712551386,9.663281805613946e-05,-9.991266554421692e-05],"end_effector_yaw_offset_degrees":-0.9042486534065484}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.00023438691331148596,-0.0015687225002336247],"position_m":[0.25856561308668846,0.15503127749976636,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0008558229583225082,-0.00065882320323612],"position_m":[0.21395582295832252,-0.32875882320323613,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0018611735105093542,-0.0010370915597979601],"position_m":[0.26546117351050935,-0.13213709155979794,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00017753937221711997,-0.0005559159712045167],"position_m":[0.3299775393722171,0.3084440840287955,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"14aa03984e9491d188f91c075057509d123050037f8d8f268684902a221c8609","episode_index":52,"episode_name":"episode_0052"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0052.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_9995/tex_ceiling_textures_9498/tex_floor_textures_3308/tex_table_textures_3350/tex_wall_textures_7204","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":5897998644404756345,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":5897998644404756345,"visual_seed":5897998644404756345,"scene_id":"lab_003","finished_at":"2026-09-05T21:19:31"} +{"episode_id":"ep_000044","started_at":"2026-09-05T21:19:36","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_0","position":[-0.5377223311191132,-2.394961509383433,0.71338606911949],"aabb_xy":[[-0.548967386689731,-2.406203307107528],[-0.5264772755484953,-2.3837197116593374]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_1","position":[0.38222971236264414,-1.9635452399496105,0.71338606911949],"aabb_xy":[[0.3206389531386514,-2.027545238058657],[0.443820471586637,-1.8995452418405638]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_2","position":[-0.23343384070004602,-0.35608746899622856,0.71338606911949],"aabb_xy":[[-0.2974338380023924,-0.40045389596408526],[-0.1694338433976996,-0.31172104202837175]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_3","position":[0.3247183306590651,-1.3802691859932312,0.71338606911949],"aabb_xy":[[0.2901272478050198,-1.4452691862782623],[0.35930941351311024,-1.3152691857082002]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_4","position":[0.48028705320461484,1.5793737862952564,0.71338606911949],"aabb_xy":[[0.3902870495276965,1.5179413797181514],[0.5702870568815328,1.64080619287236]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_5","position":[0.7105670685006298,1.3108565628819595,0.71338606911949],"aabb_xy":[[0.7025237085746746,1.225856561786593],[0.718610428426585,1.395856563977326]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_6","position":[0.04565956502577451,0.6959799143583552,0.71338606911949],"aabb_xy":[[-0.018340436886567835,0.6400687651003448],[0.10965956693811685,0.7518910636163657]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_7","position":[0.6281930936325217,-2.1141914628145697,0.71338606911949],"aabb_xy":[[0.5906930928405263,-2.12055930377276],[0.6656930944245172,-2.1078236218563795]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_8","position":[0.6474509892392728,1.1932477416232214,0.71338606911949],"aabb_xy":[[0.6355182548774448,1.180865588815362],[0.659383723601101,1.2056298944310808]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_9","position":[-0.10559493029084577,-1.237213126262234,0.71338606911949],"aabb_xy":[[-0.17059493292863925,-1.2886927249616809],[-0.04059492765305227,-1.185733527562787]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_10","position":[0.21547133383273354,-1.5721986937188372,0.71338606911949],"aabb_xy":[[0.20950479489199772,-1.5781598383782012],[0.2214378727734693,-1.5662375490594729]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_11","position":[0.569695176915439,1.0228276849673636,0.71338606911949],"aabb_xy":[[0.4896951736575961,0.9428311771753797],[0.649695180173282,1.1028241927593476]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_12","position":[0.25250089995024627,-0.7097664668154355,0.71338606911949],"aabb_xy":[[0.24879763862110743,-0.7134684851241534],[0.25620416127938517,-0.7060644485067177]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_13","position":[0.1125266833330707,1.5183473966600816,0.71338606911949],"aabb_xy":[[0.048526684163300755,1.471580709541119],[0.17652668250284065,1.565114083779044]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_14","position":[-0.49806601271178363,1.4314505142222358,0.71338606911949],"aabb_xy":[[-0.5318415719024766,1.4174120190090707],[-0.46429045352109066,1.4454890094354005]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_15","position":[-0.10520075945935359,-2.4410349588578155,0.71338606911949],"aabb_xy":[[-0.12126268691787123,-2.526034960670407],[-0.08913883200083594,-2.3560349570452233]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_16","position":[-0.12027955811594715,1.6687880886671693,0.71338606911949],"aabb_xy":[[-0.1702526236484626,1.6187880888546367],[-0.07030649258343168,1.7187880884797024]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_17","position":[0.3376218866464291,1.7261682716483988,0.71338606911949],"aabb_xy":[[0.3126218867139112,1.7192856034274755],[0.362621886578947,1.7330509398693221]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_18","position":[0.10963642999582068,-2.4060743206995725,0.71338606911949],"aabb_xy":[[0.0751739519827329,-2.4127379978824948],[0.14409890800890846,-2.3994106435166493]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_19","position":[0.5740219487098683,-1.4839877149052612,0.71338606911949],"aabb_xy":[[0.5100219484493975,-1.5289965142581892],[0.6380219489703391,-1.4389789155523331]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6734563482987704,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1146.png","name":"1146"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1146.png","name":"1146"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1250.png","name":"1250"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/810.png","name":"810"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4812.png","name":"4812"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/817.png","name":"817"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":783.03785195756,"rotation_z_degrees":82.69122383875322,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00011685984128265159,-0.018831587716389132,0.012656650287471965]},{"name":"camera_2","offset_m":[0.013776440620475543,0.013808578099441405,0.0006690735700710486]},{"name":"camera_3","offset_m":[0.013556857977703767,0.00131146861835826,-0.01923549619479503]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0008013176863118292,-0.00018590079926728356,0.0018659799889150243],"end_effector_yaw_offset_degrees":0.7753496532402433},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00021642565590639204,0.00011125936828814244,-0.0007552304609523507],"end_effector_yaw_offset_degrees":-0.5457131978296175},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0016384241828415508,0.0009376526994377137,-0.0009837196976231258],"end_effector_yaw_offset_degrees":-0.18474768883699144},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008443976484995108,-0.00042871834255533026,0.0014017661445898475],"end_effector_yaw_offset_degrees":-0.11683194498433291}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004816260898952869,0.003994569842232241],"position_m":[0.2539837391010471,0.16059456984223222,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0019130343951206186,-0.0036903428416574704],"position_m":[0.21501303439512062,-0.3317903428416575,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0006519221121666606,0.00178370484222049],"position_m":[0.26294807788783336,-0.1293162951577795,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002515787791678443,0.002118964536510738],"position_m":[0.32728421220832155,0.3111189645365107,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"703a0e57e2c633d1f5f326614132a71feb51dff2cabb76e6fc5170a6528ad73b","episode_index":53,"episode_name":"episode_0053"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0053.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_1146/tex_ceiling_textures_817/tex_floor_textures_4812/tex_table_textures_1250/tex_wall_textures_810","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":1251364642947614104,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":1251364642947614104,"visual_seed":1251364642947614104,"scene_id":"lab_003","finished_at":"2026-09-05T21:23:24"} +{"episode_id":"ep_000045","started_at":"2026-09-05T21:23:27","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_0","position":[0.4906084277027367,0.5989651177669177,0.71338606911949],"aabb_xy":[[0.4256084295468177,0.5726688732170057],[0.5556084258586558,0.62526136231683]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_1","position":[-0.5562140201870176,0.8643006802430464,0.71338606911949],"aabb_xy":[[-0.5906764982001054,0.8576370030601236],[-0.5217515421739298,0.8709643574259692]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_2","position":[-0.06884138050073829,-1.1105567567054182,0.71338606911949],"aabb_xy":[[-0.11884137914665949,-1.1604763003648806],[-0.018841381854817096,-1.0606372130459558]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_3","position":[0.32112624190532535,0.7499802989322752,0.71338606911949],"aabb_xy":[[0.26613303056818866,0.6949802985934816],[0.3761194532424622,0.804980299271069]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_4","position":[-0.1920443413178421,0.17514531384250365,0.71338606911949],"aabb_xy":[[-0.22704434129433795,0.16568069779488703],[-0.1570443413413463,0.18460992989012026]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_5","position":[-0.5251642759486881,-0.05758509081193308,0.71338606911949],"aabb_xy":[[-0.5951642723586497,-0.07802302646361478],[-0.4551642795387261,-0.03714715516025134]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_6","position":[-0.08082867934553029,-0.8382835791291494,0.71338606911949],"aabb_xy":[[-0.09846151493905785,-0.8559065251447724],[-0.0631958437520027,-0.8206606331135264]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_7","position":[0.4735802408684564,0.23039067709536099,0.71338606911949],"aabb_xy":[[0.4532959381450576,0.2101080519526521],[0.4938645435918551,0.2506733022380697]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_8","position":[-0.6036269307220634,-0.80737792450372,0.71338606911949],"aabb_xy":[[-0.6187898036990006,-0.8225433817988389],[-0.5884640577451264,-0.7922124672086014]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_9","position":[-0.2410272111066561,-1.6682517150045841,0.71338606911949],"aabb_xy":[[-0.2610856227198963,-1.6883168019137416],[-0.22096879949341577,-1.6481866280954267]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_10","position":[0.33593480160620115,1.8187469766697384,0.71338606911949],"aabb_xy":[[0.32508319535732555,1.8078876859420874],[0.34678640785507675,1.8296062673973894]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_11","position":[0.13899135676972907,-0.6933202808176551,0.71338606911949],"aabb_xy":[[0.07399135673542634,-0.7400209574979824],[0.2039913568040318,-0.6466196041373278]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_12","position":[-0.4597421371738476,0.9622996971800171,0.71338606911949],"aabb_xy":[[-0.48224213669755495,0.9398037497293964],[-0.43724213765014014,0.984795644630638]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_13","position":[0.33663130758478066,-1.5167021273014907,0.71338606911949],"aabb_xy":[[0.332515357472708,-1.520817682334336],[0.3407472576968533,-1.512586572268645]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_14","position":[0.17549256645404276,1.1158598969677116,0.71338606911949],"aabb_xy":[[0.15839048849567464,1.0987530914364418],[0.19259464441241095,1.1329667024989813]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_15","position":[-0.14651542048299515,0.5179345991842954,0.71338606911949],"aabb_xy":[[-0.21051542086052877,0.46818933233348314],[-0.08251542010546153,0.5676798660351077]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_16","position":[-0.3370180744449963,-2.085479385026282,0.71338606911949],"aabb_xy":[[-0.40101807084056934,-2.149442673445015],[-0.2730180780494232,-2.021516096607548]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_17","position":[0.42128090865443957,-0.8303174607486052,0.71338606911949],"aabb_xy":[[0.37347474104067097,-0.895317463455664],[0.4690870762682082,-0.765317458041546]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_18","position":[0.3388842532108849,-2.381647361645461,0.71338606911949],"aabb_xy":[[0.3349237694411506,-2.389315226230982],[0.3428447369806193,-2.3739794970599406]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_19","position":[-0.5053555712796152,-1.1450350994365464,0.71338606911949],"aabb_xy":[[-0.5669463305036081,-1.2090350975455935],[-0.44376481205562246,-1.0810351013274997]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_20","position":[0.3435556056383544,-0.34597288510683155,0.71338606911949],"aabb_xy":[[0.3321938709850682,-0.35734135151311963],[0.3549173402916405,-0.33460441870054347]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_21","position":[0.12514965767406983,-1.5704423683073887,0.71338606911949],"aabb_xy":[[0.08014965620784097,-1.6154422251688696],[0.17014965914029867,-1.5254425114459083]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_22","position":[-0.4814688758384673,-0.2290171893272528,0.71338606911949],"aabb_xy":[[-0.5614688744953533,-0.2435220482515156],[-0.4014688771815813,-0.21451233040299003]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_23","position":[0.657440836277768,0.9146742090825657,0.71338606911949],"aabb_xy":[[0.6349760663063628,0.8921742082037051],[0.6799056062491731,0.9371742099614261]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_24","position":[0.6580102620907338,0.315063040244131,0.71338606911949],"aabb_xy":[[0.6367322539472615,0.25006303791805795],[0.679288270234206,0.38006304257020407]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_25","position":[-0.3422974468352253,-0.6110570855821376,0.71338606911949],"aabb_xy":[[-0.37729744510534513,-0.6181312132771257],[-0.3072974485651053,-0.6039829578871494]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_26","position":[-0.45299404329300497,-0.384774916589981,0.71338606911949],"aabb_xy":[[-0.5030915072740786,-0.4487749170997928],[-0.40289657931193135,-0.32077491608016917]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_27","position":[0.14476617164896222,-2.2543807107260267,0.71338606911949],"aabb_xy":[[0.09075057536706221,-2.3183807136182835],[0.19878176793086222,-2.190380707833769]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_28","position":[0.030306348506762282,-1.28011369943052,0.71338606911949],"aabb_xy":[[-0.033693653542969715,-1.3202081825198277],[0.09430635055649428,-1.2400192163412118]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_29","position":[0.25675327754784527,0.9119549310830717,0.71338606911949],"aabb_xy":[[0.2096238985460096,0.8479549300386696],[0.30388265654968094,0.9759549321274735]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_30","position":[-0.39547273398958815,1.4560793521714204,0.71338606911949],"aabb_xy":[[-0.406717789560206,1.4448375544473249],[-0.3842276784189703,1.4673211498955154]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_31","position":[0.46453209151663577,-1.0774432755505057,0.71338606911949],"aabb_xy":[[0.44897632210637056,-1.0929937087949129],[0.4800878609269011,-1.0618928423060985]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6730333918280876,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1673.png","name":"1673"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1673.png","name":"1673"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/266.png","name":"266"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3516.png","name":"3516"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2384.png","name":"2384"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7905.png","name":"7905"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":639.1429141854106,"rotation_z_degrees":221.5943175708535,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01986927999874553,-0.014368302921459079,-0.0012722503065700462]},{"name":"camera_2","offset_m":[-0.002597294163644657,0.017512751609736716,-0.01640706214119932]},{"name":"camera_3","offset_m":[0.01840344163231736,-0.009542949772267884,0.016004697308971094]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0012589341258033805,-0.0017816015918532076,-0.0007868215438222453],"end_effector_yaw_offset_degrees":0.5199433141074836},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0013339038718605382,-0.0014654320444479106,-0.0016135560326048233],"end_effector_yaw_offset_degrees":-0.9222664266519423},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0012442295331804407,-0.0015206894692898364,-0.0016958285620135398],"end_effector_yaw_offset_degrees":0.03614722610498622},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0003671963122759939,-0.0014723132844227452,-0.0014513671635456107],"end_effector_yaw_offset_degrees":0.06581167498938711}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0010629539403410847,0.002024994109537515],"position_m":[0.2577370460596589,0.1586249941095375,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004592573874707568,0.0002296441277951245],"position_m":[0.20850742612529244,-0.32787035587220487,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004244015214792339,0.0013177500401067984],"position_m":[0.25935598478520766,-0.1297822499598932,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00345325404110953,0.003000788947159056],"position_m":[0.32634674595889046,0.31200078894715905,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c60fd9a9c0d98ab0c1862e007ec88f90b248c8304e2d2369969e671fd8cb9ccd","episode_index":54,"episode_name":"episode_0054"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0054.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_1673/tex_ceiling_textures_7905/tex_floor_textures_2384/tex_table_textures_266/tex_wall_textures_3516","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":8596389705140915819,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":8596389705140915819,"visual_seed":8596389705140915819,"scene_id":"lab_003","finished_at":"2026-09-05T21:27:01"} +{"episode_id":"ep_000046","started_at":"2026-09-05T21:29:39","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_0","position":[-0.5200866613400492,-0.3121216400774607,0.71338606911949],"aabb_xy":[[-0.526500474983234,-0.318531460325129],[-0.5136728476968642,-0.30571181982979234]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_1","position":[0.044725711628495146,-1.3144220623503675,0.71338606911949],"aabb_xy":[[0.02717901671237622,-1.3519220639146188],[0.062272406544614085,-1.2769220607861163]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_2","position":[0.05027479348270103,-1.4509740065090657,0.71338606911949],"aabb_xy":[[0.04085731891283828,-1.4603901836467847],[0.05969226805256378,-1.4415578293713467]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_3","position":[0.470456757064158,-0.38767328137088164,0.71338606911949],"aabb_xy":[[0.4505657171838178,-0.40032909265557853],[0.4903477969444983,-0.37501747008618486]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_4","position":[0.36833668465600566,1.5004320067774564,0.71338606911949],"aabb_xy":[[0.2833366859639311,1.4684461433825773],[0.45333668334808036,1.532417870172335]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_5","position":[0.4241553223718322,0.5791183593632887,0.71338606911949],"aabb_xy":[[0.41691155632558685,0.49911836115968633],[0.4313990884180775,0.6591183575668911]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_6","position":[-0.3864285565739677,-0.6260362419879069,0.71338606911949],"aabb_xy":[[-0.42392855707132593,-0.6300049255360252],[-0.34892855607660944,-0.6220675584397883]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_7","position":[-0.48279831032991505,1.6406718663277355,0.71338606911949],"aabb_xy":[[-0.5467983110333845,1.5946534838548148],[-0.41879830962644576,1.6866902488006568]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_8","position":[0.5001047738301025,0.8831572998713617,0.71338606911949],"aabb_xy":[[0.4881720394682746,0.8707751470635025],[0.5120375081919307,0.8955394526792212]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_9","position":[-0.59251885695912,-0.2019839750903727,0.71338606911949],"aabb_xy":[[-0.6825188606360382,-0.263416381667477],[-0.5025188532822018,-0.1405515685132683]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_10","position":[-0.3056846256393804,-0.8028994312098561,0.71338606911949],"aabb_xy":[[-0.31309708118076884,-0.808750641631484],[-0.2982721700979919,-0.7970482207882281]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_11","position":[-0.29051630683023144,-2.2634918703212215,0.71338606911949],"aabb_xy":[[-0.3455163060068209,-2.3184815450961787],[-0.2355163076536419,-2.2085021955462634]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_12","position":[0.6318835210708584,-2.539884807153162,0.71338606911949],"aabb_xy":[[0.6066626842110185,-2.5651085580060484],[0.6571043579306979,-2.5146610563002745]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_13","position":[-0.021723978060508298,-1.7272014374721345,0.71338606911949],"aabb_xy":[[-0.028765429011255898,-1.7342281892099287],[-0.014682527109760705,-1.7201746857343398]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_14","position":[0.6070946730256295,0.035573458334062114,0.71338606911949],"aabb_xy":[[0.5832584553850245,-0.054426542474424376],[0.6309308906662346,0.1255734591425486]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_15","position":[0.4941068901868879,0.6819369663337458,0.71338606911949],"aabb_xy":[[0.4716421202154827,0.6594369654548853],[0.5165716601582929,0.7044369672126063]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_16","position":[0.38533131893074346,1.6127999208981616,0.71338606911949],"aabb_xy":[[0.37729498422945856,1.6047618015937448],[0.39336765363202825,1.6208380402025784]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_17","position":[0.09513942754884641,-2.3796485079826724,0.71338606911949],"aabb_xy":[[0.06084251653110578,-2.4139453941926132],[0.12943633856658704,-2.3453516217727306]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_18","position":[-0.19921321595150365,0.8304811465488777,0.71338606911949],"aabb_xy":[[-0.2492132173123909,0.7805032419734621],[-0.14921321459061646,0.8804590511242933]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_19","position":[-0.31322154262181634,-1.8923163430873062,0.71338606911949],"aabb_xy":[[-0.3772215442998137,-1.9408337345666204],[-0.249221540943819,-1.843798951607992]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_20","position":[-0.5284630747421706,-2.3276839380665564,0.71338606911949],"aabb_xy":[[-0.5659630762578023,-2.3389107110827014],[-0.49096307322653887,-2.3164571650504113]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_21","position":[-0.22447604269314742,-1.4692126086814956,0.71338606911949],"aabb_xy":[[-0.274573506674221,-1.5332126091913074],[-0.17437857871207377,-1.4052126081716838]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_22","position":[0.4357010722373571,1.105570622079461,0.71338606911949],"aabb_xy":[[0.41541676951395823,1.085287996936752],[0.45598537496075575,1.1258532472221696]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_23","position":[-0.2590764807833725,-0.6068765231865123,0.71338606911949],"aabb_xy":[[-0.2976221736085735,-0.6454222942427009],[-0.22053078795817144,-0.5683307521303237]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_24","position":[-0.3872118303203583,1.73926734436732,0.71338606911949],"aabb_xy":[[-0.3949150209944353,1.7315579736685818],[-0.37950863964628123,1.746976715066058]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_25","position":[0.10192224015507223,1.26805695498703,0.71338606911949],"aabb_xy":[[0.06442224004947927,1.2612347931340488],[0.1394222402606652,1.274879116840011]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_26","position":[-0.05678264498364727,-1.243013891018827,0.71338606911949],"aabb_xy":[[-0.08543197734406349,-1.2716594502959027],[-0.028133312623231037,-1.214368331741751]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_27","position":[0.7011684025696019,0.6614754257132129,0.71338606911949],"aabb_xy":[[0.6962691102630384,0.6337985064106441],[0.7060676948761654,0.6891523450157816]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_28","position":[-0.5958811854230012,1.115850831282164,0.71338606911949],"aabb_xy":[[-0.6242108953715414,1.111390089088447],[-0.5675514754744609,1.120311573475881]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_29","position":[0.5036301963123699,-1.0539634801471482,0.71338606911949],"aabb_xy":[[0.4955165416389927,-1.0620692966011773],[0.5117438509857469,-1.0458576636931192]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_30","position":[0.4524927974788182,-0.2621787768263344,0.71338606911949],"aabb_xy":[[0.43784939192478517,-0.2768374964831186],[0.46713620303285114,-0.24752005716955006]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_31","position":[-0.1689025617714469,-1.689543012274806,0.71338606911949],"aabb_xy":[[-0.17898426885002036,-1.7695430101669207],[-0.1588208546928734,-1.6095430143826914]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_32","position":[0.010196158802000421,0.9480899980373327,0.71338606911949],"aabb_xy":[[-0.020950760041582694,0.8780899993505256],[0.04134307764558354,1.01808999672414]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_33","position":[0.24948798334283429,1.1938099600570777,0.71338606911949],"aabb_xy":[[0.2360414567087909,1.1803401084039864],[0.26293450997687756,1.207279811710169]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6719673649260436,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/908.png","name":"908"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/908.png","name":"908"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7996.png","name":"7996"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8477.png","name":"8477"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/510.png","name":"510"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/866.png","name":"866"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":751.4861599764303,"rotation_z_degrees":337.72730512465307,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01806683999403311,-0.00663007972727339,-0.008648666682055115]},{"name":"camera_2","offset_m":[0.019556677655152715,0.0004535023452443866,0.014259214857871027]},{"name":"camera_3","offset_m":[-0.0032649345921968963,-0.010414231928394245,-0.003389720476760231]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0005860106588151707,0.001593838435305253,-0.0007813513259546094],"end_effector_yaw_offset_degrees":0.29630834817782215},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0011558888100028325,-0.000507078338620516,-0.00041635928670788404],"end_effector_yaw_offset_degrees":0.18456503452426576},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0013926356452009002,-0.0003315440487265122,-0.001000835486555677],"end_effector_yaw_offset_degrees":0.35673903324364487},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0002901115924410296,-1.0111211464536567e-05,0.0013221607729701486],"end_effector_yaw_offset_degrees":0.5067506057520321}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.002460145780034606,-0.003128747970829149],"position_m":[0.2612601457800346,0.15347125202917083,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004499849576162043,0.00175822249500254],"position_m":[0.20860015042383798,-0.3263417775049975,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0021277803605038704,-0.0031431785195046124],"position_m":[0.26147221963949613,-0.1342431785195046,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0015252088689284562,-0.003046733985173804],"position_m":[0.32827479113107155,0.3059532660148262,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b45428d98a33508e34d3f55f5974a5fb3fed3a61b6724d2549e9a41c9d5cabca","episode_index":56,"episode_name":"episode_0056"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0056.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_908/tex_ceiling_textures_866/tex_floor_textures_510/tex_table_textures_7996/tex_wall_textures_8477","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":7796426092779821436,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":7796426092779821436,"visual_seed":7796426092779821436,"scene_id":"lab_003","finished_at":"2026-09-05T21:33:20"} +{"episode_id":"ep_000047","started_at":"2026-09-05T21:33:24","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_0","position":[-0.2930928241472429,0.5583306984100997,0.71338606911949],"aabb_xy":[[-0.33527723830807366,0.49433069813288855],[-0.2509084099864122,0.622330698687311]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_1","position":[0.3411896912977741,-1.105332066224026,0.71338606911949],"aabb_xy":[[0.33356542320759586,-1.11296528976057],[0.34881395938795234,-1.0976988426874825]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_2","position":[0.4852273934345044,0.28440897101732787,0.71338606911949],"aabb_xy":[[0.42022739555285665,0.23328530731078706],[0.5502273913161522,0.3355326347238688]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_3","position":[-0.6395337514797689,1.4488352636867714,0.71338606911949],"aabb_xy":[[-0.6895167016672481,1.3988352640442105],[-0.5895508012922894,1.4988352633293314]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_4","position":[0.0553481011165764,-2.1230806901654735,0.71338606911949],"aabb_xy":[[-0.014651901520009954,-2.1431855551613386],[0.12534810375316274,-2.1029758251696076]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_5","position":[0.5693026661928113,1.2493843536473066,0.71338606911949],"aabb_xy":[[0.5601427872489347,1.2428531356037695],[0.5784625451366879,1.2559155716908437]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_6","position":[-0.4371086008398038,-0.07247009091149836,0.71338606911949],"aabb_xy":[[-0.4736044214670824,-0.10895403333825593],[-0.40061278021252494,-0.0359861484847408]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_7","position":[-0.4749567929403626,1.718087975057228,0.71338606911949],"aabb_xy":[[-0.4867249797350202,1.6330879751520069],[-0.4631886061457052,1.80308797496245]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_8","position":[0.6965044643851768,-2.4354953756811994,0.71338606911949],"aabb_xy":[[0.6884781937545508,-2.444246870658552],[0.7045307350158028,-2.426743880703847]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_9","position":[0.6340665548346305,-1.23119946631955,0.71338606911949],"aabb_xy":[[0.6115665543225899,-1.2536913246849481],[0.6565665553466711,-1.2087076079541514]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_10","position":[-0.4024065986990959,-1.3185914245786965,0.71338606911949],"aabb_xy":[[-0.409446908632633,-1.398591423978368],[-0.395366288765559,-1.2385914251790253]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_11","position":[0.459193129222899,-0.9544819652088878,0.71338606911949],"aabb_xy":[[0.45115679452161417,-0.9625200845133045],[0.46722946392418385,-0.946443845904471]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_12","position":[0.2724058370898178,-1.6972972078519564,0.71338606911949],"aabb_xy":[[0.21240583724325102,-1.7541158300449948],[0.3324058369363846,-1.6404785856589175]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_13","position":[-0.11726434155374854,0.9182903738246488,0.71338606911949],"aabb_xy":[[-0.206951417861864,0.8282903735701982],[-0.027577265245633087,1.0082903740790994]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_14","position":[0.6852446588797789,-0.37533007791413153,0.71338606911949],"aabb_xy":[[0.6765306898298443,-0.3978300785733197],[0.6939586279297133,-0.35283007725494325]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_15","position":[-0.065860688247658,-1.6880028647892766,0.71338606911949],"aabb_xy":[[-0.07466274355663072,-1.6958141909442057],[-0.0570586329386853,-1.6801915386343476]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_16","position":[-0.5274378621749721,-1.5285932353296672,0.71338606911949],"aabb_xy":[[-0.5507197043731034,-1.613593236626895],[-0.5041560199768407,-1.4435932340324389]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_17","position":[-0.17592712222983564,-2.3049978775368944,0.71338606911949],"aabb_xy":[[-0.2559271227000516,-2.3133085851512427],[-0.0959271217596197,-2.296687169922546]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_18","position":[-0.4839487472259725,-0.7059050905653468,0.71338606911949],"aabb_xy":[[-0.4894066928629926,-0.7859050938730059],[-0.47849080158895246,-0.6259050872576877]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_19","position":[0.3889415304449355,-2.214739068218575,0.71338606911949],"aabb_xy":[[0.3690504905645953,-2.2273948795032723],[0.40883257032527587,-2.2020832569338786]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6745029057490209,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3497.png","name":"3497"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3497.png","name":"3497"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5230.png","name":"5230"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5577.png","name":"5577"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/397.png","name":"397"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7064.png","name":"7064"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":632.359645943628,"rotation_z_degrees":227.85422335745594,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019118602767800436,-0.01662506291033413,-0.0043906382814085185]},{"name":"camera_2","offset_m":[-8.248438476394365e-05,0.014238829112258006,-0.0025812914860040524]},{"name":"camera_3","offset_m":[0.0008638504469647215,0.00039928159570093436,0.013611569534183226]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0003664679737718094,-0.0010838628507845683,0.0016974459464988308],"end_effector_yaw_offset_degrees":-0.04144151794794659},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0005347843575215436,-0.000520948061933835,0.0008047252671671431],"end_effector_yaw_offset_degrees":0.7161139303958857},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00153094985617026,-0.0018649956560819305,0.0019704492310234504],"end_effector_yaw_offset_degrees":0.26997052490298334},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0003263613143417903,-0.0003041715494199093,0.0019640634059914005],"end_effector_yaw_offset_degrees":0.19524246030509262}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.00479937508488582,-0.0014115373204318196],"position_m":[0.25400062491511416,0.15518846267956818,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0018163949519153324,0.0019317190838660523],"position_m":[0.2112836050480847,-0.3261682809161339,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0001398899804724565,0.004996014843241471],"position_m":[0.26373988998047243,-0.12610398515675852,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0020819252343559835,0.003549612280492086],"position_m":[0.327718074765644,0.3125496122804921,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"da642dd7df62357c5f56beac0fee1ffc2fc1ca6fa8e914d95c31ba2dc10e07d2","episode_index":57,"episode_name":"episode_0057"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0057.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_3497/tex_ceiling_textures_7064/tex_floor_textures_397/tex_table_textures_5230/tex_wall_textures_5577","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":9188115653699730222,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":9188115653699730222,"visual_seed":9188115653699730222,"scene_id":"lab_003","finished_at":"2026-09-05T21:37:01"} +{"episode_id":"ep_000048","started_at":"2026-09-05T21:39:30","dimensions":{"distractor":{"count":21,"items":[{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_0","position":[-0.5130457880025187,-0.7241907963399716,0.71338606911949],"aabb_xy":[[-0.5359615008875686,-0.7470950934763951],[-0.49013007511746876,-0.7012864992035481]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_1","position":[-0.4420126090546736,1.0598026773489835,0.71338606911949],"aabb_xy":[[-0.4795126076302943,1.0470663816854253],[-0.4045126104790527,1.0725389730125412]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_2","position":[-0.3853606568192224,-0.6051149652502572,0.71338606911949],"aabb_xy":[[-0.41913621600991535,-0.6191534604634222],[-0.3515850976285294,-0.5910764700370922]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_3","position":[-0.033120131661690255,1.2549718627876372,0.71338606911949],"aabb_xy":[[-0.06997067959867787,1.2174718619646034],[0.0037304162752973546,1.292471863610671]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_4","position":[0.1500044816788466,-0.8489938258152487,0.71338606911949],"aabb_xy":[[0.1086999386151106,-0.9129938253833657],[0.19130902474258257,-0.7849938262471315]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_5","position":[0.56330574646745,-0.7385816011097315,0.71338606911949],"aabb_xy":[[0.5408057469437426,-0.761077548560352],[0.5858057459911574,-0.7160856536591105]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_6","position":[0.47811082433636876,1.4856695849269488,0.71338606911949],"aabb_xy":[[0.4141108210466606,1.4423346659230312],[0.5421108276260768,1.5290045039308664]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_7","position":[0.28080860387749285,1.3708280798708725,0.71338606911949],"aabb_xy":[[0.2656364345958595,1.3556592229426692],[0.2959807731591262,1.3859969367990759]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_8","position":[0.5690142010830188,-1.4017776419097283,0.71338606911949],"aabb_xy":[[0.5346979239084009,-1.451777641882906],[0.6033304782576367,-1.3517776419365506]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_9","position":[0.7022991752898129,0.3749080554966886,0.71338606911949],"aabb_xy":[[0.6981633189571127,0.33740805605233165],[0.7064350316225131,0.41240805494104565]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_10","position":[-0.20999019148026482,1.3896165747729863,0.71338606911949],"aabb_xy":[[-0.2676206603675356,1.3296165758462752],[-0.1523597225929939,1.4496165736996964]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_11","position":[-0.4811642530722876,-1.2512738383911177,0.71338606911949],"aabb_xy":[[-0.48915824164999094,-1.2592739184862078],[-0.47317026449458416,-1.2432737582960272]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_12","position":[-0.1698808143040852,0.8953013028907959,0.71338606911949],"aabb_xy":[[-0.17963680381325908,0.8855387688315615],[-0.1601248247949113,0.9050638369500303]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_13","position":[-0.46241863508644854,-0.11192860919517189,0.71338606911949],"aabb_xy":[[-0.5424186320494877,-0.18900425083894534],[-0.38241863812340937,-0.034852967551398426]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_14","position":[-0.5827516975680558,-2.435843107705259,0.71338606911949],"aabb_xy":[[-0.6377471753887152,-2.4908431091391656],[-0.5277562197473964,-2.3808431062713518]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_15","position":[-0.13344716418014646,-1.447119169505513,0.71338606911949],"aabb_xy":[[-0.19744286157524302,-1.5111191678062217],[-0.06945146678504985,-1.3831191712048043]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_16","position":[0.2666435278242584,-1.262433667210326,0.71338606911949],"aabb_xy":[[0.21165127718874743,-1.3174336689536388],[0.3216357784597693,-1.2074336654670133]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_17","position":[0.21432624956157187,1.7710983132721485,0.71338606911949],"aabb_xy":[[0.15032625039180195,1.724331626153186],[0.2783262487313418,1.817865000391111]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_18","position":[0.696336576805552,-2.1255306190105117,0.71338606911949],"aabb_xy":[[0.6886333861314751,-2.1332399897092498],[0.704039767479629,-2.1178212483117735]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_19","position":[-0.39299995638703833,-1.0046228609459282,0.71338606911949],"aabb_xy":[[-0.4175135804840442,-1.0288874542479645],[-0.36848633229003247,-0.9803582676438916]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_20","position":[-0.2926391211437606,-1.2880670548592512,0.71338606911949],"aabb_xy":[[-0.30354489723132333,-1.3680670512580801],[-0.2817333450561979,-1.2080670584604218]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6755183052355151,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7868.png","name":"7868"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7868.png","name":"7868"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/377.png","name":"377"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4618.png","name":"4618"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9644.png","name":"9644"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7794.png","name":"7794"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":660.8739908183084,"rotation_z_degrees":238.00527290191565,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012160195527623098,0.011005470300365597,-0.011884734694636934]},{"name":"camera_2","offset_m":[-0.012348413974504157,0.01834996411665547,-0.0024599429192779833]},{"name":"camera_3","offset_m":[0.01787941455463889,-0.011161538991970473,-0.0006866362703022641]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0009818453221462767,-0.0013515915139297018,0.0009037643990838732],"end_effector_yaw_offset_degrees":0.5163440912924406},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0013060813638079427,0.0005573074966617954,-0.00036290843133655144],"end_effector_yaw_offset_degrees":-0.42752031733789986},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0014656569075625714,-0.00013670272070738184,0.00019931917119318278],"end_effector_yaw_offset_degrees":-0.9026880622504594},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0018499201830558646,0.00045013876698345254,-0.0008507034275609456],"end_effector_yaw_offset_degrees":-0.561347221089272}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0012814612584013886,-0.002546549511698899],"position_m":[0.2575185387415986,0.1540534504883011,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0038779578577641614,0.0044699327075548865],"position_m":[0.20922204214223586,-0.3236300672924451,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0026489263268909447,-0.004302893385445743],"position_m":[0.26095107367310905,-0.13540289338544573,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[2.024081255317528e-05,0.001709907388044404],"position_m":[0.3298202408125532,0.3107099073880444,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0e41a296d8b3994b7d6389fc22fcadf0d9da75594038f25e2e6f714495646313","episode_index":59,"episode_name":"episode_0059"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0059.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_7868/tex_ceiling_textures_7794/tex_floor_textures_9644/tex_table_textures_377/tex_wall_textures_4618","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":4267148223935579494,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":4267148223935579494,"visual_seed":4267148223935579494,"scene_id":"lab_003","finished_at":"2026-09-05T21:43:17"} +{"episode_id":"ep_000049","started_at":"2026-09-05T21:48:27","dimensions":{"distractor":{"count":33,"items":[{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_0","position":[-0.38493876422822787,0.3773511312173614,0.71338606911949],"aabb_xy":[[-0.4349387658897226,0.32735268896165864],[-0.33493876256673305,0.42734957347306407]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_1","position":[-0.08369541509775547,-1.0069729980331243,0.71338606911949],"aabb_xy":[[-0.10112613017676196,-1.0242451126969747],[-0.06626470001874894,-0.9897008833692732]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_2","position":[0.4691075687748456,-2.3809875529163733,0.71338606911949],"aabb_xy":[[0.438709457675702,-2.4113944549180424],[0.4995056798739892,-2.3505806509147034]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_3","position":[-0.2278302984224282,-0.9038415725699598,0.71338606911949],"aabb_xy":[[-0.2928302994229287,-0.9546279377246347],[-0.16283029742192764,-0.8530552074152848]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_4","position":[-0.5215451501307348,-0.39344572478572504,0.71338606911949],"aabb_xy":[[-0.5264444424372982,-0.42112264408829375],[-0.5166458578241712,-0.3657688054831562]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_5","position":[0.061764086884460445,-1.9719306378381432,0.71338606911949],"aabb_xy":[[0.011764087308125733,-2.021911216790249],[0.11176408646079516,-1.9219500588860374]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_6","position":[0.48566732394901346,-2.274522525384363,0.71338606911949],"aabb_xy":[[0.47796413327493636,-2.2822318960831005],[0.49337051462309045,-2.2668131546856243]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_7","position":[0.371332055852968,1.609038672613479,0.71338606911949],"aabb_xy":[[0.3617004196325384,1.5994013598337704],[0.38096369207339764,1.6186759853931882]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_8","position":[0.05750679534565539,1.25922202715314,0.71338606911949],"aabb_xy":[[0.03761575546531515,1.2465662158684432],[0.07739783522599564,1.2718778384378369]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_9","position":[0.3732115087148855,-1.0395958030414199,0.71338606911949],"aabb_xy":[[0.30921151141253905,-1.0839622300092768],[0.43721150601723185,-0.9952293760735633]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_10","position":[-0.2855600535623701,1.5967574685334927,0.71338606911949],"aabb_xy":[[-0.3230600540597283,1.5927887849853741],[-0.24806005306501183,1.6007261520816112]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_11","position":[-0.2532444906426722,0.5781603667749073,0.71338606911949],"aabb_xy":[[-0.32324449327925847,0.5580555017790418],[-0.18324448800608578,0.5982652317707728]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_12","position":[-0.45628640247214103,0.1311735174336217,0.71338606911949],"aabb_xy":[[-0.5062864034226737,0.09962437043010028],[-0.40628640152160816,0.1627226644371431]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_13","position":[-0.1147877133638262,-2.539710537702483,0.71338606911949],"aabb_xy":[[-0.15128353399110495,-2.57619448012924],[-0.07829189273654745,-2.503226595275725]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_14","position":[0.19265299444772288,1.3371774070224842,0.71338606911949],"aabb_xy":[[0.18174721836016017,1.2571774106236548],[0.2035587705352856,1.4171774034213132]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_15","position":[-0.5535793868796195,1.1235783267999961,0.71338606911949],"aabb_xy":[[-0.6035793882405067,1.0736004222245803],[-0.5035793855187323,1.1735562313754115]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_16","position":[-0.2736070961383622,0.8986139025148505,0.71338606911949],"aabb_xy":[[-0.35360709660857814,0.8903031949005024],[-0.19360709566814627,0.9069246101291991]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_17","position":[0.19453825741905217,-1.5615879944543936,0.71338606911949],"aabb_xy":[[0.1305382553693202,-1.6016824775437015],[0.25853825946878417,-1.5214935113650856]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_18","position":[-0.3846515435818611,1.5116815119880296,0.71338606911949],"aabb_xy":[[-0.40470995519510133,1.4916164250788722],[-0.36459313196862075,1.531746598897187]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_19","position":[-0.24460862644399506,-2.2774125358212793,0.71338606911949],"aabb_xy":[[-0.27838418563468803,-2.2914510310344443],[-0.21083306725330206,-2.2633740406081144]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_20","position":[-0.1202296557816378,-0.22515375717941133,0.71338606911949],"aabb_xy":[[-0.154820738635683,-0.29015375746444233],[-0.08563857292759257,-0.16015375689438024]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_21","position":[0.4843526274459544,-1.8727987380388345,0.71338606911949],"aabb_xy":[[0.42035262827618447,-1.919565425157797],[0.5483526266157244,-1.826032050919872]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_22","position":[0.07675377440913822,0.9103022572856503,0.71338606911949],"aabb_xy":[[0.06352282887445691,0.8970748382636509],[0.0899847199438195,0.9235296763076497]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_23","position":[-0.3963543600925884,-1.8588113275003018,0.71338606911949],"aabb_xy":[[-0.4563543617355103,-1.9108114767922462],[-0.3363543584496666,-1.8068111782083578]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_24","position":[-0.19023837010205746,0.6936340290171548,0.71338606911949],"aabb_xy":[[-0.20107884832857234,0.6764477477265058],[-0.17939789187554253,0.7108203103078035]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_25","position":[0.19435918148793507,-1.672244922114207,0.71338606911949],"aabb_xy":[[0.15685918113970732,-1.6840363176952904],[0.23185918183616283,-1.6604535265331233]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_26","position":[-0.07866376771993888,-1.514052156073569,0.71338606911949],"aabb_xy":[[-0.14366376587585794,-1.540348400623481],[-0.013663769564019823,-1.4877559115236567]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_27","position":[0.6690685258931774,-0.821181912712224,0.71338606911949],"aabb_xy":[[0.6347522487185595,-0.8711819126854018],[0.7033848030677954,-0.7711819127390463]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_28","position":[0.5154513429593737,-0.1343883045497254,0.71338606911949],"aabb_xy":[[0.45145134073896664,-0.17876138867501368],[0.5794513451797807,-0.0900152204244371]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_29","position":[0.5252748318362421,-2.182154389951394,0.71338606911949],"aabb_xy":[[0.5109404067100787,-2.1942146055059326],[0.5396092569624056,-2.1700941743968545]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_30","position":[-0.07902635474419051,1.7767362397823292,0.71338606911949],"aabb_xy":[[-0.08628760231459792,1.76394922951882],[-0.0717651071737831,1.789523250045839]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_31","position":[0.28622569728329295,-2.3783701542503413,0.71338606911949],"aabb_xy":[[0.2222256970228221,-2.423378953603269],[0.3502256975437637,-2.333361354897413]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_32","position":[-0.5313519307902799,1.430021535592823,0.71338606911949],"aabb_xy":[[-0.5387643863316682,1.424170325171195],[-0.5239394752488913,1.435872746014451]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6790583740837041,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1372.png","name":"1372"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1372.png","name":"1372"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6872.png","name":"6872"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1206.png","name":"1206"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8967.png","name":"8967"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6937.png","name":"6937"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":565.2432286367577,"rotation_z_degrees":101.7928497587783,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008105346196658102,-0.017622650668320996,-0.000627176411547966]},{"name":"camera_2","offset_m":[0.0015772017282230238,0.0198902836537186,0.003391271861791525]},{"name":"camera_3","offset_m":[0.010882980402474138,0.009996449641609919,-0.006669847897320183]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0013935313849856718,-0.0010797984028678874,0.0014593426742041228],"end_effector_yaw_offset_degrees":0.4450605087354673},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00040289797957256254,0.0011929722768841441,0.0005935615436785061],"end_effector_yaw_offset_degrees":-0.5214839141596148},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0012693271874162021,-0.0005213351491775099,-0.00023035649328987436],"end_effector_yaw_offset_degrees":-0.1330173457287902},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001976633987486046,0.001639241253170675,-0.0014061445215844408],"end_effector_yaw_offset_degrees":-0.7031805116317795}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.002943257203424578,0.0008208553431440068],"position_m":[0.26174325720342456,0.15742085534314398,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002614768986306396,-0.004430052611023343],"position_m":[0.2157147689863064,-0.33253005261102336,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0022994918185850846,0.0014599043622666834],"position_m":[0.2613005081814149,-0.12964009563773332,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0029125962344134964,0.003822295913777832],"position_m":[0.33271259623441346,0.3128222959137778,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3fdbfe9bc0ff270d5403d739a455b1ef524bc6dafef0662abe521990b2a75db8","episode_index":62,"episode_name":"episode_0062"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0062.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_1372/tex_ceiling_textures_6937/tex_floor_textures_8967/tex_table_textures_6872/tex_wall_textures_1206","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":4758226306506151866,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":4758226306506151866,"visual_seed":4758226306506151866,"scene_id":"lab_003","finished_at":"2026-09-05T21:52:06"} +{"episode_id":"ep_000050","started_at":"2026-09-05T21:52:11","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_0","position":[-0.22659794956843066,-0.10021885556247323,0.71338606911949],"aabb_xy":[[-0.2321796212025594,-0.11271885538024871],[-0.22101627793430187,-0.08771885574469772]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_1","position":[-0.24981993358101368,0.6397990747035132,0.71338606911949],"aabb_xy":[[-0.2997929991135292,0.5897990748909804],[-0.19984686804849824,0.6897990745160462]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_2","position":[-0.3769021990262076,0.2238209600138048,0.71338606911949],"aabb_xy":[[-0.3806054603553465,0.22011894170508695],[-0.3731989376970687,0.22752297832252266]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_3","position":[0.5590535639853025,-2.367287434215781,0.71338606911949],"aabb_xy":[[0.5040613133497917,-2.422287435959094],[0.6140458146208135,-2.3122874324724685]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_4","position":[-0.6055306965044498,0.04837021309215972,0.71338606911949],"aabb_xy":[[-0.6096665528371501,0.010870213647802718],[-0.6013948401717497,0.08587021253651672]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_5","position":[-0.36837145930474763,1.1756587223341115,0.71338606911949],"aabb_xy":[[-0.38547353726311573,1.1585519168028418],[-0.3512693813463794,1.1927655278653813]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_6","position":[-0.11480796757165312,-1.5845368928257066,0.71338606911949],"aabb_xy":[[-0.11970725987821662,-1.6122138121282752],[-0.10990867526508963,-1.5568599735231377]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_7","position":[-0.5938105419990989,-2.2493019098062317,0.71338606911949],"aabb_xy":[[-0.6775327674991815,-2.3393019133409276],[-0.5100883164990165,-2.1593019062715357]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_8","position":[-0.11598589306631102,1.3147991101002772,0.71338606911949],"aabb_xy":[[-0.12409954773968812,1.306693293646248],[-0.10787223839293392,1.3229049265543062]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_9","position":[-0.4307039261597916,-0.5345309341800162,0.71338606911949],"aabb_xy":[[-0.4482039264191283,-0.5486224763687889],[-0.41320392590045507,-0.5204393919912437]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_10","position":[0.6504015951265572,0.6402156494428279,0.71338606911949],"aabb_xy":[[0.6129015948343823,0.6361741740422243],[0.687901595418732,0.6442571248434316]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_11","position":[-0.40397581585433373,1.3325075946768203,0.71338606911949],"aabb_xy":[[-0.43396747858820406,1.3025075953400198],[-0.3739841531204634,1.3625075940136209]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_12","position":[0.36765106872588293,1.4577374193983892,0.71338606911949],"aabb_xy":[[0.362807473964653,1.452885766919405],[0.37249466348711296,1.4625890718773733]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_13","position":[-0.5864638394016197,-1.8193960608381978,0.71338606911949],"aabb_xy":[[-0.607741847545092,-1.8843960631642707],[-0.5651858312581475,-1.7543960585121245]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_14","position":[-0.5569195379515788,1.7306615689655982,0.71338606911949],"aabb_xy":[[-0.6369195401143413,1.6507063853394546],[-0.4769195357888163,1.8106167525917418]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_15","position":[0.26059195445329086,-0.785164214189136,0.71338606911949],"aabb_xy":[[0.20546674882370006,-0.845164215630423],[0.3157171600828816,-0.7251642127478487]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_16","position":[0.046627776290000145,-1.7293128443607975,0.71338606911949],"aabb_xy":[[-0.0033722249938398226,-1.7792916987514191],[0.0966277775738401,-1.679333989970175]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_17","position":[0.605270390080701,1.3522675704396345,0.71338606911949],"aabb_xy":[[0.5940253345100832,1.3410257727155392],[0.6165154456513189,1.3635093681637298]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_18","position":[-0.1995653923400773,-0.9590238171745074,0.71338606911949],"aabb_xy":[[-0.27956539281029325,-0.9673345247888558],[-0.11956539186986137,-0.9507131095601591]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_19","position":[-0.37827178176948517,-0.7640941228482141,0.71338606911949],"aabb_xy":[[-0.4132717809623034,-0.7750611688458765],[-0.34327178257666685,-0.7531270768505512]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_20","position":[0.2772773414595461,-0.5436419119022551,0.71338606911949],"aabb_xy":[[0.21327734118556785,-0.593708012099543],[0.3412773417335243,-0.4935758117049671]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_21","position":[-0.39592842337251233,-2.466096888348446,0.71338606911949],"aabb_xy":[[-0.4509284215742572,-2.5066188549748833],[-0.34092842517076755,-2.425574921722008]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_22","position":[0.008318499026754633,-2.3426755903257925,0.71338606911949],"aabb_xy":[[-0.05568150288558771,-2.398586739583803],[0.07231850093909697,-2.286764441067782]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_23","position":[0.22866921511292282,-1.4713998168627225,0.71338606911949],"aabb_xy":[[0.22321126947590272,-1.5513998201703816],[0.23412716074994286,-1.3913998135550634]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_24","position":[0.10036737527549233,1.3831405495030742,0.71338606911949],"aabb_xy":[[0.04536737565374649,1.3281568567156015],[0.15536737489723818,1.438124242290547]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_25","position":[-0.07273664418444792,-1.7459087491846477,0.71338606911949],"aabb_xy":[[-0.08001896056111155,-1.8359087527941562],[-0.06545432780778423,-1.6559087455751382]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_26","position":[0.3617493658814712,0.4905692545242273,0.71338606911949],"aabb_xy":[[0.3439558589465547,0.4727695089284296],[0.3795428728163876,0.508369000120025]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_27","position":[-0.6249845940431831,-0.6769451433633569,0.71338606911949],"aabb_xy":[[-0.6599845923538784,-0.6846601582869024],[-0.5899845957324875,-0.6692301284398111]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_28","position":[0.07978160128083289,-2.009383766063057,0.71338606911949],"aabb_xy":[[0.04600604209013992,-2.0234222612762225],[0.11355716047152586,-1.9953452708498927]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_29","position":[0.4519216589256563,0.923380713763593,0.71338606911949],"aabb_xy":[[0.36192165524873804,0.8619483071864884],[0.5419216626025743,0.9848131203406971]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_30","position":[-0.3475441456733021,-1.8860396416397358,0.71338606911949],"aabb_xy":[[-0.38317330157326185,-1.9216723083965888],[-0.31191498977334237,-1.8504069748828829]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_31","position":[0.4063169405171554,1.7190251271537726,0.71338606911949],"aabb_xy":[[0.34631693965634247,1.667598697147286],[0.4663169413779681,1.7704515571602588]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_32","position":[-0.16282243229933768,-1.298600252482703,0.71338606911949],"aabb_xy":[[-0.24282243257294464,-1.3715498003084199],[-0.08282243202573068,-1.2256507046569864]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_33","position":[-0.34040074047321095,-2.132039784488368,0.71338606911949],"aabb_xy":[[-0.4304007369740827,-2.177951426906826],[-0.2504007439723392,-2.0861281420699096]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6722086585372943,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5591.png","name":"5591"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5591.png","name":"5591"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8236.png","name":"8236"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9590.png","name":"9590"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2104.png","name":"2104"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5268.png","name":"5268"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":645.0867127643936,"rotation_z_degrees":66.68281994242535,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010361671212526851,-0.014239254863861829,0.014752378057148515]},{"name":"camera_2","offset_m":[-2.272234506127402e-06,-0.011386264025261088,-0.012775003639801543]},{"name":"camera_3","offset_m":[0.008074302403862161,-0.016535635917075523,0.0002422862596209996]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-1.1579122316417688e-05,0.00012352803359881245,-0.0014492669797023705],"end_effector_yaw_offset_degrees":0.9078909953929095},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0007604691311372922,-0.0014948785182479951,-0.00035668707942850247],"end_effector_yaw_offset_degrees":-0.454805379438626},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0018179801266235867,-0.0008938828023833966,-0.000713870820719071],"end_effector_yaw_offset_degrees":-0.047252917195429456},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006850491478643441,0.0007501623204569474,0.0012426099414826713],"end_effector_yaw_offset_degrees":-0.6582811294367632}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0035562308817658024,-0.0006273598921228783],"position_m":[0.2623562308817658,0.15597264010787712,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002830925334000923,0.001348130289292415],"position_m":[0.21593092533400093,-0.3267518697107076,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0007450166487932052,0.003630615180433931],"position_m":[0.2628549833512068,-0.12746938481956607,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0026805064393879896,-0.0002723235444665531],"position_m":[0.327119493560612,0.30872767645553345,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"aa0ae10f0ae2269a7643b5c63df9febf3c5bc65e9fb9a494e1cbb20810465f3b","episode_index":63,"episode_name":"episode_0063"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0063.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_5591/tex_ceiling_textures_5268/tex_floor_textures_2104/tex_table_textures_8236/tex_wall_textures_9590","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":338457776308388471,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":338457776308388471,"visual_seed":338457776308388471,"scene_id":"lab_003","finished_at":"2026-09-05T21:55:43"} +{"episode_id":"ep_000051","started_at":"2026-09-05T21:55:49","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_0","position":[0.5345815409124814,-1.089412338146891,0.71338606911949],"aabb_xy":[[0.5190257715022162,-1.1049627713912984],[0.5501373103227467,-1.073861904902484]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_1","position":[0.4266973309310469,-1.3554196551434041,0.71338606911949],"aabb_xy":[[0.4091973306717104,-1.3695111973321767],[0.4441973311903836,-1.3413281129546315]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_2","position":[0.24658226206242018,1.5038742779554766,0.71338606911949],"aabb_xy":[[0.19660919652990475,1.4538742781429437],[0.29655532759493564,1.5538742777680097]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_3","position":[-0.26787751700204826,-0.8721071375269409,0.71338606911949],"aabb_xy":[[-0.33187751841003893,-0.9238960890508656],[-0.20387751559405762,-0.8203181860030162]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_4","position":[0.5360813415664585,0.8061833210491813,0.71338606911949],"aabb_xy":[[0.46608133817489644,0.7708675473457504],[0.6060813449580204,0.8414990947526121]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_5","position":[0.6891383434595109,-2.0216293958772047,0.71338606911949],"aabb_xy":[[0.6814351527854339,-2.029338766575943],[0.6968415341335878,-2.0139200251784666]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_6","position":[-0.4940906145748357,0.2742481166332098,0.71338606911949],"aabb_xy":[[-0.4996722862089645,0.26174811681543425],[-0.48850894294070696,0.28674811645098525]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_7","position":[-0.54057179487211,-0.10263045567144502,0.71338606911949],"aabb_xy":[[-0.5905717958226429,-0.13417960267496643],[-0.49057179392157724,-0.07108130866792362]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_8","position":[0.6297881039117621,0.07101528561855552,0.71338606911949],"aabb_xy":[[0.6062029804478672,0.0060152833731237365],[0.653373227375657,0.1360152878639873]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_9","position":[-0.19793267131496145,1.4104167967960963,0.71338606911949],"aabb_xy":[[-0.22293267124747934,1.403534128575173],[-0.17293267138244356,1.4172994650170196]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_10","position":[0.39704640190633045,1.4662566998903643,0.71338606911949],"aabb_xy":[[0.3725001862835797,1.436007803341327],[0.42159261752908117,1.4965055964394012]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_11","position":[0.5616377592505541,0.38957069531294763,0.71338606911949],"aabb_xy":[[0.49763776285498107,0.3256074068942141],[0.6256377556461272,0.4535339837316812]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_12","position":[-0.5307029846019117,-1.762316729480634,0.71338606911949],"aabb_xy":[[-0.5525927321908525,-1.8523167267698828],[-0.5088132370129709,-1.6723167321913845]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_13","position":[-0.44902686176907225,0.45685863670325055,0.71338606911949],"aabb_xy":[[-0.4566511298592505,0.4492254131667069],[-0.441402593678894,0.46449186023979433]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_14","position":[0.2846418620652622,0.9519823590165166,0.71338606911949],"aabb_xy":[[0.2346470291373206,0.901982360121273],[0.3346366949932038,1.0019823579117602]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_15","position":[-0.045803391533523086,1.3740381368080707,0.71338606911949],"aabb_xy":[[-0.08080339288500481,1.35367840085125],[-0.010803390182041349,1.3943978727648916]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_16","position":[-0.08104992157382362,0.2837994022397212,0.71338606911949],"aabb_xy":[[-0.1450456189689202,0.21979940393901254],[-0.01705422417872704,0.3477994005404299]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_17","position":[-0.35339587543128026,0.10643453636951516,0.71338606911949],"aabb_xy":[[-0.37790949952828606,0.08216994306747871],[-0.32888225133427434,0.13069912967155162]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_18","position":[-0.00868425929455452,1.5682675913102897,0.71338606911949],"aabb_xy":[[-0.03118068072841862,1.545767591503542],[0.01381216213930958,1.590767591117037]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_19","position":[0.27608140484375643,-2.0248219721533394,0.71338606911949],"aabb_xy":[[0.25619036496341624,-2.037477783438036],[0.29597244472409673,-2.0121661608686425]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_20","position":[-0.0059982242707280475,-1.9206386290744928,0.71338606911949],"aabb_xy":[[-0.05609568825180167,-1.9846386295843046],[0.04409923971034557,-1.856638628564681]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_21","position":[-0.3581160829052173,-0.5421588090042504,0.71338606911949],"aabb_xy":[[-0.3668140451959326,-0.5542837833117251],[-0.349418120614502,-0.5300338346967757]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_22","position":[-0.6743412383041473,1.3046704919041519,0.71338606911949],"aabb_xy":[[-0.6831224654513837,1.2958907446156218],[-0.6655600111569113,1.3134502391926823]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_23","position":[0.12096288129911903,1.7817312717644813,0.71338606911949],"aabb_xy":[[0.10836018216204257,1.769135875539616],[0.13356558043619549,1.794326667989347]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_24","position":[-0.5318666046683846,-2.0244961326068065,0.71338606911949],"aabb_xy":[[-0.5731711477321206,-2.088496132174923],[-0.49056206160464866,-1.960496133038689]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_25","position":[-0.22579671203426122,-0.17430368960132103,0.71338606911949],"aabb_xy":[[-0.3057967141970237,-0.25425887322746465],[-0.14579670987149873,-0.09434850597517741]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_26","position":[0.7146256128022348,-1.2299116069547138,0.71338606911949],"aabb_xy":[[0.7107117396068122,-1.2386606223612706],[0.7185394859976572,-1.221162591548157]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_27","position":[0.5778215334716554,-0.273822501232162,0.71338606911949],"aabb_xy":[[0.5278215318101606,-0.32382094348786467],[0.6278215351331501,-0.22382405897645927]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_28","position":[0.2437493601420605,1.8203720117441997,0.71338606911949],"aabb_xy":[[0.23399337063288658,1.8106094776849653],[0.2535053496512344,1.8301345458034342]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6724679343624541,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7082.png","name":"7082"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7082.png","name":"7082"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7489.png","name":"7489"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8086.png","name":"8086"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1469.png","name":"1469"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9354.png","name":"9354"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":687.0260067315321,"rotation_z_degrees":58.301412585511684,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009050629006759327,-0.016355476166037476,0.016953854314592436]},{"name":"camera_2","offset_m":[-0.007872235370719375,-0.01193659722185131,0.014835094168011837]},{"name":"camera_3","offset_m":[0.013493083993364564,-0.010368006066482582,0.017130013730763564]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0018953495402411807,0.0018663129662045523,-0.0016982433849885487],"end_effector_yaw_offset_degrees":-0.7179164032008927},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0013785064634282548,0.0001007307551562195,-0.001372596860320324],"end_effector_yaw_offset_degrees":-0.8535972890294796},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00028905887741552264,0.0019422589151611358,0.0013163249394296445],"end_effector_yaw_offset_degrees":0.2412836125176956},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0007962084307818452,-0.0005861659290253951,0.0009960400955024958],"end_effector_yaw_offset_degrees":-0.6866434266804098}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0008872834236727046,-0.0006062713567041378],"position_m":[0.25791271657632725,0.15599372864329586,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0028774531685640137,-0.0021657769904095425],"position_m":[0.21022254683143599,-0.33026577699040954,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002011362128750788,-0.0008113778572124888],"position_m":[0.2656113621287508,-0.1319113778572125,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003639469070099246,0.0021361941575866288],"position_m":[0.3261605309299007,0.31113619415758664,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c11da0b2f8043665a1005cb3d116622f584f8e739d0b7c5503a16b091085a17e","episode_index":64,"episode_name":"episode_0064"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0064.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_7082/tex_ceiling_textures_9354/tex_floor_textures_1469/tex_table_textures_7489/tex_wall_textures_8086","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":5029208043002369449,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":5029208043002369449,"visual_seed":5029208043002369449,"scene_id":"lab_003","finished_at":"2026-09-05T21:59:25"} +{"episode_id":"ep_000052","started_at":"2026-09-05T21:59:28","dimensions":{"distractor":{"count":20,"items":[{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_0","position":[-0.47471514749743576,-0.6800031844300944,0.71338606911949],"aabb_xy":[[-0.5547151460847553,-0.7593187863682552],[-0.39471514891011633,-0.6006875824919334]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_1","position":[-0.40607948430512786,0.5209021409496604,0.71338606911949],"aabb_xy":[[-0.4099933575005503,0.5121531255431035],[-0.4021656111097053,0.5296511563562172]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_2","position":[-0.010637732729837479,-0.171842623214304,0.71338606911949],"aabb_xy":[[-0.016949832266175913,-0.17760956246752282],[-0.0043256331934990455,-0.16607568396108516]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_3","position":[0.47634843186627895,1.0359552084345607,0.71338606911949],"aabb_xy":[[0.47139241168139784,1.0134552082324393],[0.4813044520511602,1.0584552086366825]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_4","position":[0.41167866087800187,-1.1945014510319543,0.71338606911949],"aabb_xy":[[0.4029646918280673,-1.2170014516911423],[0.4203926299279363,-1.1720014503727658]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_5","position":[-0.2161907762726023,1.2053177779149613,0.71338606911949],"aabb_xy":[[-0.2811907789103958,1.1538381792155143],[-0.15119077363480882,1.2567973766144083]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_6","position":[-0.2924915337876458,0.6427483439440942,0.71338606911949],"aabb_xy":[[-0.2964520175573802,0.6350804793585736],[-0.2885310500179115,0.6504162085296148]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_7","position":[0.6437249492418915,1.7456842786544668,0.71338606911949],"aabb_xy":[[0.6062249485773127,1.7299972206542444],[0.6812249499064701,1.7613713366546888]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_8","position":[0.1811629550809679,1.154110747511222,0.71338606911949],"aabb_xy":[[0.11957219585697512,1.0901107494021753],[0.24275371430496076,1.218110745620269]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_9","position":[-0.5906471601877448,0.43356283098961956,0.71338606911949],"aabb_xy":[[-0.6406471611382775,0.40201368398609816],[-0.5406471592372118,0.46511197799314097]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_10","position":[0.6214224516732407,-0.20965784271952215,0.71338606911949],"aabb_xy":[[0.5876468924825478,-0.22369633793268712],[0.6551980108639337,-0.19561934750635707]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_11","position":[-0.12802371102172316,1.6794379166691136,0.71338606911949],"aabb_xy":[[-0.2130237097137978,1.6474520532742347],[-0.04302371232964852,1.7114237800639924]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_12","position":[0.308984883489529,-0.5530278335300127,0.71338606911949],"aabb_xy":[[0.2934291140792638,-0.56857826677442],[0.32454065289979434,-0.5374774002856056]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_13","position":[0.5239277210626434,0.09770129995202748,0.71338606911949],"aabb_xy":[[0.5014629510912383,0.07520129907316696],[0.5463924910340485,0.12020130083088797]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_14","position":[-0.444029099005348,-0.19153151906227972,0.71338606911949],"aabb_xy":[[-0.4519523792440963,-0.21403151930028308],[-0.43610581876659965,-0.16903151882427636]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_15","position":[0.5637708530992065,-2.011109934287181,0.71338606911949],"aabb_xy":[[0.5262708528070317,-2.0151514096877845],[0.6012708533913813,-2.007068458886577]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_16","position":[-0.02947255477952737,-2.097764876208415,0.71338606911949],"aabb_xy":[[-0.07447255624575622,-2.1427647330698956],[0.015527446686701484,-2.0527650193469342]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_17","position":[-0.10475022305891002,0.3378511203494723,0.71338606911949],"aabb_xy":[[-0.1285864406995151,0.24785111954098588],[-0.08091400541830497,0.42785112115795887]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_18","position":[0.022401471435346876,-2.268971517175665,0.71338606911949],"aabb_xy":[[-0.02759852814098784,-2.318952096127771],[0.0724014710116816,-2.218990938223559]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_19","position":[-0.3078916858114258,0.2623675684715603,0.71338606911949],"aabb_xy":[[-0.3453916866034212,0.2559997275133702],[-0.2703916850194303,0.2687354094297504]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.675558485642488,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1828.png","name":"1828"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1828.png","name":"1828"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/566.png","name":"566"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1761.png","name":"1761"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8455.png","name":"8455"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6625.png","name":"6625"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":801.1169405967614,"rotation_z_degrees":342.9159768099634,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0019266949934799923,-0.0019289856348711741,0.009779445743703357]},{"name":"camera_2","offset_m":[-0.012426686297450154,0.017124730598472204,-0.010447749043535102]},{"name":"camera_3","offset_m":[0.007115048207017152,0.007786475289891976,0.01191624423725796]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0017914513997910725,0.0015494965754528486,-0.000908571608297212],"end_effector_yaw_offset_degrees":-0.19262452804773922},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0014504615345974376,0.0014854625518590332,0.0005424494855952732],"end_effector_yaw_offset_degrees":0.3031558989472889},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0012191291959134905,0.00033907729849893447,-0.0013522742102153808],"end_effector_yaw_offset_degrees":-0.5957409622369987},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00032721596270382275,-0.0019569432661956663,0.0012642268995300123],"end_effector_yaw_offset_degrees":-0.18534793039312403}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004856829916780163,-0.002846617604504167],"position_m":[0.26365682991678013,0.15375338239549582,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002649634744521435,0.003541735561469397],"position_m":[0.21045036525547858,-0.3245582644385306,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0031981663436526026,0.00309607554739249],"position_m":[0.2667981663436526,-0.1280039244526075,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0004881547144145312,0.000892539362192842],"position_m":[0.33028815471441453,0.30989253936219285,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"bd34c295929030d15272b4529dcc8df7d9f4e73be4cb575d8233704377c3d8ce","episode_index":65,"episode_name":"episode_0065"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0065.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_1828/tex_ceiling_textures_6625/tex_floor_textures_8455/tex_table_textures_566/tex_wall_textures_1761","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":5170423261139763804,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":5170423261139763804,"visual_seed":5170423261139763804,"scene_id":"lab_003","finished_at":"2026-09-05T22:03:03"} +{"episode_id":"ep_000053","started_at":"2026-09-05T22:03:06","dimensions":{"distractor":{"count":22,"items":[{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_0","position":[-0.609940510003478,1.713515953299193,0.71338606911949],"aabb_xy":[[-0.6649142320398109,1.6585159537349599],[-0.5549667879671452,1.7685159528634262]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_1","position":[0.40675734018452236,-1.1644108736979828,0.71338606911949],"aabb_xy":[[0.39883405994577403,-1.1869108739359864],[0.4146806204232707,-1.1419108734599797]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_2","position":[0.014117397446041346,-1.8710600849430685,0.71338606911949],"aabb_xy":[[-0.033688770167727304,-1.9360600876501275],[0.06192356505980999,-1.8060600822360096]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_3","position":[-0.1924150064686555,0.8613441614450577,0.71338606911949],"aabb_xy":[[-0.24643060275055548,0.7973441585528005],[-0.13839941018675547,0.9253441643373148]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_4","position":[0.18061523696819226,-1.0937048070950914,0.71338606911949],"aabb_xy":[[0.15811881553432816,-1.1162048069018389],[0.20311165840205636,-1.071204807288344]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_5","position":[-0.3353437097818746,-0.23471348118478552,0.71338606911949],"aabb_xy":[[-0.415343708369194,-0.31402908312294636],[-0.2553437111945551,-0.1553978792466246]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_6","position":[-0.28529591356158557,-0.061382068621139485,0.71338606911949],"aabb_xy":[[-0.2957074722420692,-0.06672780195703795],[-0.2748843548811018,-0.05603633528524101]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_7","position":[-0.5121701567605637,0.7017300391893393,0.71338606911949],"aabb_xy":[[-0.5971701554526383,0.6697441757944604],[-0.427170158068489,0.7337159025842181]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_8","position":[-0.4781608333539503,0.35511576387604205,0.71338606911949],"aabb_xy":[[-0.49422276081246796,0.27011576206345017],[-0.4620989058954327,0.4401157656886338]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_9","position":[0.6906691403001795,1.5937701351054083,0.71338606911949],"aabb_xy":[[0.6867552671047569,1.5850211196988515],[0.6945830134956018,1.6025191505119651]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_10","position":[-0.3360527451485759,0.5983511985411614,0.71338606911949],"aabb_xy":[[-0.3430941960993235,0.5913244468033669],[-0.3290112941978283,0.605377950278956]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_11","position":[-0.4885146170256698,-1.071597586030883,0.71338606911949],"aabb_xy":[[-0.5385146186871645,-1.1215960282865856],[-0.438514615364175,-1.0215991437751801]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_12","position":[0.48520324686925975,1.044043285039855,0.71338606911949],"aabb_xy":[[0.44770324535362804,1.03281651202371],[0.5227032483848915,1.0552700580560002]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_13","position":[0.3619091977038231,-2.295544224387667,0.71338606911949],"aabb_xy":[[0.35369465258813915,-2.3042208146853076],[0.3701237428195071,-2.286867634090025]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_14","position":[-0.14311086210707435,1.15561902310181,0.71338606911949],"aabb_xy":[[-0.15113713273770038,1.1468675281244574],[-0.13508459147644838,1.1643705180791626]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_15","position":[-0.07039193941952204,0.5908093066152458,0.71338606911949],"aabb_xy":[[-0.08826104717397754,0.5769763986380348],[-0.05252283166506655,0.6046422145924567]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_16","position":[0.278068839912191,1.3781935351326648,0.71338606911949],"aabb_xy":[[0.22797137593111733,1.3141935346228528],[0.32816630389326457,1.4421935356424764]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_17","position":[-0.3380133735851092,1.5259540822972215,0.71338606911949],"aabb_xy":[[-0.3467946007323454,1.5171743350086915],[-0.32923214643787296,1.534733829585752]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_18","position":[-0.6413299495398292,1.123845961518768,0.71338606911949],"aabb_xy":[[-0.6913299505589645,1.08737974578094],[-0.591329948520694,1.1603121772565959]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_19","position":[0.4670826044154006,-2.515684833161303,0.71338606911949],"aabb_xy":[[0.43262025701725876,-2.5501787155591247],[0.5015449518135423,-2.4811909507634793]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_20","position":[0.5492540819098677,0.8258187970593447,0.71338606911949],"aabb_xy":[[0.538402475660992,0.8149595063316936],[0.5601056881587432,0.8366780877869956]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_21","position":[0.35370166723176455,1.159783011918171,0.71338606911949],"aabb_xy":[[0.3482437215947444,1.0797830086105118],[0.35915961286878456,1.23978301522583]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6745700149102315,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6037.png","name":"6037"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6037.png","name":"6037"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2289.png","name":"2289"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1518.png","name":"1518"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5619.png","name":"5619"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9469.png","name":"9469"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":790.1111072090202,"rotation_z_degrees":227.4040479384598,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0016023246558642817,0.01085069286441515,0.0001609236059480247]},{"name":"camera_2","offset_m":[-0.0077632888572866585,0.0036551891196938725,-0.008798559447614597]},{"name":"camera_3","offset_m":[-0.01066685464746825,-0.0020134194050090877,-0.018444543978782434]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001254898700209385,0.0006174318652098984,0.00039005730124269623],"end_effector_yaw_offset_degrees":0.630175976997553},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0014526084993894657,0.001515892333825318,0.001286707358934839],"end_effector_yaw_offset_degrees":0.6971999841084462},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0013125253897163939,-0.0014615931352137102,0.0009775951735261604],"end_effector_yaw_offset_degrees":-0.03631203553467044},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008724207163673236,-0.0015300952854358952,-0.0012425981192572527],"end_effector_yaw_offset_degrees":-0.8212825332776252}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0043008327560792835,0.0001320367379972721],"position_m":[0.2544991672439207,0.15673203673799727,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002524762792012655,-0.0036660310806182154],"position_m":[0.21057523720798735,-0.3317660310806182,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0024046632509594525,-0.0038554222280344766],"position_m":[0.26119533674904055,-0.13495542222803447,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0008527486992989707,0.0013335017739962594],"position_m":[0.328947251300701,0.31033350177399627,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6aa1daa1a685458c717982e26277f2da65e833366e368f093e81036801824bad","episode_index":66,"episode_name":"episode_0066"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0066.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_6037/tex_ceiling_textures_9469/tex_floor_textures_5619/tex_table_textures_2289/tex_wall_textures_1518","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":2072114976323962006,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":2072114976323962006,"visual_seed":2072114976323962006,"scene_id":"lab_003","finished_at":"2026-09-05T22:06:53"} +{"episode_id":"ep_000054","started_at":"2026-09-05T22:06:56","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_0","position":[-0.32992555148174324,-1.7085917809171307,0.71338606911949],"aabb_xy":[[-0.37992555243227605,-1.740140927920652],[-0.27992555053121043,-1.677042633913609]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_1","position":[0.055490151451042635,-2.5405847866990108,0.71338606911949],"aabb_xy":[[0.022010984190001706,-2.5740639000701178],[0.08896931871208358,-2.507105673327904]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_2","position":[-0.16252443412325523,0.4191169129118997,0.71338606911949],"aabb_xy":[[-0.22652443140890388,0.3776101939590557],[-0.09852443683760659,0.46062363186474364]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_3","position":[0.3041059126127089,-0.6454164829624307,0.71338606911949],"aabb_xy":[[0.24410591201669268,-0.7002289555076542],[0.36410591320872504,-0.5906040104172072]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_4","position":[0.2243506731903423,1.8245526378318702,0.71338606911949],"aabb_xy":[[0.21693821764895385,1.8187014274102422],[0.2317631287317308,1.8304038482534981]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_5","position":[0.2492570486373119,-1.7113039934282916,0.71338606911949],"aabb_xy":[[0.23461364308327887,-1.7259627130850757],[0.26390045419134484,-1.6966452737715072]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_6","position":[0.5711031868382899,-1.8376115882813822,0.71338606911949],"aabb_xy":[[0.5486031870243874,-1.842086204651863],[0.5936031866521921,-1.8331369719109014]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_7","position":[0.614451679068986,-1.488093294001558,0.71338606911949],"aabb_xy":[[0.5985671858036609,-1.5024462343003822],[0.6303361723343112,-1.473740353702734]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_8","position":[0.3353277684736553,-0.8570125681570255,0.71338606911949],"aabb_xy":[[0.2553277710700618,-0.9370051393552083],[0.4153277658772487,-0.7770199969588427]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_9","position":[0.4683344559267397,0.6801017383424077,0.71338606911949],"aabb_xy":[[0.3786473796186242,0.5901017380879572],[0.5580215322348552,0.7701017385968583]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_10","position":[0.4777596784484448,1.2911220760023587,0.71338606911949],"aabb_xy":[[0.43499297156902467,1.2271220725805563],[0.520526385327865,1.3551220794241612]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_11","position":[0.5966423715676676,0.14293313808087627,0.71338606911949],"aabb_xy":[[0.5927284983722452,0.1341841226743195],[0.6005562447630901,0.15168215348743302]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_12","position":[-0.09331789826467196,-1.6688976162239064,0.71338606911949],"aabb_xy":[[-0.10035820819820897,-1.748897615623578],[-0.08627758833113497,-1.5888976168242352]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_13","position":[0.10712846863693981,1.4487922852302337,0.71338606911949],"aabb_xy":[[0.09576673398365364,1.4374238188239457],[0.11849020329022596,1.4601607516365218]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_14","position":[0.31652991686072696,1.7034337846922152,0.71338606911949],"aabb_xy":[[0.2565299152178051,1.651433635400271],[0.3765299185036488,1.7554339339841594]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_15","position":[-0.1713631872108099,1.2217890140423577,0.71338606911949],"aabb_xy":[[-0.22134060407606346,1.171789012553109],[-0.1213857703455563,1.271789015531606]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_16","position":[0.031323246107310854,-1.4723986691604247,0.71338606911949],"aabb_xy":[[-0.03267245128778574,-1.5363986674611334],[0.09531894350240744,-1.408398670859716]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_17","position":[-0.055988124553446594,1.0485688252565954,0.71338606911949],"aabb_xy":[[-0.11998812623144395,1.0000514337772812],[0.008011877124550766,1.0970862167359097]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_18","position":[-0.07718065480293235,0.23567434703170642,0.71338606911949],"aabb_xy":[[-0.08251316945754533,0.23035001878647082],[-0.07184814014831936,0.24099867527694202]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_19","position":[-0.061231864651713375,1.3204197308536423,0.71338606911949],"aabb_xy":[[-0.07098785416088725,1.3106571967944074],[-0.05147587514253947,1.3301822649128763]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_20","position":[-0.5109958447379708,0.6989852390755784,0.71338606911949],"aabb_xy":[[-0.5909958458110911,0.689207192738194],[-0.43099584366485044,0.7087632854129629]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_21","position":[0.5296365521493585,-1.1764377242246875,0.71338606911949],"aabb_xy":[[0.5170338530122821,-1.189033120449553],[0.542239251286435,-1.163842327999822]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_22","position":[-0.6068908084364475,-0.7771168439455618,0.71338606911949],"aabb_xy":[[-0.6406663676271405,-0.7911553391587267],[-0.5731152492457545,-0.7630783487323967]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_23","position":[-0.5610705148441484,-1.028557578320887,0.71338606911949],"aabb_xy":[[-0.5691982030374616,-1.0374711867315947],[-0.5529428266508352,-1.0196439699101791]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_24","position":[0.4087902943290056,-1.5828820606664098,0.71338606911949],"aabb_xy":[[0.37379029435250977,-1.5923466767140266],[0.44379029430550143,-1.5734174446187934]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_25","position":[0.5581577698405842,-1.3464827078625408,0.71338606911949],"aabb_xy":[[0.47815776956697725,-1.4194322556882573],[0.6381577701141912,-1.2735331600368238]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_26","position":[0.37110988661683897,1.456913446376309,0.71338606911949],"aabb_xy":[[0.364696072973654,1.4505036261286406],[0.37752370026002385,1.4633232666239773]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_27","position":[0.37087707425128347,-1.971580940052108,0.71338606911949],"aabb_xy":[[0.3058770760953644,-1.9978771846020202],[0.4358770724072025,-1.9452846955021958]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_28","position":[-0.35262964301638133,0.23726187235964513,0.71338606911949],"aabb_xy":[[-0.363041201696865,0.23191613902374664],[-0.34221808433589757,0.24260760569554357]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_29","position":[0.3390485447762992,-1.0768121325145499,0.71338606911949],"aabb_xy":[[0.3034193888763394,-1.1124447992714028],[0.3746777006762589,-1.041179465757697]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6706629998970103,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8238.png","name":"8238"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8238.png","name":"8238"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/697.png","name":"697"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5871.png","name":"5871"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7387.png","name":"7387"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6160.png","name":"6160"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":786.0918618983427,"rotation_z_degrees":128.7626728735726,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010404707389502069,-0.0011630213746074078,0.01750150803259023]},{"name":"camera_2","offset_m":[0.002542842391841646,-0.01830933317337223,0.007436156840342056]},{"name":"camera_3","offset_m":[0.01430413320840834,-0.00271859087772763,-0.00902498936040916]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0012007753896423692,-0.0019319440926676467,-0.0007218549068032222],"end_effector_yaw_offset_degrees":-0.5517246303026819},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0006612149708188574,0.0006388142142118884,-0.0005362414305290883],"end_effector_yaw_offset_degrees":0.5458274278608835},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00041796080315719395,-0.0007347858418723897,0.0006302840518858633],"end_effector_yaw_offset_degrees":-0.28524252839251174},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001792229482150344,-7.838743127218752e-05,0.0013004489053605583],"end_effector_yaw_offset_degrees":-0.5588303507184655}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004637624153737378,0.0002912216014093142],"position_m":[0.26343762415373734,0.1568912216014093,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004813405143749563,0.0033370804996735405],"position_m":[0.21791340514374957,-0.3247629195003265,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003080123332100444,0.002261125939026656],"position_m":[0.26668012333210045,-0.12883887406097333,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004508795315472638,-0.00010320771730612435],"position_m":[0.3252912046845273,0.3088967922826939,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"47ceabfb57b8613bd726193cfa7c151f3ddf8356cf7f7cb3f59e3fe5a8953ee7","episode_index":67,"episode_name":"episode_0067"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0067.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_8238/tex_ceiling_textures_6160/tex_floor_textures_7387/tex_table_textures_697/tex_wall_textures_5871","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":4096861699602474398,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":4096861699602474398,"visual_seed":4096861699602474398,"scene_id":"lab_003","finished_at":"2026-09-05T22:10:34"} +{"episode_id":"ep_000055","started_at":"2026-09-05T22:14:59","dimensions":{"distractor":{"count":32,"items":[{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_0","position":[-0.4484784978212801,1.7799879106932015,0.71338606911949],"aabb_xy":[[-0.4683695377016204,1.767332099408505],[-0.4285874579409399,1.7926437219778988]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_1","position":[0.5453366409566767,1.4358446976833377,0.71338606911949],"aabb_xy":[[0.5240586328132043,1.3708446953572644],[0.5666146491001488,1.5008447000094105]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_2","position":[-0.5367952826889621,-0.4029378607759493,0.71338606911949],"aabb_xy":[[-0.5717952840404438,-0.42329759673277007],[-0.5017952813374803,-0.3825781248191284]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_3","position":[-0.5177582674073036,-0.5949184239991934,0.71338606911949],"aabb_xy":[[-0.530909513378593,-0.6199184237558799],[-0.5046070214360143,-0.5699184242425068]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_4","position":[-0.3445898201561129,1.1503952208809873,0.71338606911949],"aabb_xy":[[-0.40858981744176154,1.1088885019281434],[-0.28058982287046424,1.1919019398338313]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_5","position":[-0.5999748081450821,1.3132005657467536,0.71338606911949],"aabb_xy":[[-0.6224748086571227,1.290708707381355],[-0.5774748076330415,1.3356924241121517]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_6","position":[-0.18022363193325797,-0.15261805472581313,0.71338606911949],"aabb_xy":[[-0.1896411065031207,-0.1620342318635322],[-0.1708061573633952,-0.14320187758809413]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_7","position":[0.6822842374766687,-2.2137805534338537,0.71338606911949],"aabb_xy":[[0.6774406427154387,-2.218632205912838],[0.6871278322378986,-2.2089289009548696]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_8","position":[-0.26767095661263896,1.536820925452822,0.71338606911949],"aabb_xy":[[-0.33267095449428674,1.4856972617462811],[-0.20267095873099117,1.587944589159363]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_9","position":[0.6677429666046251,-1.1468359610490002,0.71338606911949],"aabb_xy":[[0.6327429682939296,-1.1545509759725459],[0.7027429649153205,-1.1391209461254546]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_10","position":[-0.5077146014674718,-1.5823128766896952,0.71338606911949],"aabb_xy":[[-0.5452146015730647,-1.5891350385426761],[-0.4702146013618788,-1.5754907148367139]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_11","position":[-0.08210948603067891,1.1017331774440495,0.71338606911949],"aabb_xy":[[-0.0999785937851344,1.0879002694668383],[-0.06424037827622342,1.1155660854212603]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_12","position":[-0.30917124263759044,-0.2926291049215246,0.71338606911949],"aabb_xy":[[-0.38916506621614866,-0.3726291075143662],[-0.22917741905903222,-0.21262910232868304]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_13","position":[-0.020416615344820643,-2.1360693743247916,0.71338606911949],"aabb_xy":[[-0.02575419101082521,-2.1610693752539314],[-0.015079039678816075,-2.111069373395652]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_14","position":[0.2998658740695781,0.8828047143445432,0.71338606911949],"aabb_xy":[[0.2298658719381485,0.8600427487188473],[0.3698658762010076,0.9055666799702387]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_15","position":[-0.6357136144509691,-1.348826657227425,0.71338606911949],"aabb_xy":[[-0.6469586700215868,-1.3600684549515203],[-0.6244685588803511,-1.3375848595033297]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_16","position":[0.15247747745406237,-1.497232187682358,0.71338606911949],"aabb_xy":[[0.14616537791772394,-1.502999126935577],[0.1587895769904008,-1.491465248429139]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_17","position":[0.2022023065239712,-2.11623787800763,0.71338606911949],"aabb_xy":[[0.16095349549405644,-2.171237877519847],[0.2434511175538859,-2.061237878495412]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_18","position":[-0.295498026566281,0.8375926421557103,0.71338606911949],"aabb_xy":[[-0.3504935043869403,0.7825926407218033],[-0.24050254874562155,0.8925926435896172]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_19","position":[0.05221363306281901,-0.9922647580136148,0.71338606911949],"aabb_xy":[[-0.011782064332277575,-1.0562647563143233],[0.1162093304579156,-0.928264759712906]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_20","position":[0.04569611743030555,1.802416172582594,0.71338606911949],"aabb_xy":[[0.03246517189562425,1.7891887535605944],[0.058927062964986836,1.8156435916045932]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_21","position":[0.3905311291675009,-0.9431772879931923,0.71338606911949],"aabb_xy":[[0.3265311287899672,-0.9929225548440045],[0.45453112954503444,-0.89343202114238]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_22","position":[0.43626091318895144,0.25070768875923166,0.71338606911949],"aabb_xy":[[0.40511399434536827,0.18070769007242454],[0.4674078320325345,0.3207076874460389]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_23","position":[-0.5670317408771585,-0.07517321889152262,0.71338606911949],"aabb_xy":[[-0.6168485203419932,-0.12517321737582598],[-0.5172149614123237,-0.02517322040721927]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_24","position":[-0.16721115359991312,1.3534658017739138,0.71338606911949],"aabb_xy":[[-0.17897934039457067,1.2684658018686925],[-0.15544296680525563,1.4384658016791356]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_25","position":[0.4904457374772162,-0.4322988653758264,0.71338606911949],"aabb_xy":[[0.4354457392754713,-0.472820832002264],[0.5454457356789609,-0.3917768987493888]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_26","position":[-0.19615514807587803,0.6914261858741098,0.71338606911949],"aabb_xy":[[-0.2041486378711601,0.6834280539336343],[-0.18816165828059606,0.6994243178145855]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_27","position":[-0.3370991404472132,-1.7975245528303176,0.71338606911949],"aabb_xy":[[-0.41709913903453255,-1.8768401547684785],[-0.2570991418598937,-1.7182089508921568]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_28","position":[-0.6069148886627869,-2.4211122866374946,0.71338606911949],"aabb_xy":[[-0.6133287023059718,-2.4275221068851622],[-0.6005010750196019,-2.414702466389826]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_29","position":[0.6477590419831885,0.10903618350149547,0.71338606911949],"aabb_xy":[[0.5837590455558667,0.06186655967939904],[0.7117590384105105,0.1562058073235919]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_30","position":[-0.13799357683840197,0.15678463310744073,0.71338606911949],"aabb_xy":[[-0.15309587829942004,0.14168311147637883],[-0.12289127537738385,0.17188615473850247]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_31","position":[0.4979763340999166,-0.1284757527255027,0.71338606911949],"aabb_xy":[[0.46551463321798914,-0.15860858484040527],[0.530438034981844,-0.09834292061060006]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6750782819543605,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1718.png","name":"1718"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1718.png","name":"1718"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1262.png","name":"1262"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3977.png","name":"3977"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2883.png","name":"2883"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9691.png","name":"9691"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":540.9444075076728,"rotation_z_degrees":147.96046147390933,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018319816012993696,0.014544957153421838,-0.003381550798194983]},{"name":"camera_2","offset_m":[-0.015303771726685799,-0.013584384238646687,-0.005280716553893217]},{"name":"camera_3","offset_m":[-0.0048577302181680975,0.0008743533277721718,-0.018592645947583714]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0007357644433242992,-0.001678752343314952,-0.0010975575913905028],"end_effector_yaw_offset_degrees":0.5996450888695577},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0011769236434651113,0.0009895482092196362,0.0008968866500321435],"end_effector_yaw_offset_degrees":0.5717868863671494},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0003577645624596661,0.0009058324383158303,0.001863570611476266],"end_effector_yaw_offset_degrees":-0.42211378432663604},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00016135150210213256,-0.0016887293599628537,-0.0017937459346980985],"end_effector_yaw_offset_degrees":0.4256437568969911}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.001369860172938127,-0.001664707006847791],"position_m":[0.2601698601729381,0.1549352929931522,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.000167326980620712,0.004026832631151076],"position_m":[0.2129326730193793,-0.32407316736884895,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.001357588144220683,-0.0013992385047626255],"position_m":[0.26495758814422066,-0.1324992385047626,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00018654468005201326,0.0011521853855213883],"position_m":[0.32961345531994796,0.31015218538552136,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b8437df9c3d86391cd24fb0168de1b13f1db0c009dae6b7240f224c3457e19ef","episode_index":69,"episode_name":"episode_0069"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0069.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_1718/tex_ceiling_textures_9691/tex_floor_textures_2883/tex_table_textures_1262/tex_wall_textures_3977","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":2660266863063729187,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":2660266863063729187,"visual_seed":2660266863063729187,"scene_id":"lab_003","finished_at":"2026-09-05T22:18:43"} +{"episode_id":"ep_000056","started_at":"2026-09-05T22:18:47","dimensions":{"distractor":{"count":34,"items":[{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_0","position":[0.6307699043966486,-1.5207003635120595,0.71338606911949],"aabb_xy":[[0.5969943452059556,-1.5347388587252246],[0.6645454635873416,-1.5066618682988944]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_1","position":[0.5950586394117621,-1.9380921404723084,0.71338606911949],"aabb_xy":[[0.586944984738385,-1.9461979569263377],[0.6031722940851392,-1.9299863240182795]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_2","position":[0.30061484476222333,-1.0090083109570775,0.71338606911949],"aabb_xy":[[0.2701305946351932,-1.0590083107385735],[0.3310990948892535,-0.9590083111755816]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_3","position":[0.0002492393473564336,-1.1603378922181928,0.71338606911949],"aabb_xy":[[-0.022250760662791857,-1.1744341118577961],[0.022749239357504725,-1.1462416725785896]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_4","position":[0.43173784544263194,-2.304373731376688,0.71338606911949],"aabb_xy":[[0.3942378450944042,-2.316165126957771],[0.4692378457908597,-2.292582335795604]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_5","position":[-0.20238889270677163,-0.8058187195992152,0.71338606911949],"aabb_xy":[[-0.2398888912823924,-0.8185550152627732],[-0.1648888941311508,-0.7930824239356573]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_6","position":[0.6007224320104907,-0.9715743596901578,0.71338606911949],"aabb_xy":[[0.5808313921301504,-0.9842301709748548],[0.6206134718908309,-0.9589185484054611]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_7","position":[-0.3769751078035903,1.2783659307727389,0.71338606911949],"aabb_xy":[[-0.39213798078052736,1.26320047347762],[-0.36181223482665315,1.2935313880678576]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_8","position":[0.2724579899559827,-2.4427182196230413,0.71338606911949],"aabb_xy":[[0.187457991263908,-2.47470408301792],[0.3574579886480573,-2.4107323562281624]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_9","position":[0.1821044886484997,-2.0859537788732654,0.71338606911949],"aabb_xy":[[0.10210448721837248,-2.1654709338858744],[0.2621044900786269,-2.0064366238606555]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_10","position":[0.011104124940064741,0.7052437808681797,0.71338606911949],"aabb_xy":[[-0.05389587616587854,0.6802784078000516],[0.07610412604600802,0.7302091539363081]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_11","position":[-0.6225197004573317,1.6699206338514787,0.71338606911949],"aabb_xy":[[-0.6875197004916345,1.6232199571711514],[-0.557519700423029,1.716621310531806]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_12","position":[0.12996106328814538,-1.6504264865378726,0.71338606911949],"aabb_xy":[[0.07997682757996816,-1.7004264853513684],[0.1799452989963226,-1.6004264877243772]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_13","position":[-0.27191317253388103,0.4467664413296686,0.71338606911949],"aabb_xy":[[-0.3094131731984597,0.4310793833294464],[-0.2344131718693023,0.46245349932989077]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_14","position":[-0.5052799866252597,-2.049088348880419,0.71338606911949],"aabb_xy":[[-0.5113746145133781,-2.0576577434320877],[-0.4991853587371414,-2.0405189543287503]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_15","position":[-0.4297387195598534,0.43908771747502495,0.71338606911949],"aabb_xy":[[-0.5097387198334604,0.36613816964930823],[-0.34973871928624645,0.5120372653007417]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_16","position":[-0.250275596395157,1.4928364368136733,0.71338606911949],"aabb_xy":[[-0.2912935397815279,1.442836436182716],[-0.20925765300878613,1.5428364374446306]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_17","position":[0.6899729282413376,-1.7192340297732485,0.71338606911949],"aabb_xy":[[0.6790671521537749,-1.7992340261720774],[0.7008787043289003,-1.639234033374419]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_18","position":[-0.6315111793734229,-0.9728891568726525,0.71338606911949],"aabb_xy":[[-0.6443830828743631,-1.0528891572864887],[-0.6186392758724828,-0.8928891564588164]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_19","position":[-0.5011509819998495,-0.01811087026838276,0.71338606911949],"aabb_xy":[[-0.5075647956430344,-0.0245206905160511],[-0.49473716835666454,-0.011701050020714419]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_20","position":[-0.1831097893937519,-0.9907866084515675,0.71338606911949],"aabb_xy":[[-0.1946787701406885,-1.0157866085684994],[-0.17154080864681534,-0.9657866083346359]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_21","position":[-0.4508542140202394,-1.8808900020699486,0.71338606911949],"aabb_xy":[[-0.458136530396903,-1.9708900056794576],[-0.4435718976435757,-1.7908899984604396]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_22","position":[-0.575192453052334,-0.6594473482519452,0.71338606911949],"aabb_xy":[[-0.65519245352255,-0.6677580558662937],[-0.4951924525821181,-0.6511366406375969]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_23","position":[-0.24624577793341673,1.321178555669619,0.71338606911949],"aabb_xy":[[-0.2960625573982515,1.2711785571853154],[-0.19642899846858194,1.371178554153922]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_24","position":[-0.09437653847516403,-0.9474581824545731,0.71338606911949],"aabb_xy":[[-0.10400817469559366,-0.9570954952342821],[-0.08474490225473442,-0.9378208696748642]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_25","position":[-0.11782949130583331,1.2865126470383403,0.71338606911949],"aabb_xy":[[-0.14305032816567298,1.2612888961854531],[-0.09260865444599364,1.3117363978912266]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_26","position":[-0.17214230126309116,0.7288797163454381,0.71338606911949],"aabb_xy":[[-0.18094435657206384,0.7210683901905091],[-0.16334024595411842,0.7366910425003672]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_27","position":[0.5836727138694695,0.26699288304112523,0.71338606911949],"aabb_xy":[[0.5196727136089986,0.2219840836881972],[0.6476727141299402,0.3120016823940532]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_28","position":[-0.3004154275772378,0.6386057538272607,0.71338606911949],"aabb_xy":[[-0.36441542400455973,0.5914361300051643],[-0.23641543114991592,0.6857753776493571]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_29","position":[-0.2333889272508931,-1.234677575189584,0.71338606911949],"aabb_xy":[[-0.2833889282014259,-1.2662267221931054],[-0.1833889263003603,-1.2031284281860626]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_30","position":[-0.3743722754925542,-1.8823825893277872,0.71338606911949],"aabb_xy":[[-0.3912830079288959,-1.8958547949204017],[-0.35746154305621236,-1.8689103837351724]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_31","position":[0.38822609154616616,1.3809567173674329,0.71338606911949],"aabb_xy":[[0.3832700713612851,1.3584567171653112],[0.39318211173104745,1.4034567175695545]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_32","position":[0.3942661100917553,-1.443814071638994,0.71338606911949],"aabb_xy":[[0.3841130945376058,-1.4798836132117341],[0.40441912564590454,-1.4077445300662534]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_33","position":[0.3773688296907196,0.419103925106572,0.71338606911949],"aabb_xy":[[0.3732329733580194,0.3816039256622151],[0.3815046860234198,0.45660392455092913]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6737861193513888,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9296.png","name":"9296"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9296.png","name":"9296"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4089.png","name":"4089"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7611.png","name":"7611"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9498.png","name":"9498"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7607.png","name":"7607"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":553.7421980609533,"rotation_z_degrees":320.58800701331955,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014799826037682439,-0.00715709876416319,0.014314940682437303]},{"name":"camera_2","offset_m":[0.011554923463220238,-0.007589167212478159,-0.019706563561122197]},{"name":"camera_3","offset_m":[-0.006911889597848888,0.015156256907811878,-0.012833047564130597]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.000446454877954916,-0.0014807566842588282,0.0011305199271642082],"end_effector_yaw_offset_degrees":0.26221017305398897},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00013399307078798507,0.0004847758114607274,-0.0015888674637609937],"end_effector_yaw_offset_degrees":-0.4751115283815637},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0015150302122772423,-0.0007851890595242002,-0.0003132649613890753],"end_effector_yaw_offset_degrees":0.13463936081967787},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0007130073131888731,0.0006809748191989205,-0.001094458551191709],"end_effector_yaw_offset_degrees":-0.1465676809006493}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0013942041319561097,-0.0019268279787707687],"position_m":[0.2601942041319561,0.1546731720212292,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.000449582783468596,0.0008533467831934047],"position_m":[0.2126504172165314,-0.32724665321680657,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002807933000618606,0.00281212823202488],"position_m":[0.2664079330006186,-0.12828787176797513,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[5.972188693838254e-06,-0.002046391962987868],"position_m":[0.32980597218869384,0.3069536080370121,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"398f719166fa84bb474ff59791909d72c906b5dac0e853eb17179ecc3c81270f","episode_index":70,"episode_name":"episode_0070"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0070.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_9296/tex_ceiling_textures_7607/tex_floor_textures_9498/tex_table_textures_4089/tex_wall_textures_7611","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":6438797935072481741,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":6438797935072481741,"visual_seed":6438797935072481741,"scene_id":"lab_003","finished_at":"2026-09-05T22:22:30"} +{"episode_id":"ep_000057","started_at":"2026-09-05T22:22:33","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_0","position":[0.6352187070458455,-1.068065794568145,0.71338606911949],"aabb_xy":[[0.5880893280440097,-1.1320657956125468],[0.682348086047681,-1.004065793523743]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_1","position":[0.3808840296091165,1.1034799398825323,0.71338606911949],"aabb_xy":[[0.3309066127438628,1.0534799383932838],[0.43086144647436997,1.153479941371781]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_2","position":[-0.043119974826946184,0.1978023598961891,0.71338606911949],"aabb_xy":[[-0.07903347925193585,0.16188885167943445],[-0.007206470401956495,0.2337158681129437]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_3","position":[0.49305976165793064,1.1291495492929324,0.71338606911949],"aabb_xy":[[0.4811876786464296,1.0441495495992819],[0.5049318446694318,1.2141495489865826]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_4","position":[0.4201333653428112,-2.25886371942377,0.71338606911949],"aabb_xy":[[0.3828020888175686,-2.2935167742186224],[0.4574646418680538,-2.224210664628918]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_5","position":[0.0968255284996209,1.202225639517919,0.71338606911949],"aabb_xy":[[0.03282552627921387,1.1578525553926307],[0.16082553072002792,1.2465987236432072]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_6","position":[0.19144758694831976,-0.6221922700135851,0.71338606911949],"aabb_xy":[[0.1875337137528972,-0.6309412854201419],[0.19536146014374225,-0.6134432546070283]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_7","position":[0.6099517445884164,1.270888023202791,0.71338606911949],"aabb_xy":[[0.5449517445541137,1.2241873465224637],[0.6749517446227191,1.3175886998831183]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_8","position":[0.5444844760486562,-1.7396652590685053,0.71338606911949],"aabb_xy":[[0.536356787855343,-1.748578867479213],[0.5526121642419695,-1.7307516506577976]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_9","position":[-0.26832888384163717,-0.19754151944658727,0.71338606911949],"aabb_xy":[[-0.29079365381304223,-0.22004152032544777],[-0.245864113870232,-0.17504151856772676]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_10","position":[0.51555411129219,-0.8650731019724094,0.71338606911949],"aabb_xy":[[0.47055410982596124,-0.9100729588338903],[0.5605541127584189,-0.8200732451109289]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_11","position":[-0.6078917757070889,1.3740290398169663,0.71338606911949],"aabb_xy":[[-0.6578848878162809,1.3240290391427707],[-0.5578986635978971,1.424029040491162]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_12","position":[0.4940472899541579,1.6747394759089356,0.71338606911949],"aabb_xy":[[0.4831956837052823,1.6638801851812846],[0.5048988962030335,1.6855987666365866]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_13","position":[0.2860301014437314,-1.6650276993425692,0.71338606911949],"aabb_xy":[[0.25738076908331514,-1.693673258619645],[0.3146794338041476,-1.6363821400654934]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_14","position":[0.1835912339561555,1.101147015192614,0.71338606911949],"aabb_xy":[[0.16370019407581526,1.0884912039079173],[0.20348227383649578,1.113802826477311]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_15","position":[0.651110801123634,-0.140869976862958,0.71338606911949],"aabb_xy":[[0.6011108015472992,-0.19085055581506397],[0.7011108006999687,-0.09088939791085207]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_16","position":[0.062309622463114334,-1.8357120437726313,0.71338606911949],"aabb_xy":[[-0.0016903779144192832,-1.8854573106234433],[0.12630962284064795,-1.7859667769218188]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_17","position":[-0.2644812300828121,-2.487740609515069,0.71338606911949],"aabb_xy":[[-0.34948122877488674,-2.519726472909948],[-0.17948123139073746,-2.4557547461201903]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_18","position":[0.6061646609478282,-0.40738490912577197,0.71338606911949],"aabb_xy":[[0.5161646644469563,-0.4532965515442302],[0.6961646574486998,-0.3614732667073137]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_19","position":[-0.31567922139270654,0.1419966792844849,0.71338606911949],"aabb_xy":[[-0.3191198976327637,0.13813524631012042],[-0.31223854515264937,0.14585811225884937]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_20","position":[0.3463650756978456,-0.7995170218334842,0.71338606911949],"aabb_xy":[[0.337205196753969,-0.8060482398770211],[0.3555249546417222,-0.792985803789947]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_21","position":[-0.16650593681114434,1.3371738345379196,0.71338606911949],"aabb_xy":[[-0.1797368823458256,1.32394641551592],[-0.15327499127646302,1.3504012535599188]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6769197280336962,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/51.png","name":"51"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/51.png","name":"51"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4174.png","name":"4174"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7460.png","name":"7460"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3000.png","name":"3000"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2888.png","name":"2888"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":654.9703632080423,"rotation_z_degrees":135.86600692359877,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013529730333988303,0.013437137591715168,-0.010412392454358503]},{"name":"camera_2","offset_m":[-0.0011854323116303918,0.0018204623192093101,0.014201121524058617]},{"name":"camera_3","offset_m":[-0.016259433582950837,0.01224350162482413,-0.009827941211607657]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0018810265412189753,-0.0008371484280025778,0.0007891714032187726],"end_effector_yaw_offset_degrees":0.9047284506071895},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0016994979802795913,0.0014695769587221683,-0.0008049635190642199],"end_effector_yaw_offset_degrees":0.12333436449545387},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0008115798325287185,-7.093737873326727e-05,0.000784208405762802],"end_effector_yaw_offset_degrees":0.7991558390845328},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00021761210203381873,0.00036422422189347214,0.0009018857772581262],"end_effector_yaw_offset_degrees":-0.503908894537753}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0005470592837264702,-0.0018906945635815508],"position_m":[0.2593470592837264,0.15470930543641845,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0046044790612734645,-0.0038214444823591685],"position_m":[0.21770447906127346,-0.33192144448235916,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003615330905431985,0.0036256107500787166],"position_m":[0.259984669094568,-0.12747438924992127,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0027794167952275147,-0.000587367758736258],"position_m":[0.3325794167952275,0.30841263224126375,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c00aed7cb7d9a8272f2acadac98069a2b4c997a9855cfd1cff3059624afc53e2","episode_index":71,"episode_name":"episode_0071"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0071.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_51/tex_ceiling_textures_2888/tex_floor_textures_3000/tex_table_textures_4174/tex_wall_textures_7460","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":3973678483828606298,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":3973678483828606298,"visual_seed":3973678483828606298,"scene_id":"lab_003","finished_at":"2026-09-05T22:26:19"} +{"episode_id":"ep_000058","started_at":"2026-09-05T22:26:22","dimensions":{"distractor":{"count":29,"items":[{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_0","position":[0.22594282544066324,1.5066291932087483,0.71338606911949],"aabb_xy":[[0.20344282562676083,1.5021545768382676],[0.2484428252545656,1.511103809579229]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_1","position":[-0.279418170559544,0.7723750931647606,0.71338606911949],"aabb_xy":[[-0.3293008674372402,0.7223750939184859],[-0.2295354736818478,0.8223750924110355]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_2","position":[0.2767493815373929,-1.830278567693743,0.71338606911949],"aabb_xy":[[0.22674938051825766,-1.8667447834315714],[0.3267493825565282,-1.7938123519559155]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_3","position":[-0.09148684294275256,1.3352005286759163,0.71338606911949],"aabb_xy":[[-0.12648684213557082,1.3242334826782536],[-0.056486843749934276,1.3461675746735786]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_4","position":[-0.34903991077167607,1.7465075690175857,0.71338606911949],"aabb_xy":[[-0.41303990719899797,1.6993379451954895],[-0.28503991434435416,1.7936771928396824]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_5","position":[0.4819873264952217,0.2199526723204115,0.71338606911949],"aabb_xy":[[0.44854715129920203,0.1865090464894814],[0.5154275016912412,0.25339629815134157]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_6","position":[-0.6746341905061939,0.21662041137843824,0.71338606911949],"aabb_xy":[[-0.680092136143214,0.13662040807077916],[-0.6691762448691738,0.29662041468609734]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_7","position":[0.44649502859257617,-2.507255825277641,0.71338606911949],"aabb_xy":[[0.42891672640362927,-2.524830314851746],[0.46407333078152296,-2.489681335703536]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_8","position":[-0.04700437743830799,-1.7106129957465215,0.71338606911949],"aabb_xy":[[-0.07200437699004647,-1.7207554796116562],[-0.022004377886569504,-1.7004705118813868]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_9","position":[-0.5915767682250491,0.7458671797832115,0.71338606911949],"aabb_xy":[[-0.609076767503136,0.7285290797168656],[-0.5740767689469622,0.7632052798495575]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_10","position":[-0.4551639793524663,1.5884466749177784,0.71338606911949],"aabb_xy":[[-0.4728396099410645,1.5707664586383756],[-0.43748834876386783,1.606126891197181]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_11","position":[0.03733890431591225,-1.2718012681044972,0.71338606911949],"aabb_xy":[[0.03290827496107208,-1.27724963983918],[0.04176953367075243,-1.266352896369815]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_12","position":[0.49562407754771143,-0.8356270743970828,0.71338606911949],"aabb_xy":[[0.4256240749111251,-0.8557319393929483],[0.5656240801842978,-0.8155222094012173]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_13","position":[0.36393855936522646,-2.0393032530709707,0.71338606911949],"aabb_xy":[[0.35452108479536365,-2.0487194302086893],[0.37335603393508915,-2.0298870759332512]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_14","position":[-0.36641522145193806,-1.1678344385086534,0.71338606911949],"aabb_xy":[[-0.3942602582325452,-1.198618937246965],[-0.33857018467133093,-1.1370499397703417]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_15","position":[0.5145373910393567,-0.9855950073692683,0.71338606911949],"aabb_xy":[[0.43453739407631753,-1.0626706490130418],[0.5945373880023959,-0.9085193657254947]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_16","position":[-0.2508925228310108,1.2367514136020756,0.71338606911949],"aabb_xy":[[-0.3003729440449696,1.1727514156892238],[-0.20141210161705203,1.3007514115149275]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_17","position":[-0.5169884649992533,-1.0489428487088188,0.71338606911949],"aabb_xy":[[-0.5277614389206211,-1.0839428469278578],[-0.5062154910778855,-1.0139428504897798]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_18","position":[-0.5258403945499307,0.09145377050901393,0.71338606911949],"aabb_xy":[[-0.5809656001795214,0.03145376906772678],[-0.47071518892033987,0.15145377195030105]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_19","position":[0.6721626403567647,-1.592756806109918,0.71338606911949],"aabb_xy":[[0.6496626403466164,-1.606853025749521],[0.6946626403669129,-1.5786605864703145]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_20","position":[0.5862970220646002,-0.3796036175737125,0.71338606911949],"aabb_xy":[[0.5680911984033526,-0.3906290181557042],[0.604502845725848,-0.36857821699172094]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_21","position":[-0.5866237510990393,-2.4340896608487816,0.71338606911949],"aabb_xy":[[-0.6170218621981828,-2.4644965628504507],[-0.5562256399998956,-2.4036827588471117]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_22","position":[0.13485865324491486,-1.1272190570825094,0.71338606911949],"aabb_xy":[[0.11731195832879593,-1.1647190586467606],[0.1524053481610338,-1.089719055518258]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_23","position":[-0.6016549346743156,1.3382821659751678,0.71338606911949],"aabb_xy":[[-0.6566549328760605,1.2977601993487302],[-0.5466549364725708,1.3788041326016054]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_24","position":[0.19171445126898,-1.7231761715964615,0.71338606911949],"aabb_xy":[[0.16720082717197415,-1.747440764898498],[0.21622807536598587,-1.698911578294425]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_25","position":[-0.4222508654683091,-0.516981121356614,0.71338606911949],"aabb_xy":[[-0.42715015777487253,-0.5446580406591827],[-0.41735157316174554,-0.4893042020540451]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_26","position":[-0.5087734180935586,-1.3581910635028367,0.71338606911949],"aabb_xy":[[-0.5737734190506857,-1.4101392754365423],[-0.4437734171364313,-1.3062428515691311]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_27","position":[0.6175089255551853,0.9293217744192463,0.71338606911949],"aabb_xy":[[0.5535089282695367,0.8878150554664025],[0.681508922840834,0.9708284933720904]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_28","position":[-0.6197153054448329,-2.0064464200810397,0.71338606911949],"aabb_xy":[[-0.6572153055504257,-2.013268581934021],[-0.5822153053392398,-1.9996242582280588]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6754021123854036,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6890.png","name":"6890"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6890.png","name":"6890"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2403.png","name":"2403"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1909.png","name":"1909"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7629.png","name":"7629"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7140.png","name":"7140"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":566.4561956679478,"rotation_z_degrees":25.912119564280445,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014334806029576094,-0.019540715418632844,-0.00020203599874956193]},{"name":"camera_2","offset_m":[0.01958127629294332,0.0030027070319983695,-0.0030147653381534835]},{"name":"camera_3","offset_m":[-0.0002511401933300572,0.018046329945761896,-0.008104423508682568]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00018143870615701168,-0.0010271111004055747,-0.0018549810027931892],"end_effector_yaw_offset_degrees":0.8105245741561653},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0013987599846639821,0.001981718073479878,0.0019191011849902066],"end_effector_yaw_offset_degrees":-0.33614911250942203},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0005605337268713955,0.0007144975104536803,0.0004519599976737245],"end_effector_yaw_offset_degrees":0.2299069503054354},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00034615529939934766,-0.0018196596410892684,-0.0019657121047101252],"end_effector_yaw_offset_degrees":0.2993220151253084}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0014650654890383343,-0.0031787560614713662],"position_m":[0.2573349345109616,0.15342124393852863,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0007381254977826893,0.0013449163635658535],"position_m":[0.2138381254977827,-0.32675508363643413,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0006135779513923925,-2.5221517329880073e-05],"position_m":[0.2629864220486076,-0.1311252215173299,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0009615542057516734,-0.00036825258568977046],"position_m":[0.33076155420575165,0.3086317474143102,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0717d05181129d1d5a44fae8f61f9b540c65d1f72f55c78d3fc40b5fd8899a74","episode_index":72,"episode_name":"episode_0072"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0072.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_6890/tex_ceiling_textures_7140/tex_floor_textures_7629/tex_table_textures_2403/tex_wall_textures_1909","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":2394405269564975193,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":2394405269564975193,"visual_seed":2394405269564975193,"scene_id":"lab_003","finished_at":"2026-09-05T22:30:00"} +{"episode_id":"ep_000059","started_at":"2026-09-05T22:30:03","dimensions":{"distractor":{"count":32,"items":[{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_0","position":[-0.5191016889861706,-0.41541830873412566,0.71338606911949],"aabb_xy":[[-0.6091016857217808,-0.4686017720514201],[-0.4291016922505604,-0.3622348454168311]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_1","position":[0.2684970441279111,-1.3860555554372043,0.71338606911949],"aabb_xy":[[0.2134970445061653,-1.4410392482246772],[0.323497043749657,-1.3310718626497318]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_2","position":[0.34742953250031205,-1.8400739656194143,0.71338606911949],"aabb_xy":[[0.26742953222670507,-1.913023513445131],[0.42742953277391904,-1.7671244177936976]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_3","position":[-0.03769010831913677,-2.3738435179671393,0.71338606911949],"aabb_xy":[[-0.07113028351515636,-2.4072871437980696],[-0.004249933123117166,-2.340399892136209]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_4","position":[-0.6392786731121483,-0.90077489981231,0.71338606911949],"aabb_xy":[[-0.6727578403731893,-0.9342540131834169],[-0.6057995058511074,-0.867295786441203]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_5","position":[-0.6693738051947076,-1.7881774968423692,0.71338606911949],"aabb_xy":[[-0.6918702266285717,-1.8106774966491166],[-0.6468773837608435,-1.7656774970356217]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_6","position":[-0.46173123690479023,0.6540720127530704,0.71338606911949],"aabb_xy":[[-0.47606566203095374,0.6420117971985314],[-0.44739681177862684,0.6661322283076091]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_7","position":[-0.39691514421016594,1.0966720845753808,0.71338606911949],"aabb_xy":[[-0.4041763917805733,1.0838850743118713],[-0.38965389663975847,1.1094590948388903]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_8","position":[0.4710066330919829,0.2712798333965738,0.71338606911949],"aabb_xy":[[0.43600663174050114,0.25092009743975296],[0.5060066344434646,0.29163956935339463]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_9","position":[-0.11030339935477762,-2.243518304331168,0.71338606911949],"aabb_xy":[[-0.1278033984891448,-2.2533979313687555],[-0.09280340022041045,-2.23363867729358]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_10","position":[-0.275316944681133,-0.620922820803131,0.71338606911949],"aabb_xy":[[-0.34531694731771934,-0.6410276857989965],[-0.20531694204454665,-0.6008179558072655]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_11","position":[-0.08163583186494738,-1.2822438376610195,0.71338606911949],"aabb_xy":[[-0.08709377750196745,-1.3622438409686786],[-0.07617788622792732,-1.2022438343533604]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_12","position":[-0.6531554862664694,-0.18235316685663516,0.71338606911949],"aabb_xy":[[-0.659467585802808,-0.188120106109854],[-0.646843386730131,-0.17658622760341633]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_13","position":[-0.47441825412000616,-1.2962167291249649,0.71338606911949],"aabb_xy":[[-0.49205108971353373,-1.3138396751405876],[-0.4567854185264786,-1.2785937831093417]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_14","position":[0.5601138494966145,1.2418036025698447,0.71338606911949],"aabb_xy":[[0.5521905692578661,1.2193036023318413],[0.5680371297353628,1.264303602807848]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_15","position":[-0.3735938932455811,0.9360503854731674,0.71338606911949],"aabb_xy":[[-0.38172158143889434,0.9271367770624598],[-0.3654662050522679,0.9449639938838751]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_16","position":[-0.36520618927592635,1.4725854779533756,0.71338606911949],"aabb_xy":[[-0.38221628656597695,1.4564509894551017],[-0.34819609198587564,1.4887199664516495]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_17","position":[0.11089788124208055,1.5761213746415472,0.71338606911949],"aabb_xy":[[0.10439624473407597,1.5663535526152375],[0.1173995177500852,1.585889196667857]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_18","position":[-0.0016407150740648246,-1.0905189444456902,0.71338606911949],"aabb_xy":[[-0.051640714650399544,-1.1404995233977964],[0.048359284502269895,-1.0405383654935845]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_19","position":[-0.5412111804706503,1.1790758404938444,0.71338606911949],"aabb_xy":[[-0.5662111796362834,1.1721235947884878],[-0.5162111813050172,1.186028086199201]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_20","position":[-0.5802349873985645,-0.7565498377020707,0.71338606911949],"aabb_xy":[[-0.6442349881020338,-0.802568220174992],[-0.5162349866950952,-0.7105314552291498]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_21","position":[0.4745039828712192,0.7025613920966398,0.71338606911949],"aabb_xy":[[0.46680079219714204,0.6948520213979018],[0.48220717354529613,0.7102707627953778]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_22","position":[0.450986024972736,1.0928114444647052,0.71338606911949],"aabb_xy":[[0.4185243240908084,1.0626786123498022],[0.48344772585466333,1.1229442765796074]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_23","position":[-0.6036772682175128,1.039256216111737,0.71338606911949],"aabb_xy":[[-0.6936772679406868,1.0161828635765568],[-0.5136772684943385,1.0623295686469165]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_24","position":[-0.2235813749388662,1.2339974759876,0.71338606911949],"aabb_xy":[[-0.22853739512374746,1.2114974757854786],[-0.21862535475398506,1.2564974761897219]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_25","position":[-0.5843273276749571,0.004256856485088001,0.71338606911949],"aabb_xy":[[-0.6341441071397919,-0.045743141999215364],[-0.5345105482101223,0.054256854969391366]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_26","position":[0.464408059201586,0.03156039362256058,0.71338606911949],"aabb_xy":[[0.42690806062596515,0.018824097959002643],[0.5019080577772067,0.04429668928611852]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_27","position":[-0.25261205810062487,0.5844015076626201,0.71338606911949],"aabb_xy":[[-0.3326120613584678,0.5044049998706361],[-0.17261205484278191,0.6643980154546041]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_28","position":[0.44953229550052254,-0.6287305732288606,0.71338606911949],"aabb_xy":[[0.43776410870586513,-0.7137305731340822],[0.46130048229518017,-0.543730573323639]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_29","position":[-0.17492469190799875,-0.8105366943639245,0.71338606911949],"aabb_xy":[[-0.23492469355092063,-0.8625368436558687],[-0.11492469026507693,-0.7585365450719803]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_30","position":[-0.1829005952763364,1.484342892954761,0.71338606911949],"aabb_xy":[[-0.1877441900375664,1.479491240475777],[-0.17805700051510645,1.4891945454337452]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_31","position":[0.14298582123899573,0.8534270522386871,0.71338606911949],"aabb_xy":[[0.07898581889619415,0.8084862009945545],[0.20698582358179726,0.8983679034828195]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6773695911713429,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/559.png","name":"559"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/559.png","name":"559"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1741.png","name":"1741"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4371.png","name":"4371"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4095.png","name":"4095"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4752.png","name":"4752"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":647.0923132912355,"rotation_z_degrees":120.34561349099876,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010562450341610283,0.015489642964581479,0.015977350082549514]},{"name":"camera_2","offset_m":[0.01653690710431664,0.01486837828585012,0.011152865079804307]},{"name":"camera_3","offset_m":[-0.010667475595127906,0.011181041333138065,-0.01882579926646569]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0014919893544635314,-0.00048033540484635926,-0.001148673738395507],"end_effector_yaw_offset_degrees":0.673439939359979},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0011546943970284782,0.0018562020103108363,0.0005474598169316158],"end_effector_yaw_offset_degrees":0.7923856662762476},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0017728935279274838,0.00029928101119661545,-0.0016361640653959225],"end_effector_yaw_offset_degrees":-0.30954054284806154},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0011629751991558495,0.00026380425648596037,-0.00014222749228368146],"end_effector_yaw_offset_degrees":-0.7725659165206007}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.00034141178884233934,0.0010214634344204313],"position_m":[0.25845858821115764,0.15762146343442043,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004333966546371165,0.0013631413178139783],"position_m":[0.20876603345362885,-0.32673685868218605,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.00363437520130372,-0.0008493268217601999],"position_m":[0.2672343752013037,-0.1319493268217602,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0032048201497976428,-0.00043114709896158523],"position_m":[0.3330048201497976,0.3085688529010384,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0bf7024045f14db5be822de63709e08a626662806e048c29140b6917bce2fafd","episode_index":73,"episode_name":"episode_0073"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0073.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_559/tex_ceiling_textures_4752/tex_floor_textures_4095/tex_table_textures_1741/tex_wall_textures_4371","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":1604261847433924061,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":1604261847433924061,"visual_seed":1604261847433924061,"scene_id":"lab_003","finished_at":"2026-09-05T22:33:41"} +{"episode_id":"ep_000060","started_at":"2026-09-05T22:33:44","dimensions":{"distractor":{"count":29,"items":[{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_0","position":[0.01789726033772332,-1.4397549357180794,0.71338606911949],"aabb_xy":[[-0.06210273764306173,-1.4473564766799312],[0.09789725831850836,-1.4321533947562273]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_1","position":[-0.32525831672509725,-2.1118048174713584,0.71338606911949],"aabb_xy":[[-0.3370265035197548,-2.1968048173765804],[-0.3134901299304398,-2.0268048175661373]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_2","position":[0.39893088105457286,-0.4535554484048463,0.71338606911949],"aabb_xy":[[0.3439376697174361,-0.5085554487436399],[0.45392409239170967,-0.39855544806605275]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_3","position":[0.6333416094901829,-0.9035984049527723,0.71338606911949],"aabb_xy":[[0.5693416109036104,-0.950605368352281],[0.6973416080767553,-0.8565914415532636]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_4","position":[-0.16331810940309932,-1.9003939805049548,0.71338606911949],"aabb_xy":[[-0.2060848162825195,-1.9643939839267572],[-0.12055140252367913,-1.8363939770831523]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_5","position":[0.43041565873928334,-1.9287003702294543,0.71338606911949],"aabb_xy":[[0.3664156565188763,-1.9730734543547428],[0.49441566095969036,-1.8843272861041662]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_6","position":[-0.360504256357999,-0.31599371954110156,0.71338606911949],"aabb_xy":[[-0.4105042580194937,-0.3659921617968042],[-0.31050425469650417,-0.2659952772853988]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_7","position":[-0.6213784668785588,-1.1873018559291906,0.71338606911949],"aabb_xy":[[-0.6588784671707335,-1.191343331329794],[-0.5838784665863839,-1.183260380528587]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_8","position":[-0.02962876291048211,1.6468875939351002,0.71338606911949],"aabb_xy":[[-0.05212876272438449,1.6424129775646195],[-0.007128763096579727,1.651362210305581]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_9","position":[-0.639351166241247,-2.1447859984136066,0.71338606911949],"aabb_xy":[[-0.6480651352911813,-2.167285999072794],[-0.6306371971913123,-2.1222859977544175]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_10","position":[-0.45197218302320463,-0.5547444351946456,0.71338606911949],"aabb_xy":[[-0.48947218337143233,-0.566535830775729],[-0.4144721826749768,-0.5429530396135619]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_11","position":[-0.1015328852529801,-0.24891896177864892,0.71338606911949],"aabb_xy":[[-0.1240293066868442,-0.27141896158539636],[-0.079036463819116,-0.22641896197190145]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_12","position":[-0.5670485868144824,1.6357679286775535,0.71338606911949],"aabb_xy":[[-0.6570485854089524,1.6195173423641327],[-0.4770485882200125,1.6520185149909747]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_13","position":[0.540789834034715,-1.864031033758816,0.71338606911949],"aabb_xy":[[0.5359462392734852,-1.8688826862378],[0.5456334287959451,-1.8591793812798318]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_14","position":[0.38095907465524337,-1.576382102961113,0.71338606911949],"aabb_xy":[[0.35099151774541765,-1.6063821032589987],[0.410926631565069,-1.5463821026632272]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_15","position":[0.02181830982193489,0.8101253856325767,0.71338606911949],"aabb_xy":[[-0.028159107043318695,0.7601253841433283],[0.07179572668718846,0.8601253871218254]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_16","position":[-0.3902883676673866,-1.7227156315814505,0.71338606911949],"aabb_xy":[[-0.45428406506248314,-1.786715629882159],[-0.32629267027229,-1.6587156332807416]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_17","position":[0.6579619107207613,1.324886953985656,0.71338606911949],"aabb_xy":[[0.6460291763589332,1.3125048011777969],[0.6698946450825893,1.3372691067935156]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_18","position":[0.2521793516308203,0.45865390557619046,0.71338606911949],"aabb_xy":[[0.24132774538194468,0.4477946148485395],[0.2630309578796959,0.46951319630384153]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_19","position":[0.20384851466210863,-2.146900565984171,0.71338606911949],"aabb_xy":[[0.16283057127573777,-2.1969005666151284],[0.24486645804847954,-2.096900565353214]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_20","position":[0.06941353507322257,-2.2941376111772795,0.71338606911949],"aabb_xy":[[-0.0005864683183394169,-2.3294533848807104],[0.13941353846478452,-2.2588218374738487]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_21","position":[-0.46540231254068654,0.19742491534612983,0.71338606911949],"aabb_xy":[[-0.5029023140563182,0.18619814232998474],[-0.4279023110250548,0.20865168836227485]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_22","position":[0.4510683427780615,0.925547280419079,0.71338606911949],"aabb_xy":[[0.4210766800441912,0.8955472810822783],[0.48106000551193184,0.9555472797558794]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_23","position":[0.5906651865972461,0.7716993854304559,0.71338606911949],"aabb_xy":[[0.5531651864916531,0.7648772235774747],[0.628165186702839,0.7785215472834369]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_24","position":[-0.49366651759896,1.5052670432737583,0.71338606911949],"aabb_xy":[[-0.5436494677864393,1.4552670436311976],[-0.44368356741148063,1.5552670429163185]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_25","position":[0.05847239949562166,-1.0835602400451152,0.71338606911949],"aabb_xy":[[-0.0015276011003945156,-1.138372712590339],[0.11847240009163784,-1.028747767499892]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_26","position":[0.5229180644611531,-0.7824761348106066,0.71338606911949],"aabb_xy":[[0.5149240758834497,-0.7904762149056969],[0.5309120530388565,-0.7744760547155162]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_27","position":[0.6684193693774427,1.7503275288752573,0.71338606911949],"aabb_xy":[[0.6184245364495011,1.7003275299800138],[0.7184142023053843,1.8003275277705009]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_28","position":[0.5399186545355028,-2.146745512215675,0.71338606911949],"aabb_xy":[[0.5334170180274983,-2.1565133342419847],[0.5464202910435075,-2.136977690189365]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6753523432489008,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8220.png","name":"8220"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8220.png","name":"8220"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9127.png","name":"9127"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8442.png","name":"8442"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9341.png","name":"9341"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7730.png","name":"7730"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":745.9708088414268,"rotation_z_degrees":247.15556108213838,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006251067195321624,-0.006698046256822417,0.009017995223872609]},{"name":"camera_2","offset_m":[0.0062625177266873375,0.012091434064875745,-0.010957670426722022]},{"name":"camera_3","offset_m":[0.0008639217549670161,0.008787286648495388,-0.006768686135546495]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0009599437960979423,0.0017482483600725443,-0.0014565597852882238],"end_effector_yaw_offset_degrees":-0.003609359116117261},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0015164959172735502,-0.0019466084953703006,-0.0016638994131219472],"end_effector_yaw_offset_degrees":-0.3637870004343575},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001421864119084939,-0.00011572015796295796,-0.0009818774010190109],"end_effector_yaw_offset_degrees":-0.9892665695617973},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0012105996987189865,0.00025302010568451893,-0.001264839769105353],"end_effector_yaw_offset_degrees":-0.31704681522497724}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004873998392118751,-0.0022917488997374826],"position_m":[0.2539260016078812,0.1543082511002625,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0028018072086622757,-0.0034110161710637433],"position_m":[0.21029819279133774,-0.33151101617106377,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0014194706849596384,-0.0003459474453080336],"position_m":[0.2621805293150404,-0.13144594744530802,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0005646454961832957,0.002476748066802489],"position_m":[0.3292353545038167,0.3114767480668025,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"018f5e5a7935c37247056375a3ed8160b0b4df0f3941988fd0bdf9e836261c41","episode_index":74,"episode_name":"episode_0074"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0074.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_8220/tex_ceiling_textures_7730/tex_floor_textures_9341/tex_table_textures_9127/tex_wall_textures_8442","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":558196661834639960,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":558196661834639960,"visual_seed":558196661834639960,"scene_id":"lab_003","finished_at":"2026-09-05T22:37:24"} +{"episode_id":"ep_000061","started_at":"2026-09-05T22:37:27","dimensions":{"distractor":{"count":33,"items":[{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_0","position":[0.2705652654434061,1.7453722484993306,0.71338606911949],"aabb_xy":[[0.2370860981823652,1.7118931351282236],[0.3040444327044471,1.7788513618704376]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_1","position":[-0.22393751706782256,-0.6343527894969734,0.71338606911949],"aabb_xy":[[-0.28793751911755455,-0.6744472725862813],[-0.15993751501809056,-0.5942583064076654]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_2","position":[-0.08312605085646685,-2.455000118480736,0.71338606911949],"aabb_xy":[[-0.14712605123400047,-2.5047453853315482],[-0.019126050478933218,-2.4052548516299237]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_3","position":[-0.1419050969289456,1.2238788251834536,0.71338606911949],"aabb_xy":[[-0.1527455751554605,1.2066925438928047],[-0.1310646187024307,1.241065106474102]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_4","position":[-0.24132920357919724,-1.4431168774568233,0.71338606911949],"aabb_xy":[[-0.25326193794102536,-1.4554990302646824],[-0.2293964692173692,-1.4307347246489637]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_5","position":[0.5409442731434682,-1.7077010525352867,0.71338606911949],"aabb_xy":[[0.4509442745489983,-1.723951638848708],[0.6309442717379382,-1.691450466221866]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_6","position":[0.3267444413780387,-0.8936452290525703,0.71338606911949],"aabb_xy":[[0.2627444380883306,-0.9369801480564879],[0.3907444446677468,-0.8503103100486527]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_7","position":[0.3440279084265163,-1.5066234498318103,0.71338606911949],"aabb_xy":[[0.2640279097696303,-1.5211283087560732],[0.4240279070834023,-1.4921185909075474]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_8","position":[-0.601066079015862,-1.1834698094981793,0.71338606911949],"aabb_xy":[[-0.642084022402233,-1.2334698101291366],[-0.5600481356294912,-1.133469808867222]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_9","position":[0.6794204275594207,0.8218226514416593,0.71338606911949],"aabb_xy":[[0.6591361248360217,0.8015400262989504],[0.6997047302828192,0.8421052765843681]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_10","position":[-0.024527227292969744,1.3314065029236017,0.71338606911949],"aabb_xy":[[-0.04202722642733691,1.3215268758860137],[-0.007027228158602571,1.3412861299611893]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_11","position":[0.6580603589571923,-1.0671666841913148,0.71338606911949],"aabb_xy":[[0.6543570976280533,-1.0708687025000325],[0.6617636202863311,-1.0634646658825966]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_12","position":[0.19917920032814485,-0.7827605409979503,0.71338606911949],"aabb_xy":[[0.11917919925502454,-0.7925385873353348],[0.2791792014012652,-0.7729824946605659]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_13","position":[0.34702036247242063,0.5714002835770362,0.71338606911949],"aabb_xy":[[0.3314645930621554,0.5558498503326291],[0.36257613188268595,0.5869507168214435]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_14","position":[0.5309855630004221,1.209936526444023,0.71338606911949],"aabb_xy":[[0.4659855619999216,1.159150161289348],[0.5959855640009226,1.2607228915986979]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_15","position":[-0.44946267825994557,-1.3634868635541082,0.71338606911949],"aabb_xy":[[-0.5294626768472649,-1.442802465492269],[-0.3694626796726261,-1.2841712616159473]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_16","position":[-0.385481442703083,1.2062662129524147,0.71338606911949],"aabb_xy":[[-0.42298144112648334,1.1931019989845837],[-0.34798144427968264,1.2194304269202452]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_17","position":[-0.6520714552079087,0.6328034249956045,0.71338606911949],"aabb_xy":[[-0.6629772312954714,0.5528034285967753],[-0.6411656791203459,0.7128034213944336]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_18","position":[0.5605985993962459,-0.587706496273952,0.71338606911949],"aabb_xy":[[0.47687637389616333,-0.6777064998086478],[0.6443208248963282,-0.49770649273925593]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_19","position":[0.0883257988092796,-0.654986969703411,0.71338606911949],"aabb_xy":[[0.028325797948466788,-0.7064133997098971],[0.14832579967009238,-0.6035605396969244]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_20","position":[0.51416806905799,0.6389942884433033,0.71338606911949],"aabb_xy":[[0.4773734359330837,0.6020884133467209],[0.5509627021828962,0.6759001635398855]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_21","position":[0.2221257413354849,1.2658576570242377,0.71338606911949],"aabb_xy":[[0.20521500889914313,1.2523854514316228],[0.23903647377182669,1.279329862616852]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_22","position":[0.20673198879343468,-2.3574265944912587,0.71338606911949],"aabb_xy":[[0.1516067831638439,-2.417426595932546],[0.26185719442302546,-2.2974265930499715]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_23","position":[0.38617755309758994,1.5027516030558359,0.71338606911949],"aabb_xy":[[0.36367755285407455,1.490546968396064],[0.40867755334110534,1.5149562377156078]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_24","position":[-0.06493895662341975,0.30938479008153186,0.71338606911949],"aabb_xy":[[-0.11021757150456901,0.24538479073334818],[-0.019660341742270493,0.37338478942971554]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_25","position":[-0.09640512004389679,0.8212309698897742,0.71338606911949],"aabb_xy":[[-0.14638807023137607,0.7712309702472138],[-0.04642216985641743,0.8712309695323346]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_26","position":[-0.06938304337349976,1.5153858777769043,0.71338606911949],"aabb_xy":[[-0.08696134556244661,1.4978113882027992],[-0.051804741184552916,1.5329603673510093]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_27","position":[0.3580520969560219,1.0113931825024904,0.71338606911949],"aabb_xy":[[0.2940521005604488,0.9474298940837567],[0.42205209335159494,1.0753564709212238]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_28","position":[0.18242801367507555,-1.3914930683294773,0.71338606911949],"aabb_xy":[[0.1481117365004576,-1.441493068302655],[0.2167442908496935,-1.3414930683562996]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_29","position":[0.2711161211667371,-1.1456086836359531,0.71338606911949],"aabb_xy":[[0.22111612080617102,-1.1955886708455559],[0.3211161215273031,-1.09562869642635]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_30","position":[0.42453996312839726,0.5776524777656515,0.71338606911949],"aabb_xy":[[0.4181261494852122,0.5712426575179831],[0.4309537767715821,0.5840622980133198]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_31","position":[-0.5215251457817771,-0.6691419231261706,0.71338606911949],"aabb_xy":[[-0.601525143762562,-0.6767434640880226],[-0.441525147800992,-0.6615403821643187]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_32","position":[0.6595603270638923,-2.421397049041069,0.71338606911949],"aabb_xy":[[0.6145677403454419,-2.4663970483155175],[0.7045529137823427,-2.37639704976662]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6717710997293528,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4594.png","name":"4594"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4594.png","name":"4594"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1853.png","name":"1853"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8393.png","name":"8393"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4342.png","name":"4342"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7599.png","name":"7599"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":628.0642569314717,"rotation_z_degrees":252.07693763133113,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.019968352439127635,-0.0017165431056866062,-0.007054890597100561]},{"name":"camera_2","offset_m":[-0.013651759702341853,-0.015131031578931671,-0.008954390173304287]},{"name":"camera_3","offset_m":[0.0026699544303386974,-0.01870713567937423,0.013031776491326589]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00018246421116427857,-0.001283304294572427,0.0005795716004639044],"end_effector_yaw_offset_degrees":0.17491466873800054},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0015340590377604783,-0.0019494645871060156,0.0007835840713940815],"end_effector_yaw_offset_degrees":-0.3476262234566194},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-4.661523693731554e-05,0.0015443629925370895,-0.0009332301440245505],"end_effector_yaw_offset_degrees":-0.19898157936797567},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0015513412647711019,0.000947846313503285,-0.0004672317187554627],"end_effector_yaw_offset_degrees":0.0009570165223118376}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0031284758628557776,0.004026408806876631],"position_m":[0.2619284758628557,0.16062640880687662,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004781515176225776,-0.0017582146107886264],"position_m":[0.21788151517622578,-0.3298582146107886,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.001042684437806727,0.003221822399915587],"position_m":[0.26255731556219325,-0.1278781776000844,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004507972873627436,0.002293752102056885],"position_m":[0.32529202712637256,0.3112937521020569,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"49769c9ff81b6fc041d9bcd906573b933b7d5c0df51081c4df05745bb9c9cf58","episode_index":75,"episode_name":"episode_0075"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0075.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_4594/tex_ceiling_textures_7599/tex_floor_textures_4342/tex_table_textures_1853/tex_wall_textures_8393","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":9107546888183448438,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":9107546888183448438,"visual_seed":9107546888183448438,"scene_id":"lab_003","finished_at":"2026-09-05T22:41:00"} +{"episode_id":"ep_000062","started_at":"2026-09-05T22:43:36","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_0","position":[-0.6228316688528285,1.0068028666617166,0.71338606911949],"aabb_xy":[[-0.6868316691132992,0.9617940673087887],[-0.5588316685923576,1.0518116660146446]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_1","position":[0.4874008159388499,-2.313989597911787,0.71338606911949],"aabb_xy":[[0.4796976252647728,-2.3216989686105247],[0.49510400661292686,-2.3062802272130485]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_2","position":[-0.30084537015608476,0.5640081331281546,0.71338606911949],"aabb_xy":[[-0.35032579137004355,0.5000081352153027],[-0.25136494894212597,0.6280081310410064]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_3","position":[0.14438310164477874,-1.5248867698948587,0.71338606911949],"aabb_xy":[[0.10688310135260393,-1.5289282452954622],[0.18188310193695356,-1.5208452944942552]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_4","position":[0.5906136584354391,1.362027186961384,0.71338606911949],"aabb_xy":[[0.5206136568331596,1.3485943937597265],[0.6606136600377186,1.3754599801630416]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_5","position":[-0.2939892766191765,-2.18388408117645,0.71338606911949],"aabb_xy":[[-0.3589892751762494,-2.2136366145903326],[-0.22898927806210373,-2.1541315477625673]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_6","position":[0.27229546292694495,1.1706895435300524,0.71338606911949],"aabb_xy":[[0.2122954612840231,1.1186893942381082],[0.3322954645698668,1.2226896928219966]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_7","position":[-0.6045434876125722,1.5069825676218396,0.71338606911949],"aabb_xy":[[-0.658559083894472,1.4429825647295824],[-0.550527891330672,1.5709825705140967]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_8","position":[0.34198810140195124,-2.5122882682247436,0.71338606911949],"aabb_xy":[[0.2968167835537822,-2.576288265369282],[0.3871594192501202,-2.448288271080205]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_9","position":[0.5436618490475371,1.6472418781621827,0.71338606911949],"aabb_xy":[[0.4986618475813084,1.6022420213007023],[0.5886618505137661,1.6922417350236636]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_10","position":[0.2870659060064389,0.78068266450859,0.71338606911949],"aabb_xy":[[0.25206590773631893,0.7736085368136018],[0.32206590427655873,0.7877567922035781]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_11","position":[-0.14916173663954835,0.6846699624640498,0.71338606911949],"aabb_xy":[[-0.18666173521516913,0.6719336668004917],[-0.11166173806392753,0.6974062581276076]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_12","position":[-0.1746913017180618,1.141186977264391,0.71338606911949],"aabb_xy":[[-0.19719130223010237,1.1186951188989926],[-0.15219130120602117,1.1636788356297894]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_13","position":[-0.28022554451400555,-0.20089470080692706,0.71338606911949],"aabb_xy":[[-0.34422554368377545,-0.24766138792588954],[-0.21622554534423558,-0.15412801368796458]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_14","position":[-0.010611075259312819,0.9892620273445023,0.71338606911949],"aabb_xy":[[-0.017652526210060415,0.9822352756067078],[-0.0035696243085652224,0.9962887790822968]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_15","position":[-0.20881350416108796,-1.808778637777888,0.71338606911949],"aabb_xy":[[-0.22870454404142823,-1.821434449062585],[-0.18892246428074774,-1.7961228264931912]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_16","position":[0.2904664828290402,0.8493300688080998,0.71338606911949],"aabb_xy":[[0.28176852053832496,0.8372050945006251],[0.29916444511975554,0.8614550431155745]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_17","position":[-0.4441984428708887,-1.3953837886261813,0.71338606911949],"aabb_xy":[[-0.4816984428146551,-1.4036768786610176],[-0.4066984429271223,-1.3870906985913445]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_18","position":[-0.23508690742549437,0.20308110290642611,0.71338606911949],"aabb_xy":[[-0.2485334340595377,0.18961125125333486],[-0.22164038079145104,0.2165509545595173]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_19","position":[0.40685261729125966,-1.7075795149358441,0.71338606911949],"aabb_xy":[[0.39628513763316064,-1.7181245450488525],[0.41742009694935867,-1.6970344848228354]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_20","position":[-0.545904742160674,-1.5195821702229257,0.71338606911949],"aabb_xy":[[-0.6099047428641434,-1.565600552695847],[-0.48190474145720474,-1.4735637877500047]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_21","position":[-0.37994974326653963,0.7266015852687819,0.71338606911949],"aabb_xy":[[-0.41494974324303546,0.7171369692211653],[-0.3449497432900438,0.7360662013163985]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_22","position":[-0.5152537940578584,0.17982782101018557,0.71338606911949],"aabb_xy":[[-0.519369744169931,0.17571226597734005],[-0.5111378439457857,0.18394337604303104]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_23","position":[0.1704445043218853,-1.196387653185506,0.71338606911949],"aabb_xy":[[0.13341039489382558,-1.2307648605192154],[0.207478613749945,-1.1620104458517966]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_24","position":[0.4148415711390847,-0.8451242072984666,0.71338606911949],"aabb_xy":[[0.3803790931259969,-0.8517878844813892],[0.4493040491521724,-0.8384605301155436]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_25","position":[0.46594779229606487,-2.0875794660937608,0.71338606911949],"aabb_xy":[[0.42844779219047185,-2.094401627946742],[0.5034477924016577,-2.0807573042407794]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6782893388068885,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/372.png","name":"372"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/372.png","name":"372"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1012.png","name":"1012"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1279.png","name":"1279"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7873.png","name":"7873"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7686.png","name":"7686"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":764.94323380321,"rotation_z_degrees":117.79750041253506,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018895749651128554,0.01949845424800058,0.008267357076695934]},{"name":"camera_2","offset_m":[-0.012469129304429716,-0.006005792934220339,0.013041571832191148]},{"name":"camera_3","offset_m":[0.015315556224784529,0.003967110612948837,0.011819814933606818]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00013118901442434484,-0.0014298403680836228,-0.0007358407858838562],"end_effector_yaw_offset_degrees":-0.43662085946819484},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0006808602475895467,-0.00123288304792364,0.001300100125441005],"end_effector_yaw_offset_degrees":0.7823030888061071},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00028757605082609843,-0.0015436582020416,0.0015355568142887644],"end_effector_yaw_offset_degrees":-0.8860439073171553},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0012473719874845717,0.0013238458987827393,-0.0014663196383182214],"end_effector_yaw_offset_degrees":0.29012917427872176}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.000664693077090015,0.0011988271397721214],"position_m":[0.25946469307708997,0.1577988271397721,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003856139620043892,-0.0005453261344448403],"position_m":[0.2169561396200439,-0.32864532613444486,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0024329124101780696,-0.0004058377148705994],"position_m":[0.26116708758982193,-0.1315058377148706,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0022223502495964864,0.003482805960647627],"position_m":[0.3320223502495965,0.31248280596064765,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0cb6acaffcaa3591420a9ea43d054f39f2583213e21863076d249ee0538b9b2e","episode_index":77,"episode_name":"episode_0077"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0077.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_372/tex_ceiling_textures_7686/tex_floor_textures_7873/tex_table_textures_1012/tex_wall_textures_1279","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":6850766342855354369,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":6850766342855354369,"visual_seed":6850766342855354369,"scene_id":"lab_003","finished_at":"2026-09-05T22:47:21"} +{"episode_id":"ep_000063","started_at":"2026-09-05T22:47:25","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_0","position":[0.6462209260783258,0.946166507450318,0.71338606911949],"aabb_xy":[[0.635809367397842,0.9408207741144194],[0.6566324847588094,0.9515122407862164]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_1","position":[-0.35112607283562686,-1.185962960669905,0.71338606911949],"aabb_xy":[[-0.35722070072374523,-1.1945323552215736],[-0.3450314449475086,-1.1773935661182362]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_2","position":[-0.3537824128981059,1.6110545055709165,0.71338606911949],"aabb_xy":[[-0.3887824127941248,1.6026802700589764],[-0.31878241300208704,1.6194287410828565]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_3","position":[-0.38096079912063663,0.12143785283752129,0.71338606911949],"aabb_xy":[[-0.47096079562150833,0.07552621041906302],[-0.2909608026197648,0.16734949525597947]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_4","position":[-0.3884096443749576,-0.5802361711851343,0.71338606911949],"aabb_xy":[[-0.42590964454682945,-0.6129369065680413],[-0.35090964420308557,-0.547535435802227]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_5","position":[-0.3543707224012349,0.5106245313479212,0.71338606911949],"aabb_xy":[[-0.43437072565907786,0.4306280235559372],[-0.27437071914339195,0.5906210391399052]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_6","position":[0.5928268741661058,-1.1730925777397776,0.71338606911949],"aabb_xy":[[0.557197718266146,-1.2087252444966305],[0.6284560300660654,-1.1374599109829246]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_7","position":[-0.138597430966647,0.7159214040687738,0.71338606911949],"aabb_xy":[[-0.14937040488801478,0.6809214058497348],[-0.12782445704527923,0.7509214022878128]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_8","position":[0.4241755708883648,1.22851038463028,0.71338606911949],"aabb_xy":[[0.3742928740106686,1.1785103853840055],[0.474058267766061,1.278510383876555]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_9","position":[0.01691468022875997,-2.369263886295632,0.71338606911949],"aabb_xy":[[-0.04708531906540825,-2.4332500266644863],[0.08091467952292819,-2.305277745926778]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_10","position":[-0.20854830582785866,-2.2677954988371134,0.71338606911949],"aabb_xy":[[-0.2685483066886714,-2.3192219288435996],[-0.14854830496704582,-2.2163690688306263]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_11","position":[-0.5069668658524474,-1.1466023605986064,0.71338606911949],"aabb_xy":[[-0.5195936531396438,-1.156148434300179],[-0.4943400785652511,-1.1370562868970333]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_12","position":[0.3665151043528172,-0.578647841698491,0.71338606911949],"aabb_xy":[[0.2965151022213876,-0.6014098073241866],[0.4365151064842467,-0.5558858760727953]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_13","position":[0.24785619139855397,1.6462184612164221,0.71338606911949],"aabb_xy":[[0.21136037077127523,1.6097345187896643],[0.2843520120258327,1.6827024036431795]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_14","position":[-0.3047252088981934,-1.080434407322823,0.71338606911949],"aabb_xy":[[-0.3847252121622065,-1.0939944396317363],[-0.22472520563418025,-1.0668743750139096]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_15","position":[0.6222035605801839,-2.489086623301192,0.71338606911949],"aabb_xy":[[0.5322035582461648,-2.5665689778863046],[0.712203562914203,-2.4116042687160792]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_16","position":[0.17852414500913094,1.327614897775414,0.71338606911949],"aabb_xy":[[0.1546879273685259,1.2376148969669278],[0.20236036264973606,1.4176148985839008]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_17","position":[-0.2072009668980197,0.9052811600042592,0.71338606911949],"aabb_xy":[[-0.2722009678551469,0.8533329480705537],[-0.1422009659408925,0.9572293719379649]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_18","position":[-0.18627016046155898,1.2396562405700768,0.71338606911949],"aabb_xy":[[-0.20876929618778595,1.2171562397918139],[-0.163771024735332,1.2621562413483398]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_19","position":[-0.15269416886713594,1.690200021216381,0.71338606911949],"aabb_xy":[[-0.2076864195026469,1.6352000194730685],[-0.097701918231625,1.745200022959694]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_20","position":[0.05143116295988992,-1.5737377347433545,0.71338606911949],"aabb_xy":[[0.01458061502290231,-1.6112377355663883],[0.08828171089687753,-1.5362377339203208]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_21","position":[0.5371987168526418,1.2829232460211704,0.71338606911949],"aabb_xy":[[0.5312321779119059,1.2769621013618062],[0.5431652557933774,1.2888843906805345]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_22","position":[-0.5918091117473033,-0.772663797799432,0.71338606911949],"aabb_xy":[[-0.6458247080292033,-0.8366638006916891],[-0.5377935154654033,-0.7086637949071748]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_23","position":[0.46577527037659694,1.4832361358319504,0.71338606911949],"aabb_xy":[[0.37608819406848143,1.3932361355774996],[0.5554623466847124,1.5732361360864007]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_24","position":[-0.2414960435408512,-0.9285918523038024,0.71338606911949],"aabb_xy":[[-0.30549604675948905,-0.9753149642028108],[-0.17749604032221333,-0.8818687404047941]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_25","position":[0.6791920683580535,1.6281734683746776,0.71338606911949],"aabb_xy":[[0.6711980797803501,1.620173388279587],[0.6871860569357569,1.6361735484697677]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_26","position":[-0.08188831211643166,-0.6072752950465061,0.71338606911949],"aabb_xy":[[-0.08673190687766164,-0.6121269475254902],[-0.07704471735520169,-0.602423642567522]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_27","position":[-0.3603528991354697,-2.1149905553919215,0.71338606911949],"aabb_xy":[[-0.39383206639651064,-2.148469668763029],[-0.32687373187442875,-2.081511442020815]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_28","position":[-0.43856057655089187,1.1713299392452878,0.71338606911949],"aabb_xy":[[-0.4498056321215097,1.1600881415211923],[-0.42731552098027403,1.182571736969383]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_29","position":[-0.5229384774376553,-0.2336157897910467,0.71338606911949],"aabb_xy":[[-0.6029384744006944,-0.31069143143482014],[-0.44293848047461604,-0.15654014814727324]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_30","position":[0.11765262774653373,1.6336159509668895,0.71338606911949],"aabb_xy":[[0.09515262723449312,1.611124092601491],[0.14015262825857433,1.6561078093322876]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_31","position":[-0.14983070155298628,-2.512636897558779,0.71338606911949],"aabb_xy":[[-0.18412761257072688,-2.54693378376872],[-0.11553379053524562,-2.478340011348837]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_32","position":[-0.4162582411646244,-1.0017002449094046,0.71338606911949],"aabb_xy":[[-0.4862582438012107,-1.0218051099052698],[-0.346258238528038,-0.9815953799135388]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6746917177307078,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/485.png","name":"485"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/485.png","name":"485"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5707.png","name":"5707"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3365.png","name":"3365"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9859.png","name":"9859"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/227.png","name":"227"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":679.5269246848973,"rotation_z_degrees":19.339185721665043,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.003285565187959416,-0.014074283664350186,0.012631256159670323]},{"name":"camera_2","offset_m":[-0.00724451058493202,-0.003911783929661246,0.007036131142659326]},{"name":"camera_3","offset_m":[-0.014618087609773763,-0.009262790921848065,-0.006617271398023563]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[3.2699841090188565e-06,-0.0009102453384694953,-0.0004796074069730145],"end_effector_yaw_offset_degrees":-0.17490083892741248},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00010887861992111636,0.0003781281246020311,-0.0006297283018107459],"end_effector_yaw_offset_degrees":0.9138280003122601},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001003870711860853,-0.001424655039054144,-0.000518920546807221],"end_effector_yaw_offset_degrees":0.44282897962315015},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0013011608875800724,0.0009676528828893682,-0.00010371700704248045],"end_effector_yaw_offset_degrees":0.7720307372809327}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.003019741277020446,0.0017809893599833584],"position_m":[0.25578025872297955,0.15838098935998335,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004779308314986142,0.003113475281557314],"position_m":[0.20832069168501388,-0.3249865247184427,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0010095269963619506,-0.002506279612646566],"position_m":[0.264609526996362,-0.13360627961264657,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0006517297886072639,-0.0013205868375560084],"position_m":[0.33045172978860726,0.307679413162444,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6afb5fa2205b24065669db0f453b564a22b00900ec9baead43a65fb583db13c4","episode_index":78,"episode_name":"episode_0078"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0078.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_485/tex_ceiling_textures_227/tex_floor_textures_9859/tex_table_textures_5707/tex_wall_textures_3365","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":5721355060306483549,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":5721355060306483549,"visual_seed":5721355060306483549,"scene_id":"lab_003","finished_at":"2026-09-05T22:51:00"} +{"episode_id":"ep_000064","started_at":"2026-09-05T22:51:04","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_0","position":[0.445452832777371,-0.26376711286641275,0.71338606911949],"aabb_xy":[[0.43941581977670635,-0.269793813935361],[0.4514898457780358,-0.2577404117974646]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_1","position":[0.131351639433974,-1.4049856552483015,0.71338606911949],"aabb_xy":[[0.08422226043213829,-1.4689856562927033],[0.17848101843580963,-1.3409856542038994]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_2","position":[0.46544895345434667,-2.2424778332530866,0.71338606911949],"aabb_xy":[[0.44989318404408146,-2.258028266497494],[0.481004722864612,-2.22692740000868]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_3","position":[-0.5868745294277334,0.7207688642637806,0.71338606911949],"aabb_xy":[[-0.5970275449818827,0.6846993226910401],[-0.576721513873584,0.7568384058365206]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_4","position":[-0.09731915517640877,-2.4319364705010194,0.71338606911949],"aabb_xy":[[-0.12023486806145868,-2.454840767637443],[-0.07440344229135887,-2.409032173364596]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_5","position":[0.3799685194531739,-0.433457165576677,0.71338606911949],"aabb_xy":[[0.32484331382358317,-0.49345716701796416],[0.4350937250827647,-0.3734571641353899]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_6","position":[0.22267229618098272,-1.6010438796406459,0.71338606911949],"aabb_xy":[[0.21090410938632526,-1.6860438795458674],[0.2344404829756403,-1.5160438797354243]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_7","position":[-0.31668177568051525,-1.761829118651341,0.71338606911949],"aabb_xy":[[-0.34297060000095586,-1.788100552305992],[-0.29039295136007454,-1.7355576849966896]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_8","position":[0.1830860382949675,1.6335569481402366,0.71338606911949],"aabb_xy":[[0.17658440178696289,1.623789126113927],[0.18958767480297214,1.6433247701665465]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_9","position":[0.6253954222758618,-0.06297690407932688,0.71338606911949],"aabb_xy":[[0.6078954220308123,-0.08047669191889371],[0.642895422520911,-0.04547711623976002]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_10","position":[-0.5035422432008652,1.7793195772967416,0.71338606911949],"aabb_xy":[[-0.5535422448623598,1.729321135041039],[-0.45354224153937034,1.8293180195524443]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_11","position":[-0.5706409805722725,0.16564850877377335,0.71338606911949],"aabb_xy":[[-0.6256409801940185,0.11066481598630065],[-0.5156409809505268,0.2206322015612461]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_12","position":[-0.5541584814112946,1.3980936796612293,0.71338606911949],"aabb_xy":[[-0.5916584812283282,1.3934554683500873],[-0.5166584815942611,1.402731890972371]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_13","position":[0.09137687646200099,1.8088092569261973,0.71338606911949],"aabb_xy":[[0.08411562889159359,1.796022246662688],[0.09863812403240842,1.821596267189707]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_14","position":[0.39079714412300803,1.5595079777672862,0.71338606911949],"aabb_xy":[[0.33678154784110803,1.4955079748750288],[0.44481274040490804,1.6235079806595432]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_15","position":[-0.013577717360669928,0.7720164603718396,0.71338606911949],"aabb_xy":[[-0.03386202008406868,0.7517338352291305],[0.006706585362728835,0.7922990855145482]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_16","position":[0.12840231954190073,-2.1574598184357177,0.71338606911949],"aabb_xy":[[0.10590231953175244,-2.171556038075321],[0.15090231955204902,-2.1433635987961144]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_17","position":[0.1408383952144987,0.5575017213165729,0.71338606911949],"aabb_xy":[[0.11250868526595847,0.5530409791228559],[0.16916810516303893,0.56196246351029]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_18","position":[0.38048950365926304,-1.2353468240110896,0.71338606911949],"aabb_xy":[[0.3678627163720667,-1.2448928977126625],[0.3931162909464594,-1.2258007503095167]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_19","position":[0.24122974631886296,-2.3630994627383606,0.71338606911949],"aabb_xy":[[0.20473392569158422,-2.399583405165118],[0.2777255669461417,-2.326615520311603]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6709852914371923,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8881.png","name":"8881"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8881.png","name":"8881"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/968.png","name":"968"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6078.png","name":"6078"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6073.png","name":"6073"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3416.png","name":"3416"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":793.2580587646498,"rotation_z_degrees":246.90353131985336,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012385733056581652,-0.014468753839647812,0.01901154174954536]},{"name":"camera_2","offset_m":[0.015462570059091043,-0.01255842759180819,0.006034359748383886]},{"name":"camera_3","offset_m":[-0.00686856685965553,0.0056009340067189085,-0.013976478980671857]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0009877892123945622,0.0016435707625574126,-0.0011367105934314606],"end_effector_yaw_offset_degrees":0.2457710642350941},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0002411061655053701,-0.0003985423031362316,-0.0018613038597696556],"end_effector_yaw_offset_degrees":0.592649861050184},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0010235196063694534,0.0019236331162582072,0.0014225373310999827],"end_effector_yaw_offset_degrees":-0.9796785028576522},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0011113098003858622,0.0009467691885636001,0.0005159721408413455],"end_effector_yaw_offset_degrees":0.23311110912771182}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0037111964806104585,0.0030318440406868702],"position_m":[0.26251119648061044,0.15963184404068687,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0017044949417467916,0.0014314383645657822],"position_m":[0.2148044949417468,-0.32666856163543423,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0037435761669818825,0.0011833941961372323],"position_m":[0.2673435761669819,-0.12991660580386277,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002763428515153035,-0.0027834412974077796],"position_m":[0.32703657148484694,0.30621655870259223,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1e0db2bbba8b8a5252e27eda04b1fcf9ceb2fa177a869ad9065d75e5d0ed16fe","episode_index":79,"episode_name":"episode_0079"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0079.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_8881/tex_ceiling_textures_3416/tex_floor_textures_6073/tex_table_textures_968/tex_wall_textures_6078","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":3600400502569904657,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":3600400502569904657,"visual_seed":3600400502569904657,"scene_id":"lab_003","finished_at":"2026-09-05T22:54:35"} +{"episode_id":"ep_000065","started_at":"2026-09-05T22:54:40","dimensions":{"distractor":{"count":24,"items":[{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_0","position":[0.2000518185940121,-1.3218583836673472,0.71338606911949],"aabb_xy":[[0.16255181842214014,-1.3545591190502542],[0.23755181876588402,-1.2891576482844398]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_1","position":[0.63370866761018,1.4550306238630273,0.71338606911949],"aabb_xy":[[0.5963773910849374,1.420377569068175],[0.6710399441354226,1.4896836786578795]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_2","position":[0.13012704411542242,-1.4708998085779859,0.71338606911949],"aabb_xy":[[0.1102360042350822,-1.483555619862683],[0.1500180839957627,-1.4582439972932892]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_3","position":[0.5920183465531539,-0.4015988238439454,0.71338606911949],"aabb_xy":[[0.5827247283160032,-0.4390988223320793],[0.6013119647903044,-0.3640988253558115]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_4","position":[-0.4494215835212326,-1.6103469472804972,0.71338606911949],"aabb_xy":[[-0.5134215855709646,-1.6504414303698052],[-0.38542158147150063,-1.5702524641911892]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_5","position":[-0.345483076245974,-1.8990564548719124,0.71338606911949],"aabb_xy":[[-0.40948307946461193,-1.9457795667709208],[-0.2814830730273362,-1.852333342972904]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_6","position":[0.3302945019212,0.7655198316061176,0.71338606911949],"aabb_xy":[[0.2959782247465821,0.7155198316329399],[0.36461077909581796,0.8155198315792953]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_7","position":[-0.4372700100775584,1.7445340921262829,0.71338606911949],"aabb_xy":[[-0.5172700122403209,1.664578908500139],[-0.35727000791479585,1.8244892757524263]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_8","position":[0.6257880340463529,1.0933858159868945,0.71338606911949],"aabb_xy":[[0.5758106171810992,1.0433858144976458],[0.6757654509116063,1.1433858174761429]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_9","position":[-0.16312862502464798,0.1011586360170007,0.71338606911949],"aabb_xy":[[-0.17398023127352358,0.09029934528934967],[-0.15227701877577238,0.1120179267446517]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_10","position":[-0.16189663522660436,0.42179225530895526,0.71338606911949],"aabb_xy":[[-0.1953758024876453,0.3883131419378483],[-0.12841746796556341,0.4552713686800623]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_11","position":[-0.24475389825669475,-2.148504964637784,0.71338606911949],"aabb_xy":[[-0.26481230986993504,-2.168570051546941],[-0.22469548664345446,-2.128439877728626]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_12","position":[0.47620938085531006,-0.27152348947193694,0.71338606911949],"aabb_xy":[[0.44029587643032037,-0.3074369976886915],[0.5121228852802997,-0.23560998125518226]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_13","position":[-0.4042794600261882,0.10512604079747856,0.71338606911949],"aabb_xy":[[-0.4682794604037218,0.05538077394666628],[-0.3402794596486546,0.15487130764829082]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_14","position":[-0.5184746576288676,-1.0309820722892722,0.71338606911949],"aabb_xy":[[-0.5429882817258734,-1.0552466655913086],[-0.4939610335318617,-1.0067174789872357]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_15","position":[0.5097126332485862,0.24129246186099484,0.71338606911949],"aabb_xy":[[0.4619064656348174,0.17629245915393582],[0.5575188008623547,0.3062924645680537]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_16","position":[0.3666377384868691,1.6995002253236833,0.71338606911949],"aabb_xy":[[0.29663773509530705,1.6641844516202522],[0.436637741878431,1.734815999027114]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_17","position":[-0.36483079569435134,-0.3631807721671074,0.71338606911949],"aabb_xy":[[-0.40982338241280175,-0.4081807714415561],[-0.31983820897590093,-0.3181807728926586]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_18","position":[0.14969716854789006,0.6441969701942591,0.71338606911949],"aabb_xy":[[0.13453429557095298,0.6290315128991405],[0.16486004152482714,0.659362427489378]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_19","position":[0.4707380846241842,-2.550796923362939,0.71338606911949],"aabb_xy":[[0.43729790942816454,-2.584240549193869],[0.5041782598202037,-2.5173532975320083]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_20","position":[-0.6095480425647352,1.756600404107782,0.71338606911949],"aabb_xy":[[-0.6136838988974355,1.7191004046634248],[-0.6054121862320351,1.7941004035521388]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_21","position":[0.6208039608555245,-1.523611933408676,0.71338606911949],"aabb_xy":[[0.5568039615613561,-1.58759807377753],[0.6848039601496926,-1.4596257930398215]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_22","position":[0.1614339402648053,0.8306326549322498,0.71338606911949],"aabb_xy":[[0.12458339232781768,0.793132654109216],[0.1982844882017929,0.8681326557552834]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_23","position":[0.4075965610425136,-2.3142920955167092,0.71338606911949],"aabb_xy":[[0.32759656388293823,-2.3258396964745263],[0.4875965582020888,-2.302744494558892]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6765417849632718,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4809.png","name":"4809"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4809.png","name":"4809"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7461.png","name":"7461"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8433.png","name":"8433"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4532.png","name":"4532"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3397.png","name":"3397"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":720.0322964097121,"rotation_z_degrees":246.37910716799445,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.019959712752028767,0.0039672832747626625,-0.012702323548024929]},{"name":"camera_2","offset_m":[0.012202403442271904,9.587530628191523e-05,-0.0010502101233270389]},{"name":"camera_3","offset_m":[0.018295491050638952,-0.015863386619213674,0.015774856892580565]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0001066591123172235,-0.00076670581189435,-0.0018852534737884862],"end_effector_yaw_offset_degrees":0.6539916570877928},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0012292688102820007,0.0009096224646090978,0.0017270239840038656],"end_effector_yaw_offset_degrees":0.9530355878730541},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00041586737899080564,0.0014468493298795894,3.5128317524740164e-05],"end_effector_yaw_offset_degrees":-0.035667553370154925},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0010196758301928722,-0.0014271064730886516,8.235617083481072e-05],"end_effector_yaw_offset_degrees":0.43748143711746335}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0033788396643755648,0.0008799863244336502],"position_m":[0.2554211603356244,0.15747998632443364,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00026429487515518615,0.003077708102082798],"position_m":[0.21283570512484482,-0.3250222918979172,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002778724151130162,-0.0009297826668144393],"position_m":[0.2663787241511302,-0.13202978266681442,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0036112741180840706,-0.003052932485570572],"position_m":[0.3334112741180841,0.3059470675144294,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d528b320c467bf8610ce5564a7df3532542b313761d569507a35d1f01d243bac","episode_index":80,"episode_name":"episode_0080"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0080.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_4809/tex_ceiling_textures_3397/tex_floor_textures_4532/tex_table_textures_7461/tex_wall_textures_8433","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":2235238203882572684,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":2235238203882572684,"visual_seed":2235238203882572684,"scene_id":"lab_003","finished_at":"2026-09-05T22:58:24"} +{"episode_id":"ep_000066","started_at":"2026-09-05T22:58:27","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_0","position":[-0.08059113443686405,-1.0522647786381065,0.71338606911949],"aabb_xy":[[-0.08939318974583675,-1.0600761047930356],[-0.07178907912789133,-1.0444534524831774]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_1","position":[-0.5848102249075947,-1.9449497716616055,0.71338606911949],"aabb_xy":[[-0.6388258211894946,-2.0089497745538623],[-0.5307946286256946,-1.8809497687693482]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_2","position":[0.43365778060167415,-2.1837429533940433,0.71338606911949],"aabb_xy":[[0.36865777949573086,-2.208708326462172],[0.49865778170761743,-2.1587775803259155]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_3","position":[0.5562837141496757,1.1508604548641928,0.71338606911949],"aabb_xy":[[0.5502467011490111,1.1448337537952447],[0.5623207271503405,1.1568871559331408]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_4","position":[-0.3374024184927645,1.3659571597350344,0.71338606911949],"aabb_xy":[[-0.3444427284263015,1.2859571603353632],[-0.33036210855922754,1.445957159134706]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_5","position":[0.10284777746532514,1.0159570893264878,0.71338606911949],"aabb_xy":[[0.06599722952833753,0.978457088503454],[0.13969832540231275,1.0534570901495215]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_6","position":[-0.5969980940531742,-0.17587855882754733,0.71338606911949],"aabb_xy":[[-0.607771067974542,-0.2108785570465863],[-0.5862251201318064,-0.14087856060850834]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_7","position":[0.622995755038511,-0.963558919066936,0.71338606911949],"aabb_xy":[[0.5997139128403796,-1.0485589203641639],[0.6462775972366422,-0.878558917769708]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_8","position":[-0.2799617361009924,-1.6783154952963106,0.71338606911949],"aabb_xy":[[-0.36964881240910785,-1.7683154955507607],[-0.19027465979287694,-1.5883154950418596]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_9","position":[-0.33592290532589686,1.7289863575236093,0.71338606911949],"aabb_xy":[[-0.37038525272403855,1.6944924751257866],[-0.30146055792775495,1.763480239921432]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_10","position":[0.3495452041097995,-1.20031864044394,0.71338606911949],"aabb_xy":[[0.31204520393792756,-1.233019375826847],[0.38704520428167144,-1.1676179050610327]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_11","position":[0.28684798195480754,-0.5443964957647669,0.71338606911949],"aabb_xy":[[0.22525722273081472,-0.6083964938738139],[0.34843874117880036,-0.4803964976557201]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_12","position":[0.5996482334439694,-0.5098108063473217,0.71338606911949],"aabb_xy":[[0.5955322833318967,-0.5139263613801671],[0.603764183556042,-0.505695251314476]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_13","position":[0.6513610742009996,1.0280430439999186,0.71338606911949],"aabb_xy":[[0.6407935945429006,1.01749801388691],[0.6619285538590987,1.0385880741129272]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_14","position":[0.48106057983900463,0.9998328390899696,0.71338606911949],"aabb_xy":[[0.4170605795785338,0.9548240397370416],[0.5450605800994754,1.0448416384428976]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_15","position":[0.002726643508150439,-1.852738687736378,0.71338606911949],"aabb_xy":[[-0.04715605336954577,-1.902738686982653],[0.05260934038584665,-1.8027386884901035]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_16","position":[0.30379984068268595,1.0761202909127094,0.71338606911949],"aabb_xy":[[0.27879984141072367,1.0597749273165469],[0.32879983995464823,1.0924656545088716]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_17","position":[0.4597181413185205,-2.0358803083926866,0.71338606911949],"aabb_xy":[[0.36971814272405057,-2.0521308947061074],[0.5497181399129905,-2.019629722079266]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_18","position":[0.4444582761135474,-1.7659192768670946,0.71338606911949],"aabb_xy":[[0.4222857491368965,-1.7880949440232174],[0.46663080309019817,-1.7437436097109709]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_19","position":[-0.5837845170307516,1.4447229249103724,0.71338606911949],"aabb_xy":[[-0.596411304317948,1.4351768512087995],[-0.5711577297435553,1.4542689986119453]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_20","position":[-0.645476135068119,1.205013688807301,0.71338606911949],"aabb_xy":[[-0.6555578421466922,1.1250136909151862],[-0.6353944279895453,1.2850136866994155]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_21","position":[0.016951206774006078,1.7202046180102566,0.71338606911949],"aabb_xy":[[-0.0019331769945041266,1.701318693229904],[0.03583559054251628,1.7390905427906096]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_22","position":[-0.2682781787423959,0.7603050874025334,0.71338606911949],"aabb_xy":[[-0.27868973742287956,0.7549593540666348],[-0.25786662006191213,0.7656508207384318]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_23","position":[0.32134266911147713,1.2306625646739096,0.71338606911949],"aabb_xy":[[0.3054581758461519,1.2163096243750855],[0.3372271623768022,1.2450155049727336]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_24","position":[0.16074864411058454,-2.160792512131942,0.71338606911949],"aabb_xy":[[0.1237145346825248,-2.195169719465651],[0.19778275353864422,-2.126415304798232]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_25","position":[-0.462472256280972,-1.0174907781656728,0.71338606911949],"aabb_xy":[[-0.5264722586237736,-1.062431629409805],[-0.39847225393817043,-0.9725499269215402]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_26","position":[0.33249141923323355,-1.374882108893546,0.71338606911949],"aabb_xy":[[0.30890629576933876,-1.4398821111389777],[0.35607654269712846,-1.309882106648114]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_27","position":[0.0284402963334065,1.5582255667040932,0.71338606911949],"aabb_xy":[[-0.005335262857286471,1.544187071490928],[0.06221585552409947,1.5722640619172579]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_28","position":[0.4266726334973072,0.647784201252561,0.71338606911949],"aabb_xy":[[0.36167263494023444,0.6180316678386784],[0.4916726320543801,0.6775367346664436]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_29","position":[0.04617696418467421,1.2747468469391903,0.71338606911949],"aabb_xy":[[-0.033823037245453,1.1952296919265808],[0.1261769656148014,1.3542640019517997]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_30","position":[0.024428897694881546,-1.6322822927745264,0.71338606911949],"aabb_xy":[[-0.03956679970021504,-1.6962822910752353],[0.08842459508997813,-1.568282294473818]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6729513549404507,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6271.png","name":"6271"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6271.png","name":"6271"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4360.png","name":"4360"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2179.png","name":"2179"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1325.png","name":"1325"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/89.png","name":"89"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":818.482367407435,"rotation_z_degrees":187.39592667411432,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0005050912600245462,-0.013395037605006346,-0.009241142395821083]},{"name":"camera_2","offset_m":[0.010923137985984255,0.009643799189007669,-0.014140796751702869]},{"name":"camera_3","offset_m":[-0.0023410197448620537,-0.01040284937685175,0.007664823598656573]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0014163923391825564,-0.001101645215580048,-0.0017784701059493037],"end_effector_yaw_offset_degrees":0.6457443808108128},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0019235622681461843,-0.0009234750530288233,0.0009066013357126642],"end_effector_yaw_offset_degrees":-0.02049652331102192},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0010353368844963154,-0.0002896293227782744,0.0010624534955540532],"end_effector_yaw_offset_degrees":-0.0972257429497656},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[6.096129649050316e-05,0.00023686563754564318,0.0010079294829947044],"end_effector_yaw_offset_degrees":0.42055583530899754}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.003082305881154761,0.004940004522265547],"position_m":[0.2557176941188452,0.16154000452226552,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0039747568433051664,-0.0005500724340007958],"position_m":[0.20912524315669484,-0.3286500724340008,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0026053888878576014,0.004477673753719568],"position_m":[0.2609946111121424,-0.12662232624628042,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0021049952704409835,0.00023161968397949605],"position_m":[0.327695004729559,0.3092316196839795,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e5fd091d1bf057b4921e9c7115a6d66b86d7e00faf4d536059264fcc3a33a1a3","episode_index":81,"episode_name":"episode_0081"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0081.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_6271/tex_ceiling_textures_89/tex_floor_textures_1325/tex_table_textures_4360/tex_wall_textures_2179","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":3947519550583342701,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":3947519550583342701,"visual_seed":3947519550583342701,"scene_id":"lab_003","finished_at":"2026-09-05T23:02:03"} +{"episode_id":"ep_000067","started_at":"2026-09-05T23:02:07","dimensions":{"distractor":{"count":22,"items":[{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_0","position":[-0.2608468058175666,0.9346771928081923,0.71338606911949],"aabb_xy":[[-0.34084680907540954,0.8546806850162083],[-0.18084680255972363,1.0146737006001763]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_1","position":[0.49746458074307776,-0.842324130820207,0.71338606911949],"aabb_xy":[[0.48423363520839646,-0.8555515498422063],[0.510695526277759,-0.8290967117982074]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_2","position":[0.2495353853900225,1.1503450402871556,0.71338606911949],"aabb_xy":[[0.1695353867331365,1.1358401813628927],[0.3295353840469085,1.1648498992114185]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_3","position":[-0.10457578407006218,-1.503444855514858,0.71338606911949],"aabb_xy":[[-0.10921089922229556,-1.5073121905920066],[-0.09994066891782878,-1.499577520437709]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_4","position":[0.3375783421117895,-0.8817613217160438,0.71338606911949],"aabb_xy":[[0.32564560774996143,-0.8941434745239032],[0.34951107647361757,-0.8693791689081845]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_5","position":[-0.6417192661656378,0.7331387157339795,0.71338606911949],"aabb_xy":[[-0.6917192678271324,0.6831402734782768],[-0.5917192645041429,0.7831371579896822]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_6","position":[-0.40646087814338205,0.8620066556911068,0.71338606911949],"aabb_xy":[[-0.41089150749822223,0.8565582839564243],[-0.4020302487885419,0.8674550274257895]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_7","position":[-0.27117337903814376,1.6753400063428692,0.71338606911949],"aabb_xy":[[-0.33117337963415994,1.6205275337976455],[-0.21117337844212758,1.7301524788880924]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_8","position":[0.05049804729242302,-1.5602147436878402,0.71338606911949],"aabb_xy":[[0.015498047396404145,-1.56858897919978],[0.08549804718844188,-1.5518405081759004]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_9","position":[0.4653171883704177,-0.30797379654937007,0.71338606911949],"aabb_xy":[[0.45739390813166936,-0.33047379678737343],[0.473240468609166,-0.2854737963113667]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_10","position":[0.5050599493646974,-2.5061046266242184,0.71338606911949],"aabb_xy":[[0.49497824228612397,-2.586104624516333],[0.5151416564432709,-2.4261046287321038]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_11","position":[0.2173922196344792,1.7695715860818457,0.71338606911949],"aabb_xy":[[0.1523922169966857,1.7180919873823988],[0.2823922222722727,1.8210511847812927]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_12","position":[-0.4756535281809515,1.202912005796314,0.71338606911949],"aabb_xy":[[-0.559375753681034,1.112912002261618],[-0.391931302680869,1.2929120093310098]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_13","position":[0.5879047046530681,0.35478481493036584,0.71338606911949],"aabb_xy":[[0.5239047014344302,0.3080617030313575],[0.651904707871706,0.4015079268293742]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_14","position":[-0.05603010776688955,1.3148400568773218,0.71338606911949],"aabb_xy":[[-0.06918135373817892,1.2898400571206354],[-0.042878861795600194,1.3398400566340085]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_15","position":[0.3847660592716713,1.748536439186943,0.71338606911949],"aabb_xy":[[0.36226605926152305,1.7344402195473394],[0.40726605928181964,1.762632658826546]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_16","position":[-0.17742552679429124,1.3937964049402343,0.71338606911949],"aabb_xy":[[-0.2003412396793412,1.3708921078038105],[-0.15450981390924137,1.4167007020766575]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_17","position":[-0.3862792631054197,-0.24924005994675547,0.71338606911949],"aabb_xy":[[-0.4039120986989473,-0.26686300596237844],[-0.36864642751189214,-0.23161711393113252]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_18","position":[-0.024862564413664856,1.4497709751405314,0.71338606911949],"aabb_xy":[[-0.028978514525737516,1.4456554201076859],[-0.02074661430159219,1.453886530173377]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_19","position":[-0.22409756638402772,-1.601726549264443,0.71338606911949],"aabb_xy":[[-0.2890975649411006,-1.6314790826783254],[-0.15909756782695492,-1.5719740158505602]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_20","position":[0.40563563898928523,-2.3354776122485497,0.71338606911949],"aabb_xy":[[0.3947951607627704,-2.3526638935391984],[0.4164761172158002,-2.318291330957901]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_21","position":[0.23337516691393556,-0.6940811403029981,0.71338606911949],"aabb_xy":[[0.16937516523593818,-0.7425985317823122],[0.2973751685919329,-0.6455637488236837]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6781172379135544,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5153.png","name":"5153"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5153.png","name":"5153"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/642.png","name":"642"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5942.png","name":"5942"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1534.png","name":"1534"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5757.png","name":"5757"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":596.511655295306,"rotation_z_degrees":307.2945827155768,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009887009617124149,0.001466443032925379,0.0006347702891391013]},{"name":"camera_2","offset_m":[0.015031612818664348,-0.007269765338351993,-0.0016759880129051212]},{"name":"camera_3","offset_m":[-0.007585117142804982,-0.014561883434689107,0.01802650725088221]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0018177450513507001,-0.0017544323440563123,0.0011259558006966055],"end_effector_yaw_offset_degrees":-0.37381288718403805},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0008640778017037776,-0.0015780765803456891,-0.0019960503304913254],"end_effector_yaw_offset_degrees":-0.7440832252611769},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001152934429927479,-0.00015561213795721733,-8.123690572436719e-05],"end_effector_yaw_offset_degrees":-0.5460223535810755},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0014315307272194356,-0.0006449569513681387,-0.0018875844603719104],"end_effector_yaw_offset_degrees":0.9986776205218535}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0015675448546746962,-0.004369719017179792],"position_m":[0.2572324551453253,0.1522302809828202,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0015230960294172415,-0.0017738766086980917],"position_m":[0.21157690397058276,-0.3298738766086981,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.00166222103592895,-0.00023036575217902453],"position_m":[0.26526222103592895,-0.13133036575217902,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0035636956727996003,0.0005080389146442108],"position_m":[0.3333636956727996,0.30950803891464423,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"164848a0d5f99d622bb5441457e675f5a3993736061dca7165608df9be244d92","episode_index":82,"episode_name":"episode_0082"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0082.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_5153/tex_ceiling_textures_5757/tex_floor_textures_1534/tex_table_textures_642/tex_wall_textures_5942","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":1847998273490643718,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":1847998273490643718,"visual_seed":1847998273490643718,"scene_id":"lab_003","finished_at":"2026-09-05T23:05:43"} +{"episode_id":"ep_000068","started_at":"2026-09-05T23:05:48","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_0","position":[0.10384634071736021,-1.5784197699183486,0.71338606911949],"aabb_xy":[[0.0588537539989098,-1.6234197691927972],[0.14883892743581062,-1.5334197706438997]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_1","position":[-0.3966643333509847,-0.9103285662698029,0.71338606911949],"aabb_xy":[[-0.424994043299525,-0.91478930846352],[-0.36833462340244455,-0.9058678240760859]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_2","position":[0.3163755309610363,1.3187916539702726,0.71338606911949],"aabb_xy":[[0.27958089783613,1.2818857788736904],[0.35317016408594254,1.355697529066855]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_3","position":[-0.5579358106423866,0.4407708133596251,0.71338606911949],"aabb_xy":[[-0.6001202248032174,0.37677081308241395],[-0.5157513964815559,0.5047708136368363]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_4","position":[0.3651887254336468,0.9031668646549957,0.71338606911949],"aabb_xy":[[0.35638667012467407,0.8953555385000667],[0.3739907807426195,0.9109781908099248]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_5","position":[0.17205473978238506,1.2068052271255438,0.71338606911949],"aabb_xy":[[0.13350904695718402,1.1682594560693549],[0.2106004326075861,1.2453509981817323]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_6","position":[0.43989298726614035,1.160347967185586,0.71338606911949],"aabb_xy":[[0.42221735667754196,1.142667750906183],[0.4575686178547386,1.1780281834649886]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_7","position":[0.21680675053754705,-1.2742459827938901,0.71338606911949],"aabb_xy":[[0.126806748203528,-1.3517283373790028],[0.3068067528715661,-1.1967636282087775]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_8","position":[0.5516865996300591,-0.3053118866758999,0.71338606911949],"aabb_xy":[[0.5412750409495752,-0.31065762001179836],[0.5620981583105427,-0.2999661533400014]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_9","position":[-0.4316403223597842,-0.06657390118472328,0.71338606911949],"aabb_xy":[[-0.49664032091685706,-0.0963264345986059],[-0.3666403238027114,-0.03682136777084066]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_10","position":[0.2251783851679321,1.3742973208578482,0.71338606911949],"aabb_xy":[[0.21714205046664725,1.3662592015534312],[0.23321471986921694,1.3823354401622647]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_11","position":[-0.570948286436942,-0.16084013858942603,0.71338606911949],"aabb_xy":[[-0.5786514771110189,-0.16854950928816403],[-0.563245095762865,-0.15313076789068802]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_12","position":[-0.22513101839598088,-0.5160540420489537,0.71338606911949],"aabb_xy":[[-0.28013101757257036,-0.5710437168239113],[-0.1701310192193914,-0.461064367273996]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_13","position":[0.6199925098644745,0.2886235476083976,0.71338606911949],"aabb_xy":[[0.5699925102881399,0.23864296865629164],[0.6699925094408093,0.33860412656050354]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_14","position":[0.242189104568156,-1.8172372320373322,0.71338606911949],"aabb_xy":[[0.22785467944199256,-1.829297447591871],[0.25652352969431946,-1.8051770164827934]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_15","position":[0.6319313615383415,1.5415131770216655,0.71338606911949],"aabb_xy":[[0.548209136038259,1.4515131734869697],[0.715653587038424,1.6315131805563616]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_16","position":[0.5326695631449172,-1.5498684000359781,0.71338606911949],"aabb_xy":[[0.5150367275513896,-1.5674913460516011],[0.5503023987384448,-1.5322454540203552]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_17","position":[0.45397864624871587,-1.0907626786635625,0.71338606911949],"aabb_xy":[[0.39397864565269974,-1.145575151208786],[0.513978646844732,-1.035950206118339]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_18","position":[0.5616181744286832,-1.889243574839997,0.71338606911949],"aabb_xy":[[0.5370719588059324,-1.9194924713890342],[0.5861643900514338,-1.85899467829096]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_19","position":[0.040164767304010085,-1.037108653071634,0.71338606911949],"aabb_xy":[[0.032921001257764766,-1.1171086512752364],[0.04740853335025542,-0.9571086548680316]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_20","position":[-0.19044771741972144,0.8854195911796632,0.71338606911949],"aabb_xy":[[-0.2149613415167273,0.8611549978776268],[-0.16593409332271558,0.9096841844816997]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_21","position":[-0.20833094387827716,1.1820124522680189,0.71338606911949],"aabb_xy":[[-0.2723309409903829,1.1329800824736085],[-0.1443309467661715,1.2310448220624297]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_22","position":[0.40470392987063164,1.5698200750996913,0.71338606911949],"aabb_xy":[[0.3967099412929282,1.561819995004601],[0.412697918448335,1.5778201551947817]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_23","position":[-0.445726977024634,-1.1065598888386299,0.71338606911949],"aabb_xy":[[-0.5257269756119533,-1.1858754907767908],[-0.3657269784373145,-1.027244286900469]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_24","position":[-0.5674200095751035,1.430602880039046,0.71338606911949],"aabb_xy":[[-0.6174029597625827,1.3806028803964854],[-0.5174370593876241,1.4806028796816062]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_25","position":[0.0570935147680014,0.9020328844898762,0.71338606911949],"aabb_xy":[[0.03720247488766115,0.8893770732051794],[0.07698455464834164,0.9146886957745731]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6690505798775778,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/230.png","name":"230"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/230.png","name":"230"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5258.png","name":"5258"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3567.png","name":"3567"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5657.png","name":"5657"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6408.png","name":"6408"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":505.4067926611109,"rotation_z_degrees":129.4055108088611,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0026165155890940685,-0.015939955413984214,-0.01160073874375431]},{"name":"camera_2","offset_m":[-0.010707985559075,0.0027730412585716922,0.011751197633187844]},{"name":"camera_3","offset_m":[0.0035786323416389584,-0.006457944762743986,-0.013985798786024151]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0008676427403176276,0.0017366983727110483,-0.0009452862060526082],"end_effector_yaw_offset_degrees":-0.22239072076675725},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0001224868739084493,-0.00019419532837815093,-0.000996792379758054],"end_effector_yaw_offset_degrees":-0.6594789925268734},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0005094163888033428,-0.0005237884276136323,-0.0003619141826237157],"end_effector_yaw_offset_degrees":0.2093612817278745},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00040753837372202017,-0.00015013644649469076,-3.979575999883472e-05],"end_effector_yaw_offset_degrees":-0.8450695355838396}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0002985511935263618,-0.0008359652591589939],"position_m":[0.25850144880647363,0.155764034740841,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004066001875787176,0.0035176300497255448],"position_m":[0.2171660018757872,-0.32458236995027445,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0042917924358743045,0.002282987257788068],"position_m":[0.2593082075641257,-0.12881701274221194,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00422087414707109,-0.004181741847634103],"position_m":[0.3255791258529289,0.3048182581523659,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c1678c739c10bcb2e016938308e28eafcc5519705f9caeb03beb63e6291be533","episode_index":83,"episode_name":"episode_0083"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0083.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_230/tex_ceiling_textures_6408/tex_floor_textures_5657/tex_table_textures_5258/tex_wall_textures_3567","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":6856878209333419255,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":6856878209333419255,"visual_seed":6856878209333419255,"scene_id":"lab_003","finished_at":"2026-09-05T23:09:23"} +{"episode_id":"ep_000069","started_at":"2026-09-05T23:09:26","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_0","position":[0.5774513903604341,-0.8162049298441703,0.71338606911949],"aabb_xy":[[0.5710375767172491,-0.8226147500918384],[0.583865204003619,-0.8097951095965017]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_1","position":[-0.2143225859211057,-1.4450545729262712,0.71338606911949],"aabb_xy":[[-0.2553405293074766,-1.4950545735572285],[-0.17330464253473482,-1.3950545722953138]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_2","position":[-0.36260082237640107,-2.348347603441153,0.71338606911949],"aabb_xy":[[-0.40777214022457015,-2.412347600585692],[-0.31742950452823215,-2.284347606296615]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_3","position":[0.30432419056413007,0.38120329610973247,0.71338606911949],"aabb_xy":[[0.29348371233761517,0.36401701481908366],[0.315164668790645,0.3983895774003813]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_4","position":[-0.10561614548981735,-2.2580417861973254,0.71338606911949],"aabb_xy":[[-0.1441618383150184,-2.296587557253514],[-0.0670704526646163,-2.2194960151411367]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_5","position":[0.3974838336278317,-2.173217735228541,0.71338606911949],"aabb_xy":[[0.35998383327960387,-2.185009130809624],[0.4349838339760594,-2.161426339647457]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_6","position":[-0.10417372683196091,-0.6111794960039001,0.71338606911949],"aabb_xy":[[-0.14917372829818976,-0.6561793528653809],[-0.05917372536573205,-0.5661796391424195]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_7","position":[0.2966627268067572,-0.9161335057800166,0.71338606911949],"aabb_xy":[[0.2840600276696808,-0.9287289020048821],[0.3092654259438337,-0.9035381095551511]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_8","position":[0.6298584359479942,-1.7208986854545922,0.71338606911949],"aabb_xy":[[0.5798584363716595,-1.7708792644066984],[0.6798584355243289,-1.6709181065024865]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_9","position":[-0.31492363678215474,1.667975160293055,0.71338606911949],"aabb_xy":[[-0.36489670231467025,1.6179751604805226],[-0.26495057124963933,1.7179751601055884]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_10","position":[-0.4472038494909032,-1.2866607945031117,0.71338606911949],"aabb_xy":[[-0.4559178185408376,-1.3091607951622997],[-0.43848988044096865,-1.2641607938439232]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_11","position":[0.6649654280750945,-1.0948842953949223,0.71338606911949],"aabb_xy":[[0.642465428551387,-1.117380242845543],[0.6874654275988018,-1.0723883479443015]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_12","position":[0.24704558901790086,0.6972697411416848,0.71338606911949],"aabb_xy":[[0.23359906238385753,0.6837998894885935],[0.2604921156519442,0.7107395927947759]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_13","position":[0.6952241544483704,-2.403050331414046,0.71338606911949],"aabb_xy":[[0.6702241545158525,-2.409932999634969],[0.7202241543808883,-2.396167663193123]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_14","position":[0.38720597176487526,-0.4175881781011217,0.71338606911949],"aabb_xy":[[0.37210367030385705,-0.4326896997321834],[0.40230827322589324,-0.40248665647005977]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_15","position":[0.28191626421179117,-2.1672912461630736,0.71338606911949],"aabb_xy":[[0.24843709695075028,-2.200770359534181],[0.31539543147283217,-2.133812132791967]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_16","position":[0.47529240052855015,-1.5581622116797023,0.71338606911949],"aabb_xy":[[0.42029240090680436,-1.613145904467175],[0.530292400150296,-1.5031785188922295]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_17","position":[0.4211980167929461,1.6422696034939501,0.71338606911949],"aabb_xy":[[0.4141565658421985,1.6352428517561555],[0.4282394677436937,1.6492963552317443]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_18","position":[-0.1711781765255148,-1.3005419305763235,0.71338606911949],"aabb_xy":[[-0.18897168346043125,-1.3183416761721212],[-0.15338466959059838,-1.2827421849805258]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_19","position":[0.5502859364193846,-2.101120313403686,0.71338606911949],"aabb_xy":[[0.5224408996387775,-2.1319048121419977],[0.5781309731999917,-2.0703358146653743]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_20","position":[-0.4633018184900859,-1.7481205405776086,0.71338606911949],"aabb_xy":[[-0.46793693364231925,-1.7519878756547573],[-0.45866670333785253,-1.7442532055004598]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_21","position":[-0.07372322241321783,1.0551396999304594,0.71338606911949],"aabb_xy":[[-0.09082530037158598,1.0380328943991899],[-0.05662114445484967,1.0722465054617294]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_22","position":[-0.510774954507297,1.1135280633194928,0.71338606911949],"aabb_xy":[[-0.600774953101767,1.0972774770060718],[-0.4207749559128271,1.1297786496329139]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_23","position":[-0.028375734982173717,1.6048300696927087,0.71338606911949],"aabb_xy":[[-0.05129144786722363,1.5819257725562859],[-0.005460022097123815,1.6277343668291329]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_24","position":[-0.3988695728385895,-0.7736673762069193,0.71338606911949],"aabb_xy":[[-0.42245469630248433,-0.8386673784523511],[-0.37528444937469463,-0.7086673739614875]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_25","position":[0.36444939038848,-2.0236966021746943,0.71338606911949],"aabb_xy":[[0.30045369299338337,-2.0876966004754025],[0.42844508778357654,-1.9596966038739851]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_26","position":[0.19567055454559534,-0.6821493946826425,0.71338606911949],"aabb_xy":[[0.13167055743348963,-0.7311817644770531],[0.25967055165770103,-0.6331170248882318]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_27","position":[-0.21343955922215713,0.1317902440737515,0.71338606911949],"aabb_xy":[[-0.22068332526840242,0.05179024587014913],[-0.20619579317591177,0.21179024227735388]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_28","position":[0.4959019684184278,1.0852015176619751,0.71338606911949],"aabb_xy":[[0.43827149953115696,1.0252015187352643],[0.5535324373056987,1.1452015165886855]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_29","position":[-0.5725835114373506,-0.4369070434915683,0.71338606911949],"aabb_xy":[[-0.6226809754184243,-0.5009070440013801],[-0.522486047456277,-0.37290704298175653]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_30","position":[0.11774923602777787,-1.0011070473696762,0.71338606911949],"aabb_xy":[[0.06275698539226693,-1.0561070491129891],[0.1727414866632888,-0.9461070456263636]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_31","position":[-0.22590359123080106,1.2733603008292618,0.71338606911949],"aabb_xy":[[-0.27538401244475985,1.20936030291641],[-0.17642317001684227,1.3373602987421136]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_32","position":[0.4559110179176469,-0.17955527598219012,0.71338606911949],"aabb_xy":[[0.4009178065805102,-0.23455527632098377],[0.5109042292547836,-0.12455527564339655]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6707179076301751,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8714.png","name":"8714"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8714.png","name":"8714"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8183.png","name":"8183"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8827.png","name":"8827"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4111.png","name":"4111"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6901.png","name":"6901"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":522.0494134769355,"rotation_z_degrees":85.49826736646241,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.003993632613160592,-0.012725953631453298,0.0029594845695238257]},{"name":"camera_2","offset_m":[0.0041154541231380945,0.012333289335487042,-0.01647427860002936]},{"name":"camera_3","offset_m":[0.00907837651568568,0.007401008654487635,-0.005349461640324078]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0008099714826473588,9.052486011363204e-05,0.0008934747326571945],"end_effector_yaw_offset_degrees":0.539302514501208},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-3.516839118858101e-05,0.0005035919171352417,0.00037619582496917214],"end_effector_yaw_offset_degrees":0.7017490505819162},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001949341503279705,-0.0007158188514752185,0.0010877864296101967],"end_effector_yaw_offset_degrees":0.08707322272669216},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0011394104613005763,-0.0007539777444339256,-0.00041013114353866164],"end_effector_yaw_offset_degrees":0.7810206872828047}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0032909113125842385,0.00381043805178262],"position_m":[0.25550908868741573,0.16041043805178262,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0003097836026491286,0.0006809477559286022],"position_m":[0.21340978360264914,-0.3274190522440714,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.001114982744873383,-0.00489882717358773],"position_m":[0.26248501725512663,-0.13599882717358772,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004602343408039909,0.00019613262730662755],"position_m":[0.3251976565919601,0.3091961326273066,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"33b92f018c655256af587681ba2d07d1ea7cf48f4db310ca801058612a021a3d","episode_index":84,"episode_name":"episode_0084"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0084.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_8714/tex_ceiling_textures_6901/tex_floor_textures_4111/tex_table_textures_8183/tex_wall_textures_8827","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":1924931439846348045,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":1924931439846348045,"visual_seed":1924931439846348045,"scene_id":"lab_003","finished_at":"2026-09-05T23:13:04"} +{"episode_id":"ep_000070","started_at":"2026-09-05T23:13:09","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_0","position":[0.37937878781387746,1.0202363944799826,0.71338606911949],"aabb_xy":[[0.36614784227919617,1.007008975457983],[0.39260973334855875,1.0334638135019818]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_1","position":[-0.4830254093506269,-0.041349873610396326,0.71338606911949],"aabb_xy":[[-0.5055254091645291,-0.045824489980877015],[-0.46052540953672444,-0.03687525723991564]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_2","position":[0.3868424658054155,1.4047242914441544,0.71338606911949],"aabb_xy":[[0.3228467684103189,1.3407242931434455],[0.45083816320051207,1.468724289744863]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_3","position":[0.0038622987707017664,1.2179711372777162,0.71338606911949],"aabb_xy":[[-0.02113770050126051,1.2016257736815539],[0.028862298042664044,1.2343165008738786]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_4","position":[0.44382876624452416,1.7198435964599024,0.71338606911949],"aabb_xy":[[0.42872646478350596,1.70474207482884],[0.45893106770554215,1.7349451180909639]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_5","position":[-0.4505899284259128,0.8014642306092132,0.71338606911949],"aabb_xy":[[-0.4680206435049193,0.7841921159453623],[-0.43315921334690627,0.8187363452730639]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_6","position":[-0.4859542432557469,1.563506771078624,0.71338606911949],"aabb_xy":[[-0.5759542455897659,1.4860244164935115],[-0.39595424092172776,1.6409891256637368]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_7","position":[-0.5707686423532442,-1.8869557050795023,0.71338606911949],"aabb_xy":[[-0.6307686429492603,-1.9417681776247258],[-0.5107686417572279,-1.8321432325342788]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_8","position":[-0.09478213847524242,-1.5488482471961753,0.71338606911949],"aabb_xy":[[-0.10289579314861952,-1.5569540636502042],[-0.08666848380186531,-1.540742430742146]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_9","position":[-0.002076743056791286,1.477021991773682,0.71338606911949],"aabb_xy":[[-0.03256099318382144,1.427021991992186],[0.02840750707023887,1.527021991555178]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_10","position":[-0.26823205251908677,1.638920729819597,0.71338606911949],"aabb_xy":[[-0.3482320557769297,1.558924222027613],[-0.18823204926124382,1.7189172376115809]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_11","position":[-0.2476315517639574,-1.7633439348374547,0.71338606911949],"aabb_xy":[[-0.311631553171948,-1.8151328863613791],[-0.1836315503559667,-1.7115549833135297]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_12","position":[0.059833046535161416,-0.7371482592433924,0.71338606911949],"aabb_xy":[[0.009838213607219815,-0.787148258138636],[0.10982787946310302,-0.6871482603481489]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_13","position":[0.5684870284206229,-0.6936232027850906,0.71338606911949],"aabb_xy":[[0.5553357824493336,-0.7186232025417771],[0.5816382743919123,-0.6686232030284041]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_14","position":[-0.6278638280987263,-0.1749141987764964,0.71338606911949],"aabb_xy":[[-0.6928638281330289,-0.22161487545682368],[-0.5628638280644235,-0.1282135220961691]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_15","position":[0.1693627845659822,-1.1647929584423824,0.71338606911949],"aabb_xy":[[0.13373362866602245,-1.2004256251992353],[0.20499194046594194,-1.1291602916855294]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_16","position":[0.515088569339865,0.28384560225202904,0.71338606911949],"aabb_xy":[[0.5043155954184972,0.24884560403299005],[0.5258615432612328,0.318845600471068]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_17","position":[-0.3960572484328883,-0.7417513142927021,0.71338606911949],"aabb_xy":[[-0.48605724785125914,-0.7751268111368917],[-0.30605724901451736,-0.7083758174485123]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_18","position":[-0.010995416537098124,0.7926256220478267,0.71338606911949],"aabb_xy":[[-0.03350910836055532,0.7226256214468191],[0.01151827528635907,0.8626256226488341]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_19","position":[0.17139817235032095,0.7209295057607763,0.71338606911949],"aabb_xy":[[0.10639817134982044,0.6701431406061014],[0.23639817335082147,0.7717158709154512]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_20","position":[-0.4745563389165287,1.1592307936561204,0.71338606911949],"aabb_xy":[[-0.554556339989649,1.149452747318736],[-0.3945563378434084,1.1690088399935048]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_21","position":[0.18116917563514146,1.2787711912734716,0.71338606911949],"aabb_xy":[[0.1311691743513015,1.2287923368828493],[0.23116917691898142,1.3287500456640935]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_22","position":[0.18951541788637838,-1.3859804485538019,0.71338606911949],"aabb_xy":[[0.10451541946895515,-1.4708547440160868],[0.2745154163038016,-1.301106153091517]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_23","position":[-0.371509995444482,-1.5000949563982686,0.71338606911949],"aabb_xy":[[-0.38706576485474736,-1.5156453896426763],[-0.3559542260342168,-1.4845445231538617]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6695293554601603,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7683.png","name":"7683"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7683.png","name":"7683"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1423.png","name":"1423"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4315.png","name":"4315"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2282.png","name":"2282"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6455.png","name":"6455"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":820.1531561697713,"rotation_z_degrees":242.28727406477182,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005350909118543159,0.010765678528050295,-0.0007636165472315812]},{"name":"camera_2","offset_m":[0.007396561569886408,0.009577099551615575,0.004577465810121525]},{"name":"camera_3","offset_m":[0.011549830998137268,0.01388793979205202,-0.006090284513139381]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0017842977571136155,0.0017725300606366598,-0.001174627450496005],"end_effector_yaw_offset_degrees":-0.7133051774656807},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00016714551970796075,0.0018172947826190157,0.0012084009702660178],"end_effector_yaw_offset_degrees":-0.5025175372981867},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0016707374608724908,-1.1685193487913186e-05,-0.0006374813281056926],"end_effector_yaw_offset_degrees":-0.5275953581240511},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0007053512521331792,0.00024562319345222596,0.000483831023057693],"end_effector_yaw_offset_degrees":0.1427544893719317}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0009186768944718692,-0.0006727309078582112],"position_m":[0.25971867689447187,0.15592726909214177,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0034648281945122714,0.0024564005672695665],"position_m":[0.20963517180548774,-0.3256435994327304,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0007873936280582495,0.002482159926075104],"position_m":[0.26438739362805824,-0.12861784007392488,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004782652537356052,-0.002040880126148107],"position_m":[0.32501734746264394,0.3069591198738519,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"43e80cdfc246d6d3bdf38af1a7c5667932bb5a334ab7d1a745eea30dd7fb6331","episode_index":85,"episode_name":"episode_0085"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0085.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_7683/tex_ceiling_textures_6455/tex_floor_textures_2282/tex_table_textures_1423/tex_wall_textures_4315","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":5019326754940559319,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":5019326754940559319,"visual_seed":5019326754940559319,"scene_id":"lab_003","finished_at":"2026-09-05T23:16:42"} +{"episode_id":"ep_000071","started_at":"2026-09-05T23:16:47","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_0","position":[-0.16775412539243761,0.8218935391493245,0.71338606911949],"aabb_xy":[[-0.18330989480270288,0.8063431059049175],[-0.15219835598217235,0.8374439723937319]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_1","position":[0.2838559123247012,-1.3937517976710174,0.71338606911949],"aabb_xy":[[0.2488559124286823,-1.4021260331829573],[0.31885591222072,-1.3853775621590776]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_2","position":[-0.01774037166528908,1.2020011524446574,0.71338606911949],"aabb_xy":[[-0.07774037191669025,1.1477198274081926],[0.0422596285861121,1.2562824774811219]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_3","position":[-0.11379035110472069,-1.5670876402603016,0.71338606911949],"aabb_xy":[[-0.17879035374251417,-1.6185672389597485],[-0.0487903484669272,-1.5156080415608546]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_4","position":[-0.22663486691581752,0.6672740968790483,0.71338606911949],"aabb_xy":[[-0.2906348671897957,0.6172079966817603],[-0.16263486664183927,0.7173401970763362]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_5","position":[-0.143262441385258,1.5132515677942808,0.71338606911949],"aabb_xy":[[-0.15503062817991556,1.4282515678890595],[-0.13149425459060052,1.5982515676995028]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_6","position":[-0.2973048819217628,1.3653333063742399,0.71338606911949],"aabb_xy":[[-0.3773048805786488,1.350828447449977],[-0.2173048832648768,1.3798381652985028]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_7","position":[0.5366550691816085,-1.1358030528618857,0.71338606911949],"aabb_xy":[[0.5329518078524695,-1.1395050711706032],[0.5403583305107473,-1.1321010345531677]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_8","position":[-0.6411082848023425,0.4565668455209493,0.71338606911949],"aabb_xy":[[-0.6586865869912893,0.4389923559468443],[-0.6235299826133957,0.47414133509505413]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_9","position":[0.464786664615233,-0.7140124325665862,0.71338606911949],"aabb_xy":[[0.45988737230866944,-0.741689351869155],[0.46968595692179643,-0.6863355132640174]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_10","position":[0.46205063758685516,-2.526884443864488,0.71338606911949],"aabb_xy":[[0.39805063553712317,-2.566978926953796],[0.5260506396365872,-2.48678996077518]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_11","position":[0.26797271959019764,1.3953647288877806,0.71338606911949],"aabb_xy":[[0.22188762833546619,1.3313647316352255],[0.3140578108449291,1.4593647261403357]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_12","position":[0.4541918391580808,-0.03802620416010516,0.71338606911949],"aabb_xy":[[0.4371817418680301,-0.054160692658379084],[0.4712019364481314,-0.021891715661831235]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_13","position":[-0.5759028602223343,-1.5802814103426057,0.71338606911949],"aabb_xy":[[-0.6399028575079829,-1.6217881292954497],[-0.5119028629366856,-1.5387746913897618]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_14","position":[0.3756985156061856,-1.0829183471852708,0.71338606911949],"aabb_xy":[[0.35963658814766797,-1.1679183489978624],[0.39176044306470326,-0.9979183453726789]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_15","position":[0.1444085573170878,-1.8340829236291551,0.71338606911949],"aabb_xy":[[0.094928136103129,-1.898082921542007],[0.19388897853104659,-1.7700829257163033]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_16","position":[-0.17830062005285596,-0.9897369304174439,0.71338606911949],"aabb_xy":[[-0.20694995241327216,-1.0183824896945195],[-0.1496512876924397,-0.961091371140368]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_17","position":[-0.08664490902622368,0.3333124663535201,0.71338606911949],"aabb_xy":[[-0.09268192202688841,0.3272857652845719],[-0.08060789602555896,0.3393391674224683]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_18","position":[0.6229308873510522,1.6616454600426098,0.71338606911949],"aabb_xy":[[0.6104635292413166,1.6491801354092863],[0.6353982454607879,1.6741107846759333]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_19","position":[-0.6695937205659571,-0.8393032446579067,0.71338606911949],"aabb_xy":[[-0.6775170008047054,-0.8618032448959101],[-0.6616704403272088,-0.8168032444199034]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_20","position":[0.4839156816894885,1.655903144242926,0.71338606911949],"aabb_xy":[[0.4664156824114017,1.63856504417658],[0.5014156809675754,1.673241244309272]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_21","position":[0.3533775448171843,-1.547264609964562,0.71338606911949],"aabb_xy":[[0.3451629997015002,-1.5559412002622028],[0.3615920899328682,-1.5385880196669202]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_22","position":[-0.37641228060163623,1.7512911463262317,0.71338606911949],"aabb_xy":[[-0.43800303982562905,1.687291148217185],[-0.3148215213776434,1.8152911444352788]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_23","position":[-0.16586620461886992,0.08978706408999049,0.71338606911949],"aabb_xy":[[-0.19041242024162067,0.05953816754095343],[-0.14131998899611922,0.12003596063902755]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_24","position":[0.5710415330215586,0.1480359947670773,0.71338606911949],"aabb_xy":[[0.5070415357192121,0.10366956779922049],[0.6350415303239049,0.192402421734934]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_25","position":[-0.17070221520791962,0.9226874976327779,0.71338606911949],"aabb_xy":[[-0.20803349173316224,0.8880344428379258],[-0.133370938682677,0.9573405524276303]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_26","position":[0.3188510804186453,-2.2875161275291434,0.71338606911949],"aabb_xy":[[0.29556923822051395,-2.372516128826371],[0.34213292261677664,-2.202516126231915]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_27","position":[0.6297899927372124,-2.310744787942192,0.71338606911949],"aabb_xy":[[0.579807042549733,-2.3607447875847525],[0.6797729429246917,-2.2607447882996317]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_28","position":[-0.40544072694870664,-1.5609064240667054,0.71338606911949],"aabb_xy":[[-0.45541814381396023,-1.6109064255559538],[-0.35546331008345305,-1.5109064225774567]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_29","position":[0.45840079183002214,0.9455910692521687,0.71338606911949],"aabb_xy":[[0.3944007901520248,0.8970736777728544],[0.5224007935080195,0.9941084607314828]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_30","position":[0.5888997067474395,-1.3435011963370171,0.71338606911949],"aabb_xy":[[0.5248997075776696,-1.3902678834559794],[0.6528997059172095,-1.2967345092180544]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_31","position":[0.025563381261333395,1.0051031353726758,0.71338606911949],"aabb_xy":[[0.014201646608047236,0.9937346689663877],[0.036925115914619555,1.016471601778964]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6755746549185706,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8691.png","name":"8691"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8691.png","name":"8691"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4493.png","name":"4493"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6627.png","name":"6627"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8442.png","name":"8442"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8701.png","name":"8701"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":594.9405594411562,"rotation_z_degrees":41.600289186961284,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006473429298885508,0.014784882356124875,-0.006260576941979545]},{"name":"camera_2","offset_m":[-0.005957164151713212,-0.007255661618810043,-0.018845972856670536]},{"name":"camera_3","offset_m":[0.0030670456657795227,0.013388727311757293,-0.005835590837311453]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0014615669867330788,0.001850816314674683,0.0008933902023969451],"end_effector_yaw_offset_degrees":0.47530017177196515},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0004995964574339325,0.0006613668232086822,-0.0005466713721232778],"end_effector_yaw_offset_degrees":0.8385351157740728},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0018490500500566184,-0.00032017664219807394,-0.000992289502713923],"end_effector_yaw_offset_degrees":-0.00274068059353616},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0003858414337293767,-0.0008570572030175997,-0.001331220657669721],"end_effector_yaw_offset_degrees":0.42979203514895103}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0015507567910945557,-0.0036616958282585125],"position_m":[0.26035075679109454,0.15293830417174148,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.000921030418985426,-0.0009792095037545372],"position_m":[0.21402103041898543,-0.3290792095037545,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0033761625650318853,-0.0032211871612909527],"position_m":[0.26022383743496813,-0.13432118716129093,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0010855887605298112,-0.00023210870517768184],"position_m":[0.3308855887605298,0.3087678912948223,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"723f103c1e50c5916b89e9e49f5c89a27cb884b472b2acc578885167e7cd6d2b","episode_index":86,"episode_name":"episode_0086"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0086.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_8691/tex_ceiling_textures_8701/tex_floor_textures_8442/tex_table_textures_4493/tex_wall_textures_6627","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":2192340111224447814,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":2192340111224447814,"visual_seed":2192340111224447814,"scene_id":"lab_003","finished_at":"2026-09-05T23:20:26"} +{"episode_id":"ep_000072","started_at":"2026-09-05T23:20:30","dimensions":{"distractor":{"count":21,"items":[{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_0","position":[-0.04682521180824151,-1.743063967975334,0.71338606911949],"aabb_xy":[[-0.06932434753446848,-1.765563968753597],[-0.024326076082014543,-1.720563967197071]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_1","position":[-0.405882649314267,0.9643392347047635,0.71338606911949],"aabb_xy":[[-0.45989824559616693,0.9003392318125062],[-0.3518670530323669,1.0283392375970206]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_2","position":[-0.5216202957205243,-1.9169622969746074,0.71338606911949],"aabb_xy":[[-0.6016202978832866,-1.9969174806007512],[-0.44162029355776167,-1.837007113348464]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_3","position":[0.47644279856475324,1.4306137815158029,0.71338606911949],"aabb_xy":[[0.4264496864555614,1.380613780841607],[0.5264359106739451,1.4806137821899983]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_4","position":[-0.6637096469972584,-2.253987014778702,0.71338606911949],"aabb_xy":[[-0.6713339150874367,-2.2616202383152455],[-0.6560853789070802,-2.246353791242158]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_5","position":[-0.39199472945810393,-1.1179567463934068,0.71338606911949],"aabb_xy":[[-0.4046215167453003,-1.1275028200949797],[-0.3793679421709076,-1.108410672691834]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_6","position":[-0.6472994122817988,-2.4903600465109736,0.71338606911949],"aabb_xy":[[-0.6633613397403163,-2.575360048323565],[-0.631237484823281,-2.4053600446983814]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_7","position":[0.5932854441302113,-2.4219680734383227,0.71338606911949],"aabb_xy":[[0.53328544387881,-2.476249398474787],[0.6532854443816124,-2.3676867484018573]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_8","position":[-0.2440534273841462,1.5641748472941566,0.71338606911949],"aabb_xy":[[-0.32405342765775313,1.4912252994684398],[-0.16405342711053922,1.6371243951198733]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_9","position":[-0.6654753829531506,1.7153722788975219,0.71338606911949],"aabb_xy":[[-0.6773474659646517,1.6303722792038715],[-0.6536032999416495,1.8003722785911722]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_10","position":[-0.1655094407651676,-2.0972974549942944,0.71338606911949],"aabb_xy":[[-0.21550445172461968,-2.1472974540298866],[-0.11551442980571561,-2.047297455958703]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_11","position":[0.38990850207494776,-1.8152055397828946,0.71338606911949],"aabb_xy":[[0.3421023344611791,-1.8802055424899533],[0.43771466968871636,-1.7502055370758354]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_12","position":[-0.19661836393030963,0.7215216902213024,0.71338606911949],"aabb_xy":[[-0.2378671749602243,0.6665216907090848],[-0.15536955290039484,0.7765216897335198]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_13","position":[0.12718171550450175,-2.4118872656328985,0.71338606911949],"aabb_xy":[[0.12014140557096478,-2.49188726503257],[0.13422202543803877,-2.331887266233227]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_14","position":[0.010753545849763846,1.2344603140610104,0.71338606911949],"aabb_xy":[[-0.053246456062578496,1.178549164803],[0.07475354776210619,1.2903714633190209]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_15","position":[0.14455358756656755,-1.3158427998654971,0.71338606911949],"aabb_xy":[[0.08055359028091888,-1.357349518818341],[0.20855358485221617,-1.2743360809126532]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_16","position":[-0.3807613813010363,-1.4793750410766597,0.71338606911949],"aabb_xy":[[-0.4447613835214433,-1.523748125201948],[-0.31676137908062924,-1.4350019569513714]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_17","position":[-0.5240968847997047,1.6773296160173907,0.71338606911949],"aabb_xy":[[-0.5940968812096664,1.6568916803657086],[-0.4540968883897429,1.697767551669072]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_18","position":[-0.49958386789954307,1.1726522681697005,0.71338606911949],"aabb_xy":[[-0.5196422795127833,1.1525871812605428],[-0.4795254562863028,1.1927173550788577]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_19","position":[-0.0262119901190222,1.4719947513097948,0.71338606911949],"aabb_xy":[[-0.037052468345537104,1.4548084700191461],[-0.015371511892507295,1.4891810326004435]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_20","position":[-0.14896684332532673,-2.245226915601327,0.71338606911949],"aabb_xy":[[-0.18396684322134557,-2.2536011511132665],[-0.11396684342930784,-2.2368526800893864]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.670065613816155,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/386.png","name":"386"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/386.png","name":"386"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8547.png","name":"8547"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5795.png","name":"5795"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3578.png","name":"3578"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4356.png","name":"4356"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":725.6473410864498,"rotation_z_degrees":16.656363190142244,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012739136366579789,0.01939311454632137,-0.00936839446431756]},{"name":"camera_2","offset_m":[-0.011576662258478346,-0.01316193496785341,-0.003169327106905054]},{"name":"camera_3","offset_m":[-0.005759804822632169,-0.00760941113873383,-0.016851598379615963]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0010046462943382921,-6.247629599471106e-06,-0.0002253799589130585],"end_effector_yaw_offset_degrees":0.204400689681012},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0004734106772169432,-0.001607286930856758,-0.0011864219278919647],"end_effector_yaw_offset_degrees":0.8002299455229902},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008555191919410513,5.3754663484096264e-05,-0.001911126586214798],"end_effector_yaw_offset_degrees":-0.4336728977697517},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00010126166760107648,0.0005885365409848543,0.0005121352120999686],"end_effector_yaw_offset_degrees":0.6591863899162971}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004786311981556963,0.0020740874109625032],"position_m":[0.26358631198155696,0.1586740874109625,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0024861295906411685,-0.0034433964170570053],"position_m":[0.21061387040935883,-0.331543396417057,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004914479663629861,-0.0034878328334711594],"position_m":[0.26851447966362985,-0.13458783283347114,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004537047317190194,-0.00134771054125695],"position_m":[0.3252629526828098,0.30765228945874307,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"62e70ea1072adf90ee9cebf57209b0454820b413a9f90e78d67943fbf25216ff","episode_index":87,"episode_name":"episode_0087"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0087.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_386/tex_ceiling_textures_4356/tex_floor_textures_3578/tex_table_textures_8547/tex_wall_textures_5795","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":8942623015479561726,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":8942623015479561726,"visual_seed":8942623015479561726,"scene_id":"lab_003","finished_at":"2026-09-05T23:24:05"} +{"episode_id":"ep_000073","started_at":"2026-09-05T23:24:09","dimensions":{"distractor":{"count":23,"items":[{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_0","position":[-0.09124599327167682,-0.7069032477515143,0.71338606911949],"aabb_xy":[[-0.14624599289342266,-0.761886940538987],[-0.036245993649930974,-0.6519195549640415]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_1","position":[0.5539720504261196,-1.9202644749986897,0.71338606911949],"aabb_xy":[[0.5369619531360689,-1.9363989634969636],[0.5709821477161702,-1.9041299865004158]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_2","position":[0.5097183778807846,-1.5500641210877584,0.71338606911949],"aabb_xy":[[0.48342955356034384,-1.5763355547424094],[0.5360072022012251,-1.523792687433107]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_3","position":[0.1907105669263257,-0.9662295358144628,0.71338606911949],"aabb_xy":[[0.18367025699278874,-1.0462295352141342],[0.19775087685986276,-0.8862295364147915]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_4","position":[0.2807838372579414,0.546951736987122,0.71338606911949],"aabb_xy":[[0.26562096428100435,0.5317862796920033],[0.2959467102348785,0.5621171942822408]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_5","position":[-0.2478480478354675,-0.3244106338458206,0.71338606911949],"aabb_xy":[[-0.25318562350147206,-0.34941063477496037],[-0.24251047216946292,-0.2994106329166808]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_6","position":[-0.5621532784084458,-1.2256433819186376,0.71338606911949],"aabb_xy":[[-0.5753045243797351,-1.2506433816753244],[-0.5490020324371564,-1.2006433821619513]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_7","position":[-0.5774912693200616,-1.638638946201057,0.71338606911949],"aabb_xy":[[-0.5854852578977648,-1.6466390262961474],[-0.5694972807423581,-1.6306388661059668]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_8","position":[-0.1654328095333204,1.02775041714645,0.71338606911949],"aabb_xy":[[-0.20043280780344028,1.0206762894514618],[-0.13043281126320047,1.0348245448414382]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_9","position":[0.3553809703930484,-2.1167073670365735,0.71338606911949],"aabb_xy":[[0.30136537411114833,-2.1807073699288306],[0.40939656667494834,-2.0527073641443163]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_10","position":[-0.5536752523378052,0.09436619626796272,0.71338606911949],"aabb_xy":[[-0.5988465701859742,0.030366199123424302],[-0.5085039344896363,0.15836619341250113]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_11","position":[-0.5490584790622609,1.2256486429499835,0.71338606911949],"aabb_xy":[[-0.5551531069503792,1.217079248398315],[-0.5429638511741426,1.2342180375016525]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_12","position":[0.1822970360572601,-0.5413240604603393,0.71338606911949],"aabb_xy":[[0.1729500284749649,-0.5556276826779833],[0.19164404363955537,-0.5270204382426953]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_13","position":[0.0778431097256228,0.615186941263032,0.71338606911949],"aabb_xy":[[0.06980677502433796,0.6071488219586152],[0.08587944442690765,0.6232250605674488]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_14","position":[-0.21832635083305202,1.6796527387803857,0.71338606911949],"aabb_xy":[[-0.26051076499388276,1.6156527385031747],[-0.17614193667222128,1.743652739057597]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_15","position":[-0.2814048934036877,-1.892675746015951,0.71338606911949],"aabb_xy":[[-0.33140489298002246,-1.9426563249680568],[-0.23140489382735302,-1.842695167063845]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_16","position":[0.554715089978977,-1.801428810911681,0.71338606911949],"aabb_xy":[[0.548301276335792,-1.807838631159349],[0.5611289036221618,-1.7950189906640124]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_17","position":[0.6160744222330257,0.11883539315926672,0.71338606911949],"aabb_xy":[[0.5984961200440788,0.10126090358516183],[0.6336527244219725,0.13640988273337162]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_18","position":[-0.6697599096814404,-1.8787434576311768,0.71338606911949],"aabb_xy":[[-0.6875534166163568,-1.8965432032269745],[-0.651966402746524,-1.8609437120353791]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_19","position":[-0.11127028622024193,1.0927607032384588,0.71338606911949],"aabb_xy":[[-0.1487702874050347,1.088342480542398],[-0.07377028503544912,1.097178925934519]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_20","position":[-0.5117492141340773,-0.27598990315456406,0.71338606911949],"aabb_xy":[[-0.6017492138572512,-0.29906325568974385],[-0.4217492144109029,-0.2529165506193842]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_21","position":[0.6120586695326304,-1.478468981647203,0.71338606911949],"aabb_xy":[[0.6043554788585535,-1.486178352345941],[0.6197618602067074,-1.4707596109484649]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_22","position":[0.5246569582447707,-0.9467622546953018,0.71338606911949],"aabb_xy":[[0.5094847889631373,-0.9619311116235052],[0.539829127526404,-0.9315933977670985]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6693929568159595,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9900.png","name":"9900"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9900.png","name":"9900"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9409.png","name":"9409"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6736.png","name":"6736"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8888.png","name":"8888"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/326.png","name":"326"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":843.5063668214257,"rotation_z_degrees":250.26465872193086,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0020356415607500275,-0.010153571613656239,0.01874122108928723]},{"name":"camera_2","offset_m":[-0.003656111322082937,0.002196988132775274,-0.006937872434015646]},{"name":"camera_3","offset_m":[-0.011574166264839593,0.01084203937788017,0.01321563115308617]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0011547066310580328,0.0008614681009813888,0.0014159087131128565],"end_effector_yaw_offset_degrees":-0.8473988388419691},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00022635720005586245,-0.00021655127207389525,-0.0004938736002053639],"end_effector_yaw_offset_degrees":-0.6934195573168391},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0003020527837660611,-0.0010474962722365685,0.001793810110338551],"end_effector_yaw_offset_degrees":0.7702952637774085},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0018766352817673128,-0.00011449433694486017,0.00030879300651072807],"end_effector_yaw_offset_degrees":0.427116234709658}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004892860522150278,-0.002001465352012768],"position_m":[0.26369286052215024,0.15459853464798723,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0015382058863431794,0.0031506376525324157],"position_m":[0.2146382058863432,-0.3249493623474676,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0022383824761930448,-0.0018559199148832119],"position_m":[0.26136161752380693,-0.1329559199148832,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004663519678035166,-0.0025697670683374196],"position_m":[0.3251364803219648,0.3064302329316626,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8efa94fc97f4de04cc329e0b48d3cb298758f2a209059144247ab60f3f4a4ec1","episode_index":88,"episode_name":"episode_0088"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0088.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_9900/tex_ceiling_textures_326/tex_floor_textures_8888/tex_table_textures_9409/tex_wall_textures_6736","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":7956377465988399988,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":7956377465988399988,"visual_seed":7956377465988399988,"scene_id":"lab_003","finished_at":"2026-09-05T23:27:54"} +{"episode_id":"ep_000074","started_at":"2026-09-05T23:27:58","dimensions":{"distractor":{"count":24,"items":[{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_0","position":[-0.5003342939065,0.2883093675204269,0.71338606911949],"aabb_xy":[[-0.5180099244950982,0.2706291512410241],[-0.4826586633179016,0.3059895837998296]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_1","position":[-0.5242031356471081,-1.1709944315255274,0.71338606911949],"aabb_xy":[[-0.5322464955730632,-1.2559944326208938],[-0.5161597757211529,-1.085994430430161]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_2","position":[-0.35664733167321205,1.6588174924712997,0.71338606911949],"aabb_xy":[[-0.39414733285800474,1.654399269775239],[-0.31914733048841915,1.66323571516736]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_3","position":[0.6637419436839291,-1.5058516803471182,0.71338606911949],"aabb_xy":[[0.6588426513773655,-1.5335285996496868],[0.6686412359904925,-1.4781747610445493]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_4","position":[-0.6032911446312079,0.1422196614711253,0.71338606911949],"aabb_xy":[[-0.6672911460391986,0.09043070994720061],[-0.5392911432232173,0.19400861299505]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_5","position":[0.050046716283607684,-1.6770623286046042,0.71338606911949],"aabb_xy":[[0.03914094019604497,-1.7570623250034332],[0.0609524923711704,-1.5970623322057749]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_6","position":[0.11174664011759194,1.6406994422956616,0.71338606911949],"aabb_xy":[[0.04674664156051912,1.610946908881779],[0.17674663867466478,1.6704519757095442]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_7","position":[0.344026635380529,-2.1956874693262054,0.71338606911949],"aabb_xy":[[0.3081131309555393,-2.23160097754296],[0.3799401398055187,-2.1597739611094506]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_8","position":[0.587659645487532,0.7384206946289846,0.71338606911949],"aabb_xy":[[0.5820779738534031,0.7259206948112091],[0.5932413171216607,0.7509206944467601]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_9","position":[0.4823793150958633,-1.0435619982118198,0.71338606911949],"aabb_xy":[[0.445584681970957,-1.080467873308402],[0.5191739482207696,-1.0066561231152376]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_10","position":[-0.13329041764892025,0.9464122128760897,0.71338606911949],"aabb_xy":[[-0.1483927191099383,0.9313106912450276],[-0.1181881161879021,0.9615137345071513]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_11","position":[0.5287542923997797,1.0599966826995848,0.71338606911949],"aabb_xy":[[0.5062542925858772,1.0555220663291038],[0.5512542922136819,1.0644712990700653]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_12","position":[-0.5722270075873553,1.7713487308057032,0.71338606911949],"aabb_xy":[[-0.5794882551577627,1.7585617205421937],[-0.564965760016948,1.7841357410692127]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_13","position":[0.4624953452837077,1.2962227441929945,0.71338606911949],"aabb_xy":[[0.4124953439228205,1.2462448396175791],[0.512495346644595,1.3462006487684104]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_14","position":[0.4192067730563467,1.6627929926744938,0.71338606911949],"aabb_xy":[[0.3576160138323539,1.598792994565447],[0.48079753228033956,1.7267929907835409]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_15","position":[-0.17970072408277526,0.5426816627673849,0.71338606911949],"aabb_xy":[[-0.18383658041547546,0.5051816633230279],[-0.17556486775007507,0.5801816622117419]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_16","position":[-0.054293105052194646,-2.343866787342448,0.71338606911949],"aabb_xy":[[-0.1142931066951165,-2.3958669366343917],[0.005706896590727206,-2.2918666380505033]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_17","position":[0.22625237826517486,-1.619860015322617,0.71338606911949],"aabb_xy":[[0.18875237747317936,-1.6262278562808072],[0.26375237905717025,-1.6134921743644268]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_18","position":[-0.045437218417178515,0.23743274346947585,0.71338606911949],"aabb_xy":[[-0.05347355311846335,0.22939462416505907],[-0.03740088371589367,0.24547086277389263]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_19","position":[-0.2924018346202128,-0.665740852436433,0.71338606911949],"aabb_xy":[[-0.2977343492748258,-0.6710651806816686],[-0.2870693199655998,-0.6604165241911976]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_20","position":[-0.2871623890645297,1.1013512853747578,0.71338606911949],"aabb_xy":[[-0.3246623888815632,1.096713074063616],[-0.24966238924749606,1.1059894966858996]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_21","position":[0.0072697654427553715,1.0887791321597962,0.71338606911949],"aabb_xy":[[-0.030230234501011033,1.0804860421249596],[0.044769765386521776,1.0970722221946327]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_22","position":[0.12766123577462962,1.5207723197442973,0.71338606911949],"aabb_xy":[[0.11954758110125249,1.512666503290268],[0.1357748904480067,1.5288781361983261]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_23","position":[0.010828059650622501,-1.3482958065572734,0.71338606911949],"aabb_xy":[[-0.01546076466981816,-1.3745672402119244],[0.03711688397106316,-1.322024372902622]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6712882179242643,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9148.png","name":"9148"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9148.png","name":"9148"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2016.png","name":"2016"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9144.png","name":"9144"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5375.png","name":"5375"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6395.png","name":"6395"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":656.2927576194559,"rotation_z_degrees":42.29774473988332,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0072129880121791605,0.017809596079322438,-0.012104792566533625]},{"name":"camera_2","offset_m":[-0.002668630727601727,-0.013791673507942344,0.007555352265405883]},{"name":"camera_3","offset_m":[0.012125687498369609,-0.011951874954215609,0.011387287783616269]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0006988250257845704,0.0011076186594208728,-0.0003590502608076776],"end_effector_yaw_offset_degrees":0.9347610775583863},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00048358957768408024,0.0014047020145045654,-0.0008161091036834969],"end_effector_yaw_offset_degrees":-0.18180831719725887},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0015563134599230872,0.0018108266609104919,0.0013617137349097534],"end_effector_yaw_offset_degrees":-0.27519238442356486},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001449017469884597,0.0018021182182029584,-0.00018845067631329698],"end_effector_yaw_offset_degrees":0.19371298734858455}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004222678733767859,-0.0038614754613941794],"position_m":[0.2545773212662321,0.1527385245386058,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004618213579091323,-0.001551328344119606],"position_m":[0.2084817864209087,-0.3296513283441196,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002173959588408274,-0.001792175330659509],"position_m":[0.26577395958840827,-0.1328921753306595,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0043563278518494045,0.000959178031277287],"position_m":[0.32544367214815056,0.30995917803127726,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"685f2915e4f229c0c98640e7157c5c2a3f04f449d1ab08e752a527ecfeea697e","episode_index":89,"episode_name":"episode_0089"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0089.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_9148/tex_ceiling_textures_6395/tex_floor_textures_5375/tex_table_textures_2016/tex_wall_textures_9144","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":3215821222135916962,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":3215821222135916962,"visual_seed":3215821222135916962,"scene_id":"lab_003","finished_at":"2026-09-05T23:31:30"} +{"episode_id":"ep_000075","started_at":"2026-09-05T23:31:33","dimensions":{"distractor":{"count":26,"items":[{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_0","position":[-0.3481435054208846,0.9096644201176516,0.71338606911949],"aabb_xy":[[-0.3981209222861382,0.8596644186284029],[-0.29816608855563104,0.9596644216069]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_1","position":[0.6044724359403884,-1.620976680678329,0.71338606911949],"aabb_xy":[[0.5968481678502101,-1.628609904214873],[0.6120967040305666,-1.6133434571417855]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_2","position":[-0.02957670460576467,-1.96885230864754,0.71338606911949],"aabb_xy":[[-0.0645767045822605,-1.9783169246951569],[0.005423295370731159,-1.9593876925999236]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_3","position":[-0.07886492135550716,-0.8880689699649915,0.71338606911949],"aabb_xy":[[-0.09641161627162609,-0.9255689715292428],[-0.061318226439388224,-0.8505689684007403]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_4","position":[-0.43605766272491564,-0.914751657848321,0.71338606911949],"aabb_xy":[[-0.5160576641550427,-0.9942688128609305],[-0.3560576612947884,-0.8352345028357115]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_5","position":[0.38270945322931027,-1.0329654883467771,0.71338606911949],"aabb_xy":[[0.3187094515513129,-1.0814828798260914],[0.4467094549073076,-0.9844480968674629]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_6","position":[-0.07568237263211175,-1.0082550105337038,0.71338606911949],"aabb_xy":[[-0.08891331816679303,-1.021482429555703],[-0.06245142709743044,-0.9950275915117042]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_7","position":[0.268126347480123,1.6322006291416185,0.71338606911949],"aabb_xy":[[0.24312634820816068,1.615855265545456],[0.2931263467520852,1.6485459927377808]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_8","position":[-0.21429019417377465,-1.7010665402613294,0.71338606911949],"aabb_xy":[[-0.2480657533644676,-1.715105035474494],[-0.18051463498308165,-1.6870280450481643]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_9","position":[-0.251830591018686,1.630218925237418,0.71338606911949],"aabb_xy":[[-0.2747463039037359,1.6073146281009947],[-0.2289148781336361,1.6531232223738417]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_10","position":[0.5586794859701276,1.2502771215226716,0.71338606911949],"aabb_xy":[[0.5334586491102877,1.2250533706697846],[0.5839003228299671,1.275500872375558]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_11","position":[0.2982909716695832,-1.2671103815944131,0.71338606911949],"aabb_xy":[[0.28751799774821546,-1.3021103798134523],[0.309063945590951,-1.2321103833753744]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_12","position":[0.06355415260768582,1.4383399277993347,0.71338606911949],"aabb_xy":[[0.04839127963074874,1.423174470504216],[0.0787170255846229,1.4535053850944535]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_13","position":[0.41631419667854197,-1.585889756228551,0.71338606911949],"aabb_xy":[[0.4062324895999685,-1.6658897541206652],[0.42639590375711545,-1.505889758336436]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_14","position":[-0.49045790940827744,1.636391453578884,0.71338606911949],"aabb_xy":[[-0.5804579080027474,1.620140867265463],[-0.4004579108138075,1.652642039892305]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_15","position":[-0.34547142207407044,-0.27148466528461146,0.71338606911949],"aabb_xy":[[-0.36297142233340707,-0.2855762074733841],[-0.3279714218147338,-0.25739312309583884]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_16","position":[0.608760211930061,-1.3961536575374003,0.71338606911949],"aabb_xy":[[0.5958883084291209,-1.4761536579512364],[0.6216321154310012,-1.3161536571235641]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_17","position":[-0.3766433404430446,0.07069059008793133,0.71338606911949],"aabb_xy":[[-0.4316433386447894,0.030168623461493734],[-0.3216433422412997,0.1112125567143689]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_18","position":[0.1509040231371761,-2.027694276871843,0.71338606911949],"aabb_xy":[[0.10142360192321731,-2.091694274784695],[0.2003844443511349,-1.9636942789589913]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_19","position":[-0.08321324510391281,0.6255344233967097,0.71338606911949],"aabb_xy":[[-0.09091643577798986,0.6178250526979717],[-0.07551005442983577,0.6332437940954477]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_20","position":[0.19158764301945008,-2.3159592303992813,0.71338606911949],"aabb_xy":[[0.18434387697320476,-2.3959592286028837],[0.1988314090656954,-2.235959232195679]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_21","position":[0.6101403901385727,1.442735362641249,0.71338606911949],"aabb_xy":[[0.5640552988838412,1.3787353653886936],[0.6562254813933042,1.5067353598938038]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_22","position":[-0.3700836854165878,1.1476622064030741,0.71338606911949],"aabb_xy":[[-0.38787719235150425,1.1298624608072765],[-0.3522901784816714,1.1654619519988718]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_23","position":[-0.5121314845340017,1.2737608048000144,0.71338606911949],"aabb_xy":[[-0.5233765401046195,1.2625190070759191],[-0.5008864289633839,1.2850026025241097]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_24","position":[-0.5652495535472569,0.5403723057961107,0.71338606911949],"aabb_xy":[[-0.6502495522393317,0.5083864424012319],[-0.4802495548551824,0.5723581691909896]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_25","position":[0.5802474277455429,-0.26096685228726857,0.71338606911949],"aabb_xy":[[0.5620416040842954,-0.27199225286926026],[0.5984532514067907,-0.24994145170527698]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6780557476577089,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/895.png","name":"895"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/895.png","name":"895"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9687.png","name":"9687"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1388.png","name":"1388"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8831.png","name":"8831"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/444.png","name":"444"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":694.1930310789988,"rotation_z_degrees":6.286270814938568,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015398806535939735,0.0019913780158956097,0.012805359123639195]},{"name":"camera_2","offset_m":[0.0035594585078367186,-0.013621541945175024,-0.004694041185945146]},{"name":"camera_3","offset_m":[-0.009283328998766192,-0.01281955491518506,-0.013272583333783805]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0013997690970006863,0.0016532547848902824,0.0014083104945411661],"end_effector_yaw_offset_degrees":0.6180789249716816},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0013858762306891538,-0.0009301970869462011,0.0008680690227040096],"end_effector_yaw_offset_degrees":0.448228038340996},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00021880496888005405,0.0017299427561392826,0.0006786656114854098],"end_effector_yaw_offset_degrees":-0.36950073394878635},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-8.020539598629787e-05,-7.904645104722533e-05,-9.362535586797936e-05],"end_effector_yaw_offset_degrees":-0.8809598521265478}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0017554533230927363,0.00016450194281876322],"position_m":[0.2605554533230927,0.15676450194281874,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0031710116478815267,-0.004290114626451892],"position_m":[0.21627101164788154,-0.3323901146264519,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003675387703747232,-0.0042892878808408735],"position_m":[0.26727538770374726,-0.13538928788084087,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002185170222383434,0.0030471740727387097],"position_m":[0.33198517022238344,0.3120471740727387,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"cc3aadb12aef54f84fdad3633941d00535f86e1c76115cfdf7c734ed2073c2bf","episode_index":90,"episode_name":"episode_0090"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0090.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_895/tex_ceiling_textures_444/tex_floor_textures_8831/tex_table_textures_9687/tex_wall_textures_1388","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":706900387842394202,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":706900387842394202,"visual_seed":706900387842394202,"scene_id":"lab_003","finished_at":"2026-09-05T23:35:14"} +{"episode_id":"ep_000076","started_at":"2026-09-05T23:35:17","dimensions":{"distractor":{"count":35,"items":[{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_0","position":[-0.37383523231455407,1.0486067840476259,0.71338606911949],"aabb_xy":[[-0.4538352309714401,1.0341019251233632],[-0.29383523365766806,1.063111642971889]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_1","position":[0.14658628964327736,0.9265610732782532,0.71338606911949],"aabb_xy":[[0.13930397326661365,0.836561069668744],[0.15386860601994096,1.0165610768877618]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_2","position":[-0.559790328131001,-2.4741514316192017,0.71338606911949],"aabb_xy":[[-0.639790325145249,-2.4942859832926128],[-0.47979033111675307,-2.4540168799457898]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_3","position":[0.613201536966774,-0.19272103701306875,0.71338606911949],"aabb_xy":[[0.5955687013732464,-0.2103439830286917],[0.6308343725603015,-0.17509809099744575]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_4","position":[-0.10084540833259836,-2.4495423894085984,0.71338606911949],"aabb_xy":[[-0.10734704484060299,-2.459310211434908],[-0.09434377182459376,-2.4397745673822886]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_5","position":[0.41097583404081384,-2.1161255197419226,0.71338606911949],"aabb_xy":[[0.3209758317067947,-2.1936078743270353],[0.5009758363748329,-2.03864316515681]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_6","position":[0.20052844597877628,-1.442564266705314,0.71338606911949],"aabb_xy":[[0.19260516574002798,-1.4650642669433174],[0.20845172621752464,-1.4200642664673107]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_7","position":[-0.6254484246232406,0.052699643193812484,0.71338606911949],"aabb_xy":[[-0.6754432575511823,0.0026996442985689484],[-0.5754535916952991,0.10269964208905602]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_8","position":[0.6413269930038559,-1.075735627875939,0.71338606911949],"aabb_xy":[[0.61681336890685,-1.1000002211779756],[0.6658406171008617,-1.0514710345739027]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_9","position":[0.09013275755337335,1.7739842224457099,0.71338606911949],"aabb_xy":[[0.040250060675677164,1.7239842231994351],[0.14001545443106958,1.8239842216919846]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_10","position":[-0.47435382260098524,0.07537743452621637,0.71338606911949],"aabb_xy":[[-0.4784896789336855,0.03787743508185938],[-0.4702179662682851,0.11287743397057338]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_11","position":[-0.17226583547437246,-1.438787599445786,0.71338606911949],"aabb_xy":[[-0.19476583598641306,-1.4612794578111838],[-0.14976583496233187,-1.4162957410803871]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_12","position":[0.3608903085438646,1.1226422706836674,0.71338606911949],"aabb_xy":[[0.32497680411887486,1.0867287624669129],[0.39680381296885425,1.158555778900422]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_13","position":[-0.22223874414751504,-1.082964327170196,0.71338606911949],"aabb_xy":[[-0.28623874736615296,-1.1296874390692044],[-0.15823874092887721,-1.0362412152711877]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_14","position":[0.2654050439037433,-1.105218270755162,0.71338606911949],"aabb_xy":[[0.22790504323916458,-1.120905328755384],[0.30290504456832196,-1.0895312127549397]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_15","position":[0.3583313646029678,-2.36596561897545,0.71338606911949],"aabb_xy":[[0.3358665946315626,-2.3884656198543106],[0.38079613457437284,-2.3434656180965896]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_16","position":[-0.009073535107620323,1.3873577766236918,0.71338606911949],"aabb_xy":[[-0.07306923250271691,1.323357778322983],[0.05492216228747626,1.4513577749244004]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_17","position":[0.016118466147763022,-0.9402876046481172,0.71338606911949],"aabb_xy":[[-0.013849090762062644,-0.9702876049460029],[0.04608602305758869,-0.9102876043502314]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_18","position":[0.42707938299628156,-1.433641188048825,0.71338606911949],"aabb_xy":[[0.36307938077587454,-1.478014272174113],[0.4910793852166886,-1.3892681039235364]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_19","position":[-0.6033068185589112,-0.9424548584728394,0.71338606911949],"aabb_xy":[[-0.6408068189071389,-0.9542462540539229],[-0.5658068182106833,-0.9306634628917558]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_20","position":[0.5859792404198234,-0.9156364315595131,0.71338606911949],"aabb_xy":[[0.49597924182535347,-0.9318870178729343],[0.6759792390142934,-0.8993858452460922]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_21","position":[-0.3481289187339243,0.5366975273993457,0.71338606911949],"aabb_xy":[[-0.39812891817411994,0.4867296029150293],[-0.2981289192937287,0.5866654518836619]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_22","position":[-0.10764695805966396,1.7278575898922477,0.71338606911949],"aabb_xy":[[-0.17164695536201036,1.6834911629243907],[-0.043646960757317554,1.7722240168601042]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_23","position":[0.6807441127643821,-2.0851896611462446,0.71338606911949],"aabb_xy":[[0.6606857011511419,-2.105254748055402],[0.7008025243776225,-2.065124574237087]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_24","position":[-0.428534301921427,-0.5910265719941239,0.71338606911949],"aabb_xy":[[-0.4746193931761584,-0.6550265692466789],[-0.38244921066669546,-0.5270265747415687]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_25","position":[0.6498140395544931,-2.321587843435214,0.71338606911949],"aabb_xy":[[0.6154977623798752,-2.3715878434083923],[0.6841303167291111,-2.271587843462037]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_26","position":[-0.3837718810338953,-0.9623033769063742,0.71338606911949],"aabb_xy":[[-0.404056183757294,-0.9825860020490829],[-0.3634875783104965,-0.9420207517636652]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_27","position":[-0.6787084122182288,0.9163800025446491,0.71338606911949],"aabb_xy":[[-0.6905804952297299,0.8313800028509986],[-0.6668363292067276,1.0013800022382993]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_28","position":[0.5441523270976039,-0.11554224221745502,0.71338606911949],"aabb_xy":[[0.5402384539021814,-0.12429125762401178],[0.5480662002930263,-0.10679322681089826]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_29","position":[0.5411598887370987,0.2940318278480456,0.71338606911949],"aabb_xy":[[0.5279289432024175,0.2808044088260461],[0.55439083427178,0.30725924687004497]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_30","position":[0.2863265144012831,-0.9217969926616838,0.71338606911949],"aabb_xy":[[0.2223265123515511,-0.9618914757509917],[0.3503265164510151,-0.8817025095723757]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_31","position":[-0.043556107107242115,-0.6726052540787164,0.71338606911949],"aabb_xy":[[-0.055125087854178696,-0.6976052541956481],[-0.03198712636030555,-0.6476052539617847]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_32","position":[-0.5273308387639828,-1.7998433229410542,0.71338606911949],"aabb_xy":[[-0.5432153320293079,-1.8141962632398783],[-0.5114463454986576,-1.7854903826422301]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_33","position":[-0.6502544118032376,0.625647806984098,0.71338606911949],"aabb_xy":[[-0.6543325697102873,0.6215668267358347],[-0.6461762538961879,0.6297287872323614]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_34","position":[0.5037831927842547,-1.2636029558182043,0.71338606911949],"aabb_xy":[[0.45378319413833346,-1.3135224994776669],[0.5537831914301758,-1.213683412158742]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6707045873633724,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3033.png","name":"3033"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3033.png","name":"3033"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2957.png","name":"2957"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/915.png","name":"915"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2156.png","name":"2156"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9995.png","name":"9995"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":549.3129920102903,"rotation_z_degrees":161.3292861317963,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0041902842349037205,-0.013410822739548776,0.016722841162458157]},{"name":"camera_2","offset_m":[0.0014156652052616098,0.004203499436503364,-0.019227482653818923]},{"name":"camera_3","offset_m":[-0.01213411532366239,-0.011195121646080147,-0.005085603803751129]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0014880440905564673,-0.0003285667316445626,-0.00036796115553813465],"end_effector_yaw_offset_degrees":0.027831472044035355},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0007520871723994136,0.0007431716737918426,-0.0013800059114302782],"end_effector_yaw_offset_degrees":-0.27305271313480217},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.000700649194821581,-0.0013932475789366263,-0.0012653063684708958],"end_effector_yaw_offset_degrees":-0.3126205176810639},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0013925998228265942,0.0019259101623026516,0.0019729443493921263],"end_effector_yaw_offset_degrees":-0.4904515562485152}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0007557897976168491,0.0006786848926179012],"position_m":[0.2580442102023831,0.1572786848926179,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0015106727550745257,-0.0011233667472541832],"position_m":[0.21461067275507453,-0.32922336674725416,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.00018639452639299895,-0.0025989280769549527],"position_m":[0.263786394526393,-0.13369892807695494,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0036338367962996487,-0.001704480070222373],"position_m":[0.32616616320370034,0.3072955199297776,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ec767d0b7ec5086456615f13067ac8d819a0b03dba790d049ae31ce5f20a06f8","episode_index":91,"episode_name":"episode_0091"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0091.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_3033/tex_ceiling_textures_9995/tex_floor_textures_2156/tex_table_textures_2957/tex_wall_textures_915","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":5287085984909579706,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":5287085984909579706,"visual_seed":5287085984909579706,"scene_id":"lab_003","finished_at":"2026-09-05T23:39:00"} +{"episode_id":"ep_000077","started_at":"2026-09-05T23:43:10","dimensions":{"distractor":{"count":35,"items":[{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_0","position":[0.5657452322916159,-1.4901243763195307,0.71338606911949],"aabb_xy":[[0.4857452351320406,-1.5016719772773477],[0.6457452294511912,-1.4785767753617136]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_1","position":[-0.46422282111386787,0.9536651826650169,0.71338606911949],"aabb_xy":[[-0.5479450466139504,0.8636651791303209],[-0.3805005956137854,1.0436651861997128]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_2","position":[-0.6225808454554643,-2.466214579644582,0.71338606911949],"aabb_xy":[[-0.6512301778158804,-2.494860138921658],[-0.593931513095048,-2.4375690203675062]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_3","position":[-0.349248578332632,-0.6848470675992615,0.71338606911949],"aabb_xy":[[-0.39913127521032826,-0.7348470668455364],[-0.2993658814549358,-0.6348470683529869]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_4","position":[-0.14185029732591103,1.209064612711865,0.71338606911949],"aabb_xy":[[-0.16813912164635167,1.1827931790572137],[-0.11556147300547036,1.2353360463665162]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_5","position":[0.10984044252229186,0.6830517981287141,0.71338606911949],"aabb_xy":[[0.07537796450920409,0.6763881209457911],[0.14430292053537963,0.6897154753116368]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_6","position":[0.6062463990463103,1.8071840499669798,0.71338606911949],"aabb_xy":[[0.5833306861612605,1.7842797528305565],[0.6291621119313603,1.8300883471034035]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_7","position":[0.23924856460825683,-0.8761648027299469,0.71338606911949],"aabb_xy":[[0.19144239699448815,-0.9411648054370058],[0.2870547322220255,-0.8111648000228878]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_8","position":[0.1897176379773734,-1.065971047913153,0.71338606911949],"aabb_xy":[[0.13474391594104054,-1.1209710474773864],[0.2446913600137063,-1.01097104834892]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_9","position":[-0.08532043955499491,-2.46334883238342,0.71338606911949],"aabb_xy":[[-0.14932044096298555,-2.5151377839073445],[-0.021320438147004236,-2.411559880859495]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_10","position":[0.18239138387567233,1.4190673036598125,0.71338606911949],"aabb_xy":[[0.17155090564915743,1.4018810223691636],[0.19323186210218724,1.436253584950461]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_11","position":[0.47970438744109045,1.3307093903154534,0.71338606911949],"aabb_xy":[[0.45981334756075026,1.3180535790307568],[0.49959542732143075,1.3433652016001505]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_12","position":[-0.29752687502782366,0.6293921579592516,0.71338606911949],"aabb_xy":[[-0.3525268742044131,0.5744024831842939],[-0.2425268758512341,0.6843818327342092]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_13","position":[-0.03833679493157316,-0.9545118975903608,0.71338606911949],"aabb_xy":[[-0.08442188618630463,-1.018511894842916],[0.00774829632315832,-0.8905119003378058]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_14","position":[0.050816450407743075,-1.1764613593146664,0.71338606911949],"aabb_xy":[[0.038349092298007426,-1.1889266839479902],[0.06328380851747872,-1.1639960346813432]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_15","position":[0.04133865103360346,1.5042812729411517,0.71338606911949],"aabb_xy":[[0.02527672357508581,1.4192812711285598],[0.057400578492121095,1.5892812747537435]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_16","position":[-0.1040620202755359,0.9013322237643719,0.71338606911949],"aabb_xy":[[-0.18406201767912933,0.8213396525661891],[-0.02406202287194249,0.9813247949625548]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_17","position":[-0.08698344740146058,0.2635307199868149,0.71338606911949],"aabb_xy":[[-0.1719834458188838,0.1786564245245299],[-0.0019834489840373504,0.34840501544909985]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_18","position":[0.3561578266048624,1.4707793905055397,0.71338606911949],"aabb_xy":[[0.30618040973960875,1.420779389016291],[0.4061352434701159,1.520779391994788]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_19","position":[0.6690823364495526,0.7076890303074563,0.71338606911949],"aabb_xy":[[0.6649464801168524,0.6701890308630994],[0.6732181927822528,0.7451890297518134]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_20","position":[-0.5020416321926434,0.1759577443949203,0.71338606911949],"aabb_xy":[[-0.5570416318143893,0.12097405160744756],[-0.4470416325708976,0.23094143718239302]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_21","position":[-0.481674968104309,-0.8544287901484895,0.71338606911949],"aabb_xy":[[-0.53666721873982,-0.9094287918918023],[-0.4266827174687981,-0.7994287884051767]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_22","position":[0.2591221869647796,-1.175818952277262,0.71338606911949],"aabb_xy":[[0.24787713139416173,-1.1870607500013572],[0.2703672425353974,-1.1645771545531667]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_23","position":[-0.20301484324071045,-1.4802273981851433,0.71338606911949],"aabb_xy":[[-0.2085965148748392,-1.4927273980029188],[-0.1974331716065817,-1.4677273983673678]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_24","position":[0.1839541864873392,-2.181082424318231,0.71338606911949],"aabb_xy":[[0.14645418631546722,-2.213783159701138],[0.2214541866592111,-2.1483816889353236]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_25","position":[-0.5796885544773589,-2.0981469903475345,0.71338606911949],"aabb_xy":[[-0.5923153417645552,-2.1076930640491076],[-0.5670617671901625,-2.0886009166459614]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_26","position":[-0.10754553805022793,-2.2593988882767113,0.71338606911949],"aabb_xy":[[-0.17154553875369727,-2.3054172707496323],[-0.04354553734675858,-2.2133805058037903]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_27","position":[-0.23192598510560097,-2.0874533387413168,0.71338606911949],"aabb_xy":[[-0.25977102188620815,-2.118237837479629],[-0.20408094832499388,-2.0566688400030055]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_28","position":[0.46726393317159864,-2.2457403799146975,0.71338606911949],"aabb_xy":[[0.41213872754200787,-2.3057403813559847],[0.5223891388011894,-2.1857403784734104]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_29","position":[-0.6149793889666205,-1.4054033225445663,0.71338606911949],"aabb_xy":[[-0.6499793880965761,-1.4111485436202305],[-0.5799793898366647,-1.3996581014689022]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_30","position":[0.014259986011915804,-1.8321782172727752,0.71338606911949],"aabb_xy":[[-0.05574001737964617,-1.867493990976206],[0.08425998940347777,-1.7968624435693443]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_31","position":[0.5573147842312165,0.6610086194153881,0.71338606911949],"aabb_xy":[[0.5073147829473764,0.611029765024766],[0.6073147855150564,0.7109874738060102]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_32","position":[0.10295677180483498,-1.7189481380146536,0.71338606911949],"aabb_xy":[[0.09503349156608665,-1.741448138252657],[0.11088005204358331,-1.6964481377766503]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_33","position":[0.6881226914207144,0.24899756635252013,0.71338606911949],"aabb_xy":[[0.6777111327402305,0.2436518330166216],[0.698534250101198,0.25434329968841857]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_34","position":[0.272148539227536,-2.08048518515822,0.71338606911949],"aabb_xy":[[0.23464853928376966,-2.0887782751930564],[0.3096485391713025,-2.072192095123383]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6787533432001924,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2578.png","name":"2578"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2578.png","name":"2578"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2675.png","name":"2675"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4118.png","name":"4118"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8716.png","name":"8716"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6541.png","name":"6541"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":505.63987922202756,"rotation_z_degrees":53.64504212813766,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006111197574132086,-0.01993547202978563,-0.00252356491863754]},{"name":"camera_2","offset_m":[-0.016788257075480945,-0.019772682692603922,-0.01220847368923001]},{"name":"camera_3","offset_m":[0.015319136160960357,-0.006193629923499944,0.00099347277031029]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0007513600012626557,-1.5799277310069373e-05,0.0013322882880545226],"end_effector_yaw_offset_degrees":0.8528416555455347},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.001864897677348874,0.0016276220722596475,-0.0008310322157068387],"end_effector_yaw_offset_degrees":0.6566708081974637},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0003461382167427381,-5.192702613784493e-05,0.001874711521740899],"end_effector_yaw_offset_degrees":0.4053878616159998},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-4.538038324005799e-05,0.00010473537303418937,-0.0011838692373381265],"end_effector_yaw_offset_degrees":0.7454754837139772}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.002198672814279677,-0.004586661870687029],"position_m":[0.26099867281427963,0.15201333812931295,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004552140647480854,-0.0028215637096073065],"position_m":[0.21765214064748087,-0.3309215637096073,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0032524917606148824,-0.002869778539420339],"position_m":[0.2668524917606149,-0.13396977853942033,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00466943574901198,-0.00025611069981915525],"position_m":[0.33446943574901195,0.3087438893001808,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"78bdac6ffe4c27ae47497aceb43b0aa29f75cdc5dfe03a58c0e57d20529db1fd","episode_index":93,"episode_name":"episode_0093"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0093.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_2578/tex_ceiling_textures_6541/tex_floor_textures_8716/tex_table_textures_2675/tex_wall_textures_4118","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":2785123818954534598,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":2785123818954534598,"visual_seed":2785123818954534598,"scene_id":"lab_003","finished_at":"2026-09-05T23:46:50"} +{"episode_id":"ep_000078","started_at":"2026-09-05T23:46:54","dimensions":{"distractor":{"count":32,"items":[{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_0","position":[0.4394799787888337,-1.2576399801366758,0.71338606911949],"aabb_xy":[[0.4169799782767931,-1.280131838502074],[0.4619799793008743,-1.2351481217712772]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_1","position":[0.0731331841984364,1.0201237457922563,0.71338606911949],"aabb_xy":[[0.06305147711986292,0.9401237479001416],[0.08321489127700987,1.100123743684371]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_2","position":[-0.6109134029627938,-1.6225159745807147,0.71338606911949],"aabb_xy":[[-0.6408809598726194,-1.6525159748786007],[-0.5809458460529681,-1.5925159742828292]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_3","position":[0.3609928138098626,-0.30276480702087794,0.71338606911949],"aabb_xy":[[0.353951362859115,-0.3097915587586725],[0.3680342647606102,-0.2957380552830834]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_4","position":[-0.05547083866455482,0.9156137460208655,0.71338606911949],"aabb_xy":[[-0.07797083890807022,0.9034091113610935],[-0.03297083842103943,0.9278183806806374]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_5","position":[-0.05949087881248172,-2.3341937814395908,0.71338606911949],"aabb_xy":[[-0.14949088114650078,-2.4116761360247034],[0.03050912352153734,-2.256711426854478]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_6","position":[0.49467883410081126,-1.3722620371856684,0.71338606911949],"aabb_xy":[[0.46419458397378105,-1.4222620369671644],[0.5251630842278414,-1.3222620374041725]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_7","position":[-0.6611265296490897,1.3586079476014028,0.71338606911949],"aabb_xy":[[-0.671279545203239,1.3225384060286622],[-0.6509735140949402,1.394677489174143]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_8","position":[-0.17701642980877552,-0.25685575793231674,0.71338606911949],"aabb_xy":[[-0.23464689869604632,-0.3168557568590272],[-0.11938596092150464,-0.19685575900560603]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_9","position":[-0.19005700073650367,0.9150078647742692,0.71338606911949],"aabb_xy":[[-0.2052198737134408,0.8998424074791506],[-0.17489412775956661,0.9301733220693881]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_10","position":[0.19665615326077301,0.8049560239747464,0.71338606911949],"aabb_xy":[[0.1716561537090345,0.7948135401096115],[0.22165615281251147,0.8150985078398809]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_11","position":[0.6730936113952604,-0.6318424920912711,0.71338606911949],"aabb_xy":[[0.6386312639971183,-0.6663363744890937],[0.7075559587934019,-0.5973486096934483]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_12","position":[-0.46183297212296964,-0.3147660044140541,0.71338606911949],"aabb_xy":[[-0.5418267957015279,-0.3947660070068957],[-0.3818391485444115,-0.23476600182121254]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_13","position":[0.175959499679327,-0.7251353176369586,0.71338606911949],"aabb_xy":[[0.08595950317845523,-0.7710469600554167],[0.2659594961801987,-0.6792236752185002]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_14","position":[0.3095421310809099,-1.2100923072908059,0.71338606911949],"aabb_xy":[[0.28704570964704584,-1.2325923070975533],[0.33203855251477404,-1.1875923074840584]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_15","position":[0.2452086628158806,-1.4609570587852063,0.71338606911949],"aabb_xy":[[0.20770866264400867,-1.4936577941681135],[0.28270866298775255,-1.4282563234022991]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_16","position":[-0.16918679759034483,-0.7092078267732307,0.71338606911949],"aabb_xy":[[-0.17646911396700846,-0.7992078303827396],[-0.16190448121368115,-0.6192078231637216]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_17","position":[0.4080180945907259,1.4431284709137944,0.71338606911949],"aabb_xy":[[0.35302261677006647,1.3881284694798872],[0.46301357241138524,1.498128472347701]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_18","position":[-0.4323289660816698,-1.9832619909952842,0.71338606911949],"aabb_xy":[[-0.46982896687366515,-1.9896298319534744],[-0.39482896528967426,-1.976894150037094]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_19","position":[0.28784341318844286,-1.6214250618220745,0.71338606911949],"aabb_xy":[[0.22384341590279427,-1.6629317807749184],[0.35184341047409157,-1.5799183428692305]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_20","position":[0.6629540064602457,-2.396201265602247,0.71338606911949],"aabb_xy":[[0.6029540059523928,-2.453047999288168],[0.7229540069680986,-2.339354531916325]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_21","position":[-0.372985667841137,-1.1391236391315158,0.71338606911949],"aabb_xy":[[-0.4228024473059718,-1.1891236376158192],[-0.32316888837630225,-1.0891236406472125]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_22","position":[-0.5665123022778269,-0.6922036325219276,0.71338606911949],"aabb_xy":[[-0.5729261159210117,-0.698613452769596],[-0.5600984886346418,-0.6857938122742593]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_23","position":[-0.4660924624155496,-0.5418473597882634,0.71338606911949],"aabb_xy":[[-0.5460924656795627,-0.5554073920971767],[-0.3860924591515364,-0.52828732747935]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_24","position":[0.38574996615250123,0.7198383765220853,0.71338606911949],"aabb_xy":[[0.34356555199167055,0.6558383762448741],[0.42793438031333203,0.7838383767992965]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_25","position":[-0.23089584542700953,-2.0865948866593165,0.71338606911949],"aabb_xy":[[-0.26521212260162746,-2.136594886632494],[-0.1965795682523916,-2.0365948866861388]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_26","position":[0.0714406329162105,-1.810298124279616,0.71338606911949],"aabb_xy":[[0.007440633622042295,-1.87428426464847],[0.13544063221037872,-1.7463119839107617]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_27","position":[0.3288397011696478,-1.8061567867744373,0.71338606911949],"aabb_xy":[[0.26483970089566955,-1.8562228869717252],[0.392839701443626,-1.7560906865771493]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_28","position":[0.41663029268004426,1.686016568626314,0.71338606911949],"aabb_xy":[[0.366630294034123,1.6360970249668514],[0.4666302913259654,1.7359361122857762]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_29","position":[-0.5986485370930797,-0.5263178873849386,0.71338606911949],"aabb_xy":[[-0.6023517984222184,-0.5300199056936563],[-0.5949452757639406,-0.5226158690762206]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_30","position":[-0.17781975012632734,-1.1783879596017968,0.71338606911949],"aabb_xy":[[-0.21281975010282314,-1.1878525756494136],[-0.14281975014983148,-1.1689233435541804]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_31","position":[0.549899545674994,-2.252963454907361,0.71338606911949],"aabb_xy":[[0.542196355000917,-2.2606728256060986],[0.557602736349071,-2.2452540842086224]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6752907649829462,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4709.png","name":"4709"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4709.png","name":"4709"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/619.png","name":"619"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2213.png","name":"2213"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3566.png","name":"3566"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4666.png","name":"4666"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":742.1057246294662,"rotation_z_degrees":275.1852721420505,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0011911649551827122,0.016459157140857838,0.0016631871805222603]},{"name":"camera_2","offset_m":[-0.005207769782398142,-0.013618853058939933,0.0044472558427799055]},{"name":"camera_3","offset_m":[-0.0016304136552333856,-0.017573619495537676,0.0026726791032678048]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00029460682206776693,-0.0004265489689670053,-0.0017619217035496698],"end_effector_yaw_offset_degrees":-0.07679251588416935},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0006905572174955305,-0.0002784176964340443,-0.0012836798080708967],"end_effector_yaw_offset_degrees":0.37822465115981996},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008525479117816163,0.0001233025302963455,0.0011427823254013315],"end_effector_yaw_offset_degrees":0.21814615629920486},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0009731627869359976,-0.00048315090519681736,-0.0015894207431929428],"end_effector_yaw_offset_degrees":0.5685049973017813}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0012428236499489576,0.00135811854489838],"position_m":[0.25755717635005104,0.15795811854489836,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0024165298773301236,-0.0018066238843375683],"position_m":[0.21068347012266989,-0.32990662388433756,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0007471727583710855,0.0030862490894408333],"position_m":[0.2643471727583711,-0.12801375091055917,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0005194974682836227,0.0022562990485839518],"position_m":[0.32928050253171637,0.31125629904858393,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"dbb70a40bc79d4b02ea101f41f5be167bc76f0d5fdc2154dbad217c7bcf76fad","episode_index":94,"episode_name":"episode_0094"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0094.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_4709/tex_ceiling_textures_4666/tex_floor_textures_3566/tex_table_textures_619/tex_wall_textures_2213","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":4094243586670255698,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":4094243586670255698,"visual_seed":4094243586670255698,"scene_id":"lab_003","finished_at":"2026-09-05T23:50:30"} +{"episode_id":"ep_000079","started_at":"2026-09-05T23:50:33","dimensions":{"distractor":{"count":29,"items":[{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_0","position":[-0.5637899115141529,-2.2823869100922995,0.71338606911949],"aabb_xy":[[-0.6189151171437436,-2.3423869115335862],[-0.508664705884562,-2.222386908651012]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_1","position":[0.26150344907652334,-1.768068758286765,0.71338606911949],"aabb_xy":[[0.23650344952478486,-1.7782112421518994],[0.2865034486282618,-1.75792627442163]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_2","position":[-0.0859493845297854,-0.10669250962189425,0.71338606911949],"aabb_xy":[[-0.13594938589067262,-0.15667041419730984],[-0.03594938316889818,-0.05671460504647862]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_3","position":[-0.0335879839883082,-1.9602183843795584,0.71338606911949],"aabb_xy":[[-0.12358798766522636,-2.021650790956663],[0.05641201968860997,-1.898785977802454]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_4","position":[-0.6261949685188533,-0.47818955349823744,0.71338606911949],"aabb_xy":[[-0.6336074240602417,-0.48404076391986534],[-0.6187825129774648,-0.47233834307660943]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_5","position":[0.12069776716783953,-2.4066293491094957,0.71338606911949],"aabb_xy":[[0.10158545980986067,-2.4257641279867377],[0.1398100745258184,-2.3874945702322536]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_6","position":[0.6350157048932976,-1.6948590410542979,0.71338606911949],"aabb_xy":[[0.6120999920082477,-1.717763338190722],[0.6579314177783475,-1.671954743917875]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_7","position":[0.29873814579702906,1.3098069264020706,0.71338606911949],"aabb_xy":[[0.2858662422960889,1.2298069259882343],[0.3116100492979692,1.3898069268159066]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_8","position":[0.643170286807065,-2.2616305369479575,0.71338606911949],"aabb_xy":[[0.6335386505866354,-2.271267849727666],[0.6528019230274946,-2.251993224168248]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_9","position":[-0.3432742219810677,-1.142621810017482,0.71338606911949],"aabb_xy":[[-0.37375847210809787,-1.192621809798978],[-0.31278997185403756,-1.0926218102359861]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_10","position":[-0.474738017154024,-0.4146209376036003,0.71338606911949],"aabb_xy":[[-0.5647380194880429,-0.4921032921887129],[-0.38473801482000486,-0.3371385830184876]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_11","position":[-0.04968085052594051,1.1741841217010114,0.71338606911949],"aabb_xy":[[-0.10968085112195669,1.1193716491557881],[0.010319150070075667,1.228996594246235]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_12","position":[0.43259724389803367,-0.2002823967899996,0.71338606911949],"aabb_xy":[[0.4206645095362056,-0.21266454959785897],[0.44452997825986174,-0.18790024398214022]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_13","position":[-0.2961770182745125,1.5583924087379546,0.71338606911949],"aabb_xy":[[-0.36017701470183444,1.5112227849158582],[-0.23217702184719063,1.605562032560051]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_14","position":[-0.2626541172881196,-2.217154955652658,0.71338606911949],"aabb_xy":[[-0.3426479408666778,-2.2971549582454998],[-0.18266029370956138,-2.1371549530598166]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_15","position":[-0.6237154458171652,0.696940821952758,0.71338606911949],"aabb_xy":[[-0.6837154474600871,0.6449406726608138],[-0.5637154441742434,0.7489409712447022]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_16","position":[0.2626392874039386,-2.5217449198593362,0.71338606911949],"aabb_xy":[[0.21263928782760394,-2.571725498811442],[0.3126392869802734,-2.4717643409072303]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_17","position":[-0.4958883802785218,0.24633729692888195,0.71338606911949],"aabb_xy":[[-0.5046904355874944,0.23852597077395288],[-0.48708632496954907,0.25414862308381103]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_18","position":[0.1733497834826606,-1.4937494839720293,0.71338606911949],"aabb_xy":[[0.13875870062861537,-1.55874948425706],[0.2079408663367058,-1.4287494836869978]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_19","position":[-0.1216644136992231,0.7995793354600762,0.71338606911949],"aabb_xy":[[-0.15916441351625665,0.7949411241489343],[-0.08416441388218952,0.8042175467712179]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_20","position":[0.22474591454212978,-2.2144248839335807,0.71338606911949],"aabb_xy":[[0.17474591325828978,-2.2644037383242024],[0.2747459158259697,-2.164446029542958]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_21","position":[0.5043395583572858,-2.1822912740641094,0.71338606911949],"aabb_xy":[[0.4868395581122364,-2.199791061903676],[0.5218395586023351,-2.164791486224542]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_22","position":[0.5055021860808457,-0.44302127630643984,0.71338606911949],"aabb_xy":[[0.4415021857033121,-0.4927665431572521],[0.5695021864583794,-0.3932760094556276]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_23","position":[-0.17927762060973307,-1.1905639092295923,0.71338606911949],"aabb_xy":[[-0.20177762013344044,-1.213059856680213],[-0.15677762108602564,-1.1680679617789715]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_24","position":[0.004882523162959895,-1.7490766327890765,0.71338606911949],"aabb_xy":[[-0.011001970102365255,-1.7634295730879004],[0.020767016428285046,-1.7347236924902523]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_25","position":[0.28931837000958116,1.6137260385412966,0.71338606911949],"aabb_xy":[[0.28129209937895516,1.604974543563944],[0.29734464064020716,1.6224775335186492]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_26","position":[0.4381804338877391,-0.8033233188621505,0.71338606911949],"aabb_xy":[[0.43426656069231656,-0.8120723342687073],[0.4420943070831616,-0.7945743034555937]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_27","position":[-0.2984343861325068,-1.8565916975486747,0.71338606911949],"aabb_xy":[[-0.3479148073464656,-1.9205916954615265],[-0.24895396491854804,-1.7925916996358229]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_28","position":[-0.1171843079805357,-1.412237457438785,0.71338606911949],"aabb_xy":[[-0.15468430808612862,-1.4190596192917662],[-0.07968430787494273,-1.405415295585804]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6767618434054324,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8651.png","name":"8651"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8651.png","name":"8651"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6645.png","name":"6645"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9846.png","name":"9846"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7521.png","name":"7521"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8704.png","name":"8704"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":832.5995468914543,"rotation_z_degrees":330.83278391770676,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004681155856516659,0.010641368959040377,-0.008085682377100625]},{"name":"camera_2","offset_m":[0.006394585542720273,0.00018372668764543576,-0.0027452993908834364]},{"name":"camera_3","offset_m":[0.013145235528398112,-0.006499834608903753,0.0033234382258704107]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0011637603528466879,0.0015053743905952127,-7.964894117183131e-06],"end_effector_yaw_offset_degrees":-0.6458467727568833},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0007086355745580218,0.00026217020584181185,0.000984351320976498],"end_effector_yaw_offset_degrees":0.19729998488226297},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0015339684798289155,0.0010237253891696076,-0.00012530034177178802],"end_effector_yaw_offset_degrees":0.2862305329484436},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0003078889289845326,-0.0019773204571545315,0.0015800508160289765],"end_effector_yaw_offset_degrees":-0.8661197756405614}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0015800682945796107,0.00495366699776336],"position_m":[0.25721993170542035,0.16155366699776336,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0006591834150992673,0.004940628569787538],"position_m":[0.21244081658490074,-0.32315937143021245,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.00028662421037343924,0.004397357096649439],"position_m":[0.26388662421037345,-0.12670264290335057,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-6.744132605873698e-06,0.004455945924371439],"position_m":[0.3297932558673941,0.3134559459243714,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b11908591b803e6695ee9fabfac15f39fcd4c42073bb575ea93978a2c3330253","episode_index":95,"episode_name":"episode_0095"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0095.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_8651/tex_ceiling_textures_8704/tex_floor_textures_7521/tex_table_textures_6645/tex_wall_textures_9846","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":949969027403315427,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":949969027403315427,"visual_seed":949969027403315427,"scene_id":"lab_003","finished_at":"2026-09-05T23:54:06"} +{"episode_id":"ep_000080","started_at":"2026-09-05T23:54:10","dimensions":{"distractor":{"count":25,"items":[{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_0","position":[-0.20061576283860266,-1.5514626411033965,0.71338606911949],"aabb_xy":[[-0.22311218427246676,-1.5739626409101437],[-0.17811934140473856,-1.5289626412966488]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_1","position":[0.028637058084988176,-1.684558299923903,0.71338606911949],"aabb_xy":[[-0.005138501105704796,-1.698596795137068],[0.06241261727568115,-1.6705198047107381]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_2","position":[-0.6012428603856649,0.5532726381655158,0.71338606911949],"aabb_xy":[[-0.6237428608977054,0.5307807798001174],[-0.5787428598736242,0.5757644965309141]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_3","position":[-0.5540512006583879,-1.9681185705030348,0.71338606911949],"aabb_xy":[[-0.5769669135434378,-1.9910228676394586],[-0.531135487773338,-1.9452142733666116]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_4","position":[-0.03927800847544005,-0.9027310382174132,0.71338606911949],"aabb_xy":[[-0.043238492245174426,-0.9103989028029338],[-0.03531752470570568,-0.8950631736318926]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_5","position":[-0.26113389470877724,-0.8953442224506667,0.71338606911949],"aabb_xy":[[-0.316127106045914,-0.9503442227894604],[-0.2061406833716405,-0.8403442221118732]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_6","position":[-0.21039185942859134,0.47801570917936775,0.71338606911949],"aabb_xy":[[-0.24789186022058676,0.4716478682211776],[-0.17289185863659587,0.4843835501375578]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_7","position":[0.3083095680817882,0.7291088515482254,0.71338606911949],"aabb_xy":[[0.2443095658613812,0.6847357674229371],[0.37230957030219525,0.7734819356735136]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_8","position":[-0.09934197310012749,1.6036724703408995,0.71338606911949],"aabb_xy":[[-0.12061998124359974,1.5386724680148263],[-0.07806396495665524,1.6686724726669724]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_9","position":[-0.38815939696921103,-1.429702791968746,0.71338606911949],"aabb_xy":[[-0.3989323708905788,-1.464702790187785],[-0.37738642304784326,-1.394702793749707]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_10","position":[0.5017507935850181,0.9432261293348088,0.71338606911949],"aabb_xy":[[0.4120637172769026,0.8532261290803582],[0.5914378698931335,1.0332261295892593]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_11","position":[0.2612675846910705,-0.953053166492484,0.71338606911949],"aabb_xy":[[0.23935890255171943,-0.9749538333125747],[0.2831762668304215,-0.9311524996723932]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_12","position":[-0.39923450488914564,-2.001345726252126,0.71338606911949],"aabb_xy":[[-0.4542345030908904,-2.0418676928785637],[-0.34423450668740074,-1.9608237596256888]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_13","position":[-0.14354616808611909,-2.494089558538663,0.71338606911949],"aabb_xy":[[-0.23354616668058903,-2.5103401448520843],[-0.05354616949164914,-2.477838972225242]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_14","position":[-0.2949766823466301,0.29005548416090843,0.71338606911949],"aabb_xy":[[-0.3589766826071009,0.24504668480798045],[-0.23097668208615932,0.33506428351383644]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_15","position":[-0.217400303142892,1.0779968927746078,0.71338606911949],"aabb_xy":[[-0.2289692838898286,1.052996892657676],[-0.20583132239595545,1.1029968928915395]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_16","position":[0.25313414513416543,1.0058297467096633,0.71338606911949],"aabb_xy":[[0.24491960001848143,0.9971531564120216],[0.26134869024984936,1.0145063370073042]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_17","position":[0.03514228480698944,-1.5823054214158474,0.71338606911949],"aabb_xy":[[-0.0007712196180002379,-1.6182189296326017],[0.07105578923197912,-1.5463919131990926]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_18","position":[0.35651323627323106,-2.2472769786516307,0.71338606911949],"aabb_xy":[[0.351180721618618,-2.252601306896866],[0.361845750927844,-2.2419526504063945]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_19","position":[-0.41640999138373136,1.2404064120135696,0.71338606911949],"aabb_xy":[[-0.4964099899710508,1.1610908100754085],[-0.3364099927964119,1.3197220139517303]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_20","position":[0.18055738347331873,1.6003226330337283,0.71338606911949],"aabb_xy":[[0.17424528393698027,1.5945556937805097],[0.18686948300965714,1.6060895722869475]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_21","position":[0.5544048561396313,-2.0815286392767,0.71338606911949],"aabb_xy":[[0.5373027781812633,-2.09863544480797],[0.5715069340979996,-2.0644218337454303]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_22","position":[0.6250834577719682,-0.963779488896076,0.71338606911949],"aabb_xy":[[0.5885876371446894,-1.0002634313228334],[0.6615792783992469,-0.9272955464693183]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_23","position":[-0.0037057174677520566,-1.8345555481257796,0.71338606911949],"aabb_xy":[[-0.04647242434717225,-1.898555551547582],[0.039060989411668134,-1.7705555447039771]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_24","position":[-0.5150755722305855,-2.304610140898512,0.71338606911949],"aabb_xy":[[-0.6050755687314572,-2.3505217833169696],[-0.4250755757297137,-2.258698498480053]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6782932851237109,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6945.png","name":"6945"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6945.png","name":"6945"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5081.png","name":"5081"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3385.png","name":"3385"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7517.png","name":"7517"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/223.png","name":"223"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":820.6276108781606,"rotation_z_degrees":54.005435106658865,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010500228472204397,-0.014215894419292852,0.004723749547500513]},{"name":"camera_2","offset_m":[-0.011200102618480999,0.011298821231447282,0.005278822914625194]},{"name":"camera_3","offset_m":[-0.007361832413989458,0.01017159068442107,0.007774837428034361]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0017805225190000193,0.0018440381335479254,0.0010815941139901562],"end_effector_yaw_offset_degrees":0.0921078339794783},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[3.371826970938619e-06,-0.0017290933584727225,-0.0015173668348228522],"end_effector_yaw_offset_degrees":-0.9289503979827467},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.000139519128162379,-0.0005517535924296037,-0.001690820768274425],"end_effector_yaw_offset_degrees":-0.5422592483648834},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00031692571987856737,0.0017214261253963629,0.000885571864588844],"end_effector_yaw_offset_degrees":0.5413921102965114}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004471646912049305,-0.004868343138234666],"position_m":[0.25432835308795065,0.15173165686176532,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001621804941701518,0.0038213283469487698],"position_m":[0.21147819505829848,-0.32427867165305124,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.00450983586759729,-0.0034827266964009293],"position_m":[0.2681098358675973,-0.13458272669640092,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004567894853771481,-0.0010694634408463903],"position_m":[0.33436789485377144,0.3079305365591536,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0c264ac6290768c0a114daaacea0712bdb3f6c92d32549415d59a4fce906739a","episode_index":96,"episode_name":"episode_0096"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0096.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_6945/tex_ceiling_textures_223/tex_floor_textures_7517/tex_table_textures_5081/tex_wall_textures_3385","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":1305164787063375940,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":1305164787063375940,"visual_seed":1305164787063375940,"scene_id":"lab_003","finished_at":"2026-09-05T23:57:59"} +{"episode_id":"ep_000081","started_at":"2026-09-05T23:58:03","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_0","position":[0.4368597830050247,-1.096475876789864,0.71338606911949],"aabb_xy":[[0.37185978200452413,-1.1472622419445389],[0.5018597840055252,-1.045689511635189]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_1","position":[-0.5055145618583461,-0.28628605165091603,0.71338606911949],"aabb_xy":[[-0.523061256774465,-0.3237860532151673],[-0.48796786694222716,-0.24878605008666477]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_2","position":[-0.35042386579082785,-1.5307533291989464,0.71338606911949],"aabb_xy":[[-0.40024064525566255,-1.5807533276832495],[-0.30060708632599303,-1.4807533307146428]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_3","position":[-0.3936756796908074,-1.223444580435676,0.71338606911949],"aabb_xy":[[-0.4125600634593176,-1.242330505216029],[-0.3747912959222972,-1.2045586556553234]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_4","position":[0.43392536086055045,-0.3107606205104929,0.71338606911949],"aabb_xy":[[0.4120356132716097,-0.40076061779974204],[0.4558151084494913,-0.22076062322124382]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_5","position":[-0.22378210005207394,-0.4634094375644846,0.71338606911949],"aabb_xy":[[-0.2611133765773166,-0.4980624923593369],[-0.1864508235268313,-0.4287563827696323]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_6","position":[-0.06630754511696235,1.6131553515302026,0.71338606911949],"aabb_xy":[[-0.0895893873150937,1.5281553502329746],[-0.04302570291883102,1.6981553528274307]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_7","position":[0.06856417696203498,-1.642021222726802,0.71338606911949],"aabb_xy":[[-0.0014358194479268253,-1.6624591583784831],[0.13856417337199672,-1.6215832870751197]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_8","position":[-0.6167200539864788,-0.30510675236638285,0.71338606911949],"aabb_xy":[[-0.6532158746137575,-0.34159069479314036],[-0.5802242333592,-0.26862280993962523]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_9","position":[-0.12438692600451906,-1.6145987107752067,0.71338606911949],"aabb_xy":[[-0.16188692629669388,-1.6186401861758102],[-0.08688692571234426,-1.6105572353746032]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_10","position":[-0.09979450979969162,-1.294118829223272,0.71338606911949],"aabb_xy":[[-0.17978833337824984,-1.3741188318161137],[-0.019800686221133415,-1.2141188266304306]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_11","position":[0.638503067637727,-2.471213170764185,0.71338606911949],"aabb_xy":[[0.6172250594942548,-2.5362131730902577],[0.6597810757811993,-2.4062131684381116]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_12","position":[-0.43670776833336594,-1.729039541908239,0.71338606911949],"aabb_xy":[[-0.49183297396295667,-1.7890395433495259],[-0.3815825627037751,-1.6690395404669516]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_13","position":[-0.1859582810601268,0.32626585749415815,0.71338606911949],"aabb_xy":[[-0.23595329201957888,0.2762658584585665],[-0.1359632701006748,0.37626585652975]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_14","position":[-0.6578288475681265,1.0464878376537308,0.71338606911949],"aabb_xy":[[-0.6861585575166669,1.0420270954600137],[-0.6294991376195864,1.0509485798474478]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_15","position":[0.18301602024011865,-0.7199002183797427,0.71338606911949],"aabb_xy":[[0.14801602104730036,-0.7308672643774052],[0.2180160194329369,-0.70893317238208]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_16","position":[0.2644964182835591,-0.5767666285758342,0.71338606911949],"aabb_xy":[[0.19949641824925635,-0.6234673052561615],[0.3294964183178618,-0.5300659518955069]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_17","position":[0.6711714882936239,1.1836020412383723,0.71338606911949],"aabb_xy":[[0.6211714872744887,1.1471358255005444],[0.7211714893127592,1.2200682569762002]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_18","position":[0.5988406213572299,-0.648479864699631,0.71338606911949],"aabb_xy":[[0.5688730644474043,-0.6784798649975168],[0.6288081782670556,-0.6184798644017453]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_19","position":[0.04943178191811348,1.5528771079767405,0.71338606911949],"aabb_xy":[[-0.0005524537900637519,1.5028771091632447],[0.09941601762629071,1.6028771067902359]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_20","position":[0.5984199535134407,-1.2028044647343514,0.71338606911949],"aabb_xy":[[0.5857931662262443,-1.2123505384359243],[0.611046740800637,-1.1932583910327785]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_21","position":[-0.5191928674199764,1.1100927881476168,0.71338606911949],"aabb_xy":[[-0.556692867768204,1.0983013925665333],[-0.4816928670717485,1.1218841837287004]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_22","position":[-0.5013722785367438,-0.014647211131644244,0.71338606911949],"aabb_xy":[[-0.5590027474240145,-0.07464721005835483],[-0.44374180964947274,0.045352787795066345]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_23","position":[0.3581121732081576,1.8090329486159145,0.71338606911949],"aabb_xy":[[0.3410100952497894,1.791926143084645],[0.37521425116652574,1.8261397541471844]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_24","position":[0.1063698838402225,-0.9816925076705745,0.71338606911949],"aabb_xy":[[0.04636988333236957,-1.0385392413564958],[0.1663698843480754,-0.9248457739846532]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_25","position":[-0.43423019782410616,-0.7163827125572728,0.71338606911949],"aabb_xy":[[-0.4982302011138143,-0.7597176315611903],[-0.37023019453439804,-0.6730477935533551]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_26","position":[0.3497166145154942,-2.1872644526269895,0.71338606911949],"aabb_xy":[[0.28571661740338855,-2.2362968224214],[0.41371661162759993,-2.138232082832579]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_27","position":[0.6547382377624236,-1.9117510793991093,0.71338606911949],"aabb_xy":[[0.6467447479671418,-1.9197492113395853],[0.6627317275577058,-1.903752947458634]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_28","position":[0.35304497633097154,-0.6848925146161728,0.71338606911949],"aabb_xy":[[0.33393266897299273,-0.7040272934934149],[0.37215728368895046,-0.6657577357389308]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_29","position":[-0.18554356182889142,-2.4085160015710447,0.71338606911949],"aabb_xy":[[-0.1901786769811248,-2.412383336648193],[-0.18090844667665804,-2.4046486664938955]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_30","position":[-0.5069822861584853,0.829380826856823,0.71338606911949],"aabb_xy":[[-0.5294822864020007,0.8171761921970511],[-0.4844822859149699,0.841585461516595]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_31","position":[-0.6094451485187556,1.5339663914696477,0.71338606911949],"aabb_xy":[[-0.6734451492222251,1.487948008996727],[-0.5454451478152864,1.5799847739425692]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6716389593964588,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6054.png","name":"6054"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6054.png","name":"6054"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1740.png","name":"1740"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7992.png","name":"7992"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/212.png","name":"212"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3696.png","name":"3696"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":795.8020264003762,"rotation_z_degrees":252.73903848851847,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01597003687671864,0.019391097435162773,0.006653617215751438]},{"name":"camera_2","offset_m":[0.0033301582882288676,0.014932391528341731,-0.006859139607838212]},{"name":"camera_3","offset_m":[-0.0028016785447006025,0.0192640370653511,0.007795462925583675]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0006746238705191425,-8.176462527624572e-05,-0.0003707231722674363],"end_effector_yaw_offset_degrees":0.33782287423431767},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[5.082766576179317e-05,0.00018230518744723851,-0.001062182557243861],"end_effector_yaw_offset_degrees":-0.9243236866069566},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0014742627957847181,-0.0003556657694106136,0.001536910951371294],"end_effector_yaw_offset_degrees":-0.6834757204278334},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0006720360377593334,0.0012496655323721612,0.0019327150417234188],"end_effector_yaw_offset_degrees":-0.3546336655686917}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0023878807806991496,0.0036410796510243067],"position_m":[0.25641211921930085,0.1602410796510243,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0005650888015787722,-0.0014381760552568566],"position_m":[0.21366508880157878,-0.32953817605525687,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0035241144376454226,0.0008126761027178846],"position_m":[0.26712411443764544,-0.13028732389728212,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.001620405872290539,-0.0035821679848652213],"position_m":[0.3281795941277094,0.3054178320151348,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"827c621268452221187bf4241da61be93b34e57d9b9ac7f3e9b4a2c096351701","episode_index":97,"episode_name":"episode_0097"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0097.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_6054/tex_ceiling_textures_3696/tex_floor_textures_212/tex_table_textures_1740/tex_wall_textures_7992","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":7229763020995696246,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":7229763020995696246,"visual_seed":7229763020995696246,"scene_id":"lab_003","finished_at":"2026-09-06T00:01:40"} +{"episode_id":"ep_000082","started_at":"2026-09-06T00:04:19","dimensions":{"distractor":{"count":25,"items":[{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_0","position":[0.07183008092781618,-2.3073980958053353,0.71338606911949],"aabb_xy":[[0.014199612040545314,-2.367398094732045],[0.129460549815087,-2.247398096878624]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_1","position":[-0.38320055535533737,-1.2445526814419106,0.71338606911949],"aabb_xy":[[-0.4732005576893564,-1.3220350360270232],[-0.2932005530213183,-1.167070326856798]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_2","position":[0.00956850278447996,-1.9708926486212717,0.71338606911949],"aabb_xy":[[-0.04040479121878049,-2.0208926491758183],[0.05954179678774041,-1.9208926480667239]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_3","position":[0.20919714005549817,1.786556012148956,0.71338606911949],"aabb_xy":[[0.16420455333704773,1.7415560128745073],[0.2541897267739486,1.8315560114234049]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_4","position":[-0.25933192162195573,-2.465289328946699,0.71338606911949],"aabb_xy":[[-0.281831921632104,-2.4793855485863023],[-0.23683192161180744,-2.4511931093070958]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_5","position":[-0.20065952266575393,1.2509066167204002,0.71338606911949],"aabb_xy":[[-0.23815952295792875,1.2468651413197964],[-0.1631595223735791,1.2549480921210034]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_6","position":[-0.08730479303274041,-2.4194879948310017,0.71338606911949],"aabb_xy":[[-0.12480479284977396,-2.424126206142143],[-0.04980479321570684,-2.4148497835198595]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_7","position":[0.43042867016986497,1.3717183227521672,0.71338606911949],"aabb_xy":[[0.41866048337520756,1.2867183228469459],[0.4421968569645226,1.456718322657389]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_8","position":[-0.6693987315993145,-1.6849098027125675,0.71338606911949],"aabb_xy":[[-0.68726783935377,-1.6987427106897781],[-0.651529623844859,-1.6710768947353565]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_9","position":[-0.09050013644798205,-1.2627208607605045,0.71338606911949],"aabb_xy":[[-0.12394031164400164,-1.2961644865914344],[-0.057059961251962436,-1.2292772349295742]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_10","position":[0.1807617901871238,-2.4932107352308748,0.71338606911949],"aabb_xy":[[0.1308790933094276,-2.5432107344771495],[0.23064448706482002,-2.4432107359846]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_11","position":[-0.10867343460512757,1.4653617889503407,0.71338606911949],"aabb_xy":[[-0.11330854975736093,1.4614944538731918],[-0.10403831945289416,1.4692291240274893]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_12","position":[-0.28917793785177803,-0.7449928364346801,0.71338606911949],"aabb_xy":[[-0.3443031434813688,-0.8049928378759671],[-0.23405273222218728,-0.6849928349933928]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_13","position":[-0.2645669398374292,1.5350005862480312,0.71338606911949],"aabb_xy":[[-0.2820669400824785,1.517500798408464],[-0.24706693959237977,1.5525003740875978]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_14","position":[-0.49352055303116354,-2.0919994032889004,0.71338606911949],"aabb_xy":[[-0.5015145416088668,-2.0999994833839906],[-0.48552656445346004,-2.0839993231938094]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_15","position":[-0.47434934150516506,1.5932949234089802,0.71338606911949],"aabb_xy":[[-0.48410533101433884,1.5835323893497455],[-0.46459335199599106,1.6030574574682144]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_16","position":[-0.47096621653051407,-1.8895178353693054,0.71338606911949],"aabb_xy":[[-0.4818719926180768,-1.9695178317681348],[-0.46006044044295136,-1.8095178389704765]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_17","position":[0.5531511869267796,-0.3771894401944347,0.71338606911949],"aabb_xy":[[0.5399999409554902,-0.4021894399511213],[0.5663024328980689,-0.35218944043774814]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_18","position":[-0.18099577108760279,0.27458193515084295,0.71338606911949],"aabb_xy":[[-0.23099078204705487,0.22458193611525124],[-0.1310007601281508,0.32458193418643466]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_19","position":[-0.2533620571393061,1.7752595882849564,0.71338606911949],"aabb_xy":[[-0.27858289399914565,1.7500358374320695],[-0.22814122027946634,1.800483339137843]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_20","position":[-0.30167503839920057,-0.07513026592620298,0.71338606911949],"aabb_xy":[[-0.32417503891124116,-0.09762212429160133],[-0.27917503788715997,-0.05263840756080462]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_21","position":[-0.26720618006489,-1.0085158380387318,0.71338606911949],"aabb_xy":[[-0.347206177079138,-1.028650389712143],[-0.18720618305064202,-0.9883812863653205]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_22","position":[-0.08975695817835694,-1.5711311725070616,0.71338606911949],"aabb_xy":[[-0.15375695843882772,-1.6161399718599896],[-0.025756957917886122,-1.5261223731541336]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_23","position":[-0.41520452139498437,1.2373149521277678,0.71338606911949],"aabb_xy":[[-0.4495207985696023,1.18731495215459],[-0.38088824422036643,1.2873149521009455]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_24","position":[-0.4969448379036576,-0.014987536702399051,0.71338606911949],"aabb_xy":[[-0.5669448397124031,-0.03634130546658643],[-0.4269448360949122,0.006366232061788324]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.675028721702965,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/379.png","name":"379"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/379.png","name":"379"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4237.png","name":"4237"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4043.png","name":"4043"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3629.png","name":"3629"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6932.png","name":"6932"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":501.7645223577731,"rotation_z_degrees":215.41453229254708,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017630866501090674,0.0027940088047115723,0.00038627567831651943]},{"name":"camera_2","offset_m":[0.01585680665663154,-0.006288372146018432,-0.014664370427755494]},{"name":"camera_3","offset_m":[0.014541182800831696,-0.0017328014658169605,-0.001955782268979491]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0014413603144092062,-0.0005395867415018398,-0.00036210838596476827],"end_effector_yaw_offset_degrees":0.5445515690865832},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0011746745540531494,0.000999892729710281,0.0014106859151021668],"end_effector_yaw_offset_degrees":0.08865992397476474},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0015041328489460621,-0.001921172822409922,-0.0016955409009280827],"end_effector_yaw_offset_degrees":-0.1775609364666868},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001263177924369788,0.001823957627402343,0.0005821967909667852],"end_effector_yaw_offset_degrees":0.7777426115656798}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004571410007440918,0.001455067917384192],"position_m":[0.2633714100074409,0.1580550679173842,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0013136569856223978,-0.0028640157276388412],"position_m":[0.21178634301437763,-0.33096401572763884,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.00016866921629358437,0.003055929796382498],"position_m":[0.2637686692162936,-0.1280440702036175,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0019347228049598222,0.0044020941532453865],"position_m":[0.32786527719504016,0.3134020941532454,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3f6ca8fd1a79ad7f62e1a5266375de51c29eef609a7e250229b1ae85e6395171","episode_index":99,"episode_name":"episode_0099"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0099.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_379/tex_ceiling_textures_6932/tex_floor_textures_3629/tex_table_textures_4237/tex_wall_textures_4043","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":8606963888973476876,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":8606963888973476876,"visual_seed":8606963888973476876,"scene_id":"lab_003","finished_at":"2026-09-06T00:08:00"} +{"episode_id":"ep_000083","started_at":"2026-09-06T00:08:03","dimensions":{"distractor":{"count":27,"items":[{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_0","position":[0.09946328587852682,0.7080282710294088,0.71338606911949],"aabb_xy":[[0.07446328671289369,0.7010760253240523],[0.12446328504415992,0.7149805167347655]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_1","position":[-0.1679116995975285,-1.2042824283416849,0.71338606911949],"aabb_xy":[[-0.23191170127552582,-1.252799819820999],[-0.10391169791953112,-1.1557650368623706]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_2","position":[0.6349485907828818,1.2847904025084254,0.71338606911949],"aabb_xy":[[0.5709485905224109,1.2397816031554971],[0.6989485910433525,1.3297992018613531]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_3","position":[0.4295850228038405,-0.13387248879101632,0.71338606911949],"aabb_xy":[[0.4076763406644894,-0.15577315561110702],[0.45149370494319147,-0.11197182197092556]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_4","position":[-0.35148746871871117,1.2329376356557251,0.71338606911949],"aabb_xy":[[-0.3889874672943319,1.2202013399921672],[-0.3139874701430903,1.245673931319283]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_5","position":[-0.149207275696703,-1.807880015612179,0.71338606911949],"aabb_xy":[[-0.17917483260652867,-1.8378800159100648],[-0.11923971878687734,-1.7778800153142933]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_6","position":[-0.40813729512456315,0.5946810019844846,0.71338606911949],"aabb_xy":[[-0.4981372988014813,0.5332485954073801],[-0.31813729144764497,0.6561134085615888]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_7","position":[0.16359185065887838,-0.7201157561365876,0.71338606911949],"aabb_xy":[[0.1558886599848013,-0.7278251268353255],[0.1712950413329554,-0.7124063854378495]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_8","position":[-0.31801679157918644,-1.6468147223068756,0.71338606911949],"aabb_xy":[[-0.35247926959227416,-1.6534783994897984],[-0.2835543135660986,-1.640151045123953]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_9","position":[-0.48132267724476396,-1.1460656375032316,0.71338606911949],"aabb_xy":[[-0.5613226758320833,-1.2253812394413923],[-0.40132267865744453,-1.0667500355650705]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_10","position":[-0.5740172320752408,-2.4200059164662524,0.71338606911949],"aabb_xy":[[-0.5965172318891431,-2.424480532836733],[-0.5515172322613383,-2.415531300095772]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_11","position":[0.3733508341870966,0.5515191481844881,0.71338606911949],"aabb_xy":[[0.30335083079553454,0.5162033744810571],[0.4433508375786585,0.5868349218879189]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_12","position":[-0.6081349136232753,-0.4791241961956394,0.71338606911949],"aabb_xy":[[-0.6207376127603519,-0.4917195924205049],[-0.595532214486199,-0.4665287999707739]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_13","position":[-0.20067986984754788,-0.15319428565127735,0.71338606911949],"aabb_xy":[[-0.25067488080699996,-0.20319428468686912],[-0.15068485888809588,-0.10319428661568567]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_14","position":[0.36035816728838443,0.9248416711439567,0.71338606911949],"aabb_xy":[[0.3555145725271545,0.9199900186649725],[0.36520176204961446,0.9296933236229408]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_15","position":[-0.006731163171455945,1.6486977273977863,0.71338606911949],"aabb_xy":[[-0.05673116181737714,1.598778183738324],[0.04326883547446525,1.6986172710572487]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_16","position":[-0.674937065420462,-1.059298324424932,0.71338606911949],"aabb_xy":[[-0.6829310539981653,-1.0672984045200222],[-0.6669430768427586,-1.0512982443298415]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_17","position":[0.021458029008600277,-1.6312577928869456,0.71338606911949],"aabb_xy":[[0.016502008823719078,-1.653757793089068],[0.02641404919348148,-1.6087577926848247]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_18","position":[0.6323753840598292,0.12789909860656934,0.71338606911949],"aabb_xy":[[0.6264088451190933,0.1219379539472053],[0.6383419230005648,0.13386024326593338]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_19","position":[-0.2079033269495273,-2.299238237958453,0.71338606911949],"aabb_xy":[[-0.27190332553609975,-2.346245201357962],[-0.14390332836295486,-2.2522312745589446]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_20","position":[0.11364598641360779,1.543483493592586,0.71338606911949],"aabb_xy":[[0.10494802412289253,1.5313585192851116],[0.12234394870432311,1.555608467900061]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_21","position":[-0.22261573031995002,-0.7381842756207622,0.71338606911949],"aabb_xy":[[-0.28661573223229236,-0.7940954248787727],[-0.15861572840760768,-0.6822731263627518]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_22","position":[-0.4523071555045511,-0.4227562079694076,0.71338606911949],"aabb_xy":[[-0.5073071546811405,-0.47774588274436525],[-0.39730715632796154,-0.36776653319444996]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_23","position":[0.28272210221736516,-2.0247000930586627,0.71338606911949],"aabb_xy":[[0.21872210292319694,-2.088686233427517],[0.3467221015115334,-1.9607139526898085]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_24","position":[0.05926733988410959,-2.015122935673409,0.71338606911949],"aabb_xy":[[0.04409517060247625,-2.030291792601612],[0.07443950916574293,-1.9999540787452055]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_25","position":[-0.4547133259198035,1.655226921595221,0.71338606911949],"aabb_xy":[[-0.4776290388048534,1.6323226244587976],[-0.4317976130347536,1.6781312187316446]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_26","position":[-0.27524724331597783,0.2345461433729974,0.71338606911949],"aabb_xy":[[-0.294131627084488,0.2156602185926446],[-0.25636285954746757,0.2534320681533502]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6738916014700869,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6187.png","name":"6187"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6187.png","name":"6187"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6911.png","name":"6911"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5354.png","name":"5354"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5020.png","name":"5020"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3259.png","name":"3259"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":758.4510862642944,"rotation_z_degrees":93.96656222737022,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019128256529193574,0.01603000013015528,0.019756105433527443]},{"name":"camera_2","offset_m":[-0.0006969737918245296,-0.01599254935844758,0.012942465759511152]},{"name":"camera_3","offset_m":[0.018271475961630482,-0.005167244322168871,0.017258172145520907]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0012259072261183797,0.001336177841415084,0.0018263881811352786],"end_effector_yaw_offset_degrees":0.3138763320716451},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0019655924913688123,7.799462381667243e-05,0.0019308759699188504],"end_effector_yaw_offset_degrees":-0.8109412163182557},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0018555957770323062,-0.0009506445076738603,-0.0005715445182762574],"end_effector_yaw_offset_degrees":0.40621968368212125},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0013223421130559747,-0.0001434107670943087,-0.0012252639039802304],"end_effector_yaw_offset_degrees":0.35807513827043613}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0048229428745423875,-0.004488315975386986],"position_m":[0.26362294287454235,0.152111684024613,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001379282831914552,0.0025071738275269147],"position_m":[0.21447928283191456,-0.3255928261724731,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003592536006606936,-0.0034651209544484807],"position_m":[0.2600074639933931,-0.13456512095444847,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0010908385362441908,0.0003173413573504206],"position_m":[0.3287091614637558,0.3093173413573504,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"79ff5465a1fac41f534aaa2d43dadac2bf8dcaa3a92f586106bc46ca752df068","episode_index":100,"episode_name":"episode_0100"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0100.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_6187/tex_ceiling_textures_3259/tex_floor_textures_5020/tex_table_textures_6911/tex_wall_textures_5354","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":3929171042266803162,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":3929171042266803162,"visual_seed":3929171042266803162,"scene_id":"lab_003","finished_at":"2026-09-06T00:11:31"} +{"episode_id":"ep_000084","started_at":"2026-09-06T00:11:35","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_0","position":[0.3260859438654664,-0.8438577514339805,0.71338606911949],"aabb_xy":[[0.29824090708485923,-0.8746422501722921],[0.3539309806460735,-0.8130732526956688]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_1","position":[-0.3694732574377539,1.1200289513951849,0.71338606911949],"aabb_xy":[[-0.4334732566075238,1.0732622642762224],[-0.3054732582679839,1.1667956385141474]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_2","position":[0.32997324576114795,1.5187970132835624,0.71338606911949],"aabb_xy":[[0.27997324440026067,1.4688191087081466],[0.3799732471220351,1.5687749178589778]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_3","position":[-0.2533684702651398,-1.224210054599086,0.71338606911949],"aabb_xy":[[-0.26300010648556943,-1.2338473673787949],[-0.2437368340447102,-1.214572741819377]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_4","position":[-0.15792191948364764,1.7335717779283875,0.71338606911949],"aabb_xy":[[-0.18042191900735502,1.7110758304777665],[-0.1354219199599402,1.756067725379008]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_5","position":[0.3939251958173582,-1.1158296410301674,0.71338606911949],"aabb_xy":[[0.3239251942150787,-1.129262434231825],[0.46392519741963767,-1.1023968478285098]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_6","position":[0.6397012000292306,-0.43277896432209806,0.71338606911949],"aabb_xy":[[0.628849593780355,-0.443638255049749],[0.6505528062781062,-0.421919673594447]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_7","position":[-0.0639415825469718,-2.5280614614363204,0.71338606911949],"aabb_xy":[[-0.09738175774299139,-2.56150508726725],[-0.03050140735095219,-2.494617835605389]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_8","position":[-0.5739596489793974,0.7783758832235099,0.71338606911949],"aabb_xy":[[-0.5930719563373763,0.7592411043462678],[-0.5548473416214186,0.7975106621007518]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_9","position":[0.4751323077860601,1.3222564366829954,0.71338606911949],"aabb_xy":[[0.45726320003160453,1.3084235287057844],[0.4930014155405155,1.3360893446602065]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_10","position":[0.5648020108661993,-1.8198604037235615,0.71338606911949],"aabb_xy":[[0.5473020106211499,-1.837360191563128],[0.5823020111112487,-1.8023606158839942]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_11","position":[0.3306760427561848,-1.4326351980501812,0.71338606911949],"aabb_xy":[[0.3081796213223207,-1.4551351978569285],[0.3531724641900489,-1.4101351982434336]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_12","position":[0.40123913201119676,-1.9443809607278029,0.71338606911949],"aabb_xy":[[0.3512617151459431,-1.9943809622170512],[0.4512165488764503,-1.894380959238554]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_13","position":[0.47887577394149905,0.018540005544944727,0.71338606911949],"aabb_xy":[[0.4148800765464024,-0.045459992755763956],[0.5428714713365956,0.08254000384565341]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_14","position":[-0.12073094627622594,0.8907130311495894,0.71338606911949],"aabb_xy":[[-0.18473094270354787,0.843543407327493],[-0.05673094984890406,0.9378826549716859]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_15","position":[0.33453299328106145,-1.5673800568037437,0.71338606911949],"aabb_xy":[[0.3170329940029745,-1.5847181568700897],[0.3520329925591483,-1.5500419567373978]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_16","position":[-0.3075301223967059,0.6420987184938811,0.71338606911949],"aabb_xy":[[-0.315573482322661,0.5570987173985147],[-0.2994867624707507,0.7270987195892475]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_17","position":[-0.46165813610166695,-1.9158318061922102,0.71338606911949],"aabb_xy":[[-0.5256581393913751,-1.9591667251961278],[-0.39765813281195883,-1.8724968871882925]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_18","position":[-0.3520786536288119,0.08317322320204878,0.71338606911949],"aabb_xy":[[-0.3690887509188625,0.06703873470377486],[-0.3350685563387612,0.09930771170032271]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_19","position":[0.2400681328938461,-1.3512981100094776,0.71338606911949],"aabb_xy":[[0.23128690574660993,-1.360077857298008],[0.24884936004108238,-1.3425183627209478]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_20","position":[-0.2536668438728434,-1.8820161036975658,0.71338606911949],"aabb_xy":[[-0.33366684127643675,-1.9620086748957484],[-0.17366684646924993,-1.8020235324993827]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_21","position":[-0.25294282161054654,0.3307540747526425,0.71338606911949],"aabb_xy":[[-0.29044282312617825,0.31952730173649746],[-0.21544282009491483,0.34198084776878757]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_22","position":[0.5816751561361104,1.3308716669729916,0.71338606911949],"aabb_xy":[[0.5363965412549612,1.266871667624808],[0.6269537710172597,1.3948716663211753]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6791585698296715,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4713.png","name":"4713"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4713.png","name":"4713"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3606.png","name":"3606"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9764.png","name":"9764"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2938.png","name":"2938"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4848.png","name":"4848"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":754.6291324765277,"rotation_z_degrees":266.67031292236595,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01856547303899217,-5.671322113782323e-05,0.006260009784310617]},{"name":"camera_2","offset_m":[-0.008245873108285551,-0.0005726129794804448,-0.012647009244290755]},{"name":"camera_3","offset_m":[-0.00272465375134337,0.01490268597549094,0.007311325506033466]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0006688706074877483,0.0004273497617751248,0.0009185449557638742],"end_effector_yaw_offset_degrees":0.8944143288590984},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0003313072127614867,0.0014293353536828758,0.001966617266924998],"end_effector_yaw_offset_degrees":0.891416158801779},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0018756506029854229,-0.001250068276548665,0.0019088732716549123],"end_effector_yaw_offset_degrees":0.4542759936711993},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0013644598333862805,-0.0015402441272447988,0.0017681503491935174],"end_effector_yaw_offset_degrees":0.06924765321330684}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0031236037807060224,-0.003165277412224],"position_m":[0.261923603780706,0.153434722587776,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0043002644998959665,-0.003117153792402785],"position_m":[0.20879973550010406,-0.3312171537924028,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0049374206060010676,-0.001650454416143855],"position_m":[0.25866257939399895,-0.13275045441614386,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004876961335681335,0.00022826912811776262],"position_m":[0.3346769613356813,0.30922826912811774,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"86d59ce405612089f8e28cd79557ffd90a279ad3e2e1178e2b6d7cc332f69549","episode_index":101,"episode_name":"episode_0101"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0101.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_4713/tex_ceiling_textures_4848/tex_floor_textures_2938/tex_table_textures_3606/tex_wall_textures_9764","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":4233332402430980802,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":4233332402430980802,"visual_seed":4233332402430980802,"scene_id":"lab_003","finished_at":"2026-09-06T00:14:32"} +{"episode_id":"ep_000085","started_at":"2026-09-06T00:14:37","dimensions":{"distractor":{"count":26,"items":[{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_0","position":[-0.061917113935877954,-1.549671872312922,0.71338606911949],"aabb_xy":[[-0.08691711320784024,-1.5660172359090845],[-0.03691711466391567,-1.5333265087167598]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_1","position":[-0.40181043993856985,0.005241507224565289,0.71338606911949],"aabb_xy":[[-0.41935713485468884,-0.03225849433968597],[-0.384263745022451,0.04274150878881655]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_2","position":[0.06059996248683264,-1.3827304212207816,0.71338606911949],"aabb_xy":[[0.002969493599561785,-1.442730420147492],[0.11823043137410347,-1.3227304222940708]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_3","position":[0.46168523349604706,-0.44982993469558785,0.71338606911949],"aabb_xy":[[0.4391852336821447,-0.45430455106606854],[0.48418523330994945,-0.44535531832510716]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_4","position":[-0.5426317325148351,0.5173248688366114,0.71338606911949],"aabb_xy":[[-0.5615161162833453,0.49843894405625866],[-0.5237473487463249,0.5362107936169642]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_5","position":[0.3049922847001658,0.9919557208081486,0.71338606911949],"aabb_xy":[[0.29034887914613283,0.9772970011513644],[0.3196356902541988,1.0066144404649329]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_6","position":[0.6459942709860451,-0.7874174914843013,0.71338606911949],"aabb_xy":[[0.5819942689363131,-0.8275119745736093],[0.7099942730357771,-0.7473230083949933]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_7","position":[0.5247818499242556,-1.1099859685734441,0.71338606911949],"aabb_xy":[[0.49438373882511194,-1.1403928705751136],[0.5551799610233991,-1.0795790665717746]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_8","position":[-0.19540014362460256,-1.3988312692953042,0.71338606911949],"aabb_xy":[[-0.20863108915928383,-1.4120586883173036],[-0.18216919808992124,-1.3856038502733048]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_9","position":[-0.22106882309624665,-1.9602362888373817,0.71338606911949],"aabb_xy":[[-0.28265958232023947,-2.0242362869464285],[-0.15947806387225383,-1.8962362907283348]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_10","position":[0.3245987892285376,-2.558659539496312,0.71338606911949],"aabb_xy":[[0.3211581129884804,-2.562520972470677],[0.32803946546859475,-2.554798106521948]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_11","position":[0.4845875545737144,0.8765366568722803,0.71338606911949],"aabb_xy":[[0.45410330444668423,0.8265366570907845],[0.5150718047007445,0.9265366566537764]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_12","position":[-0.400697307174385,0.7942529779544865,0.71338606911949],"aabb_xy":[[-0.4124654939690426,0.709252978049265],[-0.38892912037972754,0.8792529778597082]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_13","position":[0.31294824334352667,-0.6668551764968544,0.71338606911949],"aabb_xy":[[0.25294824309212544,-0.7211365015333191],[0.3729482435949278,-0.6125738514603898]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_14","position":[-0.3213364864457996,-0.4694882407526988,0.71338606911949],"aabb_xy":[[-0.4113364858641705,-0.5028637375968885],[-0.2313364870274287,-0.43611274390850907]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_15","position":[0.4201889356804205,-1.7153435728906152,0.71338606911949],"aabb_xy":[[0.41627506248499796,-1.724092588297172],[0.424102808875843,-1.7065945574840584]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_16","position":[0.1598763735139883,-1.7692852411143927,0.71338606911949],"aabb_xy":[[0.07988254993543012,-1.8492852437072345],[0.23987019709254656,-1.6892852385215513]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_17","position":[0.5648255734655772,0.5179730800264069,0.71338606911949],"aabb_xy":[[0.499825575309658,0.49167683547649466],[0.6298255716214961,0.544269324576319]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_18","position":[-0.21626922174880564,-0.9733081806708204,0.71338606911949],"aabb_xy":[[-0.25376922204098046,-0.9773496560714241],[-0.17876922145663082,-0.9692667052702169]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_19","position":[-0.23998262747589633,-0.09658253857264265,0.71338606911949],"aabb_xy":[[-0.2519153618377244,-0.10896469138050202],[-0.22804989311406826,-0.08420038576478328]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_20","position":[-0.34271170404615614,-2.3446377776694782,0.71338606911949],"aabb_xy":[[-0.3561582306801994,-2.358107629322569],[-0.32926517741211275,-2.3311679260163864]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_21","position":[0.43892980276331217,0.6590132768318262,0.71338606911949],"aabb_xy":[[0.42815682884194434,0.6240132786127872],[0.4497027766846799,0.6940132750508652]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_22","position":[0.5468694421875364,0.09185025427655269,0.71338606911949],"aabb_xy":[[0.5392451740973583,0.08421703074000898],[0.5544937102777148,0.09948347781309644]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_23","position":[-0.6073697267551141,1.2706174222771227,0.71338606911949],"aabb_xy":[[-0.6408488940161551,1.237138308906016],[-0.5738905594940732,1.30409653564823]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_24","position":[0.3032208157383939,0.923233208614263,0.71338606911949],"aabb_xy":[[0.2944187604294211,0.9154218824593336],[0.31202287104736653,0.9310445347691918]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_25","position":[0.4252874158770419,0.3899913665191739,0.71338606911949],"aabb_xy":[[0.3867417230518408,0.3514455954629852],[0.46383310870224287,0.42853713757536255]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6776961450613923,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9980.png","name":"9980"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9980.png","name":"9980"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7830.png","name":"7830"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4221.png","name":"4221"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2188.png","name":"2188"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7649.png","name":"7649"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":752.9363443157404,"rotation_z_degrees":268.66467884367063,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.019244284604694382,0.0019090086345606196,0.0056846564225813585]},{"name":"camera_2","offset_m":[0.004419840592250524,-0.010019083318961243,-0.0034661536915898544]},{"name":"camera_3","offset_m":[0.018206858006017856,-0.017920982672733735,-0.016246058673213177]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00015071465791649183,0.0019410111451884102,0.0010919497310979466],"end_effector_yaw_offset_degrees":0.8911979724148507},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0012832918877174805,-0.0011058544895405258,-0.0010301561160077895],"end_effector_yaw_offset_degrees":-0.4853677652723787},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00010551024003893606,0.0016937358505031623,-0.0008890550411387564],"end_effector_yaw_offset_degrees":-0.9904407633164063},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00018132514664062713,-0.0008931643571183732,0.0014285305043691353],"end_effector_yaw_offset_degrees":0.5408303617089494}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0026285501385343033,-0.0003917356005572435],"position_m":[0.2614285501385343,0.15620826439944274,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0017960835130308105,0.0033199939675257637],"position_m":[0.2113039164869692,-0.32478000603247426,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0013161336470556007,-0.004288125651594417],"position_m":[0.2649161336470556,-0.13538812565159442,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00475148714540696,-0.0027492017168267526],"position_m":[0.33455148714540694,0.30625079828317325,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d01fc9d15db072e531bb94b40d2e6b98d1203751deb7c54244e14e81b8702df9","episode_index":102,"episode_name":"episode_0102"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0102.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_9980/tex_ceiling_textures_7649/tex_floor_textures_2188/tex_table_textures_7830/tex_wall_textures_4221","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":7507017337869951811,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":7507017337869951811,"visual_seed":7507017337869951811,"scene_id":"lab_003","finished_at":"2026-09-06T00:18:21"} +{"episode_id":"ep_000086","started_at":"2026-09-06T00:18:25","dimensions":{"distractor":{"count":30,"items":[{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_0","position":[-0.029384455692582856,1.7295025653442244,0.71338606911949],"aabb_xy":[[-0.0445566249742162,1.714333708416021],[-0.014212286410949515,1.7446714222724278]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_1","position":[-0.14550518019448822,-0.9902614308932205,0.71338606911949],"aabb_xy":[[-0.1779668810764156,-1.0203942630081229],[-0.11304347931256069,-0.9601285987783178]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_2","position":[0.41942182913591664,-0.35557191127830556,0.71338606911949],"aabb_xy":[[0.3694218281167815,-0.39203812701613355],[0.46942183015505207,-0.31910569554047763]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_3","position":[0.5354122110843904,1.0080947858384666,0.71338606911949],"aabb_xy":[[0.5277879429942122,1.000461562301923],[0.5430364791745687,1.0157280093750105]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_4","position":[0.43603080141826145,1.4278698983271236,0.71338606911949],"aabb_xy":[[0.41414105382932065,1.3378699010378743],[0.45792054900720225,1.5178698956163725]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_5","position":[-0.15126640193307916,1.0302000489653191,0.71338606911949],"aabb_xy":[[-0.16042628087695576,1.023668830921782],[-0.14210652298920257,1.0367312670088562]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_6","position":[0.1137392701635842,0.653665439489032,0.71338606911949],"aabb_xy":[[0.04973926848558685,0.6051480480097177],[0.17773927184158156,0.7021828309683461]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_7","position":[0.4405002081742242,0.5505702503746397,0.71338606911949],"aabb_xy":[[0.42295351325810526,0.5130702488103884],[0.4580469030903431,0.588070251938891]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_8","position":[0.4117265400174792,0.7306845443721821,0.71338606911949],"aabb_xy":[[0.389212848194022,0.6606845437711745],[0.4342402318409364,0.8006845449731895]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_9","position":[0.3978900494005593,-1.4733690096168672,0.71338606911949],"aabb_xy":[[0.38612186260590176,-1.5583690095220888],[0.4096582361952168,-1.3883690097116455]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_10","position":[-0.37338345824081326,-0.44146992878334457,0.71338606911949],"aabb_xy":[[-0.4533772818193715,-0.5214699313761861],[-0.29338963466225504,-0.361469926190503]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_11","position":[-0.18260583116039542,1.5159967920732726,0.71338606911949],"aabb_xy":[[-0.2130900812874256,1.4659967922917767],[-0.1521215810333653,1.5659967918547686]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_12","position":[-0.5145165313870723,0.17294096384484492,0.71338606911949],"aabb_xy":[[-0.5795165292687202,0.12181730013830405],[-0.44951653350542464,0.22406462755138581]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_13","position":[-0.4258839397209112,0.808543664919172,0.71338606911949],"aabb_xy":[[-0.48988393889068116,0.7617769778002095],[-0.36188394055114126,0.8553103520381344]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_14","position":[-0.6744934546962086,-1.8257334435035837,0.71338606911949],"aabb_xy":[[-0.679392747002772,-1.853410362806152],[-0.669594162389645,-1.7980565242010145]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_15","position":[0.29409126072353853,1.526654599211907,0.71338606911949],"aabb_xy":[[0.24409198555510242,1.4766545979359598],[0.34409053589197475,1.576654600487854]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_16","position":[0.5666429356642453,1.3397359174852164,0.71338606911949],"aabb_xy":[[0.5433610934661138,1.2547359161879883],[0.5899247778623765,1.4247359187824444]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_17","position":[-0.5528257907612675,-0.35032028497292744,0.71338606911949],"aabb_xy":[[-0.6028100264694447,-0.40032028378642304],[-0.5028415550530903,-0.30032028615943185]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_18","position":[0.2634355645865336,1.3968330089206158,0.71338606911949],"aabb_xy":[[0.24432325722855475,1.377698230043374],[0.2825478719445125,1.415967787797858]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_19","position":[0.13293958689561902,-2.4395384516465866,0.71338606911949],"aabb_xy":[[0.10935446343172414,-2.5045384538920183],[0.15652471035951385,-2.3745384494011548]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_20","position":[0.5053451072337818,0.30728943057034774,0.71338606911949],"aabb_xy":[[0.4253451102195338,0.2871548788969364],[0.5853451042480298,0.32742398224375896]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_21","position":[-0.2750587162985108,-1.5847699746889297,0.71338606911949],"aabb_xy":[[-0.31255871781414246,-1.5959967477050745],[-0.23755871478287904,-1.5735432016727844]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_22","position":[-0.4913762214614147,-1.5129358884177306,0.71338606911949],"aabb_xy":[[-0.5288762217535894,-1.5169773638183341],[-0.4538762211692398,-1.5088944130171271]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_23","position":[0.12229539050698435,-1.471876174414098,0.71338606911949],"aabb_xy":[[0.05829538721727625,-1.5152110934180154],[0.18629539379669247,-1.4285412554101802]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_24","position":[0.43930080395746507,-0.4929196042614392,0.71338606911949],"aabb_xy":[[0.42773182321052855,-0.5179196043783709],[0.4508697847044017,-0.46791960414450745]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_25","position":[0.6313420710001325,1.6686592447012614,0.71338606911949],"aabb_xy":[[0.624080823429725,1.6558722344377523],[0.63860331857054,1.6814462549647713]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_26","position":[0.45980026508853045,-1.9668151247614798,0.71338606911949],"aabb_xy":[[0.40482654305219756,-2.021815124325713],[0.5147739871248633,-1.9118151251972466]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_27","position":[-0.5540256300123709,-2.396160887568872,0.71338606911949],"aabb_xy":[[-0.6039986955448864,-2.446160887381405],[-0.5040525644798555,-2.3461608877563394]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_28","position":[0.1245724607955222,-0.874924934914169,0.71338606911949],"aabb_xy":[[0.044572457531509055,-0.8884849672230823],[0.20457246405953533,-0.8613649026052557]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_29","position":[-0.11190503991769851,0.08766867566450376,0.71338606911949],"aabb_xy":[[-0.12505628588898787,0.06266867590781722],[-0.09875379394640917,0.11266867542119031]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.672636579748516,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7616.png","name":"7616"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7616.png","name":"7616"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/622.png","name":"622"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8080.png","name":"8080"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2791.png","name":"2791"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9051.png","name":"9051"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":702.9168683954061,"rotation_z_degrees":209.72975124255083,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01084213342525786,0.01997053474413839,0.013921100564182848]},{"name":"camera_2","offset_m":[0.001084046695230035,-0.014426062106638837,-0.019105159744743628]},{"name":"camera_3","offset_m":[0.0013025428150225705,0.012999907101305299,-0.005925313747802554]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0016157152891715966,0.0015762620135055757,0.00012250292042426374],"end_effector_yaw_offset_degrees":0.6648130854705931},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.001632310847651381,-0.0019291094941583954,0.001978121275812185],"end_effector_yaw_offset_degrees":0.5811963337288168},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0004884776831209985,-0.00079813108728316,0.0012553364628497521],"end_effector_yaw_offset_degrees":-0.8319838442808405},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00044226394120131375,0.0008114985905456943,-0.000306457057017373],"end_effector_yaw_offset_degrees":-0.6379147378466714}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0016601560550126224,-0.004362816473204724],"position_m":[0.2604601560550126,0.15223718352679527,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0038637088028672826,0.0003480194790979642],"position_m":[0.20923629119713272,-0.32775198052090204,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0024121103654783796,-0.0033656749941637313],"position_m":[0.2660121103654784,-0.13446567499416373,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0019666524378038354,-0.0007221316243281525],"position_m":[0.3278333475621961,0.30827786837567184,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"303360d9718a3e59cad7897ab8a2656acd24452a3b1741b6be7f3f95fec9b8b9","episode_index":103,"episode_name":"episode_0103"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0103.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_7616/tex_ceiling_textures_9051/tex_floor_textures_2791/tex_table_textures_622/tex_wall_textures_8080","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":6534040945907343861,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":6534040945907343861,"visual_seed":6534040945907343861,"scene_id":"lab_003","finished_at":"2026-09-06T00:22:05"} +{"episode_id":"ep_000087","started_at":"2026-09-06T00:22:12","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_0","position":[-0.3904204814266055,1.0653344176567314,0.71338606911949],"aabb_xy":[[-0.43172502449034145,1.0013344180886143],[-0.34911593836286947,1.1293344172248485]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_1","position":[-0.2697072015772702,1.550894806918874,0.71338606911949],"aabb_xy":[[-0.27842117062720456,1.528394806259685],[-0.2609932325273356,1.5733948075780615]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_2","position":[0.4809592715240696,1.7205690880393498,0.71338606911949],"aabb_xy":[[0.4634592722459827,1.7032309879730039],[0.49845927080215646,1.7379071881056958]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_3","position":[0.4236348230225775,0.6919802504365893,0.71338606911949],"aabb_xy":[[0.3735373590415039,0.6279802499267774],[0.47373228700365116,0.755980250946401]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_4","position":[0.648572220365186,-0.25044655291503304,0.71338606911949],"aabb_xy":[[0.6202425104166459,-0.2549072951087501],[0.6769019303137264,-0.24598581072131598]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_5","position":[0.2685000289945546,0.7026524460794201,0.71338606911949],"aabb_xy":[[0.259340150050678,0.696121228035883],[0.2776599079384312,0.7091836641229572]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_6","position":[0.2766600413731357,-2.3915201865632243,0.71338606911949],"aabb_xy":[[0.22666004001224846,-2.44149809113864],[0.3266600427340229,-2.3415422819878087]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_7","position":[0.10227276760350212,-0.8538286138688189,0.71338606911949],"aabb_xy":[[0.06542221966651453,-0.8913286146918526],[0.13912331554048973,-0.8163286130457852]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_8","position":[0.5719351751730126,0.913510239091829,0.71338606911949],"aabb_xy":[[0.5639411865953091,0.9055101589967386],[0.5799291637507159,0.9215103191869193]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_9","position":[0.43104856142005876,1.6168896444672884,0.71338606911949],"aabb_xy":[[0.4081328485350089,1.5939853473308654],[0.4539642743051087,1.6397939416037124]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_10","position":[-0.09914969604243862,-0.6843782569980341,0.71338606911949],"aabb_xy":[[-0.14912299004569907,-0.7343782575525813],[-0.04917640203917817,-0.6343782564434867]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_11","position":[-0.1340455300045168,0.5593134265413138,0.71338606911949],"aabb_xy":[[-0.16189056678512392,0.5285289278030021],[-0.10620049322390968,0.5900979252796255]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_12","position":[0.21930717454187532,1.0263167248217986,0.71338606911949],"aabb_xy":[[0.1293071778062651,0.9731332615045039],[0.3093071712774855,1.0795001881390929]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_13","position":[-0.28364077801997095,-0.6101980903051809,0.71338606911949],"aabb_xy":[[-0.3636346015985292,-0.6901980928980225],[-0.20364695444141273,-0.5301980877123393]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_14","position":[-0.12125430294915585,0.22145442145501715,0.71338606911949],"aabb_xy":[[-0.15875430152477665,0.20871812579145918],[-0.08375430437353505,0.23419071711857506]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_15","position":[-0.640844430899175,0.1965170763119226,0.71338606911949],"aabb_xy":[[-0.6461820065651794,0.17151707538278282],[-0.6355068552331703,0.2215170772410624]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_16","position":[-0.1583943114274271,-2.077327416806721,0.71338606911949],"aabb_xy":[[-0.1766001350886748,-2.0883528173887127],[-0.14018848776617945,-2.0663020162247294]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_17","position":[0.0929564869871633,1.2386480272099063,0.71338606911949],"aabb_xy":[[0.02795648695286057,1.191947350529579],[0.15795648702146603,1.2853487038902336]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_18","position":[-0.15280125861088534,1.518373312367951,0.71338606911949],"aabb_xy":[[-0.2027800671212012,1.4683733123622322],[-0.10282245010056942,1.5683733123736698]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_19","position":[-0.6708817197272703,-0.9583743296669736,0.71338606911949],"aabb_xy":[[-0.6879837976856384,-0.9754811351982433],[-0.6537796417689021,-0.9412675241357038]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_20","position":[-0.5703594038819362,-2.0567775492428018,0.71338606911949],"aabb_xy":[[-0.6503594049550565,-2.066555595580186],[-0.49035940280881585,-2.0469995029054173]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_21","position":[0.5886446940286456,-1.1265019209054037,0.71338606911949],"aabb_xy":[[0.5386716284961302,-1.1765019207179368],[0.6386177595611611,-1.076501921092871]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_22","position":[-0.4079375706375301,-2.4004546452237316,0.71338606911949],"aabb_xy":[[-0.44225384781214805,-2.4504546451969094],[-0.3736212934629122,-2.350454645250554]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_23","position":[-0.2673544035317796,1.4143549137291722,0.71338606911949],"aabb_xy":[[-0.3048544038239544,1.4103134383285685],[-0.22985440323960477,1.4183963891297755]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_24","position":[-0.5623194034861175,-2.2879023113799786,0.71338606911949],"aabb_xy":[[-0.5998194042781129,-2.2942701523381688],[-0.524819402694122,-2.2815344704217884]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_25","position":[-0.5393431013305752,1.3498920203105111,0.71338606911949],"aabb_xy":[[-0.5545152706122085,1.3347231633823078],[-0.5241709320489418,1.3650608772387145]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_26","position":[-0.13358982633141603,-0.35531417779207297,0.71338606911949],"aabb_xy":[[-0.1370305025714732,-0.35917561076643745],[-0.13014915009135886,-0.3514527448177085]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6723375375902291,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/594.png","name":"594"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/594.png","name":"594"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3522.png","name":"3522"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/303.png","name":"303"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6424.png","name":"6424"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9489.png","name":"9489"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":530.2342967449831,"rotation_z_degrees":108.07009403611413,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015233319287799314,0.007562675976068724,0.014421044653737027]},{"name":"camera_2","offset_m":[0.01027867831678373,0.01308466684079575,-0.0029899295428677877]},{"name":"camera_3","offset_m":[0.0020087865780953965,-0.011743740161702628,-0.009851061701262353]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0011353552645276405,-0.0008703315055394816,-0.0012976606666950424],"end_effector_yaw_offset_degrees":0.8962190302721511},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0012953680543582426,-0.000547176671569837,0.0019441480413602595],"end_effector_yaw_offset_degrees":-0.8926380260826281},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00160689635638709,0.0006671561716027185,-0.0012016019331829067],"end_effector_yaw_offset_degrees":0.10018071506009685},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0015485852707608045,0.001851622146393408,0.0019773540197361925],"end_effector_yaw_offset_degrees":0.752890745768263}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0026827015973569846,-0.0008361887486025218],"position_m":[0.25611729840264297,0.15576381125139746,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0011842683860956251,0.0006319499967061097],"position_m":[0.2119157316139044,-0.3274680500032939,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.002056592094733143,0.0026897526152951726],"position_m":[0.26154340790526687,-0.12841024738470483,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0005170963137412412,-0.004208673117093497],"position_m":[0.32928290368625873,0.3047913268829065,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a3d21a8f93dd43dab00ecfa143da2cf9e7ce3883f6a8c8a19bfbd4ede5f9a977","episode_index":104,"episode_name":"episode_0104"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0104.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_594/tex_ceiling_textures_9489/tex_floor_textures_6424/tex_table_textures_3522/tex_wall_textures_303","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":8914130138576976736,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":8914130138576976736,"visual_seed":8914130138576976736,"scene_id":"lab_003","finished_at":"2026-09-06T00:25:52"} +{"episode_id":"ep_000088","started_at":"2026-09-06T00:30:10","dimensions":{"distractor":{"count":32,"items":[{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_0","position":[-0.3185778311652776,-2.2182396497275674,0.71338606911949],"aabb_xy":[[-0.4085778279008878,-2.271423113044862],[-0.2285778344296674,-2.165056186410273]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_1","position":[0.5990374293435492,-0.1089886708097918,0.71338606911949],"aabb_xy":[[0.5390374294969823,-0.16580729300283048],[0.6590374291901159,-0.052170048616753104]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_2","position":[-0.45402327237827544,-1.2854841559366335,0.71338606911949],"aabb_xy":[[-0.5240232750148617,-1.3055890209324987],[-0.384023269741689,-1.2653792909407677]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_3","position":[-0.49465648685082975,-0.6949250009947103,0.71338606911949],"aabb_xy":[[-0.5746564901086728,-0.7749215087866942],[-0.41465648359298685,-0.6149284932027262]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_4","position":[-0.43597197914599894,1.3239472268765948,0.71338606911949],"aabb_xy":[[-0.4999719794199772,1.2738811266793069],[-0.3719719788720207,1.3740133270738828]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_5","position":[0.20904078777627766,-0.8521428256409851,0.71338606911949],"aabb_xy":[[0.179073230866452,-0.8821428259388707],[0.23900834468610332,-0.8221428253430992]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_6","position":[0.4096480228083421,1.488250936110218,0.71338606911949],"aabb_xy":[[0.34564802089599983,1.4323397868522079],[0.4736480247206845,1.5441620853682287]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_7","position":[0.18021203121648177,-1.3626165539038517,0.71338606911949],"aabb_xy":[[0.17258776312630353,-1.3702497774403954],[0.18783629930666004,-1.354983330367308]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_8","position":[0.08799110914700103,-1.2178030001772642,0.71338606911949],"aabb_xy":[[0.08240943751287226,-1.2303029999950397],[0.09357278078112978,-1.2053030003594887]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_9","position":[0.08561199915267625,-1.6342657961024267,0.71338606911949],"aabb_xy":[[0.07761801057497286,-1.6422658761975168],[0.09360598773037965,-1.6262657160073362]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_10","position":[-0.5452713905803175,1.1704940829100416,0.71338606911949],"aabb_xy":[[-0.5802713888910129,1.162779067986496],[-0.510271392269622,1.1782090978335873]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_11","position":[0.5989479909681432,-1.2109178501187263,0.71338606911949],"aabb_xy":[[0.534947991673975,-1.2749039904875805],[0.6629479902623114,-1.1469317097498721]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_12","position":[0.38882605818628346,1.7684834010300965,0.71338606911949],"aabb_xy":[[0.3687676465730432,1.7484183141209386],[0.40888446979952375,1.7885484879392535]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_13","position":[-0.4524875999167324,0.395434505198478,0.71338606911949],"aabb_xy":[[-0.4699875990510996,0.3855548781608901],[-0.43498760078236526,0.40531413223606577]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_14","position":[-0.5523994539398238,-1.5508944009526897,0.71338606911949],"aabb_xy":[[-0.5655506999111132,-1.5758944007093767],[-0.5392482079685345,-1.5258944011960036]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_15","position":[0.3381998454371058,-2.260470472175112,0.71338606911949],"aabb_xy":[[0.31528413255205584,-2.2833747693115356],[0.36111555832215564,-2.2375661750386886]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_16","position":[0.2990083606144197,-1.5357872305679692,0.71338606911949],"aabb_xy":[[0.23500836144464973,-1.5825539176869317],[0.3630083597841896,-1.4890205434490067]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_17","position":[-0.47497611374736814,0.9173036661898073,0.71338606911949],"aabb_xy":[[-0.5092730247651087,0.8830067799798658],[-0.44067920272962746,0.9516005523997484]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_18","position":[-0.29140867774543355,0.9432595993116313,0.71338606911949],"aabb_xy":[[-0.3529994369694264,0.8792596012025846],[-0.22981791852144073,1.0072595974206784]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_19","position":[-0.00940057549320783,-2.5571128518976347,0.71338606911949],"aabb_xy":[[-0.07440057405028067,-2.586865385311517],[0.055599423063865006,-2.5273603184837516]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_20","position":[0.19635452821176524,-1.9091151092588727,0.71338606911949],"aabb_xy":[[0.12635452660948576,-1.9225479024605305],[0.2663545298140447,-1.8956823160572154]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_21","position":[0.38250910329538623,-0.5676893631505839,0.71338606911949],"aabb_xy":[[0.3513621844518031,-0.6376893618373911],[0.41365602213896935,-0.49768936446377676]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_22","position":[0.42754548995025266,-2.3123625506002847,0.71338606911949],"aabb_xy":[[0.41011477487124615,-2.3296346652641353],[0.44497620502925916,-2.2950904359364332]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_23","position":[-0.30951751120010884,-1.8304692633590713,0.71338606911949],"aabb_xy":[[-0.3470175110171424,-1.8351074746702132],[-0.2720175113830753,-1.8258310520479295]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_24","position":[0.5633387488391348,-2.4656277538365523,0.71338606911949],"aabb_xy":[[0.525838748174556,-2.481314811836774],[0.6008387495037134,-2.4499406958363297]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_25","position":[-0.5924399127985945,1.6094208131631773,0.71338606911949],"aabb_xy":[[-0.6076027857755317,1.594255355868059],[-0.5772770398216576,1.6245862704582965]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_26","position":[-0.4861053614482637,-0.8777238367743674,0.71338606911949],"aabb_xy":[[-0.49144293711426834,-0.9027238377035073],[-0.4807677857822592,-0.8527238358452277]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_27","position":[-0.40034162953330404,-0.10144027657147303,0.71338606911949],"aabb_xy":[[-0.4129684168205004,-0.11098635027304592],[-0.3877148422461077,-0.09189420286990012]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_28","position":[-0.16928679421085724,-2.118302377462797,0.71338606911949],"aabb_xy":[[-0.17474473984787733,-2.198302380770456],[-0.1638288485738372,-2.038302374155138]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_29","position":[-0.28787126751984315,-1.0235971014740155,0.71338606911949],"aabb_xy":[[-0.3378712669600388,-1.0735650259583318],[-0.23787126807964754,-0.9736291769896992]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_30","position":[0.6991653360968648,-2.07519119505751,0.71338606911949],"aabb_xy":[[0.6758834938987334,-2.1601911963547376],[0.722447178294996,-1.9901911937602816]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_31","position":[-0.3495168240930937,0.7058896403358808,0.71338606911949],"aabb_xy":[[-0.399499774280573,0.6558896406933202],[-0.2995338739056143,0.755889639978441]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.676952682293357,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1649.png","name":"1649"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1649.png","name":"1649"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2510.png","name":"2510"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6938.png","name":"6938"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2054.png","name":"2054"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1378.png","name":"1378"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":805.7814370816841,"rotation_z_degrees":312.49826563407703,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014996721507952655,0.019955423752201783,0.019161365605829223]},{"name":"camera_2","offset_m":[-0.017450994618868013,-0.0015757824945720686,-0.014137906151525232]},{"name":"camera_3","offset_m":[0.016857709283980334,0.017132416406384476,-0.0013072321858534318]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0019708952447855224,-0.0018042377740991045,0.0018143314622892596],"end_effector_yaw_offset_degrees":-0.44735459066465944},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.001395662401769047,0.001659729890369806,-0.0017903205491747337],"end_effector_yaw_offset_degrees":-0.8603075373444506},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001517974232686718,-0.0010083083138766424,0.0008751545134016206],"end_effector_yaw_offset_degrees":0.13711233591787364},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0012741029965281,-0.00041519520900732635,0.0012603432656545588],"end_effector_yaw_offset_degrees":-0.23090700030721578}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0028012822115938596,0.0018458705009779678],"position_m":[0.2559987177884061,0.15844587050097797,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0021623228931977115,0.004130886218727534],"position_m":[0.21526232289319772,-0.32396911378127247,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0033211206040163624,-0.0017294405650466116],"position_m":[0.26692112060401635,-0.1328294405650466,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0018587594719149305,0.001276744704933789],"position_m":[0.3316587594719149,0.31027674470493377,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9facd8cf7c3ce618e5d287f7fd9e916a9145af9429467c504cc33cda3212c1a1","episode_index":106,"episode_name":"episode_0106"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0106.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_1649/tex_ceiling_textures_1378/tex_floor_textures_2054/tex_table_textures_2510/tex_wall_textures_6938","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":5504440270857979532,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":5504440270857979532,"visual_seed":5504440270857979532,"scene_id":"lab_003","finished_at":"2026-09-06T00:34:00"} +{"episode_id":"ep_000089","started_at":"2026-09-06T00:34:04","dimensions":{"distractor":{"count":34,"items":[{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_0","position":[-0.27252912291154807,-1.1571591029024642,0.71338606911949],"aabb_xy":[[-0.33252912275811486,-1.213977725095503],[-0.21252912306498128,-1.1003404807094257]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_1","position":[0.606777382975106,-0.4273402262762782,0.71338606911949],"aabb_xy":[[0.5417773829408032,-0.4740409029566055],[0.6717773830094087,-0.3806395495959509]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_2","position":[0.09737188365924132,0.8730904871274694,0.71338606911949],"aabb_xy":[[0.012371884967166666,0.8411046237325905],[0.18237188235131596,0.9050763505223482]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_3","position":[0.37645250681668196,-1.2862218912566645,0.71338606911949],"aabb_xy":[[0.36710549923438673,-1.3005255134743086],[0.3857995143989772,-1.2719182690390205]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_4","position":[-0.4942157662442149,-0.3972364953254246,0.71338606911949],"aabb_xy":[[-0.5518462351314857,-0.4572364942521351],[-0.436585297356944,-0.33723649639871395]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_5","position":[0.20992145520530703,-0.9963682898695168,0.71338606911949],"aabb_xy":[[0.12023437889719157,-1.0863682901239673],[0.2996085315134225,-0.9063682896150661]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_6","position":[0.05690548685668162,-1.6544224320012595,0.71338606911949],"aabb_xy":[[0.050491673213496666,-1.6608322522489276],[0.06331930049986653,-1.648012611753591]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_7","position":[-0.5911345186637075,0.6473119485659491,0.71338606911949],"aabb_xy":[[-0.609003626418163,0.6334790405887382],[-0.573265410909252,0.66114485654316]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_8","position":[-0.584916004035549,0.3377389688666792,0.71338606911949],"aabb_xy":[[-0.6499160021914682,0.311442724316767],[-0.51991600587963,0.3640352134165914]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_9","position":[0.5544729067576795,0.1896119070826443,0.71338606911949],"aabb_xy":[[0.54431989120353,0.1535423655099039],[0.5646259223118287,0.22568144865538456]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_10","position":[0.6976825579809898,1.0229738309312792,0.71338606911949],"aabb_xy":[[0.6777915181006495,1.0103180196465824],[0.71757359786133,1.035629642215976]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_11","position":[-0.44980763492254405,-0.6749536108656493,0.71338606911949],"aabb_xy":[[-0.5398076316581542,-0.7281370741829438],[-0.3598076381869338,-0.6217701475483548]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_12","position":[-0.20329831687345523,-0.7665711687156438,0.71338606911949],"aabb_xy":[[-0.21413879509997014,-0.7837574500062925],[-0.19245783864694033,-0.7493848874249949]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_13","position":[-0.10907914894947413,-2.3006169310384226,0.71338606911949],"aabb_xy":[[-0.1340791485012126,-2.310759414903557],[-0.08407914939773563,-2.2904744471732874]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_14","position":[-0.3123338778211393,0.6441482108076468,0.71338606911949],"aabb_xy":[[-0.3573338792873682,0.5991483539461663],[-0.2673338763549105,0.6891480676691276]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_15","position":[-0.4557226915577967,-2.3561682887189246,0.71338606911949],"aabb_xy":[[-0.4907226898684922,-2.36388330364247],[-0.4207226932471013,-2.3484532737953785]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_16","position":[-0.6595204381739561,0.7189213824776264,0.71338606911949],"aabb_xy":[[-0.6721231373110327,0.7063259862527609],[-0.6469177390368798,0.7315167787024919]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_17","position":[-0.21490796488070746,0.7755679704595657,0.71338606911949],"aabb_xy":[[-0.2789079621830538,0.7312015434917088],[-0.15090796757836103,0.8199343974274224]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_18","position":[0.5561522736300737,-0.7695898247818431,0.71338606911949],"aabb_xy":[[0.5442801906185726,-0.8545898244754934],[0.5680243566415748,-0.6845898250881927]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_19","position":[0.16380324818937708,-1.3263355473642386,0.71338606911949],"aabb_xy":[[0.15255819261875925,-1.337577345088334],[0.17504830375999492,-1.3150937496401434]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_20","position":[-0.5107298249341805,1.4653829546359813,0.71338606911949],"aabb_xy":[[-0.5181422804755689,1.4595317442143532],[-0.5033173693927919,1.471234165057609]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_21","position":[-0.11409268801765626,-2.1199628617346056,0.71338606911949],"aabb_xy":[[-0.156277102178487,-2.183962862011817],[-0.07190827385682554,-2.055962861457395]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_22","position":[-0.4158456103974159,-2.4811550168136223,0.71338606911949],"aabb_xy":[[-0.47584561099343203,-2.5359674893588453],[-0.3558456098013997,-2.4263425442683983]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_23","position":[0.6831234337424272,-1.1199200108766898,0.71338606911949],"aabb_xy":[[0.6463288006175208,-1.156825885973272],[0.7199180668673334,-1.0830141357801075]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_24","position":[0.2135670785809034,0.5584761467890975,0.71338606911949],"aabb_xy":[[0.18357541584703305,0.5284761474522969],[0.2435587413147737,0.5884761461258979]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_25","position":[-0.4287858349307392,0.1920068918772988,0.71338606911949],"aabb_xy":[[-0.46563638286772674,0.15450689105426507],[-0.3919352869937515,0.22950689270033253]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_26","position":[-0.0516154711838086,1.3310507033669836,0.71338606911949],"aabb_xy":[[-0.0648464167184899,1.317823284344984],[-0.0383845256491273,1.3442781223889828]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_27","position":[0.12051459209528759,0.984430885296443,0.71338606911949],"aabb_xy":[[0.11347314114453998,0.9774041335586484],[0.12755604304603518,0.9914576370342375]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_28","position":[-0.2582864559888694,1.3386272489357838,0.71338606911949],"aabb_xy":[[-0.2894333748324525,1.2686272502489766],[-0.22713953714528629,1.408627247622591]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_29","position":[0.7033485401807709,-2.283970957671804,0.71338606911949],"aabb_xy":[[0.6872866127222531,-2.368970959484396],[0.7194104676392884,-2.1989709558592123]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_30","position":[0.17213209142217134,-1.8310873630614815,0.71338606911949],"aabb_xy":[[0.11054133219817855,-1.8950873611705286],[0.2337228506461642,-1.7670873649524348]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_31","position":[0.2499150868638379,1.4444192997279965,0.71338606911949],"aabb_xy":[[0.2379823525020098,1.4320371469201372],[0.26184782122566597,1.456801452535856]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_32","position":[-0.4425228852876188,1.0638475797241442,0.71338606911949],"aabb_xy":[[-0.4670691009103695,1.0335986831751072],[-0.4179766696648681,1.0940964762731813]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_33","position":[0.6151604578248844,-2.249227830139228,0.71338606911949],"aabb_xy":[[0.6098279431702713,-2.2545521583844637],[0.6204929724794974,-2.243903501893992]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.668777863859944,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6999.png","name":"6999"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6999.png","name":"6999"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7008.png","name":"7008"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6060.png","name":"6060"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5612.png","name":"5612"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1699.png","name":"1699"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":836.1444208072196,"rotation_z_degrees":140.62256498379213,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015715765673302354,0.002353540965843521,-0.002922143164365721]},{"name":"camera_2","offset_m":[-0.012033875659188467,0.010066367439718924,-0.011659314410419524]},{"name":"camera_3","offset_m":[0.01405468442445815,-0.019371457009254828,-0.018755077610062384]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0008369047079704295,-0.0018285264235427335,-0.0017728881581999798],"end_effector_yaw_offset_degrees":0.45547861503859055},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0005990918452340598,-0.0019848266898748407,0.0009168545445506237],"end_effector_yaw_offset_degrees":0.19530927867259762},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00015016133802316914,0.00049262453634078,-0.0003942638271632246],"end_effector_yaw_offset_degrees":0.6429216731739362},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0006981716101157869,0.0003124885780733098,-0.0006493703421479439],"end_effector_yaw_offset_degrees":-0.5439044642162021}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.002319952275806009,-0.004610024671557551],"position_m":[0.25648004772419397,0.15198997532844244,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0019804944365855092,0.000889744628899858],"position_m":[0.2111195055634145,-0.32721025537110016,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0005340424706946614,0.0037089401184598756],"position_m":[0.26306595752930534,-0.12739105988154012,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0049681484263293385,-0.003322250108383891],"position_m":[0.32483185157367067,0.3056777498916161,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"232c95cbac321aab0e337d0a7fff77778f95bf067f9819db4af808001089c3bd","episode_index":107,"episode_name":"episode_0107"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0107.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_6999/tex_ceiling_textures_1699/tex_floor_textures_5612/tex_table_textures_7008/tex_wall_textures_6060","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":5742742159194135786,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":5742742159194135786,"visual_seed":5742742159194135786,"scene_id":"lab_003","finished_at":"2026-09-06T00:37:42"} +{"episode_id":"ep_000090","started_at":"2026-09-06T00:37:47","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_0","position":[0.3148207069235882,1.5758463597155097,0.71338606911949],"aabb_xy":[[0.2802296240695429,1.5108463594304786],[0.3494117897776333,1.6408463600005407]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_1","position":[0.26114795219616505,-1.5000041693439123,0.71338606911949],"aabb_xy":[[0.25630435743493507,-1.5048558218228967],[0.265991546957395,-1.4951525168649284]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_2","position":[-0.3012211194179562,-2.151619980168933,0.71338606911949],"aabb_xy":[[-0.3362211207694379,-2.1719797161257537],[-0.2662211180664744,-2.131260244212112]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_3","position":[-0.24296556711796652,0.8387352811866942,0.71338606911949],"aabb_xy":[[-0.3069612645130631,0.7747352828859854],[-0.17896986972286993,0.9027352794874027]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_4","position":[-0.5543274835485215,-0.2549981040300153,0.71338606911949],"aabb_xy":[[-0.572196591302977,-0.26883101200722626],[-0.536458375794066,-0.2411651960528044]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_5","position":[0.13093592285373368,-0.6943255833047928,0.71338606911949],"aabb_xy":[[0.05093592419684767,-0.7088304422290556],[0.21093592151061968,-0.67982072438053]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_6","position":[0.2777733902560118,-0.6193800485875374,0.71338606911949],"aabb_xy":[[0.27231544461899176,-0.6993800518951964],[0.2832313358930319,-0.5393800452798782]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_7","position":[-0.47427101305745323,0.6822765482147739,0.71338606911949],"aabb_xy":[[-0.4889144186114862,0.6676178285579897],[-0.45962760750342024,0.6969352678715581]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_8","position":[0.6212992395568833,1.3853576580578069,0.71338606911949],"aabb_xy":[[0.6148854259136982,1.3789478378101385],[0.6277130532000681,1.3917674783054752]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_9","position":[-0.49846390791652023,0.054271118432468235,0.71338606911949],"aabb_xy":[[-0.5077575261536709,0.016771119944334327],[-0.4891702896793696,0.09177111692060214]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_10","position":[-0.30198544249695863,-0.515215023595947,0.71338606911949],"aabb_xy":[[-0.351958736500219,-0.5652150241504942],[-0.25201214849369813,-0.4652150230413995]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_11","position":[-0.4350626914513055,-1.161950666490004,0.71338606911949],"aabb_xy":[[-0.48504564163878483,-1.211950666132564],[-0.38507974126382616,-1.1119506668474433]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_12","position":[0.5933103472218335,-0.18444403208332183,0.71338606911949],"aabb_xy":[[0.5483177605033831,-0.22944403135777058],[0.6383029339402839,-0.13944403280887308]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_13","position":[-0.533028362362623,1.6232277293751998,0.71338606911949],"aabb_xy":[[-0.5423753699449182,1.608924107157556],[-0.5236813547803277,1.637531351592844]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_14","position":[0.028325876557330765,1.6013261154427059,0.71338606911949],"aabb_xy":[[-0.051674121423454275,1.593724574480854],[0.1083258745381158,1.6089276564045578]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_15","position":[-0.5400397453862502,-0.05424695804311552,0.71338606911949],"aabb_xy":[[-0.5775397452032837,-0.058885169354257395],[-0.5025397455692165,-0.049608746731973664]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_16","position":[-0.5977085747945903,1.7551364532138716,0.71338606911949],"aabb_xy":[[-0.6222221988915961,1.7308718599118353],[-0.5731949506975844,1.7794010465159082]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_17","position":[-0.49185539079107476,-1.6210524138191056,0.71338606911949],"aabb_xy":[[-0.5468486021282116,-1.6760524141578994],[-0.4368621794539381,-1.5660524134803122]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_18","position":[-0.07740240592916547,-0.941404189182597,0.71338606911949],"aabb_xy":[[-0.08481486147055393,-0.947255399604225],[-0.06998995038777699,-0.9355529787609691]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_19","position":[-0.6094963696818385,-2.371870938250065,0.71338606911949],"aabb_xy":[[-0.6507451807117531,-2.426870937762282],[-0.5682475586519237,-2.316870938737847]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_20","position":[-0.30681337042303064,-0.31875923259692174,0.71338606911949],"aabb_xy":[[-0.3183823511699672,-0.34375923271385345],[-0.29524438967609407,-0.29375923247999003]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_21","position":[-0.4048958062883618,0.12619077564455905,0.71338606911949],"aabb_xy":[[-0.42078029955368695,0.11183783534573499],[-0.38901131302303665,0.1405437159433831]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_22","position":[-0.2762502708514595,-0.9385538219619893,0.71338606911949],"aabb_xy":[[-0.34025027414116754,-0.981888740965907],[-0.21225026756175133,-0.8952189029580717]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_23","position":[0.6839132463482818,-1.483020840741345,0.71338606911949],"aabb_xy":[[0.6672361103551862,-1.4997207647152753],[0.7005903823413772,-1.4663209167674147]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_24","position":[-0.16816054281258697,-1.3120905126413853,0.71338606911949],"aabb_xy":[[-0.1737422144467157,-1.3245905124591606],[-0.16257887117845818,-1.2995905128236096]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6739242327308738,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1380.png","name":"1380"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1380.png","name":"1380"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7362.png","name":"7362"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8606.png","name":"8606"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1878.png","name":"1878"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9127.png","name":"9127"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":650.5541865039609,"rotation_z_degrees":30.97035223798711,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.003721212412214854,0.0008410109203883416,0.01753811792049619]},{"name":"camera_2","offset_m":[-0.006084506905758321,-0.006676235914016178,0.015163861312141518]},{"name":"camera_3","offset_m":[-0.0036474462866512257,0.002797287149252096,0.008892728146266609]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0008043662382749921,0.0011761183332819288,0.00038470704969095857],"end_effector_yaw_offset_degrees":-0.3186853301392558},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00156902842025644,0.001556197542823449,-0.0019431969575721473],"end_effector_yaw_offset_degrees":0.5289161851946942},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0009759819714212099,-0.0005633326641580868,-0.0014497637945754716],"end_effector_yaw_offset_degrees":0.1866789837477565},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001980197849708927,-0.0018138422258916719,0.0004946207043091382],"end_effector_yaw_offset_degrees":0.5379992586616358}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0017889373655501969,-0.003728029214435797],"position_m":[0.26058893736555017,0.1528719707855642,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003724714948608476,-0.00229942929165766],"position_m":[0.2168247149486085,-0.33039942929165766,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0018850801374879146,-0.0033610523874803666],"position_m":[0.2617149198625121,-0.13446105238748035,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0012985902585685247,-0.004279893422042323],"position_m":[0.3310985902585685,0.3047201065779577,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"792dc8c503fcbb04055550fc1b33ab08906ecaff2ba588d647cc2a01fb0e4c88","episode_index":108,"episode_name":"episode_0108"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0108.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_1380/tex_ceiling_textures_9127/tex_floor_textures_1878/tex_table_textures_7362/tex_wall_textures_8606","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":2154742810432399485,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":2154742810432399485,"visual_seed":2154742810432399485,"scene_id":"lab_003","finished_at":"2026-09-06T00:41:27"} +{"episode_id":"ep_000091","started_at":"2026-09-06T00:41:31","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_0","position":[0.1266127402506313,-2.294094582916936,0.71338606911949],"aabb_xy":[[0.06161274169355849,-2.323847116330818],[0.19161273880770416,-2.264342049503053]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_1","position":[0.513005805805806,-2.3948590299341,0.71338606911949],"aabb_xy":[[0.4755058042901744,-2.406085802950245],[0.5505058073214378,-2.383632256917955]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_2","position":[-0.22699346478768473,0.8205808786937987,0.71338606911949],"aabb_xy":[[-0.23823852035830256,0.8093390809697033],[-0.2157484092170669,0.8318226764178939]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_3","position":[-0.46197204302917555,-1.2053798883389442,0.71338606911949],"aabb_xy":[[-0.4660502009362253,-1.2094608685872075],[-0.4578938851221258,-1.2012989080906809]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_4","position":[-0.009095549514131496,-2.5262456583124533,0.71338606911949],"aabb_xy":[[-0.017089538091834888,-2.534245738407543],[-0.0011015609364281014,-2.5182455782173627]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_5","position":[-0.23766284050779324,0.3464812849414596,0.71338606911949],"aabb_xy":[[-0.2601628403216956,0.3420066685709789],[-0.21516284069389086,0.35095590131194027]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_6","position":[-0.0987538145562844,-1.4806854640863811,0.71338606911949],"aabb_xy":[[-0.11032279530322099,-1.5056854642033128],[-0.08718483380934784,-1.4556854639694494]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_7","position":[-0.2032841434558395,1.1542573848437208,0.71338606911949],"aabb_xy":[[-0.28328414372944644,1.081307837018004],[-0.12328414318223253,1.2272069326694375]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_8","position":[0.2044090615058316,0.7256832404629923,0.71338606911949],"aabb_xy":[[0.1855246777373214,0.7067973156826395],[0.2232934452743418,0.744569165243345]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_9","position":[-0.3075126088073623,1.7035002209829462,0.71338606911949],"aabb_xy":[[-0.3715126104853596,1.6549828295036317],[-0.2435126071293649,1.7520176124622602]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_10","position":[0.26782402799179617,-2.321483562905284,0.71338606911949],"aabb_xy":[[0.2340484688011032,-2.335522058118449],[0.30159958718248914,-2.307445067692119]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_11","position":[0.3086031676847838,-1.162528632595138,0.71338606911949],"aabb_xy":[[0.2586202174973044,-1.2125286322376982],[0.3585861178722631,-1.1125286329525774]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_12","position":[0.0026567769167653577,-1.8893251630042815,0.71338606911949],"aabb_xy":[[-0.0007838993232918152,-1.8931865959786465],[0.006097453156822532,-1.8854637300299175]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_13","position":[-0.39041899995376467,-0.3425327349847884,0.71338606911949],"aabb_xy":[[-0.4404189985996858,-0.3924522786442508],[-0.3404190013078434,-0.29261319132532604]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_14","position":[0.015739625916854294,0.6558814179004666,0.71338606911949],"aabb_xy":[[-0.06926037277522035,0.6238955545055878],[0.10073962460892893,0.6878672812953455]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_15","position":[0.16553587239004652,-2.4486215776302056,0.71338606911949],"aabb_xy":[[0.10553587152923367,-2.5000480076366913],[0.22553587325085928,-2.397195147623719]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_16","position":[-0.3487481626139327,-0.6189277990451865,0.71338606911949],"aabb_xy":[[-0.42874816477669514,-0.69888298267133],[-0.26874816045117017,-0.5389726154190427]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_17","position":[-0.2580479444828117,1.5820102215104757,0.71338606911949],"aabb_xy":[[-0.2705153025925474,1.5695448968771524],[-0.24558058637307612,1.5944755461437994]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_18","position":[0.5250037056792884,-1.6056356320532945,0.71338606911949],"aabb_xy":[[0.47500370472875564,-1.6371847790568157],[0.5750037066298213,-1.5740864850497729]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_19","position":[-0.12783786319239754,0.014536318511938262,0.71338606911949],"aabb_xy":[[-0.16533786313616394,0.006243228477101683],[-0.09033786324863113,0.022829408546774843]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_20","position":[-0.5308572037342779,-1.837424735278209,0.71338606911949],"aabb_xy":[[-0.5608247606441036,-1.8674247355760947],[-0.5008896468244523,-1.8074247349803232]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_21","position":[0.5619805296174549,1.7679753152090147,0.71338606911949],"aabb_xy":[[0.4719805331165831,1.722063672790556],[0.6519805261183266,1.8138869576274725]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_22","position":[0.2286227801625802,1.1439787089227846,0.71338606911949],"aabb_xy":[[0.217261045509294,1.1326102425164963],[0.23998451481586633,1.1553471753290725]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_23","position":[0.500358841516708,-1.8778613307959555,0.71338606911949],"aabb_xy":[[0.4753588415841902,-1.884743999016879],[0.525358841449226,-1.8709786625750324]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_24","position":[-0.3951663876311737,-1.0008274612779413,0.71338606911949],"aabb_xy":[[-0.412666321065157,-1.0183274611981756],[-0.37766645419719025,-0.9833274613577065]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_25","position":[-0.4905927739999796,-1.5868371619537904,0.71338606911949],"aabb_xy":[[-0.4987204621932928,-1.5957507703644984],[-0.48246508580666636,-1.577923553543083]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_26","position":[0.05303895592076413,-0.6902959113533615,0.71338606911949],"aabb_xy":[[0.03553895567571474,-0.7077956991929283],[0.0705389561658135,-0.6727961235137946]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_27","position":[-0.386881175093534,0.8256365472262845,0.71338606911949],"aabb_xy":[[-0.44185489712986686,0.7706365476620515],[-0.3319074530572011,0.8806365467905178]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_28","position":[-0.37254857191562535,-1.3615613470991403,0.71338606911949],"aabb_xy":[[-0.41004857310041815,-1.3659795697952006],[-0.33504857073083255,-1.3571431244030796]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6743351759653319,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9320.png","name":"9320"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9320.png","name":"9320"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2666.png","name":"2666"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/257.png","name":"257"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4776.png","name":"4776"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2304.png","name":"2304"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":680.0451619434398,"rotation_z_degrees":34.00271242709413,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.001232099041616936,0.010834394268343098,0.002147458718185863]},{"name":"camera_2","offset_m":[0.008799767143358145,0.00718768628669016,0.0009759228309573868]},{"name":"camera_3","offset_m":[0.014056815735114515,-0.008449592417529867,0.014922160131509519]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0010343113042675703,0.0004726058710088532,0.00097348945605223],"end_effector_yaw_offset_degrees":0.9018840954570357},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.001285393845838212,0.001795982209328926,0.0019291326752798469],"end_effector_yaw_offset_degrees":0.9630681162673234},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0005925240193544012,9.01621050581271e-05,0.0011026295085640116],"end_effector_yaw_offset_degrees":0.3868609539247556},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0018464122296434065,0.0008970091755899105,-0.00016937313608616166],"end_effector_yaw_offset_degrees":0.07977183909195773}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.001087134612988351,-0.0013411041228002497],"position_m":[0.25988713461298835,0.15525889587719974,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0032615817959678207,-0.0032134451526035527],"position_m":[0.20983841820403218,-0.3313134451526036,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.002522130734780609,0.004754437538893563],"position_m":[0.26107786926521936,-0.12634556246110643,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0014405348831920618,0.0019563750913000836],"position_m":[0.3283594651168079,0.3109563750913001,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"324151ce0d02b6eab0b3d18ae731fdde63334ce9bf5007b84ad605be58e5134b","episode_index":109,"episode_name":"episode_0109"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0109.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_9320/tex_ceiling_textures_2304/tex_floor_textures_4776/tex_table_textures_2666/tex_wall_textures_257","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":6257222945774933391,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":6257222945774933391,"visual_seed":6257222945774933391,"scene_id":"lab_003","finished_at":"2026-09-06T00:45:08"} +{"episode_id":"ep_000092","started_at":"2026-09-06T00:45:12","dimensions":{"distractor":{"count":35,"items":[{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_0","position":[0.23455628937280537,0.9458960325066372,0.71338606911949],"aabb_xy":[[0.15455629221323003,0.9343484315488201],[0.3145562865323806,0.9574436334644542]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_1","position":[-0.6052407185878708,-0.8066732179200629,0.71338606911949],"aabb_xy":[[-0.6281564314729207,-0.8295775150564866],[-0.5823250057028209,-0.7837689207836396]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_2","position":[-0.14881536483665125,-0.5735004596305209,0.71338606911949],"aabb_xy":[[-0.19594474383848692,-0.6375004606749226],[-0.10168598583481558,-0.5095004585861187]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_3","position":[0.4586870242264176,-2.08302463610329,0.71338606911949],"aabb_xy":[[0.3786870209624045,-2.096584668412203],[0.5386870274904307,-2.0694646037943762]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_4","position":[0.15032031380097144,-0.8241728296769915,0.71338606911949],"aabb_xy":[[0.1328895987219649,-0.8414449443408422],[0.16775102887997792,-0.8069007150131405]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_5","position":[0.6047050939468539,0.42556640028881,0.71338606911949],"aabb_xy":[[0.5407093965517574,0.36156640198810125],[0.6687007913419506,0.4895663985895186]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_6","position":[0.6622366851512489,-1.1145317342573902,0.71338606911949],"aabb_xy":[[0.6397366853373465,-1.119006350627871],[0.6847366849651513,-1.1100571178869094]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_7","position":[0.6300359494451404,-1.2126497811151837,0.71338606911949],"aabb_xy":[[0.5800428373359485,-1.2626497817893796],[0.6800290615543323,-1.1626497804409883]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_8","position":[-0.1962736741330099,-0.34811463818702926,0.71338606911949],"aabb_xy":[[-0.20950461966769116,-0.36134205720902857],[-0.18304272859832857,-0.3348872191650297]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_9","position":[0.6535508913049375,-0.5041754999656369,0.71338606911949],"aabb_xy":[[0.6459266232147592,-0.5118087235021807],[0.6611751593951157,-0.4965422764290932]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_10","position":[-0.40767022119781277,-1.0717711360028153,0.71338606911949],"aabb_xy":[[-0.44517022238260556,-1.0761893586988756],[-0.37017022001301997,-1.0673529133067545]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_11","position":[-0.5740149792323151,0.6423564112613191,0.71338606911949],"aabb_xy":[[-0.6105107998595938,0.6058724688345615],[-0.5375191586050363,0.6788403536880766]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_12","position":[0.639072880269264,0.17300594006698944,0.71338606911949],"aabb_xy":[[0.6325712437612595,0.1632381180406797],[0.6455745167772687,0.18277376209329924]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_13","position":[-0.5185068626923881,-0.6709561838530997,0.71338606911949],"aabb_xy":[[-0.5835068637983314,-0.695921556921228],[-0.4535068615864448,-0.6459908107849714]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_14","position":[-0.1329838681337584,1.499786338697517,0.71338606911949],"aabb_xy":[[-0.21670609363384086,1.4097863351628208],[-0.04926164263367594,1.5897863422322127]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_15","position":[0.5509020067490231,0.7007727168779847,0.71338606911949],"aabb_xy":[[0.5284020072253156,0.6782767694273638],[0.5734020062727304,0.7232686643286054]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_16","position":[-0.31215083788160664,-1.0960519508194284,0.71338606911949],"aabb_xy":[[-0.3298264684702049,-1.113732167098831],[-0.29447520729300825,-1.0783717345400254]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_17","position":[-0.026573733905779884,-1.6120252827738382,0.71338606911949],"aabb_xy":[[-0.04874626088243071,-1.634200949929961],[-0.004401206929129045,-1.5898496156177149]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_18","position":[-0.11313909076021578,0.2518811075944689,0.71338606911949],"aabb_xy":[[-0.15444363382395176,0.18788110802635183],[-0.07183454769647979,0.315881107162586]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_19","position":[0.5851090834427737,-1.574774282433138,0.71338606911949],"aabb_xy":[[0.5480749740147138,-1.6091514897668475],[0.6221431928708333,-1.5403970750994287]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_20","position":[-0.17495435004126514,0.9404514800302084,0.71338606911949],"aabb_xy":[[-0.2549543522040276,0.8604962964040647],[-0.09495434787850263,1.020406663656352]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_21","position":[0.19632452998919914,-1.5520976521135432,0.71338606911949],"aabb_xy":[[0.17877783507308018,-1.5895976536777945],[0.21387122490531804,-1.514597650549292]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_22","position":[-0.6350027579232265,0.967098009640686,0.71338606911949],"aabb_xy":[[-0.6575164497466837,0.8970980090396786],[-0.6124890660997693,1.0370980102416936]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_23","position":[0.7073124156645594,1.4960932634805313,0.71338606911949],"aabb_xy":[[0.7036091543354203,1.4923912451718135],[0.711015676993698,1.499795281789249]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_24","position":[-0.5289764758924587,-0.2025500774239517,0.71338606911949],"aabb_xy":[[-0.5789764753326543,-0.25251800190826795],[-0.47897647645226304,-0.15258215293963534]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_25","position":[0.2860273875947723,1.181721047168304,0.71338606911949],"aabb_xy":[[0.26352825186854534,1.159221046390041],[0.3085265233209993,1.204221047946567]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_26","position":[-0.5170740147994357,-1.623166857931209,0.71338606911949],"aabb_xy":[[-0.5383520229429078,-1.688166860257282],[-0.49579600665596335,-1.5581668556051358]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_27","position":[-0.3261024946710635,-2.07789101793354,0.71338606911949],"aabb_xy":[[-0.40610249792890646,-2.157887525725524],[-0.24610249141322055,-1.9978945101415562]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_28","position":[-0.564079888940318,-0.32903011272055416,0.71338606911949],"aabb_xy":[[-0.6340798910717474,-0.35179207834624976],[-0.49407988680888837,-0.30626814709485845]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_29","position":[0.3083915652938516,0.5026079699426997,0.71338606911949],"aabb_xy":[[0.2708915637782199,0.4913811969265546],[0.3458915668094833,0.5138347429588447]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_30","position":[0.14694786765978463,1.111064213877813,0.71338606911949],"aabb_xy":[[0.13753039308992185,1.101648036740094],[0.15636534222964735,1.120480391015532]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_31","position":[0.14435455495313299,-1.7939101502287356,0.71338606911949],"aabb_xy":[[0.09437713808787938,-1.8439101517179841],[0.19433197181838655,-1.743910148739487]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_32","position":[-0.5258209021149542,-1.3325915697709192,0.71338606911949],"aabb_xy":[[-0.5354525383353839,-1.342228882550628],[-0.5161892658945246,-1.3229542569912103]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_33","position":[0.2314781789340784,-2.2242314983700644,0.71338606911949],"aabb_xy":[[0.17384771004680755,-2.284231497296774],[0.28910864782134926,-2.164231499443353]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_34","position":[0.5617471152672007,-0.3580668643073559,0.71338606911949],"aabb_xy":[[0.5426348079092218,-0.3772016431845979],[0.5808594226251795,-0.3389320854301139]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6797200792187869,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9940.png","name":"9940"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9940.png","name":"9940"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8961.png","name":"8961"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6062.png","name":"6062"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/475.png","name":"475"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7798.png","name":"7798"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":509.1503699189815,"rotation_z_degrees":163.57138413677674,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015760164402000617,-0.017428491715242554,0.009557812405208907]},{"name":"camera_2","offset_m":[0.013622701209762892,0.019718617719666955,-0.00042153227345500047]},{"name":"camera_3","offset_m":[0.005436071422861639,-0.014729842883006144,0.007454778923578691]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0009654798994087979,-0.0009784629041530476,0.0017701023744343424],"end_effector_yaw_offset_degrees":0.912068625686419},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0003348064988991182,0.0005198054361108943,-0.0006881776840483088],"end_effector_yaw_offset_degrees":0.0837285219573416},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0011168037889232709,0.0016415649423821514,5.868281881955557e-05],"end_effector_yaw_offset_degrees":-0.2247773080404405},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0012201333840406612,0.0007430864671034093,0.0003359643393726747],"end_effector_yaw_offset_degrees":0.7563372574004397}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0038535856900706452,-0.0019639046039788164],"position_m":[0.26265358569007063,0.15463609539602116,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004074040043684539,-0.0012411070045111974],"position_m":[0.21717404004368454,-0.3293411070045112,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0030524893200664194,0.0011098424913569323],"position_m":[0.2605475106799336,-0.12999015750864307,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0036098805004382466,0.003915147060460048],"position_m":[0.33340988050043824,0.31291514706046003,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ca5f8d7ad8395598edcd5a41539dad36317c5ca64583143f5df6b86a5332dd97","episode_index":110,"episode_name":"episode_0110"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0110.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_9940/tex_ceiling_textures_7798/tex_floor_textures_475/tex_table_textures_8961/tex_wall_textures_6062","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":4630315176738170605,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":4630315176738170605,"visual_seed":4630315176738170605,"scene_id":"lab_003","finished_at":"2026-09-06T00:48:52"} +{"episode_id":"ep_000093","started_at":"2026-09-06T00:48:56","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_0","position":[0.567121334918389,-0.9972812409494833,0.71338606911949],"aabb_xy":[[0.5608092353820506,-1.0030481802027023],[0.5734334344547274,-0.9915143016962646]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_1","position":[0.428214335827533,-2.3592362921841006,0.71338606911949],"aabb_xy":[[0.42337074106630307,-2.3640879446630847],[0.433057930588763,-2.3543846397051165]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_2","position":[0.6836055922328903,-0.5505258203837986,0.71338606911949],"aabb_xy":[[0.6791749628780501,-0.5559741921184812],[0.6880362215877305,-0.545077448649116]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_3","position":[0.3824230949804259,0.8333332698438087,0.71338606911949],"aabb_xy":[[0.3474230966697304,0.825618254920263],[0.4174230932911213,0.8410482847673543]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_4","position":[-0.34151026937209905,0.30695726898701503,0.71338606911949],"aabb_xy":[[-0.39150528033155113,0.2569572699514233],[-0.291515258412647,0.35695726802260674]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_5","position":[0.09771551763505004,-1.0365919411311095,0.71338606911949],"aabb_xy":[[0.05163042638031857,-1.1005919383836644],[0.14380060888978152,-0.9725919438785543]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_6","position":[0.5027965973400939,-2.2595545079818344,0.71338606911949],"aabb_xy":[[0.442796595697172,-2.3115546572737786],[0.5627965989830157,-2.2075543586898903]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_7","position":[-0.20920814775755636,-2.2811389212677597,0.71338606911949],"aabb_xy":[[-0.24512165218254606,-2.317052429484514],[-0.17329464333256667,-2.2452254130510045]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_8","position":[0.3282516619402236,0.9908313712126811,0.71338606911949],"aabb_xy":[[0.30575166142818294,0.9683395128472826],[0.35075166245226413,1.0133232295780794]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_9","position":[0.13242163724921552,-1.4430317738307548,0.71338606911949],"aabb_xy":[[0.1242070921335315,-1.4517083641283959],[0.14063618236489944,-1.4343551835331132]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_10","position":[-0.6006027866694195,-1.2511860625266948,0.71338606911949],"aabb_xy":[[-0.6656027852264923,-1.2809385959405775],[-0.5356027881123466,-1.2214335291128122]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_11","position":[-0.39413057881914576,-0.44513003110521376,0.71338606911949],"aabb_xy":[[-0.4093027481007791,-0.4602988880334172],[-0.3789584095375124,-0.42996117417701046]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_12","position":[0.12016509416411814,0.5775693040226448,0.71338606911949],"aabb_xy":[[0.1125408260739399,0.5699360804861011],[0.12778936225429638,0.5852025275591886]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_13","position":[-0.2231056774991903,0.26523264554593684,0.71338606911949],"aabb_xy":[[-0.24602139038424026,0.24232834840951334],[-0.20018996461414046,0.28813694268236034]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_14","position":[-0.08147715021730495,-2.2666159856028534,0.71338606911949],"aabb_xy":[[-0.08950342084793096,-2.275367480580206],[-0.07345087958667897,-2.2578644906255008]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_15","position":[0.5402774841974454,0.5213154264967739,0.71338606911949],"aabb_xy":[[0.4762774809788075,0.4745923145977655],[0.6042774874160832,0.5680385383957822]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_16","position":[0.5517849102396108,-0.8528562809194216,0.71338606911949],"aabb_xy":[[0.5359004169742857,-0.8672092212182456],[0.567669403504936,-0.8385033406205975]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_17","position":[-0.6311114228555249,0.9217851803649308,0.71338606911949],"aabb_xy":[[-0.681111423216091,0.8718051931553278],[-0.5811114224949588,0.9717651675745337]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_18","position":[-0.0506774327425239,1.726273025707409,0.71338606911949],"aabb_xy":[[-0.07567743201448618,1.7099276621112467],[-0.025677433470561627,1.7426183893035714]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_19","position":[-0.3581728245570617,-1.0326457395633637,0.71338606911949],"aabb_xy":[[-0.42217282623505903,-1.0811631310426777],[-0.2941728228790643,-0.9841283480840493]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_20","position":[0.7046907288291866,0.964886073168481,0.71338606911949],"aabb_xy":[[0.699353153163182,0.9398860722393412],[0.7100283044951912,0.9898860740976207]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6708335000140044,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1216.png","name":"1216"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1216.png","name":"1216"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/73.png","name":"73"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8772.png","name":"8772"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8111.png","name":"8111"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8856.png","name":"8856"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":749.7038690392878,"rotation_z_degrees":184.54501874584076,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012550792844295812,0.01270616106475048,-0.015401361323241384]},{"name":"camera_2","offset_m":[0.012726684843845325,0.012564350136555897,0.011693471594690457]},{"name":"camera_3","offset_m":[0.011598947173113248,0.013310194483343082,-0.017897569938636115]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00013713575163389535,-0.0011740708624761896,-2.0562989371797173e-05],"end_effector_yaw_offset_degrees":-0.4429849833199213},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0002767798358895867,0.0008866768112813232,0.0012498147169913393],"end_effector_yaw_offset_degrees":-0.13905483146235742},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-1.337504256935726e-05,0.00010042546579359631,-0.0018328469556799286],"end_effector_yaw_offset_degrees":0.39051130904345155},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00154676689074876,0.0019948085895562214,-0.0005523324707644996],"end_effector_yaw_offset_degrees":0.4906897280329203}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0009697938142765152,0.0034193067948480897],"position_m":[0.2597697938142765,0.16001930679484808,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0027777616052934275,-0.0010091549527470982],"position_m":[0.21587776160529343,-0.3291091549527471,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0001255829741546458,-0.0008610246654769949],"position_m":[0.26372558297415466,-0.131961024665477,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004096442632690346,-0.0005282124755005661],"position_m":[0.32570355736730966,0.30847178752449944,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5e49bb6aa99c42edc9e8f4b5c7463912796833999495295d58687a3358a65ed2","episode_index":111,"episode_name":"episode_0111"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0111.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_1216/tex_ceiling_textures_8856/tex_floor_textures_8111/tex_table_textures_73/tex_wall_textures_8772","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":7857167165781166036,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":7857167165781166036,"visual_seed":7857167165781166036,"scene_id":"lab_003","finished_at":"2026-09-06T00:52:36"} +{"episode_id":"ep_000094","started_at":"2026-09-06T00:52:41","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_0","position":[-0.17948157108869323,1.165292582601984,0.71338606911949],"aabb_xy":[[-0.20577039540913386,1.1390211489473325],[-0.15319274676825254,1.191564016256635]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_1","position":[0.6613736496394909,-1.2432430300858899,0.71338606911949],"aabb_xy":[[0.6263736504466724,-1.2542100760835524],[0.6963736488323089,-1.2322759840882274]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_2","position":[0.18745832511698168,-1.7421766520810233,0.71338606911949],"aabb_xy":[[0.12345832653040922,-1.7891836154805318],[0.25145832370355414,-1.6951696886815144]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_3","position":[0.5056844257327049,-2.3041161451737726,0.71338606911949],"aabb_xy":[[0.4416844293371317,-2.368079433592506],[0.5696844221282779,-2.240152856755039]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_4","position":[-0.42995468864286523,-1.0411091629516507,0.71338606911949],"aabb_xy":[[-0.48507989427245596,-1.1011091643929376],[-0.3748294830132744,-0.9811091615103634]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_5","position":[-0.30061768545773404,-0.8615262641515795,0.71338606911949],"aabb_xy":[[-0.30475354179043423,-0.8990262635959366],[-0.29648182912503385,-0.8240262647072226]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_6","position":[-0.5874680774577438,0.39727522416838923,0.71338606911949],"aabb_xy":[[-0.6093767595970947,0.37537455734829844],[-0.5655593953183926,0.4191758909884799]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_7","position":[-0.19190803971610204,-1.3028045135487814,0.71338606911949],"aabb_xy":[[-0.2569080378720211,-1.3291007580986935],[-0.12690804156018298,-1.2765082689988692]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_8","position":[-0.378995206585478,-1.9653267680048607,0.71338606911949],"aabb_xy":[[-0.4164952051610988,-1.9780630636684187],[-0.34149520800985717,-1.9525904723413028]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_9","position":[0.49758915268578674,1.4491950607930577,0.71338606911949],"aabb_xy":[[0.4600891527420203,1.4409019707582211],[0.5350891526295531,1.4574881508278943]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_10","position":[-0.24808389725108088,1.7467812350817753,0.71338606911949],"aabb_xy":[[-0.2830838955212007,1.7397071073867874],[-0.21308389898096095,1.7538553627767637]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_11","position":[-0.03279272957275203,1.7084624894389528,0.71338606911949],"aabb_xy":[[-0.07029272967834498,1.7016403275859717],[0.004707270532840923,1.715284651291934]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_12","position":[0.5596717449563151,1.1235988064723776,0.71338606911949],"aabb_xy":[[0.5499157554471411,1.113836272413143],[0.5694277344654889,1.1333613405316119]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_13","position":[-0.5345819872123362,-1.8225351107494123,0.71338606911949],"aabb_xy":[[-0.5895819863889257,-1.8775247855243697],[-0.4795819880357467,-1.7675454359744545]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_14","position":[-0.09038805448644749,-0.7040352668058496,0.71338606911949],"aabb_xy":[[-0.10353930045773686,-0.7290352665625361],[-0.07723680851515813,-0.6790352670491631]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_15","position":[0.3282812518331617,-2.1146156362765667,0.71338606911949],"aabb_xy":[[0.3057812518230134,-2.1287118559161704],[0.35078125184331,-2.100519416636964]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_16","position":[-0.416426263682605,-2.3837133268794912,0.71338606911949],"aabb_xy":[[-0.48042626098495134,-2.4280797538473484],[-0.35242626638025853,-2.339346899911635]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_17","position":[0.3018420383165722,-2.4386336295880473,0.71338606911949],"aabb_xy":[[0.24025127909257943,-2.5026336276970946],[0.36343279754056507,-2.374633631479001]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_18","position":[0.0570125247385157,-1.9191426569528005,0.71338606911949],"aabb_xy":[[0.023533357477474773,-1.9526217703239075],[0.09049169199955664,-1.8856635435816935]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_19","position":[0.26157958982738483,-0.9468090327614189,0.71338606911949],"aabb_xy":[[0.2541671342859963,-0.9526602431830469],[0.26899204536877325,-0.940957822339791]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_20","position":[-0.16225246314871833,-0.5619180461685573,0.71338606911949],"aabb_xy":[[-0.16720848333359956,-0.5844180463706791],[-0.15729644296383716,-0.5394180459664358]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_21","position":[-0.09674255427359824,-1.7253955908239442,0.71338606911949],"aabb_xy":[[-0.1767425575314412,-1.805392098615928],[-0.01674255101575528,-1.64539908303196]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_22","position":[-0.48072568067547705,-0.5587383187291914,0.71338606911949],"aabb_xy":[[-0.5182256814674725,-0.5651061596873814],[-0.4432256798834816,-0.5523704777710012]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_23","position":[0.45806683502118806,1.6037470934177693,0.71338606911949],"aabb_xy":[[0.42360448762304614,1.5692532110199464],[0.49252918241932975,1.6382409758155918]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_24","position":[0.2753041699493216,1.3607690556246719,0.71338606911949],"aabb_xy":[[0.19530416778655907,1.2808138719985283],[0.35530417211208404,1.4407242392508155]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_25","position":[0.3780180269314046,-0.3544210060857935,0.71338606911949],"aabb_xy":[[0.35550433510794743,-0.424421006686801],[0.4005317187548618,-0.28442100548478594]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_26","position":[0.25735463698793315,-1.1911845742765277,0.71338606911949],"aabb_xy":[[0.1773546395843397,-1.2711771454747105],[0.3373546343915265,-1.1111920030783449]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_27","position":[0.05139504745589918,1.6029353348301334,0.71338606911949],"aabb_xy":[[0.0013957722874630152,1.5529353335541864],[0.10139432262433534,1.6529353361060808]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_28","position":[-0.6446992589675759,0.7772594400693067,0.71338606911949],"aabb_xy":[[-0.6789961699853164,0.7429625538593654],[-0.6104023479498353,0.811556326279248]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_29","position":[-0.31395694135020197,0.8292755971860513,0.71338606911949],"aabb_xy":[[-0.3779569406443702,0.7652894568171971],[-0.24995694205603375,0.8932617375549055]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_30","position":[-0.4682319145044825,0.32203857829956206,0.71338606911949],"aabb_xy":[[-0.4927455386014884,0.2977739849975256],[-0.4437182904074767,0.3463031716015985]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_31","position":[0.1953048978830938,-0.8964566598542285,0.71338606911949],"aabb_xy":[[0.15780489759091898,-0.9004981352548322],[0.23280489817526862,-0.892415184453625]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_32","position":[0.5288575538129479,-2.56716661412814,0.71338606911949],"aabb_xy":[[0.4913575531483691,-2.582853672128362],[0.5663575544775264,-2.5514795561279175]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_33","position":[-0.054133497491293814,-0.17545273839621212,0.71338606911949],"aabb_xy":[[-0.07192700442621025,-0.19325248399200978],[-0.03633999055637738,-0.15765299280041445]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6715842510101153,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4761.png","name":"4761"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4761.png","name":"4761"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7987.png","name":"7987"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3360.png","name":"3360"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9404.png","name":"9404"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8871.png","name":"8871"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":677.0790979740772,"rotation_z_degrees":147.75683714373545,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01023631448658725,0.014509078367002663,0.005619286536499613]},{"name":"camera_2","offset_m":[0.01026421577085376,-0.01662511718390932,-0.0007275373488833947]},{"name":"camera_3","offset_m":[-0.005736976695017045,0.004943181852268431,0.014251365644130872]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00044495889239253234,-0.001257295761782451,0.0005932247590769882],"end_effector_yaw_offset_degrees":-0.06349437557831705},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0010171080400732343,-0.0006833350073939043,-0.0008261290558290769],"end_effector_yaw_offset_degrees":0.2518951432348009},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0003940320581441528,0.00031440144578815093,0.0017985471701057404],"end_effector_yaw_offset_degrees":-0.5627759784924165},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0007893559695359193,0.0010617607916805437,0.0017822064084079652],"end_effector_yaw_offset_degrees":-0.9243092170018186}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.002775122394471069,0.0043382488794225195],"position_m":[0.2560248776055289,0.1609382488794225,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0020393748714878923,-0.004538565474350054],"position_m":[0.2151393748714879,-0.33263856547435006,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0022904506977324225,0.0023071973486972538],"position_m":[0.2613095493022676,-0.12879280265130275,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0018358268076141947,-0.0032807808588986376],"position_m":[0.3279641731923858,0.30571921914110134,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"2ec0d3537fc1f2720b373ad45542e46ff05dd4a25e6585c6e8e513ca678d4da1","episode_index":112,"episode_name":"episode_0112"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0112.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_4761/tex_ceiling_textures_8871/tex_floor_textures_9404/tex_table_textures_7987/tex_wall_textures_3360","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":1126620782985348779,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":1126620782985348779,"visual_seed":1126620782985348779,"scene_id":"lab_003","finished_at":"2026-09-06T00:56:14"} +{"episode_id":"ep_000095","started_at":"2026-09-06T01:00:25","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_0","position":[0.4652022335803001,1.3097366782911846,0.71338606911949],"aabb_xy":[[0.4612417498105658,1.3020688137056642],[0.4691627173500345,1.3174045428767054]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_1","position":[-0.4247140888298404,1.0128071311520443,0.71338606911949],"aabb_xy":[[-0.48871408741641287,0.9658001677525354],[-0.36071409024326795,1.0598140945515528]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_2","position":[0.6683194257186023,0.0508025061987305,0.71338606911949],"aabb_xy":[[0.660191737525289,0.04188889778802286],[0.6764471139119155,0.05971611460943816]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_3","position":[-0.4957634185307215,-0.7132389801391306,0.71338606911949],"aabb_xy":[[-0.5508886241603121,-0.7732389815804176],[-0.44063821290113064,-0.6532389786978433]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_4","position":[0.5181877306090283,0.3066363790207012,0.71338606911949],"aabb_xy":[[0.4641721343271282,0.24263637612844402],[0.5722033268909282,0.37063638191295833]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_5","position":[0.5895976279305644,-0.8255217339297412,0.71338606911949],"aabb_xy":[[0.5280068687065715,-0.8895217320387881],[0.6511883871545572,-0.7615217358206944]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_6","position":[0.5556393135942359,-2.285822240871407,0.71338606911949],"aabb_xy":[[0.47563931663119674,-2.3628978825151803],[0.6356393105572751,-2.2087465992276334]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_7","position":[-0.5197906256661883,-0.029171893022586826,0.71338606911949],"aabb_xy":[[-0.5497822884000585,-0.05917189235938736],[-0.48979896293231784,0.0008281063142137057]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_8","position":[0.08990806227021242,-2.376702478202476,0.71338606911949],"aabb_xy":[[0.039925112082733076,-2.426702477845036],[0.13989101245769173,-2.3267024785599153]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_9","position":[-0.3054010455073438,0.4715287036700966,0.71338606911949],"aabb_xy":[[-0.369401045781322,0.4214626034728086],[-0.24140104523336553,0.5215948038673845]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_10","position":[0.4927917426368189,-1.6780063384661248,0.71338606911949],"aabb_xy":[[0.4090695171367364,-1.7680063420008207],[0.5765139681369014,-1.5880063349314288]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_11","position":[-0.1484639687925673,1.7379669424787099,0.71338606911949],"aabb_xy":[[-0.18525860191747356,1.7010610673821276],[-0.11166933566766102,1.7748728175752921]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_12","position":[-0.48061831897539625,-1.4405888957694257,0.71338606911949],"aabb_xy":[[-0.4937695649466856,-1.4655888955261123],[-0.4674670730041069,-1.4155888960127392]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_13","position":[-0.30086370007559726,1.4384291940712504,0.71338606911949],"aabb_xy":[[-0.3178737973656479,1.4222947055729764],[-0.2838536027855466,1.4545636825695243]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_14","position":[-0.3376859779285139,-0.33637606335120074,0.71338606911949],"aabb_xy":[[-0.3527882793895319,-0.35147758498226245],[-0.3225836764674957,-0.3212745417201388]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_15","position":[-0.47677428844230707,-0.496666077949782,0.71338606911949],"aabb_xy":[[-0.4992742882562095,-0.5011406943202628],[-0.45427428862840474,-0.49219146157930127]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_16","position":[-0.31774417163118385,0.6909535343950468,0.71338606911949],"aabb_xy":[[-0.33524417090927067,0.6736154343287007],[-0.3002441723530969,0.7082916344613926]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_17","position":[0.25576809243588483,-1.8220935837820993,0.71338606911949],"aabb_xy":[[0.24784481219713655,-1.8445935840201029],[0.2636913726746332,-1.7995935835440962]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_18","position":[0.3636681889746203,1.281751882258562,0.71338606911949],"aabb_xy":[[0.31366818795548507,1.2452856665207344],[0.41366818999375565,1.3182180979963902]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_19","position":[0.1521767912555032,-2.15027875265586,0.71338606911949],"aabb_xy":[[0.1296767910119878,-2.162483387315632],[0.1746767914990186,-2.138074117996088]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_20","position":[0.7122295351554215,-0.2324155824969063,0.71338606911949],"aabb_xy":[[0.703069656211545,-0.23894680054044332],[0.7213894140992982,-0.2258843644533693]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6708072246076779,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8865.png","name":"8865"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8865.png","name":"8865"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7894.png","name":"7894"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/687.png","name":"687"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6701.png","name":"6701"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3088.png","name":"3088"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":830.4259994898766,"rotation_z_degrees":40.77105998600016,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014912308402868444,0.015411665557546288,0.017270447265406063]},{"name":"camera_2","offset_m":[0.016375320469676633,0.01235485031646551,-0.013002931588904518]},{"name":"camera_3","offset_m":[-0.01836570595882745,-0.009147087106859266,0.015130505503404421]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0014700282652212017,0.0008774780352331776,-0.0012257453196759566],"end_effector_yaw_offset_degrees":-0.400823330898483},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0017759760624253224,-0.0016186892452266673,-0.0008390204501322685],"end_effector_yaw_offset_degrees":0.7748612256454905},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0011634022793184252,-0.0015679278812394278,-0.0002221592512042104],"end_effector_yaw_offset_degrees":-0.8222920211560949},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0003753165190306697,0.000627370094374257,-0.0015403227239545877],"end_effector_yaw_offset_degrees":-0.2524696964493802}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00023848736597604364,0.0025789255325427765],"position_m":[0.259038487365976,0.15917892553254276,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0011734493445056593,-0.004810374468753396],"position_m":[0.21192655065549434,-0.3329103744687534,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0015706905550590764,0.0045613992519868305],"position_m":[0.2651706905550591,-0.12653860074801315,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003807231947358875,-0.0011446115037305415],"position_m":[0.3259927680526411,0.3078553884962695,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"84899a5ed2a4ec8cef933c560c39fc251f01cb69f90922f07c158beb2329aa1a","episode_index":114,"episode_name":"episode_0114"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0114.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_8865/tex_ceiling_textures_3088/tex_floor_textures_6701/tex_table_textures_7894/tex_wall_textures_687","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":7224471826091624826,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":7224471826091624826,"visual_seed":7224471826091624826,"scene_id":"lab_003","finished_at":"2026-09-06T01:03:57"} +{"episode_id":"ep_000096","started_at":"2026-09-06T01:04:01","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_0","position":[0.45793490696951467,-0.13905387783367162,0.71338606911949],"aabb_xy":[[0.4470833007206391,-0.14991316856132264],[0.4687865132183903,-0.1281945871060206]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_1","position":[-0.02248042259484373,-2.432409680132433,0.71338606911949],"aabb_xy":[[-0.03338619868240644,-2.512409676531262],[-0.011574646507281017,-2.3524096837336037]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_2","position":[0.41955107451908114,-2.19539248837925,0.71338606911949],"aabb_xy":[[0.35555107246934914,-2.235486971468558],[0.48355107656881313,-2.155298005289942]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_3","position":[-0.10420661828864963,1.571993502348041,0.71338606911949],"aabb_xy":[[-0.17420662092523598,1.551888637352175],[-0.034206615652063274,1.592098367343906]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_4","position":[0.5570198300103653,-1.0322899800976806,0.71338606911949],"aabb_xy":[[0.5232442708196723,-1.0463284753108455],[0.5907953892010582,-1.0182514848845152]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_5","position":[0.6449965953997385,-0.10204210585394424,0.71338606911949],"aabb_xy":[[0.6317656498650571,-0.11526952487594364],[0.6582275409344197,-0.0888146868319448]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_6","position":[-0.42606919874854926,1.7348384688265752,0.71338606911949],"aabb_xy":[[-0.49006920066089166,1.6789273195685648],[-0.362069196836207,1.7907496180845857]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_7","position":[-0.4271195547807353,-2.1701661110162282,0.71338606911949],"aabb_xy":[[-0.47211955624696417,-2.2151659678777094],[-0.3821195533145065,-2.125166254154748]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_8","position":[-0.32291392132297125,0.5795453600460561,0.71338606911949],"aabb_xy":[[-0.3507589581035784,0.5487608613077444],[-0.29506888454236413,0.6103298587843677]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_9","position":[-0.10772110843757243,-1.5533518453045325,0.71338606911949],"aabb_xy":[[-0.11183705854964508,-1.5574674003373778],[-0.10360515832549975,-1.5492362902716867]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_10","position":[0.4777906615363763,-2.0022888015176608,0.71338606911949],"aabb_xy":[[0.4277906619600416,-2.0522693804697667],[0.527790661112711,-1.9523082225655548]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_11","position":[0.16116407636315566,-1.83830176312428,0.71338606911949],"aabb_xy":[[0.09716407906080923,-1.8826681900921365],[0.22516407366550203,-1.793935336156423]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_12","position":[-0.10681450655846769,-1.8550011487297384,0.71338606911949],"aabb_xy":[[-0.1968145032940779,-1.9081846120470327],[-0.016814509822857468,-1.8018176854124437]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_13","position":[0.5043737560896413,-1.6406335703790094,0.71338606911949],"aabb_xy":[[0.43437375395821154,-1.6633955360047048],[0.5743737582210706,-1.6178716047533135]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_14","position":[0.5994292934896721,-0.31848754645863986,0.71338606911949],"aabb_xy":[[0.5294292970797101,-0.3389254821103215],[0.6694292898996337,-0.298049610806958]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_15","position":[-0.12966652460550343,-0.0995759248857464,0.71338606911949],"aabb_xy":[[-0.19366652782414132,-0.14629903678475475],[-0.0656665213868656,-0.05285281298673805]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_16","position":[-0.3244507547876085,-0.7140651684633013,0.71338606911949],"aabb_xy":[[-0.36195075460464204,-0.718703379774443],[-0.28695075497057493,-0.7094269571521593]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_17","position":[-0.5860044964571665,-0.9316594531409672,0.71338606911949],"aabb_xy":[[-0.5920991243452848,-0.9402288476926359],[-0.5799098685690481,-0.9230900585892985]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_18","position":[-0.32801231108969814,-1.2198345479674955,0.71338606911949],"aabb_xy":[[-0.39201231025946803,-1.266601235086458],[-0.26401231191992813,-1.173067860848533]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_19","position":[0.2350664437619665,-0.6548777956636003,0.71338606911949],"aabb_xy":[[0.1855860225480077,-0.7188777935764521],[0.2845468649759253,-0.5908777977507484]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_20","position":[0.5931428597799169,0.19878653626552145,0.71338606911949],"aabb_xy":[[0.5668540354594762,0.1725151026108702],[0.6194316841003575,0.22505796992017266]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_21","position":[0.6657981039912435,-2.3700662794494476,0.71338606911949],"aabb_xy":[[0.6469137202227332,-2.3889522042298004],[0.6846824877597536,-2.351180354669095]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6769334610196304,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3097.png","name":"3097"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3097.png","name":"3097"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4080.png","name":"4080"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4636.png","name":"4636"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5337.png","name":"5337"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2986.png","name":"2986"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":615.5478038712035,"rotation_z_degrees":164.8215529001602,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.002645140985804085,0.013960997933450636,0.001135189163480807]},{"name":"camera_2","offset_m":[0.009590929515564305,0.010892793211620195,-0.009149897087995788]},{"name":"camera_3","offset_m":[-0.007152937599992604,-0.012038524757754866,-0.0014944751017100383]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0003959668011949886,9.65530158574231e-05,-0.0016698752910011137],"end_effector_yaw_offset_degrees":0.7377943908738323},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.000903069825564296,0.0009228122072092938,-0.0005189230104796839],"end_effector_yaw_offset_degrees":-0.8876050841712877},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00026525564750801795,0.001329659956076523,-9.915507682992531e-06],"end_effector_yaw_offset_degrees":-0.13906679693558055},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0006976185766582664,-0.0006360286665847506,-0.0003179347805061243],"end_effector_yaw_offset_degrees":-0.08620792592839543}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.00247032520640038,0.00409030380490586],"position_m":[0.2563296747935996,0.16069030380490584,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004733100149823484,0.0015567901618305183],"position_m":[0.20836689985017653,-0.3265432098381695,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0011601090542322657,0.0026160166851948606],"position_m":[0.26243989094576775,-0.12848398331480512,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004289181136360769,-0.0035246999843213675],"position_m":[0.33408918113636077,0.30547530001567863,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"82c68660103186bad4cab8e565529a77e90e5f5950e695943f5a065555c57a2c","episode_index":115,"episode_name":"episode_0115"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0115.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_3097/tex_ceiling_textures_2986/tex_floor_textures_5337/tex_table_textures_4080/tex_wall_textures_4636","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":6727824068157181179,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":6727824068157181179,"visual_seed":6727824068157181179,"scene_id":"lab_003","finished_at":"2026-09-06T01:07:38"} +{"episode_id":"ep_000097","started_at":"2026-09-06T01:13:00","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_0","position":[-0.04098338152345371,0.25922841554192466,0.71338606911949],"aabb_xy":[[-0.049019716224738545,0.2511902962375078],[-0.03294704682216886,0.2672665348463414]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_1","position":[0.5757655059240527,1.0970496276897368,0.71338606911949],"aabb_xy":[[0.5494766816036121,1.0707781940350853],[0.6020543302444934,1.1233210613443878]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_2","position":[-0.20166489916580238,1.488151419978211,0.71338606911949],"aabb_xy":[[-0.20557877236122485,1.4794024045716543],[-0.1977510259703798,1.496900435384768]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_3","position":[0.22953515185501094,1.7072056540295217,0.71338606911949],"aabb_xy":[[0.22227390428460353,1.6944186437660125],[0.23679639942541836,1.7199926642930314]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_4","position":[0.4344271195174776,-1.4353037066507008,0.71338606911949],"aabb_xy":[[0.42908954385147297,-1.4603037075798406],[0.4397646951834821,-1.410303705721561]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_5","position":[-0.2438707590135485,-1.6694416166884611,0.71338606911949],"aabb_xy":[[-0.24757402034268733,-1.6731436349971789],[-0.2401674976844096,-1.6657395983797434]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_6","position":[-0.33668092110356296,0.6466351233646659,0.71338606911949],"aabb_xy":[[-0.3966809227464848,0.5946349740727217],[-0.2766809194606411,0.6986352726566101]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_7","position":[-0.30923273959157327,1.6968376665065334,0.71338606911949],"aabb_xy":[[-0.3183926185354498,1.6903064484629966],[-0.3000728606476966,1.7033688845500707]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_8","position":[0.3662589747699765,1.099043862530054,0.71338606911949],"aabb_xy":[[0.3556914951118775,1.0884988324170455],[0.3768264544280755,1.1095888926430626]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_9","position":[0.05078223224303002,-0.830162224443928,0.71338606911949],"aabb_xy":[[0.026236016620279305,-0.860411120992965],[0.07532844786578075,-0.7999133278948909]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_10","position":[-0.07140813552798186,-2.346333645991263,0.71338606911949],"aabb_xy":[[-0.13640813368390092,-2.3726298905411753],[-0.006408137372062819,-2.320037401441351]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_11","position":[0.6344200839623506,-0.5256234980761896,0.71338606911949],"aabb_xy":[[0.6040219728632069,-0.556030400077859],[0.6648181950614941,-0.49521659607452]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_12","position":[-0.5178474258698093,0.4626922011952046,0.71338606911949],"aabb_xy":[[-0.5307193293707493,0.3826922007813685],[-0.504975522368869,0.5426922016090407]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_13","position":[-0.2678839489840449,1.0508932846204901,0.71338606911949],"aabb_xy":[[-0.31788395000318015,1.0144270688826622],[-0.21788394796490962,1.087359500358318]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_14","position":[-0.08675774851155271,-2.003314718638601,0.71338606911949],"aabb_xy":[[-0.13685521249262633,-2.067314719148413],[-0.03666028453047909,-1.9393147181287893]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_15","position":[-0.28763871608756225,-2.1466218377570327,0.71338606911949],"aabb_xy":[[-0.33544488370133085,-2.2116218404640913],[-0.23983254847379354,-2.0816218350499733]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_16","position":[0.19290919495814973,-1.9203174894061767,0.71338606911949],"aabb_xy":[[0.17857476983198628,-1.9323777049607156],[0.20724362008431318,-1.908257273851638]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_17","position":[0.27984285685034826,0.6947898054147292,0.71338606911949],"aabb_xy":[[0.2764021806102911,0.6909283724403648],[0.28328353309040544,0.6986512383890937]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_18","position":[0.6715369521079018,1.7022847194967299,0.71338606911949],"aabb_xy":[[0.6215369507470145,1.6523068149213143],[0.721536953468789,1.7522626240721455]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_19","position":[0.03111077238361204,-1.3434647365262151,0.71338606911949],"aabb_xy":[[-0.03888923025297431,-1.3635696015220804],[0.10111077502019838,-1.3233598715303494]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_20","position":[-0.3308854280682906,-1.9317473275316503,0.71338606911949],"aabb_xy":[[-0.335784720374854,-1.959424246834219],[-0.325986135761727,-1.9040704082290814]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_21","position":[0.041563858886896954,-0.6932214301444417,0.71338606911949],"aabb_xy":[[-0.038436139769989046,-0.7077262890687044],[0.12156385754378296,-0.6787165712201788]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_22","position":[-0.11555690208857239,0.5086987956935936,0.71338606911949],"aabb_xy":[[-0.17955690376656974,0.46018140421427944],[-0.05155690041057502,0.5572161871729079]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_23","position":[-0.5260013518940796,0.13606462105289063,0.71338606911949],"aabb_xy":[[-0.5373630865473656,0.12469615464660255],[-0.5146396172407933,0.1474330874591787]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_24","position":[-0.25829690219277324,-0.4545240471998895,0.71338606911949],"aabb_xy":[[-0.2765027258540209,-0.46554944778188123],[-0.24009107853152556,-0.44349864661789795]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_25","position":[-0.03268723395850348,1.5579308856599794,0.71338606911949],"aabb_xy":[[-0.055200925781960675,1.4879308850589716],[-0.010173542135046287,1.6279308862609867]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_26","position":[0.0901479551203278,-1.2324658890962163,0.71338606911949],"aabb_xy":[[0.06149862275991157,-1.261111448373292],[0.11879728748074402,-1.2038203298191403]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_27","position":[0.061092993922295835,-0.9652625207002186,0.71338606911949],"aabb_xy":[[0.03587215706245615,-0.9904862715531053],[0.08631383078213548,-0.9400387698473318]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_28","position":[0.28636831505663807,-2.4109896319197848,0.71338606911949],"aabb_xy":[[0.27995450141345307,-2.417399452167453],[0.29278212869982295,-2.4045798116721158]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_29","position":[-0.33919271346894153,-1.7308020271857374,0.71338606911949],"aabb_xy":[[-0.38632209247077715,-1.7948020282301391],[-0.2920633344671058,-1.6668020261413352]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_30","position":[-0.24124478351741374,-0.518972783500816,0.71338606911949],"aabb_xy":[[-0.25874478265178086,-0.5288524105384037],[-0.22374478438304654,-0.5090931564632281]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_31","position":[-0.11388188789854758,-0.840177745805667,0.71338606911949],"aabb_xy":[[-0.13771810553915267,-0.9301777466141536],[-0.09004567025794254,-0.7501777449971807]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_32","position":[0.31426201420031785,1.3884151050031912,0.71338606911949],"aabb_xy":[[0.22426201560584796,1.3721645186897704],[0.40426201279478785,1.4046656913166125]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_33","position":[-0.4647518333897626,1.6634726443825945,0.71338606911949],"aabb_xy":[[-0.46871231715949707,1.655804779797074],[-0.46079134962002827,1.6711405089681153]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_34","position":[0.5775276513293597,0.21363697539470916,0.71338606911949],"aabb_xy":[[0.5275276500455196,0.16365812100408697],[0.6275276526131995,0.26361582978533116]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6761625104617964,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6445.png","name":"6445"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6445.png","name":"6445"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7732.png","name":"7732"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8125.png","name":"8125"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4247.png","name":"4247"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5963.png","name":"5963"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":711.9249892630054,"rotation_z_degrees":157.48679810563468,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004859080093004366,0.008385621608081695,0.01413378152313748]},{"name":"camera_2","offset_m":[0.00853097350274391,0.003774458331963028,-0.019358707770800697]},{"name":"camera_3","offset_m":[0.011877462335938987,0.008515633629105016,0.005164722332444978]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0006828640190677691,0.0002255022065862371,-0.0013963407759157809],"end_effector_yaw_offset_degrees":-0.7683607289865897},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0002724756328935365,0.0011726450815395125,-0.0014343077212932548],"end_effector_yaw_offset_degrees":-0.9633979711202809},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0008638366490298578,0.0017888728512251515,0.0002766433599680953],"end_effector_yaw_offset_degrees":-0.838857221105924},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008207620575045103,-0.0011491622153415731,0.0006975023148667377],"end_effector_yaw_offset_degrees":-0.16377141990278132}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004952365302080475,0.001295869827755457],"position_m":[0.2538476346979195,0.15789586982775544,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0025397107339651514,0.004228208619164508],"position_m":[0.21563971073396515,-0.3238717913808355,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003880737321106077,-0.0018657908682630964],"position_m":[0.25971926267889395,-0.1329657908682631,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00029011374248999987,0.003703731940346024],"position_m":[0.32950988625751,0.312703731940346,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1ae92c158503494811e2dc23425fa1aeced59fc407761dacd22afdaea9c65404","episode_index":118,"episode_name":"episode_0118"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0118.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_6445/tex_ceiling_textures_5963/tex_floor_textures_4247/tex_table_textures_7732/tex_wall_textures_8125","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":2829863537784717316,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":2829863537784717316,"visual_seed":2829863537784717316,"scene_id":"lab_003","finished_at":"2026-09-06T01:16:34"} +{"episode_id":"ep_000098","started_at":"2026-09-06T01:16:39","dimensions":{"distractor":{"count":33,"items":[{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_0","position":[-0.5234728473073702,-1.3382320106786079,0.71338606911949],"aabb_xy":[[-0.558472847283866,-1.3476966267262245],[-0.48847284733087437,-1.3287673946309912]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_1","position":[0.04970165240689062,1.2570808333949897,0.71338606911949],"aabb_xy":[[0.03220165216184123,1.2395810455554226],[0.06720165265194,1.2745806212345563]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_2","position":[-0.19052075461324103,-1.2586847595665656,0.71338606911949],"aabb_xy":[[-0.20314754190043738,-1.2682308332681385],[-0.17789396732604468,-1.2491386858649927]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_3","position":[-0.1883595542153197,-1.4243640799819677,0.71338606911949],"aabb_xy":[[-0.25235955491878903,-1.4703824624548887],[-0.12435955351185032,-1.3783456975090467]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_4","position":[0.12141079888987116,1.685653310651651,0.71338606911949],"aabb_xy":[[0.11733264098282142,1.6815723304033874],[0.1254889567969209,1.689734290899914]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_5","position":[0.3843600330635888,1.1548638742736004,0.71338606911949],"aabb_xy":[[0.3718926749538532,1.1423985496402769],[0.3968273911733245,1.1673291989069239]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_6","position":[0.33549106378939175,-2.207658484437108,0.71338606911949],"aabb_xy":[[0.2554910635157847,-2.280608032262825],[0.4154910640629987,-2.1347089366113914]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_7","position":[-0.09057687693945127,0.5371155448676235,0.71338606911949],"aabb_xy":[[-0.13556946365790168,0.4921155455931747],[-0.045584290221000856,0.5821155441420722]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_8","position":[-0.6235370605542455,-2.5146137867005085,0.71338606911949],"aabb_xy":[[-0.6269777367943028,-2.5184752196748725],[-0.6200963843141885,-2.5107523537261436]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_9","position":[0.018680708287085013,-0.844528045719928,0.71338606911949],"aabb_xy":[[0.0035784068260669116,-0.8596295673509897],[0.033783009748103096,-0.8294265240888661]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_10","position":[-0.10557891143983267,0.8422039761003974,0.71338606911949],"aabb_xy":[[-0.12916403490372752,0.7772039738549656],[-0.08199378797593783,0.9072039783458292]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_11","position":[0.15618500275396097,1.1686703336813395,0.71338606911949],"aabb_xy":[[0.11968918212668223,1.1321863912545818],[0.1926808233812397,1.205154276108097]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_12","position":[0.45063034851248895,-2.4866905924062666,0.71338606911949],"aabb_xy":[[0.4287216663731379,-2.5085912592263573],[0.47253903065184,-2.464789925586176]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_13","position":[-0.3671078439109766,1.7464501686718523,0.71338606911949],"aabb_xy":[[-0.41658826512493535,1.6824501707590005],[-0.31762742269701777,1.8104501665847041]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_14","position":[0.050748186132670625,-2.065415093481326,0.71338606911949],"aabb_xy":[[0.0007550740234787484,-2.115415094155522],[0.10074129824186254,-2.015415092807131]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_15","position":[-0.6441990617968494,0.5701162105901352,0.71338606911949],"aabb_xy":[[-0.6616297768758558,0.5528440959262844],[-0.6267683467178428,0.587388325253986]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_16","position":[-0.5919205505535363,-0.880646265724983,0.71338606911949],"aabb_xy":[[-0.6769205492456108,-0.9126321291198618],[-0.5069205518614616,-0.8486604023301041]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_17","position":[-0.2838146950378279,-2.4378757492911163,0.71338606911949],"aabb_xy":[[-0.29641739417490437,-2.4504711455159818],[-0.27121199590075146,-2.425280353066251]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_18","position":[0.5775672480891889,-2.2276198417324613,0.71338606911949],"aabb_xy":[[0.5225749974536781,-2.2826198434757745],[0.6325594987247,-2.172619839989149]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_19","position":[-0.14516434440397308,-2.419200309631176,0.71338606911949],"aabb_xy":[[-0.19516434476453912,-2.4691802968407788],[-0.095164344043407,-2.369220322421573]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_20","position":[-0.0821910679885709,-1.643431567915682,0.71338606911949],"aabb_xy":[[-0.11969106833679864,-1.6552229634967655],[-0.04469106764034313,-1.6316401723345983]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_21","position":[0.5299464402778404,0.7378870613595097,0.71338606911949],"aabb_xy":[[0.4995483291786968,0.7074801593578401],[0.5603445513769839,0.7682939633611792]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_22","position":[0.5077492818547213,-1.5289815995614846,0.71338606911949],"aabb_xy":[[0.44374927856501317,-1.5723165185654022],[0.5717492851444294,-1.485646680557567]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_23","position":[-0.17635540936932437,-2.0869872409050254,0.71338606911949],"aabb_xy":[[-0.1930325453624199,-2.1036871648789557],[-0.1596782733762289,-2.070287316931095]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_24","position":[0.17249990021112993,-0.7986843616716395,0.71338606911949],"aabb_xy":[[0.14958418732608006,-0.8215886588080632],[0.19541561309617989,-0.7757800645352162]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_25","position":[0.423208844052259,1.7870532750812846,0.71338606911949],"aabb_xy":[[0.41264136439416,1.776508244968276],[0.433776323710358,1.7975983051942932]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_26","position":[-0.6024707083483849,0.8794106520738683,0.71338606911949],"aabb_xy":[[-0.6324623710822551,0.8494106527370677],[-0.5724790456145145,0.9094106514106688]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_27","position":[0.2466124871003984,0.6076074368453814,0.71338606911949],"aabb_xy":[[0.23055055964188076,0.5226074350327896],[0.26267441455891605,0.6926074386579733]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_28","position":[-0.31468189035518795,1.5541664355559592,0.71338606911949],"aabb_xy":[[-0.3392281059779387,1.523917539006922],[-0.29013567473243723,1.584415332104996]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_29","position":[-0.5875336780803456,0.16982123435208507,0.71338606911949],"aabb_xy":[[-0.651533676666918,0.12281427095257638],[-0.523533679493773,0.21682819775159382]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_30","position":[-0.2739453020832592,-0.7861581790583279,0.71338606911949],"aabb_xy":[[-0.35394529904629835,-0.8632338207021013],[-0.19394530512022,-0.7090825374145544]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_31","position":[-0.6653076671364179,-2.1915462255201525,0.71338606911949],"aabb_xy":[[-0.687804088570282,-2.2140462253269004],[-0.6428112457025538,-2.1690462257134056]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_32","position":[0.40522342497247954,-0.9417494968128179,0.71338606911949],"aabb_xy":[[0.3552234240219466,-0.9732986438163391],[0.45522342592301224,-0.9102003498092963]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6759184596764325,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/971.png","name":"971"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/971.png","name":"971"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8149.png","name":"8149"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8730.png","name":"8730"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4544.png","name":"4544"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1203.png","name":"1203"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":728.7947443810799,"rotation_z_degrees":336.0771340929432,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017110048116439684,0.018170073352718554,0.00017202205855550157]},{"name":"camera_2","offset_m":[0.01769738006378167,0.008987785885991882,0.010834921237262391]},{"name":"camera_3","offset_m":[-0.007032277118308991,0.010055628276282098,0.01626372420645462]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00024139918017866604,0.0017443540533678852,-0.0015497334321006014],"end_effector_yaw_offset_degrees":-0.41870360143611984},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0007451529270826049,0.0011025640168795762,0.0006522219910622424],"end_effector_yaw_offset_degrees":0.6420250076564182},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.000840083329329042,-0.0007386595150499131,-0.0008374127554753575],"end_effector_yaw_offset_degrees":0.27485174798217105},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0012073322491207195,-0.0003258885560260417,-0.0015585379296360205],"end_effector_yaw_offset_degrees":0.7001825357361051}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003891406502823204,-0.0009829828653677587],"position_m":[0.2626914065028232,0.15561701713463222,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0005865456839608506,-0.0008635292227808936],"position_m":[0.21368654568396087,-0.3289635292227809,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0033590422811572125,-0.000521485934300168],"position_m":[0.2669590422811572,-0.13162148593430018,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.000590997817849593,0.003752814499889844],"position_m":[0.3292090021821504,0.31275281449988984,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a44b7cc978e640a5f3c20abc62c0e234aea596766995850025b6087a0063f364","episode_index":119,"episode_name":"episode_0119"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0119.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_971/tex_ceiling_textures_1203/tex_floor_textures_4544/tex_table_textures_8149/tex_wall_textures_8730","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":4713731799903324718,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":4713731799903324718,"visual_seed":4713731799903324718,"scene_id":"lab_003","finished_at":"2026-09-06T01:20:19"} +{"episode_id":"ep_000099","started_at":"2026-09-06T01:20:24","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_0","position":[0.24556364567936628,-1.4418297128195268,0.71338606911949],"aabb_xy":[[0.23046134421834819,-1.4569312344505883],[0.2606659471403844,-1.4267281911884644]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_1","position":[-0.015899792170136373,0.9740214706059462,0.71338606911949],"aabb_xy":[[-0.03839621360400047,0.9515214707991987],[0.006596629263727727,0.9965214704126936]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_2","position":[0.6673025829420354,-0.1829277460117611,0.71338606911949],"aabb_xy":[[0.6298025822774566,-0.19861480401198323],[0.704802583606614,-0.16724068801153885]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_3","position":[-0.4482966519383503,0.10965692382701198,0.71338606911949],"aabb_xy":[[-0.5132966530442935,0.0846915507588837],[-0.383296650832407,0.13462229689514027]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_4","position":[-0.28838006131480903,1.728171252591061,0.71338606911949],"aabb_xy":[[-0.3523800633645411,1.6880767695017533],[-0.2243800592650771,1.7682657356803693]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_5","position":[-0.5725451388988396,0.3853060112809601,0.71338606911949],"aabb_xy":[[-0.6365451412416413,0.34036516003682754],[-0.5085451365560382,0.43024686252509253]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_6","position":[-0.22953297063231032,-2.2960520465693413,0.71338606911949],"aabb_xy":[[-0.29353296702788334,-2.360015334988075],[-0.1655329742367372,-2.2320887581506077]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_7","position":[-0.553383857950302,-0.6133658550851353,0.71338606911949],"aabb_xy":[[-0.6173795553453986,-0.6773658533858439],[-0.4893881605552054,-0.5493658567844265]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_8","position":[-0.6063660622338015,-0.9977541007889696,0.71338606911949],"aabb_xy":[[-0.6215289352107387,-1.0129195580840884],[-0.5912031892568645,-0.9825886434938509]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_9","position":[-0.4063130093600585,-1.2817184342735928,0.71338606911949],"aabb_xy":[[-0.4663130102208712,-1.333144864280079],[-0.34631300849924557,-1.2302920042671062]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_10","position":[0.47007157053765924,-2.154326465885032,0.71338606911949],"aabb_xy":[[0.41007157069109246,-2.2111450880780708],[0.530071570384226,-2.0975078436919934]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_11","position":[0.44127567602885587,-0.9526247684426672,0.71338606911949],"aabb_xy":[[0.4351810481407376,-0.9611941629943359],[0.44737030391697424,-0.9440553738909985]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_12","position":[0.41595378239882197,1.5633199413136736,0.71338606911949],"aabb_xy":[[0.37845378088319026,1.5520931682975287],[0.4534537839144537,1.5745467143298189]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_13","position":[0.3082980960233266,0.9961928271565901,0.71338606911949],"aabb_xy":[[0.29071979383437974,0.9786183375824852],[0.32587639821227343,1.013767316730695]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_14","position":[0.6474216982761494,-2.338866989452827,0.71338606911949],"aabb_xy":[[0.6394282084808675,-2.3468651213933027],[0.6554151880714315,-2.3308688575123515]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_15","position":[0.6393975681237773,1.1011381619941427,0.71338606911949],"aabb_xy":[[0.5753975648340691,1.0578032429902249],[0.7033975714134854,1.14447308099806]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_16","position":[-0.36917433785681053,-0.3856421535649628,0.71338606911949],"aabb_xy":[[-0.41917361302524675,-0.43564215484090996],[-0.3191750626883744,-0.3356421522890156]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_17","position":[0.6320830246204046,-1.2162094010298563,0.71338606911949],"aabb_xy":[[0.6091673117353547,-1.2391136981662796],[0.6549987375054545,-1.1933051038934326]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_18","position":[-0.6165454900419861,0.8810857676996435,0.71338606911949],"aabb_xy":[[-0.6465371527758564,0.851085768362843],[-0.5865538273081158,0.9110857670364441]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_19","position":[0.08077202354285995,1.3226150195973005,0.71338606911949],"aabb_xy":[[0.00077202613926651,1.2426224483991175],[0.16077202094645332,1.4026075907954831]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_20","position":[0.2804177779617204,-2.5243948794910454,0.71338606911949],"aabb_xy":[[0.230444712429205,-2.5743948793035782],[0.3303908434942359,-2.4743948796785125]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_21","position":[-0.6236055265710233,1.692549930174525,0.71338606911949],"aabb_xy":[[-0.6786055247727681,1.6520279635480875],[-0.5686055283692785,1.7330718968009626]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_22","position":[0.58321137324989,-0.31929466136078544,0.71338606911949],"aabb_xy":[[0.5613026911105389,-0.3411953281808761],[0.605120055389241,-0.29739399454069465]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_23","position":[0.15336053437388264,-1.8975637190095003,0.71338606911949],"aabb_xy":[[0.14922467804118247,-1.9350637184538573],[0.15749639070658286,-1.8600637195651433]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_24","position":[0.6475813475017387,0.5982374656754925,0.71338606911949],"aabb_xy":[[0.5825813465012382,0.5474511005208176],[0.7125813485022392,0.6490238308301675]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_25","position":[-0.6760106757475995,0.11769632146291054,0.71338606911949],"aabb_xy":[[-0.688613374884676,0.10510092523804505],[-0.6634079766105231,0.13029171768777603]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_26","position":[-0.11473744665646057,1.632087028856136,0.71338606911949],"aabb_xy":[[-0.13723744666660886,1.6179908092165327],[-0.09223744664631228,1.6461832484957393]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_27","position":[-0.08091448578381655,-2.2312972801862183,0.71338606911949],"aabb_xy":[[-0.08815825183006187,-2.311297278389821],[-0.07367071973757122,-2.1512972819826164]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_28","position":[0.5912565047104241,-1.0289732662504418,0.71338606911949],"aabb_xy":[[0.5859189290444196,-1.0539732671795816],[0.5965940803764287,-1.003973265321302]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6736750870703915,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2178.png","name":"2178"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2178.png","name":"2178"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7006.png","name":"7006"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1679.png","name":"1679"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6156.png","name":"6156"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7475.png","name":"7475"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":779.9667384948625,"rotation_z_degrees":72.16814251055284,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01319677303024542,-0.007422630866844937,-0.012765695790467957]},{"name":"camera_2","offset_m":[0.013070874710150202,-0.018721267617568763,0.0022453180429787695]},{"name":"camera_3","offset_m":[0.012272581610343138,0.017693286138795113,0.016660177918626947]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0013876124180858896,0.0018022945124930817,-0.0001907364324395262],"end_effector_yaw_offset_degrees":0.1368476920264321},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0005468563584511688,-0.0012917379772855182,-0.001721201039291898],"end_effector_yaw_offset_degrees":-0.06519804903584703},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0003250920468455651,-0.0009290820106041635,-6.619616517535357e-05],"end_effector_yaw_offset_degrees":0.9289480245379462},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0007302162163416157,0.0005943434651999023,-0.0010879051479793969],"end_effector_yaw_offset_degrees":0.43528416993840824}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00035","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003194554434962368,-0.0029827517335687614],"position_m":[0.26199455443496233,0.15361724826643122,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001658023426059696,0.0019525318660358884],"position_m":[0.2147580234260597,-0.3261474681339641,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0019059761124755005,0.0024127453856150893],"position_m":[0.2655059761124755,-0.1286872546143849,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0031689352318369636,0.003840986270331731],"position_m":[0.326631064768163,0.31284098627033174,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e46a9c417d40085547b270666e0d321dac602455e053b39f87b9fcc95d5fb017","episode_index":120,"episode_name":"episode_0120"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/dataset/episode_0120.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_2178/tex_ceiling_textures_7475/tex_floor_textures_6156/tex_table_textures_7006/tex_wall_textures_1679","seeds":{"action_seed":8795614797710026623,"physical_seed":1402608805295628848,"visual_seed":4776858092561334555,"layout_id":"layout_00035","physical_randomization_enabled":true},"episode_seed":4776858092561334555,"visual_seed":4776858092561334555,"scene_id":"lab_003","finished_at":"2026-09-06T01:23:55"} diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/resolved_config.yaml b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4689e73af29789fefda47b3a6fc9bc1eb2288b09 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/resolved_config.yaml @@ -0,0 +1,257 @@ +name: lab3_heat_2beaker_s04_pslr_hte_00035 +task_type: workflow +controller_type: workflow +mode: collect +usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd +max_episodes: 100 +infer: + type: local + obs_names: + camera_1_rgb: camera_1_rgb + camera_2_rgb: camera_2_rgb + policy_model_path: '' + policy_config_path: '' + normalizer_path: '' + host: 127.0.0.1 + port: 8000 + n_obs_steps: 1 + timeout: 30 + max_retries: 3 +task: + max_steps: 14000 +workflow: + table_prim_path: /World/table + language_instruction: Pick up beaker b from home. Shake the current contents of + beaker b once. Place beaker b on the heater platform. Press the heater button + to start heating. + layout_id: layout_00035 + reproducibility: + enabled: true + layout_id: layout_00035 + action_seed: 8795614797710026623 + step_seeds: + - 3944254798520509588 + - 3028392388710505277 + - 408830198229115201 + - 5506603594016192635 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.2636 + - 0.2636 + 'y': + - -0.1311 + - -0.1311 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.2588 + - 0.2588 + 'y': + - 0.1566 + - 0.1566 + z: + - 0.0 + - 0.0 + role: source + - name: inspection_platform + path: /World/target_plat + position_range: + x: + - 0.3298 + - 0.3298 + 'y': + - 0.309 + - 0.309 + z: + - 0.0 + - 0.0 + role: placement_target + - name: heat_device + path: /World/heat_device + position_range: + x: + - 0.2131 + - 0.2131 + 'y': + - -0.3281 + - -0.3281 + z: + - 0.0 + - 0.0 + - name: heater_platform + path: /World/heat_device/heat_device/heat_device/plat + parent_object: heat_device + role: placement_target + - name: heat_button + path: /World/heat_device/button + parent_object: heat_device + steps: + - skill: pick + target_object: beaker_b + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.3 + gripper_distances: 0.019 + reset_at_center: false + require_phase_convergence: false + lock_target_position: true + position_only: false + gripper_control_mode: position + gripper_control_params: + smooth_close: true + - skill: shake + target_object: beaker_b + params: + end_effector_euler: + - 0 + - 90 + - 30 + shake_distance: 0.08 + shake_center_offset_z: 0.0 + fallback_height_offset: 0.23 + events_dt: + - 0.04 + - 0.018 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.015 + position_only: true + position_threshold: 0.04 + - skill: place + target_object: heater_platform + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.005 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.045 + retreat_height: 0.15 + retreat_xy: 0.15 + keep_gripper_closed_until_release: true + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 + - skill: press + target_object: heat_button + params: + end_effector_euler: + - 0 + - 90 + - 10 + events_dt: + - 0.004 + - 0.02 + - 0.01 + - 0.02 + - 0.01 + - 0.02 + press_distance: 0.04 + gripper_gap: 0.0 + lock_target_position: true + initial_offset_z: 0.2 + press_z_tcp_offset: 0.025 + position_threshold: 0.01 + recreate_motion_controllers_on_reset: true +cameras: +- prim_path: /World/Camera1 + name: camera_1 + translation: + - 2.129903 + - 0.0 + - 2.075001 + resolution: + - 512 + - 512 + focal_length: 3.5 + orientation: + - 0.61237 + - 0.35355 + - 0.35355 + - 0.61237 + image_type: rgb +- prim_path: /World/Camera2 + name: camera_2 + translation: + - 0.1 + - 0.0 + - 2.65 + resolution: + - 512 + - 512 + focal_length: 2.825 + orientation: + - 0.70711 + - 0 + - 0 + - -0.70711 + image_type: rgb +- prim_path: /World/Camera3 + name: camera_3 + translation: + - 0.2 + - -3.01678 + - 1.16281 + resolution: + - 512 + - 512 + focal_length: 4 + orientation: + - 0.7681 + - 0.63858 + - -0.03028 + - -0.03642 + image_type: rgb + track_end_effector: true +robot: + type: ur5e + position: + - -0.27 + - 0.0 + - 0.71 +collector: + type: default + compression: gzip +multi_run: + run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_0_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f5c73d7ef9c4366a5f28b2dd1aedce998dcb4120 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_0_success.json @@ -0,0 +1,926 @@ +{ + "episode": 0, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2878338961028048, + 0.15750785780296067, + 1.0018758684174305 + ], + "current_z": 1.0018758684174305, + "required_z": 0.8565865074085657, + "initial_z": 0.7565865074085657, + "lift_margin": 0.1452893610088648, + "gripper_z": 1.0500072479811522, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2843670848786838, + 0.1503642957542104, + 1.0500072479811522 + ], + "object_minus_gripper": [ + 0.0034668112241210136, + 0.007143562048750274, + -0.04813137956372171 + ], + "object_to_gripper_xy": 0.007940356340117026, + "object_to_gripper_z": -0.04813137956372171, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2878338961028048, + 0.13025436302096394, + 1.0364041640835413 + ], + "finger_b": [ + 0.27804510529181803, + 0.15750785780296067, + 1.0365305638927733 + ], + "finger_midpoint": [ + 0.28293950069731144, + 0.1438811104119623, + 1.0364673639881574 + ], + "object_minus_finger_midpoint": [ + 0.004894395405493357, + 0.013626747390998367, + -0.03459149557072694 + ], + "finger_gap": 0.028958407765023203, + "fingertip_max_gap": 0.10427277192830892, + "finger_z_skew": 0.000126399809232014, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.014479065952035556, + "object_to_finger_midpoint_z": 0.03459149557072694, + "finger_midpoint_minus_object_z": 0.03459149557072694, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0018758684174305, + "object_top_z": 1.0522585303666356, + "finger_top_clearance": 0.015791166378478216, + "fingertip_min_top_clearance": 0.015114798584761563, + "object_projection_between_fingers": 0.8857340035400917, + "object_to_finger_line_xy": 0.009212567998966099, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05463638596415446, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0068183040571517, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 5, + "max_stable_success_frames": 28, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 4, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29388973641827715, + 0.14048812271204922, + 1.1983682881980777 + ], + "held_position": [ + 0.29777673226193435, + 0.14404595721426164, + 1.1497538296566159 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.048899207583694586, + "max_held_gripper_dist": 0.04901795794544744, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.04861445854146185, + "max_held_gripper_z_dist": 0.048650597127876116, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08931090716141844, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.29777673226193435, + 0.11565129427044146, + 1.1853847029509048 + ], + "held_grasp_finger_b": [ + 0.2973760681477703, + 0.15801538193888265, + 1.1822770661112552 + ], + "held_grasp_midpoint": [ + 0.2975764002048523, + 0.13683333810466206, + 1.1838308845310799 + ], + "held_grasp_object_position": [ + 0.29777673226193435, + 0.14404595721426164, + 1.1497538296566159 + ], + "held_grasp_finger_gap": 0.042479805348411115, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.04033778207375573, + "held_grasp_world_z_skew": 0.0031076368396496523, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.3045624729265219, + -0.9500775303526232, + 0.06778190321864762 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.03358924154689002, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03597685635259944, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.26997109693131804, + -0.3240523570206948, + 0.847019730737444 + ], + "target_position": [ + 0.26135024509393134, + -0.32833984622379225, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00962816961155395, + "xy_threshold": 0.08, + "gripper_dist": 0.1888946812988519, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.847019730737444, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07569901035023405, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09214024159324889, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15728536078407643, + "release_required_pad_clearance": 0.05607012079662445, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 7.392680284227258, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.006816565990447998, + "max_z_decrease": 0.006816565990447998, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035116555543186496, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.006816565990447998, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021149565883895053, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.006816565990447998, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0068165748372900825, + "max_button_displacement": 0.12, + "button_start": [ + 0.11705017089843749, + -0.3846012949943542, + 0.7768088579177856 + ], + "button_final": [ + 0.11705017089843749, + -0.3846012949943542, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11514650242603111, + -0.3856737159591581, + 0.8079717204652128 + ], + "closest_button": [ + 0.11704294383525847, + -0.3845993280410766, + 0.7729228734970093 + ], + "closest_ee_minus_button": [ + -0.001896441409227359, + -0.0010743879180815097, + 0.03504884696820354 + ], + "button_min_z_position": [ + 0.11703933030366898, + -0.3845995366573333, + 0.7699922919273376 + ], + "min_active_finger_to_button": 0.14796537565838666, + "closest_active_finger": [ + -0.026231899857521057, + -0.3715347945690155, + 0.8109457492828369 + ], + "closest_active_finger_button": [ + 0.11705145239830016, + -0.3846020698547362, + 0.7764076590538025 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14328335225582123, + 0.013067275285720714, + 0.034538090229034424 + ], + "min_contact_pad_to_button": 0.021149565883895053, + "closest_contact_pad": [ + 0.11703933030366898, + -0.3866187780550172, + 0.7910452442441767 + ], + "closest_contact_pad_button": [ + 0.11703933030366898, + -0.3845995366573333, + 0.7699922919273376 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0020192413976838908, + 0.021052952316839013 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 0, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "307cf784fe119a38e1c4a1ec89bf8e9b3375204bbb212f140bbfd7c2531bf3e2", + "visual_seed": 5413264574417456890, + "episode_index": 0, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_100_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_100_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a2475c3f4d4dce004b043439494c647a5ba423cb --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_100_success.json @@ -0,0 +1,926 @@ +{ + "episode": 100, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2882308547813289, + 0.15679076482296717, + 1.048363862197906 + ], + "current_z": 1.048363862197906, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.19177747399862988, + "gripper_z": 1.051227165175899, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.28308099110155444, + 0.15188455318673244, + 1.051227165175899 + ], + "object_minus_gripper": [ + 0.005149863679774491, + 0.004906211636234725, + -0.0028633029779931984 + ], + "object_to_gripper_xy": 0.0071128059540370905, + "object_to_gripper_z": -0.0028633029779931984, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2882308547813289, + 0.13231675600915094, + 1.048363862197906 + ], + "finger_b": [ + 0.27629769838933593, + 0.15679076482296717, + 1.048363862197906 + ], + "finger_midpoint": [ + 0.28226427658533243, + 0.14455376041605905, + 1.048363862197906 + ], + "object_minus_finger_midpoint": [ + 0.005966578195996497, + 0.012237004406908114, + 0.0 + ], + "finger_gap": 0.027228245057192315, + "fingertip_max_gap": 0.09173054856713334, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013614122528596157, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.048363862197906, + "object_top_z": 1.0944424981199425, + "finger_top_clearance": 0.04607863592203665, + "fingertip_min_top_clearance": 0.013823590776610961, + "object_projection_between_fingers": 0.8079247693099827, + "object_to_finger_line_xy": 0.010726074122692646, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04836527428356667, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.5491834533124484, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2881342385329335, + 0.1552697089226419, + 1.2438071933978085 + ], + "held_position": [ + 0.29362016512999556, + 0.15972050075459687, + 1.240829205538222 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007666377909521208, + "max_held_gripper_dist": 0.007673472876734132, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002977987859586584, + "max_held_gripper_z_dist": 0.003004361657513721, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0867532630135803, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.29362016512999556, + 0.13430081095405083, + 1.240829205538222 + ], + "held_grasp_finger_b": [ + 0.2836648390900941, + 0.15972050075459687, + 1.240829205538222 + ], + "held_grasp_midpoint": [ + 0.28864250211004483, + 0.14701065585432385, + 1.240829205538222 + ], + "held_grasp_object_position": [ + 0.29362016512999556, + 0.15972050075459687, + 1.240829205538222 + ], + "held_grasp_finger_gap": 0.02729961805807408, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024594580956186697, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07501954841726706, + -0.9969210961615435, + 0.02281217620781162 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00402092533884912, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03215609042385736, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.27445636840951515, + -0.32312301223717277, + 0.8470191318585856 + ], + "target_position": [ + 0.2675437359566471, + -0.32560064048879195, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007343236968916778, + "xy_threshold": 0.08, + "gripper_dist": 0.18433237822425488, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470191318585856, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07566213904121181, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08512416271886507, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15266383958938562, + "release_required_pad_clearance": 0.052562081359432536, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.1897439847778596, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007239878177642822, + "max_z_decrease": 0.007239878177642822, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03510454303761325, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007239878177642822, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021111607856415027, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007239878177642822, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00723989687543847, + "max_button_displacement": 0.12, + "button_start": [ + 0.12324365973472595, + -0.3818621039390564, + 0.7768088579177856 + ], + "button_final": [ + 0.12324365973472595, + -0.3818621039390564, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12181529953256279, + -0.3820362243849311, + 0.8067970372658468 + ], + "closest_button": [ + 0.12323059886693954, + -0.38185927271842957, + 0.7717214822769165 + ], + "closest_ee_minus_button": [ + -0.0014152993343767573, + -0.00017695166650155691, + 0.035075554988930335 + ], + "button_min_z_position": [ + 0.12322723865509033, + -0.3818610608577729, + 0.7695689797401428 + ], + "min_active_finger_to_button": 0.14741990412114225, + "closest_active_finger": [ + -0.004903726279735565, + -0.4460947513580322, + 0.81080561876297 + ], + "closest_active_finger_button": [ + 0.12324453145265579, + -0.3818634152412415, + 0.7763819694519043 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12814825773239136, + -0.06423133611679072, + 0.034423649311065674 + ], + "min_contact_pad_to_button": 0.021111607856415027, + "closest_contact_pad": [ + 0.12322723865509033, + -0.3830909084518541, + 0.7906447350333317 + ], + "closest_contact_pad_button": [ + 0.12322723865509033, + -0.3818610608577729, + 0.7695689797401428 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0012298475940812348, + 0.021075755293188836 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 100, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "79ff5465a1fac41f534aaa2d43dadac2bf8dcaa3a92f586106bc46ca752df068", + "visual_seed": 3929171042266803162, + "episode_index": 100, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_101_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_101_success.json new file mode 100644 index 0000000000000000000000000000000000000000..79881e42c040bc63f01a5e997387bdf4320b13da --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_101_success.json @@ -0,0 +1,926 @@ +{ + "episode": 101, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.28649215217785684, + 0.1571865221699539, + 1.0474202908438557 + ], + "current_z": 1.0474202908438557, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.19083372383064534, + "gripper_z": 1.0503087370304178, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2814414288745821, + 0.15226336885894423, + 1.0503087370304178 + ], + "object_minus_gripper": [ + 0.005050723303274718, + 0.004923153311009676, + -0.0028884461865621436 + ], + "object_to_gripper_xy": 0.0070531726485283065, + "object_to_gripper_z": -0.0028884461865621436, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.28649215217785684, + 0.13290483652787644, + 1.0474202908438557 + ], + "finger_b": [ + 0.2743723307283635, + 0.1571865221699539, + 1.0474202908438557 + ], + "finger_midpoint": [ + 0.2804322414531102, + 0.14504567934891516, + 1.0474202908438557 + ], + "object_minus_finger_midpoint": [ + 0.006059910724746653, + 0.01214084282103875, + 0.0 + ], + "finger_gap": 0.02713835532209479, + "fingertip_max_gap": 0.09227640313025867, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013569177661047396, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0474202908438557, + "object_top_z": 1.0936148331003843, + "finger_top_clearance": 0.04619454225652864, + "fingertip_min_top_clearance": 0.01385836267695859, + "object_projection_between_fingers": 0.8005539705460665, + "object_to_finger_line_xy": 0.01084405045854448, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04863820156512934, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8070548532939754, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2865788525057017, + 0.15541260020723258, + 1.2429777353248808 + ], + "held_position": [ + 0.29202493209081487, + 0.1598171997802, + 1.2399706216213955 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007622533245008531, + "max_held_gripper_dist": 0.007626040705350628, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0030071137034852757, + "max_held_gripper_z_dist": 0.003032262872622926, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08648474499199851, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.29202493209081487, + 0.13439030265342158, + 1.2399706216213955 + ], + "held_grasp_finger_b": [ + 0.28219516803437683, + 0.1598171997802, + 1.2399706216213955 + ], + "held_grasp_midpoint": [ + 0.2871100500625958, + 0.1471037512168108, + 1.2399706216213955 + ], + "held_grasp_object_position": [ + 0.29202493209081487, + 0.1598171997802, + 1.2399706216213955 + ], + "held_grasp_finger_gap": 0.027260802609259584, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024529941510841945, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08175293351699846, + -0.9963289437921855, + 0.02539869333870282 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038729811839497232, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03213164216299604, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2676249748020213, + -0.32946437570558806, + 0.8470187767310151 + ], + "target_position": [ + 0.2618641886248366, + -0.33122496810872165, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006023814654287905, + "xy_threshold": 0.08, + "gripper_dist": 0.18483758981454707, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470187767310151, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07568175592065873, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08530757317160569, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1530916260564315, + "release_required_pad_clearance": 0.052653786585802845, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.3626086239652077, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.006906449794769287, + "max_z_decrease": 0.006906449794769287, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0351226189498967, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.006906449794769287, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021226334050623637, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.006906449794769287, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0069064727763660265, + "max_button_displacement": 0.12, + "button_start": [ + 0.1175641119480133, + -0.38748642802238464, + 0.7768088579177856 + ], + "button_final": [ + 0.1175641119480133, + -0.38748642802238464, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11619268981844039, + -0.3891218047952871, + 0.808010585510539 + ], + "closest_button": [ + 0.11755324155092238, + -0.3874841630458832, + 0.7729525566101074 + ], + "closest_ee_minus_button": [ + -0.0013605517324819932, + -0.0016376417494038953, + 0.035058028900431526 + ], + "button_min_z_position": [ + 0.11754653602838515, + -0.3874835073947906, + 0.7699024081230164 + ], + "min_active_finger_to_button": 0.14736818319337872, + "closest_active_finger": [ + -0.025018781423568726, + -0.3734225332736969, + 0.8108734488487244 + ], + "closest_active_finger_button": [ + 0.1175643280148506, + -0.38748699426651, + 0.7763824462890625 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14258310943841934, + 0.01406446099281311, + 0.034491002559661865 + ], + "min_contact_pad_to_button": 0.021226334050623637, + "closest_contact_pad": [ + 0.1175490692257881, + -0.3902059722659957, + 0.7910281746170521 + ], + "closest_contact_pad_button": [ + 0.1175490692257881, + -0.38748490810394287, + 0.7699769735336304 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002721064162052811, + 0.021051201083421733 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 101, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "86d59ce405612089f8e28cd79557ffd90a279ad3e2e1178e2b6d7cc332f69549", + "visual_seed": 4233332402430980802, + "episode_index": 101, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_102_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_102_success.json new file mode 100644 index 0000000000000000000000000000000000000000..94f88466376f0f9e1595a3949ad2810bc98d319e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_102_success.json @@ -0,0 +1,926 @@ +{ + "episode": 102, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2860094112626778, + 0.16147131927858693, + 1.0474215886026148 + ], + "current_z": 1.0474215886026148, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.19083502158940446, + "gripper_z": 1.0503536525378303, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2809315886847097, + 0.15652303188331074, + 1.0503536525378303 + ], + "object_minus_gripper": [ + 0.005077822577968127, + 0.004948287395276196, + -0.002932063935215501 + ], + "object_to_gripper_xy": 0.007090122021486807, + "object_to_gripper_z": -0.002932063935215501, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2860094112626778, + 0.1371644879064962, + 1.0474215886026148 + ], + "finger_b": [ + 0.27386630681650637, + 0.16147131927858693, + 1.0474215886026148 + ], + "finger_midpoint": [ + 0.2799378590395921, + 0.14931790359254157, + 1.0474215886026148 + ], + "object_minus_finger_midpoint": [ + 0.006071552223085697, + 0.01215341568604536, + 0.0 + ], + "finger_gap": 0.027171253871359755, + "fingertip_max_gap": 0.09235805408185041, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013585626935679865, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0474215886026148, + "object_top_z": 1.0936687943949548, + "finger_top_clearance": 0.046247205792339985, + "fingertip_min_top_clearance": 0.013874161737702029, + "object_projection_between_fingers": 0.8002714723440104, + "object_to_finger_line_xy": 0.01086296545254, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04867902704092521, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8315941925669339, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2860265104326596, + 0.15987798471769604, + 1.2398686407832669 + ], + "held_position": [ + 0.29147655357354135, + 0.1643183462823244, + 1.236795283533944 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007672372895269538, + "max_held_gripper_dist": 0.007679030141884784, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0030733572493228944, + "max_held_gripper_z_dist": 0.003100891205909173, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08731599254158104, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.29147655357354135, + 0.1388681230453014, + 1.236795283533944 + ], + "held_grasp_finger_b": [ + 0.2816715044862441, + 0.1643183462823244, + 1.236795283533944 + ], + "held_grasp_midpoint": [ + 0.2865740290298927, + 0.15159323466381291, + 1.236795283533944 + ], + "held_grasp_object_position": [ + 0.29147655357354135, + 0.1643183462823244, + 1.236795283533944 + ], + "held_grasp_finger_gap": 0.027273665877886908, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024576802628730833, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07997225776693684, + -0.9964916341034112, + 0.02467511194649308 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003882278663797791, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032127691738418555, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2708625850861094, + -0.3228785714694648, + 0.8470195782518593 + ], + "target_position": [ + 0.26436836961170174, + -0.3247878203487931, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006769052068883218, + "xy_threshold": 0.08, + "gripper_dist": 0.18527003048566454, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195782518593, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07513256436912483, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08647728290571428, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15470701313488663, + "release_required_pad_clearance": 0.053238641452857144, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.4972083141714823, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.006855487823486328, + "max_z_decrease": 0.006855487823486328, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03509399312721958, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.006855487823486328, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02118502450853878, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.006855487823486328, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.006855508013603842, + "max_button_displacement": 0.12, + "button_start": [ + 0.12006829679012297, + -0.3810492753982544, + 0.7768088579177856 + ], + "button_final": [ + 0.12006829679012297, + -0.3810492753982544, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12023632393646805, + -0.3820232986095872, + 0.808032001966153 + ], + "closest_button": [ + 0.12005773186683653, + -0.38104793429374695, + 0.7729520201683044 + ], + "closest_ee_minus_button": [ + 0.00017859206963151408, + -0.0009753643158402769, + 0.03507998179784855 + ], + "button_min_z_position": [ + 0.12005165964365004, + -0.38104909658432007, + 0.7699533700942993 + ], + "min_active_finger_to_button": 0.1459576832864906, + "closest_active_finger": [ + -0.021101444959640503, + -0.36747896671295166, + 0.8108742237091064 + ], + "closest_active_finger_button": [ + 0.12006898969411849, + -0.3810499608516693, + 0.7763723134994507 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.141170434653759, + 0.013570994138717651, + 0.03450191020965576 + ], + "min_contact_pad_to_button": 0.02118502450853878, + "closest_contact_pad": [ + 0.12005165964365004, + -0.38299129263917864, + 0.7910491786332456 + ], + "closest_contact_pad_button": [ + 0.12005165964365004, + -0.38104909658432007, + 0.7699533700942993 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0019421960548585693, + 0.021095808538946326 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 102, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d01fc9d15db072e531bb94b40d2e6b98d1203751deb7c54244e14e81b8702df9", + "visual_seed": 7507017337869951811, + "episode_index": 102, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_103_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_103_success.json new file mode 100644 index 0000000000000000000000000000000000000000..48acb144eb60a296bb4f2d5626c1c6ceb3dd9a2c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_103_success.json @@ -0,0 +1,926 @@ +{ + "episode": 103, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.28518225818206533, + 0.15721544659489434, + 1.0462473638988847 + ], + "current_z": 1.0462473638988847, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.18966091609496394, + "gripper_z": 1.049438872420613, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.27996218461205047, + 0.15221566397344416, + 1.049438872420613 + ], + "object_minus_gripper": [ + 0.00522007357001486, + 0.004999782621450177, + -0.0031915085217282257 + ], + "object_to_gripper_xy": 0.007228208238431077, + "object_to_gripper_z": -0.0031915085217282257, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.28518225818206533, + 0.13277500591671823, + 1.0462473638988847 + ], + "finger_b": [ + 0.27300622511304723, + 0.15721544659489434, + 1.0462473638988847 + ], + "finger_midpoint": [ + 0.27909424164755625, + 0.1449952262558063, + 1.0462473638988847 + ], + "object_minus_finger_midpoint": [ + 0.0060880165345090775, + 0.01222022033908804, + 0.0 + ], + "finger_gap": 0.027305510832820318, + "fingertip_max_gap": 0.09253225645769256, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013652755416410159, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0462473638988847, + "object_top_z": 1.0927086856701687, + "finger_top_clearance": 0.046461321771283925, + "fingertip_min_top_clearance": 0.013938396531385178, + "object_projection_between_fingers": 0.8011566705617893, + "object_to_finger_line_xy": 0.010898445216456361, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04876612822884628, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8614804926701514, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.284983156570937, + 0.1555486534552079, + 1.241352867785534 + ], + "held_position": [ + 0.2905768121891513, + 0.16004406467493187, + 1.238045511679564 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007901664990449765, + "max_held_gripper_dist": 0.007908772339366552, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003307356105970216, + "max_held_gripper_z_dist": 0.0033337487160478574, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0867293894138009, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2905768121891513, + 0.1345641985045584, + 1.238045511679564 + ], + "held_grasp_finger_b": [ + 0.28053851569040367, + 0.16004406467493187, + 1.238045511679564 + ], + "held_grasp_midpoint": [ + 0.2855576639397775, + 0.14730413158974515, + 1.238045511679564 + ], + "held_grasp_object_position": [ + 0.2905768121891513, + 0.16004406467493187, + 1.238045511679564 + ], + "held_grasp_finger_gap": 0.027385963131811023, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02458781072510996, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07976682271178316, + -0.9964155059720917, + 0.02816724077448029 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004003554890570676, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032105596586111874, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2694060504879894, + -0.3254176794089939, + 0.8470195660812391 + ], + "target_position": [ + 0.2623007443218653, + -0.3277597948372209, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007481368885003595, + "xy_threshold": 0.08, + "gripper_dist": 0.1868813335681171, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195660812391, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0751879313769837, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08677028873087951, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15630049232097162, + "release_required_pad_clearance": 0.05338514436543976, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.7852578345965189, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007075190544128418, + "max_z_decrease": 0.007075190544128418, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03509666164272335, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007075190544128418, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.021107476685893748, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007075190544128418, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007075207698580333, + "max_button_displacement": 0.12, + "button_start": [ + 0.11800067126750945, + -0.38402125239372253, + 0.7768088579177856 + ], + "button_final": [ + 0.11800067126750945, + -0.38402125239372253, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11760713166020412, + -0.38330365572662256, + 0.8077656324330277 + ], + "closest_button": [ + 0.11798905581235886, + -0.38402071595191956, + 0.7726783752441406 + ], + "closest_ee_minus_button": [ + -0.00038192415215473896, + 0.0007170602252969949, + 0.035087257188887055 + ], + "button_min_z_position": [ + 0.11798509210348126, + -0.3840210735797882, + 0.7697336673736572 + ], + "min_active_finger_to_button": 0.14622881236514765, + "closest_active_finger": [ + -0.010352060198783875, + -0.44506847858428955, + 0.8109083771705627 + ], + "closest_active_finger_button": [ + 0.11800086498260497, + -0.3840219974517822, + 0.7765322327613831 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12835292518138885, + -0.061046481132507324, + 0.03437614440917969 + ], + "min_contact_pad_to_button": 0.021107476685893748, + "closest_contact_pad": [ + 0.11798509210348126, + -0.3845388559253483, + 0.7908347923078444 + ], + "closest_contact_pad_button": [ + 0.11798509210348126, + -0.3840210735797882, + 0.7697336673736572 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0005177823455601027, + 0.021101124934187143 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 103, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "303360d9718a3e59cad7897ab8a2656acd24452a3b1741b6be7f3f95fec9b8b9", + "visual_seed": 6534040945907343861, + "episode_index": 103, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_104_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_104_success.json new file mode 100644 index 0000000000000000000000000000000000000000..292d26a9037c4e00246a7f80f29a8babeb049834 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_104_success.json @@ -0,0 +1,926 @@ +{ + "episode": 104, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.28074378851913184, + 0.15831112061283198, + 1.04513771046015 + ], + "current_z": 1.04513771046015, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.18855120305158446, + "gripper_z": 1.0481517694967364, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2756625367760708, + 0.15336122088725423, + 1.0481517694967364 + ], + "object_minus_gripper": [ + 0.005081251743061066, + 0.004949899725577744, + -0.0030140590365863584 + ], + "object_to_gripper_xy": 0.007093703304314027, + "object_to_gripper_z": -0.0030140590365863584, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.28074378851913184, + 0.1340055618239991, + 1.04513771046015 + ], + "finger_b": [ + 0.26859420143048873, + 0.15831112061283198, + 1.04513771046015 + ], + "finger_midpoint": [ + 0.2746689949748103, + 0.14615834121841553, + 1.04513771046015 + ], + "object_minus_finger_midpoint": [ + 0.006074793544321555, + 0.012152779394416446, + 0.0 + ], + "finger_gap": 0.027173013348944855, + "fingertip_max_gap": 0.09197239248697761, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013586506674472427, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.04513771046015, + "object_top_z": 1.0911246614450412, + "finger_top_clearance": 0.04598695098489114, + "fingertip_min_top_clearance": 0.013796085295467374, + "object_projection_between_fingers": 0.8000840557508307, + "object_to_finger_line_xy": 0.010867491928513965, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04848619624348881, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7301373754903979, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 216, + "max_stable_success_frames": 216, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2806329960899342, + 0.15675146015553137, + 1.2404307775870427 + ], + "held_position": [ + 0.2861011202349099, + 0.16119129506260416, + 1.2373019486472934 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007707274888126227, + "max_held_gripper_dist": 0.0077146814580690126, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0031288289397493063, + "max_held_gripper_z_dist": 0.00315416588845574, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08668625872621358, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2861011202349099, + 0.13578086347694407, + 1.2373019486472934 + ], + "held_grasp_finger_b": [ + 0.27616672303423623, + 0.16119129506260416, + 1.2373019486472934 + ], + "held_grasp_midpoint": [ + 0.28113392163457307, + 0.1484860792697741, + 1.2373019486472934 + ], + "held_grasp_object_position": [ + 0.2861011202349099, + 0.16119129506260416, + 1.2373019486472934 + ], + "held_grasp_finger_gap": 0.02728337004679343, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024549261273479547, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07820521496097105, + -0.9966844859242088, + 0.02244949600556989 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003968948563398434, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03214867266048465, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.27126088242140944, + -0.3253082600175424, + 0.8470195436227748 + ], + "target_position": [ + 0.26498018473863694, + -0.32747586431961273, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006644220931963177, + "xy_threshold": 0.08, + "gripper_dist": 0.18375213646899394, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195436227748, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07553723104419136, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08526174499266427, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15229969806031182, + "release_required_pad_clearance": 0.05263087249633214, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.3214245176688499, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 147, + "max_placed_release_frames": 147 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007149100303649902, + "max_z_decrease": 0.007149100303649902, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035140420766412696, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007149100303649902, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02107843366471207, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007149100303649902, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007149120877244275, + "max_button_displacement": 0.12, + "button_start": [ + 0.12068010866641996, + -0.3837373256683349, + 0.7768088579177856 + ], + "button_final": [ + 0.12068010866641996, + -0.3837373256683349, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11912125070130394, + -0.3819877464902349, + 0.8076994537079563 + ], + "closest_button": [ + 0.12066911906003949, + -0.38373509049415583, + 0.7726366519927979 + ], + "closest_ee_minus_button": [ + -0.001547868358735549, + 0.0017473440039209032, + 0.03506280171515841 + ], + "button_min_z_position": [ + 0.12066295742988585, + -0.3837372958660125, + 0.7696597576141357 + ], + "min_active_finger_to_button": 0.14680349054289252, + "closest_active_finger": [ + -0.0073050856590271, + -0.4468582570552826, + 0.8109450936317444 + ], + "closest_active_finger_button": [ + 0.12068021297454833, + -0.3837382793426513, + 0.7764937281608582 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12798529863357544, + -0.06311997771263128, + 0.03445136547088623 + ], + "min_contact_pad_to_button": 0.02107843366471207, + "closest_contact_pad": [ + 0.12066295742988585, + -0.3837372958660125, + 0.7907381912788478 + ], + "closest_contact_pad_button": [ + 0.12066295742988585, + -0.3837372958660125, + 0.7696597576141357 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02107843366471207 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 104, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a3d21a8f93dd43dab00ecfa143da2cf9e7ce3883f6a8c8a19bfbd4ede5f9a977", + "visual_seed": 8914130138576976736, + "episode_index": 104, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_106_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_106_success.json new file mode 100644 index 0000000000000000000000000000000000000000..164fb82bf7c72e1293e19d313ca73cbebea5c58b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_106_success.json @@ -0,0 +1,926 @@ +{ + "episode": 106, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2811893297816212, + 0.1605303683476465, + 1.0472237618820046 + ], + "current_z": 1.0472237618820046, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.19063731407808382, + "gripper_z": 1.0512827057930558, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.27538058927012743, + 0.15536662360712256, + 1.0512827057930558 + ], + "object_minus_gripper": [ + 0.005808740511493771, + 0.005163744740523946, + -0.004058943911051216 + ], + "object_to_gripper_xy": 0.007772112072992618, + "object_to_gripper_z": -0.004058943911051216, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2811893297816212, + 0.13553359665589243, + 1.0472237618820046 + ], + "finger_b": [ + 0.26896747712682856, + 0.1605303683476465, + 1.0472237618820046 + ], + "finger_midpoint": [ + 0.27507840345422485, + 0.14803198250176947, + 1.0472237618820046 + ], + "object_minus_finger_midpoint": [ + 0.006110926327396349, + 0.012498385845877036, + 0.0 + ], + "finger_gap": 0.027824670300385226, + "fingertip_max_gap": 0.09460336699367239, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013912335150192625, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0472237618820046, + "object_top_z": 1.0938316068771456, + "finger_top_clearance": 0.046607844995141035, + "fingertip_min_top_clearance": 0.013982353498542276, + "object_projection_between_fingers": 0.8070636611039808, + "object_to_finger_line_xy": 0.010979711786841222, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0498016834968362, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.857742097141915, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.27979736584473736, + 0.1597382035911168, + 1.2390605044783192 + ], + "held_position": [ + 0.2857846102788094, + 0.16457625246471258, + 1.234864900640454 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008766806966104459, + "max_held_gripper_dist": 0.008770079090152505, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004195603837865214, + "max_held_gripper_z_dist": 0.0042282521111773885, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08655333870471005, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2857846102788094, + 0.13902986859242758, + 1.234864900640454 + ], + "held_grasp_finger_b": [ + 0.2749487115777841, + 0.16457625246471258, + 1.234864900640454 + ], + "held_grasp_midpoint": [ + 0.28036666092829676, + 0.15180306052857007, + 1.234864900640454 + ], + "held_grasp_object_position": [ + 0.2857846102788094, + 0.16457625246471258, + 1.234864900640454 + ], + "held_grasp_finger_gap": 0.027749494222580436, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025340945742096818, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.018019675644679524, + -0.9996015580785136, + 0.021725937877774437 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005194375905619192, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03233449271485129, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.27502826421272675, + -0.32115091527656625, + 0.8470193512032392 + ], + "target_position": [ + 0.26832677601793026, + -0.3239769280975913, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007272983740501197, + "xy_threshold": 0.08, + "gripper_dist": 0.185404888567241, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470193512032392, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07555214997796234, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08695131846747416, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15410416850006203, + "release_required_pad_clearance": 0.05347565923373708, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.9635645554599792, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007096230983734131, + "max_z_decrease": 0.007096230983734131, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03510221486953441, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007096230983734131, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.02113516250638471, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007096230983734131, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007096249634509033, + "max_button_displacement": 0.12, + "button_start": [ + 0.12402670085430144, + -0.38023838400840754, + 0.7768088579177856 + ], + "button_final": [ + 0.12402670085430144, + -0.38023838400840754, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12287216695986539, + -0.3807581144081421, + 0.8079282300820703 + ], + "closest_button": [ + 0.12401939183473586, + -0.38023912906646723, + 0.7728486061096191 + ], + "closest_ee_minus_button": [ + -0.00114722487487047, + -0.0005189853416748824, + 0.035079623972451124 + ], + "button_min_z_position": [ + 0.12401045113801955, + -0.38023757934570307, + 0.7697126269340515 + ], + "min_active_finger_to_button": 0.14726208741371982, + "closest_active_finger": [ + -0.01827172189950943, + -0.36429840326309204, + 0.8109279274940491 + ], + "closest_active_finger_button": [ + 0.12402638792991637, + -0.3802399933338165, + 0.7765297293663025 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1422981098294258, + 0.015941590070724432, + 0.03439819812774658 + ], + "min_contact_pad_to_button": 0.02113516250638471, + "closest_contact_pad": [ + 0.12401045113801955, + -0.38192427953698604, + 0.7907803780393787 + ], + "closest_contact_pad_button": [ + 0.12401045113801955, + -0.38023757934570307, + 0.7697126269340515 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0016867001912829749, + 0.021067751105327215 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 106, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9facd8cf7c3ce618e5d287f7fd9e916a9145af9429467c504cc33cda3212c1a1", + "visual_seed": 5504440270857979532, + "episode_index": 106, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_107_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_107_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6f2320dd2e06f69294b1f6a062307074091e66d7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_107_success.json @@ -0,0 +1,926 @@ +{ + "episode": 107, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.28115976005173177, + 0.15360025765002183, + 1.0445183511356524 + ], + "current_z": 1.0445183511356524, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.1879319033317316, + "gripper_z": 1.047823863422447, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2760078780662281, + 0.1486735888084116, + 1.047823863422447 + ], + "object_minus_gripper": [ + 0.005151881985503648, + 0.004926668841610221, + -0.003305512286794654 + ], + "object_to_gripper_xy": 0.0071283906926774155, + "object_to_gripper_z": -0.003305512286794654, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.28115976005173177, + 0.12915733331474122, + 1.0445183511356524 + ], + "finger_b": [ + 0.2691542126952728, + 0.15360025765002183, + 1.0445183511356524 + ], + "finger_midpoint": [ + 0.2751569863735023, + 0.14137879548238153, + 1.0445183511356524 + ], + "object_minus_finger_midpoint": [ + 0.006002773678229489, + 0.012221462167640307, + 0.0 + ], + "finger_gap": 0.027232144928162238, + "fingertip_max_gap": 0.09248402323052238, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013616072464081119, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0445183511356524, + "object_top_z": 1.090981181840549, + "finger_top_clearance": 0.04646283070489665, + "fingertip_min_top_clearance": 0.013938849211468995, + "object_projection_between_fingers": 0.8056429802778878, + "object_to_finger_line_xy": 0.01077589321045663, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04874201161526119, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8343602823004481, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 216, + "max_stable_success_frames": 216, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2809717421250837, + 0.1520591036527601, + 1.2389969136629748 + ], + "held_position": [ + 0.28645854944581106, + 0.1565168443108314, + 1.23556848443421 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007856884454162341, + "max_held_gripper_dist": 0.007865201876623902, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.00342842922876474, + "max_held_gripper_z_dist": 0.0034517929338593323, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08652007097115567, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.28645854944581106, + 0.1310962522307274, + 1.23556848443421 + ], + "held_grasp_finger_b": [ + 0.2765067427379869, + 0.1565168443108314, + 1.23556848443421 + ], + "held_grasp_midpoint": [ + 0.281482646091899, + 0.1438065482707794, + 1.23556848443421 + ], + "held_grasp_object_position": [ + 0.28645854944581106, + 0.1565168443108314, + 1.23556848443421 + ], + "held_grasp_finger_gap": 0.027299175050776527, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024586970700175254, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07551095441374198, + -0.996768330296124, + 0.02740422380223695 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00401750774742046, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032155269193074265, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.27092196997198115, + -0.324788117165812, + 0.8470199404183096 + ], + "target_position": [ + 0.26418395868814704, + -0.327218069687419, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007162783349951329, + "xy_threshold": 0.08, + "gripper_dist": 0.18573450737477734, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470199404183096, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07576195652760744, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08507560454812947, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15372781674040623, + "release_required_pad_clearance": 0.05253780227406474, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.14264658037403122, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00716322660446167, + "max_z_decrease": 0.00716322660446167, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03510430110925108, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00716322660446167, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021124952106100037, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00716322660446167, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007163245893408058, + "max_button_displacement": 0.12, + "button_start": [ + 0.11988388746976851, + -0.3834795355796814, + 0.7768088579177856 + ], + "button_final": [ + 0.11988388746976851, + -0.3834795355796814, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12065627161022424, + -0.3832841456393019, + 0.8077231309044156 + ], + "closest_button": [ + 0.11987207829952239, + -0.383478581905365, + 0.772628128528595 + ], + "closest_ee_minus_button": [ + 0.0007841933107018556, + 0.0001944362660630805, + 0.03509500237582064 + ], + "button_min_z_position": [ + 0.11986726522445677, + -0.3834797441959381, + 0.769645631313324 + ], + "min_active_finger_to_button": 0.14541725510675219, + "closest_active_finger": [ + -0.007198542356491089, + -0.44525593519210815, + 0.8108322620391846 + ], + "closest_active_finger_button": [ + 0.11988391727209091, + -0.3834797143936157, + 0.7764822244644165 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.127082459628582, + -0.06177622079849243, + 0.034350037574768066 + ], + "min_contact_pad_to_button": 0.021124952106100037, + "closest_contact_pad": [ + 0.11986726522445677, + -0.3844857229680357, + 0.7907466172664758 + ], + "closest_contact_pad_button": [ + 0.11986726522445677, + -0.3834797441959381, + 0.769645631313324 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001005978772097571, + 0.021100985953151796 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 107, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "232c95cbac321aab0e337d0a7fff77778f95bf067f9819db4af808001089c3bd", + "visual_seed": 5742742159194135786, + "episode_index": 107, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_108_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_108_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3fe8e4259f664bc2b6684f53ecce9fe8f9cc728e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_108_success.json @@ -0,0 +1,926 @@ +{ + "episode": 108, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2851964272709796, + 0.15737843597127327, + 1.0468516059581217 + ], + "current_z": 1.0468516059581217, + "required_z": 0.8565863881992761, + "initial_z": 0.7565863881992761, + "lift_margin": 0.19026521775884553, + "gripper_z": 1.049752971288188, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.28001657515379424, + 0.15254711793921316, + 1.049752971288188 + ], + "object_minus_gripper": [ + 0.005179852117185357, + 0.004831318032060106, + -0.002901365330066241 + ], + "object_to_gripper_xy": 0.007083255034432881, + "object_to_gripper_z": -0.002901365330066241, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2851964272709796, + 0.13275270094325903, + 1.0468516059581217 + ], + "finger_b": [ + 0.27353783245555935, + 0.15737843597127327, + 1.0468516059581217 + ], + "finger_midpoint": [ + 0.2793671298632695, + 0.14506556845726615, + 1.0468516059581217 + ], + "object_minus_finger_midpoint": [ + 0.005829297407710099, + 0.01231286751400712, + 0.0 + ], + "finger_gap": 0.027246094375893794, + "fingertip_max_gap": 0.09368187875423054, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013623047187946886, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0468516059581217, + "object_top_z": 1.093628266723859, + "finger_top_clearance": 0.04677666076573739, + "fingertip_min_top_clearance": 0.014032998229721216, + "object_projection_between_fingers": 0.8169018716856054, + "object_to_finger_line_xy": 0.010537343912951276, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04934093937711527, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1764357638073537, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2847956362019093, + 0.1561100571880767, + 1.2389269525031927 + ], + "held_position": [ + 0.2902119814966788, + 0.16057912277682665, + 1.235883629998967 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007653179434290529, + "max_held_gripper_dist": 0.007654207302654235, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003043322504225676, + "max_held_gripper_z_dist": 0.003069663558454394, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08595476481242828, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2902119814966788, + 0.1351949761951555, + 1.235883629998967 + ], + "held_grasp_finger_b": [ + 0.2802873277983432, + 0.16057912277682665, + 1.235883629998967 + ], + "held_grasp_midpoint": [ + 0.285249654647511, + 0.14788704948599107, + 1.235883629998967 + ], + "held_grasp_object_position": [ + 0.2902119814966788, + 0.16057912277682665, + 1.235883629998967 + ], + "held_grasp_finger_gap": 0.027255341654649167, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024854965466955457, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.049216181316727156, + -0.9983955513863093, + 0.028001615464587244 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004346493062924935, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03228428867641004, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2749946891581793, + -0.3288626859562498, + 0.8470195898884088 + ], + "target_position": [ + 0.26988916807334107, + -0.3304072436079765, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00533404198401508, + "xy_threshold": 0.08, + "gripper_dist": 0.1848308918862372, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195898884088, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07557166873283022, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08609353857467426, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15303266562716417, + "release_required_pad_clearance": 0.053046769287337134, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.1239479097001013, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007089495658874512, + "max_z_decrease": 0.007089495658874512, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03521025422205479, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007089495658874512, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021282709986372644, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007089495658874512, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007089517822926524, + "max_button_displacement": 0.12, + "button_start": [ + 0.12558908760547638, + -0.38666871190071106, + 0.7768088579177856 + ], + "button_final": [ + 0.12558908760547638, + -0.38666871190071106, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12760695268494512, + -0.3885742899098096, + 0.807970307393496 + ], + "closest_button": [ + 0.1255781650543213, + -0.38666754961013794, + 0.7728703022003174 + ], + "closest_ee_minus_button": [ + 0.002028787630623835, + -0.0019067402996716387, + 0.035100005193178574 + ], + "button_min_z_position": [ + 0.1255713701248169, + -0.38666811585426325, + 0.7697193622589111 + ], + "min_active_finger_to_button": 0.14405435589320484, + "closest_active_finger": [ + -0.01371697336435318, + -0.3740166127681732, + 0.8108353018760681 + ], + "closest_active_finger_button": [ + 0.1255889534950256, + -0.3866687715053558, + 0.7764050960540771 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1393059268593788, + 0.012652158737182562, + 0.03443020582199097 + ], + "min_contact_pad_to_button": 0.021282709986372644, + "closest_contact_pad": [ + 0.1255713701248169, + -0.3895295123202529, + 0.7908088419734149 + ], + "closest_contact_pad_button": [ + 0.1255713701248169, + -0.38666811585426325, + 0.7697193622589111 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002861396465989652, + 0.02108947971450381 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 108, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "792dc8c503fcbb04055550fc1b33ab08906ecaff2ba588d647cc2a01fb0e4c88", + "visual_seed": 2154742810432399485, + "episode_index": 108, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_109_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_109_success.json new file mode 100644 index 0000000000000000000000000000000000000000..fce314655985c8cddf0cae21e172bf2dec925271 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_109_success.json @@ -0,0 +1,926 @@ +{ + "episode": 109, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2845877715186504, + 0.15915337638308052, + 1.0472393123679955 + ], + "current_z": 1.0472393123679955, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.19065292416871948, + "gripper_z": 1.0503557294114865, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.27940771398906095, + 0.15414248210005993, + 1.0503557294114865 + ], + "object_minus_gripper": [ + 0.0051800575295894435, + 0.005010894283020595, + -0.003116417043490971 + ], + "object_to_gripper_xy": 0.0072070838433769295, + "object_to_gripper_z": -0.003116417043490971, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2845877715186504, + 0.13478759171813193, + 1.0472393123679955 + ], + "finger_b": [ + 0.2723364781235851, + 0.15915337638308052, + 1.0472393123679955 + ], + "finger_midpoint": [ + 0.27846212482111776, + 0.14697048405060623, + 1.0472393123679955 + ], + "object_minus_finger_midpoint": [ + 0.006125646697532627, + 0.012182892332474299, + 0.0 + ], + "finger_gap": 0.027272433924947277, + "fingertip_max_gap": 0.09224962173669818, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013636216962473626, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0472393123679955, + "object_top_z": 1.0934896927260356, + "finger_top_clearance": 0.04625038035804008, + "fingertip_min_top_clearance": 0.01387511410741199, + "object_projection_between_fingers": 0.7982023592282133, + "object_to_finger_line_xy": 0.010945571544980649, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04862481086834909, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7845876212455025, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.28448811000624896, + 0.1572172799097244, + 1.2431720565479742 + ], + "held_position": [ + 0.29007143639372746, + 0.16169410046758062, + 1.2399372510247708 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00785362480828472, + "max_held_gripper_dist": 0.007861371356777313, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0032348055232034323, + "max_held_gripper_z_dist": 0.003261742039538662, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08740427359707434, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.29007143639372746, + 0.13619671934486965, + 1.2399372510247708 + ], + "held_grasp_finger_b": [ + 0.28010348011916264, + 0.16169410046758062, + 1.2399372510247708 + ], + "held_grasp_midpoint": [ + 0.28508745825644505, + 0.14894540990622512, + 1.2399372510247708 + ], + "held_grasp_object_position": [ + 0.29007143639372746, + 0.16169410046758062, + 1.2399372510247708 + ], + "held_grasp_finger_gap": 0.027376570209001957, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024562646998594683, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08388945748670201, + -0.9961357725517891, + 0.026001568514945728 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003911464851630039, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03208269502238902, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2692088730077988, + -0.3293114672531701, + 0.8470196536205763 + ], + "target_position": [ + 0.2629028713287647, + -0.33132125946892244, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00661852868290823, + "xy_threshold": 0.08, + "gripper_dist": 0.18606350323734722, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196536205763, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07565438854039933, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08513994564646045, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15428593744365793, + "release_required_pad_clearance": 0.05256997282323023, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.20558398564612357, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007217586040496826, + "max_z_decrease": 0.007217586040496826, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035116186884587404, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007217586040496826, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02108212693946658, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007217586040496826, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007217602947845375, + "max_button_displacement": 0.12, + "button_start": [ + 0.11860279738903046, + -0.3875827193260192, + 0.7768088579177856 + ], + "button_final": [ + 0.11860279738903046, + -0.3875827193260192, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11675862719470034, + -0.38679025440749326, + 0.8076684106511436 + ], + "closest_button": [ + 0.11859259009361267, + -0.3875806629657745, + 0.7726090550422668 + ], + "closest_ee_minus_button": [ + -0.001833962898912328, + 0.0007904085582812193, + 0.03505935560887674 + ], + "button_min_z_position": [ + 0.11858724057674407, + -0.3875812888145446, + 0.7695912718772888 + ], + "min_active_finger_to_button": 0.14747478530585628, + "closest_active_finger": [ + -0.010420747101306915, + -0.4501687288284302, + 0.8108884692192078 + ], + "closest_active_finger_button": [ + 0.11860269308090209, + -0.38758352398872364, + 0.7764667272567749 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12902344018220901, + -0.06258520483970653, + 0.03442174196243286 + ], + "min_contact_pad_to_button": 0.02108212693946658, + "closest_contact_pad": [ + 0.11858724057674407, + -0.38788510909529367, + 0.7906712094846156 + ], + "closest_contact_pad_button": [ + 0.11858724057674407, + -0.3875812888145446, + 0.7695912718772888 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0003038202807490453, + 0.021079937607326737 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 109, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "324151ce0d02b6eab0b3d18ae731fdde63334ce9bf5007b84ad605be58e5134b", + "visual_seed": 6257222945774933391, + "episode_index": 109, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_10_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_10_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4acf9679688457b59cde13afaa0b6118f53d7f6a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_10_success.json @@ -0,0 +1,926 @@ +{ + "episode": 10, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.28225398711684824, + 0.1618765388724737, + 1.047519805283788 + ], + "current_z": 1.047519805283788, + "required_z": 0.8565864478039209, + "initial_z": 0.7565864478039209, + "lift_margin": 0.19093335747986706, + "gripper_z": 1.0507618052441805, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.276785594806799, + 0.15678627128324135, + 1.0507618052441805 + ], + "object_minus_gripper": [ + 0.005468392310049253, + 0.005090267589232339, + -0.0032419999603925387 + ], + "object_to_gripper_xy": 0.007470886064356423, + "object_to_gripper_z": -0.0032419999603925387, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.28225398711684824, + 0.1371860126656628, + 1.047519805283788 + ], + "finger_b": [ + 0.27004493314424016, + 0.1618765388724737, + 1.047519805283788 + ], + "finger_midpoint": [ + 0.2761494601305442, + 0.14953127576906824, + 1.047519805283788 + ], + "object_minus_finger_midpoint": [ + 0.0061045269863040375, + 0.012345263103405446, + 0.0 + ], + "finger_gap": 0.027544202353222583, + "fingertip_max_gap": 0.0911386077106621, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013772101176611292, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.047519805283788, + "object_top_z": 1.0931702984086538, + "finger_top_clearance": 0.0456504931248658, + "fingertip_min_top_clearance": 0.01369514793745974, + "object_projection_between_fingers": 0.8035266606149261, + "object_to_finger_line_xy": 0.01094415308184737, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04806930385533105, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.303919919499118, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2818004383456112, + 0.1601383233378304, + 1.2420794599925105 + ], + "held_position": [ + 0.2876106887381645, + 0.164742054570912, + 1.2387075806628536 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0081438885739175, + "max_held_gripper_dist": 0.008152315557100978, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0033718793296568794, + "max_held_gripper_z_dist": 0.003400038601504729, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08675749947826365, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2876106887381645, + 0.13914708281294658, + 1.2387075806628536 + ], + "held_grasp_finger_b": [ + 0.27737658749310656, + 0.164742054570912, + 1.2387075806628536 + ], + "held_grasp_midpoint": [ + 0.28249363811563555, + 0.1519445686919293, + 1.2387075806628536 + ], + "held_grasp_object_position": [ + 0.2876106887381645, + 0.164742054570912, + 1.2387075806628536 + ], + "held_grasp_finger_gap": 0.027565184700726098, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024773984419588096, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07312357866201705, + -0.9971622070289374, + 0.01790181881370134 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004174030309296547, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03206487864858869, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2692979802009572, + -0.32899991751685853, + 0.847019537769422 + ], + "target_position": [ + 0.2614512380214526, + -0.33179534960584, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008329814127321441, + "xy_threshold": 0.08, + "gripper_dist": 0.18683046877695147, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.847019537769422, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07583846241859594, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08583648547618562, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15469602922212072, + "release_required_pad_clearance": 0.05291824273809281, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8749095572526319, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.006915748119354248, + "max_z_decrease": 0.006915748119354248, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03511550618473903, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.006915748119354248, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021105364697487916, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.006915748119354248, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.006915769045224263, + "max_button_displacement": 0.12, + "button_start": [ + 0.11715116351842877, + -0.38805681467056274, + 0.7768088579177856 + ], + "button_final": [ + 0.11715116351842877, + -0.38805681467056274, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11722373211023185, + -0.3864854068488967, + 0.8080141302529342 + ], + "closest_button": [ + 0.11714074015617368, + -0.38805416226387024, + 0.7729337811470032 + ], + "closest_ee_minus_button": [ + 8.299195405817028e-05, + 0.0015687554149735328, + 0.03508034910593105 + ], + "button_min_z_position": [ + 0.117134153842926, + -0.3880564868450165, + 0.7698931097984314 + ], + "min_active_finger_to_button": 0.14546687035962494, + "closest_active_finger": [ + -0.009656719863414764, + -0.45045244693756104, + 0.8108156323432922 + ], + "closest_active_finger_button": [ + 0.11715162545442578, + -0.38805639743804937, + 0.776362955570221 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12680834531784055, + -0.06239604949951166, + 0.03445267677307129 + ], + "min_contact_pad_to_button": 0.021105364697487916, + "closest_contact_pad": [ + 0.117134153842926, + -0.3880564868450165, + 0.7909984744959193 + ], + "closest_contact_pad_button": [ + 0.117134153842926, + -0.3880564868450165, + 0.7698931097984314 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021105364697487916 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 10, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b9c1a1a20faba56fdf57e9f9e19c810d4e243f0368686f352289792ed6ffb6bf", + "visual_seed": 8359444054174255536, + "episode_index": 10, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_110_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_110_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8eed8bbaa025af9685fc73d0378686aca5efea36 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_110_success.json @@ -0,0 +1,926 @@ +{ + "episode": 110, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.28721171715084165, + 0.1570495892449801, + 1.0484174820701817 + ], + "current_z": 1.0484174820701817, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.1918310342662609, + "gripper_z": 1.0512456222941675, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.28215809851895096, + 0.15211342781391157, + 1.0512456222941675 + ], + "object_minus_gripper": [ + 0.005053618631890688, + 0.0049361614310685364, + -0.002828140223985809 + ], + "object_to_gripper_xy": 0.007064329476331161, + "object_to_gripper_z": -0.002828140223985809, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.28721171715084165, + 0.13276271823563807, + 1.0484174820701817 + ], + "finger_b": [ + 0.2750829032275127, + 0.1570495892449801, + 1.0484174820701817 + ], + "finger_midpoint": [ + 0.28114731018917716, + 0.14490615374030907, + 1.0484174820701817 + ], + "object_minus_finger_midpoint": [ + 0.0060644069616644924, + 0.012143435504671035, + 0.0 + ], + "finger_gap": 0.02714701144898194, + "fingertip_max_gap": 0.09250354327345092, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013573505724490996, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0484174820701817, + "object_top_z": 1.094708383585457, + "finger_top_clearance": 0.04629090151527526, + "fingertip_min_top_clearance": 0.013887270454582578, + "object_projection_between_fingers": 0.8003852567936511, + "object_to_finger_line_xy": 0.010850952776359798, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04875177163672546, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8892740095997292, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.28727766941951627, + 0.1553685975181654, + 1.2412296523771806 + ], + "held_position": [ + 0.29270842504490685, + 0.15979927211520348, + 1.2382655178176265 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0076098671298974185, + "max_held_gripper_dist": 0.007616982478389413, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0029641345595541324, + "max_held_gripper_z_dist": 0.0029896171279373274, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08656661445651677, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.29270842504490685, + 0.13435839997416726, + 1.2382655178176265 + ], + "held_grasp_finger_b": [ + 0.28291545865516954, + 0.15979927211520348, + 1.2382655178176265 + ], + "held_grasp_midpoint": [ + 0.2878119418500382, + 0.14707883604468536, + 1.2382655178176265 + ], + "held_grasp_object_position": [ + 0.29270842504490685, + 0.15979927211520348, + 1.2382655178176265 + ], + "held_grasp_finger_gap": 0.027260597315669318, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024575674643586013, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07933817908918556, + -0.9965315113523756, + 0.0251077721146733 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003885384638946758, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03213543152277441, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.27665454584130345, + -0.3274655854854589, + 0.8470197816789771 + ], + "target_position": [ + 0.2702384931684171, + -0.32934892132083005, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006686754502002103, + "xy_threshold": 0.08, + "gripper_dist": 0.1869375377787532, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470197816789771, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07541047713475899, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08558043185361376, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15556728324695288, + "release_required_pad_clearance": 0.05279021592680688, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6268226880070484, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0071694254875183105, + "max_z_decrease": 0.0071694254875183105, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03510168808513198, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0071694254875183105, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.0210788690519617, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.0071694254875183105, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0071694418607300995, + "max_button_displacement": 0.12, + "button_start": [ + 0.12593841552734375, + -0.38561037182807917, + 0.7768088579177856 + ], + "button_final": [ + 0.12593841552734375, + -0.38561037182807917, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12474393002833248, + -0.38496536347455523, + 0.8078859226000796 + ], + "closest_button": [ + 0.12592731416225433, + -0.38560947775840754, + 0.7728101015090942 + ], + "closest_ee_minus_button": [ + -0.0011833841339218554, + 0.000644114283852304, + 0.03507582109098539 + ], + "button_min_z_position": [ + 0.12592320144176483, + -0.38560855388641346, + 0.7696394324302673 + ], + "min_active_finger_to_button": 0.14695265768852936, + "closest_active_finger": [ + -0.001680918037891388, + -0.4498419761657715, + 0.8105578422546387 + ], + "closest_active_finger_button": [ + 0.12593671679496765, + -0.3856120109558105, + 0.7761582136154175 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12761763483285904, + -0.06422996520996099, + 0.03439962863922119 + ], + "min_contact_pad_to_button": 0.0210788690519617, + "closest_contact_pad": [ + 0.12592320144176483, + -0.3859210385862521, + 0.7907159851327876 + ], + "closest_contact_pad_button": [ + 0.12592320144176483, + -0.38560855388641346, + 0.7696394324302673 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00031248469983863325, + 0.02107655270252029 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 110, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ca5f8d7ad8395598edcd5a41539dad36317c5ca64583143f5df6b86a5332dd97", + "visual_seed": 4630315176738170605, + "episode_index": 110, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_111_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_111_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ac9e209d5b24a8d03a65070f836bd0bdaf320eb5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_111_success.json @@ -0,0 +1,926 @@ +{ + "episode": 111, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.28443576726764863, + 0.1622391583502979, + 1.0464143409015836 + ], + "current_z": 1.0464143409015836, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.18982783349301802, + "gripper_z": 1.0493790711307789, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.27918961316908375, + 0.15738984743763254, + 1.0493790711307789 + ], + "object_minus_gripper": [ + 0.005246154098564881, + 0.0048493109126653555, + -0.0029647302291953004 + ], + "object_to_gripper_xy": 0.007144084906661203, + "object_to_gripper_z": -0.0029647302291953004, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.28443576726764863, + 0.13755053854947813, + 1.0464143409015836 + ], + "finger_b": [ + 0.27277193851259085, + 0.1622391583502979, + 1.0464143409015836 + ], + "finger_midpoint": [ + 0.27860385289011974, + 0.149894848449888, + 1.0464143409015836 + ], + "object_minus_finger_midpoint": [ + 0.005831914377528891, + 0.012344309900409883, + 0.0 + ], + "finger_gap": 0.02730517989130895, + "fingertip_max_gap": 0.09349129171499845, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013652589945654475, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0464143409015836, + "object_top_z": 1.093346585743475, + "finger_top_clearance": 0.0469322448418914, + "fingertip_min_top_clearance": 0.01407967345256742, + "object_projection_between_fingers": 0.8175297002450873, + "object_to_finger_line_xy": 0.010546124753682657, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04924564585749923, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.094464446025664, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.28395420605042937, + 0.16102470679151532, + 1.2415243605976731 + ], + "held_position": [ + 0.2894467874322669, + 0.16551516573331873, + 1.2384459666105074 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0077336395884698905, + "max_held_gripper_dist": 0.007734820574067398, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003078393987165695, + "max_held_gripper_z_dist": 0.0031082246782245804, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08617712049168563, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2894467874322669, + 0.14014075476205257, + 1.2384459666105074 + ], + "held_grasp_finger_b": [ + 0.27934852480533756, + 0.16551516573331873, + 1.2384459666105074 + ], + "held_grasp_midpoint": [ + 0.28439765611880224, + 0.15282796024768563, + 1.2384459666105074 + ], + "held_grasp_object_position": [ + 0.2894467874322669, + 0.16551516573331873, + 1.2384459666105074 + ], + "held_grasp_finger_gap": 0.027309991582224098, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02476885922326166, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05492948807572046, + -0.9979956440561049, + 0.031423650086835016 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004363259299269503, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03226110295762854, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.27416008279444837, + -0.32750598799295194, + 0.8470195796634519 + ], + "target_position": [ + 0.268942214730026, + -0.329116969269066, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0054608980772130195, + "xy_threshold": 0.08, + "gripper_dist": 0.18385152482222694, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195796634519, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07565530960679337, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08556491719988833, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15192370111553902, + "release_required_pad_clearance": 0.05278245859994417, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6129341300494399, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007020533084869385, + "max_z_decrease": 0.007020533084869385, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035161941299222524, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007020533084869385, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021083516583919937, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007020533084869385, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0070205502453198135, + "max_button_displacement": 0.12, + "button_start": [ + 0.1246421411633491, + -0.3853784203529357, + 0.7768088579177856 + ], + "button_final": [ + 0.1246421411633491, + -0.3853784203529357, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12313109897939764, + -0.38349645757688505, + 0.807979857736821 + ], + "closest_button": [ + 0.12463210523128505, + -0.3853770792484282, + 0.7729003429412842 + ], + "closest_ee_minus_button": [ + -0.0015010062518874129, + 0.0018806216715431257, + 0.03507951479553684 + ], + "button_min_z_position": [ + 0.12462669610977167, + -0.38537687063217146, + 0.7697883248329163 + ], + "min_active_finger_to_button": 0.14669974610401543, + "closest_active_finger": [ + -0.0035891085863113403, + -0.4477812945842743, + 0.8106492757797241 + ], + "closest_active_finger_button": [ + 0.12464280426502224, + -0.38537845015525807, + 0.7762504816055298 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12823191285133356, + -0.062402844429016224, + 0.034398794174194336 + ], + "min_contact_pad_to_button": 0.021083516583919937, + "closest_contact_pad": [ + 0.12462669610977167, + -0.38537687063217146, + 0.7908718414168362 + ], + "closest_contact_pad_button": [ + 0.12462669610977167, + -0.38537687063217146, + 0.7697883248329163 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021083516583919937 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 111, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5e49bb6aa99c42edc9e8f4b5c7463912796833999495295d58687a3358a65ed2", + "visual_seed": 7857167165781166036, + "episode_index": 111, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_112_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_112_success.json new file mode 100644 index 0000000000000000000000000000000000000000..aa33de86ed2c85d2a81dedb33476a5a9d8dc3cdd --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_112_success.json @@ -0,0 +1,926 @@ +{ + "episode": 112, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.28101926865638394, + 0.16315823162602006, + 1.046652798751721 + ], + "current_z": 1.046652798751721, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.19006629134315534, + "gripper_z": 1.0498906844071798, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2755408179293202, + 0.15810952402688477, + 1.0498906844071798 + ], + "object_minus_gripper": [ + 0.005478450727063711, + 0.0050487075991352826, + -0.0032378856554589053 + ], + "object_to_gripper_xy": 0.00745002488522228, + "object_to_gripper_z": -0.0032378856554589053, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.28101926865638394, + 0.13840259562394824, + 1.046652798751721 + ], + "finger_b": [ + 0.2689371681200686, + 0.16315823162602006, + 1.046652798751721 + ], + "finger_midpoint": [ + 0.2749782183882263, + 0.15078041362498415, + 1.046652798751721 + ], + "object_minus_finger_midpoint": [ + 0.006041050268157655, + 0.012377818001035906, + 0.0 + ], + "finger_gap": 0.02754666345016588, + "fingertip_max_gap": 0.09173176262539132, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01377333172508294, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.046652798751721, + "object_top_z": 1.0924756176497705, + "finger_top_clearance": 0.04582281889804962, + "fingertip_min_top_clearance": 0.013746845669414887, + "object_projection_between_fingers": 0.8076257745460882, + "object_to_finger_line_xy": 0.010857942326066268, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04836588131269566, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.5460281862286686, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2805058643541755, + 0.16145372593400498, + 1.2390316820456995 + ], + "held_position": [ + 0.28628063587071073, + 0.16605637677982932, + 1.2356477745680428 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008123005028565165, + "max_held_gripper_dist": 0.008124729632339067, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0033839074776567113, + "max_held_gripper_z_dist": 0.0034113590940145766, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08679023160762173, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.28628063587071073, + 0.14045682250595395, + 1.2356477745680428 + ], + "held_grasp_finger_b": [ + 0.2761236155231187, + 0.16605637677982932, + 1.2356477745680428 + ], + "held_grasp_midpoint": [ + 0.2812021256969147, + 0.15325659964289162, + 1.2356477745680428 + ], + "held_grasp_object_position": [ + 0.28628063587071073, + 0.16605637677982932, + 1.2356477745680428 + ], + "held_grasp_finger_gap": 0.027540919399368077, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024903739416079144, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06307213467850396, + -0.9978441068969349, + 0.01813957436531621 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004267568843166029, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03210773030247557, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2746470930065593, + -0.3307889941867097, + 0.8470193301128806 + ], + "target_position": [ + 0.26820382799622045, + -0.3326463797906689, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006705635337181115, + "xy_threshold": 0.08, + "gripper_dist": 0.18682549042982496, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470193301128806, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07528778033095462, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08492371967336886, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15591925830562578, + "release_required_pad_clearance": 0.05246185983668443, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.0, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007173418998718262, + "max_z_decrease": 0.007173418998718262, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03513655545779605, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007173418998718262, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.021090198112799163, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007173418998718262, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007173439098794159, + "max_button_displacement": 0.12, + "button_start": [ + 0.12390375137329102, + -0.38890784978866566, + 0.7768088579177856 + ], + "button_final": [ + 0.12390375137329102, + -0.38890784978866566, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1248859144360139, + -0.3879472840775602, + 0.808032234512991 + ], + "closest_button": [ + 0.12389539182186127, + -0.38890904188156117, + 0.7729228138923645 + ], + "closest_ee_minus_button": [ + 0.000990522614152639, + 0.0009617578040009844, + 0.0351094206206265 + ], + "button_min_z_position": [ + 0.12388677150011063, + -0.38890808820724476, + 0.7696354389190674 + ], + "min_active_finger_to_button": 0.14490656124869122, + "closest_active_finger": [ + -0.0034012049436569214, + -0.4490478038787842, + 0.8109232187271118 + ], + "closest_active_finger_button": [ + 0.12390447407960893, + -0.3889082670211791, + 0.776653528213501 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12730567902326584, + -0.06013953685760509, + 0.03426969051361084 + ], + "min_contact_pad_to_button": 0.021090198112799163, + "closest_contact_pad": [ + 0.12388677150011063, + -0.3892237868726933, + 0.7907232740566473 + ], + "closest_contact_pad_button": [ + 0.12388677150011063, + -0.38890808820724476, + 0.7696354389190674 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0003156986654485605, + 0.021087835137579947 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 112, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "2ec0d3537fc1f2720b373ad45542e46ff05dd4a25e6585c6e8e513ca678d4da1", + "visual_seed": 1126620782985348779, + "episode_index": 112, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_114_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_114_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f5fafdc155aa239114ad102c661817a6a09c7132 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_114_success.json @@ -0,0 +1,926 @@ +{ + "episode": 114, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.283724535020653, + 0.1634222928069555, + 1.0451520181395941 + ], + "current_z": 1.0451520181395941, + "required_z": 0.8565863881992761, + "initial_z": 0.7565863881992761, + "lift_margin": 0.188565629940318, + "gripper_z": 1.0481919445490862, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.278460723691469, + 0.15855418627608267, + 1.0481919445490862 + ], + "object_minus_gripper": [ + 0.005263811329183965, + 0.004868106530872829, + -0.003039926409492022 + ], + "object_to_gripper_xy": 0.007169809684027335, + "object_to_gripper_z": -0.003039926409492022, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.283724535020653, + 0.1387295377680457, + 1.0451520181395941 + ], + "finger_b": [ + 0.27202188483476675, + 0.1634222928069555, + 1.0451520181395941 + ], + "finger_midpoint": [ + 0.27787320992770986, + 0.15107591528750058, + 1.0451520181395941 + ], + "object_minus_finger_midpoint": [ + 0.005851325092943116, + 0.012346377519454915, + 0.0 + ], + "finger_gap": 0.027325522369843702, + "fingertip_max_gap": 0.09292690024522549, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013662761184921863, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0451520181395941, + "object_top_z": 1.0917106359598976, + "finger_top_clearance": 0.04655861782030346, + "fingertip_min_top_clearance": 0.013967585346091037, + "object_projection_between_fingers": 0.8165864144910857, + "object_to_finger_line_xy": 0.010575119861754134, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048963450122612745, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8617572163997907, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.283230464216633, + 0.1623188506228243, + 1.2382558473313166 + ], + "held_position": [ + 0.28873497194994513, + 0.166821843267793, + 1.2350823522118768 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007787658147340778, + "max_held_gripper_dist": 0.007790334489305035, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003173495119439762, + "max_held_gripper_z_dist": 0.0032033570724068205, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0870574313457615, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.28873497194994513, + 0.14141145671432986, + 1.2350823522118768 + ], + "held_grasp_finger_b": [ + 0.2786986995945243, + 0.166821843267793, + 1.2350823522118768 + ], + "held_grasp_midpoint": [ + 0.2837168357722347, + 0.15411664999106145, + 1.2350823522118768 + ], + "held_grasp_object_position": [ + 0.28873497194994513, + 0.166821843267793, + 1.2350823522118768 + ], + "held_grasp_finger_gap": 0.027320587614262704, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024817028900743967, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05451053321534566, + -0.9981788905480288, + 0.025836103283682466 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004330835146305912, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03224462795785037, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.27248562571509005, + -0.330314718057365, + 0.8470196249110126 + ], + "target_position": [ + 0.2649910037802269, + -0.33291818878507223, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007933940873018937, + "xy_threshold": 0.08, + "gripper_dist": 0.18746477057301222, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196249110126, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07519018588697739, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08529268142307188, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15678378530174183, + "release_required_pad_clearance": 0.05264634071153594, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.3516586715308663, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00708460807800293, + "max_z_decrease": 0.00708460807800293, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035096089271224915, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00708460807800293, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021098747483983354, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00708460807800293, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00708462756526633, + "max_button_displacement": 0.12, + "button_start": [ + 0.12069092690944672, + -0.3891796469688416, + 0.7768088579177856 + ], + "button_final": [ + 0.12069092690944672, + -0.3891796469688416, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12036860490028323, + -0.38866133104357165, + 0.808016260628459 + ], + "closest_button": [ + 0.12068161368370056, + -0.3891784250736237, + 0.7729253768920898 + ], + "closest_ee_minus_button": [ + -0.0003130087834173345, + 0.0005170940300520677, + 0.03509088373636915 + ], + "button_min_z_position": [ + 0.12067436426877975, + -0.3891783058643341, + 0.7697242498397827 + ], + "min_active_finger_to_button": 0.1462580571258585, + "closest_active_finger": [ + -0.007183969020843506, + -0.45129096508026123, + 0.8111873269081116 + ], + "closest_active_finger_button": [ + 0.12068969756364822, + -0.3891803026199341, + 0.7768069505691528 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12787366658449173, + -0.06211066246032715, + 0.03438037633895874 + ], + "min_contact_pad_to_button": 0.021098747483983354, + "closest_contact_pad": [ + 0.12067436426877975, + -0.3898264446873519, + 0.7908130397875012 + ], + "closest_contact_pad_button": [ + 0.12067436426877975, + -0.3891783058643341, + 0.7697242498397827 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0006481388230177854, + 0.021088789947718456 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 114, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "84899a5ed2a4ec8cef933c560c39fc251f01cb69f90922f07c158beb2329aa1a", + "visual_seed": 7224471826091624826, + "episode_index": 114, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_115_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_115_success.json new file mode 100644 index 0000000000000000000000000000000000000000..06d9e1f12fd94ab42eef4dc18dc5466124c517ac --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_115_success.json @@ -0,0 +1,926 @@ +{ + "episode": 115, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2809241138267007, + 0.16415827353480208, + 1.044627961590592 + ], + "current_z": 1.044627961590592, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.18804151378667122, + "gripper_z": 1.0477040692443258, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.275849119909097, + 0.15923351993587803, + 1.0477040692443258 + ], + "object_minus_gripper": [ + 0.005074993917603687, + 0.004924753598924053, + -0.003076107653733784 + ], + "object_to_gripper_xy": 0.007071687300342814, + "object_to_gripper_z": -0.003076107653733784, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2809241138267007, + 0.13981979035423306, + 1.044627961590592 + ], + "finger_b": [ + 0.26885789435719254, + 0.16415827353480208, + 1.044627961590592 + ], + "finger_midpoint": [ + 0.2748910040919466, + 0.15198903194451757, + 1.044627961590592 + ], + "object_minus_finger_midpoint": [ + 0.006033109734754072, + 0.012169241590284513, + 0.0 + ], + "finger_gap": 0.027165334818793945, + "fingertip_max_gap": 0.09275653404494874, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013582667409396973, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.044627961590592, + "object_top_z": 1.0911144915147606, + "finger_top_clearance": 0.046486529924168574, + "fingertip_min_top_clearance": 0.013945958977250572, + "object_projection_between_fingers": 0.802706709422122, + "object_to_finger_line_xy": 0.01081059672448817, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04887826702247437, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9241635445921255, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 216, + "max_stable_success_frames": 216, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.280779191074763, + 0.16275602733503303, + 1.2382144916492341 + ], + "held_position": [ + 0.28620292125800173, + 0.1672003450824301, + 1.235005467049797 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00771146213244908, + "max_held_gripper_dist": 0.007718705295842674, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0032090245994371713, + "max_held_gripper_z_dist": 0.0032371429537010332, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08619242852103844, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.28620292125800173, + 0.1417992926530667, + 1.235005467049797 + ], + "held_grasp_finger_b": [ + 0.27632754857200303, + 0.1672003450824301, + 1.235005467049797 + ], + "held_grasp_midpoint": [ + 0.2812652349150024, + 0.15449981886774838, + 1.235005467049797 + ], + "held_grasp_object_position": [ + 0.28620292125800173, + 0.1672003450824301, + 1.235005467049797 + ], + "held_grasp_finger_gap": 0.027253191560010666, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02457013692713397, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07578801592034431, + -0.9967528668304992, + 0.02720108652312969 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003976418308276838, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03216672159989799, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2678855686117468, + -0.3244411448064611, + 0.8470195960545368 + ], + "target_position": [ + 0.2614313529749091, + -0.32655102415448833, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0067903232875933025, + "xy_threshold": 0.08, + "gripper_dist": 0.186331436279163, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195960545368, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07544807249288342, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08524017702875934, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15499670069657914, + "release_required_pad_clearance": 0.05262008851437967, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.30131561009128693, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007080554962158203, + "max_z_decrease": 0.007080554962158203, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03509841018203006, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007080554962158203, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.021185302744550043, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007080554962158203, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0070805758976655595, + "max_button_displacement": 0.12, + "button_start": [ + 0.11713127791881563, + -0.3828124701976776, + 0.7768088579177856 + ], + "button_final": [ + 0.11713127791881563, + -0.3828124701976776, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11781768574434515, + -0.38354419508193976, + 0.8076720224303562 + ], + "closest_button": [ + 0.1171202063560486, + -0.3828114867210388, + 0.7725881934165955 + ], + "closest_ee_minus_button": [ + 0.0006974793882965485, + -0.0007327083609009466, + 0.035083829013760726 + ], + "button_min_z_position": [ + 0.11711405962705611, + -0.3828125, + 0.7697283029556274 + ], + "min_active_finger_to_button": 0.14545486367271207, + "closest_active_finger": [ + -0.023339398205280304, + -0.3674529194831848, + 0.8110527992248535 + ], + "closest_active_finger_button": [ + 0.11713217198848724, + -0.3828127682209015, + 0.7765719294548035 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14047157019376755, + 0.015359848737716675, + 0.03448086977005005 + ], + "min_contact_pad_to_button": 0.021185302744550043, + "closest_contact_pad": [ + 0.11711405962705611, + -0.38464125007120614, + 0.7908345277614828 + ], + "closest_contact_pad_button": [ + 0.11711405962705611, + -0.3828125, + 0.7697283029556274 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0018287500712061422, + 0.021106224805855334 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 115, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "82c68660103186bad4cab8e565529a77e90e5f5950e695943f5a065555c57a2c", + "visual_seed": 6727824068157181179, + "episode_index": 115, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_118_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_118_success.json new file mode 100644 index 0000000000000000000000000000000000000000..84d7c6d80b79c83096b590a421674da5dd422292 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_118_success.json @@ -0,0 +1,926 @@ +{ + "episode": 118, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.278978794771676, + 0.16167681552807367, + 1.0438273890864092 + ], + "current_z": 1.0438273890864092, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.18724088167784358, + "gripper_z": 1.0480675975074962, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.27333055581550425, + 0.15659886495351122, + 1.0480675975074962 + ], + "object_minus_gripper": [ + 0.005648238956171725, + 0.005077950574562451, + -0.004240208421087077 + ], + "object_to_gripper_xy": 0.007595273882073969, + "object_to_gripper_z": -0.004240208421087077, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.278978794771676, + 0.13664054143713067, + 1.0438273890864092 + ], + "finger_b": [ + 0.26706822295288435, + 0.16167681552807367, + 1.0438273890864092 + ], + "finger_midpoint": [ + 0.27302350886228016, + 0.14915867848260217, + 1.0438273890864092 + ], + "object_minus_finger_midpoint": [ + 0.005955285909395813, + 0.0125181370454715, + 0.0 + ], + "finger_gap": 0.02772502013358001, + "fingertip_max_gap": 0.09214277183654357, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013862510066790006, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0438273890864092, + "object_top_z": 1.0893582866725018, + "finger_top_clearance": 0.045530897586092633, + "fingertip_min_top_clearance": 0.013659269275827774, + "object_projection_between_fingers": 0.8154468407736, + "object_to_finger_line_xy": 0.010755495909413548, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04857138591827179, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2581521908092141, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2780987208119986, + 0.16014156991573203, + 1.235977694135166 + ], + "held_position": [ + 0.2839581603900097, + 0.1648465037454378, + 1.2315922326811057 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008700672771419473, + "max_held_gripper_dist": 0.008702292292457144, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004385461454060158, + "max_held_gripper_z_dist": 0.004417324953178703, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08616085779172564, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2839581603900097, + 0.13919094811084165, + 1.2315922326811057 + ], + "held_grasp_finger_b": [ + 0.27364353567272875, + 0.1648465037454378, + 1.2315922326811057 + ], + "held_grasp_midpoint": [ + 0.27880084803136923, + 0.15201872592813973, + 1.2315922326811057 + ], + "held_grasp_object_position": [ + 0.2839581603900097, + 0.1648465037454378, + 1.2315922326811057 + ], + "held_grasp_finger_gap": 0.02765138365395485, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025284575086228583, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.03434077117223057, + -0.999346403505626, + 0.011290581724031745 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00471600994229417, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03220372525555291, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2760562610194145, + -0.3212592807588889, + 0.8470196453703067 + ], + "target_position": [ + 0.2687041638586977, + -0.32387960569715435, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007805090354551677, + "xy_threshold": 0.08, + "gripper_dist": 0.18775314427843495, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196453703067, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.075189878921153, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08662142312389871, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15713417622893738, + "release_required_pad_clearance": 0.05331071156194936, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.6394437831526658, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.006894111633300781, + "max_z_decrease": 0.006894111633300781, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03513751304882989, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.006894111633300781, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02122572451869124, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.006894111633300781, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.006894131245546682, + "max_button_displacement": 0.12, + "button_start": [ + 0.12440408766269682, + -0.3801410496234894, + 0.7768088579177856 + ], + "button_final": [ + 0.12440408766269682, + -0.3801410496234894, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12531999850488557, + -0.38138095390425986, + 0.8080957060355202 + ], + "closest_button": [ + 0.12439323961734772, + -0.38014090061187744, + 0.7729923129081726 + ], + "closest_ee_minus_button": [ + 0.0009267588875378485, + -0.0012400532923824148, + 0.03510339312734756 + ], + "button_min_z_position": [ + 0.12438764423131943, + -0.3801412284374237, + 0.7699147462844849 + ], + "min_active_finger_to_button": 0.1451653804306363, + "closest_active_finger": [ + -0.015822216868400574, + -0.36508113145828247, + 0.8107495903968811 + ], + "closest_active_finger_button": [ + 0.12440394610166548, + -0.38014173507690424, + 0.776357889175415 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14022616297006607, + 0.01506060361862177, + 0.034391701221466064 + ], + "min_contact_pad_to_button": 0.02122572451869124, + "closest_contact_pad": [ + 0.12438764423131943, + -0.38251514716977003, + 0.7910073016345506 + ], + "closest_contact_pad_button": [ + 0.12438764423131943, + -0.3801412284374237, + 0.7699147462844849 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002373918732346325, + 0.02109255535006571 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 118, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1ae92c158503494811e2dc23425fa1aeced59fc407761dacd22afdaea9c65404", + "visual_seed": 2829863537784717316, + "episode_index": 118, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_119_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_119_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3198dcc1899dae0fd151c26cd8e9ddece4d793eb --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_119_success.json @@ -0,0 +1,926 @@ +{ + "episode": 119, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2877680878308532, + 0.16080196824690482, + 1.0444418620436742 + ], + "current_z": 1.0444418620436742, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.18785529503046383, + "gripper_z": 1.0479668571463383, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2821512670639328, + 0.15573462626231144, + 1.0479668571463383 + ], + "object_minus_gripper": [ + 0.005616820766920438, + 0.005067341984593382, + -0.00352499510266413 + ], + "object_to_gripper_xy": 0.0075648285054277006, + "object_to_gripper_z": -0.00352499510266413, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2877680878308532, + 0.13589819390740304, + 1.0444418620436742 + ], + "finger_b": [ + 0.2757201674134846, + 0.16080196824690482, + 1.0444418620436742 + ], + "finger_midpoint": [ + 0.28174412762216894, + 0.14835008107715392, + 1.0444418620436742 + ], + "object_minus_finger_midpoint": [ + 0.006023960208684287, + 0.012451887169750903, + 0.0 + ], + "finger_gap": 0.027664966342579835, + "fingertip_max_gap": 0.09155452039818915, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013832483171289918, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0444418620436742, + "object_top_z": 1.0898451829124904, + "finger_top_clearance": 0.045403320868816266, + "fingertip_min_top_clearance": 0.013620996260644879, + "object_projection_between_fingers": 0.8103451785606556, + "object_to_finger_line_xy": 0.010845438509448944, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04827726019909458, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1234752647012363, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 216, + "max_stable_success_frames": 216, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.28718804059616004, + 0.15889996978327198, + 1.2390481864212344 + ], + "held_position": [ + 0.29309398922881513, + 0.16352930892426112, + 1.2353885979194448 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008348868075151583, + "max_held_gripper_dist": 0.008351830134080031, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0036595885017896013, + "max_held_gripper_z_dist": 0.003689582681827286, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08657657933026983, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.29309398922881513, + 0.13786583144388415, + 1.2353885979194448 + ], + "held_grasp_finger_b": [ + 0.28284337432014217, + 0.16352930892426112, + 1.2353885979194448 + ], + "held_grasp_midpoint": [ + 0.28796868177447865, + 0.15069757018407265, + 1.2353885979194448 + ], + "held_grasp_object_position": [ + 0.29309398922881513, + 0.16352930892426112, + 1.2353885979194448 + ], + "held_grasp_finger_gap": 0.027634926856999725, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025137297768817877, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.04817434244416169, + -0.9987389441391874, + 0.01413344224928281 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004504918446291203, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032137759448528196, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.27492642589399885, + -0.325875325472047, + 0.8470195782501035 + ], + "target_position": [ + 0.2667509988086934, + -0.32897134353909974, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008742021270773868, + "xy_threshold": 0.08, + "gripper_dist": 0.1876167072006634, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195782501035, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07560774068180007, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08694716492673617, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15594953836735334, + "release_required_pad_clearance": 0.053473582463368086, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.9591747462401239, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00720059871673584, + "max_z_decrease": 0.00720059871673584, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035109890171493664, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00720059871673584, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02114324413350881, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00720059871673584, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007200618608774395, + "max_button_displacement": 0.12, + "button_start": [ + 0.12245092540979385, + -0.38523280620574946, + 0.7768088579177856 + ], + "button_final": [ + 0.12245092540979385, + -0.38523280620574946, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12364982972484681, + -0.3856612491216242, + 0.8077546090659079 + ], + "closest_button": [ + 0.12243899703025819, + -0.3852309584617614, + 0.7726682424545288 + ], + "closest_ee_minus_button": [ + 0.0012108326945886178, + -0.00043029065986277537, + 0.035086366611379094 + ], + "button_min_z_position": [ + 0.12243400514125824, + -0.38523238897323603, + 0.7696082592010498 + ], + "min_active_finger_to_button": 0.14500015209841288, + "closest_active_finger": [ + -0.01771704852581024, + -0.3715081810951233, + 0.811198353767395 + ], + "closest_active_finger_button": [ + 0.12245465815067293, + -0.38523080945014954, + 0.7767218947410583 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14017170667648315, + 0.013722628355026245, + 0.03447645902633667 + ], + "min_contact_pad_to_button": 0.02114324413350881, + "closest_contact_pad": [ + 0.12243400514125824, + -0.3865912655360752, + 0.790707790640779 + ], + "closest_contact_pad_button": [ + 0.12243400514125824, + -0.38523238897323603, + 0.7696082592010498 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001358876562839173, + 0.021099531439729202 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 119, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a44b7cc978e640a5f3c20abc62c0e234aea596766995850025b6087a0063f364", + "visual_seed": 4713731799903324718, + "episode_index": 119, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_11_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_11_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ebfecef051be4a07930b2ba9b27ab3f2d64d2410 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_11_success.json @@ -0,0 +1,926 @@ +{ + "episode": 11, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.28231531217998695, + 0.16202060918705216, + 1.0454690608765895 + ], + "current_z": 1.0454690608765895, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.1888826726773135, + "gripper_z": 1.0485536970147737, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.27695136198513215, + 0.15704380749614105, + 1.0485536970147737 + ], + "object_minus_gripper": [ + 0.005363950194854805, + 0.004976801690911109, + -0.0030846361381842158 + ], + "object_to_gripper_xy": 0.007317138563915445, + "object_to_gripper_z": -0.0030846361381842158, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.28231531217998695, + 0.1373511806873524, + 1.0454690608765895 + ], + "finger_b": [ + 0.2703345144527376, + 0.16202060918705216, + 1.0454690608765895 + ], + "finger_midpoint": [ + 0.2763249133163623, + 0.14968589493720227, + 1.0454690608765895 + ], + "object_minus_finger_midpoint": [ + 0.00599039886362468, + 0.012334714249849887, + 0.0 + ], + "finger_gap": 0.027424810239691046, + "fingertip_max_gap": 0.09124455065562101, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013712405119845523, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0454690608765895, + "object_top_z": 1.0911938512151549, + "finger_top_clearance": 0.04572479033856536, + "fingertip_min_top_clearance": 0.013717437101569573, + "object_projection_between_fingers": 0.8091534956814627, + "object_to_finger_line_xy": 0.010777082150015731, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04812227532781051, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.30434554782367645, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.28171746932418984, + 0.16079131562125468, + 1.238826396881152 + ], + "held_position": [ + 0.2873605913960355, + 0.16536249999027708, + 1.2356155616295912 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007940404036698089, + "max_held_gripper_dist": 0.007943510715457512, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0032108352515607397, + "max_held_gripper_z_dist": 0.003241587367273535, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0870720730526641, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2873605913960355, + 0.13990066919574753, + 1.2356155616295912 + ], + "held_grasp_finger_b": [ + 0.2771406011585387, + 0.16536249999027708, + 1.2356155616295912 + ], + "held_grasp_midpoint": [ + 0.2822505962772871, + 0.1526315845930123, + 1.2356155616295912 + ], + "held_grasp_object_position": [ + 0.2873605913960355, + 0.16536249999027708, + 1.2356155616295912 + ], + "held_grasp_finger_gap": 0.027436345016488294, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024764642016999832, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06293592022424072, + -0.997879795538438, + 0.01658262951685796 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004303944986473434, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03217469946703125, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2705568161895261, + -0.32664688741092707, + 0.8470195496159354 + ], + "target_position": [ + 0.2631447026799918, + -0.3295026973612383, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007943240972708645, + "xy_threshold": 0.08, + "gripper_dist": 0.18835053864963777, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195496159354, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07551995481567093, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08507365607030672, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15689170283249138, + "release_required_pad_clearance": 0.05253682803515336, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.1426524869149431, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007102012634277344, + "max_z_decrease": 0.007102012634277344, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03512610735631636, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007102012634277344, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02108474564170679, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007102012634277344, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007102032763062941, + "max_button_displacement": 0.12, + "button_start": [ + 0.1188446283340454, + -0.38576415181159973, + 0.7768088579177856 + ], + "button_final": [ + 0.1188446283340454, + -0.38576415181159973, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11716825742376735, + -0.3849640112116601, + 0.8071336705899259 + ], + "closest_button": [ + 0.11883157491683959, + -0.3857594132423401, + 0.772055983543396 + ], + "closest_ee_minus_button": [ + -0.0016633174930722333, + 0.0007954020306800147, + 0.035077687046529915 + ], + "button_min_z_position": [ + 0.11882777512073515, + -0.3857627809047699, + 0.7697068452835083 + ], + "min_active_finger_to_button": 0.1472651510132439, + "closest_active_finger": [ + -0.010504297912120819, + -0.44717782735824585, + 0.8109113574028015 + ], + "closest_active_finger_button": [ + 0.11884588003158568, + -0.38576552271842957, + 0.7765008211135864 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1293501779437065, + -0.061412304639816284, + 0.03441053628921509 + ], + "min_contact_pad_to_button": 0.02108474564170679, + "closest_contact_pad": [ + 0.11882777512073515, + -0.3862001521852203, + 0.7907870541330076 + ], + "closest_contact_pad_button": [ + 0.11882777512073515, + -0.3857627809047699, + 0.7697068452835083 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00043737128045040485, + 0.02108020884949935 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 11, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "223e59a9134b8a1f4313cf73994f1b96458cc6b5958b55574c578bab228e8eb8", + "visual_seed": 4995115220824877993, + "episode_index": 11, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_120_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_120_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5c27792e4d4801f2e0e1e6b7659fd8edee0c3987 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_120_success.json @@ -0,0 +1,926 @@ +{ + "episode": 120, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.28700295248757546, + 0.1588889802565694, + 1.0459431048905143 + ], + "current_z": 1.0459431048905143, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.18935659748194877, + "gripper_z": 1.049062519749105, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.28147444839040525, + 0.15378481394156673, + 1.049062519749105 + ], + "object_minus_gripper": [ + 0.005528504097170206, + 0.005104166315002656, + -0.0031194148585906856 + ], + "object_to_gripper_xy": 0.007524418337894003, + "object_to_gripper_z": -0.0031194148585906856, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.28700295248757546, + 0.13415040606373, + 1.0459431048905143 + ], + "finger_b": [ + 0.2747746092208496, + 0.1588889802565694, + 1.0459431048905143 + ], + "finger_midpoint": [ + 0.28088878085421254, + 0.14651969316014968, + 1.0459431048905143 + ], + "object_minus_finger_midpoint": [ + 0.006114171633362919, + 0.012369287096419712, + 0.0 + ], + "finger_gap": 0.027595822729962204, + "fingertip_max_gap": 0.09283990913082676, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013797911364981114, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0459431048905143, + "object_top_z": 1.0921921463679436, + "finger_top_clearance": 0.046249041477429254, + "fingertip_min_top_clearance": 0.013874712443228776, + "object_projection_between_fingers": 0.8036420225703081, + "object_to_finger_line_xy": 0.010962230773824794, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048919954565413384, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9744693492466526, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2865019733226967, + 0.15700841129486698, + 1.2380068538360012 + ], + "held_position": [ + 0.2923475183181483, + 0.1616399293660229, + 1.234729707614309 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00814622877751693, + "max_held_gripper_dist": 0.00814751106705964, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003277146221692284, + "max_held_gripper_z_dist": 0.0033084050579923474, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08666926435988129, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2923475183181483, + 0.1359837601075542, + 1.234729707614309 + ], + "held_grasp_finger_b": [ + 0.28217878254705553, + 0.1616399293660229, + 1.234729707614309 + ], + "held_grasp_midpoint": [ + 0.2872631504326019, + 0.14881184473678855, + 1.234729707614309 + ], + "held_grasp_object_position": [ + 0.2923475183181483, + 0.1616399293660229, + 1.234729707614309 + ], + "held_grasp_finger_gap": 0.02759786600810824, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024972025995665205, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06181127025237912, + -0.997832849192282, + 0.022560406525596325 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004291734707985396, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03208566949310612, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2738130733020835, + -0.3242776030746783, + 0.8470195508526294 + ], + "target_position": [ + 0.2678224765507923, + -0.32615528245028297, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006277971748435317, + "xy_threshold": 0.08, + "gripper_dist": 0.18581570110217, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195508526294, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07588645974037327, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08649441930874059, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15341985968694216, + "release_required_pad_clearance": 0.0532472096543703, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.5148785780720868, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007034659385681152, + "max_z_decrease": 0.007034659385681152, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03510348830566605, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007034659385681152, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02110326757363356, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007034659385681152, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0070346830557677514, + "max_button_displacement": 0.12, + "button_start": [ + 0.12352240085601805, + -0.38241675496101374, + 0.7768088579177856 + ], + "button_final": [ + 0.12352240085601805, + -0.38241675496101374, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12429306317260166, + -0.38192801209565524, + 0.8079658747383295 + ], + "closest_button": [ + 0.12351155281066893, + -0.382415622472763, + 0.7728744745254517 + ], + "closest_ee_minus_button": [ + 0.0007815103619327329, + 0.0004876103771077611, + 0.03509140021287782 + ], + "button_min_z_position": [ + 0.12350415438413619, + -0.38241645693778986, + 0.7697741985321045 + ], + "min_active_finger_to_button": 0.14530751804488662, + "closest_active_finger": [ + -0.002490900456905365, + -0.44608017802238464, + 0.8111913204193115 + ], + "closest_active_finger_button": [ + 0.12352126836776733, + -0.3824177980422973, + 0.7768065929412842 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1260121688246727, + -0.06366237998008734, + 0.034384727478027344 + ], + "min_contact_pad_to_button": 0.02110326757363356, + "closest_contact_pad": [ + 0.12350415438413619, + -0.38291660153541857, + 0.7908715385934922 + ], + "closest_contact_pad_button": [ + 0.12350415438413619, + -0.38241645693778986, + 0.7697741985321045 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0005001445976287044, + 0.021097340061387748 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 120, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e46a9c417d40085547b270666e0d321dac602455e053b39f87b9fcc95d5fb017", + "visual_seed": 4776858092561334555, + "episode_index": 120, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_12_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_12_success.json new file mode 100644 index 0000000000000000000000000000000000000000..869f8ec38f2fab14050161ded123883925148560 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_12_success.json @@ -0,0 +1,926 @@ +{ + "episode": 12, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2830748198378693, + 0.16557595931999863, + 1.0478453931876819 + ], + "current_z": 1.0478453931876819, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.19125900498840587, + "gripper_z": 1.050951271807304, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.27789084771841105, + 0.1606355594130861, + 1.050951271807304 + ], + "object_minus_gripper": [ + 0.005183972119458258, + 0.004940399906912529, + -0.0031058786196220822 + ], + "object_to_gripper_xy": 0.007161083589481544, + "object_to_gripper_z": -0.0031058786196220822, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2830748198378693, + 0.14110466335840272, + 1.0478453931876819 + ], + "finger_b": [ + 0.27105678554316226, + 0.16557595931999863, + 1.0478453931876819 + ], + "finger_midpoint": [ + 0.2770658026905158, + 0.15334031133920067, + 1.0478453931876819 + ], + "object_minus_finger_midpoint": [ + 0.006009017147353524, + 0.012235647980797959, + 0.0 + ], + "finger_gap": 0.02726311563906032, + "fingertip_max_gap": 0.0925596524870832, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01363155781953016, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0478453931876819, + "object_top_z": 1.0943420503386996, + "finger_top_clearance": 0.046496657151017695, + "fingertip_min_top_clearance": 0.013948997145305342, + "object_projection_between_fingers": 0.8056807137397777, + "object_to_finger_line_xy": 0.010787353800496256, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0487798262435416, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8572078010064056, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2828659964509555, + 0.16394514331026075, + 1.2423003565279418 + ], + "held_position": [ + 0.2883874901723852, + 0.1684172900795976, + 1.2390700238838124 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007805257115176004, + "max_held_gripper_dist": 0.007811890784294114, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003230332644129419, + "max_held_gripper_z_dist": 0.003261151811405849, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08745324606494884, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2883874901723852, + 0.14297173664860424, + 1.2390700238838124 + ], + "held_grasp_finger_b": [ + 0.2784228420734354, + 0.1684172900795976, + 1.2390700238838124 + ], + "held_grasp_midpoint": [ + 0.2834051661229103, + 0.15569451336410092, + 1.2390700238838124 + ], + "held_grasp_object_position": [ + 0.2883874901723852, + 0.1684172900795976, + 1.2390700238838124 + ], + "held_grasp_finger_gap": 0.027327100123237413, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024613594971247994, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0752668890146861, + -0.9967793824004043, + 0.027672337080910096 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004026466088761902, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03214341941765272, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.27185309393048157, + -0.32754724984373107, + 0.8470196721011303 + ], + "target_position": [ + 0.265461251039702, + -0.32951600073070186, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006688171319229044, + "xy_threshold": 0.08, + "gripper_dist": 0.18476961142056442, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196721011303, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0754558479912332, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08513961941125452, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15346917266804935, + "release_required_pad_clearance": 0.05256980970562726, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.2055841394603612, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.006909012794494629, + "max_z_decrease": 0.006909012794494629, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035137322939855505, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.006909012794494629, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021101280737898853, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.006909012794494629, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.006909031731284699, + "max_button_displacement": 0.12, + "button_start": [ + 0.12116117775440215, + -0.38577747344970703, + 0.7768088579177856 + ], + "button_final": [ + 0.12116117775440215, + -0.38577747344970703, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12074549579990038, + -0.383909198128275, + 0.8080773789821648 + ], + "closest_button": [ + 0.12115104496479032, + -0.3857758045196533, + 0.7729920148849487 + ], + "closest_ee_minus_button": [ + -0.0004055491648899401, + 0.0018666063913783115, + 0.035085364097216076 + ], + "button_min_z_position": [ + 0.12114500254392624, + -0.3857772946357727, + 0.769899845123291 + ], + "min_active_finger_to_button": 0.14575827961544813, + "closest_active_finger": [ + -0.006127655506134033, + -0.4478934407234192, + 0.8107783198356628 + ], + "closest_active_finger_button": [ + 0.12116139382123946, + -0.38577741384506226, + 0.7763606905937195 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1272890493273735, + -0.062116026878356934, + 0.03441762924194336 + ], + "min_contact_pad_to_button": 0.021101280737898853, + "closest_contact_pad": [ + 0.12114500254392624, + -0.3857772946357727, + 0.7910011258611899 + ], + "closest_contact_pad_button": [ + 0.12114500254392624, + -0.3857772946357727, + 0.769899845123291 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021101280737898853 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 12, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "64f480e7af3098182b3719e4d64e2b1bf239d179c675bc595acccf1be33af4de", + "visual_seed": 8334264268716113665, + "episode_index": 12, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_15_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_15_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3eafd8285668a3bb726c93c8dcae9ab99dfb682f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_15_success.json @@ -0,0 +1,926 @@ +{ + "episode": 15, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2884072321383382, + 0.16060616038994976, + 1.0456333538916092 + ], + "current_z": 1.0456333538916092, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.1890468464830436, + "gripper_z": 1.049161533643801, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.28280126517121207, + 0.15557330714063522, + 1.049161533643801 + ], + "object_minus_gripper": [ + 0.005605966967126119, + 0.005032853249314545, + -0.0035281797521917735 + ], + "object_to_gripper_xy": 0.007533689498887328, + "object_to_gripper_z": -0.0035281797521917735, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2884072321383382, + 0.13570733228773119, + 1.0456333538916092 + ], + "finger_b": [ + 0.27642719251597253, + 0.16060616038994976, + 1.0456333538916092 + ], + "finger_midpoint": [ + 0.28241721232715533, + 0.14815674633884046, + 1.0456333538916092 + ], + "object_minus_finger_midpoint": [ + 0.005990019811182856, + 0.012449414051109303, + 0.0 + ], + "finger_gap": 0.027631015005194447, + "fingertip_max_gap": 0.09476883166370945, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013815507502597248, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0456333538916092, + "object_top_z": 1.092242450288344, + "finger_top_clearance": 0.04660909639673494, + "fingertip_min_top_clearance": 0.013982728919020448, + "object_projection_between_fingers": 0.8120151581097774, + "object_to_finger_line_xy": 0.010795439369815888, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049884415831854725, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.12987694885166, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 216, + "max_stable_success_frames": 216, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2873461409335346, + 0.15956599976075786, + 1.2374635092043162 + ], + "held_position": [ + 0.29314541072466216, + 0.16426930115840904, + 1.2337996709558465 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00831722819564197, + "max_held_gripper_dist": 0.008320097757873256, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0036638382484697196, + "max_held_gripper_z_dist": 0.003696183485889515, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08676640262992036, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.29314541072466216, + 0.13878324474098647, + 1.2337996709558465 + ], + "held_grasp_finger_b": [ + 0.2826136507312982, + 0.16426930115840904, + 1.2337996709558465 + ], + "held_grasp_midpoint": [ + 0.28787953072798017, + 0.15152627294969775, + 1.2337996709558465 + ], + "held_grasp_object_position": [ + 0.29314541072466216, + 0.16426930115840904, + 1.2337996709558465 + ], + "held_grasp_finger_gap": 0.027576385554852333, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02530696424899573, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.01602559197963623, + -0.9995952892916502, + 0.023504000247712376 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005069902696889908, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032377965152831804, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.27422109853003523, + -0.32110551579964475, + 0.8470189557806717 + ], + "target_position": [ + 0.2681270647601616, + -0.3231389537551487, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006424337904192456, + "xy_threshold": 0.08, + "gripper_dist": 0.1861563695583382, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470189557806717, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07514023667285198, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0864672889899142, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15567677023023418, + "release_required_pad_clearance": 0.0532336444949571, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.4872423572368727, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007054388523101807, + "max_z_decrease": 0.007054388523101807, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03512775084888721, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007054388523101807, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021091546418877342, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007054388523101807, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007054407659066309, + "max_button_displacement": 0.12, + "button_start": [ + 0.12382698804140091, + -0.37940040230751026, + 0.7768088579177856 + ], + "button_final": [ + 0.12382698804140091, + -0.37940040230751026, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12316220148455079, + -0.37817661774708905, + 0.8079401576481268 + ], + "closest_button": [ + 0.12381978332996368, + -0.37940251827239985, + 0.7728399634361267 + ], + "closest_ee_minus_button": [ + -0.0006575818454128968, + 0.0012259005253107969, + 0.03510019421200006 + ], + "button_min_z_position": [ + 0.12381055951118469, + -0.3794007003307342, + 0.7697544693946838 + ], + "min_active_finger_to_button": 0.1462512960659286, + "closest_active_finger": [ + -0.004955358803272247, + -0.4396345615386963, + 0.8108071088790894 + ], + "closest_active_finger_button": [ + 0.12382718175649642, + -0.3794013857841491, + 0.7765074968338013 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12878254055976868, + -0.060233175754547175, + 0.034299612045288086 + ], + "min_contact_pad_to_button": 0.021091546418877342, + "closest_contact_pad": [ + 0.12381055951118469, + -0.3794479853090301, + 0.7908459628095771 + ], + "closest_contact_pad_button": [ + 0.12381055951118469, + -0.3794007003307342, + 0.7697544693946838 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -4.728497829592504e-05, + 0.021091493414893248 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 15, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "11fdafb7b535c05bedb864e8226101b73ef0032e9958ec9d4a239b9e4cc297e9", + "visual_seed": 7088285970458264341, + "episode_index": 15, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_17_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_17_success.json new file mode 100644 index 0000000000000000000000000000000000000000..dd1a74e8d5e01e73be0ddde6a453be85068f41e6 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_17_success.json @@ -0,0 +1,926 @@ +{ + "episode": 17, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2851248437073931, + 0.15648235548373698, + 1.0457064132036267 + ], + "current_z": 1.0457064132036267, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.18911996539970588, + "gripper_z": 1.0487368863388946, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.27993767694122695, + 0.15162986762730846, + 1.0487368863388946 + ], + "object_minus_gripper": [ + 0.005187166766166151, + 0.004852487856428528, + -0.0030304731352679415 + ], + "object_to_gripper_xy": 0.007103051277923097, + "object_to_gripper_z": -0.0030304731352679415, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2851248437073931, + 0.13187866456489272, + 1.0457064132036267 + ], + "finger_b": [ + 0.2733994997742848, + 0.15648235548373698, + 1.0457064132036267 + ], + "finger_midpoint": [ + 0.27926217174083895, + 0.14418051002431487, + 1.0457064132036267 + ], + "object_minus_finger_midpoint": [ + 0.005862671966554156, + 0.012301845459422117, + 0.0 + ], + "finger_gap": 0.027254821540044973, + "fingertip_max_gap": 0.09454395654022021, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013627410770022476, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0457064132036267, + "object_top_z": 1.0928755252326683, + "finger_top_clearance": 0.047169112029041615, + "fingertip_min_top_clearance": 0.01415073360871245, + "object_projection_between_fingers": 0.8149178671328682, + "object_to_finger_line_xy": 0.010584796441373695, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04977197827011011, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.4379026527265895, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.28472500757516683, + 0.1551934496779106, + 1.238927008413925 + ], + "held_position": [ + 0.29017753555521897, + 0.15965890346781608, + 1.2357707644463658 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007722189774007533, + "max_held_gripper_dist": 0.00772507017862187, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0031562439675592024, + "max_held_gripper_z_dist": 0.0031827296342046285, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08725920199814755, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.29017753555521897, + 0.1342693155445115, + 1.2357707644463658 + ], + "held_grasp_finger_b": [ + 0.28020281968644006, + 0.15965890346781608, + 1.2357707644463658 + ], + "held_grasp_midpoint": [ + 0.28519017762082954, + 0.1469641095061638, + 1.2357707644463658 + ], + "held_grasp_object_position": [ + 0.29017753555521897, + 0.15965890346781608, + 1.2357707644463658 + ], + "held_grasp_finger_gap": 0.02727867539999118, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024833713466563097, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.051011238350187574, + -0.9981468053665957, + 0.03317843423731537 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004354118331406087, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032274545623871546, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.26970591700036467, + -0.32671604801061804, + 0.8470199723810833 + ], + "target_position": [ + 0.2633375517247133, + -0.3290025508033473, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0067664001733034424, + "xy_threshold": 0.08, + "gripper_dist": 0.18646482227784522, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470199723810833, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07584356352566202, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08643259415943629, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1541082252040198, + "release_required_pad_clearance": 0.053216297079718144, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.4526312260849468, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007038712501525879, + "max_z_decrease": 0.007038712501525879, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03517739475981847, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007038712501525879, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021318010887430596, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007038712501525879, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007038732518603815, + "max_button_displacement": 0.12, + "button_start": [ + 0.11903747916221616, + -0.38526400923728943, + 0.7768088579177856 + ], + "button_final": [ + 0.11903747916221616, + -0.38526400923728943, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12045694078265823, + -0.3872263774549101, + 0.8078161978571086 + ], + "closest_button": [ + 0.11902648955583571, + -0.3852629661560058, + 0.7727227807044983 + ], + "closest_ee_minus_button": [ + 0.0014304512268225184, + -0.001963411298904316, + 0.03509341715261027 + ], + "button_min_z_position": [ + 0.11902069300413129, + -0.38526389002799977, + 0.7697701454162598 + ], + "min_active_finger_to_button": 0.1446062216978718, + "closest_active_finger": [ + -0.02067871391773224, + -0.3710130453109741, + 0.8107087016105652 + ], + "closest_active_finger_button": [ + 0.11903809756040572, + -0.3852637410163879, + 0.7762545347213745 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13971681147813797, + 0.014250695705413763, + 0.034454166889190674 + ], + "min_contact_pad_to_button": 0.021318010887430596, + "closest_contact_pad": [ + 0.11902069300413129, + -0.38832535580366156, + 0.7908671834903843 + ], + "closest_contact_pad_button": [ + 0.11902069300413129, + -0.38526389002799977, + 0.7697701454162598 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.003061465775661798, + 0.021097038074124552 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 17, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6ce73496294f626a0b25909d56fb41dc088b87a4aa95b5277ca84f42e540125d", + "visual_seed": 2120607640082594325, + "episode_index": 17, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_18_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_18_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d9cf80b970358395195625a599d54b195644b537 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_18_success.json @@ -0,0 +1,926 @@ +{ + "episode": 18, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2881046473755838, + 0.16179000204998636, + 1.047107317162689 + ], + "current_z": 1.047107317162689, + "required_z": 0.8565865670132105, + "initial_z": 0.7565865670132105, + "lift_margin": 0.19052075014947856, + "gripper_z": 1.0499722761341692, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2828495130635522, + 0.15688237060088245, + 1.0499722761341692 + ], + "object_minus_gripper": [ + 0.005255134312031562, + 0.004907631449103916, + -0.0028649589714802026 + ], + "object_to_gripper_xy": 0.007190360427525538, + "object_to_gripper_z": -0.0028649589714802026, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2881046473755838, + 0.1371604716836686, + 1.047107317162689 + ], + "finger_b": [ + 0.2762742052787885, + 0.16179000204998636, + 1.047107317162689 + ], + "finger_midpoint": [ + 0.28218942632718613, + 0.14947523686682748, + 1.047107317162689 + ], + "object_minus_finger_midpoint": [ + 0.005915221048397645, + 0.012314765183158882, + 0.0 + ], + "finger_gap": 0.02732349037496848, + "fingertip_max_gap": 0.0934933380613284, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01366174518748424, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.047107317162689, + "object_top_z": 1.0937079595414325, + "finger_top_clearance": 0.046600642378743506, + "fingertip_min_top_clearance": 0.013980192713623052, + "object_projection_between_fingers": 0.8125309426757709, + "object_to_finger_line_xy": 0.010664019452541114, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0492466690306642, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1212449063436896, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2876509149808199, + 0.16043515185696777, + 1.2406512343451808 + ], + "held_position": [ + 0.2931756047231334, + 0.16495568199121338, + 1.237661272254973 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00773933218981631, + "max_held_gripper_dist": 0.007739855494966636, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002989962090207854, + "max_held_gripper_z_dist": 0.003020548321450045, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08617486733289814, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2931756047231334, + 0.139542642386307, + 1.237661272254973 + ], + "held_grasp_finger_b": [ + 0.28307644596596193, + 0.16495568199121338, + 1.237661272254973 + ], + "held_grasp_midpoint": [ + 0.2881260253445477, + 0.1522491621887602, + 1.237661272254973 + ], + "held_grasp_object_position": [ + 0.2931756047231334, + 0.16495568199121338, + 1.237661272254973 + ], + "held_grasp_finger_gap": 0.027346217097856396, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024856121970814295, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05101362246554838, + -0.9983582065473963, + 0.026048066001318475 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004407497064805632, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032256969308345644, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.27189445713602356, + -0.3224176719471088, + 0.8470197600563659 + ], + "target_position": [ + 0.2651879245569147, + -0.3248286500876098, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0071267380216072365, + "xy_threshold": 0.08, + "gripper_dist": 0.18587203245873196, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470197600563659, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07545044739558524, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08550125942814386, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15460340484929927, + "release_required_pad_clearance": 0.052750629714071934, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.551072479425781, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007006049156188965, + "max_z_decrease": 0.007006049156188965, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0351308439148212, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007006049156188965, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.02110758032737936, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007006049156188965, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007006070779938637, + "max_button_displacement": 0.12, + "button_start": [ + 0.120887853205204, + -0.3810901045799255, + 0.7768088579177856 + ], + "button_final": [ + 0.120887853205204, + -0.3810901045799255, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12003591792370596, + -0.3793869860393325, + 0.8078293212135207 + ], + "closest_button": [ + 0.1208776459097862, + -0.3810892701148986, + 0.7727498412132263 + ], + "closest_ee_minus_button": [ + -0.0008417279860802318, + 0.0017022840755661073, + 0.03507948000029437 + ], + "button_min_z_position": [ + 0.12087047100067137, + -0.3810891807079315, + 0.7698028087615967 + ], + "min_active_finger_to_button": 0.14620858650888194, + "closest_active_finger": [ + -0.00677548348903656, + -0.44348999857902527, + 0.8110489845275879 + ], + "closest_active_finger_button": [ + 0.1208888292312622, + -0.3810903131961822, + 0.7766243815422058 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12766431272029877, + -0.06239968538284307, + 0.03442460298538208 + ], + "min_contact_pad_to_button": 0.02110758032737936, + "closest_contact_pad": [ + 0.12087047100067137, + -0.3810891807079315, + 0.790910389088976 + ], + "closest_contact_pad_button": [ + 0.12087047100067137, + -0.3810891807079315, + 0.7698028087615967 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02110758032737936 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 18, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a1d656fdd215755a9dd350156c75c0373b0cbb38d7728e832611d4b29fbef71d", + "visual_seed": 1886493872248732079, + "episode_index": 18, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_19_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_19_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ddf5bff5574b8442410a7b2a531ddcb67e3438cc --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_19_success.json @@ -0,0 +1,926 @@ +{ + "episode": 19, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.28277287322233163, + 0.16352201896464394, + 1.0451860663171835 + ], + "current_z": 1.0451860663171835, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.1885995589086179, + "gripper_z": 1.0481433048848878, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2774897400080767, + 0.15862048305279935, + 1.0481433048848878 + ], + "object_minus_gripper": [ + 0.0052831332142549425, + 0.0049015359118445845, + -0.0029572385677043567 + ], + "object_to_gripper_xy": 0.007206701801425246, + "object_to_gripper_z": -0.0029572385677043567, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.28277287322233163, + 0.13883083774556798, + 1.0451860663171835 + ], + "finger_b": [ + 0.2710056057658947, + 0.16352201896464394, + 1.0451860663171835 + ], + "finger_midpoint": [ + 0.27688923949411315, + 0.15117642835510597, + 1.0451860663171835 + ], + "object_minus_finger_midpoint": [ + 0.005883633728218485, + 0.012345590609537965, + 0.0 + ], + "finger_gap": 0.027351837477298826, + "fingertip_max_gap": 0.09224487450486679, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013675918738649413, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0451860663171835, + "object_top_z": 1.0913978814916716, + "finger_top_clearance": 0.046211815174488136, + "fingertip_min_top_clearance": 0.013863544552346424, + "object_projection_between_fingers": 0.8149120119098111, + "object_to_finger_line_xy": 0.010622603818166316, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0486224372524334, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6086654070947638, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.28223986118373523, + 0.16227209223610234, + 1.2400175204190256 + ], + "held_position": [ + 0.287779690340971, + 0.16679714661787567, + 1.2369405161983937 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007786769498524524, + "max_held_gripper_dist": 0.007794607578451991, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0030770042206318404, + "max_held_gripper_z_dist": 0.0031064975999497424, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08620489905191217, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.287779690340971, + 0.14138214298674315, + 1.2369405161983937 + ], + "held_grasp_finger_b": [ + 0.2776511185865284, + 0.16679714661787567, + 1.2369405161983937 + ], + "held_grasp_midpoint": [ + 0.2827154044637497, + 0.1540896448023094, + 1.2369405161983937 + ], + "held_grasp_object_position": [ + 0.287779690340971, + 0.16679714661787567, + 1.2369405161983937 + ], + "held_grasp_finger_gap": 0.027358917656869614, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024789217182911064, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05706416930920787, + -0.9981189097802478, + 0.022412552735902588 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00434045816998888, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03222763784089927, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.26888468517423175, + -0.32621476531604465, + 0.8470191964832217 + ], + "target_position": [ + 0.26190051175448514, + -0.3285223524157924, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007355517424356858, + "xy_threshold": 0.08, + "gripper_dist": 0.18448539358866858, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470191964832217, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07517639566816425, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08513643140954012, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15398756719266787, + "release_required_pad_clearance": 0.05256821570477006, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.2017402723639046, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00691068172454834, + "max_z_decrease": 0.00691068172454834, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03507600246043727, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00691068172454834, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021147362127650206, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00691068172454834, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.006910700037910706, + "max_button_displacement": 0.12, + "button_start": [ + 0.11760044097900386, + -0.38478380441665644, + 0.7768088579177856 + ], + "button_final": [ + 0.11760044097900386, + -0.38478380441665644, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11730563793118093, + -0.3853731721199767, + 0.8080082753927493 + ], + "closest_button": [ + 0.11759105324745175, + -0.3847811818122863, + 0.7729384303092957 + ], + "closest_ee_minus_button": [ + -0.00028541531627082617, + -0.0005919903076903599, + 0.03506984508345368 + ], + "button_min_z_position": [ + 0.11758454144001004, + -0.3847832381725311, + 0.7698981761932373 + ], + "min_active_finger_to_button": 0.14646184534603202, + "closest_active_finger": [ + -0.024126917123794556, + -0.37173399329185486, + 0.8109225034713745 + ], + "closest_active_finger_button": [ + 0.11760115623474117, + -0.3847840428352355, + 0.7763693332672119 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1417280733585357, + 0.013050049543380626, + 0.0345531702041626 + ], + "min_contact_pad_to_button": 0.021147362127650206, + "closest_contact_pad": [ + 0.11758454144001004, + -0.3862546387535409, + 0.790994287334587 + ], + "closest_contact_pad_button": [ + 0.11758454144001004, + -0.3847832381725311, + 0.7698981761932373 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0014714005810098074, + 0.021096111141349683 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 19, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a20d3ce77ba7f19b767c463a7d122059e68f79a6d4ff31e9faf5969e2ae472d9", + "visual_seed": 2400602515939540948, + "episode_index": 19, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_1_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_1_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8284e5aa60ac4c3a2c79c208d4e78f77984d97a1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_1_success.json @@ -0,0 +1,926 @@ +{ + "episode": 1, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.28837835039856824, + 0.15648986650272223, + 1.0438488081380595 + ], + "current_z": 1.0438488081380595, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.18726236033413868, + "gripper_z": 1.0479177390341103, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.28268375625246833, + 0.15143021495709663, + 1.0479177390341103 + ], + "object_minus_gripper": [ + 0.005694594146099907, + 0.005059651545625599, + -0.004068930896050871 + ], + "object_to_gripper_xy": 0.0076176424339783, + "object_to_gripper_z": -0.004068930896050871, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.28837835039856824, + 0.13144257590707026, + 1.0438488081380595 + ], + "finger_b": [ + 0.27647263117210674, + 0.15648986650272223, + 1.0438488081380595 + ], + "finger_midpoint": [ + 0.2824254907853375, + 0.14396622120489624, + 1.0438488081380595 + ], + "object_minus_finger_midpoint": [ + 0.005952859613230721, + 0.012523645297825986, + 0.0 + ], + "finger_gap": 0.02773288510924117, + "fingertip_max_gap": 0.0932103095646776, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013866442554620573, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0438488081380595, + "object_top_z": 1.0898315604728035, + "finger_top_clearance": 0.045982752334744026, + "fingertip_min_top_clearance": 0.013794825700423174, + "object_projection_between_fingers": 0.8157017685418315, + "object_to_finger_line_xy": 0.01075279431046478, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0491051547823388, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.5479918843107188, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.28722303253641335, + 0.15560820546397702, + 1.235615774047065 + ], + "held_position": [ + 0.2930770282649071, + 0.1603604446267515, + 1.2314104820319283 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008633511683087229, + "max_held_gripper_dist": 0.008636967645810035, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004205292015136752, + "max_held_gripper_z_dist": 0.004236358453698852, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08686252540903544, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2930770282649071, + 0.13481909820432927, + 1.2314104820319283 + ], + "held_grasp_finger_b": [ + 0.2824950336977295, + 0.1603604446267515, + 1.2314104820319283 + ], + "held_grasp_midpoint": [ + 0.2877860309813183, + 0.1475897714155404, + 1.2314104820319283 + ], + "held_grasp_object_position": [ + 0.2930770282649071, + 0.1603604446267515, + 1.2314104820319283 + ], + "held_grasp_finger_gap": 0.02764668128528192, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025335224795236862, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.01874965214861214, + -0.9996980225754462, + 0.015884401249304902 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005054725234493788, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03233420385101926, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2713005692578118, + -0.32920269668218105, + 0.8470197062792981 + ], + "target_position": [ + 0.2639385431336193, + -0.33200937433009164, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007878887489523756, + "xy_threshold": 0.08, + "gripper_dist": 0.18738395612954387, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470197062792981, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07514355171411113, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08663236708994053, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15696435836394113, + "release_required_pad_clearance": 0.053316183544970266, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.6499136518973347, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0070563554763793945, + "max_z_decrease": 0.0070563554763793945, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03512204868011123, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0070563554763793945, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02110234321484185, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.0070563554763793945, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007056378077782117, + "max_button_displacement": 0.12, + "button_start": [ + 0.11963847279548645, + -0.38827082514762873, + 0.7768088579177856 + ], + "button_final": [ + 0.11963847279548645, + -0.38827082514762873, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12059052058887712, + -0.3876679110709234, + 0.8081332595698255 + ], + "closest_button": [ + 0.11963355541229248, + -0.3882719278335571, + 0.7730294466018677 + ], + "closest_ee_minus_button": [ + 0.0009569651765846399, + 0.0006040167626336634, + 0.03510381296795784 + ], + "button_min_z_position": [ + 0.11962061375379564, + -0.3882706761360168, + 0.7697525024414062 + ], + "min_active_finger_to_button": 0.145101749813222, + "closest_active_finger": [ + -0.0077731311321258545, + -0.44862955808639526, + 0.8110931515693665 + ], + "closest_active_finger_button": [ + 0.11964077502489091, + -0.3882704377174377, + 0.7767858505249023 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12741390615701675, + -0.060359120368957575, + 0.03430730104446411 + ], + "min_contact_pad_to_button": 0.02110234321484185, + "closest_contact_pad": [ + 0.11962061375379564, + -0.38896606507574366, + 0.7908433849117887 + ], + "closest_contact_pad_button": [ + 0.11962061375379564, + -0.3882706761360168, + 0.7697525024414062 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0006953889397268709, + 0.021090882470382488 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 1, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "4f8cf92344d78fff2cda592f50d1d30e11d540cf87299a4bd6b475efb5a77c77", + "visual_seed": 7704033295609450877, + "episode_index": 1, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_20_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_20_success.json new file mode 100644 index 0000000000000000000000000000000000000000..328e0f4817da515ccb18565f6b8ee7b6b55e9c8f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_20_success.json @@ -0,0 +1,926 @@ +{ + "episode": 20, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2873893088893454, + 0.16022765058614688, + 1.0464587170316142 + ], + "current_z": 1.0464587170316142, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.1898722692276934, + "gripper_z": 1.0492648883351423, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.28233198854415953, + 0.15528313116893583, + 1.0492648883351423 + ], + "object_minus_gripper": [ + 0.005057320345185856, + 0.004944519417211052, + -0.0028061713035281155 + ], + "object_to_gripper_xy": 0.0070728184863608585, + "object_to_gripper_z": -0.0028061713035281155, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2873893088893454, + 0.1359474840847046, + 1.0464587170316142 + ], + "finger_b": [ + 0.27523594723149125, + 0.16022765058614688, + 1.0464587170316142 + ], + "finger_midpoint": [ + 0.28131262806041835, + 0.14808756733542575, + 1.0464587170316142 + ], + "object_minus_finger_midpoint": [ + 0.006076680828927039, + 0.012140083250721134, + 0.0 + ], + "finger_gap": 0.027151992282783935, + "fingertip_max_gap": 0.09244219134047063, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013575996141391954, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0464587170316142, + "object_top_z": 1.0927297800034306, + "finger_top_clearance": 0.04627106297181638, + "fingertip_min_top_clearance": 0.01388131889154488, + "object_projection_between_fingers": 0.7996499567815007, + "object_to_finger_line_xy": 0.01086791869751842, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04872109567023532, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8727506333245891, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2874390112507573, + 0.15856095443001256, + 1.2398517045243231 + ], + "held_position": [ + 0.2928846054119766, + 0.1629891520209542, + 1.2369130048207062 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007609164581027602, + "max_held_gripper_dist": 0.007615585468740266, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0029386997036169316, + "max_held_gripper_z_dist": 0.002966162178256848, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08736263039212117, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2928846054119766, + 0.1375436038281146, + 1.2369130048207062 + ], + "held_grasp_finger_b": [ + 0.2830781428166971, + 0.1629891520209542, + 1.2369130048207062 + ], + "held_grasp_midpoint": [ + 0.28798137411433683, + 0.1502663779245344, + 1.2369130048207062 + ], + "held_grasp_object_position": [ + 0.2928846054119766, + 0.1629891520209542, + 1.2369130048207062 + ], + "held_grasp_finger_gap": 0.027269811724079426, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02455750160283112, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08115806233603089, + -0.9963776340479555, + 0.025396442405566926 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003868443766611466, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03212560066179156, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.27204499718326053, + -0.32316850713359674, + 0.8470195200929838 + ], + "target_position": [ + 0.26541724477513984, + -0.32507715283595984, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006897103044068483, + "xy_threshold": 0.08, + "gripper_dist": 0.18529778949186573, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195200929838, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07519223701743184, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08622255868009225, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1545012719734717, + "release_required_pad_clearance": 0.05311127934004613, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.2492731367380903, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007037758827209473, + "max_z_decrease": 0.007037758827209473, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035108871187888836, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007037758827209473, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.021114032963048365, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007037758827209473, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0070377793251458895, + "max_button_displacement": 0.12, + "button_start": [ + 0.1211171671748161, + -0.3813386261463165, + 0.7768088579177856 + ], + "button_final": [ + 0.1211171671748161, + -0.3813386261463165, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11926026704309103, + -0.381560087746584, + 0.8077188509290274 + ], + "closest_button": [ + 0.12110504508018491, + -0.38133808970451355, + 0.772659182548523 + ], + "closest_ee_minus_button": [ + -0.0018447780370938749, + -0.00022199804207045926, + 0.03505966838050445 + ], + "button_min_z_position": [ + 0.12110023200511931, + -0.3813373148441314, + 0.7697710990905762 + ], + "min_active_finger_to_button": 0.14790010718349114, + "closest_active_finger": [ + -0.008004948496818542, + -0.4447411298751831, + 0.8109599947929382 + ], + "closest_active_finger_button": [ + 0.12111677229404447, + -0.38134014606475825, + 0.7765748500823975 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.129121720790863, + -0.06340098381042486, + 0.03438514471054077 + ], + "min_contact_pad_to_button": 0.021114032963048365, + "closest_contact_pad": [ + 0.12110023200511931, + -0.3827159563490305, + 0.7908400747554172 + ], + "closest_contact_pad_button": [ + 0.12110023200511931, + -0.3813373148441314, + 0.7697710990905762 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0013786415048990808, + 0.021068975664841005 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 20, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1524840246003154bd53a7ab73ad3f1c2cacb818268b212b744ff84ad70a4a60", + "visual_seed": 7495569489143606301, + "episode_index": 20, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_21_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_21_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6ddacca0db948cc7dad98cef2f13f24a0c51bf08 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_21_success.json @@ -0,0 +1,926 @@ +{ + "episode": 21, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.28160746785003193, + 0.16029056909395242, + 1.0463743614988725 + ], + "current_z": 1.0463743614988725, + "required_z": 0.8565866266178551, + "initial_z": 0.7565866266178551, + "lift_margin": 0.1897877348810174, + "gripper_z": 1.0496248226611464, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.27630942408434034, + 0.15532617841006705, + 1.0496248226611464 + ], + "object_minus_gripper": [ + 0.005298043765691596, + 0.004964390683885378, + -0.003250461162273899 + ], + "object_to_gripper_xy": 0.007260471238523814, + "object_to_gripper_z": -0.003250461162273899, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.28160746785003193, + 0.1356993452298962, + 1.0463743614988725 + ], + "finger_b": [ + 0.2696034604539387, + 0.16029056909395242, + 1.0463743614988725 + ], + "finger_midpoint": [ + 0.2756054641519853, + 0.14799495716192432, + 1.0463743614988725 + ], + "object_minus_finger_midpoint": [ + 0.006002003698046654, + 0.012295611932028105, + 0.0 + ], + "finger_gap": 0.027364657584146548, + "fingertip_max_gap": 0.09322407683106096, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013682328792073286, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0463743614988725, + "object_top_z": 1.0931740561135839, + "finger_top_clearance": 0.04679969461471134, + "fingertip_min_top_clearance": 0.014039908384413435, + "object_projection_between_fingers": 0.8075701362467409, + "object_to_finger_line_xy": 0.010787389984157254, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04911203841553048, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0379955840435091, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2811971928853618, + 0.1589915807770697, + 1.2388399670635974 + ], + "held_position": [ + 0.2867876624318457, + 0.16352489928820366, + 1.2354514477258374 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00795527433693695, + "max_held_gripper_dist": 0.007957194400640757, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0033885193377600764, + "max_held_gripper_z_dist": 0.0034157123238571785, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08619261221881551, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2867876624318457, + 0.1380577263308088, + 1.2354514477258374 + ], + "held_grasp_finger_b": [ + 0.276711886314959, + 0.16352489928820366, + 1.2354514477258374 + ], + "held_grasp_midpoint": [ + 0.2817497743734024, + 0.15079131280950622, + 1.2354514477258374 + ], + "held_grasp_object_position": [ + 0.2867876624318457, + 0.16352489928820366, + 1.2354514477258374 + ], + "held_grasp_finger_gap": 0.02738792001593931, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024727212718563218, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06668312034762228, + -0.9973269099186045, + 0.02987300140448435 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004195298178081442, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03216473441513111, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2683560731191688, + -0.32583312409969434, + 0.8470200803191619 + ], + "target_position": [ + 0.2619052446297408, + -0.3280081596679943, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006807640407908313, + "xy_threshold": 0.08, + "gripper_dist": 0.1852095301817686, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470200803191619, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0756140916357581, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08516594731991427, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15361369340538417, + "release_required_pad_clearance": 0.052582973659957136, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.23069978491262277, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007043421268463135, + "max_z_decrease": 0.007043421268463135, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03509623166541763, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007043421268463135, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.021090773505827474, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007043421268463135, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007043438947377783, + "max_button_displacement": 0.12, + "button_start": [ + 0.11760517209768293, + -0.3842696249485016, + 0.7768088579177856 + ], + "button_final": [ + 0.11760517209768293, + -0.3842696249485016, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11642516979570494, + -0.38421648965988553, + 0.8079268683485102 + ], + "closest_button": [ + 0.11759962886571881, + -0.38427039980888367, + 0.7728503346443176 + ], + "closest_ee_minus_button": [ + -0.0011744590700138724, + 5.391014899813751e-05, + 0.035076533704192614 + ], + "button_min_z_position": [ + 0.11758939921855925, + -0.384269118309021, + 0.7697654366493225 + ], + "min_active_finger_to_button": 0.14721760621059024, + "closest_active_finger": [ + -0.011660024523735046, + -0.4457710385322571, + 0.8108993172645569 + ], + "closest_active_finger_button": [ + 0.11760480701923369, + -0.3842713236808777, + 0.7765276432037354 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12926483154296875, + -0.061499714851379395, + 0.03437167406082153 + ], + "min_contact_pad_to_button": 0.021090773505827474, + "closest_contact_pad": [ + 0.11758939921855925, + -0.3854355929867643, + 0.7908239281408871 + ], + "closest_contact_pad_button": [ + 0.11758939921855925, + -0.384269118309021, + 0.7697654366493225 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0011664746777432788, + 0.02105849149156458 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 21, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d885593b0c68d787c4334a08cfc213b6ad02d133c10043c725a6ca4f9b843c8a", + "visual_seed": 4813874061196817061, + "episode_index": 21, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_22_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_22_success.json new file mode 100644 index 0000000000000000000000000000000000000000..431d319873b35a0d7bbc7fc39df3f531654fa152 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_22_success.json @@ -0,0 +1,926 @@ +{ + "episode": 22, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2879115440876211, + 0.16448905831029698, + 1.0473562526533025 + ], + "current_z": 1.0473562526533025, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.1907697452447369, + "gripper_z": 1.050197496922125, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.28254753044955394, + 0.15951540936296538, + 1.050197496922125 + ], + "object_minus_gripper": [ + 0.0053640136380671555, + 0.004973648947331599, + -0.002841244268822596 + ], + "object_to_gripper_xy": 0.0073150410908390095, + "object_to_gripper_z": -0.002841244268822596, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2879115440876211, + 0.13980856533990837, + 1.0473562526533025 + ], + "finger_b": [ + 0.27595091459586724, + 0.16448905831029698, + 1.0473562526533025 + ], + "finger_midpoint": [ + 0.2819312293417442, + 0.15214881182510268, + 1.0473562526533025 + ], + "object_minus_finger_midpoint": [ + 0.005980314745876902, + 0.0123402464851943, + 0.0 + ], + "finger_gap": 0.027425961990428217, + "fingertip_max_gap": 0.09137781502804906, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013712980995214097, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0473562526533025, + "object_top_z": 1.0931052890970003, + "finger_top_clearance": 0.04574903644369788, + "fingertip_min_top_clearance": 0.013724710933109363, + "object_projection_between_fingers": 0.8098114641567314, + "object_to_finger_line_xy": 0.010763313687799803, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048188907514024534, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.3717749469889629, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2874248178766818, + 0.16293104624740096, + 1.2417097157301893 + ], + "held_position": [ + 0.29307973003418747, + 0.16750017341499518, + 1.2387531887947743 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007848312309190293, + "max_held_gripper_dist": 0.007850095719966059, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002956526935415038, + "max_held_gripper_z_dist": 0.0029901978317079525, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0860380787384255, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.29307973003418747, + 0.14203315743450678, + 1.2387531887947743 + ], + "held_grasp_finger_b": [ + 0.2828394687835841, + 0.16750017341499518, + 1.2387531887947743 + ], + "held_grasp_midpoint": [ + 0.2879595994088858, + 0.15476666542475098, + 1.2387531887947743 + ], + "held_grasp_object_position": [ + 0.29307973003418747, + 0.16750017341499518, + 1.2387531887947743 + ], + "held_grasp_finger_gap": 0.02744871314708687, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02478361110699085, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06164418390614578, + -0.9979521618960647, + 0.017072702115246922 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004331041566250667, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03217716686453618, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.26927836458549725, + -0.3210652120345247, + 0.8470193896073333 + ], + "target_position": [ + 0.2616595094484316, + -0.32404966444113376, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008182536878432418, + "xy_threshold": 0.08, + "gripper_dist": 0.18884248415047636, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470193896073333, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07580113189251664, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08588823338202352, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15680580072789177, + "release_required_pad_clearance": 0.05294411669101176, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.924496227115059, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.006971538066864014, + "max_z_decrease": 0.006971538066864014, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03514027471966733, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.006971538066864014, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.021200490406095975, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.006971538066864014, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.006971557903943726, + "max_button_displacement": 0.12, + "button_start": [ + 0.1173594370484352, + -0.3803111314773559, + 0.7768088579177856 + ], + "button_final": [ + 0.1173594370484352, + -0.3803111314773559, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11893347011391822, + -0.38103559582749824, + 0.8078535317820538 + ], + "closest_button": [ + 0.1173480749130249, + -0.3803110420703888, + 0.7727565169334412 + ], + "closest_ee_minus_button": [ + 0.0015853952008933192, + -0.0007245537571094474, + 0.03509701484861261 + ], + "button_min_z_position": [ + 0.11734280735254288, + -0.38031134009361267, + 0.7698373198509216 + ], + "min_active_finger_to_button": 0.14458718262689127, + "closest_active_finger": [ + -0.022027239203453064, + -0.3632090985774994, + 0.8110352754592896 + ], + "closest_active_finger_button": [ + 0.1173601523041725, + -0.38031193614006037, + 0.7766245007514954 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13938739150762558, + 0.01710283756256098, + 0.03441077470779419 + ], + "min_contact_pad_to_button": 0.021200490406095975, + "closest_contact_pad": [ + 0.11734280735254288, + -0.3823144513152153, + 0.7909429669363075 + ], + "closest_contact_pad_button": [ + 0.11734280735254288, + -0.38031134009361267, + 0.7698373198509216 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002003111221602627, + 0.02110564708538587 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 22, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "76bc54e933debd2009a750cbd097d109f3f58b2068e87facb5ddfd7c44eeb1db", + "visual_seed": 1629257473882686883, + "episode_index": 22, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_23_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_23_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7edc1e8513b58e791cf533ffb4c715a4a97bc51b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_23_success.json @@ -0,0 +1,926 @@ +{ + "episode": 23, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.28800440298508806, + 0.1584890748716576, + 1.0472922510106064 + ], + "current_z": 1.0472922510106064, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.19070574360204084, + "gripper_z": 1.0500730209355285, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2829665738758296, + 0.15355903840310808, + 1.0500730209355285 + ], + "object_minus_gripper": [ + 0.005037829109258485, + 0.0049300364685495035, + -0.002780769924922044 + ], + "object_to_gripper_xy": 0.007048757458965388, + "object_to_gripper_z": -0.002780769924922044, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.28800440298508806, + 0.13421866115115502, + 1.0472922510106064 + ], + "finger_b": [ + 0.27587644992049615, + 0.1584890748716576, + 1.0472922510106064 + ], + "finger_midpoint": [ + 0.2819404264527921, + 0.14635386801140632, + 1.0472922510106064 + ], + "object_minus_finger_midpoint": [ + 0.006063976532295956, + 0.012135206860251269, + 0.0 + ], + "finger_gap": 0.027131904240235396, + "fingertip_max_gap": 0.09244389759139468, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013565952120117686, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0472922510106064, + "object_top_z": 1.093562159241333, + "finger_top_clearance": 0.04626990823072652, + "fingertip_min_top_clearance": 0.01388097246921799, + "object_projection_between_fingers": 0.8001912679106751, + "object_to_finger_line_xy": 0.010848867659792743, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04872194879569734, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.871422389393638, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2880776655584204, + 0.15672643120999535, + 1.2395974095011197 + ], + "held_position": [ + 0.29349630525332515, + 0.16114777143517436, + 1.2366764596928317 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007579040395229558, + "max_held_gripper_dist": 0.0075856533356816755, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0029209498082880536, + "max_held_gripper_z_dist": 0.0029472189136501292, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08656809254788414, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.29349630525332515, + 0.13570226689848391, + 1.2366764596928317 + ], + "held_grasp_finger_b": [ + 0.2837431844158744, + 0.16114777143517436, + 1.2366764596928317 + ], + "held_grasp_midpoint": [ + 0.2886197448345998, + 0.14842501916682915, + 1.2366764596928317 + ], + "held_grasp_object_position": [ + 0.29349630525332515, + 0.16114777143517436, + 1.2366764596928317 + ], + "held_grasp_finger_gap": 0.027250634253107756, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024566509918410986, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08079245763751351, + -0.9964231003533478, + 0.02477062516597095 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038460525198102625, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032128991404511996, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2704361096991147, + -0.3305672969916223, + 0.8470193433015692 + ], + "target_position": [ + 0.26406273006157693, + -0.3325474712579904, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0066739087594428, + "xy_threshold": 0.08, + "gripper_dist": 0.18497360040858551, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470193433015692, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0756230453621069, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08498274716340336, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.153162324436551, + "release_required_pad_clearance": 0.05249137358170168, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.05595273683306159, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007185518741607666, + "max_z_decrease": 0.007185518741607666, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03510349111514732, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007185518741607666, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021100770111663003, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007185518741607666, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007185544509086184, + "max_button_displacement": 0.12, + "button_start": [ + 0.11976265907287596, + -0.388808935880661, + 0.7768088579177856 + ], + "button_final": [ + 0.11976265907287596, + -0.388808935880661, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12066060321650152, + -0.3880425573024522, + 0.8077673791586313 + ], + "closest_button": [ + 0.11975193023681639, + -0.38880699872970576, + 0.7726839780807495 + ], + "closest_ee_minus_button": [ + 0.000908672979685124, + 0.0007644414272535704, + 0.03508340107788177 + ], + "button_min_z_position": [ + 0.1197434440255165, + -0.3888078927993774, + 0.769623339176178 + ], + "min_active_finger_to_button": 0.14508575609933713, + "closest_active_finger": [ + -0.005914606153964996, + -0.45259562134742737, + 0.8105955719947815 + ], + "closest_active_finger_button": [ + 0.1197630241513252, + -0.38880816102027893, + 0.7761547565460205 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1256776303052902, + -0.06378746032714844, + 0.034440815448760986 + ], + "min_contact_pad_to_button": 0.021100770111663003, + "closest_contact_pad": [ + 0.1197434440255165, + -0.38897713925237376, + 0.7907234305253499 + ], + "closest_contact_pad_button": [ + 0.1197434440255165, + -0.3888078927993774, + 0.769623339176178 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00016924645299637442, + 0.0211000913491719 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 23, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5dd70140030ab3186de94d6ce431d7ee59c7d8ce4ca434b073fbe00af16e6265", + "visual_seed": 513697137977666171, + "episode_index": 23, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_24_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_24_success.json new file mode 100644 index 0000000000000000000000000000000000000000..60613f25fc78d4873981fe4d51576e8c1370b92d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_24_success.json @@ -0,0 +1,926 @@ +{ + "episode": 24, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2888209282669296, + 0.15882962300267933, + 1.0465456532740862 + ], + "current_z": 1.0465456532740862, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.18995914586552065, + "gripper_z": 1.050308752802534, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.28316809301725987, + 0.1537240688287628, + 1.050308752802534 + ], + "object_minus_gripper": [ + 0.005652835249669752, + 0.005105554173916532, + -0.0037630995284478885 + ], + "object_to_gripper_xy": 0.00761716678186223, + "object_to_gripper_z": -0.0037630995284478885, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2888209282669296, + 0.13383000035381803, + 1.0465456532740862 + ], + "finger_b": [ + 0.27681776453013096, + 0.15882962300267933, + 1.0465456532740862 + ], + "finger_midpoint": [ + 0.2828193463985303, + 0.14632981167824868, + 1.0465456532740862 + ], + "object_minus_finger_midpoint": [ + 0.0060015818683993305, + 0.012499811324430649, + 0.0 + ], + "finger_gap": 0.027731878268120555, + "fingertip_max_gap": 0.09223529637020658, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013865939134060278, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0465456532740862, + "object_top_z": 1.0920722444783262, + "finger_top_clearance": 0.04552659120423996, + "fingertip_min_top_clearance": 0.013657977361271988, + "object_projection_between_fingers": 0.8126589756652749, + "object_to_finger_line_xy": 0.010820564013416112, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04861764818510329, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3649671129887793, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2880784223924706, + 0.15702921957841387, + 1.237934964767074 + ], + "held_position": [ + 0.2939648734242464, + 0.16173404608929387, + 1.2340148701304978 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008494282795309284, + "max_held_gripper_dist": 0.00849656533149635, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003920094636576277, + "max_held_gripper_z_dist": 0.003952397311773659, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08737652711252933, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2939648734242464, + 0.13603637552664283, + 1.2340148701304978 + ], + "held_grasp_finger_b": [ + 0.2836990202088544, + 0.16173404608929387, + 1.2340148701304978 + ], + "held_grasp_midpoint": [ + 0.2888319468165504, + 0.14888521080796835, + 1.2340148701304978 + ], + "held_grasp_object_position": [ + 0.2939648734242464, + 0.16173404608929387, + 1.2340148701304978 + ], + "held_grasp_finger_gap": 0.02767233301668863, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025293378088056977, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.03745686183182637, + -0.9992308318736078, + 0.011607244931039817 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004650475384331543, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03216900927630754, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.274976717519404, + -0.32172231453751554, + 0.8470193389503943 + ], + "target_position": [ + 0.26773192581791133, + -0.32424677983823336, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0076720226702314525, + "xy_threshold": 0.08, + "gripper_dist": 0.18565195231045545, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470193389503943, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07514629808274612, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08637954313891656, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15515795466167337, + "release_required_pad_clearance": 0.05318977156945828, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.4021846048617064, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.006834924221038818, + "max_z_decrease": 0.006834924221038818, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035095959533890796, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.006834924221038818, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021119450695452163, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.006834924221038818, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0068349411053380375, + "max_button_displacement": 0.12, + "button_start": [ + 0.12343185395002364, + -0.3805082440376281, + 0.7768088579177856 + ], + "button_final": [ + 0.12343185395002364, + -0.3805082440376281, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12246659721456443, + -0.3807940226639026, + 0.8080906735253124 + ], + "closest_button": [ + 0.1234217882156372, + -0.3805077373981476, + 0.7730088829994202 + ], + "closest_ee_minus_button": [ + -0.000955191001072761, + -0.00028628526575502633, + 0.03508179052589222 + ], + "button_min_z_position": [ + 0.12341667711734772, + -0.3805075585842132, + 0.7699739336967468 + ], + "min_active_finger_to_button": 0.1471026235204962, + "closest_active_finger": [ + -0.01877523958683014, + -0.3653442859649658, + 0.810809314250946 + ], + "closest_active_finger_button": [ + 0.12343166768550873, + -0.3805094361305237, + 0.7763652205467224 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14220690727233887, + 0.015165150165557861, + 0.03444409370422363 + ], + "min_contact_pad_to_button": 0.021119450695452163, + "closest_contact_pad": [ + 0.12341667711734772, + -0.38186772572323147, + 0.7910495390980531 + ], + "closest_contact_pad_button": [ + 0.12341667711734772, + -0.3805075585842132, + 0.7699739336967468 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0013601671390182646, + 0.021075605401306263 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 24, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e2d72edeffbb09c5b7d222d54a151d6842c29bc6c49db48b3535b8ee85d787aa", + "visual_seed": 801949963308785995, + "episode_index": 24, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_25_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_25_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b86cd9239bbe731f0038838869d8ab723961efca --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_25_success.json @@ -0,0 +1,926 @@ +{ + "episode": 25, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2819939054362799, + 0.16341317306660763, + 1.0462973626948207 + ], + "current_z": 1.0462973626948207, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.1897108552862551, + "gripper_z": 1.0507951338289887, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2761894080852482, + 0.1582829791004038, + 1.0507951338289887 + ], + "object_minus_gripper": [ + 0.005804497351031668, + 0.005130193966203844, + -0.004497771134168049 + ], + "object_to_gripper_xy": 0.007746681846378356, + "object_to_gripper_z": -0.004497771134168049, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2819939054362799, + 0.1383894481708068, + 1.0462973626948207 + ], + "finger_b": [ + 0.26985931849221967, + 0.16341317306660763, + 1.0462973626948207 + ], + "finger_midpoint": [ + 0.2759266119642498, + 0.1509013106187072, + 1.0462973626948207 + ], + "object_minus_finger_midpoint": [ + 0.006067293472030111, + 0.012511862447900424, + 0.0 + ], + "finger_gap": 0.02781069952309144, + "fingertip_max_gap": 0.0941306995314038, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013905349761545734, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0462973626948207, + "object_top_z": 1.0926904670626238, + "finger_top_clearance": 0.046393104367803195, + "fingertip_min_top_clearance": 0.013917931310340925, + "object_projection_between_fingers": 0.8096178750808863, + "object_to_finger_line_xy": 0.010918551874619861, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0495653497657019, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.7629106832284498, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2806043703547335, + 0.16276836658409433, + 1.240346620045881 + ], + "held_position": [ + 0.2865831898635021, + 0.1675884298390801, + 1.2357376535987352 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008956665909333226, + "max_held_gripper_dist": 0.008960296990145033, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0046089664471458125, + "max_held_gripper_z_dist": 0.004644150353391829, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0865739088209696, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2865831898635021, + 0.14209831800571868, + 1.2357376535987352 + ], + "held_grasp_finger_b": [ + 0.2756584410033046, + 0.1675884298390801, + 1.2357376535987352 + ], + "held_grasp_midpoint": [ + 0.2811208154334034, + 0.15484337392239939, + 1.2357376535987352 + ], + "held_grasp_object_position": [ + 0.2865831898635021, + 0.1675884298390801, + 1.2357376535987352 + ], + "held_grasp_finger_gap": 0.02773257901702722, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02531695904011239, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.015089266696989833, + -0.999674134654482, + 0.020589767685910143 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005276011355315518, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032376898996605424, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.27541215836134353, + -0.33122534816061544, + 0.8470196825198253 + ], + "target_position": [ + 0.27113359003880744, + -0.33308644913380975, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.004665816511933801, + "xy_threshold": 0.08, + "gripper_dist": 0.18432814028362624, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196825198253, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07584747121945545, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08842485443227237, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15217592769193813, + "release_required_pad_clearance": 0.054212427216136186, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.4408919500900166, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007218480110168457, + "max_z_decrease": 0.007218480110168457, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03513225202625593, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007218480110168457, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021201562340048316, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007218480110168457, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0072184975248321985, + "max_button_displacement": 0.12, + "button_start": [ + 0.12683351337909693, + -0.3893479108810425, + 0.7768088579177856 + ], + "button_final": [ + 0.12683351337909693, + -0.3893479108810425, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1277584672321788, + -0.39066191042228887, + 0.8079483532522603 + ], + "closest_button": [ + 0.12682346999645228, + -0.38934630155563354, + 0.7728531956672668 + ], + "closest_ee_minus_button": [ + 0.0009349972357265146, + -0.0013156088666553267, + 0.035095157584993486 + ], + "button_min_z_position": [ + 0.1268176734447479, + -0.3893471956253052, + 0.7695903778076172 + ], + "min_active_finger_to_button": 0.14517694768879996, + "closest_active_finger": [ + -0.013623178005218506, + -0.37662771344184875, + 0.8107684254646301 + ], + "closest_active_finger_button": [ + 0.12683354318141934, + -0.38934755325317383, + 0.7763233780860901 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14045672118663785, + 0.012719839811325073, + 0.03444504737854004 + ], + "min_contact_pad_to_button": 0.021201562340048316, + "closest_contact_pad": [ + 0.1268176734447479, + -0.39154822295994035, + 0.7906773814907189 + ], + "closest_contact_pad_button": [ + 0.1268176734447479, + -0.3893471956253052, + 0.7695903778076172 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002201027334635175, + 0.02108700368310168 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 25, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9fa598d775cfb4c03bc6d41194c7951766fef3ba7e391e3eadea50b2fded054c", + "visual_seed": 8436285730439629170, + "episode_index": 25, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_27_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_27_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1d4311485d7d1d3b303466341b11f2b3fb5ba6f0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_27_success.json @@ -0,0 +1,926 @@ +{ + "episode": 27, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.28332909111344357, + 0.1567457239760796, + 1.0463300329963676 + ], + "current_z": 1.0463300329963676, + "required_z": 0.8565865670132101, + "initial_z": 0.7565865670132101, + "lift_margin": 0.1897434659831575, + "gripper_z": 1.050031588756124, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.27771447558727375, + 0.15170690316559515, + 1.050031588756124 + ], + "object_minus_gripper": [ + 0.005614615526169819, + 0.005038820810484457, + -0.003701555759756392 + ], + "object_to_gripper_xy": 0.00754411178780368, + "object_to_gripper_z": -0.003701555759756392, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.28332909111344357, + 0.13181860854523259, + 1.0463300329963676 + ], + "finger_b": [ + 0.271361152531182, + 0.1567457239760796, + 1.0463300329963676 + ], + "finger_midpoint": [ + 0.27734512182231275, + 0.1442821662606561, + 1.0463300329963676 + ], + "object_minus_finger_midpoint": [ + 0.0059839692911308195, + 0.012463557715423512, + 0.0 + ], + "finger_gap": 0.027651268282152218, + "fingertip_max_gap": 0.09176756060609179, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013825634141076121, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0463300329963676, + "object_top_z": 1.0917104281860082, + "finger_top_clearance": 0.04538039518964054, + "fingertip_min_top_clearance": 0.013614118556892162, + "object_projection_between_fingers": 0.8126694570899694, + "object_to_finger_line_xy": 0.01078887895720426, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048383780303045895, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.306838709757467, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2825372721179623, + 0.15516249875805604, + 1.2411288364861386 + ], + "held_position": [ + 0.28840281573766385, + 0.15980581867863491, + 1.2373006131353421 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00840358946302408, + "max_held_gripper_dist": 0.008406628001390094, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003828223350796467, + "max_held_gripper_z_dist": 0.0038556318625173613, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08751036127077366, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.28840281573766385, + 0.13421565471360808, + 1.2373006131353421 + ], + "held_grasp_finger_b": [ + 0.2780428938230077, + 0.15980581867863491, + 1.2373006131353421 + ], + "held_grasp_midpoint": [ + 0.28322285478033576, + 0.1470107366961215, + 1.2373006131353421 + ], + "held_grasp_object_position": [ + 0.28840281573766385, + 0.15980581867863491, + 1.2373006131353421 + ], + "held_grasp_finger_gap": 0.02760768867244651, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02518279751731657, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.03738845132674846, + -0.9992174723271569, + 0.01290529749812264 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00470089580948399, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03222148477089745, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2765085710240999, + -0.3252624420753103, + 0.8470195828585492 + ], + "target_position": [ + 0.2682757318455441, + -0.32825176803339995, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008758750517264002, + "xy_threshold": 0.08, + "gripper_dist": 0.188643696361623, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195828585492, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07514767837829636, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08612315198296393, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15810648210003833, + "release_required_pad_clearance": 0.053061575991481966, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.1528249157098347, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007063150405883789, + "max_z_decrease": 0.007063150405883789, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03510439967895937, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007063150405883789, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02118042428437404, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007063150405883789, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0070631730280894395, + "max_button_displacement": 0.12, + "button_start": [ + 0.12397565692663193, + -0.3845132291316986, + 0.7768088579177856 + ], + "button_final": [ + 0.12397565692663193, + -0.3845132291316986, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12381211517297316, + -0.3854441022553075, + 0.807970061352127 + ], + "closest_button": [ + 0.12396489828824997, + -0.38451284170150757, + 0.7728783488273621 + ], + "closest_ee_minus_button": [ + -0.00015278311527680555, + -0.0009312605537999397, + 0.03509171252476495 + ], + "button_min_z_position": [ + 0.12395782023668288, + -0.3845120370388031, + 0.7697457075119019 + ], + "min_active_finger_to_button": 0.14625338822885514, + "closest_active_finger": [ + -0.01738109439611435, + -0.3695797920227051, + 0.8112421631813049 + ], + "closest_active_finger_button": [ + 0.12397423386573792, + -0.3845145702362061, + 0.776808500289917 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14135532826185226, + 0.014934778213501032, + 0.03443366289138794 + ], + "min_contact_pad_to_button": 0.02118042428437404, + "closest_contact_pad": [ + 0.12395782023668288, + -0.38657011248449896, + 0.7908259043403455 + ], + "closest_contact_pad_button": [ + 0.12395782023668288, + -0.3845120370388031, + 0.7697457075119019 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0020580754456958616, + 0.021080196828443643 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 27, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f28e53b01ad030ebc103ab6fe741d66ca3ad768555c8a4e2218b1472d2857db9", + "visual_seed": 60623669132693419, + "episode_index": 27, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_29_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_29_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8af953b5c2ebdde9098ab3ae10ca8fccbf908026 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_29_success.json @@ -0,0 +1,926 @@ +{ + "episode": 29, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2870017011359074, + 0.15983966416878886, + 1.0472574417535665 + ], + "current_z": 1.0472574417535665, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.19067093434500093, + "gripper_z": 1.0512785350802643, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2812475244342434, + 0.1546868275233017, + 1.0512785350802643 + ], + "object_minus_gripper": [ + 0.005754176701664004, + 0.005152836645487158, + -0.0040210933266977555 + ], + "object_to_gripper_xy": 0.007724135874584819, + "object_to_gripper_z": -0.0040210933266977555, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2870017011359074, + 0.13483000882195612, + 1.0472574417535665 + ], + "finger_b": [ + 0.2748572780573682, + 0.15983966416878886, + 1.0472574417535665 + ], + "finger_midpoint": [ + 0.28092948959663777, + 0.1473348364953725, + 1.0472574417535665 + ], + "object_minus_finger_midpoint": [ + 0.006072211539269623, + 0.012504827673416374, + 0.0 + ], + "finger_gap": 0.027802335737810144, + "fingertip_max_gap": 0.09353237498603986, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013901167868905084, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0472574417535665, + "object_top_z": 1.0933600806992378, + "finger_top_clearance": 0.04610263894567135, + "fingertip_min_top_clearance": 0.013830791683701405, + "object_projection_between_fingers": 0.8091943591051549, + "object_to_finger_line_xy": 0.01092454383849943, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04926618749301993, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.6340610692405646, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2859296208366288, + 0.1587628190424652, + 1.2413713794129633 + ], + "held_position": [ + 0.29189857959778276, + 0.16355552818943547, + 1.2372236089017332 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008706464832159984, + "max_held_gripper_dist": 0.008709337397368825, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004147770511230053, + "max_held_gripper_z_dist": 0.0041798835380335575, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08691190296211809, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.29189857959778276, + 0.13795886491890566, + 1.2372236089017332 + ], + "held_grasp_finger_b": [ + 0.2812053622420727, + 0.16355552818943547, + 1.2372236089017332 + ], + "held_grasp_midpoint": [ + 0.28655197091992773, + 0.15075719655417058, + 1.2372236089017332 + ], + "held_grasp_object_position": [ + 0.29189857959778276, + 0.16355552818943547, + 1.2372236089017332 + ], + "held_grasp_finger_gap": 0.02774047706874106, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025312369104092503, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.025422504061686262, + -0.9995137723754172, + 0.01805311937302223 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005024886265629891, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03227219205210649, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2698376547145332, + -0.3215059431605919, + 0.8470192877652012 + ], + "target_position": [ + 0.2629263056675899, + -0.3245592807556666, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0075557670767553795, + "xy_threshold": 0.08, + "gripper_dist": 0.1863051094486615, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470192877652012, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07576389669683377, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0878888004917072, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15444034167910053, + "release_required_pad_clearance": 0.053944400245853605, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.8964166710422528, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00690382719039917, + "max_z_decrease": 0.00690382719039917, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03513648808773981, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00690382719039917, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021225994254694514, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 122, + "max_z_decrease_with_contact_point": 0.00690382719039917, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.006903848900158648, + "max_button_displacement": 0.12, + "button_start": [ + 0.11862622946500777, + -0.38082075119018555, + 0.7768088579177856 + ], + "button_final": [ + 0.11862622946500777, + -0.38082075119018555, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11677905614169992, + -0.38223079855435416, + 0.8079201387096245 + ], + "closest_button": [ + 0.11861508339643477, + -0.3808209002017975, + 0.7728599905967712 + ], + "closest_ee_minus_button": [ + -0.0018360272547348483, + -0.001409898352556671, + 0.035060148112853295 + ], + "button_min_z_position": [ + 0.11860895901918408, + -0.38081952929496765, + 0.7699050307273865 + ], + "min_active_finger_to_button": 0.14781181284784217, + "closest_active_finger": [ + -0.024222813546657562, + -0.36476922035217285, + 0.8111600279808044 + ], + "closest_active_finger_button": [ + 0.11862891912460326, + -0.38082146644592285, + 0.7767501473426819 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14285173267126083, + 0.01605224609375, + 0.03440988063812256 + ], + "min_contact_pad_to_button": 0.021225994254694514, + "closest_contact_pad": [ + 0.11860895901918408, + -0.3835185992747856, + 0.790958720507194 + ], + "closest_contact_pad_button": [ + 0.11860895901918408, + -0.38081952929496765, + 0.7699050307273865 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0026990699798179474, + 0.021053689779807483 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 29, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "be5be4f98abfc99c9ccd8bbba07349ac97d0d639d3f5cf3702acf970dc096ba6", + "visual_seed": 8415087509396164259, + "episode_index": 29, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_2_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_2_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6644217e4bc3b15f324e771bdb5d957dd4c5ddcb --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_2_success.json @@ -0,0 +1,926 @@ +{ + "episode": 2, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2827269882806327, + 0.16524187928280543, + 1.0474759650859244 + ], + "current_z": 1.0474759650859244, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.19088951728200365, + "gripper_z": 1.0506628183143578, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.27720463891840963, + 0.1601783832969947, + 1.0506628183143578 + ], + "object_minus_gripper": [ + 0.005522349362223067, + 0.00506349598581074, + -0.003186853228433373 + ], + "object_to_gripper_xy": 0.007492351705357069, + "object_to_gripper_z": -0.003186853228433373, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2827269882806327, + 0.14044865647390498, + 1.0474759650859244 + ], + "finger_b": [ + 0.2706320618595133, + 0.16524187928280543, + 1.0474759650859244 + ], + "finger_midpoint": [ + 0.276679525070073, + 0.1528452678783552, + 1.0474759650859244 + ], + "object_minus_finger_midpoint": [ + 0.0060474632105597115, + 0.012396611404450225, + 0.0 + ], + "finger_gap": 0.02758606790363705, + "fingertip_max_gap": 0.09228071063768958, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013793033951818525, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0474759650859244, + "object_top_z": 1.093603885319156, + "finger_top_clearance": 0.046127920233231645, + "fingertip_min_top_clearance": 0.013838376069969493, + "object_projection_between_fingers": 0.8077674798237519, + "object_to_finger_line_xy": 0.010870422224130545, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048640355318844794, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6616604577532801, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2822096193428932, + 0.16327650434058322, + 1.2399150785190445 + ], + "held_position": [ + 0.288024707826392, + 0.16788747060004572, + 1.2365709420208664 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008139994645899293, + "max_held_gripper_dist": 0.00814401356992557, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0033441364981781074, + "max_held_gripper_z_dist": 0.0033738672736955966, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08734472522630175, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.288024707826392, + 0.14224638662313444, + 1.2365709420208664 + ], + "held_grasp_finger_b": [ + 0.2778925774506149, + 0.16788747060004572, + 1.2365709420208664 + ], + "held_grasp_midpoint": [ + 0.28295864263850345, + 0.15506692861159008, + 1.2365709420208664 + ], + "held_grasp_object_position": [ + 0.288024707826392, + 0.16788747060004572, + 1.2365709420208664 + ], + "held_grasp_finger_gap": 0.027570369120901543, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02493668564139753, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06375473105052763, + -0.9977213487351075, + 0.022078146364057246 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0042480677839978965, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03208591089803546, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2758899399574932, + -0.3228194069915857, + 0.8470198480945799 + ], + "target_position": [ + 0.2699058399696442, + -0.3246391323111511, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006254666490168954, + "xy_threshold": 0.08, + "gripper_dist": 0.1866221810451648, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470198480945799, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07586662858268911, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08630668115883476, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15433726948041326, + "release_required_pad_clearance": 0.05315334057941738, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.329992545882683, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.006902337074279785, + "max_z_decrease": 0.006902337074279785, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03510025916194898, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.006902337074279785, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021139184924323935, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.006902337074279785, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.006902355910257579, + "max_button_displacement": 0.12, + "button_start": [ + 0.1256057620048523, + -0.3809005916118621, + 0.7768088579177856 + ], + "button_final": [ + 0.1256057620048523, + -0.3809005916118621, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12457899831948882, + -0.38164908209350895, + 0.808138648751978 + ], + "closest_button": [ + 0.12559668719768524, + -0.3808993995189666, + 0.7730611562728882 + ], + "closest_ee_minus_button": [ + -0.001017688878196421, + -0.0007496825745423319, + 0.03507749247908987 + ], + "button_min_z_position": [ + 0.12558963894844055, + -0.38090032339096064, + 0.7699065208435059 + ], + "min_active_finger_to_button": 0.14713452494893184, + "closest_active_finger": [ + -0.01679784059524536, + -0.36738458275794983, + 0.8108282089233398 + ], + "closest_active_finger_button": [ + 0.12560592591762543, + -0.3809010684490203, + 0.7763747572898865 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1424037665128708, + 0.013516485691070446, + 0.03445345163345337 + ], + "min_contact_pad_to_button": 0.021139184924323935, + "closest_contact_pad": [ + 0.12558963894844055, + -0.38257233634573373, + 0.79097947773009 + ], + "closest_contact_pad_button": [ + 0.12558963894844055, + -0.38090032339096064, + 0.7699065208435059 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0016720129547730944, + 0.02107295688658417 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 2, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "4f43a7cf1ac54cae4f66f9840b26b61754f66b9a7d651a1f40af0a2c81729250", + "visual_seed": 1543394478702801583, + "episode_index": 2, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_30_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_30_success.json new file mode 100644 index 0000000000000000000000000000000000000000..060329ef7fb8be73d636b3d9c165b707fd8d3611 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_30_success.json @@ -0,0 +1,926 @@ +{ + "episode": 30, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2811140956244829, + 0.15511812213811896, + 1.0454586404504025 + ], + "current_z": 1.0454586404504025, + "required_z": 0.8565864478039209, + "initial_z": 0.7565864478039209, + "lift_margin": 0.18887219264648158, + "gripper_z": 1.048761218697056, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2759390329833803, + 0.15020335293533044, + 1.048761218697056 + ], + "object_minus_gripper": [ + 0.0051750626411026235, + 0.0049147692027885215, + -0.003302578246653587 + ], + "object_to_gripper_xy": 0.007136962214837247, + "object_to_gripper_z": -0.003302578246653587, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2811140956244829, + 0.13064605914299293, + 1.0454586404504025 + ], + "finger_b": [ + 0.26913444552296384, + 0.15511812213811896, + 1.0454586404504025 + ], + "finger_midpoint": [ + 0.27512427057372335, + 0.14288209064055596, + 1.0454586404504025 + ], + "object_minus_finger_midpoint": [ + 0.005989825050759567, + 0.012236031497562999, + 0.0 + ], + "finger_gap": 0.027246905948974144, + "fingertip_max_gap": 0.09189478924692215, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013623452974487072, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0454586404504025, + "object_top_z": 1.091663185476131, + "finger_top_clearance": 0.04620454502572846, + "fingertip_min_top_clearance": 0.013861363507718537, + "object_projection_between_fingers": 0.8066901954771659, + "object_to_finger_line_xy": 0.01075963459825357, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04844739462346108, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6449631149948167, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.28088393534521705, + 0.15353676082806206, + 1.2384627668317734 + ], + "held_position": [ + 0.28637824171366005, + 0.157988353815295, + 1.235020765484164 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00786456965581964, + "max_held_gripper_dist": 0.007867405155376248, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0034420013476093025, + "max_held_gripper_z_dist": 0.0034642007310692335, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0873104008391149, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.28637824171366005, + 0.13253787451592952, + 1.235020765484164 + ], + "held_grasp_finger_b": [ + 0.27650014660811617, + 0.157988353815295, + 1.235020765484164 + ], + "held_grasp_midpoint": [ + 0.28143919416088814, + 0.14526311416561227, + 1.235020765484164 + ], + "held_grasp_object_position": [ + 0.28637824171366005, + 0.157988353815295, + 1.235020765484164 + ], + "held_grasp_finger_gap": 0.027300250172509418, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02460910425675214, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07681918556216037, + -0.996756531744298, + 0.02398393534524379 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003959044688678884, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03213684561652126, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2711536490738619, + -0.3289199153132779, + 0.8470200427094399 + ], + "target_position": [ + 0.26519756444878956, + -0.3307378722898968, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0062273518954577035, + "xy_threshold": 0.08, + "gripper_dist": 0.18555641127866435, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470200427094399, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0755634246971628, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08518219990881347, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15394951628427728, + "release_required_pad_clearance": 0.052591099954406736, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.24388781830485642, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007046878337860107, + "max_z_decrease": 0.007046878337860107, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0351872817150556, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007046878337860107, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02110533886989241, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007046878337860107, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007046898408090207, + "max_button_displacement": 0.12, + "button_start": [ + 0.1208974868059158, + -0.3869993388652801, + 0.7768088579177856 + ], + "button_final": [ + 0.1208974868059158, + -0.3869993388652801, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12263638408765734, + -0.38511944898677786, + 0.807881068761697 + ], + "closest_button": [ + 0.12088645249605177, + -0.38699799776077265, + 0.7727875709533691 + ], + "closest_ee_minus_button": [ + 0.0017499315916055663, + 0.0018785487739947926, + 0.03509349780832782 + ], + "button_min_z_position": [ + 0.12088067084550855, + -0.3869990408420563, + 0.7697619795799255 + ], + "min_active_finger_to_button": 0.14385962634364735, + "closest_active_finger": [ + -0.00418468564748764, + -0.449179470539093, + 0.8106731176376343 + ], + "closest_active_finger_button": [ + 0.1208975166082382, + -0.38699898123741144, + 0.7762693166732788 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12508220225572586, + -0.062180489301681574, + 0.03440380096435547 + ], + "min_contact_pad_to_button": 0.02110533886989241, + "closest_contact_pad": [ + 0.12088067084550855, + -0.3869990408420563, + 0.790867318449818 + ], + "closest_contact_pad_button": [ + 0.12088067084550855, + -0.3869990408420563, + 0.7697619795799255 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02110533886989241 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 30, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "62757e83328e2f95c6f00a9237f1af1a3f25cfdca10c355acd73b829dd0ee45b", + "visual_seed": 9072045802263383292, + "episode_index": 30, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_31_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_31_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e1b402c92cab0d69feb5740accc9adeb857534d1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_31_success.json @@ -0,0 +1,926 @@ +{ + "episode": 31, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2854905521151985, + 0.16043041283384704, + 1.0444297502000337 + ], + "current_z": 1.0444297502000337, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.1878433023961129, + "gripper_z": 1.0475608681676998, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.28019487165940926, + 0.15549488208260567, + 1.0475608681676998 + ], + "object_minus_gripper": [ + 0.0052956804557892645, + 0.004935530751241368, + -0.003131117967666075 + ], + "object_to_gripper_xy": 0.007239039666024602, + "object_to_gripper_z": -0.003131117967666075, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2854905521151985, + 0.13580843615954757, + 1.0444297502000337 + ], + "finger_b": [ + 0.27356648347021234, + 0.16043041283384704, + 1.0444297502000337 + ], + "finger_midpoint": [ + 0.27952851779270543, + 0.1481194244966973, + 1.0444297502000337 + ], + "object_minus_finger_midpoint": [ + 0.005962034322493093, + 0.012310988337149747, + 0.0 + ], + "finger_gap": 0.027357360040765805, + "fingertip_max_gap": 0.09346913962119527, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013678680020382916, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0444297502000337, + "object_top_z": 1.0912678121534776, + "finger_top_clearance": 0.046838061953443866, + "fingertip_min_top_clearance": 0.014051418586033176, + "object_projection_between_fingers": 0.810023202247695, + "object_to_finger_line_xy": 0.010731815482272592, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049234569810597636, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0865890206926807, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 216, + "max_stable_success_frames": 216, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2850937757194646, + 0.1588898781100299, + 1.2370444897896016 + ], + "held_position": [ + 0.2906731679354978, + 0.16340268511055106, + 1.2337694181450314 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007888037702835388, + "max_held_gripper_dist": 0.00789051544692272, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0032750716445701933, + "max_held_gripper_z_dist": 0.0033033812728502365, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08630813411774325, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2906731679354978, + 0.1379197048687347, + 1.2337694181450314 + ], + "held_grasp_finger_b": [ + 0.28067261595015724, + 0.16340268511055106, + 1.2337694181450314 + ], + "held_grasp_midpoint": [ + 0.2856728919428275, + 0.15066119498964287, + 1.2337694181450314 + ], + "held_grasp_object_position": [ + 0.2906731679354978, + 0.16340268511055106, + 1.2337694181450314 + ], + "held_grasp_finger_gap": 0.027375049260527404, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02478900912340669, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06316616469260047, + -0.9975562275646022, + 0.029859813882658574 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00420314359100885, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.0321740238903845, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2740927965943555, + -0.32972141649028996, + 0.8470195230198865 + ], + "target_position": [ + 0.26861838218571754, + -0.3313371813682464, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005707881328333685, + "xy_threshold": 0.08, + "gripper_dist": 0.18667890474861892, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195230198865, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07553158121762807, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08537795225832413, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15501311245921648, + "release_required_pad_clearance": 0.05268897612916207, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.43340961126883093, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007337510585784912, + "max_z_decrease": 0.007337510585784912, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0351110406365345, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007337510585784912, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02115530928313324, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007337510585784912, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0073375319671922885, + "max_button_displacement": 0.12, + "button_start": [ + 0.12431830912828443, + -0.3875986337661743, + 0.7768088579177856 + ], + "button_final": [ + 0.12431830912828443, + -0.3875986337661743, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1254013663617057, + -0.3882696117687465, + 0.8076272926058955 + ], + "closest_button": [ + 0.12430625408887862, + -0.3875962793827057, + 0.7725397944450378 + ], + "closest_ee_minus_button": [ + 0.0010951122728270896, + -0.0006733323860408369, + 0.035087498160857655 + ], + "button_min_z_position": [ + 0.12430059909820555, + -0.38759827613830566, + 0.7694713473320007 + ], + "min_active_finger_to_button": 0.1450855308191181, + "closest_active_finger": [ + -0.0159820094704628, + -0.3742850124835968, + 0.8110506534576416 + ], + "closest_active_finger_button": [ + 0.12431900948286057, + -0.38759818673133845, + 0.7765804529190063 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14030101895332336, + 0.013313174247741644, + 0.034470200538635254 + ], + "min_contact_pad_to_button": 0.02115530928313324, + "closest_contact_pad": [ + 0.12430059909820555, + -0.3891661519098287, + 0.7905684769099811 + ], + "closest_contact_pad_button": [ + 0.12430059909820555, + -0.38759827613830566, + 0.7694713473320007 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0015678757715230085, + 0.021097129577980378 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 31, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "aaf21e5fdbbbe3a3226450d0477820727271983394f60765c893cbb5738edbc2", + "visual_seed": 4609119725571970552, + "episode_index": 31, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_33_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_33_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4595150d9de3df8871e33eebe74ac85c162d790e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_33_success.json @@ -0,0 +1,926 @@ +{ + "episode": 33, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2854089004899456, + 0.16301557040370465, + 1.046621359410018 + ], + "current_z": 1.046621359410018, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.19003479239680765, + "gripper_z": 1.0498234200542276, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.27981449547247506, + 0.15785830524852779, + 1.0498234200542276 + ], + "object_minus_gripper": [ + 0.0055944050174705495, + 0.005157265155176866, + -0.003202060644209581 + ], + "object_to_gripper_xy": 0.007608860057873395, + "object_to_gripper_z": -0.003202060644209581, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2854089004899456, + 0.13825422116822325, + 1.046621359410018 + ], + "finger_b": [ + 0.27307338214499255, + 0.16301557040370465, + 1.046621359410018 + ], + "finger_midpoint": [ + 0.2792411413174691, + 0.15063489578596395, + 1.046621359410018 + ], + "object_minus_finger_midpoint": [ + 0.006167759172476528, + 0.0123806746177407, + 0.0 + ], + "finger_gap": 0.027663865037267456, + "fingertip_max_gap": 0.09294925871763973, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013831932518633728, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.046621359410018, + "object_top_z": 1.0929450764510928, + "finger_top_clearance": 0.04632371704107485, + "fingertip_min_top_clearance": 0.013897115112322488, + "object_projection_between_fingers": 0.8011667127334507, + "object_to_finger_line_xy": 0.011041265467735248, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04897462935881987, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9803418594267852, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2848544594232828, + 0.1609210525409095, + 1.2410387507941116 + ], + "held_position": [ + 0.2907924874695855, + 0.16557701547320489, + 1.237696021003112 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008253000082468352, + "max_held_gripper_dist": 0.008257267057834958, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003342729790999588, + "max_held_gripper_z_dist": 0.003373138969565037, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0874469050692487, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2907924874695855, + 0.13989409727942193, + 1.237696021003112 + ], + "held_grasp_finger_b": [ + 0.28049876895851117, + 0.16557701547320489, + 1.237696021003112 + ], + "held_grasp_midpoint": [ + 0.2856456282140484, + 0.15273555637631342, + 1.237696021003112 + ], + "held_grasp_object_position": [ + 0.2907924874695855, + 0.16557701547320489, + 1.237696021003112 + ], + "held_grasp_finger_gap": 0.027668988556392562, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024951290449338945, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06500125050754375, + -0.9975655738035771, + 0.02525397779351957 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004313790053069218, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032055475165548825, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.27395874969305356, + -0.3229168947022457, + 0.8470197973427402 + ], + "target_position": [ + 0.2670775374268131, + -0.3251031192272535, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007220156502930073, + "xy_threshold": 0.08, + "gripper_dist": 0.18771888835146566, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470197973427402, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0752567561531541, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08500740630912933, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15679723753182007, + "release_required_pad_clearance": 0.052503703154564665, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.07912867327494277, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007095992565155029, + "max_z_decrease": 0.007095992565155029, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03514042608257187, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007095992565155029, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.02109754422543042, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007095992565155029, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007096011763261521, + "max_button_displacement": 0.12, + "button_start": [ + 0.1227774620056152, + -0.3813645839691162, + 0.7768088579177856 + ], + "button_final": [ + 0.1227774620056152, + -0.3813645839691162, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12359007143069498, + -0.3800184522277707, + 0.8079467523447926 + ], + "closest_button": [ + 0.1227711662650108, + -0.38136518001556396, + 0.7728416919708252 + ], + "closest_ee_minus_button": [ + 0.0008189051656841695, + 0.001346727787793267, + 0.035105060373967434 + ], + "button_min_z_position": [ + 0.12276096642017362, + -0.38136518001556396, + 0.7697128653526306 + ], + "min_active_finger_to_button": 0.14490675207799755, + "closest_active_finger": [ + -0.004487290978431702, + -0.4415739178657532, + 0.8108243942260742 + ], + "closest_active_finger_button": [ + 0.12277743965387342, + -0.38136526942253113, + 0.7765231728553772 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12726473063230512, + -0.060208648443222046, + 0.03430122137069702 + ], + "min_contact_pad_to_button": 0.02109754422543042, + "closest_contact_pad": [ + 0.12276096642017362, + -0.38136518001556396, + 0.790810409578061 + ], + "closest_contact_pad_button": [ + 0.12276096642017362, + -0.38136518001556396, + 0.7697128653526306 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02109754422543042 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 33, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "34e5f85fc951e8b91e29b764bd39b03b893c2f241484b180571ff2edbb866a64", + "visual_seed": 4140121595766873287, + "episode_index": 33, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_34_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_34_success.json new file mode 100644 index 0000000000000000000000000000000000000000..fb73cdd3098371e3005b85f65d95aad703aa4c50 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_34_success.json @@ -0,0 +1,926 @@ +{ + "episode": 34, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.28497895855318617, + 0.15790755602322326, + 1.0459135954143886 + ], + "current_z": 1.0459135954143886, + "required_z": 0.8565865074085657, + "initial_z": 0.7565865074085657, + "lift_margin": 0.18932708800582287, + "gripper_z": 1.049233212452488, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2793845163722979, + 0.15275578201141393, + 1.049233212452488 + ], + "object_minus_gripper": [ + 0.005594442180888282, + 0.005151774011809329, + -0.003319617038099354 + ], + "object_to_gripper_xy": 0.007605166584898454, + "object_to_gripper_z": -0.003319617038099354, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.28497895855318617, + 0.1331317988779429, + 1.0459135954143886 + ], + "finger_b": [ + 0.27267095621549503, + 0.15790755602322326, + 1.0459135954143886 + ], + "finger_midpoint": [ + 0.2788249573843406, + 0.14551967745058308, + 1.0459135954143886 + ], + "object_minus_finger_midpoint": [ + 0.006154001168845569, + 0.012387878572640176, + 0.0 + ], + "finger_gap": 0.027664509098599976, + "fingertip_max_gap": 0.0925830299695998, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013832254549299988, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0459135954143886, + "object_top_z": 1.0921949175235142, + "finger_top_clearance": 0.04628132210912561, + "fingertip_min_top_clearance": 0.013884396632737717, + "object_projection_between_fingers": 0.8020619881193142, + "object_to_finger_line_xy": 0.011022790094533443, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0487915149847999, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7474645966571483, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.28436768517424227, + 0.15612043903563755, + 1.240942524363908 + ], + "held_position": [ + 0.29030101879358355, + 0.16078705791776488, + 1.2374986661970961 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008297104235969922, + "max_held_gripper_dist": 0.00829953282766917, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0034438581668119195, + "max_held_gripper_z_dist": 0.0034712842720259207, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08678528938028401, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.29030101879358355, + 0.1351356730703134, + 1.2374986661970961 + ], + "held_grasp_finger_b": [ + 0.2799252269436203, + 0.16078705791776488, + 1.2374986661970961 + ], + "held_grasp_midpoint": [ + 0.2851131228686019, + 0.14796136549403915, + 1.2374986661970961 + ], + "held_grasp_object_position": [ + 0.29030101879358355, + 0.16078705791776488, + 1.2374986661970961 + ], + "held_grasp_finger_gap": 0.02767039213863487, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024887332126380505, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06730060619293253, + -0.9974365656970258, + 0.024308965765468697 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004324517890707077, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032058261821386304, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.27472057017075907, + -0.3291401977656969, + 0.8470210545582771 + ], + "target_position": [ + 0.2682428797116606, + -0.33130084741766147, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006828534293860563, + "xy_threshold": 0.08, + "gripper_dist": 0.18749076498454845, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470210545582771, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0755657926966836, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08551095759302417, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1558228175887758, + "release_required_pad_clearance": 0.05275547879651209, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5538847066735294, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007190883159637451, + "max_z_decrease": 0.007190883159637451, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035093112868067856, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007190883159637451, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021092289101638115, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007190883159637451, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007190905503659609, + "max_button_displacement": 0.12, + "button_start": [ + 0.12394280731678008, + -0.38756230473518366, + 0.7768088579177856 + ], + "button_final": [ + 0.12394280731678008, + -0.38756230473518366, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1235020656994115, + -0.38722603884328055, + 0.8078769847722073 + ], + "closest_button": [ + 0.12393218278884886, + -0.3875610828399658, + 0.7727881073951721 + ], + "closest_ee_minus_button": [ + -0.00043011708943736793, + 0.0003350439966852692, + 0.035088877377035144 + ], + "button_min_z_position": [ + 0.12392494827508924, + -0.3875607550144195, + 0.7696179747581482 + ], + "min_active_finger_to_button": 0.14643209287167086, + "closest_active_finger": [ + -0.0035203099250793457, + -0.4509097933769226, + 0.8110968470573425 + ], + "closest_active_finger_button": [ + 0.12394670397043225, + -0.3875616490840912, + 0.7767234444618225 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1274670138955116, + -0.06334814429283142, + 0.03437340259552002 + ], + "min_contact_pad_to_button": 0.021092289101638115, + "closest_contact_pad": [ + 0.12392494827508924, + -0.38830103375368236, + 0.7906972690284808 + ], + "closest_contact_pad_button": [ + 0.12392494827508924, + -0.3875607550144195, + 0.7696179747581482 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0007402787392628563, + 0.021079294270332616 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 34, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "96476746447e5c940de14115100d2ff9a3c400dc62722bff3b9c9fa0fe062f67", + "visual_seed": 8145919974444582311, + "episode_index": 34, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_35_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_35_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e92c6a16b9aa4b81f2584e0725c8ef4402646896 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_35_success.json @@ -0,0 +1,926 @@ +{ + "episode": 35, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.28750144181997467, + 0.16101781930889741, + 1.0446342350986653 + ], + "current_z": 1.0446342350986653, + "required_z": 0.8565865670132105, + "initial_z": 0.7565865670132105, + "lift_margin": 0.1880476680854548, + "gripper_z": 1.0475128496754584, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.28235429763896347, + 0.1561574404839201, + 1.0475128496754584 + ], + "object_minus_gripper": [ + 0.005147144181011198, + 0.004860378824977307, + -0.0028786145767931703 + ], + "object_to_gripper_xy": 0.007079292022681733, + "object_to_gripper_z": -0.0028786145767931703, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.28750144181997467, + 0.13645410348554, + 1.0446342350986653 + ], + "finger_b": [ + 0.2757501482068223, + 0.16101781930889741, + 1.0446342350986653 + ], + "finger_midpoint": [ + 0.28162579501339846, + 0.1487359613972187, + 1.0446342350986653 + ], + "object_minus_finger_midpoint": [ + 0.005875646806576207, + 0.012281857911678712, + 0.0 + ], + "finger_gap": 0.02722992906037721, + "fingertip_max_gap": 0.09417169756946811, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013614964530188617, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0446342350986653, + "object_top_z": 1.0919325333703913, + "finger_top_clearance": 0.04729829827172605, + "fingertip_min_top_clearance": 0.01418948948151783, + "object_projection_between_fingers": 0.8137576961951634, + "object_to_finger_line_xy": 0.010600667972005024, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04958584878473406, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.4800689047623465, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 216, + "max_stable_success_frames": 216, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2871562759894841, + 0.159797906409896, + 1.23838348120168 + ], + "held_position": [ + 0.2925817714579831, + 0.16426377720725355, + 1.2353809511323055 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007641674546517419, + "max_held_gripper_dist": 0.007644247714770585, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003002530069374565, + "max_held_gripper_z_dist": 0.003031279248529639, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08723636746183967, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2925817714579831, + 0.138876776698453, + 1.2353809511323055 + ], + "held_grasp_finger_b": [ + 0.28262839323307165, + 0.16426377720725355, + 1.2353809511323055 + ], + "held_grasp_midpoint": [ + 0.2876050823455274, + 0.15157027695285327, + 1.2353809511323055 + ], + "held_grasp_object_position": [ + 0.2925817714579831, + 0.16426377720725355, + 1.2353809511323055 + ], + "held_grasp_finger_gap": 0.027268471407872877, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02472254816681816, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06030878116277907, + -0.9974720828967728, + 0.03758051032428611 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004229728104152793, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03223867477320514, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.27274782129950387, + -0.32220883646783616, + 0.8470195480326672 + ], + "target_position": [ + 0.26764558235580377, + -0.32352024575740324, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005268077122003125, + "xy_threshold": 0.08, + "gripper_dist": 0.1851505904370493, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195480326672, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07518504361307328, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08553824727965172, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1543291493635737, + "release_required_pad_clearance": 0.05276912363982586, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.586839553257971, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0071912407875061035, + "max_z_decrease": 0.0071912407875061035, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035129112628527324, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0071912407875061035, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021252640648487815, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.0071912407875061035, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007191263086695246, + "max_button_displacement": 0.12, + "button_start": [ + 0.12334550917148587, + -0.37978169322013855, + 0.7768088579177856 + ], + "button_final": [ + 0.12334550917148587, + -0.37978169322013855, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12378619802556737, + -0.3812913535325547, + 0.8077566118088859 + ], + "closest_button": [ + 0.1233345568180084, + -0.37978124618530273, + 0.772662878036499 + ], + "closest_ee_minus_button": [ + 0.00045164120755897263, + -0.0015101073472519877, + 0.03509373377238689 + ], + "button_min_z_position": [ + 0.12332760542631147, + -0.3797812759876251, + 0.7696176171302795 + ], + "min_active_finger_to_button": 0.14560417419114008, + "closest_active_finger": [ + -0.017349258065223694, + -0.36488765478134155, + 0.8108634948730469 + ], + "closest_active_finger_button": [ + 0.12334559112787244, + -0.3797823488712311, + 0.7764587998390198 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14069484919309613, + 0.014894694089889526, + 0.0344046950340271 + ], + "min_contact_pad_to_button": 0.021252640648487815, + "closest_contact_pad": [ + 0.12332760542631147, + -0.38242592457536906, + 0.7907050676253276 + ], + "closest_contact_pad_button": [ + 0.12332760542631147, + -0.3797812759876251, + 0.7696176171302795 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0026446485877439363, + 0.02108745049504801 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 35, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "579a626b383eaeaeb4fd1f525b12d72c37c61c431bb5a85f9c9898ba0970546d", + "visual_seed": 6060889260130512350, + "episode_index": 35, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_36_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_36_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a2142a4b574cd9b3e4667b670cfb5534bb625d92 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_36_success.json @@ -0,0 +1,926 @@ +{ + "episode": 36, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2791466761356419, + 0.16007583199319428, + 1.046417694714886 + ], + "current_z": 1.046417694714886, + "required_z": 0.8565865670132105, + "initial_z": 0.7565865670132105, + "lift_margin": 0.18983112770167554, + "gripper_z": 1.0499355075099688, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2738842682561763, + 0.15507922158919243, + 1.0499355075099688 + ], + "object_minus_gripper": [ + 0.005262407879465636, + 0.004996610404001844, + -0.0035178127950827864 + ], + "object_to_gripper_xy": 0.007256655718665554, + "object_to_gripper_z": -0.0035178127950827864, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2791466761356419, + 0.1355882733581361, + 1.046417694714886 + ], + "finger_b": [ + 0.266997027946505, + 0.16007583199319428, + 1.046417694714886 + ], + "finger_midpoint": [ + 0.2730718520410734, + 0.14783205267566518, + 1.046417694714886 + ], + "object_minus_finger_midpoint": [ + 0.006074824094568498, + 0.012243779317529097, + 0.0 + ], + "finger_gap": 0.02733595579132382, + "fingertip_max_gap": 0.09263162339616407, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013667977895661935, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.046417694714886, + "object_top_z": 1.09274514463131, + "finger_top_clearance": 0.0463274499164239, + "fingertip_min_top_clearance": 0.013898234974927171, + "object_projection_between_fingers": 0.8024582585140737, + "object_to_finger_line_xy": 0.010883659042251151, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04881581169808204, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8871410773151343, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2786888427742449, + 0.15873465571940482, + 1.2392829602004174 + ], + "held_position": [ + 0.28426687365122366, + 0.1632660832066163, + 1.2356256391787244 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008063762185983803, + "max_held_gripper_dist": 0.008067128904761533, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0036573210216930274, + "max_held_gripper_z_dist": 0.003684408413823448, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08709726425986436, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.28426687365122366, + 0.13780964839747695, + 1.2356256391787244 + ], + "held_grasp_finger_b": [ + 0.27418918783318574, + 0.1632660832066163, + 1.2356256391787244 + ], + "held_grasp_midpoint": [ + 0.2792280307422047, + 0.15053786580204664, + 1.2356256391787244 + ], + "held_grasp_object_position": [ + 0.28426687365122366, + 0.1632660832066163, + 1.2356256391787244 + ], + "held_grasp_finger_gap": 0.027378638107821308, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024708915040364317, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06763719948622557, + -0.9974115258780364, + 0.024401993592894848 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004178273684851154, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03216414099959448, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2728501082264664, + -0.32767710145585494, + 0.847019929595049 + ], + "target_position": [ + 0.26640351694332626, + -0.3297670144801134, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006776892770350101, + "xy_threshold": 0.08, + "gripper_dist": 0.1850300606220209, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.847019929595049, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07528965122825536, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08572490499845724, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15424310646849881, + "release_required_pad_clearance": 0.05286245249922862, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7661678562896961, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007186174392700195, + "max_z_decrease": 0.007186174392700195, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035150593911560286, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007186174392700195, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02131273945362439, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007186174392700195, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007186192870168385, + "max_button_displacement": 0.12, + "button_start": [ + 0.12210344523191449, + -0.3860284686088562, + 0.7768088579177856 + ], + "button_final": [ + 0.12210344523191449, + -0.3860284686088562, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12228658780889887, + -0.3880738975187431, + 0.8078590122205347 + ], + "closest_button": [ + 0.12209167331457135, + -0.3860278725624085, + 0.7727685570716858 + ], + "closest_ee_minus_button": [ + 0.00019491449432751384, + -0.0020460249563346022, + 0.0350904551488489 + ], + "button_min_z_position": [ + 0.12208715081214903, + -0.3860282301902771, + 0.7696226835250854 + ], + "min_active_finger_to_button": 0.14578900262754407, + "closest_active_finger": [ + -0.01880618929862976, + -0.371396541595459, + 0.8110991716384888 + ], + "closest_active_finger_button": [ + 0.122105598449707, + -0.38602846860885626, + 0.7766868472099304 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14091178774833676, + 0.014631927013397272, + 0.03441232442855835 + ], + "min_contact_pad_to_button": 0.02131273945362439, + "closest_contact_pad": [ + 0.12208715081214903, + -0.3892158743375606, + 0.790695694411249 + ], + "closest_contact_pad_button": [ + 0.12208715081214903, + -0.3860282301902771, + 0.7696226835250854 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.003187644147283508, + 0.021073010886163535 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 36, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8d5df697d40d1a4f60296eda1a8fc8b384b2c042fbb54fc253bd6a68449f441f", + "visual_seed": 7972294262472238749, + "episode_index": 36, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_37_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_37_success.json new file mode 100644 index 0000000000000000000000000000000000000000..63c45597e25bd06f8658e73431f2d68bedcb52c7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_37_success.json @@ -0,0 +1,926 @@ +{ + "episode": 37, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2832513107118203, + 0.16240930995810968, + 1.0474047584303896 + ], + "current_z": 1.0474047584303896, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.1908183106264688, + "gripper_z": 1.0505022043587842, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.27801199118680503, + 0.1574972893261376, + 1.0505022043587842 + ], + "object_minus_gripper": [ + 0.0052393195250152735, + 0.004912020631972075, + -0.00309744592839456 + ], + "object_to_gripper_xy": 0.007181811454927345, + "object_to_gripper_z": -0.00309744592839456, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2832513107118203, + 0.1378220005540847, + 1.0474047584303896 + ], + "finger_b": [ + 0.271374432347683, + 0.16240930995810968, + 1.0474047584303896 + ], + "finger_midpoint": [ + 0.27731287152975165, + 0.15011565525609719, + 1.0474047584303896 + ], + "object_minus_finger_midpoint": [ + 0.0059384391820686555, + 0.012293654702012491, + 0.0 + ], + "finger_gap": 0.027305604249050566, + "fingertip_max_gap": 0.09304494539243066, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013652802124525283, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0474047584303896, + "object_top_z": 1.0939245248572655, + "finger_top_clearance": 0.04651976642687594, + "fingertip_min_top_clearance": 0.013955929928062749, + "object_projection_between_fingers": 0.8108087553469352, + "object_to_finger_line_xy": 0.010694525579054618, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04902247269621533, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9239883087607594, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2828965909173137, + 0.16107124599418796, + 1.2427901922828892 + ], + "held_position": [ + 0.2884423568244486, + 0.16555947755606634, + 1.2395744926312757 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007825628811742116, + "max_held_gripper_dist": 0.007829489341037638, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0032156996516135017, + "max_held_gripper_z_dist": 0.003244853200903508, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08737806483029298, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2884423568244486, + 0.14013656938494976, + 1.2395744926312757 + ], + "held_grasp_finger_b": [ + 0.2783774678735358, + 0.16555947755606634, + 1.2395744926312757 + ], + "held_grasp_midpoint": [ + 0.28340991234899215, + 0.15284802347050805, + 1.2395744926312757 + ], + "held_grasp_object_position": [ + 0.2884423568244486, + 0.16555947755606634, + 1.2395744926312757 + ], + "held_grasp_finger_gap": 0.02734275497222679, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024752795485219428, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.060997087525798785, + -0.9977900335696166, + 0.02635155066620443 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0042612176390284156, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032209898310924794, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.26800347938968244, + -0.32164952284082604, + 0.8470207031436728 + ], + "target_position": [ + 0.26144699601428634, + -0.32408360048941476, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006993726349465261, + "xy_threshold": 0.08, + "gripper_dist": 0.18806544343723064, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470207031436728, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07584163929311834, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08609316079512765, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15585529545042826, + "release_required_pad_clearance": 0.053046580397563825, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.1176558832822556, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.006862521171569824, + "max_z_decrease": 0.006862521171569824, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03509884123229797, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.006862521171569824, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.0211938803826155, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.006862521171569824, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.006862540106288415, + "max_button_displacement": 0.12, + "button_start": [ + 0.11714692413806914, + -0.38034504652023315, + 0.7768088579177856 + ], + "button_final": [ + 0.11714692413806914, + -0.38034504652023315, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1173541583553458, + -0.381073521070379, + 0.8079975605558064 + ], + "closest_button": [ + 0.1171366274356842, + -0.38034480810165405, + 0.7729069590568542 + ], + "closest_ee_minus_button": [ + 0.00021753091966159044, + -0.0007287129687249538, + 0.035090601498952156 + ], + "button_min_z_position": [ + 0.1171308234333992, + -0.3803442418575287, + 0.7699463367462158 + ], + "min_active_finger_to_button": 0.14591222383349375, + "closest_active_finger": [ + -0.023649007081985474, + -0.3635823428630829, + 0.8112407922744751 + ], + "closest_active_finger_button": [ + 0.11714702844619751, + -0.38034588098526, + 0.7768048048019409 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14079603552818298, + 0.016763538122177124, + 0.03443598747253418 + ], + "min_contact_pad_to_button": 0.0211938803826155, + "closest_contact_pad": [ + 0.1171308234333992, + -0.3823502312294551, + 0.7910450706492805 + ], + "closest_contact_pad_button": [ + 0.1171308234333992, + -0.3803442418575287, + 0.7699463367462158 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00200598937192642, + 0.021098733903064715 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 37, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "aa2a4032cc162966e1e0f373faa53fffd246557310d44ef5447b16726dacc0b7", + "visual_seed": 1657069848573687092, + "episode_index": 37, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_38_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_38_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b5864d103f11e1d89f46b0f2672c882802fad3a0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_38_success.json @@ -0,0 +1,926 @@ +{ + "episode": 38, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.28024735857056415, + 0.16083875631162192, + 1.0481270076175793 + ], + "current_z": 1.0481270076175793, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.1915405002090137, + "gripper_z": 1.0512243634757905, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2750435813618569, + 0.15585365507552212, + 1.0512243634757905 + ], + "object_minus_gripper": [ + 0.005203777208707239, + 0.004985101236099798, + -0.003097355858211248 + ], + "object_to_gripper_xy": 0.007206284172305769, + "object_to_gripper_z": -0.003097355858211248, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.28024735857056415, + 0.13640188221635738, + 1.0481270076175793 + ], + "finger_b": [ + 0.26810282637063465, + 0.16083875631162192, + 1.0481270076175793 + ], + "finger_midpoint": [ + 0.2741750924705994, + 0.14862031926398966, + 1.0481270076175793 + ], + "object_minus_finger_midpoint": [ + 0.0060722660999647515, + 0.012218437047632258, + 0.0 + ], + "finger_gap": 0.027288284627343947, + "fingertip_max_gap": 0.09196422359632672, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01364414231367196, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0481270076175793, + "object_top_z": 1.0942488269010537, + "finger_top_clearance": 0.046121819283474474, + "fingertip_min_top_clearance": 0.013836545785042342, + "object_projection_between_fingers": 0.8019343749426161, + "object_to_finger_line_xy": 0.010875524363967664, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04848211179816336, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6521703401470932, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2800247099912953, + 0.15929140284073368, + 1.2408547229007003 + ], + "held_position": [ + 0.2855741892230191, + 0.1637943652867387, + 1.2376215314967942 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007843909560146488, + "max_held_gripper_dist": 0.007852068146280483, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0032331914039060994, + "max_held_gripper_z_dist": 0.0032604594031537815, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08629860034690835, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2855741892230191, + 0.1383283894071122, + 1.2376215314967942 + ], + "held_grasp_finger_b": [ + 0.27558227784035405, + 0.1637943652867387, + 1.2376215314967942 + ], + "held_grasp_midpoint": [ + 0.28057823353168654, + 0.15106137734692546, + 1.2376215314967942 + ], + "held_grasp_object_position": [ + 0.2855741892230191, + 0.1637943652867387, + 1.2376215314967942 + ], + "held_grasp_finger_gap": 0.027356063689440963, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02462260800041383, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07631462561229907, + -0.9968256114246145, + 0.022688726839516945 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004020378893472843, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032126391989284506, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.27063945010193463, + -0.32501745261144277, + 0.8470190686934619 + ], + "target_position": [ + 0.26323032780176064, + -0.32749388822939596, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007812030890159272, + "xy_threshold": 0.08, + "gripper_dist": 0.18730096730944404, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470190686934619, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07516435955561607, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08636785467026085, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15668081216629268, + "release_required_pad_clearance": 0.05318392733513043, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.3904128784503589, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.006877899169921875, + "max_z_decrease": 0.006877899169921875, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03516833217411089, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.006877899169921875, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021110490965085993, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.006877899169921875, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00687792239414212, + "max_button_displacement": 0.12, + "button_start": [ + 0.11893025040626523, + -0.38375535607337946, + 0.7768088579177856 + ], + "button_final": [ + 0.11893025040626523, + -0.38375535607337946, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1208674066401414, + -0.3823881629332784, + 0.8079849159283599 + ], + "closest_button": [ + 0.1189196780323982, + -0.3837537467479705, + 0.7728971242904663 + ], + "closest_ee_minus_button": [ + 0.0019477286077431988, + 0.0013655838146921506, + 0.03508779163789355 + ], + "button_min_z_position": [ + 0.11891238391399382, + -0.38375484943389887, + 0.7699309587478638 + ], + "min_active_finger_to_button": 0.14392412169482782, + "closest_active_finger": [ + -0.005677670240402222, + -0.4470076560974121, + 0.8108258247375488 + ], + "closest_active_finger_button": [ + 0.11893096566200254, + -0.3837562799453735, + 0.7763859629631042 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12460863590240476, + -0.06325137615203863, + 0.03443986177444458 + ], + "min_contact_pad_to_button": 0.021110490965085993, + "closest_contact_pad": [ + 0.11891238391399382, + -0.38375484943389887, + 0.7910414497129498 + ], + "closest_contact_pad_button": [ + 0.11891238391399382, + -0.38375484943389887, + 0.7699309587478638 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021110490965085993 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 38, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "201d37ee8c9620f0bde3b0b7b9b6a6c2833f641bf3b1ac28c95e42e463b10c67", + "visual_seed": 5452790357676950576, + "episode_index": 38, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_39_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_39_success.json new file mode 100644 index 0000000000000000000000000000000000000000..51bdb97177723c869c7b6a32d3bcfa0e765a4c8b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_39_success.json @@ -0,0 +1,926 @@ +{ + "episode": 39, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.27915651693082655, + 0.1599634645749053, + 1.0480181321381206 + ], + "current_z": 1.0480181321381206, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.19143168433419977, + "gripper_z": 1.0512507848615626, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.274222640060117, + 0.15510099691539403, + 1.0512507848615626 + ], + "object_minus_gripper": [ + 0.004933876870709564, + 0.00486246765951126, + -0.0032326527234420865 + ], + "object_to_gripper_xy": 0.0069272456802913895, + "object_to_gripper_z": -0.0032326527234420865, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.27915651693082655, + 0.13578490953114863, + 1.0480181321381206 + ], + "finger_b": [ + 0.2671039023592961, + 0.1599634645749053, + 1.0480181321381206 + ], + "finger_midpoint": [ + 0.2731302096450613, + 0.14787418705302696, + 1.0480181321381206 + ], + "object_minus_finger_midpoint": [ + 0.006026307285765253, + 0.012089277521878328, + 0.0 + ], + "finger_gap": 0.02701607006975364, + "fingertip_max_gap": 0.09527552793934155, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013508035034876834, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0480181321381206, + "object_top_z": 1.0956541612360784, + "finger_top_clearance": 0.04763602909795783, + "fingertip_min_top_clearance": 0.014290808729387382, + "object_projection_between_fingers": 0.8009701622103439, + "object_to_finger_line_xy": 0.010786720795678986, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.050137763969670776, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.8133113381256742, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.27911841178082086, + 0.158645987317949, + 1.2425188335067414 + ], + "held_position": [ + 0.2844127134567893, + 0.16302985086660013, + 1.2391735086704052 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007644546298503421, + "max_held_gripper_dist": 0.007646347190394854, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0033453248363362054, + "max_held_gripper_z_dist": 0.003370488993483134, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08605354882150801, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2844127134567893, + 0.13775166291279137, + 1.2391735086704052 + ], + "held_grasp_finger_b": [ + 0.27453206236419536, + 0.16302985086660013, + 1.2391735086704052 + ], + "held_grasp_midpoint": [ + 0.27947238791049234, + 0.15039075688969575, + 1.2391735086704052 + ], + "held_grasp_object_position": [ + 0.2844127134567893, + 0.16302985086660013, + 1.2391735086704052 + ], + "held_grasp_finger_gap": 0.027140634705947103, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024497726875853425, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07045264118215026, + -0.9966634035621179, + 0.04121268433909997 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004071973662798986, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03225524356181152, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.27131446149119687, + -0.3283737886402821, + 0.8470196167246242 + ], + "target_position": [ + 0.2668078388849509, + -0.32940295765521516, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.004622643851350154, + "xy_threshold": 0.08, + "gripper_dist": 0.1846085662140002, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196167246242, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07534868732691143, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08533003810904148, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1534733680651029, + "release_required_pad_clearance": 0.05266501905452074, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.38765331278918963, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007095992565155029, + "max_z_decrease": 0.007095992565155029, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035107509556423666, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007095992565155029, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021191787715668767, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007095992565155029, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007096013650746804, + "max_button_displacement": 0.12, + "button_start": [ + 0.12250776588916776, + -0.3856644034385681, + 0.7768088579177856 + ], + "button_final": [ + 0.12250776588916776, + -0.3856644034385681, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12292395057027675, + -0.38662692981896873, + 0.8079590775165191 + ], + "closest_button": [ + 0.12249729037284848, + -0.3856635689735412, + 0.7728673815727234 + ], + "closest_ee_minus_button": [ + 0.00042666019742826355, + -0.00096336084542753, + 0.03509169594379569 + ], + "button_min_z_position": [ + 0.12249051034450527, + -0.38566318154335016, + 0.7697128653526306 + ], + "min_active_finger_to_button": 0.14569059276485566, + "closest_active_finger": [ + -0.018282487988471985, + -0.37089863419532776, + 0.8112487196922302 + ], + "closest_active_finger_button": [ + 0.1225064247846603, + -0.38566538691520685, + 0.7768078446388245 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14078891277313227, + 0.014766752719879095, + 0.03444087505340576 + ], + "min_contact_pad_to_button": 0.021191787715668767, + "closest_contact_pad": [ + 0.12249051034450527, + -0.3877291239520712, + 0.7908037104886089 + ], + "closest_contact_pad_button": [ + 0.12249051034450527, + -0.38566318154335016, + 0.7697128653526306 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0020659424087210443, + 0.021090845135978253 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 39, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0ed4d76e5ca619764417c9638efcfeeffd7032e18cf17983ea3f232e0708c2c3", + "visual_seed": 4036995913010167814, + "episode_index": 39, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_3_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_3_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d14e8b8c40c2910a1ea48d353908a75570dfb4ab --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_3_success.json @@ -0,0 +1,926 @@ +{ + "episode": 3, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.28182116876499214, + 0.1644041029337135, + 1.0459373314549696 + ], + "current_z": 1.0459373314549696, + "required_z": 0.8565865074085657, + "initial_z": 0.7565865074085657, + "lift_margin": 0.1893508240464039, + "gripper_z": 1.0489203722083542, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.27679067000743673, + 0.15949069343993455, + 1.0489203722083542 + ], + "object_minus_gripper": [ + 0.005030498757555402, + 0.004913409493778942, + -0.002983040753384625 + ], + "object_to_gripper_xy": 0.007031892391335598, + "object_to_gripper_z": -0.002983040753384625, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.28182116876499214, + 0.14013937022424972, + 1.0459373314549696 + ], + "finger_b": [ + 0.26971163172562573, + 0.1644041029337135, + 1.0459373314549696 + ], + "finger_midpoint": [ + 0.27576640024530896, + 0.1522717365789816, + 1.0459373314549696 + ], + "object_minus_finger_midpoint": [ + 0.0060547685196831735, + 0.012132366354731888, + 0.0 + ], + "finger_gap": 0.0271185940042899, + "fingertip_max_gap": 0.09231645550490217, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013559297002144938, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0459373314549696, + "object_top_z": 1.0921419937225636, + "finger_top_clearance": 0.04620466226759401, + "fingertip_min_top_clearance": 0.013861398680278235, + "object_projection_between_fingers": 0.8006020260061188, + "object_to_finger_line_xy": 0.010835173809125022, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048658227752451086, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8256076734721103, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.28180682454685496, + 0.16261061031177715, + 1.2391999105196032 + ], + "held_position": [ + 0.28721568679779896, + 0.16701056106609835, + 1.2360785478457346 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007639257976528816, + "max_held_gripper_dist": 0.007642242073132474, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003121362673868644, + "max_held_gripper_z_dist": 0.0031482903257711303, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08728403679919391, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.28721568679779896, + 0.14158285034385837, + 1.2360785478457346 + ], + "held_grasp_finger_b": [ + 0.2774708453436098, + 0.16701056106609835, + 1.2360785478457346 + ], + "held_grasp_midpoint": [ + 0.28234326607070437, + 0.15429670570497836, + 1.2360785478457346 + ], + "held_grasp_object_position": [ + 0.28721568679779896, + 0.16701056106609835, + 1.2360785478457346 + ], + "held_grasp_finger_gap": 0.02723105593878435, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024545364188167197, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08113723749261625, + -0.9963946019491184, + 0.024790036279213612 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038381566685579487, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03213687335633074, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2724802555527171, + -0.32622745072204906, + 0.84701956853146 + ], + "target_position": [ + 0.2667769793490058, + -0.32798094052238647, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005966748355319415, + "xy_threshold": 0.08, + "gripper_dist": 0.18449569099263524, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.84701956853146, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07583053398435595, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08492371967336886, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1522325513993802, + "release_required_pad_clearance": 0.05246185983668443, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.0, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007006645202636719, + "max_z_decrease": 0.007006645202636719, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03511163038881498, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007006645202636719, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021152137519660958, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007006645202636719, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007006665383770955, + "max_button_displacement": 0.12, + "button_start": [ + 0.1224769055843353, + -0.3842423856258392, + 0.7768088579177856 + ], + "button_final": [ + 0.1224769055843353, + -0.3842423856258392, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12101027577831516, + -0.3850936489587453, + 0.8070697755424671 + ], + "closest_button": [ + 0.12246404588222502, + -0.3842374682426452, + 0.7719987034797668 + ], + "closest_ee_minus_button": [ + -0.00145377010390986, + -0.0008561807161001078, + 0.035071072062700215 + ], + "button_min_z_position": [ + 0.1224601939320564, + -0.38424050807952875, + 0.7698022127151489 + ], + "min_active_finger_to_button": 0.14740466369906832, + "closest_active_finger": [ + -0.020203910768032074, + -0.3708954453468323, + 0.8107658624649048 + ], + "closest_active_finger_button": [ + 0.1224783360958099, + -0.3842435479164123, + 0.7762442827224731 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14268224686384195, + 0.013348102569580023, + 0.03452157974243164 + ], + "min_contact_pad_to_button": 0.021152137519660958, + "closest_contact_pad": [ + 0.1224601939320564, + -0.38609703756898833, + 0.790872718639436 + ], + "closest_contact_pad_button": [ + 0.1224601939320564, + -0.38424050807952875, + 0.7698022127151489 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0018565294894595796, + 0.021070505924287053 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 3, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f2b43dc50d041499f0f50ea3d9ec2158290720b28e371eba42eb442625a2dba5", + "visual_seed": 5261904996812429029, + "episode_index": 3, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_40_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_40_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0b79e2898d6144f53aadf8d844845961c40f57f9 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_40_success.json @@ -0,0 +1,926 @@ +{ + "episode": 40, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.284243671863335, + 0.15937663683306594, + 1.0460233266604915 + ], + "current_z": 1.0460233266604915, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.1894368192519259, + "gripper_z": 1.0494445741084262, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2786747061921418, + 0.15435554857202843, + 1.0494445741084262 + ], + "object_minus_gripper": [ + 0.005568965671193193, + 0.005021088261037504, + -0.0034212474479347055 + ], + "object_to_gripper_xy": 0.007498313541861055, + "object_to_gripper_z": -0.0034212474479347055, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.284243671863335, + 0.13447607583251064, + 1.0460233266604915 + ], + "finger_b": [ + 0.2723067294149114, + 0.15937663683306594, + 1.0460233266604915 + ], + "finger_midpoint": [ + 0.2782752006391232, + 0.14692635633278828, + 1.0460233266604915 + ], + "object_minus_finger_midpoint": [ + 0.005968471224211791, + 0.01245028050027766, + 0.0 + ], + "finger_gap": 0.02761391919230865, + "fingertip_max_gap": 0.09234079847560392, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013806959596154338, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0460233266604915, + "object_top_z": 1.0916535768459033, + "finger_top_clearance": 0.04563025018541178, + "fingertip_min_top_clearance": 0.013689075055623534, + "object_projection_between_fingers": 0.8131340811253298, + "object_to_finger_line_xy": 0.010764012218876897, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04867039923780196, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.4513506631388962, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2835742527775287, + 0.15775402320002696, + 1.2392071206430058 + ], + "held_position": [ + 0.2893969149178358, + 0.16238007209720776, + 1.235650391867279 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008243424190429395, + "max_held_gripper_dist": 0.008245950309465266, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0035567287757267696, + "max_held_gripper_z_dist": 0.003585993056609116, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08646048437488932, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2893969149178358, + 0.1367847604467744, + 1.235650391867279 + ], + "held_grasp_finger_b": [ + 0.27913246293384575, + 0.16238007209720776, + 1.235650391867279 + ], + "held_grasp_midpoint": [ + 0.2842646889258408, + 0.1495824162719911, + 1.235650391867279 + ], + "held_grasp_object_position": [ + 0.2893969149178358, + 0.16238007209720776, + 1.235650391867279 + ], + "held_grasp_finger_gap": 0.02757678286193745, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025201849973657653, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.036388320063696335, + -0.9992203450000386, + 0.015316406267325555 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004667319848065836, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03222579381491007, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.27536263729229243, + -0.3294532305138135, + 0.8470193932253736 + ], + "target_position": [ + 0.2677656288752733, + -0.3321974852269829, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008077466856571586, + "xy_threshold": 0.08, + "gripper_dist": 0.18588251307539658, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470193932253736, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07543379175963945, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08711443223639771, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15469075533411902, + "release_required_pad_clearance": 0.05355721611819886, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.1251363709895696, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007150828838348389, + "max_z_decrease": 0.007150828838348389, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03510766706443474, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007150828838348389, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021114159779705502, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007150828838348389, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007150848201072849, + "max_button_displacement": 0.12, + "button_start": [ + 0.12346555292606357, + -0.38845893740653986, + 0.7768088579177856 + ], + "button_final": [ + 0.12346555292606357, + -0.38845893740653986, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12215110855825848, + -0.38875955315226113, + 0.8080672181609285 + ], + "closest_button": [ + 0.12345948070287706, + -0.38845980167388916, + 0.7729852199554443 + ], + "closest_ee_minus_button": [ + -0.001308372144618583, + -0.0002997514783719679, + 0.03508199820548419 + ], + "button_min_z_position": [ + 0.12344900518655778, + -0.38845717906951904, + 0.7696580290794373 + ], + "min_active_finger_to_button": 0.14743939493567862, + "closest_active_finger": [ + -0.018923625349998474, + -0.3717042803764343, + 0.81111741065979 + ], + "closest_active_finger_button": [ + 0.12346814572811128, + -0.38845968246459955, + 0.7767340540885925 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14239177107810974, + 0.016755402088165228, + 0.03438335657119751 + ], + "min_contact_pad_to_button": 0.021114159779705502, + "closest_contact_pad": [ + 0.12344900518655778, + -0.3899909987290984, + 0.7907164036713857 + ], + "closest_contact_pad_button": [ + 0.12344900518655778, + -0.38845717906951904, + 0.7696580290794373 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001533819659579383, + 0.02105837459194848 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 40, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "343b8ef65fb3843bf299828498c990d93c7a515f99f5420ca53e649c7d13273b", + "visual_seed": 2509075597103467722, + "episode_index": 40, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_41_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_41_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7d0b1fe46daded19e579cdf1163735b7b8e2a842 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_41_success.json @@ -0,0 +1,926 @@ +{ + "episode": 41, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2876772348220966, + 0.16008769025259012, + 1.046588408117457 + ], + "current_z": 1.046588408117457, + "required_z": 0.8565865074085657, + "initial_z": 0.7565865074085657, + "lift_margin": 0.19000190070889134, + "gripper_z": 1.0494874382612713, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.28246220615313367, + 0.1552164236984362, + 1.0494874382612713 + ], + "object_minus_gripper": [ + 0.005215028668962951, + 0.00487126655415393, + -0.0028990301438143184 + ], + "object_to_gripper_xy": 0.007136228826188535, + "object_to_gripper_z": -0.0028990301438143184, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2876772348220966, + 0.13548595272428668, + 1.046588408117457 + ], + "finger_b": [ + 0.27589548895653443, + 0.16008769025259012, + 1.046588408117457 + ], + "finger_midpoint": [ + 0.2817863618893155, + 0.1477868214884384, + 1.046588408117457 + ], + "object_minus_finger_midpoint": [ + 0.0058908729327811216, + 0.012300868764151707, + 0.0 + ], + "finger_gap": 0.027277372033468063, + "fingertip_max_gap": 0.09330507922656114, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013638686016734031, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.046588408117457, + "object_top_z": 1.0933879065919963, + "finger_top_clearance": 0.046799498474539236, + "fingertip_min_top_clearance": 0.01403984954236177, + "object_projection_between_fingers": 0.8134418410372962, + "object_to_finger_line_xy": 0.010626075673789285, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049152539613280574, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0366945297830035, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.28734708970901446, + 0.1586845563999913, + 1.2417629473606495 + ], + "held_position": [ + 0.2928507165898964, + 0.16315219338304637, + 1.238749058184688 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007702805788886647, + "max_held_gripper_dist": 0.0077074287209891075, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0030138891759614594, + "max_held_gripper_z_dist": 0.003042983339588412, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0874414505316769, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2928507165898964, + 0.13774730139064936, + 1.238749058184688 + ], + "held_grasp_finger_b": [ + 0.28282545136532217, + 0.16315219338304637, + 1.238749058184688 + ], + "held_grasp_midpoint": [ + 0.2878380839776093, + 0.15044974738684785, + 1.238749058184688 + ], + "held_grasp_object_position": [ + 0.2928507165898964, + 0.16315219338304637, + 1.238749058184688 + ], + "held_grasp_finger_gap": 0.027311434967215026, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024722110734634525, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06204730139239806, + -0.9976090980881644, + 0.030433859460149537 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00423294669482129, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03221712894556562, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.27611444589642803, + -0.3222252079055048, + 0.8470196207272708 + ], + "target_position": [ + 0.26927110514663766, + -0.3245893333681892, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007240193493343539, + "xy_threshold": 0.08, + "gripper_dist": 0.1868088368230925, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196207272708, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07537721876405001, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08505211689771537, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15559360413094353, + "release_required_pad_clearance": 0.05252605844885769, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.11867064873706593, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007052958011627197, + "max_z_decrease": 0.007052958011627197, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03512629841798914, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007052958011627197, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021211419058286208, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007052958011627197, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007052980191077729, + "max_button_displacement": 0.12, + "button_start": [ + 0.12497103214263913, + -0.3808507919311523, + 0.7768088579177856 + ], + "button_final": [ + 0.12497103214263913, + -0.3808507919311523, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1258098344554097, + -0.3821054471060279, + 0.8079121726261506 + ], + "closest_button": [ + 0.12495933473110196, + -0.38084989786148066, + 0.7728186249732971 + ], + "closest_ee_minus_button": [ + 0.0008504997243077295, + -0.0012555492445472383, + 0.03509354765285344 + ], + "button_min_z_position": [ + 0.12495334446430204, + -0.3808507025241851, + 0.7697558999061584 + ], + "min_active_finger_to_button": 0.14525496572710866, + "closest_active_finger": [ + -0.015484511852264404, + -0.36722829937934875, + 0.8112462759017944 + ], + "closest_active_finger_button": [ + 0.12496995180845256, + -0.38085213303565973, + 0.7768087983131409 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14045446366071695, + 0.01362383365631098, + 0.034437477588653564 + ], + "min_contact_pad_to_button": 0.021211419058286208, + "closest_contact_pad": [ + 0.12495334446430204, + -0.38310166724858474, + 0.7908475441349931 + ], + "closest_contact_pad_button": [ + 0.12495334446430204, + -0.3808507025241851, + 0.7697558999061584 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002250964724399618, + 0.021091644228834694 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 41, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0684a59d098ead5fdb38d0ae3d73aa82d9f0bed8df23f3044412b516fcddc033", + "visual_seed": 7261118019693279733, + "episode_index": 41, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_42_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_42_success.json new file mode 100644 index 0000000000000000000000000000000000000000..527ebc0e297884fdaf6a5767b20931a183f151c7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_42_success.json @@ -0,0 +1,926 @@ +{ + "episode": 42, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2857666092912603, + 0.15648324235964506, + 1.047176927679658 + ], + "current_z": 1.047176927679658, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.1905904798757373, + "gripper_z": 1.0503911009636182, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.28046571271458487, + 0.15150070006379163, + 1.0503911009636182 + ], + "object_minus_gripper": [ + 0.005300896576675429, + 0.0049825422958534316, + -0.00321417328396012 + ], + "object_to_gripper_xy": 0.007274973006587562, + "object_to_gripper_z": -0.00321417328396012, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2857666092912603, + 0.13191567090991835, + 1.047176927679658 + ], + "finger_b": [ + 0.2737054691671976, + 0.15648324235964506, + 1.047176927679658 + ], + "finger_midpoint": [ + 0.27973603922922896, + 0.1441994566347817, + 1.047176927679658 + ], + "object_minus_finger_midpoint": [ + 0.006030570062031337, + 0.012283785724863355, + 0.0 + ], + "finger_gap": 0.027368534268931932, + "fingertip_max_gap": 0.09328175910901068, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013684267134465966, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.047176927679658, + "object_top_z": 1.0939782975145733, + "finger_top_clearance": 0.04680136983491523, + "fingertip_min_top_clearance": 0.014040410950474536, + "object_projection_between_fingers": 0.8057890790915109, + "object_to_finger_line_xy": 0.010826773507540084, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04914087955450534, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0610349885497443, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.28533172059108225, + 0.15522846915487745, + 1.2386109382493566 + ], + "held_position": [ + 0.29092164397887477, + 0.15978071197631294, + 1.2352519422466823 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007953176241771753, + "max_held_gripper_dist": 0.007955511250736553, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003358996002674308, + "max_held_gripper_z_dist": 0.0033856740969897547, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08609081489703405, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.29092164397887477, + 0.13431275832307987, + 1.2352519422466823 + ], + "held_grasp_finger_b": [ + 0.28082493246458773, + 0.15978071197631294, + 1.2352519422466823 + ], + "held_grasp_midpoint": [ + 0.28587328822173125, + 0.1470467351496964, + 1.2352519422466823 + ], + "held_grasp_object_position": [ + 0.29092164397887477, + 0.15978071197631294, + 1.2352519422466823 + ], + "held_grasp_finger_gap": 0.02739635462403646, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02473579138909169, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06594915576534463, + -0.9973970164752716, + 0.029153050956378657 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004214382980751509, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03216645967089146, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.27379948142735755, + -0.3239846150806507, + 0.8470196866065614 + ], + "target_position": [ + 0.2668283872925844, + -0.3263372612276455, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007357383864447889, + "xy_threshold": 0.08, + "gripper_dist": 0.1869723347017863, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196866065614, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07530210733607515, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08582605770510603, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15607330121726565, + "release_required_pad_clearance": 0.052913028852553015, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.864107574675539, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007268965244293213, + "max_z_decrease": 0.007268965244293213, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03511314845607948, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007268965244293213, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02122422865080205, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007268965244293213, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0072689840472854855, + "max_button_displacement": 0.12, + "button_start": [ + 0.12252831459045409, + -0.382598727941513, + 0.7768088579177856 + ], + "button_final": [ + 0.12252831459045409, + -0.382598727941513, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12241772459551742, + -0.3839290414983279, + 0.8076997478081548 + ], + "closest_button": [ + 0.12251753360033034, + -0.3825980722904205, + 0.7726119756698608 + ], + "closest_ee_minus_button": [ + -9.980900481292021e-05, + -0.0013309692079074287, + 0.03508777213829395 + ], + "button_min_z_position": [ + 0.12251178175210951, + -0.38259857892990107, + 0.7695398926734924 + ], + "min_active_finger_to_button": 0.14615961855763726, + "closest_active_finger": [ + -0.018720000982284546, + -0.367542564868927, + 0.8108228445053101 + ], + "closest_active_finger_button": [ + 0.12252844125032424, + -0.3825994133949279, + 0.7764018774032593 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1412484422326088, + 0.015056848526000921, + 0.03442096710205078 + ], + "min_contact_pad_to_button": 0.02122422865080205, + "closest_contact_pad": [ + 0.12251178175210951, + -0.38505496588908067, + 0.7906214970936569 + ], + "closest_contact_pad_button": [ + 0.12251178175210951, + -0.38259857892990107, + 0.7695398926734924 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0024563869591796017, + 0.02108160442016449 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 42, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "53ea2813d70db0c2e4f602ae14c89cf15fa120a5a7a28db75311328320ea5e56", + "visual_seed": 8519432016803595212, + "episode_index": 42, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_45_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_45_success.json new file mode 100644 index 0000000000000000000000000000000000000000..61933b9c47bc35d13ce802da162f19d005e39f59 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_45_success.json @@ -0,0 +1,926 @@ +{ + "episode": 45, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.28274713315092787, + 0.16384099759526477, + 1.0474189660186897 + ], + "current_z": 1.0474189660186897, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.1908324586101241, + "gripper_z": 1.0504572275285766, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.27760593775023823, + 0.15892178337523355, + 1.0504572275285766 + ], + "object_minus_gripper": [ + 0.005141195400689635, + 0.0049192142200312206, + -0.0030382615098869525 + ], + "object_to_gripper_xy": 0.007115515349616613, + "object_to_gripper_z": -0.0030382615098869525, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.28274713315092787, + 0.13940168059558825, + 1.0474189660186897 + ], + "finger_b": [ + 0.27075733886836706, + 0.16384099759526477, + 1.0474189660186897 + ], + "finger_midpoint": [ + 0.2767522360096475, + 0.15162133909542652, + 1.0474189660186897 + ], + "object_minus_finger_midpoint": [ + 0.005994897141280375, + 0.012219658499838248, + 0.0 + ], + "finger_gap": 0.02722196507140522, + "fingertip_max_gap": 0.09216268271653633, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013610982535702585, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0474189660186897, + "object_top_z": 1.093708781222377, + "finger_top_clearance": 0.046289815203687246, + "fingertip_min_top_clearance": 0.013886944561106207, + "object_projection_between_fingers": 0.8060076882125689, + "object_to_finger_line_xy": 0.01076418922968245, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048581341358268165, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7193900740904335, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.28260803992344985, + 0.1624276392538609, + 1.2413297651162138 + ], + "held_position": [ + 0.2880783541357858, + 0.16688861159847992, + 1.2381628564051212 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007736531692272372, + "max_held_gripper_dist": 0.0077442510351531, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0031669087110925975, + "max_held_gripper_z_dist": 0.003195804045296402, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08631189911416129, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2880783541357858, + 0.14147445903677577, + 1.2381628564051212 + ], + "held_grasp_finger_b": [ + 0.2781408980093993, + 0.16688861159847992, + 1.2381628564051212 + ], + "held_grasp_midpoint": [ + 0.28310962607259255, + 0.15418153531762785, + 1.2381628564051212 + ], + "held_grasp_object_position": [ + 0.2880783541357858, + 0.16688861159847992, + 1.2381628564051212 + ], + "held_grasp_finger_gap": 0.027287949440979085, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02459362069033795, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07463761490968338, + -0.9968984270621769, + 0.02495501075037354 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004019338866295696, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03216170659709869, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.27158723060008144, + -0.32790562756939057, + 0.8470196069203066 + ], + "target_position": [ + 0.2655299913055571, + -0.3300152994440076, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006414114380776184, + "xy_threshold": 0.08, + "gripper_dist": 0.18558278550085947, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196069203066, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07580282410470099, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08533870886667842, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15353450270590882, + "release_required_pad_clearance": 0.05266935443333921, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.39564694030977793, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.006894052028656006, + "max_z_decrease": 0.006894052028656006, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035144273799967915, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.006894052028656006, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.0210930398102952, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.006894052028656006, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00689407580706474, + "max_button_displacement": 0.12, + "button_start": [ + 0.12122991681098938, + -0.3862767517566681, + 0.7768088579177856 + ], + "button_final": [ + 0.12122991681098938, + -0.3862767517566681, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12134048526690863, + -0.3844979669368635, + 0.808262514708148 + ], + "closest_button": [ + 0.12122536450624466, + -0.3862760365009308, + 0.7731634378433228 + ], + "closest_ee_minus_button": [ + 0.00011512076066397259, + 0.0017780695640672861, + 0.035099076864825274 + ], + "button_min_z_position": [ + 0.12121181190013885, + -0.3862764835357666, + 0.7699148058891296 + ], + "min_active_finger_to_button": 0.14535728494708205, + "closest_active_finger": [ + -0.006476558744907379, + -0.4466102719306946, + 0.8106947541236877 + ], + "closest_active_finger_button": [ + 0.12122966349124907, + -0.38627693057060236, + 0.776347279548645 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12770622223615646, + -0.06033334136009222, + 0.034347474575042725 + ], + "min_contact_pad_to_button": 0.0210930398102952, + "closest_contact_pad": [ + 0.12121181190013885, + -0.3862764835357666, + 0.7910078456994248 + ], + "closest_contact_pad_button": [ + 0.12121181190013885, + -0.3862764835357666, + 0.7699148058891296 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.0210930398102952 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 45, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9e760e6e5d15356dffba3e33ddbc297756e018f7664b151ab165640b3f8eb76c", + "visual_seed": 468030995481065434, + "episode_index": 45, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_46_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_46_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f80a38206eaee2866e5c178467351a4b5dc2bdf5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_46_success.json @@ -0,0 +1,926 @@ +{ + "episode": 46, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2844401110992568, + 0.15614499433300935, + 1.044621592520901 + ], + "current_z": 1.044621592520901, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.18803520432162502, + "gripper_z": 1.0485932788591923, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2787811349557712, + 0.15105541629034508, + 1.0485932788591923 + ], + "object_minus_gripper": [ + 0.0056589761434855945, + 0.005089578042664272, + -0.003971686338291258 + ], + "object_to_gripper_xy": 0.0076110324953260694, + "object_to_gripper_z": -0.003971686338291258, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2844401110992568, + 0.1311139976821094, + 1.044621592520901 + ], + "finger_b": [ + 0.27249614536341354, + 0.15614499433300935, + 1.044621592520901 + ], + "finger_midpoint": [ + 0.27846812823133515, + 0.14362949600755937, + 1.044621592520901 + ], + "object_minus_finger_midpoint": [ + 0.005971982867921666, + 0.012515498325449986, + 0.0 + ], + "finger_gap": 0.027734619356255145, + "fingertip_max_gap": 0.09214271386853604, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013867309678127597, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.044621592520901, + "object_top_z": 1.0901506094378197, + "finger_top_clearance": 0.045529016916918685, + "fingertip_min_top_clearance": 0.013658705075075606, + "object_projection_between_fingers": 0.8145389654265982, + "object_to_finger_line_xy": 0.010779645557490898, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04857135693426802, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2599458298659172, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 216, + "max_stable_success_frames": 216, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.28363800102322656, + 0.15453070952542408, + 1.239340548155942 + ], + "held_position": [ + 0.2895360594666597, + 0.1592335235091526, + 1.2352396028690682 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008586111169419994, + "max_held_gripper_dist": 0.008588631459250321, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0041009452868738805, + "max_held_gripper_z_dist": 0.004131688151189028, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08652243687970967, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2895360594666597, + 0.13357316980235479, + 1.2352396028690682 + ], + "held_grasp_finger_b": [ + 0.2791630290889241, + 0.1592335235091526, + 1.2352396028690682 + ], + "held_grasp_midpoint": [ + 0.2843495442777919, + 0.1464033466557537, + 1.2352396028690682 + ], + "held_grasp_object_position": [ + 0.2895360594666597, + 0.1592335235091526, + 1.2352396028690682 + ], + "held_grasp_finger_gap": 0.027677671715218358, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02526608182581078, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.03619932209735236, + -0.9992683182222548, + 0.01234654919232758 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004721369282954318, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032191687385136114, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2753711395319816, + -0.32129587423988915, + 0.8470194251510514 + ], + "target_position": [ + 0.2680907094793581, + -0.32413429873567695, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007814174004297063, + "xy_threshold": 0.08, + "gripper_dist": 0.18594403797972886, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470194251510514, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07574978320711065, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08755866693076965, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15408427214545653, + "release_required_pad_clearance": 0.053779333465384827, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.5674936643212036, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007210493087768555, + "max_z_decrease": 0.007210493087768555, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035098853619715736, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007210493087768555, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02116144053872785, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007210493087768555, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00721051114249863, + "max_button_displacement": 0.12, + "button_start": [ + 0.12379063665866852, + -0.380395770072937, + 0.7768088579177856 + ], + "button_final": [ + 0.12379063665866852, + -0.380395770072937, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12299236846613734, + -0.38150714797191954, + 0.8077199213049978 + ], + "closest_button": [ + 0.12378042191267014, + -0.38039451837539673, + 0.7726475596427917 + ], + "closest_ee_minus_button": [ + -0.0007880534465327937, + -0.0011126295965228072, + 0.035072361662206064 + ], + "button_min_z_position": [ + 0.12377450615167619, + -0.3803953528404236, + 0.7695983648300171 + ], + "min_active_finger_to_button": 0.14687691149025944, + "closest_active_finger": [ + -0.01835355907678604, + -0.36697250604629517, + 0.8109077215194702 + ], + "closest_active_finger_button": [ + 0.12379050999879837, + -0.3803967237472534, + 0.7764449715614319 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1421440690755844, + 0.013424217700958252, + 0.03446274995803833 + ], + "min_contact_pad_to_button": 0.02116144053872785, + "closest_contact_pad": [ + 0.12377450615167619, + -0.3824582603305384, + 0.7906590148285652 + ], + "closest_contact_pad_button": [ + 0.12377450615167619, + -0.3803953528404236, + 0.7695983648300171 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0020629074901148403, + 0.021060649998548064 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 46, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "fe3fd8d2d0f3e6d583ff1aabedfd3792659498a4ff58d6404ca4f60469ea0a04", + "visual_seed": 3829205306856421388, + "episode_index": 46, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_47_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_47_success.json new file mode 100644 index 0000000000000000000000000000000000000000..25fef1af677787f3fc31ad6a0e9a678522c79b55 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_47_success.json @@ -0,0 +1,926 @@ +{ + "episode": 47, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.28216401092358234, + 0.15640930749469203, + 1.0472084245940565 + ], + "current_z": 1.0472084245940565, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.19062191718549093, + "gripper_z": 1.0502903505444754, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.27704948562686416, + 0.15148564045734667, + 1.0502903505444754 + ], + "object_minus_gripper": [ + 0.0051145252967181865, + 0.0049236670373453695, + -0.0030819259504188956 + ], + "object_to_gripper_xy": 0.007099356738846949, + "object_to_gripper_z": -0.0030819259504188956, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.28216401092358234, + 0.1320230652420128, + 1.0472084245940565 + ], + "finger_b": [ + 0.2701191724461451, + 0.15640930749469203, + 1.0472084245940565 + ], + "finger_midpoint": [ + 0.27614159168486374, + 0.14421618636835243, + 1.0472084245940565 + ], + "object_minus_finger_midpoint": [ + 0.0060224192387186015, + 0.012193121126339607, + 0.0 + ], + "finger_gap": 0.027198657046882138, + "fingertip_max_gap": 0.09209031581315094, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013599328523441045, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0472084245940565, + "object_top_z": 1.0934857192554803, + "finger_top_clearance": 0.04627729466142383, + "fingertip_min_top_clearance": 0.013883188398427148, + "object_projection_between_fingers": 0.8038867039167733, + "object_to_finger_line_xy": 0.01079936956074264, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04854515790657547, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6820100621549049, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.28204029894770133, + 0.1548295674908528, + 1.242485406328371 + ], + "held_position": [ + 0.28751377809451223, + 0.15926982995381372, + 1.2392885317614044 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007739180299454939, + "max_held_gripper_dist": 0.007742061154527948, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003196874566966601, + "max_held_gripper_z_dist": 0.0032212060466738635, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08667561986253036, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.28751377809451223, + 0.13385737904665243, + 1.2392885317614044 + ], + "held_grasp_finger_b": [ + 0.27757210325220416, + 0.15926982995381372, + 1.2392885317614044 + ], + "held_grasp_midpoint": [ + 0.28254294067335817, + 0.1465636045002331, + 1.2392885317614044 + ], + "held_grasp_object_position": [ + 0.28751377809451223, + 0.15926982995381372, + 1.2392885317614044 + ], + "held_grasp_finger_gap": 0.027287901344351568, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024522372087641565, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08040796276778484, + -0.9964313163149312, + 0.025674722791651394 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003946992277072002, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03213964910142026, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.27713676206404836, + -0.3262535422371068, + 0.8470195583924435 + ], + "target_position": [ + 0.27071158390109923, + -0.3279719554169801, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00665100430629846, + "xy_threshold": 0.08, + "gripper_dist": 0.1855855255192164, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195583924435, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07513576376720103, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08686388529496135, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15503635804214771, + "release_required_pad_clearance": 0.053431942647480676, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.877989388408253, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007058203220367432, + "max_z_decrease": 0.007058203220367432, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03515341925405168, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007058203220367432, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021274597170712888, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007058203220367432, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007058223641058215, + "max_button_displacement": 0.12, + "button_start": [ + 0.12641151249408716, + -0.3842334151268005, + 0.7768088579177856 + ], + "button_final": [ + 0.12641151249408716, + -0.3842334151268005, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12513711054535914, + -0.3860992871541347, + 0.8081328761713615 + ], + "closest_button": [ + 0.12640260159969327, + -0.3842362165451049, + 0.7730516791343689 + ], + "closest_ee_minus_button": [ + -0.001265491054334128, + -0.0018630706090297933, + 0.03508119703699264 + ], + "button_min_z_position": [ + 0.12639458477497095, + -0.3842321038246155, + 0.7697506546974182 + ], + "min_active_finger_to_button": 0.14720160550063266, + "closest_active_finger": [ + -0.015877321362495422, + -0.3686225116252899, + 0.8111317753791809 + ], + "closest_active_finger_button": [ + 0.1264107972383499, + -0.3842345476150512, + 0.7768000364303589 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1422881186008453, + 0.015612035989761297, + 0.03433173894882202 + ], + "min_contact_pad_to_button": 0.021274597170712888, + "closest_contact_pad": [ + 0.12639458477497095, + -0.38738543553172816, + 0.7907902598249158 + ], + "closest_contact_pad_button": [ + 0.12639458477497095, + -0.3842321038246155, + 0.7697506546974182 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.003153331707112683, + 0.021039605127497585 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 47, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5c9167fb737fae0110857d4e6f011cabbc069fd0311f1b089c1028c212bae821", + "visual_seed": 1002147702809927661, + "episode_index": 47, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_48_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_48_success.json new file mode 100644 index 0000000000000000000000000000000000000000..fa42ef8fea246609bc256ae7ccbc5262ad7afc8d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_48_success.json @@ -0,0 +1,926 @@ +{ + "episode": 48, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2878620924930408, + 0.15735143832784532, + 1.0454266060570996 + ], + "current_z": 1.0454266060570996, + "required_z": 0.8565866862225, + "initial_z": 0.7565866862225, + "lift_margin": 0.18883991983459958, + "gripper_z": 1.0483679791539051, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.28257503709617726, + 0.15245271695259618, + 1.0483679791539051 + ], + "object_minus_gripper": [ + 0.005287055396863527, + 0.004898721375249132, + -0.002941373096805533 + ], + "object_to_gripper_xy": 0.0072076643846551635, + "object_to_gripper_z": -0.002941373096805533, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2878620924930408, + 0.13268768530485342, + 1.0454266060570996 + ], + "finger_b": [ + 0.2760544120270999, + 0.15735143832784532, + 1.0454266060570996 + ], + "finger_midpoint": [ + 0.2819582522600703, + 0.14501956181634937, + 1.0454266060570996 + ], + "object_minus_finger_midpoint": [ + 0.00590384023297047, + 0.012331876511495948, + 0.0 + ], + "finger_gap": 0.027344506416552918, + "fingertip_max_gap": 0.09294331492728272, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013672253208276471, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0454266060570996, + "object_top_z": 1.091976691774038, + "finger_top_clearance": 0.04655008571693853, + "fingertip_min_top_clearance": 0.013965025715081575, + "object_projection_between_fingers": 0.8135385715884922, + "object_to_finger_line_xy": 0.010650099524564144, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04897165746364136, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8932985834294574, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.28753093394081375, + 0.15586418300804672, + 1.2406921316527784 + ], + "held_position": [ + 0.2931061429847492, + 0.16035702719827802, + 1.2376360268353297 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007785138499507094, + "max_held_gripper_dist": 0.007787709726295357, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0030561048174486682, + "max_held_gripper_z_dist": 0.003083908174234873, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08727306539078264, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2931061429847492, + 0.13491151192235182, + 1.2376360268353297 + ], + "held_grasp_finger_b": [ + 0.2830332308465787, + 0.16035702719827802, + 1.2376360268353297 + ], + "held_grasp_midpoint": [ + 0.2880696869156639, + 0.14763426956031492, + 1.2376360268353297 + ], + "held_grasp_object_position": [ + 0.2931061429847492, + 0.16035702719827802, + 1.2376360268353297 + ], + "held_grasp_finger_gap": 0.02736672809454385, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02478516290191061, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06004763909870018, + -0.9978189562809789, + 0.027415534373968823 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004277979422586541, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.0322027889221097, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2757932640177544, + -0.32531477992504987, + 0.8470196126822175 + ], + "target_position": [ + 0.2682044158966222, + -0.32787626824952915, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00800948426816954, + "xy_threshold": 0.08, + "gripper_dist": 0.18732075450418695, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196126822175, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07541031389869088, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08496637212682144, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15612283735663407, + "release_required_pad_clearance": 0.05248318606341072, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.03955897162247691, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.006914913654327393, + "max_z_decrease": 0.006914913654327393, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035132075582737565, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.006914913654327393, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021068162001768555, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.006914913654327393, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.006914937410598455, + "max_button_displacement": 0.12, + "button_start": [ + 0.12390433996915816, + -0.38413771986961365, + 0.7768088579177856 + ], + "button_final": [ + 0.12390433996915816, + -0.38413771986961365, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1221992722289518, + -0.383302279933669, + 0.8080279763661931 + ], + "closest_button": [ + 0.1238933503627777, + -0.3841377198696136, + 0.7729467153549194 + ], + "closest_ee_minus_button": [ + -0.0016940781338258964, + 0.000835439935944593, + 0.03508126101127362 + ], + "button_min_z_position": [ + 0.12388625741004942, + -0.3841364681720733, + 0.7698939442634583 + ], + "min_active_finger_to_button": 0.14731463278796653, + "closest_active_finger": [ + -0.005427263677120209, + -0.4457489550113678, + 0.8106290698051453 + ], + "closest_active_finger_button": [ + 0.12390450388193128, + -0.38413858413696284, + 0.7762916684150696 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12933176755905149, + -0.06161037087440496, + 0.034337401390075684 + ], + "min_contact_pad_to_button": 0.021068162001768555, + "closest_contact_pad": [ + 0.12388625741004942, + -0.3845246987911025, + 0.7909585289287018 + ], + "closest_contact_pad_button": [ + 0.12388625741004942, + -0.3841364681720733, + 0.7698939442634583 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0003882306190292062, + 0.021064584665243524 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 48, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7c234f9eb91be095ca592c3ddae1d7481a0f0e0b5f5ab5a393c189fdefae64f5", + "visual_seed": 5221313172085002151, + "episode_index": 48, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_49_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_49_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5388fcc775094df9c1c0a5590ec6da85165e5320 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_49_success.json @@ -0,0 +1,926 @@ +{ + "episode": 49, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2878291453839445, + 0.16282196965779433, + 1.0455088254701996 + ], + "current_z": 1.0455088254701996, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.1889222584569893, + "gripper_z": 1.0483778781969317, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.282605100319633, + 0.15795049181968734, + 1.0483778781969317 + ], + "object_minus_gripper": [ + 0.005224045064311511, + 0.004871477838106986, + -0.002869052726732102 + ], + "object_to_gripper_xy": 0.0071429645918991485, + "object_to_gripper_z": -0.002869052726732102, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2878291453839445, + 0.1381742553914157, + 1.0455088254701996 + ], + "finger_b": [ + 0.27609475224938307, + 0.16282196965779433, + 1.0455088254701996 + ], + "finger_midpoint": [ + 0.2819619488166638, + 0.15049811252460502, + 1.0455088254701996 + ], + "object_minus_finger_midpoint": [ + 0.005867196567280686, + 0.012323857133189314, + 0.0 + ], + "finger_gap": 0.027298457846433137, + "fingertip_max_gap": 0.09552030535665654, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013649228923216556, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0455088254701996, + "object_top_z": 1.0930602598704724, + "finger_top_clearance": 0.04755143440027276, + "fingertip_min_top_clearance": 0.01426543032008181, + "object_projection_between_fingers": 0.815224221161691, + "object_to_finger_line_xy": 0.01059495634138232, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05026015267832827, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.8012679420913889, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2875993741476454, + 0.16097876614209794, + 1.2389373241606996 + ], + "held_position": [ + 0.2931167328075009, + 0.16543354257581394, + 1.2359378091925992 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0076995694489842585, + "max_held_gripper_dist": 0.0077017216418043734, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0029995149681003586, + "max_held_gripper_z_dist": 0.0030283014557430654, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08735069980478098, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2931167328075009, + 0.13994709112188786, + 1.2359378091925992 + ], + "held_grasp_finger_b": [ + 0.28325635355217704, + 0.16543354257581394, + 1.2359378091925992 + ], + "held_grasp_midpoint": [ + 0.28818654317983894, + 0.1526903168488509, + 1.2359378091925992 + ], + "held_grasp_object_position": [ + 0.2931167328075009, + 0.16543354257581394, + 1.2359378091925992 + ], + "held_grasp_finger_gap": 0.027327390778706846, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024926693540941097, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.051444865834702334, + -0.9979403949109799, + 0.03831962922794596 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004296484488549804, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03222961230747081, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.27519460956269554, + -0.32213735672965893, + 0.8470197067590011 + ], + "target_position": [ + 0.27057738029067424, + -0.32322974531273413, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.004744693769553872, + "xy_threshold": 0.08, + "gripper_dist": 0.18482994296345298, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470197067590011, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0756521173825558, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08671689446360266, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1527943451994506, + "release_required_pad_clearance": 0.05335844723180133, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.7318469076422804, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.006947457790374756, + "max_z_decrease": 0.006947457790374756, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035179322839536224, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.006947457790374756, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021132555061779766, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.006947457790374756, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.006947481974628741, + "max_button_displacement": 0.12, + "button_start": [ + 0.12627731263637543, + -0.3794912099838257, + 0.7768088579177856 + ], + "button_final": [ + 0.12627731263637543, + -0.3794912099838257, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1283316871961422, + -0.37961245596056276, + 0.8082236155835757 + ], + "closest_button": [ + 0.1262698918581009, + -0.37949335575103754, + 0.7731049656867981 + ], + "closest_ee_minus_button": [ + 0.0020617953380413223, + -0.00011910020952521361, + 0.0351186498967776 + ], + "button_min_z_position": [ + 0.126258984208107, + -0.3794915378093719, + 0.7698614001274109 + ], + "min_active_finger_to_button": 0.14418691456349367, + "closest_active_finger": [ + -0.012666232883930206, + -0.3619460165500641, + 0.8105807900428772 + ], + "closest_active_finger_button": [ + 0.12627668678760529, + -0.37949216365814203, + 0.7762753367424011 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1389429196715355, + 0.017546147108077947, + 0.034305453300476074 + ], + "min_contact_pad_to_button": 0.021132555061779766, + "closest_contact_pad": [ + 0.126258984208107, + -0.3808799119879977, + 0.7909482989174008 + ], + "closest_contact_pad_button": [ + 0.126258984208107, + -0.3794915378093719, + 0.7698614001274109 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0013883741786258064, + 0.021086898789989927 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 49, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "158e60ef4ca2c944f13c0314cb46e342a1d4121cb9059cba047925ee37efa99e", + "visual_seed": 182905149634150737, + "episode_index": 49, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_50_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_50_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9fa85b895d11c23ed3b5e1b7a28d45f12d8994ff --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_50_success.json @@ -0,0 +1,926 @@ +{ + "episode": 50, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.28434123872078504, + 0.15857950815233451, + 1.0461341296115452 + ], + "current_z": 1.0461341296115452, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.1895476222029796, + "gripper_z": 1.0492297176344783, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.27915230229815646, + 0.15357153743992025, + 1.0492297176344783 + ], + "object_minus_gripper": [ + 0.005188936422628576, + 0.005007970712414267, + -0.0030955880229330823 + ], + "object_to_gripper_xy": 0.007211437571974156, + "object_to_gripper_z": -0.0030955880229330823, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.28434123872078504, + 0.1341975100134098, + 1.0461341296115452 + ], + "finger_b": [ + 0.27210740383278786, + 0.15857950815233451, + 1.0461341296115452 + ], + "finger_midpoint": [ + 0.2782243212767864, + 0.14638850908287215, + 1.0461341296115452 + ], + "object_minus_finger_midpoint": [ + 0.006116917443998615, + 0.01219099906946236, + 0.0 + ], + "finger_gap": 0.027279086299091936, + "fingertip_max_gap": 0.0923727504107357, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01363954314954598, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0461341296115452, + "object_top_z": 1.0924374074746601, + "finger_top_clearance": 0.046303277863114944, + "fingertip_min_top_clearance": 0.013890983358934449, + "object_projection_between_fingers": 0.7988752162388972, + "object_to_finger_line_xy": 0.010934579560349475, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04868637520536785, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.825868745393213, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2841896924330773, + 0.15693395444919755, + 1.238519472109839 + ], + "held_position": [ + 0.2897439597655182, + 0.1614286306639447, + 1.2352745344808678 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007847395752193646, + "max_held_gripper_dist": 0.007854189555688739, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0032449376289711562, + "max_held_gripper_z_dist": 0.0032712234098684068, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08733571059396597, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2897439597655182, + 0.13592192392945646, + 1.2352745344808678 + ], + "held_grasp_finger_b": [ + 0.2798461941400835, + 0.1614286306639447, + 1.2352745344808678 + ], + "held_grasp_midpoint": [ + 0.2847950769528008, + 0.14867527729670058, + 1.2352745344808678 + ], + "held_grasp_object_position": [ + 0.2897439597655182, + 0.1614286306639447, + 1.2352745344808678 + ], + "held_grasp_finger_gap": 0.02735978532107342, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02462046668308642, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08037867872938431, + -0.9964452201140628, + 0.025222833257895205 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003921402773600358, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03209442230092201, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.26889752094604163, + -0.32509471551521685, + 0.847019522218446 + ], + "target_position": [ + 0.2625890903779789, + -0.32736706749112304, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00670521287764029, + "xy_threshold": 0.08, + "gripper_dist": 0.18651368975963414, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.847019522218446, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0758755109397966, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08530941548639619, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15409695363494308, + "release_required_pad_clearance": 0.052654707743198095, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.36476235217761827, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0072152018547058105, + "max_z_decrease": 0.0072152018547058105, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035079786807849164, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0072152018547058105, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02113031807124611, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.0072152018547058105, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007215223744430668, + "max_button_displacement": 0.12, + "button_start": [ + 0.11828901618719097, + -0.38362851738929743, + 0.7768088579177856 + ], + "button_final": [ + 0.11828901618719097, + -0.38362851738929743, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11870418950453207, + -0.3835819083803499, + 0.8075106775094091 + ], + "closest_button": [ + 0.11827703565359111, + -0.3836261630058288, + 0.7724335193634033 + ], + "closest_ee_minus_button": [ + 0.00042715385094095615, + 4.4254625478912235e-05, + 0.03507715814600576 + ], + "button_min_z_position": [ + 0.11827126145362851, + -0.38362771272659296, + 0.7695936560630798 + ], + "min_active_finger_to_button": 0.14580840066700268, + "closest_active_finger": [ + -0.022615589201450348, + -0.3689833879470825, + 0.8109778761863708 + ], + "closest_active_finger_button": [ + 0.11828974634408945, + -0.3836282789707184, + 0.7764626145362854 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1409053355455398, + 0.014644891023635864, + 0.03451526165008545 + ], + "min_contact_pad_to_button": 0.02113031807124611, + "closest_contact_pad": [ + 0.11827126145362851, + -0.38456264846478705, + 0.7907032803363225 + ], + "closest_contact_pad_button": [ + 0.11827126145362851, + -0.38362771272659296, + 0.7695936560630798 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.000934935738194087, + 0.0211096242732427 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 50, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "35f05fd70854a4ff2a64dd4e3647940ce0c1e0c4a3e6e8fb69d4b0bde7d53968", + "visual_seed": 3240165696905546291, + "episode_index": 50, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_51_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_51_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1766eb83c0be0b7245619e47fc231a5e3f0e957a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_51_success.json @@ -0,0 +1,926 @@ +{ + "episode": 51, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.28791519377285124, + 0.15619661606127652, + 1.003419112028768 + ], + "current_z": 1.003419112028768, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.1468326642248473, + "gripper_z": 1.0490360749266447, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.28289251162089235, + 0.149819953230296, + 1.0490360749266447 + ], + "object_minus_gripper": [ + 0.0050226821519588905, + 0.006376662830980512, + -0.045616962897876645 + ], + "object_to_gripper_xy": 0.008117214107045273, + "object_to_gripper_z": -0.045616962897876645, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.28791519377285124, + 0.12965334243467488, + 1.0354631775970855 + ], + "finger_b": [ + 0.2764752343409229, + 0.15619661606127652, + 1.0355467297949021 + ], + "finger_midpoint": [ + 0.2821952140568871, + 0.1429249792479757, + 1.0355049536959937 + ], + "object_minus_finger_midpoint": [ + 0.005719979715964163, + 0.013271636813300819, + -0.03208584166722561 + ], + "finger_gap": 0.028903719961115244, + "fingertip_max_gap": 0.10126762279075505, + "finger_z_skew": 8.35521978166387e-05, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.014451799599191894, + "object_to_finger_midpoint_z": 0.03208584166722561, + "finger_midpoint_minus_object_z": 0.03208584166722561, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.003419112028768, + "object_top_z": 1.0523972266460724, + "finger_top_clearance": 0.01689227295007867, + "fingertip_min_top_clearance": 0.014693434385191266, + "object_projection_between_fingers": 0.8433446915187748, + "object_to_finger_line_xy": 0.010505749522567267, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.053133811395377525, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.678441439651534, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 201, + "max_stable_success_frames": 201, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2939993161661872, + 0.13379348060239124, + 1.1994746935024405 + ], + "held_position": [ + 0.29772726574481373, + 0.13442028174246015, + 1.153282737786747 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.046346383468082696, + "max_held_gripper_dist": 0.04636827755317462, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.04619195571569357, + "max_held_gripper_z_dist": 0.04622481174508897, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.09211168598285112, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.29772726574481373, + 0.1074118403937163, + 1.1869305738472238 + ], + "held_grasp_finger_b": [ + 0.29772726574481373, + 0.15915385916767386, + 1.1819889653960227 + ], + "held_grasp_midpoint": [ + 0.29772726574481373, + 0.13328284978069507, + 1.1844597696216232 + ], + "held_grasp_object_position": [ + 0.29772726574481373, + 0.13442028174246015, + 1.153282737786747 + ], + "held_grasp_finger_gap": 0.051977456660455765, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.047048455765357634, + "held_grasp_world_z_skew": 0.004941608451201063, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.4247728337351174, + -0.8996142473535131, + 0.10130274270329864 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.030916266715117265, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.04101865613339063, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2775132734162752, + -0.3221997764562662, + 0.8470194837801361 + ], + "target_position": [ + 0.26563486855846635, + -0.3256936844151817, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.012381595001912707, + "xy_threshold": 0.08, + "gripper_dist": 0.19122985162982015, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470194837801361, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07544527524256536, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09046318161861268, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1599475479441705, + "release_required_pad_clearance": 0.05523159080930634, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 5.5658227387201205, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007152259349822998, + "max_z_decrease": 0.007152259349822998, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03510098005946697, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007152259349822998, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02110068025610006, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007152259349822998, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007152279157155085, + "max_button_displacement": 0.12, + "button_start": [ + 0.12133479118347171, + -0.3819551467895508, + 0.7768088579177856 + ], + "button_final": [ + 0.12133479118347171, + -0.3819551467895508, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12086430124225278, + -0.38106502409968895, + 0.8077048800476387 + ], + "closest_button": [ + 0.12132348865270616, + -0.3819544315338135, + 0.7726181745529175 + ], + "closest_ee_minus_button": [ + -0.0004591874104533794, + 0.0008894074341245228, + 0.03508670549472126 + ], + "button_min_z_position": [ + 0.12131796032190324, + -0.3819549083709717, + 0.7696565985679626 + ], + "min_active_finger_to_button": 0.14621778967816432, + "closest_active_finger": [ + -0.006510384380817413, + -0.44402968883514404, + 0.8108447790145874 + ], + "closest_active_finger_button": [ + 0.12133489549160005, + -0.3819557726383209, + 0.7764637470245361 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12784527987241745, + -0.06207391619682312, + 0.03438103199005127 + ], + "min_contact_pad_to_button": 0.02110068025610006, + "closest_contact_pad": [ + 0.12131796032190324, + -0.3821826459671914, + 0.7907560498133728 + ], + "closest_contact_pad_button": [ + 0.12131796032190324, + -0.3819549083709717, + 0.7696565985679626 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00022773759621974587, + 0.021099451245410128 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 51, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "02b8bbabf747442f32dc455e5a4bdbe27dbaeffa2d8edade68aa29a52e4bc9cf", + "visual_seed": 4639277797039831226, + "episode_index": 51, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_52_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_52_success.json new file mode 100644 index 0000000000000000000000000000000000000000..efe2c6844151a1fdfff63fb0e26f7637b1940989 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_52_success.json @@ -0,0 +1,926 @@ +{ + "episode": 52, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.28371193768592917, + 0.1579181049157482, + 1.0464889586447235 + ], + "current_z": 1.0464889586447235, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.1899024512361579, + "gripper_z": 1.0505729160227375, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.27801376869169847, + 0.15276624629270552, + 1.0505729160227375 + ], + "object_minus_gripper": [ + 0.005698168994230701, + 0.005151858623042682, + -0.004083957378014036 + ], + "object_to_gripper_xy": 0.007681847249108209, + "object_to_gripper_z": -0.004083957378014036, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.28371193768592917, + 0.13292260784544205, + 1.0464889586447235 + ], + "finger_b": [ + 0.27159745955987635, + 0.1579181049157482, + 1.0464889586447235 + ], + "finger_midpoint": [ + 0.27765469862290276, + 0.14542035638059514, + 1.0464889586447235 + ], + "object_minus_finger_midpoint": [ + 0.0060572390630264095, + 0.012497748535153064, + 0.0 + ], + "finger_gap": 0.027776527033779724, + "fingertip_max_gap": 0.09228122335641029, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013888263516889848, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0464889586447235, + "object_top_z": 1.0920132638427007, + "finger_top_clearance": 0.04552430519797723, + "fingertip_min_top_clearance": 0.013657291559393136, + "object_projection_between_fingers": 0.8097811584747688, + "object_to_finger_line_xy": 0.0109015573523569, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048640611678205145, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.4176955139460965, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2828580682230681, + 0.15618414569046124, + 1.241134647906218 + ], + "held_position": [ + 0.2888248332342384, + 0.16091027031213387, + 1.2369249540669702 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008698279189489556, + "max_held_gripper_dist": 0.008703523637255696, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004209693839247741, + "max_held_gripper_z_dist": 0.004238381303425687, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08760436290302215, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2888248332342384, + 0.1352296944921943, + 1.2369249540669702 + ], + "held_grasp_finger_b": [ + 0.27836541383540725, + 0.16091027031213387, + 1.2369249540669702 + ], + "held_grasp_midpoint": [ + 0.28359512353482286, + 0.14806998240216407, + 1.2369249540669702 + ], + "held_grasp_object_position": [ + 0.2888248332342384, + 0.16091027031213387, + 1.2369249540669702 + ], + "held_grasp_finger_gap": 0.027728891586291556, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02525778537663921, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.03840424185172594, + -0.9991781971234995, + 0.012963201796909352 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004735702093292684, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032169646205269825, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2749119152366667, + -0.32540538239975797, + 0.8470196153944176 + ], + "target_position": [ + 0.26702027608305506, + -0.328766637519555, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008577645627512115, + "xy_threshold": 0.08, + "gripper_dist": 0.1858781115424669, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196153944176, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07584363752876831, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08783243142991147, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1538423366832606, + "release_required_pad_clearance": 0.05391621571495574, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.8418527230119546, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007018744945526123, + "max_z_decrease": 0.007018744945526123, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03512124427655701, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007018744945526123, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02112843275854227, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007018744945526123, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007018763743957056, + "max_button_displacement": 0.12, + "button_start": [ + 0.12272020429372786, + -0.3850280940532685, + 0.7768088579177856 + ], + "button_final": [ + 0.12272020429372786, + -0.3850280940532685, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12368578848051279, + -0.3850491565077785, + 0.8081723616382407 + ], + "closest_button": [ + 0.12271245568990706, + -0.38502836227417, + 0.7730646133422852 + ], + "closest_ee_minus_button": [ + 0.0009733327906057271, + -2.079423360851207e-05, + 0.03510774829595553 + ], + "button_min_z_position": [ + 0.12270396202802657, + -0.3850283622741699, + 0.7697901129722595 + ], + "min_active_finger_to_button": 0.1452556734185864, + "closest_active_finger": [ + -0.017249353229999542, + -0.3669133186340332, + 0.8111596703529358 + ], + "closest_active_finger_button": [ + 0.12271867692470549, + -0.385029137134552, + 0.7768088579177856 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13996803015470505, + 0.0181158185005188, + 0.034350812435150146 + ], + "min_contact_pad_to_button": 0.02112843275854227, + "closest_contact_pad": [ + 0.12270396202802657, + -0.3863264739389878, + 0.790878630628508 + ], + "closest_contact_pad_button": [ + 0.12270396202802657, + -0.3850283622741699, + 0.7697901129722595 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0012981116648178581, + 0.02108851765624853 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 52, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "14aa03984e9491d188f91c075057509d123050037f8d8f268684902a221c8609", + "visual_seed": 5897998644404756345, + "episode_index": 52, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_53_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_53_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5104c984c237aab5d7db1ec0151535eb556fe3de --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_53_success.json @@ -0,0 +1,926 @@ +{ + "episode": 53, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2787897826893565, + 0.1638902588774858, + 1.047898739266923 + ], + "current_z": 1.047898739266923, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.19131223185835744, + "gripper_z": 1.0512299756352779, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.27352825710615974, + 0.15884864653216582, + 1.0512299756352779 + ], + "object_minus_gripper": [ + 0.005261525583196758, + 0.005041612345319968, + -0.003331236368354862 + ], + "object_to_gripper_xy": 0.007287078049747833, + "object_to_gripper_z": -0.003331236368354862, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2787897826893565, + 0.13944804772009553, + 1.047898739266923 + ], + "finger_b": [ + 0.26651829861357745, + 0.1638902588774858, + 1.047898739266923 + ], + "finger_midpoint": [ + 0.272654040651467, + 0.15166915329879066, + 1.047898739266923 + ], + "object_minus_finger_midpoint": [ + 0.0061357420378895244, + 0.01222110557869513, + 0.0 + ], + "finger_gap": 0.027349789902018473, + "fingertip_max_gap": 0.09238511780111491, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013674894951009237, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.047898739266923, + "object_top_z": 1.0942865370330404, + "finger_top_clearance": 0.046387797766117345, + "fingertip_min_top_clearance": 0.013916339329835202, + "object_projection_between_fingers": 0.7986803404294223, + "object_to_finger_line_xy": 0.010966892472274795, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04869255890055746, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.822306269107923, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.27853238516874956, + 0.16222564105590187, + 1.2406054026275823 + ], + "held_position": [ + 0.2841545707756204, + 0.16675903633705935, + 1.237134874009781 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008012815526411733, + "max_held_gripper_dist": 0.008018624606056882, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003470528617801394, + "max_held_gripper_z_dist": 0.0034987523944900456, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08632751139228442, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2841545707756204, + 0.14124814941550204, + 1.237134874009781 + ], + "held_grasp_finger_b": [ + 0.27411808924289116, + 0.16675903633705935, + 1.237134874009781 + ], + "held_grasp_midpoint": [ + 0.27913633000925575, + 0.15400359287628068, + 1.237134874009781 + ], + "held_grasp_object_position": [ + 0.2841545707756204, + 0.16675903633705935, + 1.237134874009781 + ], + "held_grasp_finger_gap": 0.027414162636879846, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02461454359853388, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08021743694695582, + -0.9964233897949923, + 0.026562964426397828 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00399371536858368, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03208785234202284, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2744462879386398, + -0.3299468962994242, + 0.8470193257224707 + ], + "target_position": [ + 0.26807748751985316, + -0.33179815715797634, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006632404205169033, + "xy_threshold": 0.08, + "gripper_dist": 0.1837889361428048, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470193257224707, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07542494982661377, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08556556584579188, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1525359961689568, + "release_required_pad_clearance": 0.05278278292289594, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6129338994573418, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 147, + "max_placed_release_frames": 147 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007321000099182129, + "max_z_decrease": 0.007321000099182129, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03511328137222582, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007321000099182129, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021153141900206562, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007321000099182129, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007321021540285214, + "max_button_displacement": 0.12, + "button_start": [ + 0.12377741187810895, + -0.3880596160888671, + 0.7768088579177856 + ], + "button_final": [ + 0.12377741187810895, + -0.3880596160888671, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12473715717975395, + -0.38859336491913743, + 0.8079136184274827 + ], + "closest_button": [ + 0.12377196550369261, + -0.38805910944938654, + 0.7728176712989807 + ], + "closest_ee_minus_button": [ + 0.000965191676061336, + -0.0005342554697508883, + 0.03509594712850195 + ], + "button_min_z_position": [ + 0.12375969439744948, + -0.3880594372749328, + 0.7694878578186035 + ], + "min_active_finger_to_button": 0.14522523427321277, + "closest_active_finger": [ + -0.016442731022834778, + -0.3724093437194824, + 0.8109400272369385 + ], + "closest_active_finger_button": [ + 0.12377729266881941, + -0.388059914112091, + 0.7765340209007263 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1402200236916542, + 0.015650570392608587, + 0.03440600633621216 + ], + "min_contact_pad_to_button": 0.021153141900206562, + "closest_contact_pad": [ + 0.12375969439744948, + -0.3896828840866814, + 0.7905786101214423 + ], + "closest_contact_pad_button": [ + 0.12375969439744948, + -0.3880594372749328, + 0.7694878578186035 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0016234468117485856, + 0.021090752302838744 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 53, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "703a0e57e2c633d1f5f326614132a71feb51dff2cabb76e6fc5170a6528ad73b", + "visual_seed": 1251364642947614104, + "episode_index": 53, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_54_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_54_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ff7b354bbba79a360fb789d025a0aa1f83b2e900 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_54_success.json @@ -0,0 +1,926 @@ +{ + "episode": 54, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2823582945731337, + 0.16020506373510304, + 1.0455758344216475 + ], + "current_z": 1.0455758344216475, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.1889893270130819, + "gripper_z": 1.048677688839803, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.27725913260313495, + 0.1553105551085901, + 1.048677688839803 + ], + "object_minus_gripper": [ + 0.005099161969998767, + 0.0048945086265129445, + -0.0031018544181555807 + ], + "object_to_gripper_xy": 0.007068073817617593, + "object_to_gripper_z": -0.0031018544181555807, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2823582945731337, + 0.13581555555151217, + 1.0455758344216475 + ], + "finger_b": [ + 0.27037037948450554, + 0.16020506373510304, + 1.0455758344216475 + ], + "finger_midpoint": [ + 0.27636433702881963, + 0.1480103096433076, + 1.0455758344216475 + ], + "object_minus_finger_midpoint": [ + 0.005993957544314088, + 0.012194754091795434, + 0.0 + ], + "finger_gap": 0.027176427609411895, + "fingertip_max_gap": 0.09210368144980186, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013588213804705948, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0455758344216475, + "object_top_z": 1.091777900268578, + "finger_top_clearance": 0.04620206584693043, + "fingertip_min_top_clearance": 0.013860619754079095, + "object_projection_between_fingers": 0.8054180364585384, + "object_to_finger_line_xy": 0.010758564641403819, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04855184072490093, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7108632039529728, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2822366701207585, + 0.1585703383421304, + 1.2370625678433813 + ], + "held_position": [ + 0.28766723873702776, + 0.16299251010268126, + 1.2338140579010326 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007720070946653318, + "max_held_gripper_dist": 0.00772333731613815, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0032485099423487096, + "max_held_gripper_z_dist": 0.0032734441437531903, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08727151155752785, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.28766723873702776, + 0.13755583878903407, + 1.2338140579010326 + ], + "held_grasp_finger_b": [ + 0.2778926493980829, + 0.16299251010268126, + 1.2338140579010326 + ], + "held_grasp_midpoint": [ + 0.28277994406755536, + 0.15027417444585767, + 1.2338140579010326 + ], + "held_grasp_object_position": [ + 0.28766723873702776, + 0.16299251010268126, + 1.2338140579010326 + ], + "held_grasp_finger_gap": 0.027250079711140966, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02460576055764097, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07661967584642213, + -0.9967769018078879, + 0.023774635548362566 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003910507308024318, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032148418820308444, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.26763085873279013, + -0.32592972403643705, + 0.8470195684743849 + ], + "target_position": [ + 0.261571879250025, + -0.3278781701885237, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006364563989791453, + "xy_threshold": 0.08, + "gripper_dist": 0.18549227754340744, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195684743849, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07551188837882725, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08511942572836782, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15386922045262483, + "release_required_pad_clearance": 0.05255971286418391, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.18557404040814465, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.006855309009552002, + "max_z_decrease": 0.006855309009552002, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035112585645040335, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.006855309009552002, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021233917149595473, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.006855309009552002, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00685532741888368, + "max_button_displacement": 0.12, + "button_start": [ + 0.11727180331945415, + -0.38413962721824646, + 0.7768088579177856 + ], + "button_final": [ + 0.11727180331945415, + -0.38413962721824646, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11687739947974099, + -0.38570073173511626, + 0.8079576143967722 + ], + "closest_button": [ + 0.11726173013448711, + -0.38413804769515997, + 0.7728819251060486 + ], + "closest_ee_minus_button": [ + -0.0003843306547461206, + -0.001562684039956297, + 0.03507568929072358 + ], + "button_min_z_position": [ + 0.11725593358278269, + -0.38413888216018677, + 0.7699535489082336 + ], + "min_active_finger_to_button": 0.14642978112372063, + "closest_active_finger": [ + -0.024328969419002533, + -0.3699893355369568, + 0.8108547329902649 + ], + "closest_active_finger_button": [ + 0.11727292835712429, + -0.3841401934623718, + 0.7763534784317017 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1416018977761268, + 0.014150857925415039, + 0.03450125455856323 + ], + "min_contact_pad_to_button": 0.021233917149595473, + "closest_contact_pad": [ + 0.11725593358278269, + -0.38675772994255736, + 0.7910253517216774 + ], + "closest_contact_pad_button": [ + 0.11725593358278269, + -0.38413888216018677, + 0.7699535489082336 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0026188477823705925, + 0.021071802813443785 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 54, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c60fd9a9c0d98ab0c1862e007ec88f90b248c8304e2d2369969e671fd8cb9ccd", + "visual_seed": 8596389705140915819, + "episode_index": 54, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_56_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_56_success.json new file mode 100644 index 0000000000000000000000000000000000000000..67437d720887d127a35f6303d356cafa54f1cf5b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_56_success.json @@ -0,0 +1,926 @@ +{ + "episode": 56, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2861200027489013, + 0.15855296428735652, + 1.0456059284998276 + ], + "current_z": 1.0456059284998276, + "required_z": 0.8565866266178551, + "initial_z": 0.7565866266178551, + "lift_margin": 0.18901930188197247, + "gripper_z": 1.0486770593358097, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.28072749061129904, + 0.15349777498815576, + 1.0486770593358097 + ], + "object_minus_gripper": [ + 0.005392512137602279, + 0.005055189299200763, + -0.0030711308359820944 + ], + "object_to_gripper_xy": 0.007391490107207193, + "object_to_gripper_z": -0.0030711308359820944, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2861200027489013, + 0.1339232130612874, + 1.0456059284998276 + ], + "finger_b": [ + 0.2739538807310631, + 0.15855296428735652, + 1.0456059284998276 + ], + "finger_midpoint": [ + 0.28003694173998217, + 0.14623808867432198, + 1.0456059284998276 + ], + "object_minus_finger_midpoint": [ + 0.006083061008919144, + 0.012314875613034543, + 0.0 + ], + "finger_gap": 0.02747069657673393, + "fingertip_max_gap": 0.0915128340537106, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013735348288366965, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0456059284998276, + "object_top_z": 1.0913384322530775, + "finger_top_clearance": 0.04573250375324989, + "fingertip_min_top_clearance": 0.013719751125974983, + "object_projection_between_fingers": 0.8038605326141252, + "object_to_finger_line_xy": 0.010907934491153112, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048256417026855306, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.4943837183572552, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2856864795274048, + 0.15666791246523865, + 1.2391284510489697 + ], + "held_position": [ + 0.29142183323806964, + 0.16124091457065987, + 1.2359161685432605 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00800783299895233, + "max_held_gripper_dist": 0.008009167612588793, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003212282505709263, + "max_held_gripper_z_dist": 0.0032427565022552507, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08739265033705822, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.29142183323806964, + 0.13565585848880668, + 1.2359161685432605 + ], + "held_grasp_finger_b": [ + 0.28132274820555087, + 0.16124091457065987, + 1.2359161685432605 + ], + "held_grasp_midpoint": [ + 0.28637229072181025, + 0.14844838652973327, + 1.2359161685432605 + ], + "held_grasp_object_position": [ + 0.29142183323806964, + 0.16124091457065987, + 1.2359161685432605 + ], + "held_grasp_finger_gap": 0.027506119559211135, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024801152511550757, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07087629801350293, + -0.9973375938807406, + 0.017154422522378976 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004136145640724988, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03208386294960689, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2690686083161997, + -0.32370440063735084, + 0.8470195719724057 + ], + "target_position": [ + 0.2616646035485705, + -0.32634959182131634, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00786233572157821, + "xy_threshold": 0.08, + "gripper_dist": 0.1873789659137707, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195719724057, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07564245193239426, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08577007480828182, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15553249495210655, + "release_required_pad_clearance": 0.05288503740414091, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8108363857105602, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007165133953094482, + "max_z_decrease": 0.007165133953094482, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0350734361452838, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007165133953094482, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021128686506015546, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007165133953094482, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0071651570750763584, + "max_button_displacement": 0.12, + "button_start": [ + 0.11736453324556348, + -0.38261103630065907, + 0.7768088579177856 + ], + "button_final": [ + 0.11736453324556348, + -0.38261103630065907, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11701653884612695, + -0.38270777023079267, + 0.8075152094195918 + ], + "closest_button": [ + 0.11735369265079496, + -0.3826089799404143, + 0.7724435329437256 + ], + "closest_ee_minus_button": [ + -0.0003371538046680056, + -9.879029037834774e-05, + 0.035071676475866176 + ], + "button_min_z_position": [ + 0.11734635382890699, + -0.38261011242866505, + 0.7696437239646912 + ], + "min_active_finger_to_button": 0.146536782618693, + "closest_active_finger": [ + -0.024302028119564056, + -0.3680869936943054, + 0.810990571975708 + ], + "closest_active_finger_button": [ + 0.11736586689949033, + -0.38261151313781727, + 0.7764612436294556 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14166789501905439, + 0.014524519443511852, + 0.03452932834625244 + ], + "min_contact_pad_to_button": 0.021128686506015546, + "closest_contact_pad": [ + 0.11734635382890699, + -0.38368312877583705, + 0.7907451464140945 + ], + "closest_contact_pad_button": [ + 0.11734635382890699, + -0.38261011242866505, + 0.7696437239646912 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0010730163471719956, + 0.021101422449403384 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 56, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b45428d98a33508e34d3f55f5974a5fb3fed3a61b6724d2549e9a41c9d5cabca", + "visual_seed": 7796426092779821436, + "episode_index": 56, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_57_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_57_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ee7a0c58293d747d6fe7f5986b31e5c0061e0983 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_57_success.json @@ -0,0 +1,926 @@ +{ + "episode": 57, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2788508055391145, + 0.15756771325547958, + 1.0477520011659052 + ], + "current_z": 1.0477520011659052, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.1911654937573396, + "gripper_z": 1.0511073549929297, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2735163598623753, + 0.1526171672946368, + 1.0511073549929297 + ], + "object_minus_gripper": [ + 0.005334445676739186, + 0.004950545960842767, + -0.0033553538270245653 + ], + "object_to_gripper_xy": 0.007277651818306371, + "object_to_gripper_z": -0.0033553538270245653, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2788508055391145, + 0.13292157781441702, + 1.0477520011659052 + ], + "finger_b": [ + 0.2669024483175716, + 0.15756771325547958, + 1.0477520011659052 + ], + "finger_midpoint": [ + 0.272876626928343, + 0.1452446455349483, + 1.0477520011659052 + ], + "object_minus_finger_midpoint": [ + 0.005974178610771486, + 0.012323067720531267, + 0.0 + ], + "finger_gap": 0.02738969208430056, + "fingertip_max_gap": 0.09193056306456879, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01369484604215028, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0477520011659052, + "object_top_z": 1.093757184366711, + "finger_top_clearance": 0.04600518320080593, + "fingertip_min_top_clearance": 0.013801554960241779, + "object_projection_between_fingers": 0.8096985503053387, + "object_to_finger_line_xy": 0.010751520297270443, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048465281532284396, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.5586846795403987, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2783960092704634, + 0.15620005246513835, + 1.2424793340255762 + ], + "held_position": [ + 0.28402026164113714, + 0.16072754039175247, + 1.239000313943669 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008014608061844324, + "max_held_gripper_dist": 0.008018014946850217, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003479020081907258, + "max_held_gripper_z_dist": 0.0035051678220319182, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08735535798648209, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.28402026164113714, + 0.13526504844147305, + 1.239000313943669 + ], + "held_grasp_finger_b": [ + 0.2738854935970248, + 0.16072754039175247, + 1.239000313943669 + ], + "held_grasp_midpoint": [ + 0.27895287761908094, + 0.14799629441661277, + 1.239000313943669 + ], + "held_grasp_object_position": [ + 0.28402026164113714, + 0.16072754039175247, + 1.239000313943669 + ], + "held_grasp_finger_gap": 0.02740532830721071, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024773407214819132, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06254681121158383, + -0.9978326036571848, + 0.020444840082180168 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004269303655122376, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03217962393487292, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2708246312262747, + -0.32393535661170403, + 0.8470194962489039 + ], + "target_position": [ + 0.26434805817281726, + -0.3261760952324528, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006853240699354293, + "xy_threshold": 0.08, + "gripper_dist": 0.18606556825433127, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470194962489039, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07561074784349636, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08539653979091295, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1545445514722202, + "release_required_pad_clearance": 0.05269826989545648, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.4511070180440441, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007188737392425537, + "max_z_decrease": 0.007188737392425537, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03508244714380906, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007188737392425537, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021143762364322142, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007188737392425537, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0071887549279626, + "max_button_displacement": 0.12, + "button_start": [ + 0.12004798650741572, + -0.38243755698204035, + 0.7768088579177856 + ], + "button_final": [ + 0.12004798650741572, + -0.38243755698204035, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11974109192172028, + -0.38283544799037944, + 0.8076872014627202 + ], + "closest_button": [ + 0.12003760784864421, + -0.3824361264705657, + 0.7726082801818848 + ], + "closest_ee_minus_button": [ + -0.0002965159269239376, + -0.00039932151981375563, + 0.03507892128083545 + ], + "button_min_z_position": [ + 0.12003210932016369, + -0.38243737816810597, + 0.7696201205253601 + ], + "min_active_finger_to_button": 0.14646438468121983, + "closest_active_finger": [ + -0.021507419645786285, + -0.36743712425231934, + 0.8109383583068848 + ], + "closest_active_finger_button": [ + 0.12004840373992914, + -0.38243818283081044, + 0.7764603495597839 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14155582338571543, + 0.0150010585784911, + 0.03447800874710083 + ], + "min_contact_pad_to_button": 0.021143762364322142, + "closest_contact_pad": [ + 0.12003210932016369, + -0.38387251967471925, + 0.7907151212547965 + ], + "closest_contact_pad_button": [ + 0.12003210932016369, + -0.38243737816810597, + 0.7696201205253601 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00143514150661328, + 0.021095000729436375 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 57, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "da642dd7df62357c5f56beac0fee1ffc2fc1ca6fa8e914d95c31ba2dc10e07d2", + "visual_seed": 9188115653699730222, + "episode_index": 57, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_59_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_59_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b1e832acf9ab6123f3068fe292323923add72806 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_59_success.json @@ -0,0 +1,926 @@ +{ + "episode": 59, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2821590215288536, + 0.15610269965171344, + 1.0471446105449238 + ], + "current_z": 1.0471446105449238, + "required_z": 0.8565865074085653, + "initial_z": 0.7565865074085654, + "lift_margin": 0.19055810313635846, + "gripper_z": 1.0503323813976373, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.27704174825141037, + 0.15118471114835808, + 1.0503323813976373 + ], + "object_minus_gripper": [ + 0.005117273277443213, + 0.004917988503355369, + -0.0031877708527134896 + ], + "object_to_gripper_xy": 0.007097400701325097, + "object_to_gripper_z": -0.0031877708527134896, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2821590215288536, + 0.13169041723676517, + 1.0471446105449238 + ], + "finger_b": [ + 0.27015818779413303, + 0.15610269965171344, + 1.0471446105449238 + ], + "finger_midpoint": [ + 0.27615860466149333, + 0.14389655844423932, + 1.0471446105449238 + ], + "object_minus_finger_midpoint": [ + 0.006000416867360248, + 0.012206141207474125, + 0.0 + ], + "finger_gap": 0.027202565008388448, + "fingertip_max_gap": 0.09252238955271141, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013601282504194201, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0471446105449238, + "object_top_z": 1.093617896390317, + "finger_top_clearance": 0.04647328584539312, + "fingertip_min_top_clearance": 0.013941985753617936, + "object_projection_between_fingers": 0.8053729840454817, + "object_to_finger_line_xy": 0.010769857263699001, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04876119477635571, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8429568497533435, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.28201397180293575, + 0.1545957763871469, + 1.2402906358293309 + ], + "held_position": [ + 0.287464714034841, + 0.1590442887857171, + 1.2369699270319134 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007779907477351742, + "max_held_gripper_dist": 0.007787160702887749, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0033207087974174154, + "max_held_gripper_z_dist": 0.003345343892656283, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08675823996880352, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.287464714034841, + 0.13361953424227926, + 1.2369699270319134 + ], + "held_grasp_finger_b": [ + 0.27758963022917116, + 0.1590442887857171, + 1.2369699270319134 + ], + "held_grasp_midpoint": [ + 0.28252717213200607, + 0.1463319115139982, + 1.2369699270319134 + ], + "held_grasp_object_position": [ + 0.287464714034841, + 0.1590442887857171, + 1.2369699270319134 + ], + "held_grasp_finger_gap": 0.02727517962842895, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02458566423036139, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07648680600294894, + -0.9967049163197941, + 0.027001449802182997 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003966074738621752, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03215207923132295, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.26934288995282407, + -0.3212126538795932, + 0.8470195356915756 + ], + "target_position": [ + 0.2622864952669684, + -0.32363788160876394, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007461530372578463, + "xy_threshold": 0.08, + "gripper_dist": 0.18544964044925075, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195356915756, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07516362370487166, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08667443800768783, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15499831483959206, + "release_required_pad_clearance": 0.053337219003843916, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.691145159623255, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.006740927696228027, + "max_z_decrease": 0.006740927696228027, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03511562873389964, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.006740927696228027, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02109095839688978, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.006740927696228027, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00674094806243268, + "max_button_displacement": 0.12, + "button_start": [ + 0.11798641830682752, + -0.3798993527889251, + 0.7768088579177856 + ], + "button_final": [ + 0.11798641830682752, + -0.3798993527889251, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11618082205766342, + -0.3795421057152246, + 0.8080512362151987 + ], + "closest_button": [ + 0.11797537654638288, + -0.3798994421958923, + 0.7729833126068115 + ], + "closest_ee_minus_button": [ + -0.0017945544887194576, + 0.0003573364806676582, + 0.035067923608387175 + ], + "button_min_z_position": [ + 0.11796987056732174, + -0.37989848852157587, + 0.7700679302215576 + ], + "min_active_finger_to_button": 0.14762105927573835, + "closest_active_finger": [ + -0.011696472764015198, + -0.4414818286895752, + 0.8106793165206909 + ], + "closest_active_finger_button": [ + 0.11798664182424541, + -0.37990069389343256, + 0.7762986421585083 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1296831145882606, + -0.061581134796142634, + 0.03438067436218262 + ], + "min_contact_pad_to_button": 0.02109095839688978, + "closest_contact_pad": [ + 0.11796987056732174, + -0.38080196101944974, + 0.7911395287262967 + ], + "closest_contact_pad_button": [ + 0.11796987056732174, + -0.37989848852157587, + 0.7700679302215576 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0009034724978738695, + 0.021071598504739053 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 59, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0e41a296d8b3994b7d6389fc22fcadf0d9da75594038f25e2e6f714495646313", + "visual_seed": 4267148223935579494, + "episode_index": 59, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_5_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_5_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2a0e6dcc3f00f964371169ccecefae93f8f39e8c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_5_success.json @@ -0,0 +1,926 @@ +{ + "episode": 5, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2830807611089398, + 0.16300919310113207, + 1.0479616863203192 + ], + "current_z": 1.0479616863203192, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.19137529812104315, + "gripper_z": 1.0510059980800628, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2780734594994161, + 0.1581061308920481, + 1.0510059980800628 + ], + "object_minus_gripper": [ + 0.005007301609523729, + 0.004903062209083958, + -0.003044311759743623 + ], + "object_to_gripper_xy": 0.007008073090007423, + "object_to_gripper_z": -0.003044311759743623, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2830807611089398, + 0.13872834963300276, + 1.0479616863203192 + ], + "finger_b": [ + 0.2710343543783828, + 0.16300919310113207, + 1.0479616863203192 + ], + "finger_midpoint": [ + 0.2770575577436613, + 0.15086877136706742, + 1.0479616863203192 + ], + "object_minus_finger_midpoint": [ + 0.006023203365278507, + 0.012140421734064655, + 0.0 + ], + "finger_gap": 0.02710489392419397, + "fingertip_max_gap": 0.09179404195257404, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013552446962096985, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0479616863203192, + "object_top_z": 1.0939951411093591, + "finger_top_clearance": 0.046033454789039974, + "fingertip_min_top_clearance": 0.013810036436711992, + "object_projection_between_fingers": 0.8024761141052951, + "object_to_finger_line_xy": 0.010791295365188273, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04839702097628702, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.5716942726413954, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2830995264809053, + 0.1612893042486318, + 1.2399444878407915 + ], + "held_position": [ + 0.28846312527242296, + 0.16569807757644936, + 1.2367538554412674 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007641047661239791, + "max_held_gripper_dist": 0.007645582351421584, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003190632399524107, + "max_held_gripper_z_dist": 0.003217847343496949, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08722432637804374, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.28846312527242296, + 0.14028060271295545, + 1.2367538554412674 + ], + "held_grasp_finger_b": [ + 0.27875503040802146, + 0.16569807757644936, + 1.2367538554412674 + ], + "held_grasp_midpoint": [ + 0.2836090778402222, + 0.1529893401447024, + 1.2367538554412674 + ], + "held_grasp_object_position": [ + 0.28846312527242296, + 0.16569807757644936, + 1.2367538554412674 + ], + "held_grasp_finger_gap": 0.02720836515361707, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02452497707310838, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08242401543060343, + -0.9963679464629693, + 0.021382164096768404 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003800061852596051, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032137556268351394, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.272293047348419, + -0.3259914085178458, + 0.8470194194449425 + ], + "target_position": [ + 0.26575170454121666, + -0.3280462498427982, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006856496087074662, + "xy_threshold": 0.08, + "gripper_dist": 0.18548376114038784, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470194194449425, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07552958831637484, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08505784598948689, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15390116840521845, + "release_required_pad_clearance": 0.052528922994743446, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.125102872310047, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.006984889507293701, + "max_z_decrease": 0.006984889507293701, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03509282576476986, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.006984889507293701, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02116691768356265, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.006984889507293701, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.006984910606351039, + "max_button_displacement": 0.12, + "button_start": [ + 0.12145163118839264, + -0.384307712316513, + 0.7768088579177856 + ], + "button_final": [ + 0.12145163118839264, + -0.384307712316513, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12097691610651695, + -0.3851369834836725, + 0.80789724566279 + ], + "closest_button": [ + 0.12143987417221071, + -0.38430604338645935, + 0.7728173136711121 + ], + "closest_ee_minus_button": [ + -0.0004629580656937554, + -0.0008309400972131287, + 0.035079931991677915 + ], + "button_min_z_position": [ + 0.12143450230360031, + -0.3843065500259399, + 0.7698239684104919 + ], + "min_active_finger_to_button": 0.14657272125117912, + "closest_active_finger": [ + -0.02029605209827423, + -0.37008973956108093, + 0.8107677698135376 + ], + "closest_active_finger_button": [ + 0.12145225703716278, + -0.38430804014205927, + 0.7762885093688965 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.141748309135437, + 0.014218300580978338, + 0.03447926044464111 + ], + "min_contact_pad_to_button": 0.02116691768356265, + "closest_contact_pad": [ + 0.12143450230360031, + -0.386182187718504, + 0.7909076205483202 + ], + "closest_contact_pad_button": [ + 0.12143450230360031, + -0.3843065500259399, + 0.7698239684104919 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0018756376925641027, + 0.021083652137828257 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 5, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c074627d3d1aaf9a66cf92507793c30aaeb8dbb6c0b975ffcc9bcc928d192abd", + "visual_seed": 5233939765248549837, + "episode_index": 5, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_62_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_62_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d5ddbd03a96f3fdf7440c8bd0fa7a6b0f4725ae0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_62_success.json @@ -0,0 +1,926 @@ +{ + "episode": 62, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2864700413540901, + 0.15980251067789608, + 1.0480297110508663 + ], + "current_z": 1.0480297110508663, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.19144314403765594, + "gripper_z": 1.050998057380851, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2812258669101505, + 0.15482268776294675, + 1.050998057380851 + ], + "object_minus_gripper": [ + 0.005244174443939598, + 0.004979822914949333, + -0.0029683463299847723 + ], + "object_to_gripper_xy": 0.007231874021491501, + "object_to_gripper_z": -0.0029683463299847723, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2864700413540901, + 0.13530190226499647, + 1.0480297110508663 + ], + "finger_b": [ + 0.27437817655083396, + 0.15980251067789608, + 1.0480297110508663 + ], + "finger_midpoint": [ + 0.28042410895246206, + 0.1475522064714463, + 1.0480297110508663 + ], + "object_minus_finger_midpoint": [ + 0.00604593240162804, + 0.012250304206449791, + 0.0 + ], + "finger_gap": 0.027322024211658837, + "fingertip_max_gap": 0.09241070200110177, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013661012105829394, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0480297110508663, + "object_top_z": 1.0944245632568648, + "finger_top_clearance": 0.04639485220599848, + "fingertip_min_top_clearance": 0.013918455661799544, + "object_projection_between_fingers": 0.804133202796603, + "object_to_finger_line_xy": 0.010843195300291231, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04870535100055089, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8083910296374208, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.28626983774766185, + 0.15821244901881126, + 1.2422574412160226 + ], + "held_position": [ + 0.2918558029622013, + 0.1627187714029599, + 1.2391611531118916 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007816453724785113, + "max_held_gripper_dist": 0.00782415894085995, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003096288104130984, + "max_held_gripper_z_dist": 0.003124461110226129, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08674275677999935, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2918558029622013, + 0.1372387857379956, + 1.2391611531118916 + ], + "held_grasp_finger_b": [ + 0.28182798419556, + 0.1627187714029599, + 1.2391611531118916 + ], + "held_grasp_midpoint": [ + 0.2868418935788807, + 0.14997877857047776, + 1.2391611531118916 + ], + "held_grasp_object_position": [ + 0.2918558029622013, + 0.1627187714029599, + 1.2391611531118916 + ], + "held_grasp_finger_gap": 0.02738223545847544, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024649613779203498, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07479598200287525, + -0.9968472771209816, + 0.026477673098490695 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00406141219956128, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03212537752421123, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.27590336150917927, + -0.330004838212731, + 0.8470195048005764 + ], + "target_position": [ + 0.26877922211103894, + -0.3325378669273422, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007561057904366298, + "xy_threshold": 0.08, + "gripper_dist": 0.1875121826348849, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195048005764, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0754455705030405, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08570151656404344, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15614940525765933, + "release_required_pad_clearance": 0.05285075828202172, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.744406331212381, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007072091102600098, + "max_z_decrease": 0.007072091102600098, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035166601601978896, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007072091102600098, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02106284320767604, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007072091102600098, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007072110134243532, + "max_button_displacement": 0.12, + "button_start": [ + 0.12447914481163022, + -0.3887993395328521, + 0.7768088579177856 + ], + "button_final": [ + 0.12447914481163022, + -0.3887993395328521, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1226493206378029, + -0.3872734194549819, + 0.8081221274408008 + ], + "closest_button": [ + 0.12447156757116314, + -0.38880088925361633, + 0.773036003112793 + ], + "closest_ee_minus_button": [ + -0.001822246933360236, + 0.0015274697986344399, + 0.03508612432800784 + ], + "button_min_z_position": [ + 0.12446280568838117, + -0.3887978494167328, + 0.7697367668151855 + ], + "min_active_finger_to_button": 0.1471589870509084, + "closest_active_finger": [ + -0.005403369665145874, + -0.44888538122177124, + 0.8110807538032532 + ], + "closest_active_finger_button": [ + 0.12447953224182126, + -0.3888003230094909, + 0.7767881155014038 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12988290190696714, + -0.06008505821228033, + 0.034292638301849365 + ], + "min_contact_pad_to_button": 0.02106284320767604, + "closest_contact_pad": [ + 0.12446280568838117, + -0.3887978494167328, + 0.7907996100228616 + ], + "closest_contact_pad_button": [ + 0.12446280568838117, + -0.3887978494167328, + 0.7697367668151855 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02106284320767604 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 62, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3fdbfe9bc0ff270d5403d739a455b1ef524bc6dafef0662abe521990b2a75db8", + "visual_seed": 4758226306506151866, + "episode_index": 62, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_63_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_63_success.json new file mode 100644 index 0000000000000000000000000000000000000000..19843127df204bce573e2215a39e628ffb1e9a7c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_63_success.json @@ -0,0 +1,926 @@ +{ + "episode": 63, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.28689532871800977, + 0.15944861397567012, + 1.0451326959167944 + ], + "current_z": 1.0451326959167944, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.1885461885082288, + "gripper_z": 1.0479759572314307, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2818554076739798, + 0.15452088713524048, + 1.0479759572314307 + ], + "object_minus_gripper": [ + 0.005039921044029949, + 0.004927726840429636, + -0.002843261314636303 + ], + "object_to_gripper_xy": 0.007048637878622122, + "object_to_gripper_z": -0.002843261314636303, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.28689532871800977, + 0.1351683609640089, + 1.0451326959167944 + ], + "finger_b": [ + 0.274782385561929, + 0.15944861397567012, + 1.0451326959167944 + ], + "finger_midpoint": [ + 0.28083885713996937, + 0.1473084874698395, + 1.0451326959167944 + ], + "object_minus_finger_midpoint": [ + 0.006056471578040401, + 0.012140126505830628, + 0.0 + ], + "finger_gap": 0.027134002252021866, + "fingertip_max_gap": 0.09244794774119555, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013567001126010956, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0451326959167944, + "object_top_z": 1.0914020611148698, + "finger_top_clearance": 0.04626936519807545, + "fingertip_min_top_clearance": 0.013880809559422619, + "object_projection_between_fingers": 0.8007163610439788, + "object_to_finger_line_xy": 0.010838995361386324, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04872397387059778, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8693535273398387, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 216, + "max_stable_success_frames": 216, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2869092390046536, + 0.1578588013500222, + 1.238262777983867 + ], + "held_position": [ + 0.2923272243318942, + 0.16227887094712495, + 1.23528565299958 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007599661401766075, + "max_held_gripper_dist": 0.007606389243152543, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0029771249842871494, + "max_held_gripper_z_dist": 0.0030040063243315096, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0873390013590119, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2923272243318942, + 0.13684807666306661, + 1.23528565299958 + ], + "held_grasp_finger_b": [ + 0.2825442665832151, + 0.16227887094712495, + 1.23528565299958 + ], + "held_grasp_midpoint": [ + 0.2874357454575546, + 0.14956347380509577, + 1.23528565299958 + ], + "held_grasp_object_position": [ + 0.2923272243318942, + 0.16227887094712495, + 1.23528565299958 + ], + "held_grasp_finger_gap": 0.02724759732949925, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024561424335781484, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07975673968381598, + -0.9964958572358258, + 0.025196606653373525 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038754327885646973, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032139255983420864, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.27542493466336915, + -0.3247808767267756, + 0.8470199679563237 + ], + "target_position": [ + 0.2689953784587335, + -0.32675968402702643, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006727174096163617, + "xy_threshold": 0.08, + "gripper_dist": 0.18424271201924355, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470199679563237, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0754836394853784, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08541192816423195, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1529032765241509, + "release_required_pad_clearance": 0.052705964082115975, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.4647791327220861, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 147, + "max_placed_release_frames": 147 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.006901741027832031, + "max_z_decrease": 0.006901741027832031, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035112778186773115, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.006901741027832031, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02108885552838358, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.006901741027832031, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.006901763375998691, + "max_button_displacement": 0.12, + "button_start": [ + 0.12469530105590818, + -0.38302114605903614, + 0.7768088579177856 + ], + "button_final": [ + 0.12469530105590818, + -0.38302114605903614, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12418669956698011, + -0.38238067726938807, + 0.8082434006299696 + ], + "closest_button": [ + 0.12468819320201872, + -0.38302260637283314, + 0.7731400728225708 + ], + "closest_ee_minus_button": [ + -0.0005014936350386107, + 0.0006419291034450714, + 0.035103327807398776 + ], + "button_min_z_position": [ + 0.12467774748802185, + -0.3830205500125884, + 0.7699071168899536 + ], + "min_active_finger_to_button": 0.14635678932649515, + "closest_active_finger": [ + -0.0038170814514160156, + -0.444083571434021, + 0.810609757900238 + ], + "closest_active_finger_button": [ + 0.1246952712535858, + -0.3830218315124511, + 0.7763118147850037 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12851235270500183, + -0.06106173992156988, + 0.034297943115234375 + ], + "min_contact_pad_to_button": 0.02108885552838358, + "closest_contact_pad": [ + 0.12467774748802185, + -0.3836557102912862, + 0.7909864052773115 + ], + "closest_contact_pad_button": [ + 0.12467774748802185, + -0.3830205500125884, + 0.7699071168899536 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0006351602786978106, + 0.021079288387357842 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 63, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "aa0ae10f0ae2269a7643b5c63df9febf3c5bc65e9fb9a494e1cbb20810465f3b", + "visual_seed": 338457776308388471, + "episode_index": 63, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_64_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_64_success.json new file mode 100644 index 0000000000000000000000000000000000000000..52628917a9bd674321a17423de66dae04078002c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_64_success.json @@ -0,0 +1,926 @@ +{ + "episode": 64, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.28297395543423715, + 0.16139136846736601, + 1.0437767874347246 + ], + "current_z": 1.0437767874347246, + "required_z": 0.8565863285946312, + "initial_z": 0.7565863285946313, + "lift_margin": 0.18719045884009333, + "gripper_z": 1.0478084052852157, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.27734870526540933, + 0.15631802910430925, + 1.0478084052852157 + ], + "object_minus_gripper": [ + 0.005625250168827811, + 0.005073339363056761, + -0.004031617850491109 + ], + "object_to_gripper_xy": 0.0075751047355557075, + "object_to_gripper_z": -0.004031617850491109, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.28297395543423715, + 0.13637759046398806, + 1.0437767874347246 + ], + "finger_b": [ + 0.2710620343031169, + 0.16139136846736601, + 1.0437767874347246 + ], + "finger_midpoint": [ + 0.27701799486867706, + 0.14888447946567704, + 1.0437767874347246 + ], + "object_minus_finger_midpoint": [ + 0.005955960565560081, + 0.012506889001688976, + 0.0 + ], + "finger_gap": 0.027705287492395796, + "fingertip_max_gap": 0.09212172886356379, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013852643746197888, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0437767874347246, + "object_top_z": 1.089288428726998, + "finger_top_clearance": 0.045511641292273364, + "fingertip_min_top_clearance": 0.013653492387682025, + "object_projection_between_fingers": 0.8151419802862644, + "object_to_finger_line_xy": 0.01075470344241579, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0485608644317819, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3590736555128253, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 216, + "max_stable_success_frames": 216, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2821521684832444, + 0.15998354522321753, + 1.2364247599587364 + ], + "held_position": [ + 0.28798827655663767, + 0.1646815174621305, + 1.2322456196958853 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00857882940374183, + "max_held_gripper_dist": 0.008580187947950997, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004179140262851044, + "max_held_gripper_z_dist": 0.0042132482882666356, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08621297978175099, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.28798827655663767, + 0.13904087889153427, + 1.2322456196958853 + ], + "held_grasp_finger_b": [ + 0.2776841203367829, + 0.1646815174621305, + 1.2322456196958853 + ], + "held_grasp_midpoint": [ + 0.28283619844671026, + 0.15186119817683238, + 1.2322456196958853 + ], + "held_grasp_object_position": [ + 0.28798827655663767, + 0.1646815174621305, + 1.2322456196958853 + ], + "held_grasp_finger_gap": 0.02763363858978977, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02528646109736718, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0328762429361732, + -0.9993987852505942, + 0.011010026795542636 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004729943590584734, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03221823247399096, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.27097699077698406, + -0.3272241349308178, + 0.8470196696918231 + ], + "target_position": [ + 0.26328699995616855, + -0.3302735913067284, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00827255359685318, + "xy_threshold": 0.08, + "gripper_dist": 0.18784176249729562, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196696918231, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07559396948358417, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08696726472228565, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1563276236437429, + "release_required_pad_clearance": 0.05348363236114283, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.979049713056506, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.006999671459197998, + "max_z_decrease": 0.006999671459197998, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03511644584281272, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.006999671459197998, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02118112999443295, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.006999671459197998, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.006999691874372093, + "max_button_displacement": 0.12, + "button_start": [ + 0.11898692697286603, + -0.3865350484848022, + 0.7768088579177856 + ], + "button_final": [ + 0.11898692697286603, + -0.3865350484848022, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11985325776180472, + -0.38722668571287067, + 0.8080014083796279 + ], + "closest_button": [ + 0.11897674202919005, + -0.3865345418453216, + 0.7729027271270752 + ], + "closest_ee_minus_button": [ + 0.0008765157326146716, + -0.0006921438675490665, + 0.035098681252552666 + ], + "button_min_z_position": [ + 0.11897002160549162, + -0.386534959077835, + 0.7698091864585876 + ], + "min_active_finger_to_button": 0.14527480007902915, + "closest_active_finger": [ + -0.02113787829875946, + -0.3696436583995819, + 0.8106688261032104 + ], + "closest_active_finger_button": [ + 0.11898723989725112, + -0.38653525710105885, + 0.7762538194656372 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1401251181960106, + 0.01689159870147694, + 0.03441500663757324 + ], + "min_contact_pad_to_button": 0.02118112999443295, + "closest_contact_pad": [ + 0.11897002160549162, + -0.3884577342432217, + 0.7909028633193068 + ], + "closest_contact_pad_button": [ + 0.11897002160549162, + -0.386534959077835, + 0.7698091864585876 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001922775165386692, + 0.021093676860719168 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 64, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c11da0b2f8043665a1005cb3d116622f584f8e739d0b7c5503a16b091085a17e", + "visual_seed": 5029208043002369449, + "episode_index": 64, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_65_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_65_success.json new file mode 100644 index 0000000000000000000000000000000000000000..52fcd5d008b49970ee15b07402063235014cb976 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_65_success.json @@ -0,0 +1,926 @@ +{ + "episode": 65, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.28848808534703296, + 0.15878852479541683, + 1.0456477828750101 + ], + "current_z": 1.0456477828750101, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.18906127546644458, + "gripper_z": 1.0485653303136617, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2830580276693362, + 0.15379475492875772, + 1.0485653303136617 + ], + "object_minus_gripper": [ + 0.005430057677696776, + 0.004993769866659115, + -0.00291754743865158 + ], + "object_to_gripper_xy": 0.007377212472490289, + "object_to_gripper_z": -0.00291754743865158, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.28848808534703296, + 0.13404514878847304, + 1.0456477828750101 + ], + "finger_b": [ + 0.2765180654945405, + 0.15878852479541683, + 1.0456477828750101 + ], + "finger_midpoint": [ + 0.28250307542078673, + 0.14641683679194495, + 1.0456477828750101 + ], + "object_minus_finger_midpoint": [ + 0.005985009926246232, + 0.012371688003471881, + 0.0 + ], + "finger_gap": 0.02748665187850396, + "fingertip_max_gap": 0.09140330600085503, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013743325939251969, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0456477828750101, + "object_top_z": 1.0913873058759354, + "finger_top_clearance": 0.04573952300092521, + "fingertip_min_top_clearance": 0.013721856900277546, + "object_projection_between_fingers": 0.8103529649973445, + "object_to_finger_line_xy": 0.01077536483271832, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048201653000427516, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.39482372003500865, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.28788833480967213, + 0.1573472768190008, + 1.2398340265552719 + ], + "held_position": [ + 0.29359697937975426, + 0.16193867746746865, + 1.2367903878523165 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00793305233163168, + "max_held_gripper_dist": 0.00793579976525548, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0030436387029553202, + "max_held_gripper_z_dist": 0.0030736775307071973, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08735462187607312, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.29359697937975426, + 0.1364262921964378, + 1.2367903878523165 + ], + "held_grasp_finger_b": [ + 0.28335450520690453, + 0.16193867746746865, + 1.2367903878523165 + ], + "held_grasp_midpoint": [ + 0.2884757422933294, + 0.14918248483195323, + 1.2367903878523165 + ], + "held_grasp_object_position": [ + 0.29359697937975426, + 0.16193867746746865, + 1.2367903878523165 + ], + "held_grasp_finger_gap": 0.02749163653548123, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024850897200723303, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.059778613133519086, + -0.9980712438811203, + 0.01674244753393084 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004354897162532947, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03216249546434028, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2693115333149589, + -0.32272457957564954, + 0.8470187468491506 + ], + "target_position": [ + 0.2635148183802111, + -0.32456607875484944, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006082189018907718, + "xy_threshold": 0.08, + "gripper_dist": 0.18575623070476716, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470187468491506, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07527315910158648, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08523538770613283, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15473323233010605, + "release_required_pad_clearance": 0.052617693853066416, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.29340917676801465, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0071509480476379395, + "max_z_decrease": 0.0071509480476379395, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03513724547168732, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0071509480476379395, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021318274628999954, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.0071509480476379395, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007150967846038172, + "max_button_displacement": 0.12, + "button_start": [ + 0.11921474337577821, + -0.38082754611968983, + 0.7768088579177856 + ], + "button_final": [ + 0.11921474337577821, + -0.38082754611968983, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11889106447458903, + -0.382870359623203, + 0.807576537173047 + ], + "closest_button": [ + 0.11920247972011568, + -0.38082668185234064, + 0.7725001573562622 + ], + "closest_ee_minus_button": [ + -0.00031141524552665, + -0.00204367777086234, + 0.0350763798167848 + ], + "button_min_z_position": [ + 0.11919791996479034, + -0.3808271884918212, + 0.7696579098701477 + ], + "min_active_finger_to_button": 0.14628769096481728, + "closest_active_finger": [ + -0.022235430777072906, + -0.3665316700935364, + 0.810911238193512 + ], + "closest_active_finger_button": [ + 0.11921508610248566, + -0.38082855939865107, + 0.7764520049095154 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14145051687955856, + 0.01429688930511469, + 0.03445923328399658 + ], + "min_contact_pad_to_button": 0.021318274628999954, + "closest_contact_pad": [ + 0.11919791996479034, + -0.38400722611977306, + 0.7907376677872177 + ], + "closest_contact_pad_button": [ + 0.11919791996479034, + -0.3808271884918212, + 0.7696579098701477 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0031800376279518816, + 0.021079757917069952 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 65, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "bd34c295929030d15272b4529dcc8df7d9f4e73be4cb575d8233704377c3d8ce", + "visual_seed": 5170423261139763804, + "episode_index": 65, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_66_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_66_success.json new file mode 100644 index 0000000000000000000000000000000000000000..eeb31be46f23e9464c3f60636c67239673dac41d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_66_success.json @@ -0,0 +1,926 @@ +{ + "episode": 66, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.27924686627091994, + 0.160810399611779, + 1.0465172444927562 + ], + "current_z": 1.0465172444927562, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.18993073708419062, + "gripper_z": 1.0499053243220198, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.27402410624411583, + 0.15581339868643307, + 1.0499053243220198 + ], + "object_minus_gripper": [ + 0.0052227600268041074, + 0.00499700092534594, + -0.0033880798292635905 + ], + "object_to_gripper_xy": 0.007228225269420636, + "object_to_gripper_z": -0.0033880798292635905, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.27924686627091994, + 0.13636053413140778, + 1.0465172444927562 + ], + "finger_b": [ + 0.2670849772037548, + 0.160810399611779, + 1.0465172444927562 + ], + "finger_midpoint": [ + 0.27316592173733734, + 0.1485854668715934, + 1.0465172444927562 + ], + "object_minus_finger_midpoint": [ + 0.0060809445335825996, + 0.012224932740185601, + 0.0 + ], + "finger_gap": 0.02730764485799315, + "fingertip_max_gap": 0.09252889095413275, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013653822428996576, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0465172444927562, + "object_top_z": 1.092978887847913, + "finger_top_clearance": 0.04646164335515679, + "fingertip_min_top_clearance": 0.01393849300654707, + "object_projection_between_fingers": 0.8016493704425872, + "object_to_finger_line_xy": 0.010889132080987437, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048764445477066376, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.851112532429875, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2789853070946752, + 0.15935664367713942, + 1.241489830500194 + ], + "held_position": [ + 0.2845650278497964, + 0.1638582938742214, + 1.237980488075908 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007982081335899357, + "max_held_gripper_dist": 0.007989107822953522, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0035093424242860216, + "max_held_gripper_z_dist": 0.003536707580317877, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08718110783813124, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2845650278497964, + 0.13839732965544976, + 1.237980488075908 + ], + "held_grasp_finger_b": [ + 0.27451065316403356, + 0.1638582938742214, + 1.237980488075908 + ], + "held_grasp_midpoint": [ + 0.279537840506915, + 0.15112781176483558, + 1.237980488075908 + ], + "held_grasp_object_position": [ + 0.2845650278497964, + 0.1638582938742214, + 1.237980488075908 + ], + "held_grasp_finger_gap": 0.027374278972628285, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024591861447385018, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07778160214135495, + -0.9965807500827356, + 0.027871686939547557 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0040378618808830325, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03212224887053015, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.27052710980107175, + -0.3293597337356764, + 0.847019675741163 + ], + "target_position": [ + 0.2636396903327199, + -0.33177384539693705, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00729825198565156, + "xy_threshold": 0.08, + "gripper_dist": 0.1856759389420986, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.847019675741163, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07548276479712318, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0860039318008388, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15441664355553703, + "release_required_pad_clearance": 0.053001965900419404, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.0362657609374297, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007059752941131592, + "max_z_decrease": 0.007059752941131592, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03515282228614074, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007059752941131592, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021294414435063542, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007059752941131592, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007059775512660502, + "max_button_displacement": 0.12, + "button_start": [ + 0.11933961510658266, + -0.3880352973937988, + 0.7768088579177856 + ], + "button_final": [ + 0.11933961510658266, + -0.3880352973937988, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12030652061976355, + -0.3896716739923766, + 0.8079867480631036 + ], + "closest_button": [ + 0.11932872980833055, + -0.3880346417427063, + 0.7728856801986694 + ], + "closest_ee_minus_button": [ + 0.0009777908114329964, + -0.0016370322496703227, + 0.03510106786443412 + ], + "button_min_z_position": [ + 0.11932181566953659, + -0.38803392648696894, + 0.769749104976654 + ], + "min_active_finger_to_button": 0.14505831639330047, + "closest_active_finger": [ + -0.02063431590795517, + -0.3717573285102844, + 0.8112266659736633 + ], + "closest_active_finger_button": [ + 0.11933822184801103, + -0.3880364596843719, + 0.7768087387084961 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1399725377559662, + 0.01627913117408747, + 0.034417927265167236 + ], + "min_contact_pad_to_button": 0.021294414435063542, + "closest_contact_pad": [ + 0.11932181566953659, + -0.39098491430491616, + 0.7908380536709482 + ], + "closest_contact_pad_button": [ + 0.11932181566953659, + -0.38803392648696894, + 0.769749104976654 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002950987817947226, + 0.02108894869429412 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 66, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6aa1daa1a685458c717982e26277f2da65e833366e368f093e81036801824bad", + "visual_seed": 2072114976323962006, + "episode_index": 66, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_67_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_67_success.json new file mode 100644 index 0000000000000000000000000000000000000000..13aaa55067cef94ac73ed38ca7044723646abf82 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_67_success.json @@ -0,0 +1,926 @@ +{ + "episode": 67, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.28851007705735954, + 0.1585803914516378, + 1.0448804606095932 + ], + "current_z": 1.0448804606095932, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.18829401280567237, + "gripper_z": 1.0486315143249498, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2828554465608046, + 0.1534702326539139, + 1.0486315143249498 + ], + "object_minus_gripper": [ + 0.005654630496554958, + 0.0051101587977238905, + -0.003751053715356667 + ], + "object_to_gripper_xy": 0.007621585726771316, + "object_to_gripper_z": -0.003751053715356667, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.28851007705735954, + 0.13359030622691434, + 1.0448804606095932 + ], + "finger_b": [ + 0.27648954263826736, + 0.1585803914516378, + 1.0448804606095932 + ], + "finger_midpoint": [ + 0.2824998098478134, + 0.14608534883927607, + 1.0448804606095932 + ], + "object_minus_finger_midpoint": [ + 0.006010267209546116, + 0.012495042612361729, + 0.0 + ], + "finger_gap": 0.027730806105476295, + "fingertip_max_gap": 0.09233096369707841, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01386540305273816, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0448804606095932, + "object_top_z": 1.090428167223762, + "finger_top_clearance": 0.04554770661416874, + "fingertip_min_top_clearance": 0.013664311984250638, + "object_projection_between_fingers": 0.8121018240414158, + "object_to_finger_line_xy": 0.010832508021485656, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04866548184853921, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.400166328609095, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 216, + "max_stable_success_frames": 216, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2877060420841173, + 0.15708279143217815, + 1.2377131513626203 + ], + "held_position": [ + 0.293605180709694, + 0.1618063171358079, + 1.2338219803832378 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008500161362433669, + "max_held_gripper_dist": 0.00850446619588133, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003891170979382519, + "max_held_gripper_z_dist": 0.003921049018796197, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08640031202502607, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.293605180709694, + 0.13614518914289234, + 1.2338219803832378 + ], + "held_grasp_finger_b": [ + 0.2832159779302619, + 0.1618063171358079, + 1.2338219803832378 + ], + "held_grasp_midpoint": [ + 0.28841057931997793, + 0.14897575313935013, + 1.2338219803832378 + ], + "held_grasp_object_position": [ + 0.293605180709694, + 0.1618063171358079, + 1.2338219803832378 + ], + "held_grasp_finger_gap": 0.027684454559571053, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02528036001569468, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.03497528007802225, + -0.999321826373818, + 0.01151595051920895 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004745004329841552, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03219667968096543, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2791801716748367, + -0.3216003378825969, + 0.8470197334921558 + ], + "target_position": [ + 0.27097785826848214, + -0.32477073381664534, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008793711138915979, + "xy_threshold": 0.08, + "gripper_dist": 0.1874040674923072, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470197334921558, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07538696692647183, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08704402942954546, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15641707709754044, + "release_required_pad_clearance": 0.053522014714772734, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.0543450107924266, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007212340831756592, + "max_z_decrease": 0.007212340831756592, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035136495607338454, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007212340831756592, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02110554349545796, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007212340831756592, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007212357296327623, + "max_button_displacement": 0.12, + "button_start": [ + 0.12667778134346006, + -0.38103219866752613, + 0.7768088579177856 + ], + "button_final": [ + 0.12667778134346006, + -0.38103219866752613, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12487558624736733, + -0.3811408925482234, + 0.8067689374759062 + ], + "closest_button": [ + 0.12666362524032593, + -0.3810275197029113, + 0.7716781497001648 + ], + "closest_ee_minus_button": [ + -0.001788038992958596, + -0.00011337284531209857, + 0.03509078777574137 + ], + "button_min_z_position": [ + 0.1266623884439468, + -0.38103145360946644, + 0.769596517086029 + ], + "min_active_finger_to_button": 0.1476699872620039, + "closest_active_finger": [ + -0.002828851342201233, + -0.4431385099887848, + 0.8106929063796997 + ], + "closest_active_finger_button": [ + 0.12667834758758542, + -0.3810336887836455, + 0.7763810753822327 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12950719892978665, + -0.06210482120513927, + 0.03431183099746704 + ], + "min_contact_pad_to_button": 0.02110554349545796, + "closest_contact_pad": [ + 0.1266623884439468, + -0.38241522397525424, + 0.7906566487526031 + ], + "closest_contact_pad_button": [ + 0.1266623884439468, + -0.38103145360946644, + 0.769596517086029 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0013837703657877953, + 0.021060131666574056 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 67, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "47ceabfb57b8613bd726193cfa7c151f3ddf8356cf7f7cb3f59e3fe5a8953ee7", + "visual_seed": 4096861699602474398, + "episode_index": 67, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_69_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_69_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4641508e9e57afe9eac8614d476320874e9fa283 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_69_success.json @@ -0,0 +1,926 @@ +{ + "episode": 69, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2848492042642911, + 0.15665375275705795, + 1.0452590599495595 + ], + "current_z": 1.0452590599495595, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.18867249293634913, + "gripper_z": 1.048259332855149, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.27968641630533986, + 0.15171022721410038, + 1.048259332855149 + ], + "object_minus_gripper": [ + 0.005162787958951254, + 0.004943525542957572, + -0.003000272905589574 + ], + "object_to_gripper_xy": 0.007147924475186207, + "object_to_gripper_z": -0.003000272905589574, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2848492042642911, + 0.1322448610648316, + 1.0452590599495595 + ], + "finger_b": [ + 0.2727589225951958, + 0.15665375275705795, + 1.0452590599495595 + ], + "finger_midpoint": [ + 0.27880406342974345, + 0.14444930691094476, + 1.0452590599495595 + ], + "object_minus_finger_midpoint": [ + 0.006045140834547658, + 0.012204445846113188, + 0.0 + ], + "finger_gap": 0.027239106161562984, + "fingertip_max_gap": 0.09183677073495003, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013619553080781506, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0452590599495595, + "object_top_z": 1.09130961409948, + "finger_top_clearance": 0.04605055414992054, + "fingertip_min_top_clearance": 0.013815166244976146, + "object_projection_between_fingers": 0.8029905162395854, + "object_to_finger_line_xy": 0.010834069739259135, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04841838536747502, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6241571483895204, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 216, + "max_stable_success_frames": 216, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.284699031903763, + 0.15495338562596583, + 1.240182006281314 + ], + "held_position": [ + 0.2902219124504967, + 0.1594065997330735, + 1.2370561842394785 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007752682687589979, + "max_held_gripper_dist": 0.007755920008792596, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0031258220418355354, + "max_held_gripper_z_dist": 0.0031508047609483114, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08736907972750507, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2902219124504967, + 0.13394937219515524, + 1.2370561842394785 + ], + "held_grasp_finger_b": [ + 0.28029912322515316, + 0.1594065997330735, + 1.2370561842394785 + ], + "held_grasp_midpoint": [ + 0.2852605178378249, + 0.14667798596411435, + 1.2370561842394785 + ], + "held_grasp_object_position": [ + 0.2902219124504967, + 0.1594065997330735, + 1.2370561842394785 + ], + "held_grasp_finger_gap": 0.027322741076398947, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024595409636360803, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07829817411234269, + -0.9966657161316957, + 0.022953130905551844 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003960657164712923, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03212558386918435, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.27229122139781287, + -0.3221874453824266, + 0.8470199982958235 + ], + "target_position": [ + 0.26599712614411186, + -0.3240809816851678, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006572755494650649, + "xy_threshold": 0.08, + "gripper_dist": 0.18722442692204494, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470199982958235, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07533567465006544, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08574899931382683, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15615400460714227, + "release_required_pad_clearance": 0.05287449965691342, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.788320910181167, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0068441033363342285, + "max_z_decrease": 0.0068441033363342285, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035125945059603376, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0068441033363342285, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021261886365863195, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.0068441033363342285, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.006844121294075392, + "max_button_displacement": 0.12, + "button_start": [ + 0.1216970533132553, + -0.3803424537181853, + 0.7768088579177856 + ], + "button_final": [ + 0.1216970533132553, + -0.3803424537181853, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12153938945298642, + -0.38210677202224225, + 0.8080493211445652 + ], + "closest_button": [ + 0.12168695777654646, + -0.38034185767173756, + 0.772968053817749 + ], + "closest_ee_minus_button": [ + -0.00014756832356004057, + -0.0017649143505046871, + 0.03508126732681616 + ], + "button_min_z_position": [ + 0.12168137729167937, + -0.3803421854972838, + 0.7699647545814514 + ], + "min_active_finger_to_button": 0.14618932635386137, + "closest_active_finger": [ + -0.019765719771385193, + -0.36727702617645264, + 0.810869574546814 + ], + "closest_active_finger_button": [ + 0.12169756740331648, + -0.38034349679946894, + 0.7763916850090027 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1414632871747017, + 0.013066470623016302, + 0.03447788953781128 + ], + "min_contact_pad_to_button": 0.021261886365863195, + "closest_contact_pad": [ + 0.12168137729167937, + -0.38310245354465633, + 0.7910467073406607 + ], + "closest_contact_pad_button": [ + 0.12168137729167937, + -0.3803421854972838, + 0.7699647545814514 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002760268047372505, + 0.02108195275920932 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 69, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b8437df9c3d86391cd24fb0168de1b13f1db0c009dae6b7240f224c3457e19ef", + "visual_seed": 2660266863063729187, + "episode_index": 69, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_6_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_6_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c081236b3684434caac080417adffcd181beaca7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_6_success.json @@ -0,0 +1,926 @@ +{ + "episode": 6, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.28046382479721005, + 0.1617257083280176, + 1.0474389848348407 + ], + "current_z": 1.0474389848348407, + "required_z": 0.8565863285946312, + "initial_z": 0.7565863285946313, + "lift_margin": 0.19085265624020942, + "gripper_z": 1.050473641226811, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2752684475217426, + 0.15672029090534997, + 1.050473641226811 + ], + "object_minus_gripper": [ + 0.005195377275467428, + 0.005005417422667635, + -0.003034656391970314 + ], + "object_to_gripper_xy": 0.007214301671651114, + "object_to_gripper_z": -0.003034656391970314, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.28046382479721005, + 0.1373326202323985, + 1.0474389848348407 + ], + "finger_b": [ + 0.26824354610965206, + 0.1617257083280176, + 1.0474389848348407 + ], + "finger_midpoint": [ + 0.2743536854534311, + 0.14952916428020807, + 1.0474389848348407 + ], + "object_minus_finger_midpoint": [ + 0.006110139343778964, + 0.012196544047809538, + 0.0 + ], + "finger_gap": 0.027282924294184784, + "fingertip_max_gap": 0.09173386554229607, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013641462147092368, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0474389848348407, + "object_top_z": 1.0933195456306937, + "finger_top_clearance": 0.04588056079585301, + "fingertip_min_top_clearance": 0.01376416823875587, + "object_projection_between_fingers": 0.799377155052712, + "object_to_finger_line_xy": 0.010925893843503977, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048366932771148036, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6419514032601503, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2802421069810117, + 0.16024286217364325, + 1.2403142155128526 + ], + "held_position": [ + 0.2857987103461179, + 0.164751853052767, + 1.2371457136683193 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007825997932784153, + "max_held_gripper_dist": 0.007832314309520355, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0031685018445333224, + "max_held_gripper_z_dist": 0.003196158947557981, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08629397149092895, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2857987103461179, + 0.13929079059613236, + 1.2371457136683193 + ], + "held_grasp_finger_b": [ + 0.2757782254863183, + 0.164751853052767, + 1.2371457136683193 + ], + "held_grasp_midpoint": [ + 0.28078846791621814, + 0.15202132182444966, + 1.2371457136683193 + ], + "held_grasp_object_position": [ + 0.2857987103461179, + 0.164751853052767, + 1.2371457136683193 + ], + "held_grasp_finger_gap": 0.027361941054064906, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02462690871384581, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0754891627875923, + -0.9969476635105402, + 0.019918396584643113 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004043126019010332, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03213033259609585, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.27423801129584185, + -0.3257971848285416, + 0.8470195600134491 + ], + "target_position": [ + 0.2670054285840334, + -0.3283761901602418, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007678640581775412, + "xy_threshold": 0.08, + "gripper_dist": 0.18795298709995845, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195600134491, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07529730668244061, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08599003583341745, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15702672522880937, + "release_required_pad_clearance": 0.05299501791670873, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.0233452332881823, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007069051265716553, + "max_z_decrease": 0.007069051265716553, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03510648468953416, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007069051265716553, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02120667745960051, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007069051265716553, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0070690695131142125, + "max_button_displacement": 0.12, + "button_start": [ + 0.12270535528659819, + -0.38463765382766724, + 0.7768088579177856 + ], + "button_final": [ + 0.12270535528659819, + -0.38463765382766724, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12205374150183199, + -0.3860136118456271, + 0.8078435693119069 + ], + "closest_button": [ + 0.12269485741853714, + -0.38463589549064636, + 0.7727699875831604 + ], + "closest_ee_minus_button": [ + -0.0006411159167051539, + -0.0013777163549807403, + 0.03507358172874653 + ], + "button_min_z_position": [ + 0.12268943339586258, + -0.3846355378627777, + 0.7697398066520691 + ], + "min_active_finger_to_button": 0.14670439282192468, + "closest_active_finger": [ + -0.019301533699035645, + -0.371735543012619, + 0.8107331395149231 + ], + "closest_active_finger_button": [ + 0.12270626425743103, + -0.38463789224624634, + 0.7762441039085388 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14200779795646667, + 0.01290234923362732, + 0.03448903560638428 + ], + "min_contact_pad_to_button": 0.02120667745960051, + "closest_contact_pad": [ + 0.12268943339586258, + -0.3870092827534257, + 0.7908132141617636 + ], + "closest_contact_pad_button": [ + 0.12268943339586258, + -0.3846355378627777, + 0.7697398066520691 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0023737448906480108, + 0.021073407509694553 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 6, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "561603166aeb3b392176bb47fcc05b50f8a57586c9eab19a8e5682307e0c7fea", + "visual_seed": 2165520191989363305, + "episode_index": 6, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_70_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_70_success.json new file mode 100644 index 0000000000000000000000000000000000000000..26f1198f47fbeac1687e03133a905bf45cd243b3 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_70_success.json @@ -0,0 +1,926 @@ +{ + "episode": 70, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2850618781470701, + 0.15672680332643654, + 1.047221956595888 + ], + "current_z": 1.047221956595888, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.19063550879196722, + "gripper_z": 1.0504813194282754, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2796694801332248, + 0.1516961185381862, + 1.0504813194282754 + ], + "object_minus_gripper": [ + 0.005392398013845334, + 0.005030684788250334, + -0.003259362832387369 + ], + "object_to_gripper_xy": 0.007374669197900094, + "object_to_gripper_z": -0.003259362832387369, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2850618781470701, + 0.13211040428272022, + 1.047221956595888 + ], + "finger_b": [ + 0.2729071017872984, + 0.15672680332643654, + 1.047221956595888 + ], + "finger_midpoint": [ + 0.2789844899671843, + 0.14441860380457838, + 1.047221956595888 + ], + "object_minus_finger_midpoint": [ + 0.006077388179885845, + 0.01230819952185816, + 0.0 + ], + "finger_gap": 0.027453700847709837, + "fingertip_max_gap": 0.09285849284944905, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013726850423854907, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.047221956595888, + "object_top_z": 1.0938047499347032, + "finger_top_clearance": 0.04658279333881521, + "fingertip_min_top_clearance": 0.01397483800164453, + "object_projection_between_fingers": 0.8039837163629537, + "object_to_finger_line_xy": 0.010898597126085836, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04892924642472453, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8976538709758254, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.28456784102116495, + 0.15527169662045304, + 1.2389246656240673 + ], + "held_position": [ + 0.29025479517342395, + 0.1598550584515486, + 1.2355180961403898 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008059365288393551, + "max_held_gripper_dist": 0.008061408875606592, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0034065694836775684, + "max_held_gripper_z_dist": 0.0034332034769710695, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08623891492937011, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.29025479517342395, + 0.13433405999776063, + 1.2355180961403898 + ], + "held_grasp_finger_b": [ + 0.2800934132761536, + 0.1598550584515486, + 1.2355180961403898 + ], + "held_grasp_midpoint": [ + 0.2851741042247888, + 0.14709455922465461, + 1.2355180961403898 + ], + "held_grasp_object_position": [ + 0.29025479517342395, + 0.1598550584515486, + 1.2355180961403898 + ], + "held_grasp_finger_gap": 0.0274695293760272, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024763691398819197, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06781502584894877, + -0.9973271939548972, + 0.02719541261237901 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004218327462338371, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03212928489037675, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.27156401729709057, + -0.32543605144655985, + 0.8470194776902462 + ], + "target_position": [ + 0.26571487034126395, + -0.3272544675331254, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0061252883340081376, + "xy_threshold": 0.08, + "gripper_dist": 0.1863255948167864, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470194776902462, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07555111494960012, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08496574883971054, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15460806703424912, + "release_required_pad_clearance": 0.052482874419855274, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.03956373352879825, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.006861627101898193, + "max_z_decrease": 0.006861627101898193, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03510112403212303, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.006861627101898193, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021095836587506512, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.006861627101898193, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.006861645801118798, + "max_button_displacement": 0.12, + "button_start": [ + 0.12141479551792145, + -0.3835159242153168, + 0.7768088579177856 + ], + "button_final": [ + 0.12141479551792145, + -0.3835159242153168, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12074617554420713, + -0.38293580848992803, + 0.8080839137952928 + ], + "closest_button": [ + 0.1214047074317932, + -0.38351476192474365, + 0.7729937434196472 + ], + "closest_ee_minus_button": [ + -0.0006585318875860641, + 0.0005789534348156211, + 0.035090170375645546 + ], + "button_min_z_position": [ + 0.12139877676963806, + -0.3835160434246063, + 0.7699472308158875 + ], + "min_active_finger_to_button": 0.14652941026615973, + "closest_active_finger": [ + -0.00668509304523468, + -0.4457991123199463, + 0.8107308149337769 + ], + "closest_active_finger_button": [ + 0.12141535431146619, + -0.38351649045944214, + 0.7763503193855286 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12810044735670087, + -0.06228262186050415, + 0.03438049554824829 + ], + "min_contact_pad_to_button": 0.021095836587506512, + "closest_contact_pad": [ + 0.12139877676963806, + -0.3840374118732088, + 0.7910366237959516 + ], + "closest_contact_pad_button": [ + 0.12139877676963806, + -0.3835160434246063, + 0.7699472308158875 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.000521368448602455, + 0.02108939298006418 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 70, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "398f719166fa84bb474ff59791909d72c906b5dac0e853eb17179ecc3c81270f", + "visual_seed": 6438797935072481741, + "episode_index": 70, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_71_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_71_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8074a083ea065ee45cbce5ed9283fcaaa26fd238 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_71_success.json @@ -0,0 +1,926 @@ +{ + "episode": 71, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2839827195346789, + 0.15728970940482206, + 1.047211509317115 + ], + "current_z": 1.047211509317115, + "required_z": 0.8565865074085657, + "initial_z": 0.7565865074085657, + "lift_margin": 0.19062500190854936, + "gripper_z": 1.050250140501299, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.27887423170026565, + 0.15232209217854048, + 1.050250140501299 + ], + "object_minus_gripper": [ + 0.005108487834413256, + 0.004967617226281584, + -0.003038631184183904 + ], + "object_to_gripper_xy": 0.0071255784930907735, + "object_to_gripper_z": -0.003038631184183904, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2839827195346789, + 0.13296855469882754, + 1.047211509317115 + ], + "finger_b": [ + 0.2718020778850425, + 0.15728970940482206, + 1.047211509317115 + ], + "finger_midpoint": [ + 0.2778923987098607, + 0.14512913205182482, + 1.047211509317115 + ], + "object_minus_finger_midpoint": [ + 0.006090320824818196, + 0.012160577352997248, + 0.0 + ], + "finger_gap": 0.027200856553237, + "fingertip_max_gap": 0.09233224340404642, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013600428276618488, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.047211509317115, + "object_top_z": 1.0934423329278458, + "finger_top_clearance": 0.04623082361073072, + "fingertip_min_top_clearance": 0.013869247083219216, + "object_projection_between_fingers": 0.7994719304926399, + "object_to_finger_line_xy": 0.01089110077836254, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04866612170202321, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.827839960264736, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2839461933542208, + 0.15562295448051428, + 1.2404661906894972 + ], + "held_position": [ + 0.2894286851646002, + 0.16007749183089215, + 1.2372869599709801 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00774649129724877, + "max_held_gripper_dist": 0.0077537915672228125, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003179230718517001, + "max_held_gripper_z_dist": 0.0032045523412005394, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08659726782452071, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2894286851646002, + 0.13461403911546765, + 1.2372869599709801 + ], + "held_grasp_finger_b": [ + 0.2795839294482, + 0.16007749183089215, + 1.2372869599709801 + ], + "held_grasp_midpoint": [ + 0.2845063073064001, + 0.1473457654731799, + 1.2372869599709801 + ], + "held_grasp_object_position": [ + 0.2894286851646002, + 0.16007749183089215, + 1.2372869599709801 + ], + "held_grasp_finger_gap": 0.027300304747497846, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024585826213196355, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08006413120241113, + -0.996488508848589, + 0.024502788158064837 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0039001064928671494, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03211910004587905, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.27736149864202564, + -0.3298214160479147, + 0.847019508706307 + ], + "target_position": [ + 0.270768932186006, + -0.331929258798678, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006921338998992948, + "xy_threshold": 0.08, + "gripper_dist": 0.1871930799392369, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.847019508706307, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0758288959663876, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08542939273478754, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15492618524641227, + "release_required_pad_clearance": 0.052714696367393774, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.4829488469969028, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007300138473510742, + "max_z_decrease": 0.007300138473510742, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03510880518569396, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007300138473510742, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021104637443282222, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007300138473510742, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00730015964950273, + "max_button_displacement": 0.12, + "button_start": [ + 0.12646885216236112, + -0.3881907165050506, + 0.7768088579177856 + ], + "button_final": [ + 0.12646885216236112, + -0.3881907165050506, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12686431516497773, + -0.3879398251279635, + 0.8079451999397931 + ], + "closest_button": [ + 0.12646153569221494, + -0.38819128274917597, + 0.7728396058082581 + ], + "closest_ee_minus_button": [ + 0.00040277947276279313, + 0.00025145762121248083, + 0.03510559413153502 + ], + "button_min_z_position": [ + 0.1264512687921524, + -0.3881906867027282, + 0.7695087194442749 + ], + "min_active_finger_to_button": 0.14572077526172778, + "closest_active_finger": [ + -0.0009716898202896118, + -0.4499832093715668, + 0.8108389377593994 + ], + "closest_active_finger_button": [ + 0.1264687329530716, + -0.3881909549236297, + 0.7765577435493469 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1274404227733612, + -0.06179225444793707, + 0.03428119421005249 + ], + "min_contact_pad_to_button": 0.021104637443282222, + "closest_contact_pad": [ + 0.1264512687921524, + -0.38913060943308975, + 0.7905924161522372 + ], + "closest_contact_pad_button": [ + 0.1264512687921524, + -0.3881906867027282, + 0.7695087194442749 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.000939922730361531, + 0.021083696707962285 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 71, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c00aed7cb7d9a8272f2acadac98069a2b4c997a9855cfd1cff3059624afc53e2", + "visual_seed": 3973678483828606298, + "episode_index": 71, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_72_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_72_success.json new file mode 100644 index 0000000000000000000000000000000000000000..71e5528e0a673bf029935a756f1080a810d96f3a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_72_success.json @@ -0,0 +1,926 @@ +{ + "episode": 72, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.28185285857546416, + 0.1557512811640158, + 1.044646763732167 + ], + "current_z": 1.044646763732167, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.18806031592824624, + "gripper_z": 1.0477235218237937, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.27687251221998077, + 0.15086852143748258, + 1.0477235218237937 + ], + "object_minus_gripper": [ + 0.004980346355483389, + 0.004882759726533209, + -0.0030767580916266635 + ], + "object_to_gripper_xy": 0.006974610553115589, + "object_to_gripper_z": -0.0030767580916266635, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.28185285857546416, + 0.13148086077147658, + 1.044646763732167 + ], + "finger_b": [ + 0.26984644657333556, + 0.1557512811640158, + 1.044646763732167 + ], + "finger_midpoint": [ + 0.27584965257439986, + 0.1436160709677462, + 1.044646763732167 + ], + "object_minus_finger_midpoint": [ + 0.0060032060010642985, + 0.012135210196269591, + 0.0 + ], + "finger_gap": 0.027077799674187723, + "fingertip_max_gap": 0.09174117936015858, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01353889983709385, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.044646763732167, + "object_top_z": 1.0906565051634112, + "finger_top_clearance": 0.046009741431244144, + "fingertip_min_top_clearance": 0.01380292242937326, + "object_projection_between_fingers": 0.8033926532020207, + "object_to_finger_line_xy": 0.010761608040681029, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04837058968007929, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.5553990625141747, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 216, + "max_stable_success_frames": 216, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2818542834999742, + 0.15416681147803146, + 1.2400108952221327 + ], + "held_position": [ + 0.2872144453446789, + 0.1585496261675682, + 1.2368206649247493 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00762351421291978, + "max_held_gripper_dist": 0.007630893616624434, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003190230297383412, + "max_held_gripper_z_dist": 0.0032138268992680796, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08668651225441988, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2872144453446789, + 0.13317147937018234, + 1.2368206649247493 + ], + "held_grasp_finger_b": [ + 0.27742952924453623, + 0.1585496261675682, + 1.2368206649247493 + ], + "held_grasp_midpoint": [ + 0.28232198729460756, + 0.14586055276887527, + 1.2368206649247493 + ], + "held_grasp_object_position": [ + 0.2872144453446789, + 0.1585496261675682, + 1.2368206649247493 + ], + "held_grasp_finger_gap": 0.02719917127334025, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02447221269888273, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08297450038319631, + -0.9962946240892578, + 0.022633035523400014 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038338359763409216, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032152220091668585, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2733527299270774, + -0.32464522675451213, + 0.8470198773698865 + ], + "target_position": [ + 0.26690257862251526, + -0.326762897952753, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0067888867390466295, + "xy_threshold": 0.08, + "gripper_dist": 0.18591300041142717, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470198773698865, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07559425683105585, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08504332900008936, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15429119909137007, + "release_required_pad_clearance": 0.05252166450004468, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.11189838995430358, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007000744342803955, + "max_z_decrease": 0.007000744342803955, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035142483142230424, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007000744342803955, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021284827438921808, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007000744342803955, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007000765452817885, + "max_button_displacement": 0.12, + "button_start": [ + 0.12260250747203827, + -0.3830243647098541, + 0.7768088579177856 + ], + "button_final": [ + 0.12260250747203827, + -0.3830243647098541, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12297876089070409, + -0.3849441583233043, + 0.807964073814549 + ], + "closest_button": [ + 0.12259218096733093, + -0.3830231726169586, + 0.7728762626647949 + ], + "closest_ee_minus_button": [ + 0.0003865799233731537, + -0.0019209857063456903, + 0.03508781114975412 + ], + "button_min_z_position": [ + 0.12258531898260115, + -0.38302400708198553, + 0.7698081135749817 + ], + "min_active_finger_to_button": 0.14564654191249785, + "closest_active_finger": [ + -0.018290311098098755, + -0.3698020577430725, + 0.8107551336288452 + ], + "closest_active_finger_button": [ + 0.12260279804468155, + -0.38302454352378845, + 0.7762991786003113 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1408931091427803, + 0.013222485780715942, + 0.034455955028533936 + ], + "min_contact_pad_to_button": 0.021284827438921808, + "closest_contact_pad": [ + 0.12258531898260115, + -0.38595218294047656, + 0.7908905627981253 + ], + "closest_contact_pad_button": [ + 0.12258531898260115, + -0.38302400708198553, + 0.7698081135749817 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0029281758584910333, + 0.021082449223143618 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 72, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0717d05181129d1d5a44fae8f61f9b540c65d1f72f55c78d3fc40b5fd8899a74", + "visual_seed": 2394405269564975193, + "episode_index": 72, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_73_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_73_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3fe498fb2b16a614e6e59be8868b618dcfd91174 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_73_success.json @@ -0,0 +1,926 @@ +{ + "episode": 73, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.28300947224810363, + 0.1604553575640924, + 1.0452018338019489 + ], + "current_z": 1.0452018338019489, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.1886153263933833, + "gripper_z": 1.0481358036690254, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.27798307693519975, + 0.15556928153621657, + 1.0481358036690254 + ], + "object_minus_gripper": [ + 0.005026395312903886, + 0.00488607602787583, + -0.0029339698670765024 + ], + "object_to_gripper_xy": 0.007009877944141752, + "object_to_gripper_z": -0.0029339698670765024, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.28300947224810363, + 0.13613142165755124, + 1.0452018338019489 + ], + "finger_b": [ + 0.2710229097285075, + 0.1604553575640924, + 1.0452018338019489 + ], + "finger_midpoint": [ + 0.27701619098830554, + 0.14829338961082184, + 1.0452018338019489 + ], + "object_minus_finger_midpoint": [ + 0.005993281259798089, + 0.01216196795327057, + 0.0 + ], + "finger_gap": 0.02711699723460747, + "fingertip_max_gap": 0.0923954176017395, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013558498617303735, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0452018338019489, + "object_top_z": 1.091539604381702, + "finger_top_clearance": 0.04633777057975319, + "fingertip_min_top_clearance": 0.01390133117392594, + "object_projection_between_fingers": 0.804608297874267, + "object_to_finger_line_xy": 0.010751941888842568, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04869770880086975, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8062279750166406, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 216, + "max_stable_success_frames": 216, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2829685009854528, + 0.15892803807738362, + 1.2397086126686454 + ], + "held_position": [ + 0.2883525039839248, + 0.163333327074538, + 1.2366491906266868 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007599613323507153, + "max_held_gripper_dist": 0.0076059964885153005, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003059422041958637, + "max_held_gripper_z_dist": 0.003085486899862211, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08671692543794599, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2883525039839248, + 0.1379418728015589, + 1.2366491906266868 + ], + "held_grasp_finger_b": [ + 0.27854820225657156, + 0.163333327074538, + 1.2366491906266868 + ], + "held_grasp_midpoint": [ + 0.2834503531202482, + 0.15063759993804843, + 1.2366491906266868 + ], + "held_grasp_object_position": [ + 0.2883525039839248, + 0.163333327074538, + 1.2366491906266868 + ], + "held_grasp_finger_gap": 0.02721856503303894, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024540054002932625, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07805752887728198, + -0.9966090676053309, + 0.02602668923250428 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003910605057365117, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032164898399139996, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.26824291324800204, + -0.3246830786055383, + 0.8470193019686827 + ], + "target_position": [ + 0.2618304865783614, + -0.3267446729985049, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006735680161248007, + "xy_threshold": 0.08, + "gripper_dist": 0.18369851333932208, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470193019686827, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07538278098653943, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08545641360358701, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1526076248173085, + "release_required_pad_clearance": 0.052728206801793506, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5082177653779302, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 147, + "max_placed_release_frames": 147 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007133901119232178, + "max_z_decrease": 0.007133901119232178, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0351170864214938, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007133901119232178, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.0211331946841197, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007133901119232178, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007133922716215708, + "max_button_displacement": 0.12, + "button_start": [ + 0.11753041297197338, + -0.38300612568855286, + 0.7768088579177856 + ], + "button_final": [ + 0.11753041297197338, + -0.38300612568855286, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11876372366453467, + -0.38284770924382333, + 0.8077147303523216 + ], + "closest_button": [ + 0.11751858144998546, + -0.38300591707229614, + 0.7726200819015503 + ], + "closest_ee_minus_button": [ + 0.0012451422145492025, + 0.00015820782847281167, + 0.03509464845077126 + ], + "button_min_z_position": [ + 0.11751285940408703, + -0.3830062448978424, + 0.7696749567985535 + ], + "min_active_finger_to_button": 0.14501614958086123, + "closest_active_finger": [ + -0.02219393104314804, + -0.3650517761707306, + 0.8108789324760437 + ], + "closest_active_finger_button": [ + 0.1175301596522331, + -0.3830068111419678, + 0.7764626741409302 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13972409069538114, + 0.017955034971237183, + 0.034416258335113525 + ], + "min_contact_pad_to_button": 0.0211331946841197, + "closest_contact_pad": [ + 0.11751285940408703, + -0.38411928589238226, + 0.7907788203619245 + ], + "closest_contact_pad_button": [ + 0.11751285940408703, + -0.3830062448978424, + 0.7696749567985535 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001113040994539849, + 0.021103863563371017 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 73, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0bf7024045f14db5be822de63709e08a626662806e048c29140b6917bce2fafd", + "visual_seed": 1604261847433924061, + "episode_index": 73, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_74_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_74_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7c7ca8c40c9e6142f9a721b1a224ab998ca753b2 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_74_success.json @@ -0,0 +1,926 @@ +{ + "episode": 74, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.27825244754073036, + 0.15913382715262137, + 1.0448269769988001 + ], + "current_z": 1.0448269769988001, + "required_z": 0.8565865074085657, + "initial_z": 0.7565865074085657, + "lift_margin": 0.18824046959023444, + "gripper_z": 1.0480796987263423, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2734483314368578, + 0.15448142421022593, + 1.0480796987263423 + ], + "object_minus_gripper": [ + 0.004804116103872547, + 0.004652402942395439, + -0.003252721727542207 + ], + "object_to_gripper_xy": 0.006687629227005432, + "object_to_gripper_z": -0.003252721727542207, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.27825244754073036, + 0.1347963461807709, + 1.0448269769988001 + ], + "finger_b": [ + 0.26681190158158774, + 0.15913382715262137, + 1.0448269769988001 + ], + "finger_midpoint": [ + 0.2725321745611591, + 0.14696508666669614, + 1.0448269769988001 + ], + "object_minus_finger_midpoint": [ + 0.005720272979571284, + 0.012168740485925228, + 0.0 + ], + "finger_gap": 0.026892360846501328, + "fingertip_max_gap": 0.09385619042573903, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013446180423250652, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0448269769988001, + "object_top_z": 1.0921277597299042, + "finger_top_clearance": 0.04730078273110405, + "fingertip_min_top_clearance": 0.014190234819331198, + "object_projection_between_fingers": 0.8190178929576454, + "object_to_finger_line_xy": 0.010353649171133975, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04942809521286952, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.4129968599534304, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 216, + "max_stable_success_frames": 216, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2783552327556251, + 0.15779111258984194, + 1.2368761985907837 + ], + "held_position": [ + 0.28343012195426387, + 0.16203944085500077, + 1.2334842705280806 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007436932795821148, + "max_held_gripper_dist": 0.0074390790649109815, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0033919280627030535, + "max_held_gripper_z_dist": 0.0034126775010792088, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0871833930789673, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.28343012195426387, + 0.1367742168857772, + 1.2334842705280806 + ], + "held_grasp_finger_b": [ + 0.27401480492913066, + 0.16203944085500077, + 1.2334842705280806 + ], + "held_grasp_midpoint": [ + 0.27872246344169727, + 0.14940682887038897, + 1.2334842705280806 + ], + "held_grasp_object_position": [ + 0.28343012195426387, + 0.16203944085500077, + 1.2334842705280806 + ], + "held_grasp_finger_gap": 0.02696256176439457, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024505536097336845, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07185807373428946, + -0.9967100498707535, + 0.037489914988399146 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038180153468855196, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03227089037211862, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.26869057391087675, + -0.33019889352074755, + 0.8470191234855773 + ], + "target_position": [ + 0.2633626459160703, + -0.3315188304873826, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005488993561094081, + "xy_threshold": 0.08, + "gripper_dist": 0.18311652015767008, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470191234855773, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07513242761719748, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08648238655973577, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15255557212796295, + "release_required_pad_clearance": 0.053241193279867885, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.5003406616177022, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 147, + "max_placed_release_frames": 147 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007061123847961426, + "max_z_decrease": 0.007061123847961426, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035118049355558824, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007061123847961426, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021120701322929963, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007061123847961426, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0070611466698519264, + "max_button_displacement": 0.12, + "button_start": [ + 0.11906257271766658, + -0.38778027892112726, + 0.7768088579177856 + ], + "button_final": [ + 0.11906257271766658, + -0.38778027892112726, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12032442857938777, + -0.38763233332228697, + 0.8079666515483696 + ], + "closest_button": [ + 0.11905194073915476, + -0.38777920603752136, + 0.7728719711303711 + ], + "closest_ee_minus_button": [ + 0.0012724878402330109, + 0.00014687271523439183, + 0.03509468041799846 + ], + "button_min_z_position": [ + 0.1190446242690086, + -0.3877798914909362, + 0.7697477340698242 + ], + "min_active_finger_to_button": 0.14499581976274165, + "closest_active_finger": [ + -0.020776793360710144, + -0.3709639310836792, + 0.8112506866455078 + ], + "closest_active_finger_button": [ + 0.11906125396490091, + -0.38778141140937805, + 0.7768082618713379 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13983804732561106, + 0.016817480325698853, + 0.03444242477416992 + ], + "min_contact_pad_to_button": 0.021120701322929963, + "closest_contact_pad": [ + 0.1190446242690086, + -0.3887799735414901, + 0.7908447447648155 + ], + "closest_contact_pad_button": [ + 0.1190446242690086, + -0.3877798914909362, + 0.7697477340698242 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0010000820505538521, + 0.02109701069499126 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 74, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "018f5e5a7935c37247056375a3ed8160b0b4df0f3941988fd0bdf9e836261c41", + "visual_seed": 558196661834639960, + "episode_index": 74, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_75_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_75_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0ad0216c17b7620b736f90195a51e3fadf3d5886 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_75_success.json @@ -0,0 +1,926 @@ +{ + "episode": 75, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2869240023022399, + 0.1628879669697599, + 1.0468958358412601 + ], + "current_z": 1.0468958358412601, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.19030938803733932, + "gripper_z": 1.0498595832381528, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.281402326137979, + 0.1577755820879019, + 1.0498595832381528 + ], + "object_minus_gripper": [ + 0.0055216761642609136, + 0.005112384881858001, + -0.0029637473968926464 + ], + "object_to_gripper_xy": 0.0075249841756124215, + "object_to_gripper_z": -0.0029637473968926464, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2869240023022399, + 0.13815492170408852, + 1.0468958358412601 + ], + "finger_b": [ + 0.27468569987562025, + 0.1628879669697599, + 1.0468958358412601 + ], + "finger_midpoint": [ + 0.28080485108893005, + 0.15052144433692421, + 1.0468958358412601 + ], + "object_minus_finger_midpoint": [ + 0.006119151213309859, + 0.012366522632835691, + 0.0 + ], + "finger_gap": 0.0275952817416158, + "fingertip_max_gap": 0.09255354874302976, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013797640870807912, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0468958358412601, + "object_top_z": 1.0931222254661672, + "finger_top_clearance": 0.046226389624907105, + "fingertip_min_top_clearance": 0.013867916887472099, + "object_projection_between_fingers": 0.8033143401247697, + "object_to_finger_line_xy": 0.010968921815213048, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04877677437151488, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7843293327254289, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2864388324417418, + 0.16086792197201924, + 1.2410883785493387 + ], + "held_position": [ + 0.29230487954141715, + 0.16549770651586812, + 1.2379912605852474 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008089348130818004, + "max_held_gripper_dist": 0.008090447852593174, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0030971179640912894, + "max_held_gripper_z_dist": 0.003128582927711676, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08742491676768772, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.29230487954141715, + 0.13984967832129802, + 1.2379912605852474 + ], + "held_grasp_finger_b": [ + 0.28206823685239846, + 0.16549770651586812, + 1.2379912605852474 + ], + "held_grasp_midpoint": [ + 0.2871865581969078, + 0.15267369241858308, + 1.2379912605852474 + ], + "held_grasp_object_position": [ + 0.29230487954141715, + 0.16549770651586812, + 1.2379912605852474 + ], + "held_grasp_finger_gap": 0.027615397947741087, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024892178367693918, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06744711889598456, + -0.9974494035238125, + 0.0233575161911842 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004252571063937268, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03206370372542186, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2768036126193437, + -0.32832989198190343, + 0.8470192474866611 + ], + "target_position": [ + 0.27094596830095835, + -0.3298660289271075, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0060557174368635475, + "xy_threshold": 0.08, + "gripper_dist": 0.18505226263603747, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470192474866611, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07542437114912104, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08503494997573528, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15366179455608958, + "release_required_pad_clearance": 0.05251747498786764, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.10467535275550785, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007176101207733154, + "max_z_decrease": 0.007176101207733154, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035137363950910494, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007176101207733154, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02106846601172244, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007176101207733154, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007176117904267127, + "max_button_displacement": 0.12, + "button_start": [ + 0.12664589285850525, + -0.38612750172615046, + 0.7768088579177856 + ], + "button_final": [ + 0.12664589285850525, + -0.38612750172615046, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12506334441145947, + -0.3852251785308413, + 0.8071148758184313 + ], + "closest_button": [ + 0.12663502991199493, + -0.3861249685287475, + 0.7720242142677307 + ], + "closest_ee_minus_button": [ + -0.0015716855005354635, + 0.0008997899979061863, + 0.03509066155070062 + ], + "button_min_z_position": [ + 0.12663042545318604, + -0.38612687587738037, + 0.7696327567100525 + ], + "min_active_finger_to_button": 0.1470906625210808, + "closest_active_finger": [ + -0.0020727068185806274, + -0.448468416929245, + 0.811027467250824 + ], + "closest_active_finger_button": [ + 0.126648411154747, + -0.3861294984817505, + 0.7766705751419067 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12872111797332764, + -0.06233891844749451, + 0.034356892108917236 + ], + "min_contact_pad_to_button": 0.02106846601172244, + "closest_contact_pad": [ + 0.12663042545318604, + -0.38634445402111023, + 0.7907000992059269 + ], + "closest_contact_pad_button": [ + 0.12663042545318604, + -0.38612687587738037, + 0.7696327567100525 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0002175781437298574, + 0.021067342495874386 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 75, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "49769c9ff81b6fc041d9bcd906573b933b7d5c0df51081c4df05745bb9c9cf58", + "visual_seed": 9107546888183448438, + "episode_index": 75, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_77_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_77_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9c1f7bbf5e27d5f1b2e8db6b4484d3fec9c83314 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_77_success.json @@ -0,0 +1,926 @@ +{ + "episode": 77, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2841293330914912, + 0.15975017535753497, + 1.0456792164697895 + ], + "current_z": 1.0456792164697895, + "required_z": 0.8565865670132105, + "initial_z": 0.7565865670132105, + "lift_margin": 0.189092649456579, + "gripper_z": 1.0486285244566107, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2789012933510865, + 0.15490848952630273, + 1.0486285244566107 + ], + "object_minus_gripper": [ + 0.0052280397404047, + 0.004841685831232234, + -0.002949307986821248 + ], + "object_to_gripper_xy": 0.007125610234611897, + "object_to_gripper_z": -0.002949307986821248, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2841293330914912, + 0.13507147793914595, + 1.0456792164697895 + ], + "finger_b": [ + 0.272479866770798, + 0.15975017535753497, + 1.0456792164697895 + ], + "finger_midpoint": [ + 0.2783045999311446, + 0.14741082664834046, + 1.0456792164697895 + ], + "object_minus_finger_midpoint": [ + 0.005824733160346596, + 0.012339348709194509, + 0.0 + ], + "finger_gap": 0.027290074602781243, + "fingertip_max_gap": 0.09369711633511826, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013645037301390621, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0456792164697895, + "object_top_z": 1.092527806809192, + "finger_top_clearance": 0.046848590339402474, + "fingertip_min_top_clearance": 0.014054577101820759, + "object_projection_between_fingers": 0.8177772424411036, + "object_to_finger_line_xy": 0.010534733180421595, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049348558167559134, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1577677770954438, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.283651807717812, + 0.15845635438658562, + 1.2410341494202626 + ], + "held_position": [ + 0.2891293897580727, + 0.16293694161806915, + 1.2379722527394512 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007710692461166058, + "max_held_gripper_dist": 0.007711619737492622, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.00306189668081136, + "max_held_gripper_z_dist": 0.003089904340861427, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08608102075450585, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2891293897580727, + 0.13756070986898705, + 1.2379722527394512 + ], + "held_grasp_finger_b": [ + 0.2790634081818384, + 0.16293694161806915, + 1.2379722527394512 + ], + "held_grasp_midpoint": [ + 0.28409639896995553, + 0.1502488257435281, + 1.2379722527394512 + ], + "held_grasp_object_position": [ + 0.2891293897580727, + 0.16293694161806915, + 1.2379722527394512 + ], + "held_grasp_finger_gap": 0.027299764154223208, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02483162467960528, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.04984400495757705, + -0.998310299404888, + 0.02986839921910545 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004410942155721605, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03228268379041944, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2752126660008229, + -0.32779018866002885, + 0.8470186666807441 + ], + "target_position": [ + 0.27002059274477647, + -0.3286531404507637, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005263298441973915, + "xy_threshold": 0.08, + "gripper_dist": 0.18564830345633734, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470186666807441, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0751687498426203, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08514889052117959, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15486338921355916, + "release_required_pad_clearance": 0.0525744452605898, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.2093284197557975, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007057845592498779, + "max_z_decrease": 0.007057845592498779, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035126762467998326, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007057845592498779, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021081508439734997, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007057845592498779, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007057871036653474, + "max_button_displacement": 0.12, + "button_start": [ + 0.12572051584720612, + -0.38491460680961603, + 0.7768088579177856 + ], + "button_final": [ + 0.12572051584720612, + -0.38491460680961603, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1245336506549583, + -0.383684858890893, + 0.8079610927180839 + ], + "closest_button": [ + 0.12570922076702118, + -0.3849144876003265, + 0.7728755474090576 + ], + "closest_ee_minus_button": [ + -0.0011755701120628737, + 0.0012296287094334946, + 0.0350855453090263 + ], + "button_min_z_position": [ + 0.1257015913724899, + -0.38491359353065485, + 0.7697510123252869 + ], + "min_active_finger_to_button": 0.14668325402543891, + "closest_active_finger": [ + -0.002404317259788513, + -0.4475177526473999, + 0.8111766576766968 + ], + "closest_active_finger_button": [ + 0.1257192492485046, + -0.3849156498908996, + 0.7768065333366394 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12812356650829312, + -0.0626021027565003, + 0.03437012434005737 + ], + "min_contact_pad_to_button": 0.021081508439734997, + "closest_contact_pad": [ + 0.1257015913724899, + -0.38491359353065485, + 0.7908325207650219 + ], + "closest_contact_pad_button": [ + 0.1257015913724899, + -0.38491359353065485, + 0.7697510123252869 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021081508439734997 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 77, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0cb6acaffcaa3591420a9ea43d054f39f2583213e21863076d249ee0538b9b2e", + "visual_seed": 6850766342855354369, + "episode_index": 77, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_78_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_78_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3bcd1c043e92a52d3ba58a30356973187d92f5ac --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_78_success.json @@ -0,0 +1,926 @@ +{ + "episode": 78, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2809802581723313, + 0.16136938209508686, + 1.045566091260736 + ], + "current_z": 1.045566091260736, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.18897964345681528, + "gripper_z": 1.0490354177473886, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.275173372524818, + 0.156171111468429, + 1.0490354177473886 + ], + "object_minus_gripper": [ + 0.005806885647513305, + 0.005198270626657869, + -0.0034693264866525464 + ], + "object_to_gripper_xy": 0.007793711467027119, + "object_to_gripper_z": -0.0034693264866525464, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2809802581723313, + 0.13643525969080372, + 1.045566091260736 + ], + "finger_b": [ + 0.2686252375935735, + 0.16136938209508686, + 1.045566091260736 + ], + "finger_midpoint": [ + 0.2748027478829524, + 0.1489023208929453, + 1.045566091260736 + ], + "object_minus_finger_midpoint": [ + 0.006177510289378907, + 0.012467061202141555, + 0.0 + ], + "finger_gap": 0.027827270681353274, + "fingertip_max_gap": 0.09606017639985917, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013913635340676623, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.045566091260736, + "object_top_z": 1.0928150353399377, + "finger_top_clearance": 0.04724894407920166, + "fingertip_min_top_clearance": 0.014174683223760497, + "object_projection_between_fingers": 0.8028731776578459, + "object_to_finger_line_xy": 0.011070492645353546, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05053008819992959, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.3900687454423375, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 216, + "max_stable_success_frames": 216, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.27959458827061173, + 0.16049765330701443, + 1.239024477935505 + ], + "held_position": [ + 0.28562729787415897, + 0.16533484678118232, + 1.2354271128907606 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008528368022805601, + "max_held_gripper_dist": 0.008531920677151285, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003597365044744505, + "max_held_gripper_z_dist": 0.0036298971905823763, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08671271949102602, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.28562729787415897, + 0.13977485900659206, + 1.2354271128907606 + ], + "held_grasp_finger_b": [ + 0.27475051252431915, + 0.16533484678118232, + 1.2354271128907606 + ], + "held_grasp_midpoint": [ + 0.28018890519923906, + 0.1525548528938872, + 1.2354271128907606 + ], + "held_grasp_object_position": [ + 0.28562729787415897, + 0.16533484678118232, + 1.2354271128907606 + ], + "held_grasp_finger_gap": 0.02777800271048467, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025350321843528804, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0177630761585904, + -0.999355994819842, + 0.03117801698357147 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005225850444048512, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03233185887751652, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2538969823468304, + -0.3347321023484244, + 0.8470195588467541 + ], + "target_position": [ + 0.26138514480974645, + -0.32499433903476155, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.012283998185604831, + "xy_threshold": 0.08, + "gripper_dist": 0.17392940152848116, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195588467541, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07567897049898974, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0937432078296296, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.14002287672735103, + "release_required_pad_clearance": 0.0568716039148148, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 9.221483364881099, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 140, + "max_placed_release_frames": 140 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00703883171081543, + "max_z_decrease": 0.00703883171081543, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03511001210967658, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00703883171081543, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.02111894426895025, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00703883171081543, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00703885139094338, + "max_button_displacement": 0.12, + "button_start": [ + 0.11708506941795346, + -0.3812558054924011, + 0.7768088579177856 + ], + "button_final": [ + 0.11708506941795346, + -0.3812558054924011, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11833233886207231, + -0.3803853378277856, + 0.8076446454475019 + ], + "closest_button": [ + 0.11707279086112973, + -0.3812539875507354, + 0.7725679874420166 + ], + "closest_ee_minus_button": [ + 0.0012595480009425786, + 0.0008686497229498102, + 0.03507665800548532 + ], + "button_min_z_position": [ + 0.11706842482089994, + -0.3812557160854339, + 0.7697700262069702 + ], + "min_active_finger_to_button": 0.14473670068935476, + "closest_active_finger": [ + -0.008053943514823914, + -0.44529271125793457, + 0.8110827207565308 + ], + "closest_active_finger_button": [ + 0.1170861646533012, + -0.38125586509704584, + 0.776616096496582 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1251401081681251, + -0.06403684616088873, + 0.03446662425994873 + ], + "min_contact_pad_to_button": 0.02111894426895025, + "closest_contact_pad": [ + 0.11706842482089994, + -0.3813114545245926, + 0.7908888969216042 + ], + "closest_contact_pad_button": [ + 0.11706842482089994, + -0.3812557160854339, + 0.7697700262069702 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -5.573843915868126e-05, + 0.02111887071463403 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 78, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6afb5fa2205b24065669db0f453b564a22b00900ec9baead43a65fb583db13c4", + "visual_seed": 5721355060306483549, + "episode_index": 78, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_79_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_79_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3ea3599e454bb83f33f71abf8b3752976eb20656 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_79_success.json @@ -0,0 +1,926 @@ +{ + "episode": 79, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.28704791117277084, + 0.16454226285428894, + 1.045478591919102 + ], + "current_z": 1.045478591919102, + "required_z": 0.8565865074085653, + "initial_z": 0.7565865074085654, + "lift_margin": 0.18889208451053674, + "gripper_z": 1.0482664582162975, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2819594955147755, + 0.15968643273233396, + 1.0482664582162975 + ], + "object_minus_gripper": [ + 0.005088415657995338, + 0.004855830121954979, + -0.002787866297195407 + ], + "object_to_gripper_xy": 0.007033566668612549, + "object_to_gripper_z": -0.002787866297195407, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.28704791117277084, + 0.14009234813464488, + 1.045478591919102 + ], + "finger_b": [ + 0.2752076668059846, + 0.16454226285428894, + 1.045478591919102 + ], + "finger_midpoint": [ + 0.28112778898937774, + 0.15231730549446693, + 1.045478591919102 + ], + "object_minus_finger_midpoint": [ + 0.005920122183393106, + 0.012224957359822014, + 0.0 + ], + "finger_gap": 0.027165966142640337, + "fingertip_max_gap": 0.09165575612887619, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013582983071320142, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.045478591919102, + "object_top_z": 1.0914766709308874, + "finger_top_clearance": 0.04599807901178532, + "fingertip_min_top_clearance": 0.013799423703535629, + "object_projection_between_fingers": 0.8100361244366645, + "object_to_finger_line_xy": 0.010656457550879243, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0483278780644381, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.5234907210969184, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2869171296261275, + 0.16296842751186402, + 1.2367847224431125 + ], + "held_position": [ + 0.2923134016364631, + 0.16738567788006062, + 1.2338505838400728 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007565779653592363, + "max_held_gripper_dist": 0.0075693923094005905, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0029341386030397043, + "max_held_gripper_z_dist": 0.0029634915273137885, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0872328436042589, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2923134016364631, + 0.14196836690843534, + 1.2338505838400728 + ], + "held_grasp_finger_b": [ + 0.28255767080403316, + 0.16738567788006062, + 1.2338505838400728 + ], + "held_grasp_midpoint": [ + 0.2874355362202481, + 0.15467702239424796, + 1.2338505838400728 + ], + "held_grasp_object_position": [ + 0.2923134016364631, + 0.16738567788006062, + 1.2338505838400728 + ], + "held_grasp_finger_gap": 0.027225245290045167, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024633592708483355, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07283907453058534, + -0.997123226055665, + 0.020970009105174877 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003948478321753454, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.0321728302063654, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2748117835266323, + -0.32455966309309087, + 0.8470195048046267 + ], + "target_position": [ + 0.2678689480664794, + -0.3266763759517531, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007258335728855702, + "xy_threshold": 0.08, + "gripper_dist": 0.18788290174680877, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195048046267, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07513593497374171, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08613823652156168, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15731644373591241, + "release_required_pad_clearance": 0.05306911826078084, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.1669954408143286, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.006921708583831787, + "max_z_decrease": 0.006921708583831787, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035127200025460686, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.006921708583831787, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021098763369667817, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.006921708583831787, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.006921731012820643, + "max_button_displacement": 0.12, + "button_start": [ + 0.12356887757778168, + -0.3829378485679626, + 0.7768088579177856 + ], + "button_final": [ + 0.12356887757778168, + -0.3829378485679626, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12473563992442818, + -0.38209370109161916, + 0.8080859500513949 + ], + "closest_button": [ + 0.1235581859946251, + -0.3829369246959686, + 0.7729886174201965 + ], + "closest_ee_minus_button": [ + 0.0011774539298030767, + 0.0008432236043494079, + 0.03509733263119841 + ], + "button_min_z_position": [ + 0.12355125695466997, + -0.3829377591609954, + 0.7698871493339539 + ], + "min_active_finger_to_button": 0.14480824661815125, + "closest_active_finger": [ + -0.002276390790939331, + -0.44579625129699707, + 0.8107291460037231 + ], + "closest_active_finger_button": [ + 0.12356903403997423, + -0.38293820619583124, + 0.7763602137565613 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12584542483091354, + -0.06285804510116583, + 0.034368932247161865 + ], + "min_contact_pad_to_button": 0.021098763369667817, + "closest_contact_pad": [ + 0.12355125695466997, + -0.38312807735383286, + 0.7909850543179733 + ], + "closest_contact_pad_button": [ + 0.12355125695466997, + -0.3829377591609954, + 0.7698871493339539 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00019031819283749085, + 0.021097904984019422 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 79, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1e0db2bbba8b8a5252e27eda04b1fcf9ceb2fa177a869ad9065d75e5d0ed16fe", + "visual_seed": 3600400502569904657, + "episode_index": 79, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_7_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_7_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4ea38508e9325b1068f5b1064933af4d5c9930b7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_7_success.json @@ -0,0 +1,926 @@ +{ + "episode": 7, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.28473353991081235, + 0.159466899355641, + 1.0467426151930792 + ], + "current_z": 1.0467426151930792, + "required_z": 0.8565864478039209, + "initial_z": 0.7565864478039209, + "lift_margin": 0.1901561673891583, + "gripper_z": 1.050765416170443, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.27900597314673875, + 0.1543182337311907, + 1.050765416170443 + ], + "object_minus_gripper": [ + 0.0057275667640735994, + 0.0051486656244503215, + -0.0040228009773637385 + ], + "object_to_gripper_xy": 0.007701543919846003, + "object_to_gripper_z": -0.0040228009773637385, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.28473353991081235, + 0.1344158465025513, + 1.0467426151930792 + ], + "finger_b": [ + 0.2726677241105887, + 0.159466899355641, + 1.0467426151930792 + ], + "finger_midpoint": [ + 0.2787006320107005, + 0.14694137292909615, + 1.0467426151930792 + ], + "object_minus_finger_midpoint": [ + 0.00603290790011185, + 0.012525526426544864, + 0.0 + ], + "finger_gap": 0.027805380054464642, + "fingertip_max_gap": 0.09203368373005369, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013902690027232345, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0467426151930792, + "object_top_z": 1.0922609521743314, + "finger_top_clearance": 0.04551833698125218, + "fingertip_min_top_clearance": 0.013655501094375655, + "object_projection_between_fingers": 0.8116976626433342, + "object_to_finger_line_xy": 0.010870608088613929, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04851684186502685, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2138429574618725, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2839081255596859, + 0.15785736096016412, + 1.2407235320540517 + ], + "held_position": [ + 0.28987462015525567, + 0.16260180504974436, + 1.236560970255916 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008685374384643152, + "max_held_gripper_dist": 0.008688180633726925, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004162561798135789, + "max_held_gripper_z_dist": 0.004191353539973353, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08649707273047641, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.28987462015525567, + 0.13690537244661127, + 1.236560970255916 + ], + "held_grasp_finger_b": [ + 0.27943244282863267, + 0.16260180504974436, + 1.236560970255916 + ], + "held_grasp_midpoint": [ + 0.28465353149194417, + 0.14975358874817782, + 1.236560970255916 + ], + "held_grasp_object_position": [ + 0.28987462015525567, + 0.16260180504974436, + 1.236560970255916 + ], + "held_grasp_finger_gap": 0.027737081963465457, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025276512458844373, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.038226342180186765, + -0.9991923431156546, + 0.012385807303970538 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004728852315530803, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032162802492794906, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.27376243542856077, + -0.32425339469596715, + 0.8470194742766985 + ], + "target_position": [ + 0.2664111790922431, + -0.32692971204844434, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0078232758032311, + "xy_threshold": 0.08, + "gripper_dist": 0.18617739349285778, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470194742766985, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07539648549106043, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08696778401047965, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15495637944983456, + "release_required_pad_clearance": 0.05348389200523983, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.9802359638902018, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.006960272789001465, + "max_z_decrease": 0.006960272789001465, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035082263856039755, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.006960272789001465, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.0211252014765369, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.006960272789001465, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.006960293720080779, + "max_button_displacement": 0.12, + "button_start": [ + 0.12211110442876814, + -0.38319116830825806, + 0.7768088579177856 + ], + "button_final": [ + 0.12211110442876814, + -0.38319116830825806, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12191568537015524, + -0.38330468438438287, + 0.8079206626876728 + ], + "closest_button": [ + 0.12209942191839215, + -0.3831894099712372, + 0.7728390693664551 + ], + "closest_ee_minus_button": [ + -0.00018373654823691798, + -0.00011527441314568287, + 0.03508159332121774 + ], + "button_min_z_position": [ + 0.12209407240152358, + -0.3831900358200073, + 0.7698485851287842 + ], + "min_active_finger_to_button": 0.1463780771743087, + "closest_active_finger": [ + -0.019428104162216187, + -0.3689289391040802, + 0.8108057975769043 + ], + "closest_active_finger_button": [ + 0.12211179733276366, + -0.3831912577152252, + 0.776315450668335 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14153990149497986, + 0.01426231861114502, + 0.034490346908569336 + ], + "min_contact_pad_to_button": 0.0211252014765369, + "closest_contact_pad": [ + 0.12209407240152358, + -0.38429342337146477, + 0.7909449514826273 + ], + "closest_contact_pad_button": [ + 0.12209407240152358, + -0.3831900358200073, + 0.7698485851287842 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0011033875514574465, + 0.021096366353843155 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 7, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "4b70602935abe229e6a1532d44a7423a552d41b19c74a6ebbf7992d04a7f6e36", + "visual_seed": 5428448163156868770, + "episode_index": 7, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_80_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_80_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2cbf8176847f0d4e8b082ca666e1b2c27254917e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_80_success.json @@ -0,0 +1,926 @@ +{ + "episode": 80, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.28011536558272226, + 0.1601668979942123, + 1.0444908360088423 + ], + "current_z": 1.0444908360088423, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.18790432860027673, + "gripper_z": 1.0476422273985357, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2749435656347631, + 0.15520524068358282, + 1.0476422273985357 + ], + "object_minus_gripper": [ + 0.005171799947959188, + 0.004961657310629475, + -0.0031513913896934476 + ], + "object_to_gripper_xy": 0.007166976905909044, + "object_to_gripper_z": -0.0031513913896934476, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.28011536558272226, + 0.13576089926058638, + 1.0444908360088423 + ], + "finger_b": [ + 0.2679895164480641, + 0.1601668979942123, + 1.0444908360088423 + ], + "finger_midpoint": [ + 0.27405244101539317, + 0.14796389862739934, + 1.0444908360088423 + ], + "object_minus_finger_midpoint": [ + 0.006062924567329098, + 0.012202999366812961, + 0.0 + ], + "finger_gap": 0.02725232084469577, + "fingertip_max_gap": 0.0921873193908995, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013626160422347898, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0444908360088423, + "object_top_z": 1.0907271160188043, + "finger_top_clearance": 0.04623628000996205, + "fingertip_min_top_clearance": 0.013870884002988615, + "object_projection_between_fingers": 0.8020218167568135, + "object_to_finger_line_xy": 0.010859385529442224, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04859365969544975, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7021175973462433, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 216, + "max_stable_success_frames": 216, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2798455765061487, + 0.15862243139059345, + 1.2396881561235824 + ], + "held_position": [ + 0.2853785476897393, + 0.16309412064881684, + 1.236420610086794 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00782857790681587, + "max_held_gripper_dist": 0.007831085973565983, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.00326754603678836, + "max_held_gripper_z_dist": 0.0032934521845451314, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08716805468404495, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2853785476897393, + 0.13766275175442852, + 1.236420610086794 + ], + "held_grasp_finger_b": [ + 0.2753598667200826, + 0.16309412064881684, + 1.236420610086794 + ], + "held_grasp_midpoint": [ + 0.280369207204911, + 0.15037843620162267, + 1.236420610086794 + ], + "held_grasp_object_position": [ + 0.2853785476897393, + 0.16309412064881684, + 1.236420610086794 + ], + "held_grasp_finger_gap": 0.02733365127849229, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024568012705702, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07769801564630424, + -0.9966606375652336, + 0.025111588812515517 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004019308022347478, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03213778698222406, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2719951544511249, + -0.3230832098841381, + 0.8470196628201626 + ], + "target_position": [ + 0.26590015824957736, + -0.32503010621423606, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006398389173614534, + "xy_threshold": 0.08, + "gripper_dist": 0.18602394301511396, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196628201626, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07548357469061734, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0853727730612568, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1545572764543366, + "release_required_pad_clearance": 0.052686386530628404, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.42795746660737843, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.006857693195343018, + "max_z_decrease": 0.006857693195343018, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035114081776232174, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.006857693195343018, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021206445285768344, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.006857693195343018, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.006857711760880846, + "max_button_displacement": 0.12, + "button_start": [ + 0.12160008400678633, + -0.38129156827926636, + 0.7768088579177856 + ], + "button_final": [ + 0.12160008400678633, + -0.38129156827926636, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12057826960993268, + -0.38279996064081584, + 0.8080066575719705 + ], + "closest_button": [ + 0.1215892732143402, + -0.3812901079654693, + 0.7729396224021912 + ], + "closest_ee_minus_button": [ + -0.0010110036044075205, + -0.0015098526753465347, + 0.03506703516977938 + ], + "button_min_z_position": [ + 0.1215842142701149, + -0.38128989934921265, + 0.7699511647224426 + ], + "min_active_finger_to_button": 0.14704906294349657, + "closest_active_finger": [ + -0.02073027938604355, + -0.36800363659858704, + 0.8108328580856323 + ], + "closest_active_finger_button": [ + 0.12160053849220274, + -0.3812927007675171, + 0.7763543725013733 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1423308178782463, + 0.013289064168930054, + 0.03447848558425903 + ], + "min_contact_pad_to_button": 0.021206445285768344, + "closest_contact_pad": [ + 0.1215842142701149, + -0.383814822517072, + 0.7910067598138831 + ], + "closest_contact_pad_button": [ + 0.1215842142701149, + -0.38128989934921265, + 0.7699511647224426 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0025249231678593498, + 0.021055595091440504 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 80, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d528b320c467bf8610ce5564a7df3532542b313761d569507a35d1f01d243bac", + "visual_seed": 2235238203882572684, + "episode_index": 80, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_81_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_81_success.json new file mode 100644 index 0000000000000000000000000000000000000000..42b8facd84f82ea95cfcf75e1abc5f9d02f230c2 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_81_success.json @@ -0,0 +1,926 @@ +{ + "episode": 81, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2804529716603623, + 0.16391603556705325, + 1.0445576752334318 + ], + "current_z": 1.0445576752334318, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.18797116782486623, + "gripper_z": 1.0476664784080463, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.275234863037941, + 0.15892022080221094, + 1.0476664784080463 + ], + "object_minus_gripper": [ + 0.005218108622421336, + 0.004995814764842316, + -0.003108803174614483 + ], + "object_to_gripper_xy": 0.007224044764534919, + "object_to_gripper_z": -0.003108803174614483, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2804529716603623, + 0.13947304141972658, + 1.0445576752334318 + ], + "finger_b": [ + 0.2682882582380689, + 0.16391603556705325, + 1.0445576752334318 + ], + "finger_midpoint": [ + 0.2743706149492156, + 0.15169453849338993, + 1.0445576752334318 + ], + "object_minus_finger_midpoint": [ + 0.006082356711146708, + 0.012221497073663323, + 0.0 + ], + "finger_gap": 0.027302751061619626, + "fingertip_max_gap": 0.09242083060714959, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013651375530809801, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0445576752334318, + "object_top_z": 1.0909162893654454, + "finger_top_clearance": 0.04635861413201359, + "fingertip_min_top_clearance": 0.013907584239604042, + "object_projection_between_fingers": 0.8014860889403947, + "object_to_finger_line_xy": 0.010890551589982743, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0487104153035748, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.807458589720498, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 216, + "max_stable_success_frames": 216, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.28011942164309267, + 0.16229017327740208, + 1.2386991749073077 + ], + "held_position": [ + 0.285699819415321, + 0.16679239525370104, + 1.2354678563120325 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007864620898958329, + "max_held_gripper_dist": 0.007871388552471539, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0032313185952752566, + "max_held_gripper_z_dist": 0.003260509802817557, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08741782788288144, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.285699819415321, + 0.1413221633490871, + 1.2354678563120325 + ], + "held_grasp_finger_b": [ + 0.2756632420453533, + 0.16679239525370104, + 1.2354678563120325 + ], + "held_grasp_midpoint": [ + 0.2806815307303372, + 0.15405727930139407, + 1.2354678563120325 + ], + "held_grasp_object_position": [ + 0.285699819415321, + 0.16679239525370104, + 1.2354678563120325 + ], + "held_grasp_finger_gap": 0.027376369346174493, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024610708320318263, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07718414333650574, + -0.9966683083891044, + 0.026360786600764574 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004034787254564025, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03212020617932013, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2687665027499724, + -0.3265539975912619, + 0.8470191185163782 + ], + "target_position": [ + 0.2621896962814274, + -0.32865788675031965, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006905123671470023, + "xy_threshold": 0.08, + "gripper_dist": 0.1856797370733136, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470191185163782, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0754592027893783, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08532545444915592, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1544085664152687, + "release_required_pad_clearance": 0.05266272722457796, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.3815463406654964, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0068929195404052734, + "max_z_decrease": 0.0068929195404052734, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03507923760370836, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0068929195404052734, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021117528199821975, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.0068929195404052734, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.006892940349547206, + "max_button_displacement": 0.12, + "button_start": [ + 0.11788962036371227, + -0.38491934537887573, + 0.7768088579177856 + ], + "button_final": [ + 0.11788962036371227, + -0.38491934537887573, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11792966148438289, + -0.38477015832733397, + 0.8080139835919052 + ], + "closest_button": [ + 0.1178788617253303, + -0.38491755723953247, + 0.7729350924491882 + ], + "closest_ee_minus_button": [ + 5.079975905258882e-05, + 0.0001473989121985042, + 0.035078891142717006 + ], + "button_min_z_position": [ + 0.11787268519401545, + -0.38491907715797424, + 0.7699159383773804 + ], + "min_active_finger_to_button": 0.14610806881077576, + "closest_active_finger": [ + -0.008866734802722931, + -0.4488999545574188, + 0.8108085989952087 + ], + "closest_active_finger_button": [ + 0.11788994818925853, + -0.3849196434020996, + 0.7763581871986389 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12675668299198145, + -0.06398031115531921, + 0.034450411796569824 + ], + "min_contact_pad_to_button": 0.021117528199821975, + "closest_contact_pad": [ + 0.11787268519401545, + -0.38575679137503943, + 0.7910168443333057 + ], + "closest_contact_pad_button": [ + 0.11787268519401545, + -0.38491907715797424, + 0.7699159383773804 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0008377142170651886, + 0.021100905955925287 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 81, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e5fd091d1bf057b4921e9c7115a6d66b86d7e00faf4d536059264fcc3a33a1a3", + "visual_seed": 3947519550583342701, + "episode_index": 81, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_82_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_82_success.json new file mode 100644 index 0000000000000000000000000000000000000000..02fcaa4d4f928708b2825031885d8a3854ca0fff --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_82_success.json @@ -0,0 +1,926 @@ +{ + "episode": 82, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2825642307027677, + 0.1542288700588431, + 1.0462010431895152 + ], + "current_z": 1.0462010431895152, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.18961459538559444, + "gripper_z": 1.0504107798181952, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.27669965941218816, + 0.1490017379396002, + 1.0504107798181952 + ], + "object_minus_gripper": [ + 0.0058645712905795455, + 0.005227132119242889, + -0.004209736628679961 + ], + "object_to_gripper_xy": 0.007855959942254702, + "object_to_gripper_z": -0.004209736628679961, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2825642307027677, + 0.12918679965510707, + 1.0462010431895152 + ], + "finger_b": [ + 0.27024714425586505, + 0.1542288700588431, + 1.0462010431895152 + ], + "finger_midpoint": [ + 0.2764056874793164, + 0.14170783485697508, + 1.0462010431895152 + ], + "object_minus_finger_midpoint": [ + 0.006158543223451329, + 0.012521035201868008, + 0.0 + ], + "finger_gap": 0.02790727340042636, + "fingertip_max_gap": 0.09212215338793811, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01395363670021318, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0462010431895152, + "object_top_z": 1.0917862696904344, + "finger_top_clearance": 0.04558522650091912, + "fingertip_min_top_clearance": 0.013675567950275701, + "object_projection_between_fingers": 0.8052034930768177, + "object_to_finger_line_xy": 0.011052507407173886, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04856107669396906, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1799176397768836, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2815080497205235, + 0.15267643397827746, + 1.2378905212034246 + ], + "held_position": [ + 0.28761792571552114, + 0.15750352690390146, + 1.233523044732123 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008927836328821782, + "max_held_gripper_dist": 0.008929097660500028, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004367476471301535, + "max_held_gripper_z_dist": 0.004396083137063078, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08625893772535752, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.28761792571552114, + 0.13174387625382838, + 1.233523044732123 + ], + "held_grasp_finger_b": [ + 0.2770269411232802, + 0.15750352690390146, + 1.233523044732123 + ], + "held_grasp_midpoint": [ + 0.28232243341940066, + 0.14462370157886492, + 1.233523044732123 + ], + "held_grasp_object_position": [ + 0.28761792571552114, + 0.15750352690390146, + 1.233523044732123 + ], + "held_grasp_finger_gap": 0.02785190399679877, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025296753047863964, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.04144531249761953, + -0.999070215025368, + 0.011873985057246569 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004759633471373873, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03211290177579589, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.27197477962663924, + -0.32709244887048006, + 0.8470196292665064 + ], + "target_position": [ + 0.26464135709531533, + -0.32988169092501696, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007845951647934519, + "xy_threshold": 0.08, + "gripper_dist": 0.1874411502093293, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196292665064, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07528956026614557, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0863703864415125, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15655335665036713, + "release_required_pad_clearance": 0.05318519322075625, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.3932247508182316, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007221102714538574, + "max_z_decrease": 0.007221102714538574, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035115373838943066, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007221102714538574, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021162405135475074, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007221102714538574, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0072211272988451205, + "max_button_displacement": 0.12, + "button_start": [ + 0.12034128606319426, + -0.38614314794540405, + 0.7768088579177856 + ], + "button_final": [ + 0.12034128606319426, + -0.38614314794540405, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12171228323670175, + -0.3868803790450077, + 0.807621645172912 + ], + "closest_button": [ + 0.12032961845397946, + -0.38614144921302795, + 0.7725412845611572 + ], + "closest_ee_minus_button": [ + 0.0013826647827222815, + -0.0007389298319797621, + 0.03508036061175479 + ], + "button_min_z_position": [ + 0.12032246589660642, + -0.38614222407341003, + 0.7695877552032471 + ], + "min_active_finger_to_button": 0.1448102318638853, + "closest_active_finger": [ + -0.019720017910003662, + -0.3734707236289978, + 0.8106516003608704 + ], + "closest_active_finger_button": [ + 0.12034219503402709, + -0.3861432671546936, + 0.7761264443397522 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14006221294403076, + 0.0126725435256958, + 0.034525156021118164 + ], + "min_contact_pad_to_button": 0.021162405135475074, + "closest_contact_pad": [ + 0.12032246589660642, + -0.38774666511311234, + 0.790689251834247 + ], + "closest_contact_pad_button": [ + 0.12032246589660642, + -0.38614222407341003, + 0.7695877552032471 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001604441039702309, + 0.021101496630999916 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 82, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "164848a0d5f99d622bb5441457e675f5a3993736061dca7165608df9be244d92", + "visual_seed": 1847998273490643718, + "episode_index": 82, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_83_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_83_success.json new file mode 100644 index 0000000000000000000000000000000000000000..848862c20272735b71ce5b1134c5d1e658107352 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_83_success.json @@ -0,0 +1,926 @@ +{ + "episode": 83, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2831334875045781, + 0.16066486869065585, + 1.0452582873949465 + ], + "current_z": 1.0452582873949465, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.18867172038173619, + "gripper_z": 1.0483528036151044, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.27800549843053923, + 0.15584429096741412, + 1.0483528036151044 + ], + "object_minus_gripper": [ + 0.005127989074038886, + 0.004820577723241737, + -0.0030945162201578835 + ], + "object_to_gripper_xy": 0.007038056658572499, + "object_to_gripper_z": -0.0030945162201578835, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2831334875045781, + 0.13607854906528194, + 1.0452582873949465 + ], + "finger_b": [ + 0.2714786028147793, + 0.16066486869065585, + 1.0452582873949465 + ], + "finger_midpoint": [ + 0.2773060451596787, + 0.1483717088779689, + 1.0452582873949465 + ], + "object_minus_finger_midpoint": [ + 0.005827442344899403, + 0.012293159812686943, + 0.0 + ], + "finger_gap": 0.02720888549451361, + "fingertip_max_gap": 0.09620738502966253, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013604442747256792, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0452582873949465, + "object_top_z": 1.0931617444015733, + "finger_top_clearance": 0.04790345700662679, + "fingertip_min_top_clearance": 0.014371037101988038, + "object_projection_between_fingers": 0.8165175813904354, + "object_to_finger_line_xy": 0.01053151259128387, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05060369251483127, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.047096662915978, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.28302286886538053, + 0.15898157513607336, + 1.2382030989147104 + ], + "held_position": [ + 0.2884336481911081, + 0.16338538820054496, + 1.2349678886657185 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007690038216661468, + "max_held_gripper_dist": 0.007692978335850841, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003235210248991871, + "max_held_gripper_z_dist": 0.0032602120377156485, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0865318563210904, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2884336481911081, + 0.1379362350257085, + 1.2349678886657185 + ], + "held_grasp_finger_b": [ + 0.2787237340921883, + 0.16338538820054496, + 1.2349678886657185 + ], + "held_grasp_midpoint": [ + 0.28357869114164824, + 0.15066081161312672, + 1.2349678886657185 + ], + "held_grasp_object_position": [ + 0.2884336481911081, + 0.16338538820054496, + 1.2349678886657185 + ], + "held_grasp_finger_gap": 0.027238609162816847, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024894839602885483, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05125694635146338, + -0.9977754455908067, + 0.04262494136993477 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00423194003622623, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03225510461832238, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2754061235676613, + -0.3232757979069716, + 0.8470193471715406 + ], + "target_position": [ + 0.27023045500051973, + -0.3245901842665933, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00533995848478778, + "xy_threshold": 0.08, + "gripper_dist": 0.18504144881252269, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470193471715406, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07558136543987076, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0870457357368813, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1532294607649217, + "release_required_pad_clearance": 0.053522867868440654, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.0566299506319834, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00729060173034668, + "max_z_decrease": 0.00729060173034668, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03511520397986132, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00729060173034668, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021142165961773186, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00729060173034668, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007290622963459312, + "max_button_displacement": 0.12, + "button_start": [ + 0.12593038380146027, + -0.38085165619850153, + 0.7768088579177856 + ], + "button_final": [ + 0.12593038380146027, + -0.38085165619850153, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1265558589788479, + -0.3811102262197008, + 0.8078066293893159 + ], + "closest_button": [ + 0.12592123448848724, + -0.3808527886867523, + 0.7726981043815613 + ], + "closest_ee_minus_button": [ + 0.000634624490360669, + -0.00025743753294849014, + 0.03510852500775463 + ], + "button_min_z_position": [ + 0.12591280043125153, + -0.38085231184959406, + 0.769518256187439 + ], + "min_active_finger_to_button": 0.14553999705230958, + "closest_active_finger": [ + -0.014389768242835999, + -0.3631109297275543, + 0.8106648921966553 + ], + "closest_active_finger_button": [ + 0.12593011558055878, + -0.3808522820472717, + 0.7763506770133972 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14031988382339478, + 0.01774135231971735, + 0.03431421518325806 + ], + "min_contact_pad_to_button": 0.021142165961773186, + "closest_contact_pad": [ + 0.12591280043125153, + -0.38239124106934586, + 0.7906043387636729 + ], + "closest_contact_pad_button": [ + 0.12591280043125153, + -0.38085231184959406, + 0.769518256187439 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0015389292197517945, + 0.0210860825762339 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 83, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c1678c739c10bcb2e016938308e28eafcc5519705f9caeb03beb63e6291be533", + "visual_seed": 6856878209333419255, + "episode_index": 83, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_84_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_84_success.json new file mode 100644 index 0000000000000000000000000000000000000000..123613838fdcc7da0a79123ad6d981f21b7722b1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_84_success.json @@ -0,0 +1,926 @@ +{ + "episode": 84, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2802621717510878, + 0.16393149195119608, + 1.0469972776531151 + ], + "current_z": 1.0469972776531151, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.19041071063990478, + "gripper_z": 1.0502000361355872, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.27502656358606026, + 0.15894765141312092, + 1.0502000361355872 + ], + "object_minus_gripper": [ + 0.00523560816502755, + 0.004983840538075157, + -0.00320275848247209 + ], + "object_to_gripper_xy": 0.007228434088145538, + "object_to_gripper_z": -0.00320275848247209, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2802621717510878, + 0.13946128185313963, + 1.0469972776531151 + ], + "finger_b": [ + 0.2681281975123788, + 0.16393149195119608, + 1.0469972776531151 + ], + "finger_midpoint": [ + 0.2741951846317333, + 0.15169638690216786, + 1.0469972776531151 + ], + "object_minus_finger_midpoint": [ + 0.006066987119354494, + 0.012235105049028222, + 0.0 + ], + "finger_gap": 0.02731344930741405, + "fingertip_max_gap": 0.0922080229365436, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013656724653707025, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0469972776531151, + "object_top_z": 1.0933443949244332, + "finger_top_clearance": 0.04634711727131813, + "fingertip_min_top_clearance": 0.013904135181395471, + "object_projection_between_fingers": 0.8026427707850674, + "object_to_finger_line_xy": 0.010870867886503663, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0486040114682718, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.731103247714016, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2799754369431161, + 0.16236891625476066, + 1.2405898501097823 + ], + "held_position": [ + 0.2855511444742537, + 0.16687354490733486, + 1.2372580526823016 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007904496686579363, + "max_held_gripper_dist": 0.007907012603134006, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003331797427480687, + "max_held_gripper_z_dist": 0.0033595875374605733, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08712280307079934, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2855511444742537, + 0.1414111928143512, + 1.2372580526823016 + ], + "held_grasp_finger_b": [ + 0.2755072373399212, + 0.16687354490733486, + 1.2372580526823016 + ], + "held_grasp_midpoint": [ + 0.2805291909070875, + 0.15414236886084304, + 1.2372580526823016 + ], + "held_grasp_object_position": [ + 0.2855511444742537, + 0.16687354490733486, + 1.2372580526823016 + ], + "held_grasp_finger_gap": 0.02737172710353085, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024593688944093216, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07791351801567802, + -0.9966182617726204, + 0.026106014857527497 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004028913104212875, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03212082435430555, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2724670612355552, + -0.32555388772616556, + 0.8470197236099293 + ], + "target_position": [ + 0.2664742367273817, + -0.3274268665603903, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006278693757400408, + "xy_threshold": 0.08, + "gripper_dist": 0.18457717886124517, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470197236099293, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07553181311297195, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0854728028184218, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15316875646489386, + "release_required_pad_clearance": 0.0527364014092109, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5233913861454691, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00694584846496582, + "max_z_decrease": 0.00694584846496582, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0350929290757329, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00694584846496582, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021136249444179352, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00694584846496582, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00694586860820786, + "max_button_displacement": 0.12, + "button_start": [ + 0.1221741661429405, + -0.38368833065032953, + 0.7768088579177856 + ], + "button_final": [ + 0.1221741661429405, + -0.38368833065032953, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12102911328794774, + -0.3845329528455311, + 0.8079734208295032 + ], + "closest_button": [ + 0.1221632733941078, + -0.3836862444877624, + 0.7729090452194214 + ], + "closest_ee_minus_button": [ + -0.001134160106160062, + -0.0008467083577686774, + 0.0350643756100818 + ], + "button_min_z_position": [ + 0.12215754389762877, + -0.3836864531040191, + 0.7698630094528198 + ], + "min_active_finger_to_button": 0.14723998879435918, + "closest_active_finger": [ + -0.0203658789396286, + -0.3705883324146271, + 0.810831606388092 + ], + "closest_active_finger_button": [ + 0.12217453867197035, + -0.3836889564990997, + 0.7763320803642273 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14254041761159897, + 0.0131006240844726, + 0.034499526023864746 + ], + "min_contact_pad_to_button": 0.021136249444179352, + "closest_contact_pad": [ + 0.12215754389762877, + -0.385468239575048, + 0.7909240226653467 + ], + "closest_contact_pad_button": [ + 0.12215754389762877, + -0.3836864531040191, + 0.7698630094528198 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00178178647102889, + 0.021061013212526847 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 84, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "33b92f018c655256af587681ba2d07d1ea7cf48f4db310ca801058612a021a3d", + "visual_seed": 1924931439846348045, + "episode_index": 84, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_85_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_85_success.json new file mode 100644 index 0000000000000000000000000000000000000000..73505ab2cf1fbbeca2fd94c4fcb53522196b90d7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_85_success.json @@ -0,0 +1,926 @@ +{ + "episode": 85, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.28469510473840126, + 0.16125945706954486, + 1.044630089585759 + ], + "current_z": 1.044630089585759, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.18804352257254864, + "gripper_z": 1.0482761382506287, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.279096558564268, + 0.1562527096814049, + 1.0482761382506287 + ], + "object_minus_gripper": [ + 0.005598546174133245, + 0.0050067473881399704, + -0.0036460486648697277 + ], + "object_to_gripper_xy": 0.00751074155277283, + "object_to_gripper_z": -0.0036460486648697277, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.28469510473840126, + 0.1363192718324952, + 1.044630089585759 + ], + "finger_b": [ + 0.2728116756106186, + 0.16125945706954486, + 1.044630089585759 + ], + "finger_midpoint": [ + 0.27875339017450995, + 0.14878936445102003, + 1.044630089585759 + ], + "object_minus_finger_midpoint": [ + 0.005941714563891309, + 0.01247009261852483, + 0.0 + ], + "finger_gap": 0.027626594569244028, + "fingertip_max_gap": 0.09358054771228427, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013813297284622002, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.044630089585759, + "object_top_z": 1.0907750198635227, + "finger_top_clearance": 0.046144930277763674, + "fingertip_min_top_clearance": 0.013843479083329101, + "object_projection_between_fingers": 0.8149756648982295, + "object_to_finger_line_xy": 0.010727884790700812, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04929027385614214, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.7186854348006944, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 216, + "max_stable_success_frames": 216, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.28372479606501333, + 0.1603617046247468, + 1.2394712173120006 + ], + "held_position": [ + 0.2895321435502008, + 0.1650327809858288, + 1.2357115582913873 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008347411283508847, + "max_held_gripper_dist": 0.008349687121310758, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0037596590206132596, + "max_held_gripper_z_dist": 0.0037913312874515714, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08722321757513878, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2895321435502008, + 0.13954842540218024, + 1.2357115582913873 + ], + "held_grasp_finger_b": [ + 0.27900526731520425, + 0.1650327809858288, + 1.2357115582913873 + ], + "held_grasp_midpoint": [ + 0.28426870543270255, + 0.1522906031940045, + 1.2357115582913873 + ], + "held_grasp_object_position": [ + 0.2895321435502008, + 0.1650327809858288, + 1.2357115582913873 + ], + "held_grasp_finger_gap": 0.027572948750193088, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025244511470645693, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.02172361492644349, + -0.9995619937393028, + 0.02009739352348205 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004992021635743705, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032349287424780535, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2700645126930639, + -0.32280176318214704, + 0.8470195097580802 + ], + "target_position": [ + 0.2626996249302203, + -0.32565141374904927, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007896966513334706, + "xy_threshold": 0.08, + "gripper_dist": 0.18493850013069368, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195097580802, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07529665924301714, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0863273029456731, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1542086527166337, + "release_required_pad_clearance": 0.053163651472836554, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.346365685303518, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007175445556640625, + "max_z_decrease": 0.007175445556640625, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035089970510806194, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007175445556640625, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021128584108838208, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007175445556640625, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007175464076926655, + "max_button_displacement": 0.12, + "button_start": [ + 0.11839955300092696, + -0.3819128572940826, + 0.7768088579177856 + ], + "button_final": [ + 0.11839955300092696, + -0.3819128572940826, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11911684182162652, + -0.3817580836371422, + 0.8076816653873884 + ], + "closest_button": [ + 0.11838909983634949, + -0.38191157579421986, + 0.7725995779037476 + ], + "closest_ee_minus_button": [ + 0.0007277419852770306, + 0.0001534921570776615, + 0.035082087483640834 + ], + "button_min_z_position": [ + 0.11838325113058089, + -0.38191267848014826, + 0.769633412361145 + ], + "min_active_finger_to_button": 0.14551053181180523, + "closest_active_finger": [ + -0.007992446422576904, + -0.4452659785747528, + 0.8108648657798767 + ], + "closest_active_finger_button": [ + 0.11840000003576276, + -0.3819135427474975, + 0.7764449119567871 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12639244645833966, + -0.0633524358272553, + 0.0344199538230896 + ], + "min_contact_pad_to_button": 0.021128584108838208, + "closest_contact_pad": [ + 0.11838325113058089, + -0.38281000477548066, + 0.7907429332454274 + ], + "closest_contact_pad_button": [ + 0.11838325113058089, + -0.38191267848014826, + 0.769633412361145 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0008973262953324013, + 0.021109520884282418 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 85, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "43e80cdfc246d6d3bdf38af1a7c5667932bb5a334ab7d1a745eea30dd7fb6331", + "visual_seed": 5019326754940559319, + "episode_index": 85, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_86_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_86_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4c03ff3cffb6095abe408f7bd9186a2043086cf8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_86_success.json @@ -0,0 +1,926 @@ +{ + "episode": 86, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2852450548954819, + 0.15825177313240668, + 1.0470336486186635 + ], + "current_z": 1.0470336486186635, + "required_z": 0.8565865074085657, + "initial_z": 0.7565865074085657, + "lift_margin": 0.19044714121009787, + "gripper_z": 1.0502080108500365, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2798506951648034, + 0.15317484822650673, + 1.0502080108500365 + ], + "object_minus_gripper": [ + 0.005394359730678533, + 0.005076924905899949, + -0.003174362231372907 + ], + "object_to_gripper_xy": 0.007407717826977036, + "object_to_gripper_z": -0.003174362231372907, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2852450548954819, + 0.13366417509468267, + 1.0470336486186635 + ], + "finger_b": [ + 0.27298790977624365, + 0.15825177313240668, + 1.0470336486186635 + ], + "finger_midpoint": [ + 0.2791164823358628, + 0.14595797411354466, + 1.0470336486186635 + ], + "object_minus_finger_midpoint": [ + 0.006128572559619128, + 0.012293799018862017, + 0.0 + ], + "finger_gap": 0.02747339774652483, + "fingertip_max_gap": 0.0914169605578258, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013736698873262426, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0470336486186635, + "object_top_z": 1.0926731559992424, + "finger_top_clearance": 0.04563950738057887, + "fingertip_min_top_clearance": 0.01369185221417366, + "object_projection_between_fingers": 0.8009537918868762, + "object_to_finger_line_xy": 0.010969657268548174, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048208480278912905, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.5419547436605439, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2849108099869879, + 0.1565298511619656, + 1.2405012416514656 + ], + "held_position": [ + 0.29065219140351384, + 0.1611091407973459, + 1.2371811499262448 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008059551054408039, + "max_held_gripper_dist": 0.008060914630967574, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003320091725220742, + "max_held_gripper_z_dist": 0.0033480211729159937, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08741145653313831, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.29065219140351384, + 0.13552042300337833, + 1.2371811499262448 + ], + "held_grasp_finger_b": [ + 0.28054789788862633, + 0.1611091407973459, + 1.2371811499262448 + ], + "held_grasp_midpoint": [ + 0.2856000446460701, + 0.14831478190036212, + 1.2371811499262448 + ], + "held_grasp_object_position": [ + 0.29065219140351384, + 0.1611091407973459, + 1.2371811499262448 + ], + "held_grasp_finger_gap": 0.02751143808989836, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024786669993872752, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07239128413473306, + -0.9972415570859712, + 0.016394474742182363 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0041181900981085585, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03207542718605744, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2729197873517659, + -0.3272186727291073, + 0.8470198025607779 + ], + "target_position": [ + 0.26708548354371797, + -0.3290870238200734, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006126160030860836, + "xy_threshold": 0.08, + "gripper_dist": 0.1832729307847026, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470198025607779, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07549611636739416, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08523093882555731, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15189477880802948, + "release_required_pad_clearance": 0.052615469412778657, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.29073643526640525, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 147, + "max_placed_release_frames": 147 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007174670696258545, + "max_z_decrease": 0.007174670696258545, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03510231689741406, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007174670696258545, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021187635569496207, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007174670696258545, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007174691286279334, + "max_button_displacement": 0.12, + "button_start": [ + 0.12278541177511218, + -0.38534846901893616, + 0.7768088579177856 + ], + "button_final": [ + 0.12278541177511218, + -0.38534846901893616, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12320701511985785, + -0.38630963654067746, + 0.8078894685642504 + ], + "closest_button": [ + 0.12277483195066455, + -0.38534724712371826, + 0.772803008556366 + ], + "closest_ee_minus_button": [ + 0.0004321831691933009, + -0.0009623894169591973, + 0.0350864600078844 + ], + "button_min_z_position": [ + 0.12276829034090045, + -0.3853469491004944, + 0.7696341872215271 + ], + "min_active_finger_to_button": 0.14570285314222242, + "closest_active_finger": [ + -0.018100522458553314, + -0.37148892879486084, + 0.8111986517906189 + ], + "closest_active_finger_button": [ + 0.12278975546360017, + -0.38534700870513916, + 0.7767428159713745 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14089027792215347, + 0.01385807991027832, + 0.034455835819244385 + ], + "min_contact_pad_to_button": 0.021187635569496207, + "closest_contact_pad": [ + 0.12276829034090045, + -0.38734330315186155, + 0.7907275622840289 + ], + "closest_contact_pad_button": [ + 0.12276829034090045, + -0.3853469491004944, + 0.7696341872215271 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0019963540513671663, + 0.02109337506250175 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 86, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "723f103c1e50c5916b89e9e49f5c89a27cb884b472b2acc578885167e7cd6d2b", + "visual_seed": 2192340111224447814, + "episode_index": 86, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_87_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_87_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c98b2ee1615a8f96738cd884fdec772b632e6974 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_87_success.json @@ -0,0 +1,926 @@ +{ + "episode": 87, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2881177252418131, + 0.16202635865807566, + 1.0466070582407723 + ], + "current_z": 1.0466070582407723, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.1900205508322067, + "gripper_z": 1.049346420712273, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.28301882775070153, + 0.1571694948747585, + 1.049346420712273 + ], + "object_minus_gripper": [ + 0.005098897491111587, + 0.00485686378331715, + -0.0027393624715006393 + ], + "object_to_gripper_xy": 0.007041866331773262, + "object_to_gripper_z": -0.0027393624715006393, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2881177252418131, + 0.13756217324588896, + 1.0466070582407723 + ], + "finger_b": [ + 0.2762863351478058, + 0.16202635865807566, + 1.0466070582407723 + ], + "finger_midpoint": [ + 0.2822020301948095, + 0.1497942659519823, + 1.0466070582407723 + ], + "object_minus_finger_midpoint": [ + 0.005915695047003622, + 0.01223209270609335, + 0.0 + ], + "finger_gap": 0.027174954635443692, + "fingertip_max_gap": 0.091976939178362, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013587477317721834, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0466070582407723, + "object_top_z": 1.09280108466846, + "finger_top_clearance": 0.04619402642768766, + "fingertip_min_top_clearance": 0.013858207928306299, + "object_projection_between_fingers": 0.8104455903434931, + "object_to_finger_line_xy": 0.010651179544792534, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048488469589181, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6399008906478191, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.28797179460570865, + 0.1606364492484288, + 1.2382670316693583 + ], + "held_position": [ + 0.29336668720239834, + 0.165074892014868, + 1.2353894898908404 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00755545412320724, + "max_held_gripper_dist": 0.007557842350806157, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0028775417785178448, + "max_held_gripper_z_dist": 0.002906299642017496, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08623897216438921, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.29336668720239834, + 0.139691446809105, + 1.2353894898908404 + ], + "held_grasp_finger_b": [ + 0.2835078800136724, + 0.165074892014868, + 1.2353894898908404 + ], + "held_grasp_midpoint": [ + 0.28843728360803533, + 0.15238316941198649, + 1.2353894898908404 + ], + "held_grasp_object_position": [ + 0.29336668720239834, + 0.165074892014868, + 1.2353894898908404 + ], + "held_grasp_finger_gap": 0.027230779821709968, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02462645600579001, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06981585558124125, + -0.997293978791106, + 0.023031851346870576 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004042163341595121, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032198695904024376, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.27006239481011596, + -0.32952028413710865, + 0.84701975608287 + ], + "target_position": [ + 0.2636783235340914, + -0.33155121073337585, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006699330481233747, + "xy_threshold": 0.08, + "gripper_dist": 0.18399662357526603, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.84701975608287, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07533089668242474, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08540575787636488, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15294906080026116, + "release_required_pad_clearance": 0.05270287893818244, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.4597002098718798, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0071160197257995605, + "max_z_decrease": 0.0071160197257995605, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035080804931365964, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0071160197257995605, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021104493323298806, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.0071160197257995605, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007116043548156763, + "max_button_displacement": 0.12, + "button_start": [ + 0.11937824636697768, + -0.38781267404556263, + 0.7768088579177856 + ], + "button_final": [ + 0.11937824636697768, + -0.38781267404556263, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11945741747818697, + -0.38732905947510693, + 0.807865972963435 + ], + "closest_button": [ + 0.11936714500188826, + -0.38781023025512684, + 0.7727885842323303 + ], + "closest_ee_minus_button": [ + 9.027247629871116e-05, + 0.00048117078001991276, + 0.035077388731104664 + ], + "button_min_z_position": [ + 0.11935985088348387, + -0.38781186938285817, + 0.7696928381919861 + ], + "min_active_finger_to_button": 0.14592402559283243, + "closest_active_finger": [ + -0.007069289684295654, + -0.45198556780815125, + 0.8112391233444214 + ], + "closest_active_finger_button": [ + 0.1193793714046478, + -0.3878119587898254, + 0.7767963409423828 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12644866108894345, + -0.06417360901832586, + 0.034442782402038574 + ], + "min_contact_pad_to_button": 0.021104493323298806, + "closest_contact_pad": [ + 0.11935985088348387, + -0.3882590997970039, + 0.790792592299317 + ], + "closest_contact_pad_button": [ + 0.11935985088348387, + -0.38781186938285817, + 0.7696928381919861 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0004472304141457384, + 0.021099754107330893 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 87, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "62e70ea1072adf90ee9cebf57209b0454820b413a9f90e78d67943fbf25216ff", + "visual_seed": 8942623015479561726, + "episode_index": 87, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_88_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_88_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c6c3792d1227a60165b5c762bf6361ef0cd58540 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_88_success.json @@ -0,0 +1,926 @@ +{ + "episode": 88, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.28871312708081953, + 0.15904798517160024, + 1.0472387406881618 + ], + "current_z": 1.0472387406881618, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.19065223327959624, + "gripper_z": 1.0508084207087733, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2830485233655793, + 0.1540096611167744, + 1.0508084207087733 + ], + "object_minus_gripper": [ + 0.005664603715240246, + 0.005038324054825849, + -0.003569680020611532 + ], + "object_to_gripper_xy": 0.007581058272573189, + "object_to_gripper_z": -0.003569680020611532, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.28871312708081953, + 0.1340274651901326, + 1.0472387406881618 + ], + "finger_b": [ + 0.27682646114252407, + 0.15904798517160024, + 1.0472387406881618 + ], + "finger_midpoint": [ + 0.2827697941116718, + 0.1465377251808664, + 1.0472387406881618 + ], + "object_minus_finger_midpoint": [ + 0.00594333296914773, + 0.012510259990733824, + 0.0 + ], + "finger_gap": 0.027700527924060497, + "fingertip_max_gap": 0.09283801365446723, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013850263962030249, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0472387406881618, + "object_top_z": 1.0930827626679802, + "finger_top_clearance": 0.045844021979818406, + "fingertip_min_top_clearance": 0.013753206593945489, + "object_projection_between_fingers": 0.815861745119745, + "object_to_finger_line_xy": 0.010736638790332381, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048919006827233616, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.498714016752161, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.28775003672971555, + 0.15774120017687382, + 1.2400135037015414 + ], + "held_position": [ + 0.2936076020109827, + 0.16244847013589925, + 1.2363103483702216 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00837751877940788, + "max_held_gripper_dist": 0.008379842618299846, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0037031553313198184, + "max_held_gripper_z_dist": 0.0037343146063992805, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08704219978470812, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2936076020109827, + 0.13688443771623848, + 1.2363103483702216 + ], + "held_grasp_finger_b": [ + 0.28312211811559024, + 0.16244847013589925, + 1.2363103483702216 + ], + "held_grasp_midpoint": [ + 0.28836486006328643, + 0.14966645392606887, + 1.2363103483702216 + ], + "held_grasp_object_position": [ + 0.2936076020109827, + 0.16244847013589925, + 1.2363103483702216 + ], + "held_grasp_finger_gap": 0.027630872698378547, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025301443551371622, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.024023782510278237, + -0.999581917144535, + 0.016088778435753737 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004938482299633364, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03229760220550704, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2753424989568135, + -0.3216997993843847, + 0.8470195697096676 + ], + "target_position": [ + 0.26770265901107576, + -0.32495717666378643, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008305279112519505, + "xy_threshold": 0.08, + "gripper_dist": 0.18763310898419386, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195697096676, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07581690026732445, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.087406589230563, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15572264373153855, + "release_required_pad_clearance": 0.053703294615281505, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.416083358452005, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.006942868232727051, + "max_z_decrease": 0.006942868232727051, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03515091095506666, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.006942868232727051, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.0211355993629354, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.006942868232727051, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.006942888345374159, + "max_button_displacement": 0.12, + "button_start": [ + 0.12340258806943892, + -0.3812186419963837, + 0.7768088579177856 + ], + "button_final": [ + 0.12340258806943892, + -0.3812186419963837, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12533124992345973, + -0.38143867744422033, + 0.8080688356769343 + ], + "closest_button": [ + 0.12339179962873457, + -0.3812175691127777, + 0.7729721665382385 + ], + "closest_ee_minus_button": [ + 0.0019394502947251563, + -0.000221108331442621, + 0.0350966691386958 + ], + "button_min_z_position": [ + 0.12338587641716002, + -0.38121864199638367, + 0.7698659896850586 + ], + "min_active_finger_to_button": 0.14431543731429763, + "closest_active_finger": [ + -0.015979185700416565, + -0.366603821516037, + 0.8107813000679016 + ], + "closest_active_finger_button": [ + 0.12340261042118073, + -0.38121879100799566, + 0.7763420343399048 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1393817961215973, + 0.014614969491958674, + 0.034439265727996826 + ], + "min_contact_pad_to_button": 0.0211355993629354, + "closest_contact_pad": [ + 0.12338587641716002, + -0.38243242937732064, + 0.7909667072231992 + ], + "closest_contact_pad_button": [ + 0.12338587641716002, + -0.38121864199638367, + 0.7698659896850586 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0012137873809369704, + 0.02110071753814058 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 88, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8efa94fc97f4de04cc329e0b48d3cb298758f2a209059144247ab60f3f4a4ec1", + "visual_seed": 7956377465988399988, + "episode_index": 88, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_89_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_89_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4bce3162ce4ca4ee75e42c3a776f20325680aed7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_89_success.json @@ -0,0 +1,926 @@ +{ + "episode": 89, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2792129420524303, + 0.15723486158457745, + 1.045789191860973 + ], + "current_z": 1.045789191860973, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.1892026844524074, + "gripper_z": 1.0491213917551845, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.27413489315352335, + 0.15227707925475123, + 1.0491213917551845 + ], + "object_minus_gripper": [ + 0.0050780488989069505, + 0.004957782329826216, + -0.0033321998942115183 + ], + "object_to_gripper_xy": 0.007096913853896435, + "object_to_gripper_z": -0.0033321998942115183, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2792129420524303, + 0.13293524591519143, + 1.045789191860973 + ], + "finger_b": [ + 0.26704725813322955, + 0.15723486158457745, + 1.045789191860973 + ], + "finger_midpoint": [ + 0.2731301000928299, + 0.14508505374988445, + 1.045789191860973 + ], + "object_minus_finger_midpoint": [ + 0.006082841959600405, + 0.012149807834692994, + 0.0 + ], + "finger_gap": 0.027174899942810648, + "fingertip_max_gap": 0.09185761886614136, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013587449971405324, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.045789191860973, + "object_top_z": 1.091839920755905, + "finger_top_clearance": 0.046050728894932114, + "fingertip_min_top_clearance": 0.013815218668479618, + "object_projection_between_fingers": 0.7995818033604604, + "object_to_finger_line_xy": 0.010878474040895881, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04842880943307068, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6062255269633167, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2791257696545958, + 0.15570496722558347, + 1.2387942023403171 + ], + "held_position": [ + 0.2845726362577444, + 0.16015298419843993, + 1.235324232965504 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007841804527368395, + "max_held_gripper_dist": 0.007849336084852231, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003469969374813031, + "max_held_gripper_z_dist": 0.003493164824067696, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08675414260928707, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2845726362577444, + 0.13471294860466962, + 1.235324232965504 + ], + "held_grasp_finger_b": [ + 0.27473606152281616, + 0.16015298419843993, + 1.235324232965504 + ], + "held_grasp_midpoint": [ + 0.2796543488902803, + 0.1474329664015548, + 1.235324232965504 + ], + "held_grasp_object_position": [ + 0.2845726362577444, + 0.16015298419843993, + 1.235324232965504 + ], + "held_grasp_finger_gap": 0.027275513075433237, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02453026885883698, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08294642523418552, + -0.9963106174212624, + 0.022023717999754555 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003856775044707944, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03211918182558108, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.26852002917692963, + -0.3273631739816977, + 0.8470195790984401 + ], + "target_position": [ + 0.26154623954564127, + -0.32965914266043844, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007342017024988686, + "xy_threshold": 0.08, + "gripper_dist": 0.18839775343329582, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195790984401, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07539069450058472, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08623687615970359, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15715482004872447, + "release_required_pad_clearance": 0.053118438079851796, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.262361334393388, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007054328918457031, + "max_z_decrease": 0.007054328918457031, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03514702266283849, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007054328918457031, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.02109810108205057, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007054328918457031, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007054344799872599, + "max_button_displacement": 0.12, + "button_start": [ + 0.11724616587162014, + -0.3859206140041351, + 0.7768088579177856 + ], + "button_final": [ + 0.11724616587162014, + -0.3859206140041351, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11572012590866967, + -0.38417475831958314, + 0.8074585362081792 + ], + "closest_button": [ + 0.11723406612873073, + -0.38591584563255305, + 0.7723873257637024 + ], + "closest_ee_minus_button": [ + -0.001513940220061058, + 0.0017410873129699023, + 0.03507121044447681 + ], + "button_min_z_position": [ + 0.11723128706216808, + -0.38591897487640375, + 0.7697545289993286 + ], + "min_active_finger_to_button": 0.14677374933016374, + "closest_active_finger": [ + -0.011282466351985931, + -0.44784337282180786, + 0.8110452890396118 + ], + "closest_active_finger_button": [ + 0.11724793165922162, + -0.38592204451560963, + 0.7765747308731079 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12853039801120755, + -0.06192132830619823, + 0.034470558166503906 + ], + "min_contact_pad_to_button": 0.02109810108205057, + "closest_contact_pad": [ + 0.11723128706216808, + -0.38591897487640375, + 0.7908526300813792 + ], + "closest_contact_pad_button": [ + 0.11723128706216808, + -0.38591897487640375, + 0.7697545289993286 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02109810108205057 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 89, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "685f2915e4f229c0c98640e7157c5c2a3f04f449d1ab08e752a527ecfeea697e", + "visual_seed": 3215821222135916962, + "episode_index": 89, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_8_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_8_success.json new file mode 100644 index 0000000000000000000000000000000000000000..12760aa4c6f08a0488f43727cfc9fba1d9f48795 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_8_success.json @@ -0,0 +1,926 @@ +{ + "episode": 8, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.28807245140633697, + 0.16022469922528823, + 1.0472675722050282 + ], + "current_z": 1.0472675722050282, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.19068106479646263, + "gripper_z": 1.0500148969841197, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.28306518745701414, + 0.1553396344872861, + 1.0500148969841197 + ], + "object_minus_gripper": [ + 0.005007263949322827, + 0.004885064738002126, + -0.0027473247790914535 + ], + "object_to_gripper_xy": 0.006995466371347933, + "object_to_gripper_z": -0.0027473247790914535, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.28807245140633697, + 0.13592673966851587, + 1.0472675722050282 + ], + "finger_b": [ + 0.276073047711673, + 0.16022469922528823, + 1.0472675722050282 + ], + "finger_midpoint": [ + 0.28207274955900496, + 0.14807571944690207, + 1.0472675722050282 + ], + "object_minus_finger_midpoint": [ + 0.005999701847332006, + 0.012148979778386165, + 0.0 + ], + "finger_gap": 0.02709938242193095, + "fingertip_max_gap": 0.0925376450612164, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013549691210965475, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0472675722050282, + "object_top_z": 1.0936385864994818, + "finger_top_clearance": 0.04637101429445356, + "fingertip_min_top_clearance": 0.013911304288336068, + "object_projection_between_fingers": 0.8039347887544058, + "object_to_finger_line_xy": 0.010758954618920577, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0487688225306082, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8573982588039596, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2881189199556885, + 0.15846016082617925, + 1.2404736690546552 + ], + "held_position": [ + 0.29349003095522336, + 0.16285652817037896, + 1.2375949056015558 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0075142636507757946, + "max_held_gripper_dist": 0.007520778431858005, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0028787634530993422, + "max_held_gripper_z_dist": 0.002906107326655638, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08732375353961858, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.29349003095522336, + 0.13745000192626353, + 1.2375949056015558 + ], + "held_grasp_finger_b": [ + 0.2837458171839373, + 0.16285652817037896, + 1.2375949056015558 + ], + "held_grasp_midpoint": [ + 0.2886179240695803, + 0.15015326504832124, + 1.2375949056015558 + ], + "held_grasp_object_position": [ + 0.29349003095522336, + 0.16285652817037896, + 1.2375949056015558 + ], + "held_grasp_finger_gap": 0.027211050656184645, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.0245509821561089, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07879410543596671, + -0.9965458685741602, + 0.02622633745528835 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038708173137568217, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03215694728047101, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2681218119194082, + -0.3246532035540427, + 0.8470196170588267 + ], + "target_position": [ + 0.2621488393928095, + -0.3267514718661361, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0063308080616173, + "xy_threshold": 0.08, + "gripper_dist": 0.18486210211520668, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196170588267, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0759008839341798, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0854869346432796, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15257808300905562, + "release_required_pad_clearance": 0.0527434673216398, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5381383470132766, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0070059895515441895, + "max_z_decrease": 0.0070059895515441895, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03513504038731524, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0070059895515441895, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.021302391358445, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.0070059895515441895, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007006009825970962, + "max_button_displacement": 0.12, + "button_start": [ + 0.11784876883029935, + -0.3830129206180572, + 0.7768088579177856 + ], + "button_final": [ + 0.11784876883029935, + -0.3830129206180572, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1167877914007037, + -0.3848866859799218, + 0.8078133222908572 + ], + "closest_button": [ + 0.11783740669488904, + -0.3830126523971557, + 0.7727439999580383 + ], + "closest_ee_minus_button": [ + -0.0010496152941853465, + -0.0018740335827661103, + 0.0350693223328189 + ], + "button_min_z_position": [ + 0.11783198267221448, + -0.3830114006996154, + 0.7698028683662415 + ], + "min_active_finger_to_button": 0.14700274007583278, + "closest_active_finger": [ + -0.024209298193454742, + -0.3673931956291199, + 0.8110424280166626 + ], + "closest_active_finger_button": [ + 0.11784852296113965, + -0.38301420211791987, + 0.7766132950782776 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1420578211545944, + 0.015621006488799993, + 0.03442913293838501 + ], + "min_contact_pad_to_button": 0.021302391358445, + "closest_contact_pad": [ + 0.11783198267221448, + -0.38618036477437917, + 0.7908682319824055 + ], + "closest_contact_pad_button": [ + 0.11783198267221448, + -0.3830114006996154, + 0.7698028683662415 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.003168964074763747, + 0.021065363616164068 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 8, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5e415fae56f1135c1ee9e6c0dacb3bd562a0964ae3c8619f7f57615737a5a207", + "visual_seed": 5780170354535022466, + "episode_index": 8, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_90_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_90_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e8ebc9a6195b1de41dc3100f672d3d1a099ae8e5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_90_success.json @@ -0,0 +1,926 @@ +{ + "episode": 90, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.28521833931810003, + 0.16183521752280683, + 1.0478103125007454 + ], + "current_z": 1.0478103125007454, + "required_z": 0.8565864478039206, + "initial_z": 0.7565864478039206, + "lift_margin": 0.19122386469682484, + "gripper_z": 1.050894017339235, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2800271888019664, + 0.15686194093283679, + 1.050894017339235 + ], + "object_minus_gripper": [ + 0.0051911505161336136, + 0.004973276589970044, + -0.0030837048384895205 + ], + "object_to_gripper_xy": 0.007188986279128536, + "object_to_gripper_z": -0.0030837048384895205, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.28521833931810003, + 0.13740475263300522, + 1.0478103125007454 + ], + "finger_b": [ + 0.2730953502899413, + 0.16183521752280683, + 1.0478103125007454 + ], + "finger_midpoint": [ + 0.2791568448040207, + 0.14961998507790603, + 1.0478103125007454 + ], + "object_minus_finger_midpoint": [ + 0.006061494514079335, + 0.012215232444900803, + 0.0 + ], + "finger_gap": 0.027272962393342714, + "fingertip_max_gap": 0.09281201611926951, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013636481196671345, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0478103125007454, + "object_top_z": 1.0943362294960384, + "finger_top_clearance": 0.04652591699529296, + "fingertip_min_top_clearance": 0.013957775098587888, + "object_projection_between_fingers": 0.8024146243703308, + "object_to_finger_line_xy": 0.010859482499201352, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048906008059634756, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9408916997713448, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2850591081566426, + 0.16029887812121807, + 1.2424187770368609 + ], + "held_position": [ + 0.2906028499420874, + 0.1647900184604809, + 1.2392123246945967 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007822068214599765, + "max_held_gripper_dist": 0.007829855957143314, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0032064523422641322, + "max_held_gripper_z_dist": 0.003235857267229081, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08644075785632613, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2906028499420874, + 0.13934391808940685, + 1.2392123246945967 + ], + "held_grasp_finger_b": [ + 0.2805822431739979, + 0.1647900184604809, + 1.2392123246945967 + ], + "held_grasp_midpoint": [ + 0.28559254655804267, + 0.15206696827494387, + 1.2392123246945967 + ], + "held_grasp_object_position": [ + 0.2906028499420874, + 0.1647900184604809, + 1.2392123246945967 + ], + "held_grasp_finger_gap": 0.027348063626067877, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024620924039055553, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07433830627584663, + -0.996845827224918, + 0.027788720091209806 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004066482337248273, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03214484801128694, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.27581663390147493, + -0.33046505020610556, + 0.8470195274823842 + ], + "target_position": [ + 0.2693354647726141, + -0.33239792894277076, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006763251694824833, + "xy_threshold": 0.08, + "gripper_dist": 0.18609865074260915, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195274823842, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07535459099704665, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08550192066384489, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15498237263059345, + "release_required_pad_clearance": 0.05275096033192245, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.552491246798168, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007219433784484863, + "max_z_decrease": 0.007219433784484863, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035107412158205877, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007219433784484863, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.021134670960776515, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007219433784484863, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00721945515950658, + "max_button_displacement": 0.12, + "button_start": [ + 0.12503539025783536, + -0.38865938782691956, + 0.7768088579177856 + ], + "button_final": [ + 0.12503539025783536, + -0.38865938782691956, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1251503117116784, + -0.3888406464285709, + 0.8080007055628853 + ], + "closest_button": [ + 0.1250275522470474, + -0.3886614739894867, + 0.7728939652442932 + ], + "closest_ee_minus_button": [ + 0.0001227594646310004, + -0.00017917243908421865, + 0.03510674031859207 + ], + "button_min_z_position": [ + 0.1250178515911102, + -0.3886583745479584, + 0.7695894241333008 + ], + "min_active_finger_to_button": 0.14605016070611576, + "closest_active_finger": [ + -0.01578839123249054, + -0.37076011300086975, + 0.8109531998634338 + ], + "closest_active_finger_button": [ + 0.12503588199615476, + -0.38865968585014343, + 0.7766198515892029 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1408242732286453, + 0.01789957284927368, + 0.03433334827423096 + ], + "min_contact_pad_to_button": 0.021134670960776515, + "closest_contact_pad": [ + 0.1250178515911102, + -0.39016641971030475, + 0.7906702238431935 + ], + "closest_contact_pad_button": [ + 0.1250178515911102, + -0.3886583745479584, + 0.7695894241333008 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001508045162346372, + 0.02108079970989274 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 90, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "cc3aadb12aef54f84fdad3633941d00535f86e1c76115cfdf7c734ed2073c2bf", + "visual_seed": 706900387842394202, + "episode_index": 90, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_91_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_91_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3cbe9f1adeec13f6bc7536eec3b65470fa188dde --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_91_success.json @@ -0,0 +1,926 @@ +{ + "episode": 91, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2829128873876167, + 0.1605085397710568, + 1.0457735125094478 + ], + "current_z": 1.0457735125094478, + "required_z": 0.8565863285946312, + "initial_z": 0.7565863285946313, + "lift_margin": 0.1891871839148166, + "gripper_z": 1.0489899416049606, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2774959634695785, + 0.15548517923008767, + 1.0489899416049606 + ], + "object_minus_gripper": [ + 0.005416923918038219, + 0.005023360540969135, + -0.003216429095512785 + ], + "object_to_gripper_xy": 0.007387639396883165, + "object_to_gripper_z": -0.003216429095512785, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2829128873876167, + 0.13581659087088974, + 1.0457735125094478 + ], + "finger_b": [ + 0.2708487636553656, + 0.1605085397710568, + 1.0457735125094478 + ], + "finger_midpoint": [ + 0.2768808255214912, + 0.14816256532097327, + 1.0457735125094478 + ], + "object_minus_finger_midpoint": [ + 0.006032061866125538, + 0.012345974450083536, + 0.0 + ], + "finger_gap": 0.027481546934543674, + "fingertip_max_gap": 0.09165305220669609, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013740773467271825, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0457735125094478, + "object_top_z": 1.0916927840721409, + "finger_top_clearance": 0.04591927156269304, + "fingertip_min_top_clearance": 0.013775781468807929, + "object_projection_between_fingers": 0.8072877976804643, + "object_to_finger_line_xy": 0.010839518147633865, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04832652610334805, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.425894182411216, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2822340134552932, + 0.15927547783563056, + 1.237776004141577 + ], + "held_position": [ + 0.28792251567841026, + 0.16388951759179007, + 1.2344196431972019 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00805689637532688, + "max_held_gripper_dist": 0.008060593647007262, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003356360944375192, + "max_held_gripper_z_dist": 0.003385673747637652, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08704953654993058, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.28792251567841026, + 0.13838876597307054, + 1.2344196431972019 + ], + "held_grasp_finger_b": [ + 0.2776741410389941, + 0.16388951759179007, + 1.2344196431972019 + ], + "held_grasp_midpoint": [ + 0.2827983283587022, + 0.15113914178243032, + 1.2344196431972019 + ], + "held_grasp_object_position": [ + 0.28792251567841026, + 0.16388951759179007, + 1.2344196431972019 + ], + "held_grasp_finger_gap": 0.02748304051355044, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024807436688933957, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06240471726409351, + -0.9978915128149854, + 0.01783759835314935 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004324651449705169, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032156959699554524, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.27375137412095396, + -0.32730719692008703, + 0.8470192650919628 + ], + "target_position": [ + 0.2676751258798071, + -0.329231181063573, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006373578874731696, + "xy_threshold": 0.08, + "gripper_dist": 0.1844255872998477, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470192650919628, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07537707112053942, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08539359531206304, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1532527611377694, + "release_required_pad_clearance": 0.052696797656031524, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.44586791057116093, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007052004337310791, + "max_z_decrease": 0.007052004337310791, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03518836190511052, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007052004337310791, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02109370693479573, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007052004337310791, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007052025907365287, + "max_button_displacement": 0.12, + "button_start": [ + 0.12337505072355269, + -0.3854926526546478, + 0.7768088579177856 + ], + "button_final": [ + 0.12337505072355269, + -0.3854926526546478, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12492140162575943, + -0.38367777235117045, + 0.8081457957157027 + ], + "closest_button": [ + 0.12336830049753189, + -0.38549306988716125, + 0.7730386257171631 + ], + "closest_ee_minus_button": [ + 0.0015531011282275409, + 0.0018152975359908008, + 0.03510716999853958 + ], + "button_min_z_position": [ + 0.1233576089143753, + -0.385492742061615, + 0.7697568535804749 + ], + "min_active_finger_to_button": 0.14406364145802, + "closest_active_finger": [ + -0.0029029175639152527, + -0.44575607776641846, + 0.8110929727554321 + ], + "closest_active_finger_button": [ + 0.12337509542703627, + -0.38549309968948364, + 0.7767918109893799 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12627801299095154, + -0.060262978076934814, + 0.034301161766052246 + ], + "min_contact_pad_to_button": 0.02109370693479573, + "closest_contact_pad": [ + 0.1233576089143753, + -0.385492742061615, + 0.7908505605152706 + ], + "closest_contact_pad_button": [ + 0.1233576089143753, + -0.385492742061615, + 0.7697568535804749 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02109370693479573 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 91, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ec767d0b7ec5086456615f13067ac8d819a0b03dba790d049ae31ce5f20a06f8", + "visual_seed": 5287085984909579706, + "episode_index": 91, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_93_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_93_success.json new file mode 100644 index 0000000000000000000000000000000000000000..34d3305320530601289db3c6b6485c7cb6c92227 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_93_success.json @@ -0,0 +1,926 @@ +{ + "episode": 93, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.28566151747097623, + 0.15540452374845556, + 1.0476010934905073 + ], + "current_z": 1.0476010934905073, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.19101464568658655, + "gripper_z": 1.0506877643382568, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.280517690135426, + 0.1504228136029494, + 1.0506877643382568 + ], + "object_minus_gripper": [ + 0.005143827335550244, + 0.004981710145506163, + -0.0030866708477494953 + ], + "object_to_gripper_xy": 0.007160753845217203, + "object_to_gripper_z": -0.0030866708477494953, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.28566151747097623, + 0.13105069025159266, + 1.0476010934905073 + ], + "finger_b": [ + 0.2734706231698627, + 0.15540452374845556, + 1.0476010934905073 + ], + "finger_midpoint": [ + 0.27956607032041947, + 0.14322760700002413, + 1.0476010934905073 + ], + "object_minus_finger_midpoint": [ + 0.006095447150556765, + 0.012176916748431438, + 0.0 + ], + "finger_gap": 0.02723466742689993, + "fingertip_max_gap": 0.0924219511639486, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01361733371344995, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0476010934905073, + "object_top_z": 1.093899382142126, + "finger_top_clearance": 0.04629828865161856, + "fingertip_min_top_clearance": 0.0138894865954856, + "object_projection_between_fingers": 0.7996326386260746, + "object_to_finger_line_xy": 0.010901363520742977, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048710975581974306, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8460210329759472, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.28559623092722924, + 0.15368438585412333, + 1.2408278305213307 + ], + "held_position": [ + 0.29111128393910624, + 0.15815519545240175, + 1.2376013651983577 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007798334865099032, + "max_held_gripper_dist": 0.007806107287417536, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0032264653229729934, + "max_held_gripper_z_dist": 0.0032512393577592835, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08660433643983062, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.29111128393910624, + 0.1326741801509903, + 1.2376013651983577 + ], + "held_grasp_finger_b": [ + 0.28123545894014934, + 0.15815519545240175, + 1.2376013651983577 + ], + "held_grasp_midpoint": [ + 0.2861733714396278, + 0.14541468780169603, + 1.2376013651983577 + ], + "held_grasp_object_position": [ + 0.29111128393910624, + 0.15815519545240175, + 1.2376013651983577 + ], + "held_grasp_finger_gap": 0.027327898934985585, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02460379032131641, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07978134361867097, + -0.996494708265002, + 0.025164133409444345 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003919260802410792, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03211042321739293, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2775726134129528, + -0.32873044026189213, + 0.8470197275461707 + ], + "target_position": [ + 0.2707165937722134, + -0.33092937802592615, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007200023097483735, + "xy_threshold": 0.08, + "gripper_dist": 0.18756718913397083, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470197275461707, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07566122413084594, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08498329376078421, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15574782710851073, + "release_required_pad_clearance": 0.05249164688039211, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.05595085923210025, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007300972938537598, + "max_z_decrease": 0.007300972938537598, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03508790005941068, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007300972938537598, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021113391286541303, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007300972938537598, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007300998842108719, + "max_button_displacement": 0.12, + "button_start": [ + 0.12641651928424835, + -0.38719084858894354, + 0.7768088579177856 + ], + "button_final": [ + 0.12641651928424835, + -0.38719084858894354, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12640188863420215, + -0.38719004140069563, + 0.8077130481547334 + ], + "closest_button": [ + 0.1264055222272873, + -0.38718909025192266, + 0.7726251482963562 + ], + "closest_ee_minus_button": [ + -3.6335930851394416e-06, + -9.511487729652046e-07, + 0.035087899858377236 + ], + "button_min_z_position": [ + 0.12639714777469635, + -0.387189120054245, + 0.769507884979248 + ], + "min_active_finger_to_button": 0.14619905509541825, + "closest_active_finger": [ + -2.1144747734069824e-05, + -0.45203694701194763, + 0.8109952807426453 + ], + "closest_active_finger_button": [ + 0.12641702592372894, + -0.3871904909610749, + 0.7766079306602478 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.126438170671463, + -0.06484645605087275, + 0.03438735008239746 + ], + "min_contact_pad_to_button": 0.021113391286541303, + "closest_contact_pad": [ + 0.12639714777469635, + -0.38814541329723157, + 0.7905996083524581 + ], + "closest_contact_pad_button": [ + 0.12639714777469635, + -0.387189120054245, + 0.769507884979248 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0009562932429865723, + 0.02109172337321008 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 93, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "78bdac6ffe4c27ae47497aceb43b0aa29f75cdc5dfe03a58c0e57d20529db1fd", + "visual_seed": 2785123818954534598, + "episode_index": 93, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_94_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_94_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0d4145a217265c88c9cebfd3ccdee56c8426832b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_94_success.json @@ -0,0 +1,926 @@ +{ + "episode": 94, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2822451326585035, + 0.16080416025722097, + 1.0444279918180361 + ], + "current_z": 1.0444279918180361, + "required_z": 0.8565866266178551, + "initial_z": 0.7565866266178551, + "lift_margin": 0.18784136520018102, + "gripper_z": 1.04755346481896, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.27707066474266445, + 0.15593573845235612, + 1.04755346481896 + ], + "object_minus_gripper": [ + 0.005174467915839032, + 0.004868421804864853, + -0.0031254730009238063 + ], + "object_to_gripper_xy": 0.0071046920469596065, + "object_to_gripper_z": -0.0031254730009238063, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2822451326585035, + 0.13622358522225048, + 1.0444279918180361 + ], + "finger_b": [ + 0.27047365508193044, + 0.16080416025722097, + 1.0444279918180361 + ], + "finger_midpoint": [ + 0.27635939387021696, + 0.1485138727397357, + 1.0444279918180361 + ], + "object_minus_finger_midpoint": [ + 0.005885738788286521, + 0.01229028751748526, + 0.0 + ], + "finger_gap": 0.027253850248828634, + "fingertip_max_gap": 0.09580871235451313, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01362692512441433, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0444279918180361, + "object_top_z": 1.0920997498222538, + "finger_top_clearance": 0.047671758004217635, + "fingertip_min_top_clearance": 0.014301527401265307, + "object_projection_between_fingers": 0.8134452854846216, + "object_to_finger_line_xy": 0.010616837078124865, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05040435617725657, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.9042025267057434, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.28202591287646556, + 0.15931009108146713, + 1.2362266501269148 + ], + "held_position": [ + 0.2874857844092204, + 0.16375219981182434, + 1.2329561343595736 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0077613658920920444, + "max_held_gripper_dist": 0.007763899055644276, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0032705157673411644, + "max_held_gripper_z_dist": 0.0032953964489474963, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08729327922564947, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2874857844092204, + 0.13829273670930547, + 1.2329561343595736 + ], + "held_grasp_finger_b": [ + 0.2776859766975011, + 0.16375219981182434, + 1.2329561343595736 + ], + "held_grasp_midpoint": [ + 0.28258588055336076, + 0.15102246826056492, + 1.2329561343595736 + ], + "held_grasp_object_position": [ + 0.2874857844092204, + 0.16375219981182434, + 1.2329561343595736 + ], + "held_grasp_finger_gap": 0.02728040492102697, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024895814713182068, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.051948936320894507, + -0.9978570324777082, + 0.03978254328106367 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004262787042939186, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03224322802244662, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.26901598449865266, + -0.32857226076257606, + 0.8470193091311775 + ], + "target_position": [ + 0.2637479232474024, + -0.3299144382006564, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005436350763353677, + "xy_threshold": 0.08, + "gripper_dist": 0.18510305554792758, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470193091311775, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07558927499098975, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08649841909345944, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15341691187843795, + "release_required_pad_clearance": 0.05324920954672972, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.517459467250324, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007023632526397705, + "max_z_decrease": 0.007023632526397705, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035085596282178236, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007023632526397705, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021134525852990114, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007023632526397705, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007023649021655983, + "max_button_displacement": 0.12, + "button_start": [ + 0.11944784969091414, + -0.3861759006977081, + 0.7768088579177856 + ], + "button_final": [ + 0.11944784969091414, + -0.3861759006977081, + 0.7768088579177856 + ], + "closest_ee": [ + 0.11845161579959576, + -0.38674776785466564, + 0.8079099097041639 + ], + "closest_button": [ + 0.11943839490413664, + -0.3861741423606872, + 0.7728428840637207 + ], + "closest_ee_minus_button": [ + -0.000986779104540883, + -0.0005736254939784358, + 0.03506702564044317 + ], + "button_min_z_position": [ + 0.11943266540765761, + -0.3861748278141021, + 0.7697852253913879 + ], + "min_active_finger_to_button": 0.14712459321010068, + "closest_active_finger": [ + -0.02289310097694397, + -0.37227892875671387, + 0.8107704520225525 + ], + "closest_active_finger_button": [ + 0.11944873631000516, + -0.3861762583255767, + 0.7762550711631775 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14234183728694913, + 0.01389732956886286, + 0.034515380859375 + ], + "min_contact_pad_to_button": 0.021134525852990114, + "closest_contact_pad": [ + 0.11943266540765761, + -0.3877117373027294, + 0.7908637948934788 + ], + "closest_contact_pad_button": [ + 0.11943266540765761, + -0.3861748278141021, + 0.7697852253913879 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0015369094886272805, + 0.02107856950209086 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 94, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "dbb70a40bc79d4b02ea101f41f5be167bc76f0d5fdc2154dbad217c7bcf76fad", + "visual_seed": 4094243586670255698, + "episode_index": 94, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_95_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_95_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4e6d06c16d0bb31119290a35ed32fc2c0b15f276 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_95_success.json @@ -0,0 +1,926 @@ +{ + "episode": 95, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2822760217853999, + 0.16648149561814035, + 1.04592255646045 + ], + "current_z": 1.04592255646045, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.18933598944723962, + "gripper_z": 1.0495721542748442, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.27668855420766636, + 0.16146484744602213, + 1.0495721542748442 + ], + "object_minus_gripper": [ + 0.00558746757773354, + 0.005016648172118221, + -0.003649597814394223 + ], + "object_to_gripper_xy": 0.007509098002759094, + "object_to_gripper_z": -0.003649597814394223, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2822760217853999, + 0.14154740365918198, + 1.04592255646045 + ], + "finger_b": [ + 0.27036842568927244, + 0.16648149561814035, + 1.04592255646045 + ], + "finger_midpoint": [ + 0.27632222373733617, + 0.15401444963866118, + 1.04592255646045 + ], + "object_minus_finger_midpoint": [ + 0.00595379804806373, + 0.012467045979479174, + 0.0 + ], + "finger_gap": 0.027631499897875663, + "fingertip_max_gap": 0.09131840770357871, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013815749948937818, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.04592255646045, + "object_top_z": 1.091262373454669, + "finger_top_clearance": 0.04533981699421896, + "fingertip_min_top_clearance": 0.013601945098265655, + "object_projection_between_fingers": 0.814288298076992, + "object_to_finger_line_xy": 0.010745167550379806, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04815920385178936, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9945117339634918, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.28168061491505614, + 0.16470819240742313, + 1.2398334401513256 + ], + "held_position": [ + 0.28752611150580887, + 0.1693164687065871, + 1.2360540146129664 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008348059549496505, + "max_held_gripper_dist": 0.008351077434827558, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0037794255383591935, + "max_held_gripper_z_dist": 0.0038110172536443, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08674902671515204, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.28752611150580887, + 0.1437078758340086, + 1.2360540146129664 + ], + "held_grasp_finger_b": [ + 0.2772756319298125, + 0.1693164687065871, + 1.2360540146129664 + ], + "held_grasp_midpoint": [ + 0.2824008717178107, + 0.15651217227029784, + 1.2360540146129664 + ], + "held_grasp_object_position": [ + 0.28752611150580887, + 0.1693164687065871, + 1.2360540146129664 + ], + "held_grasp_finger_gap": 0.02758391488624115, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025121252552943153, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.044787762775482375, + -0.998897078328699, + 0.01409550325302555 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004550266005116728, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032180502641754545, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2719777701662083, + -0.32124308865336326, + 0.8470193055222475 + ], + "target_position": [ + 0.2655052697096333, + -0.3231671857465313, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006752437469854955, + "xy_threshold": 0.08, + "gripper_dist": 0.18483965226030347, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470193055222475, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07561768467465772, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08730700978002111, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15316712402731356, + "release_required_pad_clearance": 0.053653504890010556, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.3161789733278653, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007092416286468506, + "max_z_decrease": 0.007092416286468506, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035156120641873595, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007092416286468506, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021342585544087668, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007092416286468506, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007092434731880954, + "max_button_displacement": 0.12, + "button_start": [ + 0.12120519578456877, + -0.37942865490913386, + 0.7768088579177856 + ], + "button_final": [ + 0.12120519578456877, + -0.37942865490913386, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1210414215159499, + -0.38151128977548343, + 0.8079102926039037 + ], + "closest_button": [ + 0.12119913846254347, + -0.37943011522293085, + 0.7728161811828613 + ], + "closest_ee_minus_button": [ + -0.0001577169465935696, + -0.002081174552552578, + 0.03509411142104235 + ], + "button_min_z_position": [ + 0.12118902057409285, + -0.3794285655021667, + 0.7697164416313171 + ], + "min_active_finger_to_button": 0.14611413896740474, + "closest_active_finger": [ + -0.019908182322978973, + -0.3634735345840454, + 0.8108617663383484 + ], + "closest_active_finger_button": [ + 0.12120520323514937, + -0.37942939996719355, + 0.7764849662780762 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14111338555812836, + 0.015955865383148138, + 0.03437680006027222 + ], + "min_contact_pad_to_button": 0.021342585544087668, + "closest_contact_pad": [ + 0.12118902057409285, + -0.3828057896003883, + 0.790790129374498 + ], + "closest_contact_pad_button": [ + 0.12118902057409285, + -0.3794285655021667, + 0.7697164416313171 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0033772240982216095, + 0.021073687743180858 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 95, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b11908591b803e6695ee9fabfac15f39fcd4c42073bb575ea93978a2c3330253", + "visual_seed": 949969027403315427, + "episode_index": 95, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_96_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_96_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0dc6b6e02d96b858dd61dda35a565fdf0839d52f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_96_success.json @@ -0,0 +1,926 @@ +{ + "episode": 96, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.27922409513546753, + 0.15708025225092484, + 1.0469465410938814 + ], + "current_z": 1.0469465410938814, + "required_z": 0.8565865074085657, + "initial_z": 0.7565865074085657, + "lift_margin": 0.19036003368531573, + "gripper_z": 1.050386133554638, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2738089537904182, + 0.15205924704997648, + 1.050386133554638 + ], + "object_minus_gripper": [ + 0.005415141345049335, + 0.005021005200948364, + -0.0034395924607566464 + ], + "object_to_gripper_xy": 0.007384730801783721, + "object_to_gripper_z": -0.0034395924607566464, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.27922409513546753, + 0.1324137412436801, + 1.0469465410938814 + ], + "finger_b": [ + 0.2671294715210565, + 0.15708025225092484, + 1.0469465410938814 + ], + "finger_midpoint": [ + 0.273176783328262, + 0.14474699674730246, + 1.0469465410938814 + ], + "object_minus_finger_midpoint": [ + 0.006047311807205524, + 0.012333255503622381, + 0.0 + ], + "finger_gap": 0.027472107411787596, + "fingertip_max_gap": 0.09222291724020706, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01373605370589381, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0469465410938814, + "object_top_z": 1.0931072861413376, + "finger_top_clearance": 0.04616074504745615, + "fingertip_min_top_clearance": 0.013848223514236846, + "object_projection_between_fingers": 0.8061790296191813, + "object_to_finger_line_xy": 0.010859456904472714, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048611458620103534, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6224748206859407, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.278570297221545, + 0.15576875748436586, + 1.239564322067673 + ], + "held_position": [ + 0.2842557299803344, + 0.16036511525503203, + 1.2359808189155954 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00814199884866296, + "max_held_gripper_dist": 0.008144517125215323, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0035835031520776717, + "max_held_gripper_z_dist": 0.0036098171969398685, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08710285356551056, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2842557299803344, + 0.1348653626632017, + 1.2359808189155954 + ], + "held_grasp_finger_b": [ + 0.2740382267976611, + 0.16036511525503203, + 1.2359808189155954 + ], + "held_grasp_midpoint": [ + 0.2791469783889977, + 0.14761523895911688, + 1.2359808189155954 + ], + "held_grasp_object_position": [ + 0.2842557299803344, + 0.16036511525503203, + 1.2359808189155954 + ], + "held_grasp_finger_gap": 0.02747061618407013, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02481027101624932, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.062096077390000254, + -0.9978425395690006, + 0.021315332492426568 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004315953920768744, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032160622589322264, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.27097641621222, + -0.3222504442722194, + 0.8470199384295741 + ], + "target_position": [ + 0.264542648183031, + -0.3242864859693701, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006748246946129843, + "xy_threshold": 0.08, + "gripper_dist": 0.18513876221372727, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470199384295741, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07529211772285033, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0853861058531097, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15413502884298308, + "release_required_pad_clearance": 0.05269305292655485, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.4405735504875284, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0070378780364990234, + "max_z_decrease": 0.0070378780364990234, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035119885115794974, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0070378780364990234, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.02111064356423742, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.0070378780364990234, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007037901807068358, + "max_button_displacement": 0.12, + "button_start": [ + 0.12024257332086562, + -0.3805479407310486, + 0.7768088579177856 + ], + "button_final": [ + 0.12024257332086562, + -0.3805479407310486, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12055929584640368, + -0.3789294317980917, + 0.8078035955697409 + ], + "closest_button": [ + 0.12023247778415679, + -0.3805465400218963, + 0.7727224826812744 + ], + "closest_ee_minus_button": [ + 0.0003268180622468947, + 0.0016171082238046197, + 0.03508111288846649 + ], + "button_min_z_position": [ + 0.12022428214550017, + -0.38054779171943665, + 0.7697709798812866 + ], + "min_active_finger_to_button": 0.14522514644912043, + "closest_active_finger": [ + -0.006106875836849213, + -0.4433215260505676, + 0.8110259771347046 + ], + "closest_active_finger_button": [ + 0.12024325132369994, + -0.3805480897426605, + 0.7765951156616211 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12635012716054916, + -0.0627734363079071, + 0.034430861473083496 + ], + "min_contact_pad_to_button": 0.02111064356423742, + "closest_contact_pad": [ + 0.12022428214550017, + -0.38054779171943665, + 0.790881623445524 + ], + "closest_contact_pad_button": [ + 0.12022428214550017, + -0.38054779171943665, + 0.7697709798812866 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02111064356423742 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 96, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0c264ac6290768c0a114daaacea0712bdb3f6c92d32549415d59a4fce906739a", + "visual_seed": 1305164787063375940, + "episode_index": 96, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_97_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_97_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7ca887b321ad4a9a796f9b416be9f82fd091c00c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_97_success.json @@ -0,0 +1,926 @@ +{ + "episode": 97, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.28105975263095245, + 0.16351387586582875, + 1.0459916451645326 + ], + "current_z": 1.0459916451645326, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.1894051973606118, + "gripper_z": 1.0491730258394212, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2759135152413063, + 0.15861632431931494, + 1.0491730258394212 + ], + "object_minus_gripper": [ + 0.005146237389646147, + 0.004897551546513806, + -0.003181380674888601 + ], + "object_to_gripper_xy": 0.007104207937648768, + "object_to_gripper_z": -0.003181380674888601, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.28105975263095245, + 0.13905508020517096, + 1.0459916451645326 + ], + "finger_b": [ + 0.2691132175749794, + 0.16351387586582875, + 1.0459916451645326 + ], + "finger_midpoint": [ + 0.27508648510296596, + 0.15128447803549985, + 1.0459916451645326 + ], + "object_minus_finger_midpoint": [ + 0.005973267527986492, + 0.012229397830328892, + 0.0 + ], + "finger_gap": 0.027220440573462526, + "fingertip_max_gap": 0.09204695491538714, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013610220286731249, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0459916451645326, + "object_top_z": 1.0923103784831325, + "finger_top_clearance": 0.046318733318599925, + "fingertip_min_top_clearance": 0.013895619995579978, + "object_projection_between_fingers": 0.8073834395701273, + "object_to_finger_line_xy": 0.010734501486055894, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04852347745769357, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7267764668978192, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.28086709649550207, + 0.1620428279154802, + 1.2380471383962495 + ], + "held_position": [ + 0.2863288019615625, + 0.16648608598285933, + 1.2347250175386626 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007785194656766016, + "max_held_gripper_dist": 0.00778858406037641, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0033221208575868744, + "max_held_gripper_z_dist": 0.0033490954330201994, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08674047582789116, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2863288019615625, + 0.14105422818040234, + 1.2347250175386626 + ], + "held_grasp_finger_b": [ + 0.2764728239274522, + 0.16648608598285933, + 1.2347250175386626 + ], + "held_grasp_midpoint": [ + 0.28140081294450736, + 0.15377015708163083, + 1.2347250175386626 + ], + "held_grasp_object_position": [ + 0.2863288019615625, + 0.16648608598285933, + 1.2347250175386626 + ], + "held_grasp_finger_gap": 0.02727489127921975, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024590893124989004, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07685743901347958, + -0.9967183110474495, + 0.025407528234934418 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003949730757724121, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03214727317264145, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.27286301413456326, + -0.3278818882511163, + 0.8470189973751439 + ], + "target_position": [ + 0.2667295419263113, + -0.3295459903715757, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006355211813678324, + "xy_threshold": 0.08, + "gripper_dist": 0.18798187496316948, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470189973751439, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07524466823711498, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08634639017615951, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15704020499628196, + "release_required_pad_clearance": 0.05317319508807976, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.3665633771119992, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007044315338134766, + "max_z_decrease": 0.007044315338134766, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03512839181712641, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007044315338134766, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021094002460112504, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007044315338134766, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007044335127375973, + "max_button_displacement": 0.12, + "button_start": [ + 0.12242946773767469, + -0.38580745458602894, + 0.7768088579177856 + ], + "button_final": [ + 0.12242946773767469, + -0.38580745458602894, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12317897623596846, + -0.38465056721674024, + 0.8079679638215648 + ], + "closest_button": [ + 0.12241847068071364, + -0.3858068585395812, + 0.7728668451309204 + ], + "closest_ee_minus_button": [ + 0.0007605055552548229, + 0.0011562913228409522, + 0.03510111869064436 + ], + "button_min_z_position": [ + 0.12241277098655698, + -0.3858076035976409, + 0.7697645425796509 + ], + "min_active_finger_to_button": 0.14502822017245887, + "closest_active_finger": [ + -0.004475004971027374, + -0.44704189896583557, + 0.8111357092857361 + ], + "closest_active_finger_button": [ + 0.12242980301380155, + -0.3858080208301543, + 0.7768025398254395 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12690480798482892, + -0.06123387813568126, + 0.03433316946029663 + ], + "min_contact_pad_to_button": 0.021094002460112504, + "closest_contact_pad": [ + 0.12241277098655698, + -0.3858076035976409, + 0.7908585450397634 + ], + "closest_contact_pad_button": [ + 0.12241277098655698, + -0.3858076035976409, + 0.7697645425796509 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021094002460112504 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 97, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "827c621268452221187bf4241da61be93b34e57d9b9ac7f3e9b4a2c096351701", + "visual_seed": 7229763020995696246, + "episode_index": 97, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_99_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_99_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3543e0e23fed0822b8ad8a03bb2ea01be2fc61e8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_99_success.json @@ -0,0 +1,926 @@ +{ + "episode": 99, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2882619514673793, + 0.1611020164445295, + 1.0457348643613875 + ], + "current_z": 1.0457348643613875, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.18914835695282195, + "gripper_z": 1.0490588145315745, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.28281833372030735, + 0.1559987306343062, + 1.0490588145315745 + ], + "object_minus_gripper": [ + 0.0054436177470719715, + 0.005103285810223318, + -0.00332395017018694 + ], + "object_to_gripper_xy": 0.0074616687300538605, + "object_to_gripper_z": -0.00332395017018694, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2882619514673793, + 0.13651514510903437, + 1.0457348643613875 + ], + "finger_b": [ + 0.27592096364728025, + 0.1611020164445295, + 1.0457348643613875 + ], + "finger_midpoint": [ + 0.2820914575573298, + 0.14880858077678194, + 1.0457348643613875 + ], + "object_minus_finger_midpoint": [ + 0.006170493910049535, + 0.012293435667747571, + 0.0 + ], + "finger_gap": 0.02751025667717454, + "fingertip_max_gap": 0.09156190706482922, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01375512833858727, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0457348643613875, + "object_top_z": 1.0914852933301762, + "finger_top_clearance": 0.04575042896878867, + "fingertip_min_top_clearance": 0.013725128690636567, + "object_projection_between_fingers": 0.7987617358933847, + "object_to_finger_line_xy": 0.01102956919836535, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048280953532414614, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.5952239646376996, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.28776159362982423, + 0.15927904789389385, + 1.2410307129471485 + ], + "held_position": [ + 0.2935607622959589, + 0.1638807096002534, + 1.2375830741230198 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008166508503619727, + "max_held_gripper_dist": 0.008172156210271153, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003447638824128685, + "max_held_gripper_z_dist": 0.0034787435688088397, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08725517212916872, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2935607622959589, + 0.13832165891128492, + 1.2375830741230198 + ], + "held_grasp_finger_b": [ + 0.28327676331922447, + 0.1638807096002534, + 1.2375830741230198 + ], + "held_grasp_midpoint": [ + 0.2884187628075917, + 0.15110118425576916, + 1.2375830741230198 + ], + "held_grasp_object_position": [ + 0.2935607622959589, + 0.1638807096002534, + 1.2375830741230198 + ], + "held_grasp_finger_gap": 0.027550421177810227, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.0247546246821981, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07142392817882476, + -0.997265062645885, + 0.01900045550520502 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0042232907678117215, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03208838902040634, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2732026208641348, + -0.3277624562543351, + 0.8470194244336533 + ], + "target_position": [ + 0.26485079613911017, + -0.3309718300439577, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008947237359042723, + "xy_threshold": 0.08, + "gripper_dist": 0.1853455000625637, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470194244336533, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07542787442775825, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08571320480970367, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15426220643338082, + "release_required_pad_clearance": 0.052856602404851835, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7558835531371941, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007176578044891357, + "max_z_decrease": 0.007176578044891357, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03514853883143161, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007176578044891357, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021106354037936703, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.007176578044891357, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007176597638119327, + "max_button_displacement": 0.12, + "button_start": [ + 0.12055072188377378, + -0.3872332870960235, + 0.7768088579177856 + ], + "button_final": [ + 0.12055072188377378, + -0.3872332870960235, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12180225753464793, + -0.38551382098258485, + 0.8078146170782646 + ], + "closest_button": [ + 0.12054016441106792, + -0.38723149895668024, + 0.7727307677268982 + ], + "closest_ee_minus_button": [ + 0.0012620931235800131, + 0.0017176779740953885, + 0.035083849351366436 + ], + "button_min_z_position": [ + 0.1205339580774307, + -0.38723284006118774, + 0.7696322798728943 + ], + "min_active_finger_to_button": 0.14436430590408297, + "closest_active_finger": [ + -0.004591777920722961, + -0.45043328404426575, + 0.8105758428573608 + ], + "closest_active_finger_button": [ + 0.12055084854364392, + -0.38723322749137873, + 0.7761356234550476 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12514262646436689, + -0.06320005655288702, + 0.03444021940231323 + ], + "min_contact_pad_to_button": 0.021106354037936703, + "closest_contact_pad": [ + 0.1205339580774307, + -0.38723284006118774, + 0.790738633910831 + ], + "closest_contact_pad_button": [ + 0.1205339580774307, + -0.38723284006118774, + 0.7696322798728943 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021106354037936703 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 99, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3f6ca8fd1a79ad7f62e1a5266375de51c29eef609a7e250229b1ae85e6395171", + "visual_seed": 8606963888973476876, + "episode_index": 99, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_9_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_9_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2a471ec40ba9c07ef079e6dcaaa459614f107a05 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/episode_9_success.json @@ -0,0 +1,926 @@ +{ + "episode": 9, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.28695274503589374, + 0.1611835654208601, + 1.0478647029882133 + ], + "current_z": 1.0478647029882133, + "required_z": 0.8565866266178551, + "initial_z": 0.7565866266178551, + "lift_margin": 0.1912780763703582, + "gripper_z": 1.0506696529523594, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2818084093878551, + 0.15627557205155096, + 1.0506696529523594 + ], + "object_minus_gripper": [ + 0.005144335648038623, + 0.004907993369309138, + -0.002804949964146042 + ], + "object_to_gripper_xy": 0.007110034329935645, + "object_to_gripper_z": -0.002804949964146042, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.28695274503589374, + 0.13672135553831577, + 1.0478647029882133 + ], + "finger_b": [ + 0.2750066086137234, + 0.1611835654208601, + 1.0478647029882133 + ], + "finger_midpoint": [ + 0.28097967682480857, + 0.14895246047958793, + 1.0478647029882133 + ], + "object_minus_finger_midpoint": [ + 0.005973068211085175, + 0.012231104941272164, + 0.0 + ], + "finger_gap": 0.027223333516576444, + "fingertip_max_gap": 0.09192434344003023, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013611666758288222, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0478647029882133, + "object_top_z": 1.094052075660055, + "finger_top_clearance": 0.04618737267184159, + "fingertip_min_top_clearance": 0.013856211801552476, + "object_projection_between_fingers": 0.8074372265502276, + "object_to_finger_line_xy": 0.01073450083791899, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048462171720015115, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6250740515073606, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.28682670090448603, + 0.1596592669810789, + 1.2415122914603858 + ], + "held_position": [ + 0.2922965285500547, + 0.16411824353609655, + 1.238580556046944 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007641764123869098, + "max_held_gripper_dist": 0.007650244156510773, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002931735413441716, + "max_held_gripper_z_dist": 0.0029603743903385826, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08642168359320496, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2922965285500547, + 0.13869887132021672, + 1.238580556046944 + ], + "held_grasp_finger_b": [ + 0.2823670814506496, + 0.16411824353609655, + 1.238580556046944 + ], + "held_grasp_midpoint": [ + 0.28733180500035216, + 0.15140855742815662, + 1.238580556046944 + ], + "held_grasp_object_position": [ + 0.2922965285500547, + 0.16411824353609655, + 1.238580556046944 + ], + "held_grasp_finger_gap": 0.02728989563097171, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024601821236181837, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07451104319958826, + -0.9969433738462802, + 0.023494973617890325 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004015354666862497, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03215946088594805, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.27124532550192504, + -0.3212852072276212, + 0.847019348765528 + ], + "target_position": [ + 0.26455038283605536, + -0.3234879599683875, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007048005174248625, + "xy_threshold": 0.08, + "gripper_dist": 0.18820035121967915, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.847019348765528, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07572332963560295, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08528818671069348, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1561653417946043, + "release_required_pad_clearance": 0.05264409335534674, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.3471786726534975, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0069637298583984375, + "max_z_decrease": 0.0069637298583984375, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03513322301215855, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0069637298583984375, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.021164177259153462, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.0069637298583984375, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0069637502569451955, + "max_button_displacement": 0.12, + "button_start": [ + 0.12025030702352521, + -0.37974941730499256, + 0.7768088579177856 + ], + "button_final": [ + 0.12025030702352521, + -0.37974941730499256, + 0.7768088579177856 + ], + "closest_ee": [ + 0.12159900615374408, + -0.38012200512596195, + 0.8080494738029022 + ], + "closest_button": [ + 0.12024481594562526, + -0.37974986433982844, + 0.7729443311691284 + ], + "closest_ee_minus_button": [ + 0.001354190208118819, + -0.0003721407861335124, + 0.035105142633773734 + ], + "button_min_z_position": [ + 0.12023346126079557, + -0.37974998354911793, + 0.7698451280593872 + ], + "min_active_finger_to_button": 0.1448556405656566, + "closest_active_finger": [ + -0.01933300495147705, + -0.3619047999382019, + 0.8110101819038391 + ], + "closest_active_finger_button": [ + 0.12025111168622968, + -0.3797497153282165, + 0.7766446471214294 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13958411663770673, + 0.017844915390014593, + 0.03436553478240967 + ], + "min_contact_pad_to_button": 0.021164177259153462, + "closest_contact_pad": [ + 0.12023346126079557, + -0.3814181394707417, + 0.7909434610475173 + ], + "closest_contact_pad_button": [ + 0.12023346126079557, + -0.37974998354911793, + 0.7698451280593872 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0016681559216237818, + 0.02109833298813013 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 9, + "reproducibility": { + "enabled": true, + "action_seed": 8795614797710026623, + "physical_seed": 1402608805295628848, + "layout_id": "layout_00035", + "step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "workflow_spec_digest": "c258bfeef2537cf0e6e1012389250886e50c06d7b53dddf77e477875a1fa8764", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "282409dd579db985220ce0214dde0600b85da2c8265e95f5460726666238bbc3", + "visual_seed": 8739093965235083857, + "episode_index": 9, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3944254798520509588, + 3028392388710505277, + 408830198229115201, + 5506603594016192635 + ], + "runtime_workflow_digest": "4fa7d2e8ffbc17ce267aa24791b4e990111276cc3c547f4293acf6388d09c3e6" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/summary.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..d453d3d6670a23494da680b05067360025289963 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00035/results/summary.json @@ -0,0 +1,9 @@ +{ + "scope": "published_success_subset", + "case": "lab3_heat_2beaker_s04_pslr_hte_00035", + "family": "lab3_v1", + "published_episodes": 100, + "published_successes": 100, + "published_failures": 0, + "matched_success_results": 100 +} diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0000.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0000.h5 new file mode 100644 index 0000000000000000000000000000000000000000..cb279d4359cda3bcd7c43c3433a07e0257ca13ba --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0000.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9906ad6e2c14ce2306673c9c0db4a18157a0490b2f818db072862ee31756ce4e +size 6499474 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0001.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0001.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b7dda269358e7b271ebec86692815266aa35608f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0001.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ad448b187332dd448139eeadf9a4e3d48078ab291eb02980da21a7a817d81e68 +size 6766436 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0002.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0002.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c751bc84d8852b048bd49697ccd67547d828a62a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0002.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dd83de02f4f3afa0508f0d33e151662fe03111d887cbb811448dd3c41daa9f51 +size 5698171 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0003.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0003.h5 new file mode 100644 index 0000000000000000000000000000000000000000..75b81f2f613e867fa8a4373131acd40e29c782e5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0003.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e66e023af80b7f38565f8ce814b82e3ae65e915ee7f5e60030f8d6fa4f8a115b +size 5717361 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0004.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0004.h5 new file mode 100644 index 0000000000000000000000000000000000000000..511b0b32a55c144339727ead4bdfe668d857af2b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0004.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:89ea0e85110db292bdec1ce8fd0579c3c2e2e93c7d3cd86f57747b17f8e5540b +size 7156845 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0005.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0005.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d721ce15c5cf42afee5b2d0e39f67804ef263d55 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0005.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ee14469c69e1d263a46f4966a9a0f3e0befe437aa569a25f18de74e85592f522 +size 6834545 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0006.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0006.h5 new file mode 100644 index 0000000000000000000000000000000000000000..fdf55313935443d0aaf0b5b92312d8b6f77c5856 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0006.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:caeb2076494713c74eb8c88512929e62393bbd811f2ea043b68c1961011c19dd +size 5996071 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0007.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0007.h5 new file mode 100644 index 0000000000000000000000000000000000000000..63e4c05b9c3f6e903ac2cabbdaf7646808930d3a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0007.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1d7c39cd84cb1959ea29abed672d351b76f38cc7b9b0133366ed21b020e5d895 +size 6132177 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0008.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0008.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8f1ed7c416fefc3ef406e2497c4edd8655d3c800 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0008.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9efb425f808b466c458391919d56c480e552f1282c98d2d514c0a2a5bf22ace2 +size 5409327 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0009.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0009.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0433b6b613661f4e9e5749a5bcc8923c097560bb --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0009.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5e6f44d7eb463ea9350ce99184eb80dbc50ee51a2bc051be4f5c4eac5394f08b +size 6596552 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0010.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0010.h5 new file mode 100644 index 0000000000000000000000000000000000000000..565617333ce5edec3fe458f71480704e22d7ec9e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0010.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:82edd07f796f98e705dba1a229670401971b458af78fdf0f8b4cd57235639570 +size 6495515 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0011.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0011.h5 new file mode 100644 index 0000000000000000000000000000000000000000..558ce4243dfb3e901cac112443dae28875f90868 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0011.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c0fa7a3914ad8b7d2ce1729312f47eaadc30a29d9062230d7dea143a61d60081 +size 5135037 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0012.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0012.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5da6ad315f11017b2f78d8c0c046c77d1d040af2 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0012.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d69a12abfdf8181c2892388b9048eea1d8849d277d11e2dd41c8d02aa4aa9c02 +size 6770184 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0013.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0013.h5 new file mode 100644 index 0000000000000000000000000000000000000000..7ec3ed56fe558dd5c7e916a9a3c619f7108233bc --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0013.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:249eec403dd16790f87d229e6bd6ff708167be80d05cd64ac99328c2e378ac04 +size 6061620 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0014.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0014.h5 new file mode 100644 index 0000000000000000000000000000000000000000..37a809fee3c8b74fb8f31067615b3881d8fd939c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0014.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:afe16e865dc098d92209822221d05fefdbc73f5bbcb413fade4a1e465d652c0a +size 5900860 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0015.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0015.h5 new file mode 100644 index 0000000000000000000000000000000000000000..706731f3263a55d2e9715b39f4f35d4188666683 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0015.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0318e60fada5ac70459cc586627f708018166bdb17b65600023dc6ea4e1ee7a3 +size 6824884 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0016.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0016.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f01327b6dce8bf451ad7dd1e175258a817bf2fef --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0016.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:562e7041da0d4a93d7cb8ecc39627b3858a76bc9e1d76d03e009c54deac84ff8 +size 7280902 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0017.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0017.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8ada868bc16f2ecea7da3cdfb9875f3ecebb9e80 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0017.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b8868826402738618ac15184bbdf7ace1b773683c2e2ff7e5814e00261f7097f +size 5597309 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0018.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0018.h5 new file mode 100644 index 0000000000000000000000000000000000000000..11d29f0b6e4d1aa83dcc585ed51fb747f2406543 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0018.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7f361874947d8ab310bbc21a4524474dd27af237524fd65d2438cbf042628760 +size 5145776 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0019.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0019.h5 new file mode 100644 index 0000000000000000000000000000000000000000..fb47b00eddce9d2673c1d95deb270f0943e73487 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0019.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aee70cdc9635fa18e31cc31b9180ff144eec6dee3d3e506d5096f3588e828d03 +size 6300323 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0020.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0020.h5 new file mode 100644 index 0000000000000000000000000000000000000000..662239c3ca6e49582027df4f8812495511e010ab --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0020.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6eb9cc35ac72d10af34391143aa91dc18c21eae9d7edebc6fec92da1150a882e +size 6292980 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0021.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0021.h5 new file mode 100644 index 0000000000000000000000000000000000000000..78878f0badedfb8165f4d5eb3acd9ceb7b7197b6 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0021.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:874c40e63f3eb1ad8213c85edc2c8307486f0464bb10e74612e200a0afd7efab +size 7484297 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0022.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0022.h5 new file mode 100644 index 0000000000000000000000000000000000000000..89ee429d87ab3d7c0639f69fa7265cf59eefc74a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0022.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:646c0378ae961cdebdadc413e892e17b15f1a8881bdbc68c5dcc9890635fc5e6 +size 6742778 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0023.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0023.h5 new file mode 100644 index 0000000000000000000000000000000000000000..322ee98aeafddd3b6674b4dac04b7cab3d53cf0f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0023.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9872c29b0c275303fc659deb80af12631a87410e0394592d90ac2c2a40496b2f +size 6366619 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0024.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0024.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0d49e83b326a3df6c29e557d3e2f14364eddf63e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0024.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a3830f4a754534904b1be710a0ca077665cc6cbf8fd2ff535039dc22be8a02f8 +size 6541769 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0025.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0025.h5 new file mode 100644 index 0000000000000000000000000000000000000000..95d87037764fb401d8abb8dd41b077ef1d1c8c25 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0025.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ad462d39a2c1f34636476634857d36edcebd26d88b03b24e8cae22a9f10d9030 +size 5822309 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0026.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0026.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b8dd9e4b04c0778b48cd184e85600ba625f5f649 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0026.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4c53a52f9e601ea3e1e92de123986280b947f3afe4c57d4e972982202bb9b2b7 +size 5675155 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0027.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0027.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2054430181df1b834e453509e2be44a9745fa617 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0027.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b7e15cb0b7cdf66cb7057fc3cbdb367b020c917c2f510d78f8ae26923e659459 +size 6461010 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0028.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0028.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8d7150a7c135627ded156ce437a8ecf1e05ac975 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0028.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ed0c85d37f9413f81670840e77c034bca0d65e5a484565513164b3f93afdbdbe +size 5557058 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0029.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0029.h5 new file mode 100644 index 0000000000000000000000000000000000000000..33a23463b5e770747ac42aee1cb24b23ad683197 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0029.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e6441121d7cf8de0ef5ff590e9208a96cd4099e9f45702a9aaa9f99a9c354e1a +size 7486273 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0030.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0030.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e33357f755e6d6e4fb0fdf7c8c2979f7280beab3 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0030.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:da35d5b142b515330ca2351fadfd543490450600f08f1ab0448e4538dc0a3ba6 +size 5380702 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0031.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0031.h5 new file mode 100644 index 0000000000000000000000000000000000000000..bd2cae7937353fc051048e2375d2c042e493d91d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0031.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:24bff521546d21afe8694f497b03f7197683c9642db31d0f98afd1d52917bf02 +size 6117499 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0032.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0032.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f836305b61e86c2f21ec419eba7413b86d56face --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0032.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eb41779c5745b54f914bf228f76450d79d7939df6a688c5b585a64c0c9ab5dd8 +size 7605070 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0033.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0033.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f43ba1fa24445eb4c162380f3b077b7ebaf8685c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0033.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:86220aa5748dddfb47deb7f56c6d055d12ed3548dffb7e79f208855c044b53ba +size 5949588 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0034.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0034.h5 new file mode 100644 index 0000000000000000000000000000000000000000..7c000443782f9799118bb599a983485ff86d7c89 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0034.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1cc97a3eb783ec1d71245b74c533266dbb6e28c4d987de5f6db30af362b0c011 +size 5947818 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0035.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0035.h5 new file mode 100644 index 0000000000000000000000000000000000000000..234143544376bbf4791d4826b32d94194646cdf4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0035.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:854d2abb7c4040a60347059a36568b7cad38f09dad5cd804479a5c70966a7ee2 +size 5534509 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0036.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0036.h5 new file mode 100644 index 0000000000000000000000000000000000000000..09e108edea8179a9f5654f898a693028d693841d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0036.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d7c92af1273fc58951c04226117142b8a5aa8fc6c383eabd18977b0d138e704a +size 8475819 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0037.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0037.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c3885406a5924d33c7042b0d4db98cafb7a92923 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0037.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:87c24bc1da1055346b67c41ce136d9ec597202aad196021fcb86a9b2b50f068e +size 6127300 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0038.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0038.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4fb8eef54f0ac7eae24089fb058d3fbef30852bd --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0038.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:54dc8cfed0c5bed1029df21a0b56ac0938cfe1d917bc96e91aea9dc25c8ba374 +size 7540510 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0039.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0039.h5 new file mode 100644 index 0000000000000000000000000000000000000000..711b53db85eb3453ec748892e06ba5e3039b6ce8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0039.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6192ff6f53f7d41928b34da9931c79db6b5c57dff4c5c6e4053914219d54d663 +size 5721104 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0040.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0040.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3cb1a01e56f7159aac6720f97205605eb8ee5be5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0040.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c8deae8bccc0b90b1cb28a789e9479dca87b9395533933b865d22564516e8183 +size 6788661 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0041.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0041.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f9f4463ac7d8c25ad4bdd5e3e7522f5c203e89e9 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0041.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5e66be310e68cf245570ce2687a572b01abac8377bb851a498ec04a4fb9d778c +size 5418567 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0042.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0042.h5 new file mode 100644 index 0000000000000000000000000000000000000000..71a4481e8d8b5c0ee736053464d35086b98e0148 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0042.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a9bb5d02d191808d1db60f13809f5a2d3a0a4a86b4356cb0477966e6841bf39c +size 5501692 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0043.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0043.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ba22b9ae039b8cc48e0f9a51cb1d2004253dc9c9 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0043.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3abf90f25f0d41901cb06b360be6c9d4ef9a1fc19bcc41a63cd26932a1b0c110 +size 7489453 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0044.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0044.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c3c87ed879f994ae2ac9f308aebc9d31079bb69f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0044.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8e32bde0f6557851f3450e8697b32f52ad65caf6cf6c921502ba044970d48d7f +size 5070879 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0045.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0045.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6645cb18a87721ed234e363c221b74de3e58c335 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0045.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:da85c9d63e53b399279efe1315ea88919f4c5c86722d2fc75574fac3786058f1 +size 6022051 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0046.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0046.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b6e1e8c623e2c109231bc689f835c87a83ea0ee8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0046.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a8eb8f46b8a0a4b5d361c65c26e86ddbca06070e0aeafaae9c3bfffadd7b95f4 +size 6643725 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0047.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0047.h5 new file mode 100644 index 0000000000000000000000000000000000000000..7a9dbee452fea1db37fb6583869a42d6a3b3de18 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0047.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ea91b0a19066d7ae190759cc0544955e26dd8924674dafc4d4a7d1f798661662 +size 5887898 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0048.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0048.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b6472b031a856e04047256dfa404bcf9c95dce54 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0048.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9cbcc27da6885d1870e48cacba5ee0323b860887a5143aafeec0572a5e6f82d0 +size 6153532 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0049.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0049.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1ea4257519385b325cfdeb96565317ee289a3d94 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0049.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:def5550f74b422683ea4f0a72f17068f06d649994e6865abe4bd3696e3c5a95c +size 8320272 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0050.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0050.h5 new file mode 100644 index 0000000000000000000000000000000000000000..294a01627c226be670b7c59af5f4b61d8f3ab538 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0050.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3bcec26f61a1732524a1bf74bc3d6019251e7da98dffd8ff831c7831a9cd17e3 +size 5675895 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0051.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0051.h5 new file mode 100644 index 0000000000000000000000000000000000000000..fcb6208a60f50b26a3ddcdb6c264cdd43b124c11 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0051.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bd346d7fafb9e15381e9c0125e376a852a1837d6cb3eb77d843198c700954c33 +size 6324845 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0052.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0052.h5 new file mode 100644 index 0000000000000000000000000000000000000000..03e032bf8ca83eb451f4e7d8d9136e49c1f84ee3 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0052.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7d7be454baa12fc97d11abd96e7de99c36ff51a9a4b706edb2282214445c56ff +size 5228120 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0053.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0053.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c81f058790e413a8289d5fda67d59960ed835c19 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0053.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:78317d63137f4a4e5e47364b5cd3dd160077e03e0c648a18a90a723bd7d8e1c9 +size 5887438 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0054.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0054.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d81558cb63012f629ad7a27d471862c308c60a3c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0054.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:db4eaa811001513052e7bc6ac862c8883c597c3e2349cac0dd123d915e7f7e9d +size 5701130 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0055.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0055.h5 new file mode 100644 index 0000000000000000000000000000000000000000..aaa67dccad16acee4559561277de9ff6aa4efc9b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0055.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f406cbb5a1a231f99635f3b29baeac824e3611622e331e3c947f92dc5488dea7 +size 6015088 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0056.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0056.h5 new file mode 100644 index 0000000000000000000000000000000000000000..391d9bcd260c8dda022bea724a9c2674a8be4434 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0056.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1e3bd8bd18346cf597b4dcdef9ae072389efaa515d6f4fd51f0bd467e62b475a +size 5857132 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0057.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0057.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b2d136d8ab0957d757f1019ddd73c7ef337490b0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0057.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:562d94c6ccae86e606deb7beace57eec397ac7c42416a1944bd068c8e6807490 +size 5322061 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0058.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0058.h5 new file mode 100644 index 0000000000000000000000000000000000000000..fb0136576136c2694d0c058685995dd08ad72758 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0058.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:830193d9c7e4c22b13c7f070a2e279e1d57f99e58e589b5865c2bb3c0917c90e +size 7861238 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0059.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0059.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c6d7dce48896bc7bb3e1e81842696dc65244f210 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0059.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b3dd6bf688c4d47ca0eb9fea800e962c866de44214600de361f4291a65b5da80 +size 5261728 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0060.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0060.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5a8753feebcc4d6539be025664143d69ea0bce8d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0060.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d7a954827336b2e47c3e4af66e6d8b2a652960cdfae89e27315b8d6f9f196e80 +size 5634420 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0061.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0061.h5 new file mode 100644 index 0000000000000000000000000000000000000000..79491cb244944b32eee7f41ff894aac0480fbfc3 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0061.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:332a107ebdfafb0b09dafd99e106ef3e4813aa18f314e62af3284c2a92ec54cf +size 7144756 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0062.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0062.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a867695d6b70cde096acd8238c6ceea46be9908b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0062.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:73759bc018ff8b97d7483f347b48f28cc98780580c30a70144b76935d87ba083 +size 8203491 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0063.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0063.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9aee380c1964d83edeb275be9753a192ea02c969 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0063.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eab8a52e1f6d646facea411fe22961f2c195512d276617c70e43deeae785967d +size 6411079 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0064.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0064.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a69fc9c9bd811f41d1de513970485331d3e62dd8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0064.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9bdbd7f4a27c1fac3e12b493a8cf95142f3a87317037eeed148553d37228135e +size 6649995 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0065.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0065.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b2af53f2475c6554d6dee039d9d3d3b3da0711d9 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0065.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a1c91737a2c59167785dcdf2b1b24f5e9ec24853113a9a32cdadc79cd9802b9e +size 5054749 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0066.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0066.h5 new file mode 100644 index 0000000000000000000000000000000000000000..309eafd4134a261732a8884629145d83485016cb --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0066.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:184bf642c03946c4d9b066bb5e95a81252c91f19575688ff8dd8bdc967bf4b9b +size 6521479 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0067.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0067.h5 new file mode 100644 index 0000000000000000000000000000000000000000..50b3411838541026bfd9964608dd7c923855e8fe --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0067.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e7595638c3e73fbd4125c90aa8ada21631516e50cf7897c585d51aa2789cb04c +size 6479900 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0068.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0068.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c154ee50e3ce39e66855daed6eb87bb9e9ada5b7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0068.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b1c13d801dc578ddbb24814a670e65a757d5fedf3ea27b9211d8e4d9c744374f +size 7514168 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0069.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0069.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9defa24c609445f278db9d1a4b51dbbc7f756e22 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0069.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:89e7e6dd0ee24cf0b72f67f9409ade4544dbc4ef0f482a7da5e3a6a6bc7673b7 +size 5133716 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0070.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0070.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0245a15720b79507b62cfd22a0348b7df5f0e826 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0070.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:70de7150b0a4b501a7d3e9884ca840278cb32eb1a9aad66a453cccaf04272e47 +size 6909104 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0071.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0071.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2eae8b38c0d70297d41c73601edc83c3706bc52d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0071.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:affc4b6c63ca1f0ecf8630127648db02b7f5c7edd43950e77a954ac2be3225ee +size 5470233 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0072.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0072.h5 new file mode 100644 index 0000000000000000000000000000000000000000..cf6c891927cb73841656b08c1badb33bb403e325 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0072.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ff4c2409fb55bc967c7bb4f5800b77968aada2172da25eebcbc1392a53c39f45 +size 5038452 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0073.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0073.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5d0f2cb50eab529a1c5440e66b048a68e234f73c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0073.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c87faf51221be08d591506c08f713e8a47a37c6993d3750f040b330ec433f57e +size 6255639 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0074.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0074.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3e19d2744124e359d0fb7ae0fb09263a9efb294b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0074.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d73ee395ceee74a0cded422db79e04802b0e4f181801ce6b15b8c46d2245b203 +size 6568043 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0075.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0075.h5 new file mode 100644 index 0000000000000000000000000000000000000000..44dcb5ed2c6860fe402f73a62fffface4f173e8d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0075.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:86c1262ed592c07c1a4875b8c30908f739378f28339a86424f24997d40bda7d9 +size 5792029 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0077.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0077.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c4bde32632aed1c0e6bfc1d435d258ab9517d922 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0077.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:767de848142ff684ef80b815c5ed2cb1bc5549366232f5544ad26ab83b37fda3 +size 7000649 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0078.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0078.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f2ee464af77bb1530f1bd4916ce2a374ee6d4786 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0078.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:86ba419e182df1b9b4290ee798b3dec70bf87855480b4f86b2d9feca17349487 +size 5252175 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0079.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0079.h5 new file mode 100644 index 0000000000000000000000000000000000000000..18fbe544ea3782b83d55dc652a5a11a6a642f6ee --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0079.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9e901476062327c50641f6e6fffa92cb394fa5e768b5f2dee8aa1cc79a381ea9 +size 5682616 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0080.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0080.h5 new file mode 100644 index 0000000000000000000000000000000000000000..81dcc588c331afbacc042f023293aef8d4cc5c74 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0080.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:203498f669917715de9ddc42d8426b87a336dfb1bc8c8d724c12f19d0d70cecf +size 5825054 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0081.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0081.h5 new file mode 100644 index 0000000000000000000000000000000000000000..fab7cd5d4bb7563922fb05c6ac001a3245de46d0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0081.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9dcbd12bc399058d2692b2cd0292f037dc61a578aa3322d04f11ed87be9bb40a +size 8089529 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0082.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0082.h5 new file mode 100644 index 0000000000000000000000000000000000000000..263abeeda5d49029c5580f32b6e40beb24a43eb4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0082.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:107647ace65a2f93517dc0b36251762cee7f7cabf2621d88144fdee8fff5790e +size 8285028 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0083.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0083.h5 new file mode 100644 index 0000000000000000000000000000000000000000..566735e2ebfda70caa57f568ce7244ffc903b15f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0083.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eeb50e3270abff346d870332a7b0de56e02bd3e98a7bc6592809ab1c7efd456f +size 6049375 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0084.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0084.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3a735d85e1f338e976ce3af20f77c36a02c0e88a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0084.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f4d3f227b0b6e6974ed63defbe4d2bd5657d91f97bc2f8af89b78fa61de05f6f +size 5866929 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0086.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0086.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6cb27c8b8a91643094a8c87d2ba9af57f0983357 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0086.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:63f2a9c48ca7942c71a12e3926c52f684ca7c1c4b4b32d134e63c35923fea617 +size 6524340 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0087.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0087.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6e10dc14cc80d2e007c148e043f2a62929a59b00 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0087.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e63bcccf0674e822a775e0bff06cacef9a4c728f9350c5b1d43413ffed5fe89f +size 6417157 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0088.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0088.h5 new file mode 100644 index 0000000000000000000000000000000000000000..7f52b73257ed5ac1578fec4f5331a790c5254fb7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0088.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:75f8144d7febb992a91a29269baf91eba8931a16ce6368713415a85a9ac1ebe8 +size 5940743 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0089.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0089.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8973979f143d1f7dd2326e0ccad17ceeb68cbc47 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0089.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e23337f8b5f789b2b1b934e859ad4dd1ab65c562c0ad1066380e4be230c59b9e +size 6266521 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0090.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0090.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e3ef3658834e6a7627c5ea56871d17bec3c2e93b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0090.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bbecc87a449b39624b444ca3b6ccd11c956a31c0cd078644baece2be9bfa2e37 +size 5542660 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0091.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0091.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e2804aaae56cf6ffb4574f8de26bc32ced6693d6 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0091.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9ca2a6290e79406aefd12d969c974085808260cb9409a7d58d6fda59e5e14db1 +size 5140975 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0092.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0092.h5 new file mode 100644 index 0000000000000000000000000000000000000000..94ad88b7282b0bd1b9fa6d8f1dd6c9f9a1342857 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0092.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c37cfdff11357c7c7ffc8f0f6c4d573ad69fd841536c4de4371697c2304a8a8b +size 7572681 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0093.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0093.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5fba87ad2f84c3a03ecb9da7b97d56c1eb30dc56 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0093.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:637be3066a524452fb36bf05124d9ca84cd3c4f57d5de85401b1191d35e9e01c +size 6899643 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0094.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0094.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8d4d57ce24a4248ad5d27114ff5a274ed131ec53 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0094.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:47ff47680f3ea759200801314ddc116962d73e204136b1188fbb3ca5d5a9dc4b +size 5646974 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0095.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0095.h5 new file mode 100644 index 0000000000000000000000000000000000000000..160d043002452458b10c24c0b1d16b5152ce14e3 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0095.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c4cd1d1d60a807f8640cda8a41f145d2ee65c6f24db78b47ca7762cb185e0988 +size 7669253 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0096.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0096.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a0260cf95983a1eb774705a017b00e71540ec206 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0096.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7c6aadec34c482c8645353852c349c30a7b82d4bdf4b360b8fd9f749fe93753b +size 8459022 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0097.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0097.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a06d16a910fe6bf34018ceb1739790836b60db33 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0097.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d7a90024a128e462dbdc4b617a195cfad92da741dbc193cc519e54ac23f23862 +size 5728612 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0098.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0098.h5 new file mode 100644 index 0000000000000000000000000000000000000000..cf41964ce3436c93fe83397953c4002bd1629803 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0098.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fadbdf68e0e39f008766ee25c6bc11e4a926a32424d2b88ab429665460c09ef3 +size 5860682 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0099.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0099.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5e18cdaaa0c1a7b949e1af9bff8b64f935495fae --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0099.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6f0f5941c30686d9d3fc60167759932c0c07ade7905f36e06e53bf2d5b4ae3ab +size 5689692 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0100.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0100.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d7ee9a8c7107c5124098076989f5ae12a6385254 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0100.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5204d30f83476b54f8ed791097fd8361b2724658ce6a34e20f4dc85fdcf77050 +size 6312881 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0101.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0101.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5a918d084701774266fdd6b7cc0fd7c0e0082abc --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0101.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:85d97808a53bed2ead1bc4f5034fbdf2a1b732fea9ed697f9ec83b21dc1b6420 +size 5289505 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/meta/episode.jsonl b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/meta/episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..989482900a2d620ec3788baf7d8b3a972460a081 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/meta/episode.jsonl @@ -0,0 +1,100 @@ +{"episode_index":0,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1121,"success":true,"robot_type":"ur5e"} +{"episode_index":1,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1125,"success":true,"robot_type":"ur5e"} +{"episode_index":2,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1126,"success":true,"robot_type":"ur5e"} +{"episode_index":3,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1123,"success":true,"robot_type":"ur5e"} +{"episode_index":4,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1124,"success":true,"robot_type":"ur5e"} +{"episode_index":5,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1121,"success":true,"robot_type":"ur5e"} +{"episode_index":6,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1123,"success":true,"robot_type":"ur5e"} +{"episode_index":7,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1124,"success":true,"robot_type":"ur5e"} +{"episode_index":8,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1122,"success":true,"robot_type":"ur5e"} +{"episode_index":9,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1120,"success":true,"robot_type":"ur5e"} +{"episode_index":10,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1124,"success":true,"robot_type":"ur5e"} +{"episode_index":11,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1123,"success":true,"robot_type":"ur5e"} +{"episode_index":12,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1125,"success":true,"robot_type":"ur5e"} +{"episode_index":13,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1124,"success":true,"robot_type":"ur5e"} +{"episode_index":14,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1122,"success":true,"robot_type":"ur5e"} +{"episode_index":15,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1124,"success":true,"robot_type":"ur5e"} +{"episode_index":16,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1120,"success":true,"robot_type":"ur5e"} +{"episode_index":17,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1118,"success":true,"robot_type":"ur5e"} +{"episode_index":18,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1124,"success":true,"robot_type":"ur5e"} +{"episode_index":19,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1121,"success":true,"robot_type":"ur5e"} +{"episode_index":20,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1122,"success":true,"robot_type":"ur5e"} +{"episode_index":21,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1124,"success":true,"robot_type":"ur5e"} +{"episode_index":22,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1123,"success":true,"robot_type":"ur5e"} +{"episode_index":23,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1125,"success":true,"robot_type":"ur5e"} +{"episode_index":24,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1122,"success":true,"robot_type":"ur5e"} +{"episode_index":25,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1121,"success":true,"robot_type":"ur5e"} +{"episode_index":26,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1124,"success":true,"robot_type":"ur5e"} +{"episode_index":27,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1120,"success":true,"robot_type":"ur5e"} +{"episode_index":28,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1123,"success":true,"robot_type":"ur5e"} +{"episode_index":29,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1122,"success":true,"robot_type":"ur5e"} +{"episode_index":30,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1124,"success":true,"robot_type":"ur5e"} +{"episode_index":31,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1124,"success":true,"robot_type":"ur5e"} +{"episode_index":32,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1120,"success":true,"robot_type":"ur5e"} +{"episode_index":33,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1124,"success":true,"robot_type":"ur5e"} +{"episode_index":34,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1122,"success":true,"robot_type":"ur5e"} +{"episode_index":35,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1122,"success":true,"robot_type":"ur5e"} +{"episode_index":36,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1124,"success":true,"robot_type":"ur5e"} +{"episode_index":37,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1125,"success":true,"robot_type":"ur5e"} +{"episode_index":38,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1124,"success":true,"robot_type":"ur5e"} +{"episode_index":39,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1125,"success":true,"robot_type":"ur5e"} +{"episode_index":40,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1125,"success":true,"robot_type":"ur5e"} +{"episode_index":41,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1120,"success":true,"robot_type":"ur5e"} +{"episode_index":42,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1126,"success":true,"robot_type":"ur5e"} +{"episode_index":43,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1123,"success":true,"robot_type":"ur5e"} +{"episode_index":44,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1122,"success":true,"robot_type":"ur5e"} +{"episode_index":45,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1125,"success":true,"robot_type":"ur5e"} +{"episode_index":46,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1124,"success":true,"robot_type":"ur5e"} +{"episode_index":47,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1122,"success":true,"robot_type":"ur5e"} +{"episode_index":48,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1122,"success":true,"robot_type":"ur5e"} +{"episode_index":49,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1121,"success":true,"robot_type":"ur5e"} +{"episode_index":50,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1122,"success":true,"robot_type":"ur5e"} +{"episode_index":51,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1123,"success":true,"robot_type":"ur5e"} +{"episode_index":52,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1121,"success":true,"robot_type":"ur5e"} +{"episode_index":53,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1119,"success":true,"robot_type":"ur5e"} +{"episode_index":54,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1123,"success":true,"robot_type":"ur5e"} +{"episode_index":55,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1124,"success":true,"robot_type":"ur5e"} +{"episode_index":56,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1125,"success":true,"robot_type":"ur5e"} +{"episode_index":57,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1124,"success":true,"robot_type":"ur5e"} +{"episode_index":58,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1121,"success":true,"robot_type":"ur5e"} +{"episode_index":59,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1123,"success":true,"robot_type":"ur5e"} +{"episode_index":60,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1124,"success":true,"robot_type":"ur5e"} +{"episode_index":61,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1124,"success":true,"robot_type":"ur5e"} +{"episode_index":62,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1120,"success":true,"robot_type":"ur5e"} +{"episode_index":63,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1121,"success":true,"robot_type":"ur5e"} +{"episode_index":64,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1123,"success":true,"robot_type":"ur5e"} +{"episode_index":65,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1124,"success":true,"robot_type":"ur5e"} +{"episode_index":66,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1121,"success":true,"robot_type":"ur5e"} +{"episode_index":67,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1125,"success":true,"robot_type":"ur5e"} +{"episode_index":68,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1124,"success":true,"robot_type":"ur5e"} +{"episode_index":69,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1122,"success":true,"robot_type":"ur5e"} +{"episode_index":70,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1122,"success":true,"robot_type":"ur5e"} +{"episode_index":71,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1122,"success":true,"robot_type":"ur5e"} +{"episode_index":72,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1123,"success":true,"robot_type":"ur5e"} +{"episode_index":73,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1122,"success":true,"robot_type":"ur5e"} +{"episode_index":74,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1123,"success":true,"robot_type":"ur5e"} +{"episode_index":75,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1121,"success":true,"robot_type":"ur5e"} +{"episode_index":77,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1124,"success":true,"robot_type":"ur5e"} +{"episode_index":78,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1123,"success":true,"robot_type":"ur5e"} +{"episode_index":79,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1122,"success":true,"robot_type":"ur5e"} +{"episode_index":80,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1124,"success":true,"robot_type":"ur5e"} +{"episode_index":81,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1121,"success":true,"robot_type":"ur5e"} +{"episode_index":82,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1123,"success":true,"robot_type":"ur5e"} +{"episode_index":83,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1124,"success":true,"robot_type":"ur5e"} +{"episode_index":84,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1123,"success":true,"robot_type":"ur5e"} +{"episode_index":86,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1123,"success":true,"robot_type":"ur5e"} +{"episode_index":87,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1122,"success":true,"robot_type":"ur5e"} +{"episode_index":88,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1124,"success":true,"robot_type":"ur5e"} +{"episode_index":89,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1121,"success":true,"robot_type":"ur5e"} +{"episode_index":90,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1121,"success":true,"robot_type":"ur5e"} +{"episode_index":91,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1123,"success":true,"robot_type":"ur5e"} +{"episode_index":92,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1123,"success":true,"robot_type":"ur5e"} +{"episode_index":93,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1123,"success":true,"robot_type":"ur5e"} +{"episode_index":94,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1123,"success":true,"robot_type":"ur5e"} +{"episode_index":95,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1122,"success":true,"robot_type":"ur5e"} +{"episode_index":96,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1123,"success":true,"robot_type":"ur5e"} +{"episode_index":97,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1126,"success":true,"robot_type":"ur5e"} +{"episode_index":98,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1122,"success":true,"robot_type":"ur5e"} +{"episode_index":99,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1121,"success":true,"robot_type":"ur5e"} +{"episode_index":100,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1123,"success":true,"robot_type":"ur5e"} +{"episode_index":101,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1121,"success":true,"robot_type":"ur5e"} diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/meta/randomization_episodes.jsonl b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/meta/randomization_episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..307d67b01bb6e06451f7952bf8645e2b053a1f06 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/meta/randomization_episodes.jsonl @@ -0,0 +1,100 @@ +{"episode_id":"ep_000000","started_at":"2026-09-05T18:23:14","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_0","position":[-0.3754183669551144,1.3393898581636234,0.71338606911949],"aabb_xy":[[-0.4032634037357215,1.308605359425312],[-0.34757333017450726,1.3701743569019353]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_1","position":[0.2861477019463535,-2.371033250661251,0.71338606911949],"aabb_xy":[[0.2311739799100207,-2.426033250225484],[0.34112142398268647,-2.316033251097018]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_2","position":[-0.2562590348809999,-2.0281161975244935,0.71338606911949],"aabb_xy":[[-0.2741281426354554,-2.0419491055017045],[-0.2383899271265444,-2.0142832895472824]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_3","position":[0.5466462178630989,0.9447397128056774,0.71338606911949],"aabb_xy":[[0.54106454622897,0.932239712987902],[0.5522278894972277,0.957239712623453]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_4","position":[0.22748665368272236,1.2756633385206357,0.71338606911949],"aabb_xy":[[0.21878869139200707,1.263538364213161],[0.23618461597343765,1.2877883128281105]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_5","position":[-0.3026933694783875,0.7402850350494892,0.71338606911949],"aabb_xy":[[-0.3826933664926354,0.7201504833760778],[-0.22269337246413945,0.7604195867229003]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_6","position":[0.1338000544982766,-1.39960327211358,0.71338606911949],"aabb_xy":[[0.08382263763302299,-1.4496032736028284],[0.18377747136353015,-1.3496032706243313]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_7","position":[0.6446128067627621,0.2554291984491992,0.71338606911949],"aabb_xy":[[0.6101503287496743,0.24876552126627632],[0.6790752847758499,0.26209287563212197]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_8","position":[0.3712192659690132,-0.7050554464387269,0.71338606911949],"aabb_xy":[[0.3012192625774512,-0.7403712201421576],[0.44121926936057515,-0.6697396727352959]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_9","position":[0.39096009915158936,0.8410647189625466,0.71338606911949],"aabb_xy":[[0.38611650439035944,0.8362130664835626],[0.3958036939128194,0.8459163714415309]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_10","position":[-0.5476310290775196,1.3087409640753145,0.71338606911949],"aabb_xy":[[-0.5635155223428447,1.2943880237764902],[-0.5317465358121944,1.3230939043741383]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_11","position":[0.517542751338427,-1.3083245300729067,0.71338606911949],"aabb_xy":[[0.5134645934313773,-1.3124055103211703],[0.5216209092454767,-1.3042435498246436]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_12","position":[0.42375013401397155,-0.8355530024355535,0.71338606911949],"aabb_xy":[[0.41496890686673543,-0.8443327497240839],[0.4325313611612079,-0.8267732551470236]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_13","position":[-0.5979467056902386,-2.4831085894143476,0.71338606911949],"aabb_xy":[[-0.6392512487539744,-2.5471085889824647],[-0.5566421626265025,-2.4191085898462306]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_14","position":[0.13055944361876382,-1.5816465000523825,0.71338606911949],"aabb_xy":[[0.10809467364735867,-1.604146500931243],[0.1530242135901689,-1.559146499173522]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_15","position":[-0.5562693121398818,-0.14266386906329398,0.71338606911949],"aabb_xy":[[-0.5670422860612495,-0.17766386728233294],[-0.545496338218514,-0.10766387084425497]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_16","position":[0.46887039005213427,0.3157047533552926,0.71338606911949],"aabb_xy":[[0.4469617079127832,0.2938040865352018],[0.4907790721914853,0.33760542017538325]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_17","position":[-0.4807731689311595,-1.242569495953866,0.71338606911949],"aabb_xy":[[-0.5707731712651786,-1.3200518505389789],[-0.39077316659714045,-1.1650871413687536]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_18","position":[-0.4230596025299755,0.27679342723674605,0.71338606911949],"aabb_xy":[[-0.44555960234387787,0.27231881086626536],[-0.4005596027160731,0.28126804360722674]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_19","position":[-0.11388118731176089,-0.8069123357943762,0.71338606911949],"aabb_xy":[[-0.13638032303798786,-0.829412336572639],[-0.0913820515855339,-0.7844123350161131]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_20","position":[0.6835884697030858,-1.8063552831931236,0.71338606911949],"aabb_xy":[[0.6653826460418383,-1.8173806837751156],[0.7017942933643336,-1.7953298826111324]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_21","position":[-0.11378155386418176,-0.68613065553586,0.71338606911949],"aabb_xy":[[-0.17378155472499454,-0.7375570855423462],[-0.05378155300336895,-0.6347042255293734]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_22","position":[0.22525793018538298,-1.9932595342009842,0.71338606911949],"aabb_xy":[[0.1757775089714242,-2.057259532113836],[0.2747383513993418,-1.9292595362881324]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_23","position":[-0.24124895639051464,1.5001136040166627,0.71338606911949],"aabb_xy":[[-0.24620497657539586,1.4776136038145413],[-0.23629293620563346,1.5226136042187848]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_24","position":[-0.6333236875181916,1.5897968586594877,0.71338606911949],"aabb_xy":[[-0.6442294636057542,1.5097968622606588],[-0.6224179114306287,1.669796855058317]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_25","position":[0.23512432107843384,1.0460462357393663,0.71338606911949],"aabb_xy":[[0.1651243192696884,1.024692466975179],[0.3051243228871793,1.0674000045035537]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6918815110767241,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2466.png","name":"2466"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2466.png","name":"2466"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2323.png","name":"2323"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3567.png","name":"3567"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3046.png","name":"3046"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9638.png","name":"9638"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":542.490386142392,"rotation_z_degrees":287.17712091193926,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0032626385101697103,-0.01786224129941576,0.009634172892155183]},{"name":"camera_2","offset_m":[0.01429608249379678,-0.01127763736848157,-0.01231778660354725]},{"name":"camera_3","offset_m":[-0.01508083185165627,0.004516019212868955,-0.008918345946372122]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0019099449743487811,0.0003960622815952267,-0.00018762766066240423],"end_effector_yaw_offset_degrees":0.8761414306142772},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0016266925338449694,-0.0006979261730001131,-3.269858798728717e-05],"end_effector_yaw_offset_degrees":-0.0779093194404139},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0003043132080259689,-0.0019511661434918276,-0.0013764746012322729],"end_effector_yaw_offset_degrees":-0.6408904950344949},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0011283352697606611,0.001348599023658741,0.0009511184846533877],"end_effector_yaw_offset_degrees":0.11141984015947015}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0033645876015931117,-0.0023605574252629526],"position_m":[0.16686458760159312,-0.14846055742526296,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00045448954509489953,-0.0017287400119214004],"position_m":[0.27344551045490506,-0.3505287400119214,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0007652661526865914,-0.0013231385047988275],"position_m":[0.30653473384731345,0.2787768614952012,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002618261823107316,-0.0031086676317447614],"position_m":[0.3621182618231073,0.057191332368255236,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"eed6df99b0feb8f680d146bbb11a7251768c165c10aef0f70d08a1031e491c82","episode_index":0,"episode_name":"episode_0000"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0000.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_2466/tex_ceiling_textures_9638/tex_floor_textures_3046/tex_table_textures_2323/tex_wall_textures_3567","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":7955624049290934352,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":7955624049290934352,"visual_seed":7955624049290934352,"scene_id":"lab_003","finished_at":"2026-09-05T18:26:32"} +{"episode_id":"ep_000001","started_at":"2026-09-05T18:26:36","dimensions":{"distractor":{"count":20,"items":[{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_0","position":[0.7120386919902071,1.6867999979766073,0.71338606911949],"aabb_xy":[[0.7049983820566702,1.6067999985769363],[0.7190790019237442,1.7667999973762791]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_1","position":[0.18218048878237236,-2.069173871875637,0.71338606911949],"aabb_xy":[[0.09845826328228988,-2.1591738754103327],[0.2659027142824548,-1.9791738683409408]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_2","position":[-0.21916393072954227,-2.172516775754865,0.71338606911949],"aabb_xy":[[-0.22547603026588073,-2.178283715008084],[-0.21285183119320386,-2.1667498365016464]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_3","position":[0.522730062074483,-1.0198769189301715,0.71338606911949],"aabb_xy":[[0.46273006222791613,-1.07669554112321],[0.5827300619210497,-0.9630582967371326]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_4","position":[0.08477060325727237,-2.308209988189814,0.71338606911949],"aabb_xy":[[0.034673139276198764,-2.372209988699626],[0.134868067238346,-2.2442099876800023]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_5","position":[0.037176939587970526,1.1710284603067174,0.71338606911949],"aabb_xy":[[0.02560795884103395,1.1460284601897857],[0.0487459203349071,1.196028460423649]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_6","position":[-0.4265792647991343,-0.44965167627085867,0.71338606911949],"aabb_xy":[[-0.49157926575626143,-0.5015998882045642],[-0.361579263842007,-0.3977034643371531]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_7","position":[-0.502724691719231,0.15689703816459089,0.71338606911949],"aabb_xy":[[-0.5527195246471726,0.10689703926934735],[-0.45272985879128935,0.20689703705983442]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_8","position":[-0.3292104694448043,1.6861828967746963,0.71338606911949],"aabb_xy":[[-0.36671047062959705,1.6817646740786356],[-0.29171046826001146,1.6906011194707566]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_9","position":[0.002147395836892718,0.7027060556412579,0.71338606911949],"aabb_xy":[[-0.007270078732970031,0.6932898785035387],[0.011564870406755468,0.7121222327789768]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_10","position":[0.29691848693707446,-1.3426316563967609,0.71338606911949],"aabb_xy":[[0.27441935121084743,-1.3651316571750238],[0.31941762266330137,-1.3201316556184979]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_11","position":[-0.3783695270647763,1.152250067064863,0.71338606911949],"aabb_xy":[[-0.4118097022607958,1.1188064412339325],[-0.34492935186875656,1.1856936928957926]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_12","position":[0.6497158167976764,1.1744293770637886,0.71338606911949],"aabb_xy":[[0.5847158167633737,1.1277287003834613],[0.7147158168319792,1.2211300537441159]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_13","position":[-0.4914757161004817,-2.4218226415607447,0.71338606911949],"aabb_xy":[[-0.5554757175084722,-2.473611593084669],[-0.42747571469249096,-2.3700336900368195]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_14","position":[0.5479351361802622,1.0022337688580016,0.71338606911949],"aabb_xy":[[0.4839351388946135,0.9607270499051577],[0.6119351334659108,1.0437404878108456]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_15","position":[0.4019044464461534,-0.7092205516197603,0.71338606911949],"aabb_xy":[[0.390136259651496,-0.7942205515249818],[0.41367263324081105,-0.6242205517145386]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_16","position":[0.4933854588811264,0.35566245117163486,0.71338606911949],"aabb_xy":[[0.4751796352198787,0.3446370505896432],[0.5115912825423741,0.3666878517536265]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_17","position":[0.1992168761507801,-2.5035531391596506,0.71338606911949],"aabb_xy":[[0.14923806764046418,-2.5535531391653694],[0.24919568466109596,-2.453553139153932]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_18","position":[-0.23056852359363034,-0.9749224254366129,0.71338606911949],"aabb_xy":[[-0.28056852303382596,-1.0248903499209292],[-0.18056852415343472,-0.9249545009522966]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_19","position":[0.6080987755790521,-2.2699067987313155,0.71338606911949],"aabb_xy":[[0.5440987748755829,-2.315925181204237],[0.6720987762825216,-2.223888416258395]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6889430996262828,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/252.png","name":"252"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/252.png","name":"252"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6534.png","name":"6534"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8194.png","name":"8194"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3004.png","name":"3004"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2226.png","name":"2226"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":614.062307257909,"rotation_z_degrees":293.44757885974497,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013691744784367747,-0.01649049839383494,0.01880235101307286]},{"name":"camera_2","offset_m":[0.004020638303409974,-0.009500576854984457,-0.01796888895073799]},{"name":"camera_3","offset_m":[-0.012191091297484413,0.003281362244357919,-0.01619661656689351]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0019012930154469752,0.0012304054543396084,0.0010936416940164218],"end_effector_yaw_offset_degrees":-0.6459275066967898},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00016616919471897822,-0.0005928845380679198,0.0016703724462749023],"end_effector_yaw_offset_degrees":-0.9048565642235951},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001981026976064385,-8.534023552522947e-05,0.00021407230500263344],"end_effector_yaw_offset_degrees":-0.11462082717697086},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0017899804131240446,0.0017143256498571933,0.0013054291132676603],"end_effector_yaw_offset_degrees":-0.9209430666130911}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.003936320025582023,0.00010562191857601318],"position_m":[0.15956367997441798,-0.145994378081424,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002719517395112873,0.00021702537998258796],"position_m":[0.2711804826048871,-0.3485829746200174,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0013431291244240728,-0.0021559807613130235],"position_m":[0.30595687087557594,0.277944019238687,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004249875698105646,0.004496410071383451],"position_m":[0.35525012430189434,0.06479641007138345,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"040d4d40f7bde128b984071ce9dd5f1de6465d28925a485d8f89d8815661f50a","episode_index":1,"episode_name":"episode_0001"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0001.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_252/tex_ceiling_textures_2226/tex_floor_textures_3004/tex_table_textures_6534/tex_wall_textures_8194","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":4834465171282505550,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":4834465171282505550,"visual_seed":4834465171282505550,"scene_id":"lab_003","finished_at":"2026-09-05T18:30:21"} +{"episode_id":"ep_000002","started_at":"2026-09-05T18:30:25","dimensions":{"distractor":{"count":27,"items":[{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_0","position":[-0.34773695519337655,-1.2220600149051648,0.71338606911949],"aabb_xy":[[-0.3659427788546243,-1.2330854154871564],[-0.32953113153212893,-1.2110346143231732]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_1","position":[-0.5080217677290406,-1.8718518189528779,0.71338606911949],"aabb_xy":[[-0.5780217693313201,-1.8852846121545357],[-0.43802176612676114,-1.8584190257512205]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_2","position":[-0.0047953671502279915,-2.4768040126002986,0.71338606911949],"aabb_xy":[[-0.06879536919995999,-2.5168984956896066],[0.059204634899504005,-2.4367095295109906]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_3","position":[-0.2094495423076438,0.272440283564384,0.71338606911949],"aabb_xy":[[-0.2894495394672191,0.26089268260656695],[-0.1294495451480685,0.28398788452220103]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_4","position":[0.6961715336571428,0.9974353310007795,0.71338606911949],"aabb_xy":[[0.6785386980636152,0.9798123849851564],[0.7138043692506704,1.0150582770164023]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_5","position":[-0.06302249702008911,0.17691620088905635,0.71338606911949],"aabb_xy":[[-0.07766590257412208,0.16225748123227207],[-0.04837909146605611,0.19157492054584063]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_6","position":[-0.5596602192816204,-2.4100314693273575,0.71338606911949],"aabb_xy":[[-0.6136758155635204,-2.4740314722196146],[-0.5056446229997204,-2.3460314664351003]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_7","position":[-0.4204558958607518,0.08451049342095907,0.71338606911949],"aabb_xy":[[-0.4675852748625874,0.020510492376557096],[-0.37332651685891605,0.14851049446536102]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_8","position":[-0.5851028367290813,-1.650583506318351,0.71338606911949],"aabb_xy":[[-0.6201028358590369,-1.6563287273940153],[-0.5501028375991256,-1.644838285242687]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_9","position":[0.2330042590480017,-2.0829939888791196,0.71338606911949],"aabb_xy":[[0.21609352661165987,-2.0964661944717338],[0.24991499148434343,-2.0695217832865045]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_10","position":[0.5869041983695173,-0.9330883012195839,0.71338606911949],"aabb_xy":[[0.5775571907872221,-0.9473919234372279],[0.5962512059518126,-0.9187846790019398]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_11","position":[-0.40768166379961834,1.4567778700789584,0.71338606911949],"aabb_xy":[[-0.44518166414784605,1.4449864744978747],[-0.37018166345139053,1.4685692656600418]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_12","position":[0.2403604795453793,0.923784534172734,0.71338606911949],"aabb_xy":[[0.1703604761538173,0.888468760469303],[0.31036048293694124,0.9591003078761647]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_13","position":[0.5461345985426653,-2.457936340387159,0.71338606911949],"aabb_xy":[[0.5236354628164384,-2.480436341165422],[0.5686337342688923,-2.435436339608896]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_14","position":[0.013346907754407944,-2.1422380146216264,0.71338606911949],"aabb_xy":[[0.00011596221972664904,-2.1554654336436254],[0.026577853289089237,-2.1290105955996266]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_15","position":[0.4843289687866925,-2.1674684800556685,0.71338606911949],"aabb_xy":[[0.4756310064959772,-2.1795934543631437],[0.4930269310774078,-2.155343505748194]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_16","position":[0.687506759914507,1.522497130499874,0.71338606911949],"aabb_xy":[[0.6723345906328738,1.5073282735716704],[0.7026789291961405,1.5376659874280771]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_17","position":[-0.22599949538662395,-0.8684472025298773,0.71338606911949],"aabb_xy":[[-0.2859994962474367,-0.9198736325363636],[-0.1659994945258111,-0.8170207725233908]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_18","position":[-0.42603870716453707,-1.6127998921412443,0.71338606911949],"aabb_xy":[[-0.4473167153080093,-1.6777998944673174],[-0.4047606990210648,-1.5477998898151712]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_19","position":[0.5745524249485854,-2.167158591752649,0.71338606911949],"aabb_xy":[[0.5643994093944359,-2.2032281333253882],[0.5847054405027347,-2.1310890501799076]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_20","position":[-0.07104929439230845,-2.178062288879568,0.71338606911949],"aabb_xy":[[-0.09354929420621083,-2.182536905250048],[-0.048549294578406066,-2.173587672509087]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_21","position":[0.5566702588617094,-1.4901822791511934,0.71338606911949],"aabb_xy":[[0.5196361494336496,-1.5245594864849026],[0.593704368289769,-1.4558050718174838]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_22","position":[0.07042816163141408,-0.9324813252602593,0.71338606911949],"aabb_xy":[[0.04796339166000896,-0.9549813261391199],[0.0928929316028192,-0.9099813243813989]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_23","position":[-0.37479033486053476,1.1695628954679886,0.71338606911949],"aabb_xy":[[-0.37823101110059204,1.1657014624936242],[-0.37134965862047764,1.1734243284423531]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_24","position":[0.6708218610685188,0.8649034705184482,0.71338606911949],"aabb_xy":[[0.633321860776344,0.8608619951178444],[0.7083218613606936,0.8689449459190517]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_25","position":[-0.16466409131401805,-0.3889383650699849,0.71338606911949],"aabb_xy":[[-0.18134122730711355,-0.4056382890439152],[-0.14798695532092254,-0.37223844109605464]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_26","position":[-0.6492439496541,-1.2919653640072182,0.71338606911949],"aabb_xy":[[-0.6566564051954885,-1.2978165744288461],[-0.6418314941127116,-1.2861141535855902]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6893316670666301,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9816.png","name":"9816"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9816.png","name":"9816"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1422.png","name":"1422"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5492.png","name":"5492"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1143.png","name":"1143"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7270.png","name":"7270"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":664.7884809361016,"rotation_z_degrees":17.19445134769215,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0009161547444018064,0.002573310493685678,0.0051810465194448325]},{"name":"camera_2","offset_m":[0.01900309063047215,-0.019066759914219293,-0.015735674210552025]},{"name":"camera_3","offset_m":[0.008604960778157818,0.011969117540169803,-0.002806095704344133]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0007293809988246319,0.0005742060771909974,0.0009194474039435001],"end_effector_yaw_offset_degrees":0.25995996351545747},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00025306960481088266,-0.0014424437018028136,-0.0013192403725321268],"end_effector_yaw_offset_degrees":0.6599373162146152},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0017758578938197249,0.0014303132747138817,0.0009505704664269899],"end_effector_yaw_offset_degrees":0.3812357554600525},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005773612647172377,0.0006461174479047093,-0.00011195848580621568],"end_effector_yaw_offset_degrees":0.4916859960422666}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004174511264683113,0.0022815085484504108],"position_m":[0.1593254887353169,-0.1438184914515496,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00319194638218264,-0.0013526413558657946],"position_m":[0.27070805361781736,-0.35015264135586577,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0014017360948787127,-0.004856064666175591],"position_m":[0.3058982639051213,0.2752439353338244,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004503917333921564,0.000609824355698005],"position_m":[0.3549960826660784,0.06090982435569801,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ff8f8a650f91a63706676c69e6267733a75f8e6bd440da051423195f9d32f0f2","episode_index":2,"episode_name":"episode_0002"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0002.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_9816/tex_ceiling_textures_7270/tex_floor_textures_1143/tex_table_textures_1422/tex_wall_textures_5492","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":7247817641169244309,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":7247817641169244309,"visual_seed":7247817641169244309,"scene_id":"lab_003","finished_at":"2026-09-05T18:34:05"} +{"episode_id":"ep_000003","started_at":"2026-09-05T18:34:09","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_0","position":[-0.529603545259534,-0.21289826504318743,0.71338606911949],"aabb_xy":[[-0.5368647928299414,-0.2256852753066969],[-0.5223422976891264,-0.20011125477967795]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_1","position":[-0.16973759416418965,0.07820885826608626,0.71338606911949],"aabb_xy":[[-0.2158226854189211,0.01420886101353115],[-0.12365250290945816,0.14220885551864137]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_2","position":[-0.5889041191917261,0.7986554717728716,0.71338606911949],"aabb_xy":[[-0.5926073805208649,0.7949534534641537],[-0.5852008578625871,0.8023574900815894]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_3","position":[-0.5554244050217927,-2.2564685983111183,0.71338606911949],"aabb_xy":[[-0.6354244019848317,-2.333544239954892],[-0.4754244080587534,-2.179392956667345]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_4","position":[0.02160535069884828,1.6591578116648464,0.71338606911949],"aabb_xy":[[-0.0029082733981575792,1.63489321836281],[0.04611897479585414,1.683422404966883]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_5","position":[-0.5319522195090287,0.6302153291046158,0.71338606911949],"aabb_xy":[[-0.5360681696211013,0.6260997740717701],[-0.5278362693969559,0.6343308841374612]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_6","position":[0.646078956528688,1.41985154608196,0.71338606911949],"aabb_xy":[[0.5760789549264085,1.4064187528803025],[0.7160789581309674,1.4332843392836176]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_7","position":[0.29510872722367065,-0.6304832912612666,0.71338606911949],"aabb_xy":[[0.25760872711807764,-0.6373054531142476],[0.33260872732926355,-0.6236611294082853]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_8","position":[-0.5623161309312719,1.678218219176324,0.71338606911949],"aabb_xy":[[-0.5922836878410975,1.6482182188784382],[-0.5323485740214462,1.7082182194742097]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_9","position":[0.5178136279051371,1.1758532132956878,0.71338606911949],"aabb_xy":[[0.4765090848414011,1.1118532137275707],[0.5591181709688731,1.239853212863805]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_10","position":[0.12188793477839133,-1.2421234335238327,0.71338606911949],"aabb_xy":[[0.09897222189334144,-1.2650277306602564],[0.14480364766344123,-1.2192191363874094]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_11","position":[0.5095930073749304,-0.15045740473225688,0.71338606911949],"aabb_xy":[[0.41959300765175617,-0.1735307572674367],[0.5995930070981045,-0.12738405219707702]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_12","position":[0.5318392088609118,0.4406294617206217,0.71338606911949],"aabb_xy":[[0.5167369073998935,0.4255279400895597],[0.5469415103219297,0.4557309833516833]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_13","position":[-0.5348062260771971,1.2844244732234023,0.71338606911949],"aabb_xy":[[-0.5409008539653155,1.2758550786717338],[-0.5287115981890789,1.2929938677750712]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_14","position":[-0.38958056298276705,-0.9822138398432725,0.71338606911949],"aabb_xy":[[-0.39599437662595194,-0.9886236600909406],[-0.38316674933958206,-0.9758040195956039]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_15","position":[-0.2314835102451862,0.7265147738931486,0.71338606911949],"aabb_xy":[[-0.2954835094149561,0.6797480867741861],[-0.16748351107541623,0.773281461012111]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_16","position":[-0.5949611820187768,-0.3614767552336895,0.71338606911949],"aabb_xy":[[-0.6020026329695244,-0.36850350697148404],[-0.5879197310680292,-0.35445000349589495]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_17","position":[0.22584531134904373,1.3560482014765927,0.71338606911949],"aabb_xy":[[0.1808527246305933,1.311048202202144],[0.27083789806749414,1.4010482007510414]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_18","position":[-0.48763150496295504,-1.266082521792799,0.71338606911949],"aabb_xy":[[-0.5101451967864122,-1.3360825223938062],[-0.46511781313949785,-1.1960825211917911]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_19","position":[0.5575187798703747,-0.637899742600726,0.71338606911949],"aabb_xy":[[0.5350223584365106,-0.6603997424074735],[0.5800152013042388,-0.6153997427939786]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_20","position":[-0.17450751670066234,-2.5390776197295257,0.71338606911949],"aabb_xy":[[-0.2120075165176959,-2.543715831040667],[-0.13700751688362878,-2.5344394084183834]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_21","position":[0.15560743491800078,1.6818055005742374,0.71338606911949],"aabb_xy":[[0.1442457002647146,1.670437034167949],[0.1669691695712869,1.6931739669805252]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_22","position":[0.17909499463120637,1.001635952412776,0.71338606911949],"aabb_xy":[[0.1190949940351902,0.9468234798675526],[0.23909499522722255,1.0564484249579995]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_23","position":[0.6932171939114025,-0.19405700587620967,0.71338606911949],"aabb_xy":[[0.6855929258212242,-0.20169022941275344],[0.7008414620015807,-0.18642378233966597]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_24","position":[0.6028068005192093,-1.105987363138812,0.71338606911949],"aabb_xy":[[0.5919663222926944,-1.1231736444294609],[0.6136472787457242,-1.088801081848163]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_25","position":[-0.4888493489031316,-2.009105247702815,0.71338606911949],"aabb_xy":[[-0.5192474600022752,-2.0395121497044846],[-0.458451237803988,-1.9786983457011458]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_26","position":[-0.05233002500465389,1.2360488825883582,0.71338606911949],"aabb_xy":[[-0.07450255198130473,1.213873215432235],[-0.03015749802800305,1.258224549744481]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_27","position":[-0.3756032756439621,-0.5997062337344214,0.71338606911949],"aabb_xy":[[-0.3975119577833131,-0.6216069005545122],[-0.353694593504611,-0.5778055669143307]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_28","position":[-0.30318783139553435,1.7179337367221943,0.71338606911949],"aabb_xy":[[-0.37318783403212064,1.6978288717263286],[-0.23318782875894795,1.7380386017180596]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_29","position":[0.41652131048197605,0.6284006529813904,0.71338606911949],"aabb_xy":[[0.4067653209728021,0.6186381189221558],[0.4262772999911499,0.6381631870406247]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_30","position":[-0.3888392138940712,-1.2006262738998816,0.71338606911949],"aabb_xy":[[-0.3960829799403165,-1.280626272103484],[-0.38159544784782584,-1.1206262756962793]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6898771817169411,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3494.png","name":"3494"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3494.png","name":"3494"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9817.png","name":"9817"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5149.png","name":"5149"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5857.png","name":"5857"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8015.png","name":"8015"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":519.466131580209,"rotation_z_degrees":350.1541785700127,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01463378581497226,-0.017904793202350257,0.01572034748011972]},{"name":"camera_2","offset_m":[0.01952304027977431,0.014166708945722428,0.000697661764002877]},{"name":"camera_3","offset_m":[-0.01598361920412675,-0.019851719345313764,0.005102780343114854]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0007636260369657398,-0.0003379460516100292,0.0003690292278417085],"end_effector_yaw_offset_degrees":0.36075378738990516},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00010310747956382383,-0.0015887482025899273,0.0006967593371676188],"end_effector_yaw_offset_degrees":0.7086703198234898},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0009514366162484151,-0.0006046040848744748,-0.000292135672801602],"end_effector_yaw_offset_degrees":0.6468153068804823},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008341801477316953,-0.0008417568708221728,-0.0016091454805707618],"end_effector_yaw_offset_degrees":0.5440182864493692}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0010778043236655413,0.003969570157228825],"position_m":[0.16457780432366556,-0.1421304298427712,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0014500134456772108,0.000536274840156086],"position_m":[0.2724499865543228,-0.34826372515984394,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0020299524984884595,0.004991736332876493],"position_m":[0.3093299524984885,0.2850917363328765,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0033987955647914745,0.0027895450086873634],"position_m":[0.3628987955647915,0.06308954500868737,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"076a03e6b3217671c0be6284217290ae12d68199be7458d0d86b1a422109030e","episode_index":3,"episode_name":"episode_0003"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0003.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_3494/tex_ceiling_textures_8015/tex_floor_textures_5857/tex_table_textures_9817/tex_wall_textures_5149","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":3821223741755632421,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":3821223741755632421,"visual_seed":3821223741755632421,"scene_id":"lab_003","finished_at":"2026-09-05T18:37:58"} +{"episode_id":"ep_000004","started_at":"2026-09-05T18:38:01","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_0","position":[0.5191165684340961,-0.20128708258373784,0.71338606911949],"aabb_xy":[[0.45511656702610553,-0.25307603410766255],[0.5831165698420868,-0.14949813105981316]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_1","position":[0.07881564141830288,-2.023346868051073,0.71338606911949],"aabb_xy":[[0.0148199440232063,-2.0873468663517816],[0.14281133881339947,-1.9593468697503642]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_2","position":[-0.38738681237199335,-0.3890126870022943,0.71338606911949],"aabb_xy":[[-0.3947992679133818,-0.39486389742392225],[-0.3799743568306049,-0.38316147658066635]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_3","position":[0.5889133016892478,-0.5302033605545025,0.71338606911949],"aabb_xy":[[0.5249133031026755,-0.5772103239540112],[0.6529133002758204,-0.48319639715499374]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_4","position":[-0.4563464274027812,1.0102852512760259,0.71338606911949],"aabb_xy":[[-0.4868306775298113,0.9602852514945301],[-0.425862177275751,1.060285251057522]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_5","position":[-0.5532782407010356,-1.2722891036998594,0.71338606911949],"aabb_xy":[[-0.5954626548618663,-1.3362891039770708],[-0.5110938265402049,-1.2082891034226484]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_6","position":[0.3884669514237016,-1.2356308683283068,0.71338606911949],"aabb_xy":[[0.32346695042320106,-1.2864172334829815],[0.4534669524242021,-1.1848445031736317]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_7","position":[0.4231326786495455,0.9426568832689348,0.71338606911949],"aabb_xy":[[0.3731326769880507,0.8926584410132319],[0.4731326803110402,0.9926553255246373]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_8","position":[0.5730877056450359,-2.3328973558179538,0.71338606911949],"aabb_xy":[[0.5396085383839949,-2.3663764691890607],[0.6065668729060768,-2.299418242446847]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_9","position":[-0.47880000147625795,-0.058459411067036005,0.71338606911949],"aabb_xy":[[-0.5588000047341009,-0.13845591885901998],[-0.398799998218415,0.021537096724947975]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_10","position":[-0.4662494312565514,1.575061040962479,0.71338606911949],"aabb_xy":[[-0.47708990948306634,1.55787475967183],[-0.45540895303003653,1.5922473222531275]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_11","position":[0.21413347319244103,-1.2920366385496755,0.71338606911949],"aabb_xy":[[0.16413347283187496,-1.342016625759278],[0.2641334735530071,-1.2420566513400721]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_12","position":[-0.3108908883855285,-0.8354214019455235,0.71338606911949],"aabb_xy":[[-0.3169855162736468,-0.8439907964971922],[-0.30479626049741015,-0.8268520073938548]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_13","position":[0.27171526998686935,-0.5091194974272999,0.71338606911949],"aabb_xy":[[0.25856402401558,-0.5341194971839865],[0.2848665159581587,-0.48411949767061346]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_14","position":[0.5755230418467716,1.2017916998197906,0.71338606911949],"aabb_xy":[[0.4855230381698533,1.140359293242686],[0.6655230455236897,1.2632241063968948]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_15","position":[0.5818668058230156,0.6509913880883107,0.71338606911949],"aabb_xy":[[0.5318668048038804,0.6145251723504829],[0.6318668068421509,0.6874576038261387]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_16","position":[0.06808637457241018,0.8553023558446262,0.71338606911949],"aabb_xy":[[0.06274879890640561,0.8303023549154865],[0.07342395023841475,0.8803023567737661]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_17","position":[-0.4049672545437784,0.8163740674126934,0.71338606911949],"aabb_xy":[[-0.4136812235937128,0.7938740667535049],[-0.3962532854938438,0.8388740680718814]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_18","position":[-0.4428040605045667,1.2190977829082876,0.71338606911949],"aabb_xy":[[-0.5228040619346939,1.1395806278956782],[-0.3628040590744395,1.298614937920897]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_19","position":[0.26519477925352497,1.3849550507880477,0.71338606911949],"aabb_xy":[[0.22769477875616673,1.3809863672399292],[0.3026947797508832,1.3889237343361662]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_20","position":[-0.028559608089871902,0.012575720006174684,0.71338606911949],"aabb_xy":[[-0.05184145028800323,-0.07242428129105337],[-0.005277765891740556,0.09757572130340274]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6955079602187759,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1153.png","name":"1153"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1153.png","name":"1153"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4595.png","name":"4595"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7717.png","name":"7717"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8026.png","name":"8026"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3289.png","name":"3289"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":723.3248939172599,"rotation_z_degrees":228.9445182909148,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0037299915604256384,0.0051168037057975554,-0.014487741968355287]},{"name":"camera_2","offset_m":[0.016953900314771408,-0.016742741350026846,0.005226972585793896]},{"name":"camera_3","offset_m":[0.018063663307504373,0.004233223600628989,-0.017629899482032307]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0018363370382814908,0.0002809956232780195,0.0014458473349827417],"end_effector_yaw_offset_degrees":0.8987515002483035},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00019377314796889078,0.0005488737908719847,-0.0005296990161096997],"end_effector_yaw_offset_degrees":0.4172975875971052},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0019982028089433543,-2.9313148867767935e-05,0.0019944705149782666],"end_effector_yaw_offset_degrees":-0.8208203258603306},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0018814885251217516,0.0009663018508477847,-0.00043323784691247976],"end_effector_yaw_offset_degrees":0.9280550146896804}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004189463206699461,-0.0014465819861324094],"position_m":[0.16768946320669947,-0.1475465819861324,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0045444255926323516,-0.00036030943623725515],"position_m":[0.2784444255926323,-0.34916030943623727,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0004760794721141151,-0.0034365833043063687],"position_m":[0.3077760794721141,0.27666341669569366,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003014023231583297,0.0037921214584246002],"position_m":[0.3564859767684167,0.0640921214584246,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4de979fa282d6605c82cbcb3bdc8ebd12b5acb89f35e701d7c8a6d028171278c","episode_index":4,"episode_name":"episode_0004"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0004.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_1153/tex_ceiling_textures_3289/tex_floor_textures_8026/tex_table_textures_4595/tex_wall_textures_7717","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":8503768617210617077,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":8503768617210617077,"visual_seed":8503768617210617077,"scene_id":"lab_003","finished_at":"2026-09-05T18:41:22"} +{"episode_id":"ep_000005","started_at":"2026-09-05T18:41:25","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_0","position":[0.11607271160771793,1.1862625864575231,0.71338606911949],"aabb_xy":[[0.07857271111035968,1.1822939029094046],[0.15357271210507617,1.1902312700056417]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_1","position":[-0.28099601426678217,-1.2717537710921014,0.71338606911949],"aabb_xy":[[-0.290752003775956,-1.2815163051513356],[-0.2712400247576082,-1.2619912370328668]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_2","position":[-0.17653553433127445,0.11392181318541672,0.71338606911949],"aabb_xy":[[-0.2124490387562641,0.07800830496866208],[-0.14062202990628472,0.14983532140217132]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_3","position":[-0.11045399863865046,1.0476282691607208,0.71338606911949],"aabb_xy":[[-0.13545399791061274,1.0312829055645585],[-0.08545399936668818,1.0639736327568832]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_4","position":[-0.22909577114979363,-1.6492395303632565,0.71338606911949],"aabb_xy":[[-0.2396632508078926,-1.659784560476265],[-0.2185282914916946,-1.638694500250248]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_5","position":[0.559065894334589,-0.947526219477312,0.71338606911949],"aabb_xy":[[0.47907207075603075,-1.0275262220701538],[0.6390597179131472,-0.8675262168844705]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_6","position":[0.3594231238539338,0.7025566570751627,0.71338606911949],"aabb_xy":[[0.35345658491319804,0.6965955124157986],[0.3653896627946696,0.7085178017345267]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_7","position":[-0.4244766223269519,1.5589132095887535,0.71338606911949],"aabb_xy":[[-0.44157870028532004,1.541806404057484],[-0.4073745443685837,1.5760200151200234]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_8","position":[0.10661324585567789,-1.0207746494152419,0.71338606911949],"aabb_xy":[[0.022891020355595426,-1.1107746529499378],[0.19033547135576034,-0.9307746458805459]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_9","position":[-0.6304907129185662,0.9789796631994392,0.71338606911949],"aabb_xy":[[-0.6650817957726114,0.913979662914408],[-0.595899630064521,1.04397966348447]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_10","position":[-0.12266942488716803,-1.250229544828865,0.71338606911949],"aabb_xy":[[-0.13454150789866914,-1.3352295445225153],[-0.11079734187566692,-1.1652295451352146]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_11","position":[0.5542729674169546,-0.5480979457284167,0.71338606911949],"aabb_xy":[[0.5042999018844393,-0.5980979455409497],[0.6042460329494702,-0.49809794591588397]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_12","position":[-0.1308668004018333,-1.7507837410786187,0.71338606911949],"aabb_xy":[[-0.1381280479722407,-1.763570751342128],[-0.12360555283142588,-1.737996730815109]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_13","position":[0.6743818690444197,-2.256222708045282,0.71338606911949],"aabb_xy":[[0.6387527131444599,-2.291855374802135],[0.7100110249443794,-2.220590041288429]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_14","position":[-0.16340725638546272,-2.3753196344194882,0.71338606911949],"aabb_xy":[[-0.2134072558256583,-2.425287558903804],[-0.11340725694526707,-2.3253517099351715]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_15","position":[-0.4592357162019682,0.85256066555917,0.71338606911949],"aabb_xy":[[-0.4700873224508438,0.841701374831519],[-0.4483841099530926,0.863419956286821]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_16","position":[0.15597990255650074,-2.5147907133990044,0.71338606911949],"aabb_xy":[[0.09197989933786288,-2.5615138252980127],[0.2199799057751386,-2.468067601499996]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_17","position":[-0.38090083431679317,-0.024963664350376114,0.71338606911949],"aabb_xy":[[-0.43038125553075196,-0.08896366226322794],[-0.3314204131028344,0.03903633356247571]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_18","position":[0.19098513439785492,1.7529632243895876,0.71338606911949],"aabb_xy":[[0.11098513743481575,1.675887582745814],[0.2709851313608941,1.8300388660333609]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_19","position":[0.48911821604961525,1.0788646847437389,0.71338606911949],"aabb_xy":[[0.44693380188878457,1.0148646844665277],[0.531302630210446,1.14286468502095]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_20","position":[-0.46098211807265344,-1.539473743525064,0.71338606911949],"aabb_xy":[[-0.4893118280211937,-1.5439344857187816],[-0.43265240812411326,-1.5350130013313474]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_21","position":[0.25405227717087675,0.8324154536248063,0.71338606911949],"aabb_xy":[[0.17405227670066084,0.8241047460104581],[0.33405227764109274,0.8407261612391549]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_22","position":[0.5050905152634226,0.3568810443597821,0.71338606911949],"aabb_xy":[[0.45510756507594324,0.30688104471722155],[0.5550734654509019,0.4068810440023424]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_23","position":[0.11621331307239025,-1.5683222386808728,0.71338606911949],"aabb_xy":[[0.08121331387957198,-1.5792892846785354],[0.1512133122652085,-1.5573551926832099]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_24","position":[-0.5461105504526818,1.204283107219362,0.71338606911949],"aabb_xy":[[-0.5531508603862189,1.1242831078196909],[-0.5390702405191449,1.2842831066190337]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_25","position":[0.6081069762239069,0.7931294412587766,0.71338606911949],"aabb_xy":[[0.573106976327888,0.7847552057468367],[0.6431069761199257,0.8015036767707165]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_26","position":[0.005394837062249969,0.8376736698911489,0.71338606911949],"aabb_xy":[[-0.003952170520045262,0.8233700476735047],[0.014741844644545199,0.8519772921087928]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_27","position":[0.5618297489666046,1.3326177461089883,0.71338606911949],"aabb_xy":[[0.5539064687278563,1.310117745870985],[0.569753029205353,1.3551177463469917]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_28","position":[0.6543899139831832,1.2681566675008233,0.71338606911949],"aabb_xy":[[0.6281010896627425,1.241885233846172],[0.6806787383036238,1.2944281011554746]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6887822840607636,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/388.png","name":"388"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/388.png","name":"388"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6861.png","name":"6861"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/775.png","name":"775"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1067.png","name":"1067"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9616.png","name":"9616"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":719.747759265359,"rotation_z_degrees":85.01538006827086,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0033081396484791123,-0.014670707052112344,0.017943242417224007]},{"name":"camera_2","offset_m":[-0.009721511906611644,0.01814889184797357,0.01960070489293383]},{"name":"camera_3","offset_m":[0.006037723770951062,0.01255180356423911,-0.010197491808654991]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0014229504011958392,0.0008740411641834983,-0.000922559521461292],"end_effector_yaw_offset_degrees":-0.6933413830200701},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0016079281468399293,-0.0006410882303788297,-0.0005846701985543655],"end_effector_yaw_offset_degrees":-0.8385507895564897},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008124448557678878,-0.000387333169871039,0.00017575118085339436],"end_effector_yaw_offset_degrees":0.7811100568020641},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0014509928638228899,-0.0014439645200236754,-0.00014731601951166028],"end_effector_yaw_offset_degrees":-0.6318971605204595}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0007896394158517809,-0.0006169860168910172],"position_m":[0.16428963941585178,-0.14671698601689104,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002759463831945964,0.00046681359250806513],"position_m":[0.271140536168054,-0.34833318640749195,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0002358722901485413,-0.003036824765510062],"position_m":[0.30753587229014856,0.27706317523449,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003679433944118209,-0.0008533406992405632],"position_m":[0.3558205660558818,0.05944665930075944,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"659ee006ef91e64f8919530b922b9e0cd21c4da3c7572793469ed5bf70dc9eda","episode_index":5,"episode_name":"episode_0005"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0005.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_388/tex_ceiling_textures_9616/tex_floor_textures_1067/tex_table_textures_6861/tex_wall_textures_775","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":8236138896727435623,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":8236138896727435623,"visual_seed":8236138896727435623,"scene_id":"lab_003","finished_at":"2026-09-05T18:44:46"} +{"episode_id":"ep_000006","started_at":"2026-09-05T18:44:49","dimensions":{"distractor":{"count":29,"items":[{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_0","position":[0.5713136633793217,-2.2636322565884184,0.71338606911949],"aabb_xy":[[0.5378344961182808,-2.2971113699595254],[0.6047928306403627,-2.2301531432173114]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_1","position":[0.24363564503971014,1.34621994175098,0.71338606911949],"aabb_xy":[[0.22113564502956182,1.3321237221113769],[0.2661356450498584,1.3603161613905834]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_2","position":[0.4554493235546746,-1.047680316419877,0.71338606911949],"aabb_xy":[[0.4243024047110914,-1.117680315106684],[0.4865962423982576,-0.9776803177330697]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_3","position":[-0.65237378997786,-2.393776660139314,0.71338606911949],"aabb_xy":[[-0.6615336689217366,-2.4003078781828506],[-0.6432139110339834,-2.387245442095777]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_4","position":[-0.29833228379968996,-0.9569223961626141,0.71338606911949],"aabb_xy":[[-0.34441737505442144,-1.020922393415169],[-0.2522471925449585,-0.892922398910059]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_5","position":[-0.29124606319056295,1.2684069182328939,0.71338606911949],"aabb_xy":[[-0.3552460617771354,1.2213999548333851],[-0.2272460646039905,1.3154138816324026]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_6","position":[-0.22552578324552108,-2.089778998602087,0.71338606911949],"aabb_xy":[[-0.30552578351912807,-2.1627285464278034],[-0.14552578297191412,-2.01682945077637]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_7","position":[0.660385703154251,1.134211993603523,0.71338606911949],"aabb_xy":[[0.6103857017933638,1.0842340890281073],[0.7103857045151383,1.1841898981789385]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_8","position":[0.49933976068225716,0.13296991415510817,0.71338606911949],"aabb_xy":[[0.45416844283408825,0.06896991701056977],[0.5445110785304261,0.19696991129964664]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_9","position":[-0.12549321196196594,-1.6135416972153345,0.71338606911949],"aabb_xy":[[-0.1754924871304021,-1.6635416984912816],[-0.07549393679352978,-1.5635416959393873]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_10","position":[-0.15996162989572826,-0.9676940966222272,0.71338606911949],"aabb_xy":[[-0.20977840936056302,-1.0176940951065307],[-0.1101448504308935,-0.9176940981379239]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_11","position":[-0.27728933541118,1.091254028793438,0.71338606911949],"aabb_xy":[[-0.2947892688451634,1.0737540288732035],[-0.25978940197719663,1.1087540287136726]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_12","position":[0.3454020425689617,-1.9123211565330482,0.71338606911949],"aabb_xy":[[0.315434485659136,-1.9423211568309342],[0.37536959947878734,-1.8823211562351627]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_13","position":[-0.1231305169040321,0.5587363034502828,0.71338606911949],"aabb_xy":[[-0.18713051607380204,0.5119696163313202],[-0.05913051773426215,0.6055029905692452]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_14","position":[-0.334948853240338,-1.4521016891518899,0.71338606911949],"aabb_xy":[[-0.3694112006384797,-1.4865955715497123],[-0.3004865058421961,-1.417607806754067]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_15","position":[-0.09525078336532744,0.23154893431106238,0.71338606911949],"aabb_xy":[[-0.15925078047743313,0.18251656451665177],[-0.03125078625322175,0.280581304105473]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_16","position":[-0.5601852629718272,-0.07650659907762147,0.71338606911949],"aabb_xy":[[-0.5947763458258724,-0.1415065993626525],[-0.5255941801177819,-0.011506598792590415]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_17","position":[0.5584149628307307,-1.7949108786178347,0.71338606911949],"aabb_xy":[[0.5406214558958142,-1.8127106242136324],[0.5762084697656471,-1.777111133022037]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_18","position":[0.43930085275703057,-0.4957871768661448,0.71338606911949],"aabb_xy":[[0.35557862725694817,-0.5857871804008408],[0.523023078257113,-0.40578717333144887]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_19","position":[0.5466261593453461,1.549848113679157,0.71338606911949],"aabb_xy":[[0.4850354001213534,1.4858481155701104],[0.608216918569339,1.6138481117882042]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_20","position":[0.003115060884932075,-1.232648791181368,0.71338606911949],"aabb_xy":[[-0.046884940134203204,-1.269115006919196],[0.053115061904067354,-1.1961825754435402]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_21","position":[-0.6103839834802265,0.432297523371159,0.71338606911949],"aabb_xy":[[-0.6278839827583134,0.41495942330481306],[-0.5928839842021396,0.44963562343750496]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_22","position":[0.28514109962544587,-2.301130215658878,0.71338606911949],"aabb_xy":[[0.277104764924161,-2.3091683349632945],[0.29317743432673066,-2.2930920963544605]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_23","position":[-0.643665567317598,1.540007202600664,0.71338606911949],"aabb_xy":[[-0.666164703043825,1.517507201822401],[-0.6211664315913711,1.562507203378927]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_24","position":[-0.4582417327546299,1.0937141437971718,0.71338606911949],"aabb_xy":[[-0.4700099195492875,1.0087141438919502],[-0.44647354595997246,1.1787141437023934]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_25","position":[-0.2920045815358339,0.664508720817615,0.71338606911949],"aabb_xy":[[-0.356004584825542,0.6211738018136974],[-0.22800457824612577,0.7078436398215326]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_26","position":[-0.0981763467665756,-0.8450433041578671,0.71338606911949],"aabb_xy":[[-0.11077904590365206,-0.8576387003827326],[-0.08557364762949915,-0.8324479079330016]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_27","position":[-0.22182637810046918,-0.3432905576014198,0.71338606911949],"aabb_xy":[[-0.23950200868906749,-0.3609707738808225],[-0.20415074751187082,-0.325610341322017]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_28","position":[-0.621176059063335,1.3438736464935692,0.71338606911949],"aabb_xy":[[-0.6639427659427551,1.2798736430717665],[-0.5784093521839148,1.4078736499153715]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6853710741935823,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4470.png","name":"4470"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4470.png","name":"4470"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6116.png","name":"6116"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3570.png","name":"3570"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6648.png","name":"6648"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7268.png","name":"7268"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":538.5107177251328,"rotation_z_degrees":243.90045232687714,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016760327311352814,0.01248324990422359,0.010211321385803971]},{"name":"camera_2","offset_m":[-0.004289878920688887,-0.01090638389056208,0.005921067279222442]},{"name":"camera_3","offset_m":[-0.0018684371951429753,0.012326360794279994,0.000685869792288088]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0017069331047991588,0.0018028472123081019,0.0007867070153928291],"end_effector_yaw_offset_degrees":-0.8541450964413642},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.001987825903118446,-0.001922246516170843,0.0008251315437405623],"end_effector_yaw_offset_degrees":-0.6834288836159452},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0003395826764916339,0.0015451057142564224,0.0010781697335234069],"end_effector_yaw_offset_degrees":-0.5560665575571679},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010367815933134796,0.001960571787812509,-0.0019108640213394707],"end_effector_yaw_offset_degrees":-0.07686157800038385}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004770184136792084,-0.0014950981096787208],"position_m":[0.1682701841367921,-0.14759509810967872,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004693942317815645,0.003917775809793915],"position_m":[0.2692060576821843,-0.3448822241902061,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0021511622756270323,0.003074668663856463],"position_m":[0.309451162275627,0.2831746686638565,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0014411280060800213,-0.00022091084496824766],"position_m":[0.35805887199391995,0.060079089155031754,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"17502bfb183f497999fea762056184114f3f056f32c264fad6aaacde49e051da","episode_index":6,"episode_name":"episode_0006"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0006.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_4470/tex_ceiling_textures_7268/tex_floor_textures_6648/tex_table_textures_6116/tex_wall_textures_3570","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":5800228152520956753,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":5800228152520956753,"visual_seed":5800228152520956753,"scene_id":"lab_003","finished_at":"2026-09-05T18:48:37"} +{"episode_id":"ep_000007","started_at":"2026-09-05T18:48:41","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_0","position":[-0.19562434519287808,-1.0408469168839751,0.71338606911949],"aabb_xy":[[-0.25962434660086875,-1.0926358684078996],[-0.1316243437848874,-0.9890579653600503]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_1","position":[-0.6406775947459247,-0.8796506096161401,0.71338606911949],"aabb_xy":[[-0.6781775948515175,-0.8864727714691211],[-0.6031775946403316,-0.8728284477631588]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_2","position":[-0.30898030839092466,-1.9681497032719268,0.71338606911949],"aabb_xy":[[-0.3464803095757174,-1.9725679259679874],[-0.2714803072061318,-1.9637314805758663]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_3","position":[-0.3998481362102025,0.6712598669661523,0.71338606911949],"aabb_xy":[[-0.47984813668041854,0.6629491593518039],[-0.3198481357399866,0.6795705745805006]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_4","position":[-0.3029226189640325,-1.1875331337484007,0.71338606911949],"aabb_xy":[[-0.35292262032491967,-1.2375110383238164],[-0.2529226176031452,-1.1375552291729851]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_5","position":[-0.6274884803840994,0.36466550995509817,0.71338606911949],"aabb_xy":[[-0.6513246980247045,0.27466550914661175],[-0.6036522627434944,0.45466551076358475]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_6","position":[0.304014043267554,-1.585906813893738,0.71338606911949],"aabb_xy":[[0.21432696695943848,-1.6759068141481885],[0.3937011195756694,-1.4959068136392875]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_7","position":[-0.01733030225945975,1.0723458199691809,0.71338606911949],"aabb_xy":[[-0.02129078602919413,1.0646779553836603],[-0.01336981848972538,1.0800136845547015]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_8","position":[-0.6041831483911442,1.6988124375906364,0.71338606911949],"aabb_xy":[[-0.6082613062981939,1.694731457342373],[-0.6001049904840945,1.7028934178388997]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_9","position":[-0.2554236703943483,1.1961214266717626,0.71338606911949],"aabb_xy":[[-0.28973994756896626,1.1461214266985849],[-0.22110739321973039,1.2461214266449403]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_10","position":[-0.3984703824142651,1.6223275036152596,0.71338606911949],"aabb_xy":[[-0.488470381008735,1.6060769173018388],[-0.30847038381979514,1.6385780899286808]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_11","position":[0.2803315757124676,0.5153169839644036,0.71338606911949],"aabb_xy":[[0.27230530508184164,0.506565488987051],[0.28835784634309364,0.5240684789417562]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_12","position":[-0.26164896917763636,-0.7844603007119917,0.71338606911949],"aabb_xy":[[-0.3156645654595363,-0.8484603036042488],[-0.2076333728957363,-0.7204602978197345]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_13","position":[-0.4328146645930882,1.2944780032165482,0.71338606911949],"aabb_xy":[[-0.43912676412942664,1.288711063963329],[-0.42650256505674977,1.3002449424697669]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_14","position":[0.28272528487918536,1.025596170533448,0.71338606911949],"aabb_xy":[[0.24894972568849233,1.011557675320283],[0.3165008440698783,1.039634665746613]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_15","position":[0.5409115461092162,1.0068878245922823,0.71338606911949],"aabb_xy":[[0.536775689776516,0.9693878251479253],[0.5450474024419164,1.0443878240366393]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_16","position":[-0.02604759525714584,-0.8750942423064161,0.71338606911949],"aabb_xy":[[-0.03620061081129521,-0.9111637838791562],[-0.015894579702996455,-0.8390247007336755]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_17","position":[-0.438477703108634,-1.0335464971042938,0.71338606911949],"aabb_xy":[[-0.4472589302558703,-1.042326244392824],[-0.4296964759613979,-1.024766749815764]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_18","position":[0.1714399229704474,-1.4384208399158669,0.71338606911949],"aabb_xy":[[0.16373673229637034,-1.446130210614605],[0.17914311364452443,-1.4307114692171288]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_19","position":[0.13677931717372338,-2.5642045473412747,0.71338606911949],"aabb_xy":[[0.1303655035305384,-2.570614367588943],[0.1431931308169083,-2.5577947270936057]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_20","position":[-0.1639564596755887,-0.1407138977798743,0.71338606911949],"aabb_xy":[[-0.1719504482532921,-0.14871397787496463],[-0.1559624710978853,-0.13271381768478394]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_21","position":[0.6258079296314645,0.46455537523175305,0.71338606911949],"aabb_xy":[[0.6082296274425176,0.4469808856576482],[0.6433862318204113,0.482129864805858]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_22","position":[-0.36683062346309764,-1.3840430457417523,0.71338606911949],"aabb_xy":[[-0.4318306216190167,-1.4103392902916643],[-0.3018306253071786,-1.3577468011918399]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_23","position":[-0.5354442858265387,0.105002347191121,0.71338606911949],"aabb_xy":[[-0.5448617603964014,0.09558617005340196],[-0.5260268112566759,0.11441852432884002]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_24","position":[0.1904361310084286,-2.333025586740561,0.71338606911949],"aabb_xy":[[0.17293619757444523,-2.3505255866607953],[0.20793606444241197,-2.315525586820326]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_25","position":[0.5550724176198938,-1.3020564323214516,0.71338606911949],"aabb_xy":[[0.530526201997143,-1.3323053288704887],[0.5796186332426444,-1.2718075357724146]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_26","position":[0.559055712478731,1.6635525946131229,0.71338606911949],"aabb_xy":[[0.5461838089777907,1.5835525941992867],[0.571927615979671,1.743552595026959]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_27","position":[-0.15653961290765095,-0.42986948915443834,0.71338606911949],"aabb_xy":[[-0.16523757519836624,-0.4419944634619131],[-0.14784165061693566,-0.4177445148469637]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.687986186990162,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9812.png","name":"9812"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9812.png","name":"9812"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4008.png","name":"4008"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2786.png","name":"2786"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2156.png","name":"2156"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1092.png","name":"1092"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":516.8477597245246,"rotation_z_degrees":238.2686492021287,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.019303506069603443,-0.0019551484557284796,0.001575169416477406]},{"name":"camera_2","offset_m":[-0.010353418031674057,-0.019740634317495006,0.0011730304934394718]},{"name":"camera_3","offset_m":[0.006670030685503436,0.013153268542613918,0.008643111597470346]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0001700321842359148,0.0016482944225126245,0.0007707256880826528],"end_effector_yaw_offset_degrees":0.47280865622011614},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0013338860100204773,-0.0005455037427841178,0.0003113021848684394],"end_effector_yaw_offset_degrees":-0.8705629535316151},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.000966954574841595,-0.0005694182531538465,0.001979173243203478],"end_effector_yaw_offset_degrees":-0.5098497766869139},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001241995015167336,-0.0011798333847025768,0.0012303133990061292],"end_effector_yaw_offset_degrees":0.6654195017773559}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-1.7645629026623484e-05,0.004870075235994985],"position_m":[0.1634823543709734,-0.14122992476400503,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0032744299645243503,0.0011626832557967435],"position_m":[0.2706255700354756,-0.34763731674420323,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0029172373620430002,0.0014146988164710451],"position_m":[0.304382762637957,0.28151469881647107,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0011607054637787482,0.004837107303073219],"position_m":[0.35833929453622126,0.06513710730307322,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ce88f6e2f268d6ae01484e12ad0f6a6f12157e53ebccd2b54a4d79e8073d4bcd","episode_index":7,"episode_name":"episode_0007"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0007.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_9812/tex_ceiling_textures_1092/tex_floor_textures_2156/tex_table_textures_4008/tex_wall_textures_2786","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":7358939857028203829,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":7358939857028203829,"visual_seed":7358939857028203829,"scene_id":"lab_003","finished_at":"2026-09-05T18:52:35"} +{"episode_id":"ep_000008","started_at":"2026-09-05T18:52:40","dimensions":{"distractor":{"count":34,"items":[{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_0","position":[0.2352075242214754,-1.105657383633739,0.71338606911949],"aabb_xy":[[0.15520752556458936,-1.1201622425580018],[0.3152075228783614,-1.0911525247094764]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_1","position":[-0.17956097993317233,1.3274083939667571,0.71338606911949],"aabb_xy":[[-0.19713928212211915,1.3098339043926521],[-0.16198267774422545,1.3449828835408622]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_2","position":[0.5045154017041722,1.073389681716486,0.71338606911949],"aabb_xy":[[0.48741332374580404,1.0562828761852165],[0.5216174796625404,1.090496487247756]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_3","position":[0.16028512151671748,-2.331350098877775,0.71338606911949],"aabb_xy":[[0.13778870008285335,-2.3538500986845223],[0.18278154295058155,-2.3088500990710275]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_4","position":[0.5859211656663248,1.6985214684942913,0.71338606911949],"aabb_xy":[[0.5778778057403696,1.6135214673989249],[0.59396452559228,1.7835214695896577]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_5","position":[-0.4615624510628885,0.2091168436997366,0.71338606911949],"aabb_xy":[[-0.4790624513222252,0.195025301510964],[-0.44406245080355194,0.22320838588850925]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_6","position":[0.024372503897858278,-2.3951118553199815,0.71338606911949],"aabb_xy":[[-0.02964309238404173,-2.4591118582122387],[0.07838810017975828,-2.3311118524277243]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_7","position":[0.4489718395286153,1.702949742696942,0.71338606911949],"aabb_xy":[[0.36897184256557614,1.6258741010531685],[0.5289718364916545,1.7800253843407154]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_8","position":[0.4724973274660371,-1.8637331327129847,0.71338606911949],"aabb_xy":[[0.43499732696867893,-1.8677018162611028],[0.5099973279633954,-1.8597644491648662]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_9","position":[0.10658089732169518,-1.3343807640239302,0.71338606911949],"aabb_xy":[[0.05648343334062156,-1.398380764533742],[0.1566783613027688,-1.2703807635141184]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_10","position":[0.5687385845009023,0.6220553760118652,0.71338606911949],"aabb_xy":[[0.5512385842558528,0.6045555881722983],[0.5862385847459516,0.639555163851432]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_11","position":[-0.2943422640989806,-2.3072029155048193,0.71338606911949],"aabb_xy":[[-0.2984781204316808,-2.3447029149491767],[-0.2902064077662804,-2.2697029160604627]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_12","position":[0.15625685413709367,0.6282609230109188,0.71338606911949],"aabb_xy":[[0.14662521791666402,0.61862361023121],[0.16588849035752326,0.6378982357906279]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_13","position":[0.38276974175943734,-2.058977926747962,0.71338606911949],"aabb_xy":[[0.34526974318381654,-2.0717142224115195],[0.42026974033505815,-2.0462416310844036]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_14","position":[-0.5473418682327105,0.5213258463753876,0.71338606911949],"aabb_xy":[[-0.5581148421540784,0.4863258481563486],[-0.5365688943113428,0.5563258445944266]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_15","position":[-0.2138026009177732,1.4918860335568547,0.71338606911949],"aabb_xy":[[-0.2616087685315418,1.4268860308497957],[-0.16599643330400454,1.5568860362639134]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_16","position":[-0.007923921441979842,-2.1241892499735915,0.71338606911949],"aabb_xy":[[-0.07292392407977333,-2.1756688486730384],[0.057076081195813644,-2.0727096512741445]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_17","position":[0.629054059537421,-1.3655261778398633,0.71338606911949],"aabb_xy":[[0.5390540630365491,-1.4114378202583213],[0.7190540560382926,-1.3196145354214048]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_18","position":[-0.0015070446055810427,1.3737124791566173,0.71338606911949],"aabb_xy":[[-0.014953571239624375,1.360242627503526],[0.01193948202846229,1.3871823308097087]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_19","position":[0.17360986413390678,-0.8583492842854026,0.71338606911949],"aabb_xy":[[0.08360986739829657,-0.911532747602697],[0.263609860869517,-0.805165820968108]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_20","position":[-0.6430345663887854,0.7771803321342077,0.71338606911949],"aabb_xy":[[-0.6773508435634032,0.7271803321610298],[-0.6087182892141674,0.8271803321073853]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_21","position":[0.556946899185655,-2.491045548503441,0.71338606911949],"aabb_xy":[[0.49294689848218576,-2.5370639309763625],[0.6209468998891244,-2.4450271660305205]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_22","position":[0.5940796739037044,-1.1406111816642261,0.71338606911949],"aabb_xy":[[0.5040796741805301,-1.1636845341994058],[0.6840796736268785,-1.117537829129046]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_23","position":[-0.6596895091650213,0.04269886309476645,0.71338606911949],"aabb_xy":[[-0.6846895083306545,0.035746617389409874],[-0.6346895099993882,0.04965110880012302]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_24","position":[-0.4902305749347985,-2.327549333291837,0.71338606911949],"aabb_xy":[[-0.5006421336152821,-2.332895066627735],[-0.47981901625431467,-2.3222035999559383]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_25","position":[-0.1248660150462455,1.793683261464802,0.71338606911949],"aabb_xy":[[-0.16341170787144654,1.7551374904086132],[-0.08632032222104447,1.8322290325209907]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_26","position":[0.48172500348216984,-2.0532867151867356,0.71338606911949],"aabb_xy":[[0.47802174215303095,-2.056988733495453],[0.48542826481130874,-2.0495846968780174]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_27","position":[0.0058156399981569296,0.9892579300672395,0.71338606911949],"aabb_xy":[[-0.054184360253244246,0.9349766050307746],[0.0658156402495581,1.043539255103704]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_28","position":[-0.16022241616716115,0.850529634628443,0.71338606911949],"aabb_xy":[[-0.1689363852170956,0.8280296339692547],[-0.15150844711722664,0.8730296352876311]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_29","position":[-0.08756924860726367,0.4383464007585305,0.71338606911949],"aabb_xy":[[-0.12319840450722341,0.40271373400167754],[-0.05194009270730393,0.47397906751538343]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_30","position":[-0.18599188343952833,-1.6389474441353848,0.71338606911949],"aabb_xy":[[-0.21053809906227905,-1.669196340684422],[-0.1614456678167776,-1.6086985475863478]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_31","position":[-0.5613356222956684,1.184535733998831,0.71338606911949],"aabb_xy":[[-0.573103809090326,1.0995357340936096],[-0.549567435501011,1.2695357339040527]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_32","position":[-0.34320304674189855,0.10605359547752169,0.71338606911949],"aabb_xy":[[-0.3796988673691773,0.0695696530507641],[-0.3067072261146198,0.14253753790427923]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_33","position":[-0.5773444093319693,-1.2397144601685988,0.71338606911949],"aabb_xy":[[-0.5826819849979739,-1.2647144610977386],[-0.5720068336659647,-1.214714459239459]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6893439697091894,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4710.png","name":"4710"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4710.png","name":"4710"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7529.png","name":"7529"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8539.png","name":"8539"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2684.png","name":"2684"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2521.png","name":"2521"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":552.0377668753132,"rotation_z_degrees":105.82189227149574,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009655098970415828,0.0003834026859725684,0.01978892074449048]},{"name":"camera_2","offset_m":[0.0019092561582549593,0.014319032767359696,0.009101676869231034]},{"name":"camera_3","offset_m":[-0.0040640459302487,0.019706349561294047,-0.01807164209554117]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0012649289360897082,-0.0019371982407593085,0.0006969732044358567],"end_effector_yaw_offset_degrees":-0.41049834452486644},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00014839262003408398,-0.001770787255126126,0.0017545700766419246],"end_effector_yaw_offset_degrees":0.9567132350693406},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0011456625411599263,0.0004170970035041223,0.00012369512059144314],"end_effector_yaw_offset_degrees":0.456995944437405},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[2.9043748193044276e-05,-0.0011169733547641925,-0.0016319440969027933],"end_effector_yaw_offset_degrees":-0.1614057194428078}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0033692251066525583,-0.0038194109986803507],"position_m":[0.16013077489334746,-0.14991941099868036,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0034102257533664146,-0.0017467106975688506],"position_m":[0.27048977424663356,-0.3505467106975689,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0021953922597188857,0.002934325587797407],"position_m":[0.30510460774028114,0.2830343255877974,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004533337194861118,0.0033956453353813304],"position_m":[0.3549666628051389,0.06369564533538133,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8290858f69867ce178b7e0b23ce6dc46ab0f5d5dd23b4895e3ecfe9f49f97d43","episode_index":8,"episode_name":"episode_0008"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0008.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_4710/tex_ceiling_textures_2521/tex_floor_textures_2684/tex_table_textures_7529/tex_wall_textures_8539","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":7032251361262120070,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":7032251361262120070,"visual_seed":7032251361262120070,"scene_id":"lab_003","finished_at":"2026-09-05T18:55:57"} +{"episode_id":"ep_000009","started_at":"2026-09-05T18:56:01","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_0","position":[-0.3887954215242314,-1.0526781306364952,0.71338606911949],"aabb_xy":[[-0.3970099666399153,-1.061354720934136],[-0.3805808764085473,-1.0440015403388534]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_1","position":[-0.30716757661910526,-0.09029588888918161,0.71338606911949],"aabb_xy":[[-0.3446675769673329,-0.10208728447026515],[-0.2696675762708774,-0.07850449330809804]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_2","position":[-0.6793609405762387,0.4174179451451785,0.71338606911949],"aabb_xy":[[-0.6945238135531758,0.4022524878500598],[-0.6641980675993017,0.4325834024402973]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_3","position":[0.7154699870750538,-1.5479766152355423,0.71338606911949],"aabb_xy":[[0.7077667964009768,-1.5556859859342804],[0.7231731777491308,-1.5402672445368042]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_4","position":[0.2645718330130885,-0.9467585557416549,0.71338606911949],"aabb_xy":[[0.20957183383649897,-1.0017482305166125],[0.31957183218967794,-0.8917688809666972]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_5","position":[-0.3036149373557734,0.5494029734381076,0.71338606911949],"aabb_xy":[[-0.35361493693210816,0.4994223944860018],[-0.2536149377794387,0.5993835523902137]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_6","position":[-0.3484639418739558,-0.8980085783910967,0.71338606911949],"aabb_xy":[[-0.39845705398314774,-0.9480085790652926],[-0.2984708297647639,-0.8480085777169013]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_7","position":[-0.15731608693125132,-1.1541955714647876,0.71338606911949],"aabb_xy":[[-0.1649403550214296,-1.1618287950013313],[-0.1496918188410731,-1.1465623479282439]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_8","position":[0.33637417291807026,1.130100884853388,0.71338606911949],"aabb_xy":[[0.2953562295316994,1.0801008842224304],[0.37739211630444114,1.180100885484345]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_9","position":[0.2478410644507456,1.5045011088920064,0.71338606911949],"aabb_xy":[[0.19284881381523467,1.4495011071486934],[0.30283331508625655,1.5595011106353192]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_10","position":[-0.6264440336193611,-2.356207844917195,0.71338606911949],"aabb_xy":[[-0.6344375234146431,-2.364205976857671],[-0.618450543824079,-2.3482097129767197]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_11","position":[0.4802309468873758,1.4137449158044393,0.71338606911949],"aabb_xy":[[0.445768599489234,1.3792510334066164],[0.5146932942855176,1.4482387982022618]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_12","position":[0.332050291429383,0.985772655584102,0.71338606911949],"aabb_xy":[[0.3169479899683648,0.97067113395304],[0.347152592890401,1.0008741772151637]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_13","position":[0.5778670304577038,0.20613080092022296,0.71338606911949],"aabb_xy":[[0.5623112610474386,0.1905803676758158],[0.5934227998679691,0.22168123416463018]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_14","position":[0.5334135361411316,1.6813258042534804,0.71338606911949],"aabb_xy":[[0.5299728599010746,1.6774643712791162],[0.5368542123811889,1.6851872372278451]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_15","position":[-0.3199719043109743,-2.2350617301620925,0.71338606911949],"aabb_xy":[[-0.3749673821316336,-2.290061731595999],[-0.26497642649031483,-2.180061728728185]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_16","position":[0.11680982391236183,-1.361058292710588,0.71338606911949],"aabb_xy":[[0.0618166125752251,-1.4160582930493817],[0.1718030352494986,-1.3060582923717945]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_17","position":[0.577110787389336,1.55858952840518,0.71338606911949],"aabb_xy":[[0.5600087094309678,1.5414827228739103],[0.5942128653477041,1.5756963339364498]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_18","position":[-0.06714711215365099,-1.6240149995273438,0.71338606911949],"aabb_xy":[[-0.11713134786182822,-1.6740149983408394],[-0.017162876445473763,-1.5740150007138483]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_19","position":[-0.12769344606676358,1.5823915826743886,0.71338606911949],"aabb_xy":[[-0.21738052237487904,1.4923915824199383],[-0.03800636975864813,1.6723915829288394]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_20","position":[0.6623915309529309,0.8499121605536759,0.71338606911949],"aabb_xy":[[0.6248915306607562,0.8458706851530723],[0.6998915312451058,0.8539536359542795]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_21","position":[0.3472630617729373,0.6029190018609718,0.71338606911949],"aabb_xy":[[0.3402227518394004,0.5229190024613004],[0.35430337170647436,0.6829190012606432]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_22","position":[-0.16729109250062724,0.7879744423520347,0.71338606911949],"aabb_xy":[[-0.18718213238096748,0.775318631067338],[-0.147400052620287,0.8006302536367317]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_23","position":[0.04266518978160039,-1.8441806714029432,0.71338606911949],"aabb_xy":[[-0.02133481162639028,-1.8959696229268679],[0.10666519118959104,-1.7923917198790185]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_24","position":[0.6843771530803007,-1.6803999818620907,0.71338606911949],"aabb_xy":[[0.6730154184270144,-1.6917684482683788],[0.6957388877335867,-1.6690315154558026]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_25","position":[-0.23278395371680694,-0.38617656848697246,0.71338606911949],"aabb_xy":[[-0.26957858684171315,-0.4230824435835547],[-0.1959893205919006,-0.34927069339039013]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_26","position":[-0.340047840770015,1.1246580589706578,0.71338606911949],"aabb_xy":[[-0.3900478421309022,1.0746801543952422],[-0.29004783940912776,1.1746359635460735]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_27","position":[-0.4331765582648681,0.3506847920366116,0.71338606911949],"aabb_xy":[[-0.4581765575368304,0.3343394284404492],[-0.40817655899290584,0.3670301556327739]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_28","position":[-0.5616581766112618,0.24503323907210062,0.71338606911949],"aabb_xy":[[-0.6216581771191146,0.1881865053861793],[-0.5016581761034088,0.30187997275802186]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_29","position":[-0.6335246969746869,-0.09241676509723051,0.71338606911949],"aabb_xy":[[-0.6694382013996766,-0.1283302733139851],[-0.5976111925496973,-0.05650325688047588]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_30","position":[0.506507096589784,-0.20248518176178143,0.71338606911949],"aabb_xy":[[0.41650709799531405,-0.21873576807520248],[0.5965070951842539,-0.18623459544836043]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_31","position":[-0.1375687739367898,-1.9029601296765168,0.71338606911949],"aabb_xy":[[-0.19756877453280597,-1.9577726022217403],[-0.07756877334077361,-1.8481476571312934]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_32","position":[-0.5437248358946976,-1.6321276593164953,0.71338606911949],"aabb_xy":[[-0.6237248345515836,-1.646632518240758],[-0.46372483723781155,-1.6176228003922322]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_33","position":[-0.5972907236649537,0.7892490534023535,0.71338606911949],"aabb_xy":[[-0.601925838817187,0.7853817183252048],[-0.5926556085127203,0.793116388479502]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.686042345916761,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5190.png","name":"5190"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5190.png","name":"5190"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7428.png","name":"7428"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9307.png","name":"9307"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4054.png","name":"4054"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2573.png","name":"2573"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":845.5916099020706,"rotation_z_degrees":135.47598210033215,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.001479836638791282,-0.017867837641676664,0.012228880831714462]},{"name":"camera_2","offset_m":[-0.01858093199718423,0.006990526000828379,0.004362476054804901]},{"name":"camera_3","offset_m":[-0.00364043735012683,-0.012306157304611268,-0.01218878417941175]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0005446194193250392,-0.0014187176204400681,-0.0011501954761329283],"end_effector_yaw_offset_degrees":-0.062312158417939356},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0004258091021613645,-0.0008813414995291859,-0.001000064406574639],"end_effector_yaw_offset_degrees":0.3778921397724406},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0015069190553070096,-2.9871127299640338e-05,-0.0007752254726567278],"end_effector_yaw_offset_degrees":0.31219591230290655},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0007475773206647336,0.001170402067090335,-0.0013667689788308067],"end_effector_yaw_offset_degrees":0.7832214018973476}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0043296447409925274,0.0003042690180859245],"position_m":[0.16782964474099255,-0.1457957309819141,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0036613022720394005,0.004358313157825891],"position_m":[0.27023869772796055,-0.34444168684217413,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0032509107078087423,-0.002068873590093944],"position_m":[0.31055091070780877,0.27803112640990607,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0018005833145870276,-0.002264944415562339],"position_m":[0.35769941668541294,0.05803505558443766,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"91ca15eed1a04fcf95b3ad7ab1c2d9008088416775e4fbc137234dbe818c3550","episode_index":9,"episode_name":"episode_0009"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0009.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_5190/tex_ceiling_textures_2573/tex_floor_textures_4054/tex_table_textures_7428/tex_wall_textures_9307","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":7842599513071626507,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":7842599513071626507,"visual_seed":7842599513071626507,"scene_id":"lab_003","finished_at":"2026-09-05T18:59:59"} +{"episode_id":"ep_000010","started_at":"2026-09-05T19:00:03","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_0","position":[-0.0876319754873186,-1.6507766888003546,0.71338606911949],"aabb_xy":[[-0.12448252342430623,-1.6882766896233883],[-0.05078142755033101,-1.6132766879773208]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_1","position":[-0.34539545135319294,-0.9180381226535694,0.71338606911949],"aabb_xy":[[-0.3706162882130325,-0.9432618735064561],[-0.32017461449335316,-0.8928143718006826]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_2","position":[0.02940104554654077,1.2277618291880268,0.71338606911949],"aabb_xy":[[0.011901046412173601,1.2178822021504387],[0.046901044680907944,1.2376414562256144]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_3","position":[-0.14965083667876988,-1.9535238256960312,0.71338606911949],"aabb_xy":[[-0.17416446077577574,-1.977788418998068],[-0.12513721258176402,-1.929259232393995]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_4","position":[0.30363188580314693,-1.33228215284132,0.71338606911949],"aabb_xy":[[0.24363188494233404,-1.3837085828478062],[0.3636318866639596,-1.2808557228348334]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_5","position":[-0.5005982982132277,-2.4755002394607963,0.71338606911949],"aabb_xy":[[-0.5605982987210805,-2.5323469731467174],[-0.4405982977053747,-2.4186535057748753]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_6","position":[0.4545419729712774,-1.8080580167848361,0.71338606911949],"aabb_xy":[[0.4092633580901281,-1.8720580161330196],[0.4998205878524266,-1.7440580174366522]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_7","position":[0.3274593376223476,1.5490505225076414,0.71338606911949],"aabb_xy":[[0.289959337805314,1.5444123111964996],[0.36495933743938114,1.5536887338187833]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_8","position":[0.1221838096267156,1.4321762063073495,0.71338606911949],"aabb_xy":[[0.11826993643129308,1.4234271909007927],[0.12609768282213812,1.4409252217139064]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_9","position":[-0.3738862821954993,-2.301771630747827,0.71338606911949],"aabb_xy":[[-0.4438862843269288,-2.3245335963735223],[-0.3038862800640697,-2.2790096651221305]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_10","position":[-0.3537586439744367,0.8472082492568784,0.71338606911949],"aabb_xy":[[-0.3618020039003918,0.762208248161512],[-0.34571528404848145,0.9322082503522449]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_11","position":[-0.4202644776613717,1.1424025762626187,0.71338606911949],"aabb_xy":[[-0.5102644762558417,1.1261519899491979],[-0.3302644790669018,1.15865316257604]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_12","position":[-0.16400148025261851,-2.334998618197859,0.71338606911949],"aabb_xy":[[-0.16945942588963858,-2.4149986215055175],[-0.15854353461559845,-2.2549986148901993]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_13","position":[-0.5343986827424497,-1.0617926346857927,0.71338606911949],"aabb_xy":[[-0.5452502889913253,-1.0726519254134437],[-0.5235470764935741,-1.0509333439581416]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_14","position":[0.6152599792663405,1.0679940911770447,0.71338606911949],"aabb_xy":[[0.6092934403256046,1.0620329465176805],[0.6212265182070761,1.0739552358364088]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_15","position":[-0.5774609927229374,1.2987646080693733,0.71338606911949],"aabb_xy":[[-0.6124609926189561,1.2903903725574335],[-0.5424609928269184,1.3071388435813136]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_16","position":[-0.33571052573779697,-1.2542120350716872,0.71338606911949],"aabb_xy":[[-0.3732105260299718,-1.2582535104722907],[-0.29821052544562215,-1.2501705596710837]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_17","position":[0.40931153341245463,-1.6791002913195172,0.71338606911949],"aabb_xy":[[0.4048809040576145,-1.6845486630542001],[0.41374216276729486,-1.6736519195848347]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_18","position":[0.4235920414869012,-2.16003855221611,0.71338606911949],"aabb_xy":[[0.41945618515420097,-2.1975385516604673],[0.42772789781960135,-2.1225385527717533]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_19","position":[-0.21484945472433853,-0.5137897702359431,0.71338606911949],"aabb_xy":[[-0.2576161616037587,-0.5777897736577454],[-0.17208274784491834,-0.4497897668141405]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_20","position":[-0.20987000259434024,0.9798640230934401,0.71338606911949],"aabb_xy":[[-0.2598700012402614,0.9299444794339776],[-0.15987000394841902,1.0297835667529025]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_21","position":[-0.016825796715829955,1.719063255830442,0.71338606911949],"aabb_xy":[[-0.030272323349873287,1.7055934041773502],[-0.003379270081786623,1.7325331074835328]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_22","position":[-0.3910750436911085,-0.16038940067921859,0.71338606911949],"aabb_xy":[[-0.4101873510490874,-0.17952417955646063],[-0.37196273633312965,-0.1412546218019766]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_23","position":[0.0849063714471715,1.0087430168854494,0.71338606911949],"aabb_xy":[[0.02993264941083862,0.9537430173212162],[0.1398800934835044,1.0637430164496826]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_24","position":[-0.2358600263935564,-1.179021075504401,0.71338606911949],"aabb_xy":[[-0.27336002481695676,-1.1921852894722316],[-0.19836002797015603,-1.16585686153657]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_25","position":[-0.5389043609619493,-0.7046858359593835,0.71338606911949],"aabb_xy":[[-0.5938966115974603,-0.7596858377026964],[-0.48391211032643844,-0.6496858342160707]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_26","position":[0.004591586484641752,-1.5269460195484912,0.71338606911949],"aabb_xy":[[-0.03040841349185408,-1.5364106355961078],[0.039591586461137585,-1.5174814035008746]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_27","position":[0.32363375288981966,-2.3174617713976584,0.71338606911949],"aabb_xy":[[0.31176166987831855,-2.4024617710913088],[0.33550583590132077,-2.232461771704008]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_28","position":[-0.6165798672251716,0.018731466341751712,0.71338606911949],"aabb_xy":[[-0.6317520365068049,0.003562609413548353],[-0.6014076979435382,0.03390032326995507]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_29","position":[0.20619097425519872,-2.244192166712651,0.71338606911949],"aabb_xy":[[0.15619097323606349,-2.280658382450479],[0.25619097527433404,-2.2077259509748233]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_30","position":[-0.3478162143086283,-0.4037359597831869,0.71338606911949],"aabb_xy":[[-0.3633719837188936,-0.4192863930275942],[-0.3322604448983631,-0.3881855265387798]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_31","position":[0.010508960892789854,-1.835122973886436,0.71338606911949],"aabb_xy":[[-0.049491038953776934,-1.8919415960794748],[0.07050896073935664,-1.7783043516933974]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_32","position":[-0.46168862617867523,-1.5078881613541542,0.71338606911949],"aabb_xy":[[-0.46961190641742356,-1.5303881615921575],[-0.4537653459399269,-1.4853881611161508]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_33","position":[-0.3333319676189163,0.5520501939104223,0.71338606911949],"aabb_xy":[[-0.397331969026907,0.5002612423864975],[-0.26933196621092564,0.6038391454343469]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6937700196885956,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3903.png","name":"3903"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3903.png","name":"3903"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5059.png","name":"5059"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7836.png","name":"7836"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5451.png","name":"5451"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2682.png","name":"2682"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":759.8948623259548,"rotation_z_degrees":306.64010624261095,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005204667284192374,-0.015881519846209512,-0.017708757421620445]},{"name":"camera_2","offset_m":[-0.01657903432778451,-0.005662964084478963,0.000624169358721529]},{"name":"camera_3","offset_m":[0.014846497663379709,0.0005070640821530185,-0.016353399257202833]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0012491640349923576,-0.0012642461032291142,-4.4449013706401256e-05],"end_effector_yaw_offset_degrees":-0.09019739754145562},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0012252725588500993,-0.0005381295087379296,-0.0006723010892464064],"end_effector_yaw_offset_degrees":0.6819200807979724},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0017298141552551248,0.0016182533916841149,0.001709184525665466],"end_effector_yaw_offset_degrees":-0.5197618218601636},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-2.410205314346209e-05,0.00012203971481544078,0.0005022512636139753],"end_effector_yaw_offset_degrees":0.3836975910830025}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.001549105155418169,0.00017246118134052382],"position_m":[0.16504910515541818,-0.1459275388186595,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0012665559066382696,-0.002527477414212285],"position_m":[0.27516655590663824,-0.3513274774142123,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0028415741718333396,-0.0012022726775625836],"position_m":[0.31014157417183336,0.27889772732243745,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0003981134309820845,0.0010110660789147763],"position_m":[0.35989811343098205,0.061311066078914775,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"246a44775ffe09f72795b81e5f9fdf376dad40ea6da8e481289176be53bf8659","episode_index":10,"episode_name":"episode_0010"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0010.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_3903/tex_ceiling_textures_2682/tex_floor_textures_5451/tex_table_textures_5059/tex_wall_textures_7836","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":6191368827090666489,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":6191368827090666489,"visual_seed":6191368827090666489,"scene_id":"lab_003","finished_at":"2026-09-05T19:03:21"} +{"episode_id":"ep_000011","started_at":"2026-09-05T19:03:25","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_0","position":[0.5136861654076932,-0.9162508785993053,0.71338606911949],"aabb_xy":[[0.504339157825398,-0.9305545008169493],[0.5230331729899884,-0.9019472563816613]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_1","position":[-0.08563617170922311,-1.7290975360282683,0.71338606911949],"aabb_xy":[[-0.0897720280419233,-1.7665975354726253],[-0.08150031537652291,-1.6915975365839113]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_2","position":[-0.04805260827638058,0.6302847570731402,0.71338606911949],"aabb_xy":[[-0.07305260820889847,0.623402088852217],[-0.023052608343862684,0.6371674252940637]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_3","position":[0.5182510480723366,0.32386029630867386,0.71338606911949],"aabb_xy":[[0.5119389485359982,0.31809335705545505],[0.524563147608675,0.32962723556189266]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_4","position":[0.39118841221670864,-0.6277916701106707,0.71338606911949],"aabb_xy":[[0.3666421965939579,-0.6580405666597078],[0.41573462783945936,-0.5975427735616337]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_5","position":[0.30526665910079775,-0.5339644898647675,0.71338606911949],"aabb_xy":[[0.29930012016006197,-0.5399256345241316],[0.31123319804153354,-0.5280033452054035]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_6","position":[0.10198771399270778,-1.4939120362307026,0.71338606911949],"aabb_xy":[[0.016987715300633158,-1.5258978996255814],[0.18698771268478243,-1.4619261728358237]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_7","position":[-0.579301225797831,1.5745893464954581,0.71338606911949],"aabb_xy":[[-0.6433012272058217,1.5228003949715332],[-0.5153012243898404,1.6263782980193826]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_8","position":[0.3881814217028261,-2.1035369841773504,0.71338606911949],"aabb_xy":[[0.33818142004133134,-2.1535354264330526],[0.43818142336432087,-2.053538541921647]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_9","position":[0.37285609051270074,-2.450104020902469,0.71338606911949],"aabb_xy":[[0.3664422768695158,-2.4565138411501373],[0.3792699041558857,-2.443694200654801]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_10","position":[0.6039569258752702,1.7765690478384841,0.71338606911949],"aabb_xy":[[0.5539726901670929,1.7265690490249885],[0.6539411615834474,1.8265690466519797]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_11","position":[0.3034392453674991,1.4938142233013694,0.71338606911949],"aabb_xy":[[0.28153056322814807,1.4719135564812786],[0.32534792750685015,1.51571489012146]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_12","position":[0.6368861993080539,0.5127103572556555,0.71338606911949],"aabb_xy":[[0.5868861998678582,0.4627424327713391],[0.6868861987482494,0.5626782817399717]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_13","position":[0.4410521356360575,1.4585035224258243,0.71338606911949],"aabb_xy":[[0.42341930004253,1.4408805764102013],[0.4586849712295851,1.4761264684414472]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_14","position":[0.5107804509498024,0.1304101410678622,0.71338606911949],"aabb_xy":[[0.42078045122662816,0.10733678853268235],[0.6007804506729765,0.153483493603042]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_15","position":[0.35649633987477336,-2.359418277061157,0.71338606911949],"aabb_xy":[[0.2764963418939883,-2.3670198180230084],[0.4364963378555584,-2.3518167360993045]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_16","position":[-0.18884543126364983,1.6482935588714862,0.71338606911949],"aabb_xy":[[-0.2438454308853957,1.5933098660840135],[-0.13384543164190402,1.703277251658959]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_17","position":[-0.6431377403021291,-0.35119523632812166,0.71338606911949],"aabb_xy":[[-0.6519189674493654,-0.35997498361665187],[-0.634356513154893,-0.34241548903959157]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_18","position":[-0.15062998953972828,0.2775721949361363,0.71338606911949],"aabb_xy":[[-0.19562257625817867,0.23257219566168752],[-0.10563740282127784,0.32257219421058503]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_19","position":[-0.43246794445296843,-1.3719339158238937,0.71338606911949],"aabb_xy":[[-0.4364284282227028,-1.3796017804094143],[-0.4285074606832341,-1.364266051238373]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_20","position":[0.45099849749956444,0.5398696041864004,0.71338606911949],"aabb_xy":[[0.39602477546323156,0.4848696046221672],[0.5059722195358973,0.5948696037506336]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_21","position":[-0.2305747304387652,0.822453654728069,0.71338606911949],"aabb_xy":[[-0.25307386616499217,0.7999536539498059],[-0.20807559471253823,0.8449536555063318]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_22","position":[-0.3777396171926129,-2.4369745687536097,0.71338606911949],"aabb_xy":[[-0.41523961748478777,-2.4410160441542135],[-0.34023961690043814,-2.432933093353006]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_23","position":[-0.461517532524398,-1.7076802688730373,0.71338606911949],"aabb_xy":[[-0.541517535788411,-1.7212403011819501],[-0.3815175292603848,-1.6941202365641235]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_24","position":[-0.18086947430142886,-1.185565921118327,0.71338606911949],"aabb_xy":[[-0.19778020673777058,-1.1990381267109413],[-0.16395874186508702,-1.172093715525712]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_25","position":[0.3814225239751301,-0.7241129752571822,0.71338606911949],"aabb_xy":[[0.3469600459620423,-0.7307766524401048],[0.4158850019882178,-0.7174492980742592]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_26","position":[-0.003726366753240673,1.6615715392890071,0.71338606911949],"aabb_xy":[[-0.0315714035338478,1.6307870405506955],[0.02411867002736645,1.6923560380273188]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6933789539296499,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5879.png","name":"5879"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5879.png","name":"5879"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8541.png","name":"8541"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1400.png","name":"1400"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1620.png","name":"1620"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7510.png","name":"7510"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":806.9828566479222,"rotation_z_degrees":18.52644529991169,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015283741888388856,-0.01445863580902846,-0.011210232247180287]},{"name":"camera_2","offset_m":[-0.011255703092599979,-0.009823780741420212,0.0060238469209194755]},{"name":"camera_3","offset_m":[0.015662173458060414,-0.0022663002665706915,0.0180155313775035]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001055528940197994,-0.0017356820677640382,-0.0015257248790925923],"end_effector_yaw_offset_degrees":-0.362322488728275},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[3.292264532034827e-05,-0.000260393162731817,-0.0006059803948208918],"end_effector_yaw_offset_degrees":0.6274932999259775},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00013874841353473917,0.0002051014784783074,0.0011704490671692264],"end_effector_yaw_offset_degrees":-0.5367830589175653},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[9.831381289476847e-05,-0.0002708732212111432,0.0008246858552530181],"end_effector_yaw_offset_degrees":-0.5457113257303488}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0027307276983863354,0.002435706474898618],"position_m":[0.16623072769838634,-0.14366429352510138,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0014259210429958822,-0.0014825238546289001],"position_m":[0.27532592104299586,-0.3502825238546289,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004163342349605529,-0.004221302689155898],"position_m":[0.3031366576503945,0.27587869731084413,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004601599938749658,-0.0017522226780179707],"position_m":[0.36410159993874963,0.05854777732198203,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f9d2436a8e5d563c1abcd27afed2a4fac3d0cd5dbb75d4606039e4e312098db0","episode_index":11,"episode_name":"episode_0011"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0011.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_5879/tex_ceiling_textures_7510/tex_floor_textures_1620/tex_table_textures_8541/tex_wall_textures_1400","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":1322593137277456822,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":1322593137277456822,"visual_seed":1322593137277456822,"scene_id":"lab_003","finished_at":"2026-09-05T19:06:54"} +{"episode_id":"ep_000012","started_at":"2026-09-05T19:06:58","dimensions":{"distractor":{"count":25,"items":[{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_0","position":[0.5082802552069092,-0.6002895522313318,0.71338606911949],"aabb_xy":[[0.483280255934947,-0.6166349158274942],[0.5332802544788715,-0.5839441886351695]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_1","position":[0.6357745037121982,-2.351082223772911,0.71338606911949],"aabb_xy":[[0.5717745020342008,-2.399599615252226],[0.6997745053901955,-2.3025648322935974]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_2","position":[0.032468386548390016,-0.9772288321606928,0.71338606911949],"aabb_xy":[[-0.031531610753956385,-1.0215952591285493],[0.09646838385073642,-0.9328624051928359]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_3","position":[-0.12802771471287433,-1.8234060683716882,0.71338606911949],"aabb_xy":[[-0.20802771336976034,-1.8379109272959508],[-0.04802771605598832,-1.808901209447425]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_4","position":[0.21581058268316267,-1.404360557335964,0.71338606911949],"aabb_xy":[[0.1358105794253197,-1.484357065127948],[0.2958105859410056,-1.3243640495439801]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_5","position":[0.40947187607027846,0.8420127946247331,0.71338606911949],"aabb_xy":[[0.4041393614156655,0.8366884663794976],[0.41480439072489145,0.8473371228699687]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_6","position":[0.44497523479615686,-1.3179014958833128,0.71338606911949],"aabb_xy":[[0.4138283159525737,-1.3879014945701198],[0.4761221536397399,-1.2479014971965054]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_7","position":[-0.4724316209260603,0.043264603952586356,0.71338606911949],"aabb_xy":[[-0.4848989790357959,0.03079927931926285],[-0.4599642628163246,0.05572992858590986]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_8","position":[-0.071305750425801,0.6165064171574861,0.71338606911949],"aabb_xy":[[-0.09759457474624166,0.5902349835028348],[-0.04501692610536034,0.6427778508121372]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_9","position":[-0.008479392869643276,-2.3719088270452824,0.71338606911949],"aabb_xy":[[-0.0724793950900503,-2.4162819111705707],[0.05552060935076375,-2.327535742919994]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_10","position":[-0.195597828422654,0.3170134047126054,0.71338606911949],"aabb_xy":[[-0.28059782711472864,0.28502754131772656],[-0.11059782973057936,0.3489992681074843]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_11","position":[-0.3124278701682804,-1.167850903397983,0.71338606911949],"aabb_xy":[[-0.3764278708717498,-1.213869285870904],[-0.24842786946481105,-1.121832520925062]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_12","position":[0.3434836328296089,-1.416288073653236,0.71338606911949],"aabb_xy":[[0.3394054749225591,-1.420369053901499],[0.3475617907366586,-1.4122070934049724]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_13","position":[0.6517892815656317,0.2820219154017032,0.71338606911949],"aabb_xy":[[0.6341136509770332,0.26434169912230043],[0.6694649121542299,0.29970213168110593]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_14","position":[-0.5577433992476039,-1.5734770417826354,0.71338606911949],"aabb_xy":[[-0.6077166932508643,-1.6234770423371825],[-0.5077701052443434,-1.5234770412280878]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_15","position":[0.5580723638460521,-0.29627764248233524,0.71338606911949],"aabb_xy":[[0.5355723643223446,-0.31877358993295596],[0.5805723633697594,-0.2737816950317144]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_16","position":[0.0008189338735724583,-2.27081107992824,0.71338606911949],"aabb_xy":[[-0.005218079127092269,-2.2768377809971887],[0.006855946874237186,-2.2647843788592925]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_17","position":[-0.16269007778656563,-2.555461904004109,0.71338606911949],"aabb_xy":[[-0.17210755235642838,-2.564878081141828],[-0.15327260321670289,-2.54604572686639]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_18","position":[-0.6045831855893199,-0.3775850391238391,0.71338606911949],"aabb_xy":[[-0.6118269516355652,-0.4575850373274415],[-0.5973394195430746,-0.29758504092023674]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_19","position":[0.11138992756712973,-2.238276922659124,0.71338606911949],"aabb_xy":[[0.08616909070729004,-2.2635006735120107],[0.13661076442696934,-2.2130531718062367]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_20","position":[-0.5865155391600502,-2.014302512866798,0.71338606911949],"aabb_xy":[[-0.5928276386963887,-2.020069452120017],[-0.5802034396237117,-2.0085355736135795]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_21","position":[0.057394592535132904,1.2518222077763483,0.71338606911949],"aabb_xy":[[0.053480719339710374,1.2430731923697915],[0.06130846573055542,1.2605712231829052]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_22","position":[0.569654412936109,-1.7386703362301263,0.71338606911949],"aabb_xy":[[0.5046544102983155,-1.7901499349295733],[0.6346544155739025,-1.6871907375306794]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_23","position":[0.6036660340665643,1.2702062315339862,0.71338606911949],"aabb_xy":[[0.5811668983403373,1.247706230755723],[0.6261651697927912,1.292706232312249]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_24","position":[0.35877315238267316,-1.608098848242696,0.71338606911949],"aabb_xy":[[0.27877315021991067,-1.6880540318688397],[0.43877315454543564,-1.5281436646165525]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6923327887492046,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6796.png","name":"6796"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6796.png","name":"6796"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1937.png","name":"1937"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8839.png","name":"8839"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6132.png","name":"6132"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8454.png","name":"8454"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":543.8127476709992,"rotation_z_degrees":317.3756013433018,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0009888937500183367,-0.014683100206659333,-0.0148120610137466]},{"name":"camera_2","offset_m":[0.01046108474301485,-0.010246285036812589,-0.0029704030345684904]},{"name":"camera_3","offset_m":[-0.019719490188326066,0.016536073318873922,-0.012117973937058362]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0019252130686069205,-0.0013729208371876197,0.0019116079786979457],"end_effector_yaw_offset_degrees":0.9423473372179725},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0018326384616612309,0.00048390277196901565,0.0017334023026407321],"end_effector_yaw_offset_degrees":0.6564880494109271},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0011496274439094074,-0.0010247719846077183,0.0014563667408348585],"end_effector_yaw_offset_degrees":0.643275270915725},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001329286538141993,9.534397813253277e-05,-0.00034034768027101005],"end_effector_yaw_offset_degrees":0.5183797756080393}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0011102675528593818,0.002186734000018735],"position_m":[0.1623897324471406,-0.14391326599998128,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0011441078438430906,-0.003786561336065413],"position_m":[0.27275589215615687,-0.3525865613360654,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0009158707886732084,0.004485002107100564],"position_m":[0.3063841292113268,0.2845850021071006,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003160452044041218,0.0007095138556701876],"position_m":[0.3563395479559588,0.06100951385567019,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9cc98a610eaccbb95b02ceddcfdd034cdafc805bf67643ff460a5b5a71fc3362","episode_index":12,"episode_name":"episode_0012"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0012.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_6796/tex_ceiling_textures_8454/tex_floor_textures_6132/tex_table_textures_1937/tex_wall_textures_8839","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":2881470030556931423,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":2881470030556931423,"visual_seed":2881470030556931423,"scene_id":"lab_003","finished_at":"2026-09-05T19:10:35"} +{"episode_id":"ep_000013","started_at":"2026-09-05T19:10:42","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_0","position":[-0.007771588943434549,1.0613583057847609,0.71338606911949],"aabb_xy":[[-0.07777159233499652,1.0260425320813298],[0.06222841444812743,1.0966740794881915]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_1","position":[-0.266563229278251,-0.5998223490642227,0.71338606911949],"aabb_xy":[[-0.2738069953244963,-0.6798223472678251],[-0.25931946323200566,-0.5198223508606203]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_2","position":[0.3010822963507994,-1.5561453882325895,0.71338606911949],"aabb_xy":[[0.29166482178093667,-1.5655615653703085],[0.31049977092066217,-1.5467292110948705]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_3","position":[-0.46973187752497664,1.4734023569972234,0.71338606911949],"aabb_xy":[[-0.4996994344348023,1.4434023566993377],[-0.43976432061515097,1.5034023572951092]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_4","position":[-0.474315593903551,-2.256031682542296,0.71338606911949],"aabb_xy":[[-0.49931559306918405,-2.2629839282476527],[-0.4493155947379178,-2.2490794368369396]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_5","position":[-0.2972734131734056,1.7657808510510438,0.71338606911949],"aabb_xy":[[-0.32085853663730046,1.7007808488056122],[-0.27368828970951076,1.8307808532964758]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_6","position":[-0.3246664312564394,-2.5588443785177835,0.71338606911949],"aabb_xy":[[-0.36216643136203236,-2.565666540370764],[-0.28716643115084645,-2.552022216664802]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_7","position":[0.41315882134706294,-0.5929623538131066,0.71338606911949],"aabb_xy":[[0.39798665206542966,-0.6081312107413099],[0.42833099062869634,-0.5777934968849032]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_8","position":[-0.0719882084823702,-2.1915581329676814,0.71338606911949],"aabb_xy":[[-0.07969139915644724,-2.1992675036664195],[-0.06428501780829315,-2.1838487622689433]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_9","position":[0.5259146019289036,0.7441946015167433,0.71338606911949],"aabb_xy":[[0.518873150978156,0.7371678497789488],[0.5329560528796512,0.7512213532545379]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_10","position":[-0.17494118453722962,-1.659593449407168,0.71338606911949],"aabb_xy":[[-0.19251948672617647,-1.6771679389812733],[-0.15736288234828277,-1.6420189598330632]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_11","position":[0.4349417560373907,1.2230308088268251,0.71338606911949],"aabb_xy":[[0.36494175443511123,1.2095980156251676],[0.5049417576396702,1.2364636020284827]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_12","position":[-0.12777771231932022,-2.024923292559163,0.71338606911949],"aabb_xy":[[-0.2077777144820827,-2.1048784761853065],[-0.04777771015655774,-1.9449681089330193]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_13","position":[0.5309780708576444,-1.1679495577027916,0.71338606911949],"aabb_xy":[[0.5185107127479087,-1.1804148823361151],[0.54344542896738,-1.1554842330694681]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_14","position":[-0.04533777150611529,0.9209559002053993,0.71338606911949],"aabb_xy":[[-0.08283777132314885,0.9163176888942572],[-0.00783777168908173,0.9255941115165409]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_15","position":[0.58155878486096,0.2780895969218977,0.71338606911949],"aabb_xy":[[0.521558784353107,0.2212428632359764],[0.6415587853688128,0.33493633060781897]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_16","position":[0.5230347508496747,-2.008629897918095,0.71338606911949],"aabb_xy":[[0.5112665640550172,-2.0936298978233165],[0.5348029376443323,-1.9236298980128734]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_17","position":[0.6943946258437834,0.972791192578069,0.71338606911949],"aabb_xy":[[0.6817678385565871,0.9632451188764961],[0.7070214131309798,0.9823372662796419]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_18","position":[0.5282321429269825,-1.528393903679093,0.71338606911949],"aabb_xy":[[0.5166631621800459,-1.5533939037960247],[0.5398011236739191,-1.5033939035621613]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_19","position":[0.3883458924825549,-1.0114211949625378,0.71338606911949],"aabb_xy":[[0.32434588926391705,-1.0581443068615464],[0.45234589570119277,-0.9646980830635297]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_20","position":[-0.30560172263706753,0.8772890968373641,0.71338606911949],"aabb_xy":[[-0.3175344569988956,0.8649069440295047],[-0.29366898827523946,0.8896712496452235]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_21","position":[-0.43211546259446526,-1.9469138521219387,0.71338606911949],"aabb_xy":[[-0.44033000771014913,-1.9555904424195798],[-0.42390091747878117,-1.9382372618242971]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_22","position":[-0.33717136767188743,0.507939793483156,0.71338606911949],"aabb_xy":[[-0.37146827868962795,0.4736429072732145],[-0.3028744566541467,0.5422366796930972]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_23","position":[0.19388981769672287,-1.985587884512771,0.71338606911949],"aabb_xy":[[0.129889821269401,-2.0327575083348677],[0.25788981412404477,-1.9384182606906748]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_24","position":[0.6970192997057045,-0.5306118577956935,0.71338606911949],"aabb_xy":[[0.6861788214791896,-0.5477981390863423],[0.7078597779322194,-0.5134255765050447]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_25","position":[-0.1452718964866644,-1.3666391275195946,0.71338606911949],"aabb_xy":[[-0.22527189344970353,-1.443714769163368],[-0.0652718995236252,-1.2895634858758211]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_26","position":[0.1034429838429124,-2.552106265392166,0.71338606911949],"aabb_xy":[[0.09303142516242867,-2.5574519987280637],[0.1138545425233961,-2.546760532056267]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_27","position":[0.6288108219231958,1.3646310025904862,0.71338606911949],"aabb_xy":[[0.5648108198734638,1.3245365195011785],[0.6928108239729278,1.4047254856797944]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_28","position":[-0.17780178118325152,1.7216924832623541,0.71338606911949],"aabb_xy":[[-0.21634747400845256,1.6831467122061652],[-0.13925608835805048,1.7602382543185426]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_29","position":[0.2075865376913305,-2.1577987479394487,0.71338606911949],"aabb_xy":[[0.17512483680940302,-2.1879315800543506],[0.24004823857325794,-2.127665915824545]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_30","position":[-0.2831922482025295,0.6020176163848161,0.71338606911949],"aabb_xy":[[-0.30098575513744596,0.5842178707890184],[-0.2653987412676131,0.6198173619806138]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_31","position":[-0.12425232816740572,0.7489123323949913,0.71338606911949],"aabb_xy":[[-0.1587148061804935,0.7422486552120685],[-0.08978985015431797,0.7555760095779142]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_32","position":[-0.5843367260077581,0.3174340143838448,0.71338606911949],"aabb_xy":[[-0.5972086295086982,0.2374340139700086],[-0.571464822506818,0.39743401479768087]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6921603368606579,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8686.png","name":"8686"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8686.png","name":"8686"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6389.png","name":"6389"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7289.png","name":"7289"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1763.png","name":"1763"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4203.png","name":"4203"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":705.3769286982783,"rotation_z_degrees":158.09821545657658,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01738530455262158,-0.001679754260742218,0.0068785897541026875]},{"name":"camera_2","offset_m":[0.012936340038562883,-0.006877359424855798,0.010622204986769673]},{"name":"camera_3","offset_m":[-0.01893742516197946,0.015999586176189007,-0.008622251629430897]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0012060852575667936,-0.00190877330390003,0.000632031671189184],"end_effector_yaw_offset_degrees":-0.0711457001020519},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0016767138159105124,0.0007227223795985335,-0.0006524321539523937],"end_effector_yaw_offset_degrees":-0.9843182748669932},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0014523944569063089,-0.00014864189754465592,0.001049651909968162],"end_effector_yaw_offset_degrees":-0.09003804391765313},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00027432215189282646,0.00018709239417096088,0.0004685852251188299],"end_effector_yaw_offset_degrees":-0.7816839041326602}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0017566942597396985,-0.004598183326944988],"position_m":[0.1617433057402603,-0.15069818332694498,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0027227427549637515,0.003176238569665161],"position_m":[0.27662274275496374,-0.34562376143033485,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.00256814130427934,-0.004497729021521817],"position_m":[0.30986814130427937,0.2756022709784782,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00047718205741807945,-7.888845305907902e-05],"position_m":[0.3590228179425819,0.06022111154694092,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1b33b4be72fda6d1b24ce3c68e8d408c783a5b6cc6b466b61c7af00a64afadf6","episode_index":13,"episode_name":"episode_0013"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0013.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_8686/tex_ceiling_textures_4203/tex_floor_textures_1763/tex_table_textures_6389/tex_wall_textures_7289","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":1996263179810769010,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":1996263179810769010,"visual_seed":1996263179810769010,"scene_id":"lab_003","finished_at":"2026-09-05T19:14:09"} +{"episode_id":"ep_000014","started_at":"2026-09-05T19:14:13","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_0","position":[0.25140641356389315,-0.5964878984834805,0.71338606911949],"aabb_xy":[[0.2268601979411424,-0.6267367950325176],[0.2759526291866438,-0.5662390019344434]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_1","position":[-0.48848750584545875,-2.2115089794661382,0.71338606911949],"aabb_xy":[[-0.5109875060889741,-2.22371361412591],[-0.46598750560194335,-2.1993043448063663]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_2","position":[-0.24800913167777056,0.2262024626523811,0.71338606911949],"aabb_xy":[[-0.33800913027224055,0.20995187633896006],[-0.15800913308330064,0.2424530489658021]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_3","position":[-0.5164330817231313,0.730617182169655,0.71338606911949],"aabb_xy":[[-0.5664330820836972,0.6806371949600519],[-0.46643308136256517,0.7805971693792578]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_4","position":[-0.42509342160377145,-0.4506391378739285,0.71338606911949],"aabb_xy":[[-0.4427690521923697,-0.4683193541533312],[-0.40741779101517306,-0.4329589215945257]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_5","position":[-0.4528629246942889,1.1863922511433524,0.71338606911949],"aabb_xy":[[-0.5028403415595424,1.1363922496541037],[-0.40288550782903526,1.2363922526326008]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_6","position":[-0.5116674662126699,1.4771485750783326,0.71338606911949],"aabb_xy":[[-0.5666674653892593,1.4221589003033748],[-0.4566674670360803,1.53213824985329]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_7","position":[-0.19826397319139433,0.8108728948682224,0.71338606911949],"aabb_xy":[[-0.22076039462525845,0.788372895061475],[-0.17576755175753025,0.8333728946749699]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_8","position":[-0.5266834776619235,-1.191792709183902,0.71338606911949],"aabb_xy":[[-0.5441834779212602,-1.2058842513726746],[-0.509183477402587,-1.1777011669951294]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_9","position":[0.28620641469146835,-1.6492276444226688,0.71338606911949],"aabb_xy":[[0.27691279645431777,-1.6867276429108027],[0.2955000329286189,-1.6117276459345349]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_10","position":[-0.13875690711371202,-2.0596609533676196,0.71338606911949],"aabb_xy":[[-0.2187569092764745,-2.139616136993763],[-0.05875690495094954,-1.979705769741476]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_11","position":[0.3116127971024667,1.4165197967418588,0.71338606911949],"aabb_xy":[[0.27569929267747695,1.380606288525104],[0.34752630152745634,1.4524333049586131]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_12","position":[0.28154412305031074,1.0308999226200726,0.71338606911949],"aabb_xy":[[0.23154412361011506,0.980931998135756],[0.3315441224905063,1.0808678471043887]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_13","position":[-0.3061025344378013,-1.3020964538646242,0.71338606911949],"aabb_xy":[[-0.355919313902636,-1.3520964523489276],[-0.25628575497296646,-1.2520964553803209]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_14","position":[0.6075264304717238,-1.6144226526587375,0.71338606911949],"aabb_xy":[[0.5625338437532734,-1.659422651933186],[0.6525190171901742,-1.5694226533842885]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_15","position":[-0.40019777341080515,1.664619046558316,0.71338606911949],"aabb_xy":[[-0.46419777270497337,1.6006329061894617],[-0.3361977741166369,1.7286051869271701]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_16","position":[-0.48332748141627646,0.2579305006315735,0.71338606911949],"aabb_xy":[[-0.5024397887742553,0.2387957217543315],[-0.4642151740582976,0.27706527950881554]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_17","position":[-0.19611455739286793,1.532052281155591,0.71338606911949],"aabb_xy":[[-0.21075796294690088,1.5173935614988066],[-0.18147115183883492,1.546711000812375]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_18","position":[-0.14261354866507092,-2.5632015564719413,0.71338606911949],"aabb_xy":[[-0.22261354913528691,-2.571512264086289],[-0.062613548194855,-2.5548908488575925]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_19","position":[0.4980496882370551,0.8032021552728064,0.71338606911949],"aabb_xy":[[0.43404968682906436,0.7514132037488817],[0.5620496896450456,0.8549911067967311]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_20","position":[0.4272345573781511,0.6045693525566334,0.71338606911949],"aabb_xy":[[0.34723455630503075,0.5947913062192489],[0.5072345584512714,0.6143473988940178]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_21","position":[-0.3492711637334983,-0.3432035722671416,0.71338606911949],"aabb_xy":[[-0.3617385218432339,-0.3556688969004651],[-0.3368038056237626,-0.3307382476338181]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_22","position":[0.596223823187388,-1.1730023256674185,0.71338606911949],"aabb_xy":[[0.5874217678784152,-1.1808136518223473],[0.6050258784963606,-1.1651909995124892]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_23","position":[-0.6086738820947575,-2.1857991157062697,0.71338606911949],"aabb_xy":[[-0.6538451999429264,-2.2497991128508086],[-0.5635025642465885,-2.1217991185617318]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_24","position":[0.6166646756697194,-0.7071821985684446,0.71338606911949],"aabb_xy":[[0.6092522201283309,-0.7130334089900725],[0.6240771312111079,-0.7013309881468166]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_25","position":[-0.08360437329170467,1.063981844210391,0.71338606911949],"aabb_xy":[[-0.09163064392233065,1.0552303492330384],[-0.07557810266107866,1.0727333391877436]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_26","position":[-0.05431844215588311,-1.3834105774884973,0.71338606911949],"aabb_xy":[[-0.07038036961440075,-1.468410579301089],[-0.03825651469736546,-1.2984105756759055]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_27","position":[-0.28186145741156265,-0.7788658552493093,0.71338606911949],"aabb_xy":[[-0.2927672334991253,-0.8588658516481383],[-0.2709556813239999,-0.69886585885048]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_28","position":[0.47055693813673627,-1.2090215501133712,0.71338606911949],"aabb_xy":[[0.4255569366705075,-1.2540214069748519],[0.5155569396029651,-1.1640216932518905]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_29","position":[-0.22642306843288929,-1.6908570528252334,0.71338606911949],"aabb_xy":[[-0.24075749355905274,-1.7029172683797722],[-0.21208864330672583,-1.6787968372706945]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_30","position":[-0.5349399427191454,-2.5084473034733605,0.71338606911949],"aabb_xy":[[-0.5653380538182888,-2.5388542054750296],[-0.5045418316200017,-2.4780404014716906]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_31","position":[0.055598222520439,-0.8172497318102552,0.71338606911949],"aabb_xy":[[0.005613986812261773,-0.8672497306237508],[0.10558245822861623,-0.7672497329967596]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_32","position":[-0.4502367857717179,-1.5817766328654315,0.71338606911949],"aabb_xy":[[-0.5339590112718003,-1.6717766364001276],[-0.3665145602716354,-1.4917766293307357]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6914105798040646,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3531.png","name":"3531"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3531.png","name":"3531"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3999.png","name":"3999"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8827.png","name":"8827"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5225.png","name":"5225"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/680.png","name":"680"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":808.3295913517172,"rotation_z_degrees":294.12214178259575,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014794820220386225,0.004282304990853188,0.009721217487455455]},{"name":"camera_2","offset_m":[-0.009065532148035986,-0.013893343718953961,-0.01270163334441202]},{"name":"camera_3","offset_m":[-0.019740687969297586,-0.013912836002065197,0.004166348583671851]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001956135342747109,0.0012409650414561242,0.00193625538343295],"end_effector_yaw_offset_degrees":0.24738804459349883},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0008014916951511824,-0.0017244231899401022,0.0006705893071409868],"end_effector_yaw_offset_degrees":-0.20790060516958198},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00016401174084904285,9.780064833284346e-05,0.001253223471415116],"end_effector_yaw_offset_degrees":-0.12216110707639216},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0018317076347893937,0.0017435820889254547,-0.001411567298886863],"end_effector_yaw_offset_degrees":0.054334709221837585}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0023369438264134266,-0.004152951237125625],"position_m":[0.16583694382641342,-0.15025295123712562,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0023095477339542484,0.003961110836656244],"position_m":[0.27620954773395423,-0.34483888916334376,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003916792494372428,0.0011242232148681456],"position_m":[0.31121679249437245,0.2812242232148682,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0012923094349889712,0.0009136371116330554],"position_m":[0.36079230943498897,0.06121363711163305,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7f9b16f9884f6180839b1d71f07b752c659c01b7a0c2cd991414e94dde59ea32","episode_index":14,"episode_name":"episode_0014"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0014.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_3531/tex_ceiling_textures_680/tex_floor_textures_5225/tex_table_textures_3999/tex_wall_textures_8827","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":691667903649935110,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":691667903649935110,"visual_seed":691667903649935110,"scene_id":"lab_003","finished_at":"2026-09-05T19:17:37"} +{"episode_id":"ep_000015","started_at":"2026-09-05T19:17:41","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_0","position":[-0.06696827711234621,1.6159102042150644,0.71338606911949],"aabb_xy":[[-0.072934816053082,1.6099490595556998],[-0.06100173817161042,1.621871348874428]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_1","position":[-0.3438993649229905,-2.3478399302251134,0.71338606911949],"aabb_xy":[[-0.3701881892434311,-2.374111363879764],[-0.3176105406025498,-2.3215684965704617]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_2","position":[-0.48520458275025147,-1.8775601615426445,0.71338606911949],"aabb_xy":[[-0.5352045837693867,-1.9140263772804726],[-0.4352045817311162,-1.8410939458048168]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_3","position":[-0.6827080146345874,0.968466211280075,0.71338606911949],"aabb_xy":[[-0.6897483245681245,0.888466211880404],[-0.6756677047010505,1.0484662106797469]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_4","position":[0.45066336639840343,-1.8849365401698663,0.71338606911949],"aabb_xy":[[0.3866633661379326,-1.9299453395227943],[0.5146633666588742,-1.8399277408169383]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_5","position":[0.5001877728107842,0.2258851641121815,0.71338606911949],"aabb_xy":[[0.4929265252403768,0.21309815384867206],[0.5074490203811917,0.23867217437569102]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_6","position":[-0.4555164425760568,-0.8701507996076774,0.71338606911949],"aabb_xy":[[-0.535510266154615,-0.9501508022005188],[-0.37552261899749856,-0.7901507970148357]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_7","position":[-0.09502064667947163,0.9464096153621999,0.71338606911949],"aabb_xy":[[-0.1287962058701646,0.9323711201490348],[-0.06124508748877866,0.9604481105753648]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_8","position":[0.16864279641818125,1.3090415350949223,0.71338606911949],"aabb_xy":[[0.11864279513434127,1.2590626807043002],[0.2186427977020212,1.3590203894855444]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_9","position":[-0.3580582039430125,1.7662442452196392,0.71338606911949],"aabb_xy":[[-0.383058203494751,1.7561017613545045],[-0.33305820439127404,1.776386729084774]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_10","position":[0.2244717251255176,-2.178089733949796,0.71338606911949],"aabb_xy":[[0.2077945891324221,-2.194789657923726],[0.2411488611186131,-2.1613898099758653]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_11","position":[0.4721766363692592,-0.4160921287323771,0.71338606911949],"aabb_xy":[[0.464048948175946,-0.4250057371430848],[0.48030432456257244,-0.4071785203216695]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_12","position":[-0.3074519319950108,0.9653618369165224,0.71338606911949],"aabb_xy":[[-0.3424519333464925,0.9450021009597017],[-0.272451930643529,0.9857215728733434]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_13","position":[-0.18301347205334906,-1.7272688779263916,0.71338606911949],"aabb_xy":[[-0.1924309466232118,-1.7366850550641106],[-0.1735959974834863,-1.7178527007886726]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_14","position":[0.6158346575077853,-1.6173018887615227,0.71338606911949],"aabb_xy":[[0.5748167141214144,-1.6673018893924798],[0.6568526008941562,-1.5673018881305651]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_15","position":[-0.04101376344736285,-0.9018919871954219,0.71338606911949],"aabb_xy":[[-0.10601376455330613,-0.9268573602635503],[0.023986237658580434,-0.8769266141272937]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_16","position":[-0.6169207857451637,-1.3570535798399996,0.71338606911949],"aabb_xy":[[-0.6809207890348717,-1.4003884988439173],[-0.5529207824554555,-1.313718660836082]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_17","position":[-0.6854911872004864,-0.22354101934345216,0.71338606911949],"aabb_xy":[[-0.6929036427418749,-0.22939222976508014],[-0.6780787316590979,-0.21768980892182424]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_18","position":[-0.13569213444449302,0.5211746059206646,0.71338606911949],"aabb_xy":[[-0.1691323096405126,0.4877309800897343],[-0.1022519592484734,0.5546182317515944]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_19","position":[-0.5789410893632986,-1.2207287027902847,0.71338606911949],"aabb_xy":[[-0.6162723658885412,-1.255381757585137],[-0.541609812838056,-1.1860756479954324]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_20","position":[0.46472920700752907,-0.6962189157119811,0.71338606911949],"aabb_xy":[[0.4152487857935703,-0.7602189136248331],[0.5142096282214879,-0.6322189177991294]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6957963829132175,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4986.png","name":"4986"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4986.png","name":"4986"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4982.png","name":"4982"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1842.png","name":"1842"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2549.png","name":"2549"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3660.png","name":"3660"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":831.3144110955259,"rotation_z_degrees":271.72501604050115,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0019187986495869114,-0.009308273954081821,0.0037174126288599986]},{"name":"camera_2","offset_m":[0.01664967097315685,0.009467138967265566,-0.018416302289244783]},{"name":"camera_3","offset_m":[0.018345707725942625,-0.011823902997585045,0.010579118736936451]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0005738172721158038,-0.0008479554755558669,-0.0006677618616278056],"end_effector_yaw_offset_degrees":-0.9114689343395566},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0004839403078536345,-0.0001038937775099042,-0.00013710822445525922],"end_effector_yaw_offset_degrees":0.3982627644931327},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0010531954461940423,0.001544614350456636,0.001459691419018022],"end_effector_yaw_offset_degrees":-0.45911498144732366},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0012239739778470726,-0.0003077332081099992,0.0002919248870039419],"end_effector_yaw_offset_degrees":-0.756130583676357}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0016417572269836643,0.0009522611478204332],"position_m":[0.16514175722698368,-0.14514773885217958,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0023468679524451972,-0.004686929695553182],"position_m":[0.2762468679524452,-0.3534869296955532,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0017133095844869108,0.004956678823648021],"position_m":[0.3090133095844869,0.28505667882364805,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0005763319059907453,-0.0034668449716562777],"position_m":[0.36007633190599075,0.05683315502834372,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"cc83e453ded6e277e64ca9d947cf46bf23d65f170eb08b554bc5d597cabf9461","episode_index":15,"episode_name":"episode_0015"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0015.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_4986/tex_ceiling_textures_3660/tex_floor_textures_2549/tex_table_textures_4982/tex_wall_textures_1842","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":7243445145327533294,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":7243445145327533294,"visual_seed":7243445145327533294,"scene_id":"lab_003","finished_at":"2026-09-05T19:21:04"} +{"episode_id":"ep_000016","started_at":"2026-09-05T19:21:09","dimensions":{"distractor":{"count":32,"items":[{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_0","position":[-0.37737567327068394,-0.5030034577992861,0.71338606911949],"aabb_xy":[[-0.46737566977155565,-0.5489151002177443],[-0.2873756767698121,-0.4570918153808278]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_1","position":[-0.09012895282214461,1.2093924395758449,0.71338606911949],"aabb_xy":[[-0.10776178841567219,1.1917694935602217],[-0.07249611722861704,1.2270153855914676]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_2","position":[-0.20502860103618836,1.0387378564524092,0.71338606911949],"aabb_xy":[[-0.27002860367398185,0.9872582577529623],[-0.14002859839839488,1.0902174551518562]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_3","position":[0.32944952738958766,0.6381188668731936,0.71338606911949],"aabb_xy":[[0.24944953037533968,0.6179843151997824],[0.40944952440383564,0.6582534185466049]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_4","position":[0.6114909646721078,1.718291722426565,0.71338606911949],"aabb_xy":[[0.5615135478068541,1.6682917209373163],[0.6614683815373613,1.7682917239158134]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_5","position":[0.17470541114407845,-0.7640412746409833,0.71338606911949],"aabb_xy":[[0.11970541196748893,-0.8190309494159409],[0.2297054103206679,-0.7090515998660256]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_6","position":[0.0608333975165547,1.3519566108021581,0.71338606911949],"aabb_xy":[[-0.019166603913572514,1.2724394557895484],[0.1408333989466819,1.4314737658147674]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_7","position":[-0.377442072420081,1.072293110814854,0.71338606911949],"aabb_xy":[[-0.40743373515395126,1.0422931114780531],[-0.3474504096862106,1.1022931101516542]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_8","position":[0.5460662296413745,-0.6600595972716921,0.71338606911949],"aabb_xy":[[0.529389093648279,-0.6767595212456223],[0.56274336563447,-0.6433596732977618]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_9","position":[-0.605998501472068,0.15033709204340928,0.71338606911949],"aabb_xy":[[-0.6699984987577167,0.10883037309056531],[-0.5419985041864194,0.19184381099625325]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_10","position":[-0.13305512714520107,-0.0970402778849695,0.71338606911949],"aabb_xy":[[-0.19705512357252297,-0.14420990170706594],[-0.06905513071787917,-0.049870654062873054]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_11","position":[-0.5806304870954127,-2.4262646826089536,0.71338606911949],"aabb_xy":[[-0.5897903660392892,-2.4327959006524904],[-0.571470608151536,-2.4197334645654167]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_12","position":[0.5324507540331862,-0.5801030283255395,0.71338606911949],"aabb_xy":[[0.5284902702634519,-0.5877708929110602],[0.5364112378029205,-0.572435163740019]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_13","position":[-0.11646403792422522,-1.8336003469432716,0.71338606911949],"aabb_xy":[[-0.18046403522657162,-1.877966773911128],[-0.052464040621878816,-1.7892339199754146]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_14","position":[-0.3361049667364626,-0.2400187667610143,0.71338606911949],"aabb_xy":[[-0.34380815741053966,-0.2477281374597523],[-0.3284017760623856,-0.2323093960622763]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_15","position":[0.5855532387346121,1.0941950683498232,0.71338606911949],"aabb_xy":[[0.5530915378526844,1.0640622362349204],[0.6180149396165393,1.1243279004647255]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_16","position":[0.3720548389949605,0.7362673649404581,0.71338606911949],"aabb_xy":[[0.3416567278958169,0.7058604629387885],[0.4024529500941041,0.7666742669421275]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_17","position":[-0.4003169663623265,1.7713735040035279,0.71338606911949],"aabb_xy":[[-0.40903093541226093,1.7488735033443392],[-0.39160299731239195,1.7938735046627157]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_18","position":[-0.24728252562198488,-0.7926230292686287,0.71338606911949],"aabb_xy":[[-0.28478252556575123,-0.8009161193034652],[-0.20978252567821845,-0.784329939233792]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_19","position":[0.3938989114726219,1.0559103597883022,0.71338606911949],"aabb_xy":[[0.3859756312338736,1.0334103595502988],[0.40182219171137024,1.0784103600263055]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_20","position":[-0.48233429662248617,-0.05768263505500659,0.71338606911949],"aabb_xy":[[-0.5323342961988209,-0.10766321400711254],[-0.4323342970461515,-0.007702056102900645]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_21","position":[-0.4924912634494061,-0.8472932401007061,0.71338606911949],"aabb_xy":[[-0.5574912644499066,-0.898079605255381],[-0.42749126244890556,-0.7965068749460311]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_22","position":[0.06257437999987636,-0.9348313003173876,0.71338606911949],"aabb_xy":[[0.012581267890684467,-0.9848313009915833],[0.11256749210906826,-0.8848312996431921]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_23","position":[0.3576474156748093,-2.102107335573341,0.71338606911949],"aabb_xy":[[0.3467958094259337,-2.1129666263009916],[0.3684990219236849,-2.09124804484569]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_24","position":[-0.09562624286255172,-1.027572621296076,0.71338606911949],"aabb_xy":[[-0.12017245848530245,-1.0578215178451131],[-0.071080027239801,-0.9973237247470391]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_25","position":[0.702077903287881,0.5381897393546815,0.71338606911949],"aabb_xy":[[0.6955762667798764,0.5284219173283717],[0.7085795397958856,0.5479575613809913]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_26","position":[0.6727454406024285,-1.4427157902036176,0.71338606911949],"aabb_xy":[[0.6277528538839781,-1.4877157894780666],[0.7177380273208789,-1.397715790929169]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_27","position":[-0.5634756677201187,-1.6224269657011723,0.71338606911949],"aabb_xy":[[-0.6112818353338874,-1.687426968408231],[-0.51566950010635,-1.557426962994113]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_28","position":[0.3160788854098828,-0.5603651708518398,0.71338606911949],"aabb_xy":[[0.2787476088846403,-0.5950182256466922],[0.3534101619351255,-0.5257121160569876]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_29","position":[-0.4813931415424122,-2.1992066807843473,0.71338606911949],"aabb_xy":[[-0.4890174096325905,-2.2068399043208915],[-0.473768873452234,-2.191573457247804]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_30","position":[-0.40583353157144214,-0.6237863771698131,0.71338606911949],"aabb_xy":[[-0.41116604622605507,-0.6291107054150487],[-0.4005010169168291,-0.6184620489245776]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_31","position":[-0.49683270035100136,-1.3333140908148362,0.71338606911949],"aabb_xy":[[-0.5143327005960507,-1.3508138786544028],[-0.47933270010595197,-1.3158143029752691]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6918731179086719,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3337.png","name":"3337"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3337.png","name":"3337"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3675.png","name":"3675"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1449.png","name":"1449"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5905.png","name":"5905"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2313.png","name":"2313"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":830.2451861063043,"rotation_z_degrees":36.63664859851182,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012301970905410489,-0.01044127393482492,0.01492308910960111]},{"name":"camera_2","offset_m":[0.0006674517553523843,0.01951700294193352,0.01643246485334553]},{"name":"camera_3","offset_m":[0.00904764786470626,0.004449938178501055,0.008345756349606954]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0005966458232837704,0.0002644111828339021,-0.0015327700311061],"end_effector_yaw_offset_degrees":-0.7941404468624635},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0011485459700266575,-0.001178740444944646,0.00018758945276186418],"end_effector_yaw_offset_degrees":0.7221365352658706},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00184941111100203,-0.0005738190927849832,-0.0012414111339132047],"end_effector_yaw_offset_degrees":0.9549843196338883},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001375859601555549,-0.0002674865128701894,-0.0014400281664625624],"end_effector_yaw_offset_degrees":0.25216304960986724}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.00022214053451644847,0.0028881120970270435],"position_m":[0.16327785946548357,-0.14321188790297296,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00016478380655292509,-0.0006561650485423188],"position_m":[0.2740647838065529,-0.3494561650485423,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002966058457401672,-0.003920228884815329],"position_m":[0.3102660584574017,0.2761797711151847,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0014786950132736577,0.002456507522310078],"position_m":[0.3609786950132736,0.06275650752231007,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"dc513792dda730c14d10296634479717fcd4332b0c0c690235cd77ecf9540e0b","episode_index":16,"episode_name":"episode_0016"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0016.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_3337/tex_ceiling_textures_2313/tex_floor_textures_5905/tex_table_textures_3675/tex_wall_textures_1449","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":3177261015585786177,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":3177261015585786177,"visual_seed":3177261015585786177,"scene_id":"lab_003","finished_at":"2026-09-05T19:24:52"} +{"episode_id":"ep_000017","started_at":"2026-09-05T19:24:56","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_0","position":[0.4503473224270229,1.120937178493718,0.71338606911949],"aabb_xy":[[0.3863473217235537,1.0749187960207973],[0.5143473231304924,1.1669555609666393]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_1","position":[0.03837642452369627,-1.4519483845062666,0.71338606911949],"aabb_xy":[[0.029678462232980984,-1.4640733588137413],[0.04707438681441157,-1.439823410198792]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_2","position":[0.18292549810526226,0.9818707365546548,0.71338606911949],"aabb_xy":[[0.09292549577124318,0.9043883819695423],[0.2729255004392813,1.0593530911397675]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_3","position":[-0.06924466762369685,-1.4517824640999841,0.71338606911949],"aabb_xy":[[-0.09282979108759172,-1.516782466345416],[-0.045659544159802015,-1.3867824618545523]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_4","position":[0.48219961877896345,-0.9997770956095173,0.71338606911949],"aabb_xy":[[0.46702744949733016,-1.0149459525377207],[0.49737178806059684,-0.984608238681314]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_5","position":[0.02900732312457055,-2.0175966381701116,0.71338606911949],"aabb_xy":[[-0.02099195204386561,-2.0675966394460588],[0.07900659829300671,-1.9675966368941644]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_6","position":[-0.36328977552623437,0.6766185325934746,0.71338606911949],"aabb_xy":[[-0.3679248906784677,0.6727511975163258],[-0.35865466037400084,0.6804858676706231]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_7","position":[0.6063347039000431,-2.4666809892610706,0.71338606911949],"aabb_xy":[[0.5892326259416749,-2.4837877947923404],[0.6234367818584112,-2.449574183729801]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_8","position":[0.5853732051616907,-1.725903090757305,0.71338606911949],"aabb_xy":[[0.5678732060273234,-1.7357827177948926],[0.6028732042960577,-1.716023463719717]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_9","position":[-0.4314747060702867,-1.8064791752526055,0.71338606911949],"aabb_xy":[[-0.46897470624215865,-1.8391799106355127],[-0.39397470589841477,-1.7737784398696983]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_10","position":[-0.06237231075153937,-1.8963211122793793,0.71338606911949],"aabb_xy":[[-0.09987231069530578,-1.9046142023142154],[-0.024872310807772975,-1.8880280222445422]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_11","position":[0.5178824070365615,-0.47824232969240876,0.71338606911949],"aabb_xy":[[0.4538824097342151,-0.5226087566602655],[0.5818824043389079,-0.43387590272455195]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_12","position":[-0.2451165404171448,1.583404002283085,0.71338606911949],"aabb_xy":[[-0.2676156761433718,1.560904001504822],[-0.22261740469091784,1.6059040030613478]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_13","position":[0.3800634033515877,-0.6674770667291692,0.71338606911949],"aabb_xy":[[0.342563402687009,-0.6831641247293911],[0.41756340401616643,-0.6517900087289468]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_14","position":[0.029288232531376246,-2.509064310841035,0.71338606911949],"aabb_xy":[[0.021294742736094222,-2.517062442781511],[0.03728172232665828,-2.50106617890056]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_15","position":[-0.25694725897832044,-2.092917918834312,0.71338606911949],"aabb_xy":[[-0.3209472562639691,-2.134424637787156],[-0.1929472616926718,-2.051411199881468]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_16","position":[0.6079388015991154,0.19077706640979208,0.71338606911949],"aabb_xy":[[0.5904388681651319,0.1732770664895575],[0.6254387350330987,0.2082770663300266]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_17","position":[-0.5950315638187584,-1.180601914325754,0.71338606911949],"aabb_xy":[[-0.6288071230094514,-1.194640409538919],[-0.5612560046280655,-1.166563419112589]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_18","position":[-0.4452950443987643,-1.2938156694136564,0.71338606911949],"aabb_xy":[[-0.4798861272528095,-1.3588156696986873],[-0.41070396154471905,-1.2288156691286252]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_19","position":[-0.01705192439247538,-1.1145524663088489,0.71338606911949],"aabb_xy":[[-0.05830073542239011,-1.1695524658210663],[0.02419688663743935,-1.0595524667966314]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_20","position":[-0.46949160956291325,-2.5319778554422814,0.71338606911949],"aabb_xy":[[-0.5194916109238004,-2.581955760017697],[-0.419491608202026,-2.4819999508668658]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_21","position":[0.5801850873230046,-0.0309863869771716,0.71338606911949],"aabb_xy":[[0.573683450815,-0.04075420900348137],[0.5866867238310093,-0.02121856495086183]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_22","position":[-0.004169732003917459,-2.3402308429831575,0.71338606911949],"aabb_xy":[[-0.02117982929396811,-2.3563653314814315],[0.012840365286133193,-2.3240963544848836]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_23","position":[0.43113402326877726,-0.8121633806737343,0.71338606911949],"aabb_xy":[[0.4120217159107984,-0.8312981595509762],[0.4502463306267561,-0.7930286017964921]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6863576168621659,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9446.png","name":"9446"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9446.png","name":"9446"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1351.png","name":"1351"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2182.png","name":"2182"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6460.png","name":"6460"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7755.png","name":"7755"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":650.3511783489071,"rotation_z_degrees":63.45260614391084,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012891850634589013,0.009140933965837802,0.012209976145945555]},{"name":"camera_2","offset_m":[0.004536252042425311,0.01737968768362629,-0.01957746347794678]},{"name":"camera_3","offset_m":[-0.0021421652894650124,-0.006024246546654033,-0.017291195725667365]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00046457411755300004,0.0010698521634582249,-0.0019425140413043796],"end_effector_yaw_offset_degrees":0.943308194144229},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0008139519060332305,-0.00026531463470791427,0.00039150026930861873],"end_effector_yaw_offset_degrees":-0.1075848179947787},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001994985769031976,-0.0009601598676836356,-1.5646050885013887e-05],"end_effector_yaw_offset_degrees":-0.35763986622010324},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010910076985338577,-0.0012852090852049029,-0.0004813505915808344],"end_effector_yaw_offset_degrees":-0.6490258282953709}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0024532387254345353,-0.004263332001914838],"position_m":[0.16595323872543455,-0.15036333200191485,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004415311873513655,0.0024376644586421026],"position_m":[0.2694846881264863,-0.34636233554135787,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0033264833395648796,0.00021380042660745086],"position_m":[0.30397351666043515,0.2803138004266075,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004897343701971986,-0.0006041460800747332],"position_m":[0.354602656298028,0.05969585391992527,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"511baa7889fb65245ad28e53e1f725f2d0001284bd2c44f4cc85c9c6911781ec","episode_index":17,"episode_name":"episode_0017"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0017.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_9446/tex_ceiling_textures_7755/tex_floor_textures_6460/tex_table_textures_1351/tex_wall_textures_2182","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":812429047690920052,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":812429047690920052,"visual_seed":812429047690920052,"scene_id":"lab_003","finished_at":"2026-09-05T19:28:16"} +{"episode_id":"ep_000018","started_at":"2026-09-05T19:28:20","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_0","position":[-0.13424535951985783,0.5963857417799536,0.71338606911949],"aabb_xy":[[-0.20424535592981957,0.5759478061282717],[-0.064245363109896,0.6168236774316351]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_1","position":[0.06804204521088464,-2.006352876598799,0.71338606911949],"aabb_xy":[[0.03689512636730151,-2.0763528752856057],[0.09918896405446774,-1.9363528779119914]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_2","position":[-0.49879837395273385,-0.7831010004295291,0.71338606911949],"aabb_xy":[[-0.5325739331434268,-0.7971394956426942],[-0.4650228147620409,-0.7690625052163641]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_3","position":[-0.31637907597879805,-0.15439287691560244,0.71338606911949],"aabb_xy":[[-0.32728485206636077,-0.2343928733144316],[-0.30547329989123534,-0.07439288051677329]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_4","position":[0.12002815195756222,-1.1733557621613955,0.71338606911949],"aabb_xy":[[0.10335101596446672,-1.190055686135326],[0.13670528795065773,-1.1566558381874654]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_5","position":[0.308404069851125,-1.3918319004697695,0.71338606911949],"aabb_xy":[[0.30112175347446124,-1.481831904079278],[0.31568638622778855,-1.30183189686026]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_6","position":[0.3109388187144184,-0.8049180905514954,0.71338606911949],"aabb_xy":[[0.2734388180498396,-0.8206051485517175],[0.348438819378997,-0.7892310325512731]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_7","position":[-0.2621715729520229,1.6469457023279959,0.71338606911949],"aabb_xy":[[-0.2956117481480425,1.6135020764970658],[-0.2287313977560033,1.680389328158926]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_8","position":[-0.2369881385672311,-2.4430582758956367,0.71338606911949],"aabb_xy":[[-0.3009881349628042,-2.5070215643143703],[-0.17298814217165806,-2.379094987476903]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_9","position":[-0.3802061222685857,-0.3668782567202227,0.71338606911949],"aabb_xy":[[-0.4152061222450815,-0.37634287276783934],[-0.34520612229208986,-0.3574136406726061]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_10","position":[-0.16759813679109292,-2.0376934495395504,0.71338606911949],"aabb_xy":[[-0.17130139812023173,-2.041395467848268],[-0.163894875461954,-2.0339914312308327]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_11","position":[0.3748022888913547,-1.583840842337587,0.71338606911949],"aabb_xy":[[0.37072413098430496,-1.58792182258585],[0.37888044679840444,-1.5797598620893234]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_12","position":[-0.4314638296753733,-1.5633931934883532,0.71338606911949],"aabb_xy":[[-0.4601131620357895,-1.5920387527654287],[-0.40281449731495705,-1.5347476342112771]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_13","position":[0.58322502454016,-0.7827210413558614,0.71338606911949],"aabb_xy":[[0.5745270622494447,-0.7948460156633362],[0.5919229868308753,-0.7705960670483868]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_14","position":[0.0016460647354140656,-1.0359461723152081,0.71338606911949],"aabb_xy":[[-0.009598990835203769,-1.0471879700393034],[0.0128911203060319,-1.0247043745911129]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_15","position":[-0.5331050351907776,1.4304943984561818,0.71338606911949],"aabb_xy":[[-0.6131050356609935,1.4221836908418335],[-0.45310503472056163,1.43880510607053]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_16","position":[0.5644133793376267,-0.028086270630514942,0.71338606911949],"aabb_xy":[[0.5469133800595398,-0.045424370696860894],[0.5819133786157136,-0.010748170564168987]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_17","position":[0.5217347866301603,0.6405127236431665,0.71338606911949],"aabb_xy":[[0.484940153505254,0.6036068485465841],[0.5585294197550665,0.6774185987397486]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_18","position":[-0.14660138752109697,-1.4172545126281588,0.71338606911949],"aabb_xy":[[-0.15459487731637903,-1.4252526445686344],[-0.13860789772581497,-1.4092563806876832]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_19","position":[-0.5125412631785342,1.5710352131011356,0.71338606911949],"aabb_xy":[[-0.5765412596058562,1.5238655892790394],[-0.4485412667512124,1.6182048369232322]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6901026912459272,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9926.png","name":"9926"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9926.png","name":"9926"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7080.png","name":"7080"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5095.png","name":"5095"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5286.png","name":"5286"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/301.png","name":"301"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":502.6977381456754,"rotation_z_degrees":115.7572211493796,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012953738079169216,-0.0029256128250541337,0.01282103570369721]},{"name":"camera_2","offset_m":[0.017425649068227907,-0.005852175724619921,-0.006708349299454889]},{"name":"camera_3","offset_m":[-0.0032520126618446853,-7.229537100020972e-05,-0.01301175722390525]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0009904497905250955,0.001079137714668151,-0.0011540182538086518],"end_effector_yaw_offset_degrees":-0.5591717968695415},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0004071791087053268,0.0018054506185644485,0.0005741796731749777],"end_effector_yaw_offset_degrees":-0.011869929851551442},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001273345331699963,-0.0003671088346921367,-0.0012037860026058588],"end_effector_yaw_offset_degrees":-0.6839515833112202},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[7.215959151284394e-05,0.00046752149085869986,-0.00020562435719530107],"end_effector_yaw_offset_degrees":0.8495875193086198}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.001617435323442077,-0.004358878933232359],"position_m":[0.16188256467655793,-0.15045887893323237,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003530353725057034,-0.0034388058248162037],"position_m":[0.2703696462749429,-0.3522388058248162,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004198365268568576,0.0038808793033328235],"position_m":[0.3031016347314314,0.2839808793033328,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003113513607359771,0.004673497316976431],"position_m":[0.36261351360735977,0.06497349731697644,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3bfde139d25d00e309d70344df7857906b5a6b023c0f99379be9946dd6937e95","episode_index":18,"episode_name":"episode_0018"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0018.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_9926/tex_ceiling_textures_301/tex_floor_textures_5286/tex_table_textures_7080/tex_wall_textures_5095","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":2611217903780780615,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":2611217903780780615,"visual_seed":2611217903780780615,"scene_id":"lab_003","finished_at":"2026-09-05T19:31:45"} +{"episode_id":"ep_000019","started_at":"2026-09-05T19:31:49","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_0","position":[-0.03724683757114444,0.7536315298265639,0.71338606911949],"aabb_xy":[[-0.06509187435175157,0.7228470310882521],[-0.009401800790537325,0.7844160285648755]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_1","position":[0.03382861085808153,-1.8097437894484008,0.71338606911949],"aabb_xy":[[-0.016166400101370496,-1.8597437884839927],[0.08382362181753357,-1.7597437904128093]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_2","position":[-0.12269339623315667,-1.674820197731512,0.71338606911949],"aabb_xy":[[-0.186693396936626,-1.7208385802044333],[-0.05869339552968732,-1.6288018152585912]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_3","position":[0.5526769643834644,-0.13368034470203272,0.71338606911949],"aabb_xy":[[0.5439629953335298,-0.15618034536122088],[0.5613909334333987,-0.11118034404284445]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_4","position":[-0.009086233163912882,-2.4278410216081454,0.71338606911949],"aabb_xy":[[-0.016710501254091126,-2.435474245144689],[-0.0014619650737346375,-2.4202077980716017]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_5","position":[0.6034729909940688,1.78877550112287,0.71338606911949],"aabb_xy":[[0.5981404763394559,1.7834511728776343],[0.608805505648682,1.7940998293681054]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_6","position":[-0.3811359476330859,-0.6506806127679468,0.71338606911949],"aabb_xy":[[-0.38603523993964933,-0.6783575320705154],[-0.37623665532652234,-0.6230036934653779]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_7","position":[-0.3909462200655452,-1.5876524010886752,0.71338606911949],"aabb_xy":[[-0.47466844556562765,-1.6776524046233714],[-0.30722399456546273,-1.4976523975539795]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_8","position":[-0.48125912429699014,-2.2171317465580347,0.71338606911949],"aabb_xy":[[-0.5283885032988258,-2.281131747602436],[-0.4341297452951544,-2.1531317455136323]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_9","position":[0.292159680221725,-1.0121647072941666,0.71338606911949],"aabb_xy":[[0.2766039108114598,-1.0277151405385738],[0.3077154496319903,-0.9966142740497594]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_10","position":[0.5062389704780541,0.6872813650382348,0.71338606911949],"aabb_xy":[[0.46123896901182526,0.6422815081767541],[0.551238971944283,0.7322812218997155]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_11","position":[0.07085240906960422,-0.9148609276935291,0.71338606911949],"aabb_xy":[[0.033352408405025506,-0.9305479856937511],[0.1083524097341829,-0.8991738696933067]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_12","position":[-0.5779233838608042,0.611145860731312,0.71338606911949],"aabb_xy":[[-0.6419233841212749,0.566137061378384],[-0.5139233836003333,0.6561546600842401]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_13","position":[-0.17401335263848083,1.0508755398150726,0.71338606911949],"aabb_xy":[[-0.18648071074821648,1.0384102151817491],[-0.16154599452874518,1.0633408644483962]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_14","position":[-0.5603153764895401,-0.7599064676812206,0.71338606911949],"aabb_xy":[[-0.6243153737751889,-0.8014131866340647],[-0.49631537920389157,-0.7183997487283768]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_15","position":[0.6337014083873442,-0.6190363419377434,0.71338606911949],"aabb_xy":[[0.5987014100766488,-0.626751356861289],[0.6687014066980397,-0.6113213270141977]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_16","position":[0.19764566795455318,1.270888471148833,0.71338606911949],"aabb_xy":[[0.13364566573414613,1.2265153870235448],[0.2616456701749602,1.3152615552741214]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_17","position":[0.29790959690361574,0.9863635605033756,0.71338606911949],"aabb_xy":[[0.2667626780600326,0.9163635618165683],[0.32905651574719885,1.0563635591901828]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_18","position":[0.1623873435644838,1.521859378103556,0.71338606911949],"aabb_xy":[[0.112387342613951,1.4903102311000347],[0.21238734451501662,1.5534085251070775]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_19","position":[-0.3853770612066059,-0.526952931732104,0.71338606911949],"aabb_xy":[[-0.3947240687889012,-0.541256553949748],[-0.37603005362431074,-0.51264930951446]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_20","position":[-0.34371438543424193,0.4419096810978975,0.71338606911949],"aabb_xy":[[-0.433714387768261,0.36442732651278487],[-0.2537143831002229,0.5193920356830102]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_21","position":[-0.09939016718671467,-1.1418704047325674,0.71338606911949],"aabb_xy":[[-0.17939016584360068,-1.1563752636568305],[-0.01939016852982868,-1.1273655458083047]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_22","position":[-0.341474360290709,-0.09283667690525599,0.71338606911949],"aabb_xy":[[-0.3773878647156987,-0.1287501851220106],[-0.3055608558657193,-0.05692316868850137]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_23","position":[-0.6108827596966168,1.2987309186815708,0.71338606911949],"aabb_xy":[[-0.6758827582536895,1.2689783852676884],[-0.5458827611395438,1.3284834520954536]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_24","position":[-0.3005585283814694,-1.0082112907931382,0.71338606911949],"aabb_xy":[[-0.3555585280032153,-1.063194983580611],[-0.24555852875972362,-0.9532275980056655]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_25","position":[0.3034244192038411,-1.237359039886202,0.71338606911949],"aabb_xy":[[0.2864143219137904,-1.253493528384476],[0.3204345164938917,-1.221224551387928]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_26","position":[-0.26498247882725406,0.06628164897440181,0.71338606911949],"aabb_xy":[[-0.26982607358848404,0.06142999649541771],[-0.2601388840660241,0.07113330145338594]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_27","position":[-0.2854380787219554,1.7782706274041709,0.71338606911949],"aabb_xy":[[-0.31172690304239603,1.7519991937495194],[-0.2591492544015147,1.8045420610588219]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_28","position":[0.49527810722547816,-2.055048878279619,0.71338606911949],"aabb_xy":[[0.47277897149925113,-2.0775488790578818],[0.5177772429517051,-2.0325488775013563]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_29","position":[0.6720315478773367,0.18538629903393788,0.71338606911949],"aabb_xy":[[0.6491158349922868,0.16248200189751438],[0.6949472607623866,0.20829059617036141]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_30","position":[-0.5531928284231742,-0.2150911888046778,0.71338606911949],"aabb_xy":[[-0.5876551758213158,-0.24958507120250045],[-0.5187304810250322,-0.18059730640685506]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_31","position":[-0.43332166956202567,-1.1396985173000012,0.71338606911949],"aabb_xy":[[-0.45082166980707494,-1.1571983051395678],[-0.4158216693169762,-1.122198729460434]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_32","position":[-0.00374667357781433,1.3025881229467928,0.71338606911949],"aabb_xy":[[-0.03937582947777407,1.2669554561899399],[0.03188248232214541,1.3382207897036458]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_33","position":[0.40778119803234936,1.257787453620479,0.71338606911949],"aabb_xy":[[0.3665323870024346,1.202787454108261],[0.4490300090622641,1.312787453132696]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_34","position":[0.11027234032777755,-0.688334668043513,0.71338606911949],"aabb_xy":[[0.07580986231468977,-0.6949983452264357],[0.14473481834086532,-0.68167099086059]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6942656783068688,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/492.png","name":"492"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/492.png","name":"492"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3422.png","name":"3422"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7413.png","name":"7413"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/678.png","name":"678"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6195.png","name":"6195"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":843.4997028666791,"rotation_z_degrees":231.85632405794883,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01653990902326553,-0.005893163131620386,0.01857698477180383]},{"name":"camera_2","offset_m":[0.014967054525428816,-0.0180895863251988,0.0033421054519839413]},{"name":"camera_3","offset_m":[-0.011673678815099483,0.0014826841990325107,0.01919577221896372]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00016735683990545857,-0.00040130258941454937,-0.0016108520305104098],"end_effector_yaw_offset_degrees":0.6590340951675748},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0019098696565155015,0.0007381292287243981,-0.00130801600322831],"end_effector_yaw_offset_degrees":-0.4165261795707371},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001938521823565696,-0.0008930994065414809,0.0005611452822659869],"end_effector_yaw_offset_degrees":-0.7059186221726388},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005703775125469627,0.00011545489256828629,-3.3938881835163335e-05],"end_effector_yaw_offset_degrees":0.10505079445617316}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004510647259680333,-0.0008017410003810892],"position_m":[0.16801064725968035,-0.1469017410003811,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004092371628478774,0.0013376535899571381],"position_m":[0.27799237162847873,-0.34746234641004287,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00450575032604273,-0.0002834065763985781],"position_m":[0.3027942496739573,0.27981659342360143,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00011212699667584227,0.0011296870436420725],"position_m":[0.35938787300332414,0.06142968704364207,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3403ccf54d17ddf13a7d7ae4c6a3491506a529532370e2be1bd5e6ded80611fa","episode_index":19,"episode_name":"episode_0019"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0019.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_492/tex_ceiling_textures_6195/tex_floor_textures_678/tex_table_textures_3422/tex_wall_textures_7413","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":7926647856216900328,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":7926647856216900328,"visual_seed":7926647856216900328,"scene_id":"lab_003","finished_at":"2026-09-05T19:35:11"} +{"episode_id":"ep_000020","started_at":"2026-09-05T19:35:15","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_0","position":[0.6657506506327373,-0.4550931199396455,0.71338606911949],"aabb_xy":[[0.6311595677786919,-0.5200931202246765],[0.7003417334867823,-0.3900931196546144]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_1","position":[-0.3419538495860455,-0.6019889595134573,0.71338606911949],"aabb_xy":[[-0.34690986977092675,-0.624488959715579],[-0.3369978294011643,-0.5794889593113358]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_2","position":[0.5868383772737136,0.561661078046487,0.71338606911949],"aabb_xy":[[0.5692600750847667,0.544086588472382],[0.6044166794626604,0.5792355676205918]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_3","position":[-0.1739844458445774,-1.8549950476529635,0.71338606911949],"aabb_xy":[[-0.2539844463147934,-1.8633057552673118],[-0.09398444537436149,-1.8466843400386153]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_4","position":[0.6541101965063403,1.4893595725592337,0.71338606911949],"aabb_xy":[[0.5901101979197678,1.442352609159725],[0.7181101950929127,1.5363665359587424]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_5","position":[0.2824667775547762,0.5336385621571731,0.71338606911949],"aabb_xy":[[0.259953085731319,0.46363856155616545],[0.30498046937823337,0.6036385627581805]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_6","position":[0.15192180428906854,-0.6071545380795098,0.71338606911949],"aabb_xy":[[0.14800793109364602,-0.6159035534860666],[0.15583567748449106,-0.598405522672953]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_7","position":[0.40938405277758805,0.5584561386598832,0.71338606911949],"aabb_xy":[[0.4000370451952928,0.544152516442239],[0.4187310603598833,0.5727597608775271]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_8","position":[-0.05482892662032468,0.6657339119074921,0.71338606911949],"aabb_xy":[[-0.12482892842907012,0.6443801431433046],[0.015171075188420757,0.6870876806716794]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_9","position":[-0.487015236067343,-2.1162877747043254,0.71338606911949],"aabb_xy":[[-0.5214775834654848,-2.150781657102147],[-0.4525528886692012,-2.081793892306502]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_10","position":[-0.4437976024035314,-0.060151119905372585,0.71338606911949],"aabb_xy":[[-0.4937706679360469,-0.1101511197179055],[-0.393824536871016,-0.010151120092839689]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_11","position":[-0.18864720440510963,-2.0672341416809648,0.71338606911949],"aabb_xy":[[-0.2436209264414425,-2.122234141245198],[-0.13367348236877674,-2.0122341421167316]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_12","position":[-0.0660277091350745,-1.9706847707604722,0.71338606911949],"aabb_xy":[[-0.08303780642512514,-1.9868192592587461],[-0.04901761184502383,-1.9545502822621983]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_13","position":[-0.2770403503431029,0.47919940663284777,0.71338606911949],"aabb_xy":[[-0.2999560632281528,0.4562951094964243],[-0.254124637458053,0.5021037037692713]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_14","position":[0.0984523723960059,-1.6919851790920521,0.71338606911949],"aabb_xy":[[0.08651963803417784,-1.7043673318999115],[0.11038510675783397,-1.6796030262841928]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_15","position":[-0.13357638194078358,-1.550466144500848,0.71338606911949],"aabb_xy":[[-0.1614214187213907,-1.58125064323916],[-0.10573134516017646,-1.5196816457625366]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_16","position":[0.5965715416004966,0.7371849291011037,0.71338606911949],"aabb_xy":[[0.5165715441969031,0.6571923579029209],[0.67657153900409,0.8171775002992865]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_17","position":[0.6482910261059849,1.7475588492445033,0.71338606911949],"aabb_xy":[[0.640297536310703,1.7395607173040282],[0.656284515901267,1.7555569811849794]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_18","position":[0.5925837666024025,1.049580354416563,0.71338606911949],"aabb_xy":[[0.5662949422819619,1.0233089207619115],[0.6188725909228432,1.075851788071214]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_19","position":[0.5026377508698945,-1.5287747694025415,0.71338606911949],"aabb_xy":[[0.4326377492676151,-1.5422075626041991],[0.5726377524721741,-1.515341976200884]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_20","position":[-0.1324701026974875,1.720344506853095,0.71338606911949],"aabb_xy":[[-0.1513544864659977,1.7014585820727424],[-0.11358571892897729,1.739230431633448]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_21","position":[0.5989766157685337,1.2728382400613456,0.71338606911949],"aabb_xy":[[0.5579586723821628,1.2228382394303883],[0.6399945591549046,1.322838240692303]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_22","position":[0.5843160669993956,-2.281356614980669,0.71338606911949],"aabb_xy":[[0.5343160674230609,-2.3313371939327756],[0.6343160665757304,-2.2313760360285637]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_23","position":[-0.6230805957497778,-1.7469060769842881,0.71338606911949],"aabb_xy":[[-0.6870805949195478,-1.7936727641032508],[-0.5590805965800079,-1.7001393898653259]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_24","position":[0.060640089717363455,-1.8818094457031682,0.71338606911949],"aabb_xy":[[-0.009359906692598346,-1.9022473813548493],[0.13064008612732522,-1.8613715100514858]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_25","position":[-0.538899440145798,1.0535838170953506,0.71338606911949],"aabb_xy":[[-0.5433300695006382,1.0481354453606684],[-0.5344688107909579,1.0590321888300334]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_26","position":[-0.4288974945334323,1.1435296568434614,0.71338606911949],"aabb_xy":[[-0.46639749532542774,1.137161815885271],[-0.39139749374143684,1.1498974978016514]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_27","position":[-0.3404882757793628,0.6017528917420525,0.71338606911949],"aabb_xy":[[-0.4044882730650115,0.5602461727892085],[-0.2764882784937142,0.6432596106948965]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_28","position":[0.060999990001412985,1.436321142339248,0.71338606911949],"aabb_xy":[[-0.019000011428714214,1.3568039873266384],[0.14099999143154018,1.5158382973518574]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_29","position":[-0.16038368973912065,-0.6145143585043076,0.71338606911949],"aabb_xy":[[-0.22438368685122634,-0.6635467282987181],[-0.09638369262701496,-0.5654819887098969]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_30","position":[-0.04797330275175171,0.5622850120573042,0.71338606911949],"aabb_xy":[[-0.06547323618573508,0.5447850121370696],[-0.030473369317768333,0.5797850119775387]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6896367579391971,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1929.png","name":"1929"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1929.png","name":"1929"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9575.png","name":"9575"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1465.png","name":"1465"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3236.png","name":"3236"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8175.png","name":"8175"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":538.214666208233,"rotation_z_degrees":315.22599509566527,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010671814886831107,-0.006399549113632896,-0.009706070207377664]},{"name":"camera_2","offset_m":[0.010200689673323628,-0.018097870270243784,0.01936579214528274]},{"name":"camera_3","offset_m":[-0.005431174045460776,-0.017301144050199842,-0.015604727324464922]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0004021689105471668,0.001380489789155186,0.0009978413989136458],"end_effector_yaw_offset_degrees":0.3854003705229012},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0013813365727834682,0.0007176005663916832,0.0010607694111706713],"end_effector_yaw_offset_degrees":-0.39928061594735076},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0010952013370994123,0.0013398849875875338,0.0004191729098381681],"end_effector_yaw_offset_degrees":0.8487789994375496},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0006489796421627644,-0.0004142559350255679,0.001976645536936622],"end_effector_yaw_offset_degrees":-0.5517001357729814}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0012717918883227005,-0.0041922097795618445],"position_m":[0.1647717918883227,-0.15029220977956184,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0010177509080520298,0.0017539665774978785],"position_m":[0.27288224909194797,-0.3470460334225021,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0009442919484940722,-0.002827530840928122],"position_m":[0.30635570805150597,0.2772724691590719,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0019887401821522955,0.004990869566358182],"position_m":[0.3575112598178477,0.06529086956635818,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3d9eb5b297c680dda14fac58be182cbf83ab09fae30a1f382dadce7bef801c0e","episode_index":20,"episode_name":"episode_0020"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0020.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_1929/tex_ceiling_textures_8175/tex_floor_textures_3236/tex_table_textures_9575/tex_wall_textures_1465","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":3095363020906677513,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":3095363020906677513,"visual_seed":3095363020906677513,"scene_id":"lab_003","finished_at":"2026-09-05T19:38:46"} +{"episode_id":"ep_000021","started_at":"2026-09-05T19:38:49","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_0","position":[0.5759078221335214,-2.188435136404863,0.71338606911949],"aabb_xy":[[0.5402786662335617,-2.224067803161716],[0.6115369780334812,-2.15280246964801]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_1","position":[-0.28765427845754543,-2.3434530329991126,0.71338606911949],"aabb_xy":[[-0.2956477682528275,-2.351451164939588],[-0.27966078866226346,-2.335454901058637]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_2","position":[-0.10314354077492305,-0.4422943071589227,0.71338606911949],"aabb_xy":[[-0.11824584223594112,-0.4573958287899844],[-0.08804123931390492,-0.4271927855278608]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_3","position":[0.6356310730473596,1.580216327407706,0.71338606911949],"aabb_xy":[[0.5706310720902322,1.5282681154740003],[0.7006310740044867,1.6321645393414115]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_4","position":[0.6497297698486801,0.2747465868859087,0.71338606911949],"aabb_xy":[[0.6456516119416305,0.2706656066376454],[0.6538079277557298,0.278827567134172]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_5","position":[-0.6835377954777446,1.066631263730184,0.71338606911949],"aabb_xy":[[-0.6895043344184804,1.0606701190708199],[-0.6775712565370089,1.0725924083895482]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_6","position":[0.23419300418860967,-1.233487190123539,0.71338606911949],"aabb_xy":[[0.22328722810104693,-1.313487186522368],[0.24509878027617235,-1.1534871937247098]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_7","position":[-0.17764569593492008,0.7365829107733597,0.71338606911949],"aabb_xy":[[-0.21264569583093892,0.7282086752614197],[-0.14264569603890118,0.7449571462852996]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_8","position":[0.510907569612701,-0.7820095921033068,0.71338606911949],"aabb_xy":[[0.4659149828942506,-0.8270095913777554],[0.5559001563311514,-0.7370095928288579]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_9","position":[-0.6289820108003726,0.6140522759985716,0.71338606911949],"aabb_xy":[[-0.639063717878946,0.5340522781064568],[-0.618900303721799,0.6940522738906861]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_10","position":[0.582099715764876,-1.4216049704213147,0.71338606911949],"aabb_xy":[[0.5766417701278559,-1.5016049737289738],[0.587557661401896,-1.3416049671136556]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_11","position":[-0.4233800980123399,-2.0384342683397803,0.71338606911949],"aabb_xy":[[-0.44587923373856686,-2.0609342691180434],[-0.4008809622861129,-2.015934267561518]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_12","position":[0.019025331457406147,1.0171666475561896,0.71338606911949],"aabb_xy":[[-0.030952085407847437,0.9671666460669409],[0.06900274832265972,1.067166649045438]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_13","position":[-0.5668281862634768,-0.5200076445329169,0.71338606911949],"aabb_xy":[[-0.6568281885974957,-0.5974899991180296],[-0.4768281839294576,-0.44252528994780427]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_14","position":[-0.5527295314589902,-1.0136803181742187,0.71338606911949],"aabb_xy":[[-0.6427295311821642,-1.0367536707093983],[-0.46272953173581594,-0.9906069656390387]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_15","position":[-0.1883452156414882,0.4293350929037838,0.71338606911949],"aabb_xy":[[-0.21080998561289332,0.4068350920249233],[-0.1658804456700831,0.4518350937826443]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_16","position":[0.5736886086030089,0.4121548735665992,0.71338606911949],"aabb_xy":[[0.5361886101796085,0.39899065959876856],[0.6111886070264092,0.4253190875344298]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_17","position":[0.5123931206809711,-2.4081252777050968,0.71338606911949],"aabb_xy":[[0.4623931193200838,-2.4581031822805124],[0.5623931220418582,-2.358147373129681]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_18","position":[-0.38861263373511196,-2.467510958334478,0.71338606911949],"aabb_xy":[[-0.4185801906449376,-2.497510958632364],[-0.3586450768252863,-2.437510958036592]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_19","position":[0.13204865603976423,-2.539325842797936,0.71338606911949],"aabb_xy":[[0.12478740846935682,-2.5521128530614456],[0.13930990361017165,-2.5265388325344267]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_20","position":[-0.3975741887184102,1.176140294899683,0.71338606911949],"aabb_xy":[[-0.4225741879903725,1.1597949313035205],[-0.37257418944644793,1.1924856584958452]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_21","position":[-0.13233747355135528,-0.07238428160815369,0.71338606911949],"aabb_xy":[[-0.14163109178850583,-0.10988428009628759],[-0.12304385531420467,-0.03488428312001979]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_22","position":[0.12229490069463689,0.8623599661144379,0.71338606911949],"aabb_xy":[[0.05729490066033416,0.8156592894341107],[0.18729490072893962,0.9090606427947653]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6925773421839372,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8172.png","name":"8172"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8172.png","name":"8172"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6500.png","name":"6500"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9945.png","name":"9945"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3206.png","name":"3206"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3749.png","name":"3749"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":600.3557970126495,"rotation_z_degrees":64.75403581772807,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005053520426224284,0.0013767327062638376,-0.009560450576909338]},{"name":"camera_2","offset_m":[-0.016266670103923984,0.014216811207892605,0.003391982096643497]},{"name":"camera_3","offset_m":[0.011704471930588382,0.014258603781695137,0.00796937607849989]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0006578245668614449,0.0013835699554092524,-0.0011771233529688386],"end_effector_yaw_offset_degrees":-0.8300200507492161},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0017033713061924871,-0.0015321362823534589,0.0015903150547159637],"end_effector_yaw_offset_degrees":0.8021695236454458},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0013307337925220885,-0.0019537002970714894,0.0003562355368452487],"end_effector_yaw_offset_degrees":0.19921542330486441},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001719825578935374,-0.0002449533749574657,-0.0016119175620123642],"end_effector_yaw_offset_degrees":0.33481702789221046}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0009482138086593147,-0.0048716005602352265],"position_m":[0.1625517861913407,-0.15097160056023523,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0011828779685063785,-0.004331926900733232],"position_m":[0.2727171220314936,-0.35313192690073325,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003164314347208326,0.0034885500476324978],"position_m":[0.3041356856527917,0.2835885500476325,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002219622775851666,-0.0010414043446552047],"position_m":[0.3617196227758517,0.059258595655344797,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d0c91dfcc9c3a1e876ce16682f48dd4cb550d5939f3812598687d3eebd4af0bb","episode_index":21,"episode_name":"episode_0021"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0021.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_8172/tex_ceiling_textures_3749/tex_floor_textures_3206/tex_table_textures_6500/tex_wall_textures_9945","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":4473583271037741481,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":4473583271037741481,"visual_seed":4473583271037741481,"scene_id":"lab_003","finished_at":"2026-09-05T19:42:10"} +{"episode_id":"ep_000022","started_at":"2026-09-05T19:42:14","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_0","position":[-0.56485888701063,-2.1565320839884867,0.71338606911949],"aabb_xy":[[-0.606163430074366,-2.220532083556604],[-0.523554343946894,-2.0925320844203696]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_1","position":[0.4941863410541387,0.09995336001827049,0.71338606911949],"aabb_xy":[[0.4441863414778041,0.049972781066164554],[0.5441863406304736,0.14993393897037643]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_2","position":[-0.07895967044707797,-2.3065242125948946,0.71338606911949],"aabb_xy":[[-0.08811954939095458,-2.3130554306384314],[-0.06979979150320138,-2.2999929945513578]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_3","position":[-0.5045738348026434,1.493642582587945,0.71338606911949],"aabb_xy":[[-0.5163420215973009,1.4086425826827231],[-0.4928056480079859,1.5786425824931665]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_4","position":[0.07900968440369083,0.7562552303775929,0.71338606911949],"aabb_xy":[[0.029529263189732036,0.6922552324647411],[0.12849010561764962,0.8202552282904447]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_5","position":[-0.5733404084277062,1.170469283473727,0.71338606911949],"aabb_xy":[[-0.6373404101057035,1.1219518919944125],[-0.5093404067497088,1.218986674953041]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_6","position":[-0.263413270515769,1.669316163507648,0.71338606911949],"aabb_xy":[[-0.2822976542842792,1.6504302387272956],[-0.2445288867472588,1.6882020882880011]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_7","position":[0.6967405076858557,1.3312461929560957,0.71338606911949],"aabb_xy":[[0.6886128194925425,1.322332584545388],[0.7048681958791689,1.3401598013668035]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_8","position":[-0.33706915598007453,-0.8181749499424522,0.71338606911949],"aabb_xy":[[-0.41706915396085953,-0.8257764909043042],[-0.2570691579992894,-0.8105734089806003]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_9","position":[0.11076433765924731,-1.5427704517687377,0.71338606911949],"aabb_xy":[[0.103520571613002,-1.6227704499723399],[0.11800810370549265,-1.4627704535651351]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_10","position":[0.22165561698524527,0.7969891429757827,0.71338606911949],"aabb_xy":[[0.18415561580045245,0.7925709202797221],[0.259155618170038,0.8014073656718431]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_11","position":[0.41527842270406246,-1.5649297126430748,0.71338606911949],"aabb_xy":[[0.3653010058388088,-1.6149297141323231],[0.465255839569316,-1.514929711153826]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_12","position":[-0.4923199225635307,-0.950272558934995,0.71338606911949],"aabb_xy":[[-0.50247293811768,-0.9863421005077352],[-0.48216690700938125,-0.9142030173622545]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_13","position":[0.2855468310617011,-2.1528885355872833,0.71338606911949],"aabb_xy":[[0.20554683240481508,-2.1673933945115462],[0.3655468297185871,-2.1383836766630204]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_14","position":[-0.4701711216233432,-1.3615341613745835,0.71338606911949],"aabb_xy":[[-0.4883769452845909,-1.3725595619565751],[-0.45196529796209556,-1.3505087607925919]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_15","position":[-0.1154710757868288,-0.6377575434011193,0.71338606911949],"aabb_xy":[[-0.15047107491678446,-0.6435027644767833],[-0.08047107665687313,-0.6320123223254551]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_16","position":[0.1911005115883696,-0.5876141090733806,0.71338606911949],"aabb_xy":[[0.15766033639234997,-0.6210577349043105],[0.22454068678438918,-0.5541704832424503]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_17","position":[0.42754931479444536,-2.4809565028379224,0.71338606911949],"aabb_xy":[[0.33754931537607447,-2.5143319996821116],[0.5175493142128162,-2.447581005993732]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_18","position":[0.6784016936591786,1.472007860632282,0.71338606911949],"aabb_xy":[[0.6695996383502058,1.4641965344773529],[0.6872037489681512,1.479819186787211]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_19","position":[0.603193113478921,0.34443213918463167,0.71338606911949],"aabb_xy":[[0.5982938211723574,0.3167552198820629],[0.6080924057854844,0.37210905848720044]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_20","position":[-0.23762237123134183,0.3016343181497354,0.71338606911949],"aabb_xy":[[-0.24561586102662392,0.29363618620925974],[-0.22962888143605986,0.30963245009021106]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_21","position":[0.6639746432304652,-1.9154913640061002,0.71338606911949],"aabb_xy":[[0.6560513629917168,-1.9379913642441038],[0.6718979234692135,-1.892991363768097]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_22","position":[-0.2981523069895915,-2.1057832854484375,0.71338606911949],"aabb_xy":[[-0.3156522404235748,-2.1232832853686716],[-0.28065237355560807,-2.0882832855282025]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_23","position":[-0.5824850542304327,-0.6021077889061506,0.71338606911949],"aabb_xy":[[-0.5976479272073698,-0.6172732462012694],[-0.5673221812534956,-0.5869423316110319]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_24","position":[-0.12361351472221505,0.8405129849833677,0.71338606911949],"aabb_xy":[[-0.15401162582135863,0.8101060829816981],[-0.09321540362307146,0.8709198869850371]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_25","position":[-0.08202972839780087,-1.0855626028692675,0.71338606911949],"aabb_xy":[[-0.11251397852483103,-1.1355626026507635],[-0.05154547827077072,-1.0355626030877716]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6932823190990028,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7730.png","name":"7730"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7730.png","name":"7730"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9439.png","name":"9439"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5738.png","name":"5738"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2324.png","name":"2324"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7990.png","name":"7990"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":621.3145990887542,"rotation_z_degrees":12.369234264233548,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0120916650748029,0.012939654010755055,-0.00322590291235271]},{"name":"camera_2","offset_m":[0.013707648702755846,0.005151445946147061,0.012598724854117328]},{"name":"camera_3","offset_m":[0.01478977271694355,-4.610179888188751e-05,-0.017037897849051995]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0017082675194497355,-0.0013235768326893761,0.0004467989721065324],"end_effector_yaw_offset_degrees":-0.8013611241438263},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0011900422472204335,0.0015961606523610854,-0.000123316192354912],"end_effector_yaw_offset_degrees":0.16077953399869505},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0017341448035176202,0.001997441074458474,-0.0013339039586655525],"end_effector_yaw_offset_degrees":-0.3921398664050595},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0010888065740718633,3.7796703176171034e-05,0.0015096938564313506],"end_effector_yaw_offset_degrees":0.341376049722802}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.003477994030987479,-0.00485284264838065],"position_m":[0.16002200596901253,-0.15095284264838066,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0037004683310059043,0.0026257621833521306],"position_m":[0.2776004683310059,-0.34617423781664786,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003960624820372891,0.0038443906559663546],"position_m":[0.3033393751796271,0.2839443906559664,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0008328489456860414,0.0007685144190868265],"position_m":[0.360332848945686,0.061068514419086825,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1ea5e90cf576251c316c5c545ce8bfd73da6b2f6161db57a58ebf1819ff2d75f","episode_index":22,"episode_name":"episode_0022"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0022.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_7730/tex_ceiling_textures_7990/tex_floor_textures_2324/tex_table_textures_9439/tex_wall_textures_5738","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":3701628665264830740,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":3701628665264830740,"visual_seed":3701628665264830740,"scene_id":"lab_003","finished_at":"2026-09-05T19:45:33"} +{"episode_id":"ep_000023","started_at":"2026-09-05T19:45:37","dimensions":{"distractor":{"count":24,"items":[{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_0","position":[-0.5869721752608865,-0.7115759249807958,0.71338606911949],"aabb_xy":[[-0.6219721752373824,-0.7210405410284125],[-0.5519721752843907,-0.7021113089331793]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_1","position":[-0.6288470443942515,0.7427658041841143,0.71338606911949],"aabb_xy":[[-0.6656416775191578,0.705859929087532],[-0.5920524112693453,0.7796716792806966]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_2","position":[-0.5395010064223182,-1.3888911056301494,0.71338606911949],"aabb_xy":[[-0.6095010082310637,-1.4102448743943365],[-0.4695010046135728,-1.3675373368659618]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_3","position":[0.06224500178705206,0.9583898242677447,0.71338606911949],"aabb_xy":[[0.04445149485213562,0.9405900786719471],[0.0800385087219685,0.9761895698635424]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_4","position":[-0.6826841807636453,-0.29987985101338976,0.71338606911949],"aabb_xy":[[-0.6907205154649301,-0.3079179703178065],[-0.6746478460623604,-0.29184173170897293]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_5","position":[-0.40691954259463364,0.6514208714042247,0.71338606911949],"aabb_xy":[[-0.4412358197692515,0.6014208714310469],[-0.37260326542001565,0.7014208713774024]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_6","position":[0.36901892170352646,-1.8778211315788773,0.71338606911949],"aabb_xy":[[0.3333897658035667,-1.91345379833573],[0.4046480776034862,-1.8421884648220241]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_7","position":[0.3422080737738329,1.2820655615452208,0.71338606911949],"aabb_xy":[[0.3335101114831176,1.269940587237746],[0.3509060360645482,1.2941905358526955]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_8","position":[0.3838945015475117,1.6896746037250545,0.71338606911949],"aabb_xy":[[0.3747346226036351,1.6831433856815174],[0.3930543804913883,1.6962058217685916]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_9","position":[0.43857835448789206,0.37847777867900945,0.71338606911949],"aabb_xy":[[0.3924932632331606,0.3144777814264543],[0.48466344574262354,0.4424777759315645]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_10","position":[0.5564590367790347,-2.4907691274533645,0.71338606911949],"aabb_xy":[[0.5484650482013312,-2.498769207548455],[0.564453025356738,-2.482769047358274]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_11","position":[0.046931974852114866,-0.966856456202269,0.71338606911949],"aabb_xy":[[0.03989166491857788,-1.0468564556019404],[0.05397228478565187,-0.8868564568025976]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_12","position":[-0.08884546093396617,-1.7985161989488718,0.71338606911949],"aabb_xy":[[-0.10199670690525556,-1.8235161987055586],[-0.07569421496267682,-1.7735161991921855]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_13","position":[-0.0492811800323707,0.8953838325380947,0.71338606911949],"aabb_xy":[[-0.07924873694219636,0.865383832240209],[-0.01931362312254503,0.9253838328359805]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_14","position":[-0.4498332422324822,-1.217825350557899,0.71338606911949],"aabb_xy":[[-0.48668379016946983,-1.2553253513809328],[-0.4129826942954946,-1.1803253497348654]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_15","position":[-0.5521614273686523,-2.366637850168596,0.71338606911949],"aabb_xy":[[-0.6161614237959743,-2.4138074739906923],[-0.48816143094133047,-2.3194682263464994]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_16","position":[0.2312261333114366,0.9989531233648719,0.71338606911949],"aabb_xy":[[0.18124871644618296,0.9489531218756232],[0.2812035501766901,1.0489531248541202]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_17","position":[-0.35052084576732223,-0.4607534700913236,0.71338606911949],"aabb_xy":[[-0.3544813295370566,-0.4684213346768442],[-0.3465603619975879,-0.453085605505803]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_18","position":[-0.18324731268485583,-0.7373318140267577,0.71338606911949],"aabb_xy":[[-0.1948162934317924,-0.7623318141436896],[-0.17167833193791926,-0.7123318139098261]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_19","position":[-0.33895676053141194,-1.6914077719987397,0.71338606911949],"aabb_xy":[[-0.4039567616373552,-1.716373145066868],[-0.27395675942546865,-1.6664423989306114]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_20","position":[-0.04571429551483974,1.2511454084468996,0.71338606911949],"aabb_xy":[[-0.1257142957884467,1.1781958606211826],[0.03428570475876723,1.324094956272616]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_21","position":[-0.28900042613557314,1.6517294734596413,0.71338606911949],"aabb_xy":[[-0.31258554959946805,1.5867294712142095],[-0.26541530267167834,1.716729475705073]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_22","position":[-0.5679690848062924,-0.454008156143324,0.71338606911949],"aabb_xy":[[-0.6479690880703055,-0.46756818845223735],[-0.48796908154227925,-0.4404481238344107]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_23","position":[0.6020939573760522,-0.16970877417977315,0.71338606911949],"aabb_xy":[[0.5370939563755517,-0.2204951393344481],[0.6670939583765527,-0.11892240902509821]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6947444944627179,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8620.png","name":"8620"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8620.png","name":"8620"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4321.png","name":"4321"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7156.png","name":"7156"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/332.png","name":"332"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7533.png","name":"7533"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":627.4629069653562,"rotation_z_degrees":280.89037265437713,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0036633790210406185,-0.010962983224337393,0.017882202297139414]},{"name":"camera_2","offset_m":[-0.008790051144702856,-0.012049334050351659,-0.006786410573781083]},{"name":"camera_3","offset_m":[0.0032567623627643184,0.018784953357684594,-0.0039494264228481755]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0004908447393698211,0.0007499671069578044,0.0012059807760019],"end_effector_yaw_offset_degrees":0.8871297531183249},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0007563587154712573,-0.001819387246251313,0.0006696487800315846],"end_effector_yaw_offset_degrees":-0.9576724141369739},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0014757075269654862,-0.0019898793599980465,0.0008988426971913623],"end_effector_yaw_offset_degrees":-0.841710774649729},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0014869571516389528,0.000377772622934691,0.00115643140535841],"end_effector_yaw_offset_degrees":-0.12090192542505829}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0038142075364255516,0.002334452892041986],"position_m":[0.15968579246357445,-0.14376554710795802,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004125422136637081,0.00043895585371309977],"position_m":[0.27802542213663706,-0.3483610441462869,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00031564011490555887,0.004799041382400449],"position_m":[0.3069843598850945,0.28489904138240046,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0020047130102550936,0.003324300061072192],"position_m":[0.3615047130102551,0.0636243000610722,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9b7cf9ceb918c998434966ff11b701e352ad70eca635780215fe3576efe6261b","episode_index":23,"episode_name":"episode_0023"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0023.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_8620/tex_ceiling_textures_7533/tex_floor_textures_332/tex_table_textures_4321/tex_wall_textures_7156","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":7924020320624346533,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":7924020320624346533,"visual_seed":7924020320624346533,"scene_id":"lab_003","finished_at":"2026-09-05T19:49:01"} +{"episode_id":"ep_000024","started_at":"2026-09-05T19:49:05","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_0","position":[-0.21818711829128906,0.478425708078702,0.71338606911949],"aabb_xy":[[-0.28218711468686214,0.4144624196599684],[-0.15418712189571598,0.5423889964974355]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_1","position":[-0.4874542880873435,1.6772842357449362,0.71338606911949],"aabb_xy":[[-0.5152993248679506,1.6464997370066248],[-0.45960925130673635,1.7080687344832481]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_2","position":[0.22992696471158636,-1.605893962301618,0.71338606911949],"aabb_xy":[[0.17994401452410702,-1.6558939619441784],[0.2799099148990657,-1.5558939626590576]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_3","position":[-0.05675707747695269,-2.0257479793043367,0.71338606911949],"aabb_xy":[[-0.10675707691714831,-2.0757159037886526],[-0.006757078036757062,-1.97578005482002]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_4","position":[0.0019558671561163976,1.1193975478844358,0.71338606911949],"aabb_xy":[[-0.0355441314195044,1.1066612522208779],[0.0394558657317372,1.1321338435479937]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_5","position":[-0.1943992373344242,-0.8345000612368307,0.71338606911949],"aabb_xy":[[-0.23189923727819062,-0.8427931512716672],[-0.1568992373906578,-0.826206971201994]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_6","position":[-0.21728696753274718,0.6983675951840844,0.71338606911949],"aabb_xy":[[-0.259471381693578,0.6343675949068733],[-0.17510255337191646,0.7623675954612957]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_7","position":[-0.3454231295831312,-0.47485670196143426,0.71338606911949],"aabb_xy":[[-0.4154231329746932,-0.510172475664865],[-0.2754231261915692,-0.43954092825800334]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_8","position":[-0.360160572206411,-2.231201724849192,0.71338606911949],"aabb_xy":[[-0.44516057089848565,-2.263187588244071],[-0.27516057351433637,-2.1992158614543134]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_9","position":[-0.22684751503194395,1.2873063644015366,0.71338606911949],"aabb_xy":[[-0.3068475161050643,1.277528318064152],[-0.14684751395882362,1.2970844107389208]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_10","position":[0.547875552103761,-1.1501036641102071,0.71338606911949],"aabb_xy":[[0.5228755528317987,-1.1664490277063695],[0.5728755513757232,-1.1337583005140448]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_11","position":[0.3595961589766665,-2.1042406824382445,0.71338606911949],"aabb_xy":[[0.29559615663386496,-2.149181533682377],[0.4235961613194681,-2.059299831194112]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_12","position":[0.6136054544761564,-2.421967828609821,0.71338606911949],"aabb_xy":[[0.5916967723368053,-2.443868495429912],[0.6355141366155074,-2.4000671617897305]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_13","position":[-0.4017416157599114,-1.6249468385282342,0.71338606911949],"aabb_xy":[[-0.4516243126376076,-1.6749468377745091],[-0.35185891888221515,-1.5749468392819597]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_14","position":[0.422907546145052,-1.3013668384665749,0.71338606911949],"aabb_xy":[[0.3884451987469102,-1.3358607208643973],[0.4573698935431938,-1.266872956068752]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_15","position":[-0.023169943062510523,-2.4137610783354364,0.71338606911949],"aabb_xy":[[-0.10316994002554969,-2.4908367199792094],[0.05683005390052865,-2.3366854366916625]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_16","position":[0.6125090722871158,-1.5340118942524348,0.71338606911949],"aabb_xy":[[0.5625090706256209,-1.5840103365081373],[0.6625090739486105,-1.4840134519967318]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_17","position":[-0.5982619694389928,1.5017415811921775,0.71338606911949],"aabb_xy":[[-0.6091677455265555,1.4217415847933486],[-0.5873561933514301,1.5817415775910069]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_18","position":[-0.49489001674050453,-1.4383988600355062,0.71338606911949],"aabb_xy":[[-0.5588900170009753,-1.4834076593884342],[-0.43089001648003367,-1.3933900606825782]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_19","position":[-0.5781248708204071,-0.06713881324390147,0.71338606911949],"aabb_xy":[[-0.6234034857015563,-0.13113881259208515],[-0.5328462559392578,-0.003138813895717796]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_20","position":[0.15767604694256698,-1.1813944601951203,0.71338606911949],"aabb_xy":[[0.1351760466990516,-1.193599094854892],[0.18017604718608238,-1.1691898255353481]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_21","position":[-0.5481389022090708,0.30353092020262995,0.71338606911949],"aabb_xy":[[-0.5600109852205718,0.2185309205089796],[-0.5362668191975696,0.3885309198962803]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_22","position":[0.6799052207431076,1.4992982436065936,0.71338606911949],"aabb_xy":[[0.6624052873091242,1.4817982436863588],[0.6974051541770909,1.516798243526828]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_23","position":[-0.37127783548687254,-1.3139046198005846,0.71338606911949],"aabb_xy":[[-0.40860911201211514,-1.3485576745954369],[-0.33394655896162995,-1.2792515650057323]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_24","position":[0.34415678041496367,1.3586407249941388,0.71338606911949],"aabb_xy":[[0.3392574881084002,1.3309638056915698],[0.34905607272152717,1.3863176442967073]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_25","position":[0.5613641024069977,-1.0399196388191725,0.71338606911949],"aabb_xy":[[0.4973640991883599,-1.0866427507181806],[0.6253641056256356,-0.9931965269201639]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_26","position":[0.2462438888287165,-2.318723771996711,0.71338606911949],"aabb_xy":[[0.22866558663976966,-2.336298261570816],[0.26382219101766335,-2.301149282422606]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_27","position":[0.3326959258348505,0.698218842910928,0.71338606911949],"aabb_xy":[[0.3225429102807011,0.6621493013381874],[0.34284894138899985,0.7342883844836681]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_28","position":[0.07273921327214383,1.2132367688629442,0.71338606911949],"aabb_xy":[[0.06137747861885766,1.2018683024566559],[0.08410094792542998,1.224605235269232]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_29","position":[-0.38783987301048545,0.34765829781189517,0.71338606911949],"aabb_xy":[[-0.45183987338801906,0.2979130309610829],[-0.32383987263295183,0.39740356466270743]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_30","position":[0.6026548806370022,-0.859405903549139,0.71338606911949],"aabb_xy":[[0.5844490569757546,-0.8704313041311307],[0.6208607042982499,-0.8483805029671474]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_31","position":[-0.39365126292002933,1.4334910176257165,0.71338606911949],"aabb_xy":[[-0.45524202214402215,1.3694910195166698],[-0.3320605036960365,1.4974910157347636]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6903569776736471,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4948.png","name":"4948"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4948.png","name":"4948"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8759.png","name":"8759"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8390.png","name":"8390"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4923.png","name":"4923"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9142.png","name":"9142"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":648.1237496261703,"rotation_z_degrees":185.77599234634164,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01248616096767746,0.0030115130900492323,-0.002937117581428103]},{"name":"camera_2","offset_m":[-0.0050315719909368225,-0.017169920031059962,0.00012255156877984466]},{"name":"camera_3","offset_m":[-0.017749616401338396,-0.009470184027436183,0.018184274383218086]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0013241057231986458,-0.00047058739630096683,-0.0006374209794381028],"end_effector_yaw_offset_degrees":-0.3473427709315027},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0012902745681875084,-0.0014437998665298522,-0.0018370662195959047],"end_effector_yaw_offset_degrees":0.639947552954296},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0018260174758491013,0.00026469865495360985,-0.0016251174118790787],"end_effector_yaw_offset_degrees":-0.9220855501447984},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0003089114354742073,0.0001029292203390212,0.0006711056449268675],"end_effector_yaw_offset_degrees":0.16947647141747413}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.00495129667688743,0.0005374369096455278],"position_m":[0.15854870332311258,-0.14556256309035448,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0006202353662660689,0.0010056898653945214],"position_m":[0.27327976463373393,-0.3477943101346055,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0019591219539608733,-0.0049603052873350905],"position_m":[0.3092591219539609,0.2751396947126649,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004401209062828599,0.0049093189283236785],"position_m":[0.3639012090628286,0.06520931892832368,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"362a609f4cb1cb0f3e449eee284f95e04b9fcb9bf753ce6efd78ee9692608055","episode_index":24,"episode_name":"episode_0024"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0024.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_4948/tex_ceiling_textures_9142/tex_floor_textures_4923/tex_table_textures_8759/tex_wall_textures_8390","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":2362594371155437568,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":2362594371155437568,"visual_seed":2362594371155437568,"scene_id":"lab_003","finished_at":"2026-09-05T19:52:28"} +{"episode_id":"ep_000025","started_at":"2026-09-05T19:52:32","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_0","position":[0.6284325754106097,-0.8369205551813066,0.71338606911949],"aabb_xy":[[0.5938414925565644,-0.9019205554663375],[0.6630236582646548,-0.7719205548962754]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_1","position":[0.2806297536539878,-1.5107720286219084,0.71338606911949],"aabb_xy":[[0.26546688067705076,-1.5259374859170274],[0.2957926266309249,-1.4956065713267896]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_2","position":[-0.4489605445597381,0.6211967249653778,0.71338606911949],"aabb_xy":[[-0.5129605459677287,0.569407773441453],[-0.3849605431517474,0.6729856764893024]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_3","position":[0.08091465239772799,-2.23647456620416,0.71338606911949],"aabb_xy":[[0.06914646560307049,-2.3214745661093814],[0.09268283919238553,-2.1514745662989383]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_4","position":[-0.5109134936420113,-0.7883870002330231,0.71338606911949],"aabb_xy":[[-0.5334134941540519,-0.8108788585984213],[-0.48841349312997073,-0.7658951418676246]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_5","position":[-0.6724653508268147,1.4527886571258706,0.71338606911949],"aabb_xy":[[-0.6787774503631532,1.4470217178726519],[-0.6661532512904762,1.4585555963790897]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_6","position":[-0.17948756672224186,0.055332984619586245,0.71338606911949],"aabb_xy":[[-0.18360351683431447,0.05121742958674074],[-0.17537161661016915,0.059448539652431735]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_7","position":[0.630413190485849,0.7716060030081802,0.71338606911949],"aabb_xy":[[0.5929131893010561,0.7671877803121195],[0.6679131916706417,0.7760242257042406]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_8","position":[0.3827905806731178,-1.7424988997956619,0.71338606911949],"aabb_xy":[[0.3349844130593491,-1.8074989025027206],[0.4305967482868864,-1.6774988970886027]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_9","position":[0.010990796082495868,-1.227445341624971,0.71338606911949],"aabb_xy":[[-0.004893697182829284,-1.241798281923795],[0.02687528934782102,-1.2130924013261468]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_10","position":[0.4279633334827877,1.1866057455900236,0.71338606911949],"aabb_xy":[[0.3779633321219004,1.136627841014608],[0.47796333484367487,1.2365836501654393]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_11","position":[-0.42165847419550845,1.035062102999769,0.71338606911949],"aabb_xy":[[-0.5016584774595216,1.0215020706908557],[-0.3416584709314953,1.0486221353086824]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_12","position":[0.2166485268824212,-1.6704892298046203,0.71338606911949],"aabb_xy":[[0.2050795461354846,-1.695489229921552],[0.22821750762935775,-1.6454892296876886]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_13","position":[-0.42129703319922057,-0.7022916142006317,0.71338606911949],"aabb_xy":[[-0.4401814169677308,-0.7211775389809845],[-0.40241264943071037,-0.6834056894202789]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_14","position":[-0.05700576072163466,-0.9045085161082482,0.71338606911949],"aabb_xy":[[-0.11700576122948757,-0.9613552497941695],[0.0029942397862182664,-0.8476617824223269]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_15","position":[-0.15158532906935407,1.4473099847880069,0.71338606911949],"aabb_xy":[[-0.1612169652897837,1.437672672008298],[-0.14195369284892445,1.4569472975677158]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_16","position":[0.08798022231354796,0.7747963639261264,0.71338606911949],"aabb_xy":[[0.06275938545370828,0.7495726130732395],[0.11320105917338762,0.800020114779013]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_17","position":[0.18373169206564754,-1.7415895322896762,0.71338606911949],"aabb_xy":[[0.14873169293569186,-1.7473347533653405],[0.21873169119560318,-1.7358443112140123]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_18","position":[-0.3772810072587866,0.23527492335707167,0.71338606911949],"aabb_xy":[[-0.45728100591567256,0.22077006443280892],[-0.29728100860190054,0.2497797822813345]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_19","position":[-0.5112659386360935,-2.0494231943366477,0.71338606911949],"aabb_xy":[[-0.5462659399875751,-2.069782930293468],[-0.4762659372846117,-2.0290634583798264]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_20","position":[0.5508253399783019,0.503159110638415,0.71338606911949],"aabb_xy":[[0.48682533792856986,0.46306462754910704],[0.6148253420280338,0.543253593727723]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_21","position":[-0.5657240511852119,0.37130215267666555,0.71338606911949],"aabb_xy":[[-0.6157240524690517,0.3213232982860434],[-0.5157240499013718,0.4212810070672876]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_22","position":[-0.3544454949775235,-0.5246542480648748,0.71338606911949],"aabb_xy":[[-0.391945495769519,-0.5310220890230649],[-0.3169454941855281,-0.5182864071066847]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_23","position":[-0.22598156868187713,1.4618633026436858,0.71338606911949],"aabb_xy":[[-0.23011742501457735,1.424363303199329],[-0.22184571234917697,1.499363302088043]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_24","position":[0.3897715925375367,-1.556651855032715,0.71338606911949],"aabb_xy":[[0.38335777889435163,-1.5630616752803834],[0.3961854061807215,-1.5502420347850467]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_25","position":[-0.37460663112292014,0.13320684348490763,0.71338606911949],"aabb_xy":[[-0.3928124547841679,0.122181442902916],[-0.3564008074616725,0.14423224406689927]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_26","position":[-0.5554689190177132,-0.35656847868623176,0.71338606911949],"aabb_xy":[[-0.5841182513781293,-0.38521403796330755],[-0.5268195866572969,-0.32792291940915597]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_27","position":[0.21574123877560825,0.7045252513286702,0.71338606911949],"aabb_xy":[[0.19074123950364594,0.6881798877325078],[0.2407412380475705,0.7208706149248325]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6956681510303327,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5883.png","name":"5883"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5883.png","name":"5883"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1655.png","name":"1655"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4966.png","name":"4966"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9192.png","name":"9192"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2463.png","name":"2463"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":636.0713623246447,"rotation_z_degrees":351.50275319308025,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008678498639188171,-0.0127656645645189,-0.01733093650694359]},{"name":"camera_2","offset_m":[0.011245451399854757,0.018907262045203373,0.012172819063009845]},{"name":"camera_3","offset_m":[0.0020026031374385175,-0.011660191635011304,-0.013421686411342459]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0005673536633154579,0.0016415894562878154,-0.0016852230663285503],"end_effector_yaw_offset_degrees":0.2053834542818156},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00126507504444835,-0.0018224223686078807,-0.0006564868417509718],"end_effector_yaw_offset_degrees":-0.4342845746848276},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0017147789193065139,-0.0011173563175987328,-0.001737819019300555],"end_effector_yaw_offset_degrees":-0.7934016716431169},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00040111331956606115,0.0005755197269454288,0.001056807405662581],"end_effector_yaw_offset_degrees":0.20127432955693192}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0006199359582898002,-0.0037071718209260376],"position_m":[0.1641199359582898,-0.14980717182092604,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004586752915035164,-0.0006064240343442604],"position_m":[0.27848675291503516,-0.34940642403434424,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004770209163955204,-0.0005597842213366615],"position_m":[0.3025297908360448,0.27954021577866334,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0010907385118595252,0.00439023038097673],"position_m":[0.35840926148814045,0.06469023038097672,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"aca3244f1d13b1c2f007aec07541abd17b4b705f1945fecefcc47fde99895478","episode_index":25,"episode_name":"episode_0025"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0025.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_5883/tex_ceiling_textures_2463/tex_floor_textures_9192/tex_table_textures_1655/tex_wall_textures_4966","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":5004981155357718328,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":5004981155357718328,"visual_seed":5004981155357718328,"scene_id":"lab_003","finished_at":"2026-09-05T19:56:05"} +{"episode_id":"ep_000026","started_at":"2026-09-05T19:56:11","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_0","position":[-0.5059201646615572,0.06932599824135943,0.71338606911949],"aabb_xy":[[-0.5147013918087936,0.060546250952829284],[-0.4971389375143211,0.07810574552988958]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_1","position":[0.24282233037156864,-1.9972805130925602,0.71338606911949],"aabb_xy":[[0.1976510125233997,-2.061280510237099],[0.2879936482197376,-1.933280515948022]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_2","position":[0.491213098815398,-1.0691727114517238,0.71338606911949],"aabb_xy":[[0.48299855369971395,-1.0778493017493649],[0.4994276439310819,-1.0604961211540822]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_3","position":[0.5504293024661215,0.9452787006870005,0.71338606911949],"aabb_xy":[[0.49042930195826856,0.8884319670010792],[0.6104293029739744,1.0021254343729216]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_4","position":[-0.12524299098863545,0.44076434108596274,0.71338606911949],"aabb_xy":[[-0.1752429922724754,0.39078548669534063],[-0.07524298970479547,0.49074319547658485]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_5","position":[0.43855903511211514,-2.083294277724535,0.71338606911949],"aabb_xy":[[0.42921202752981996,-2.097597899942179],[0.4479060426944104,-2.068990655506891]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_6","position":[-0.5539121162540623,0.671641729921352,0.71338606911949],"aabb_xy":[[-0.5898256206790519,0.6357282217045971],[-0.5179986118290726,0.7075552381381064]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_7","position":[-0.46243939222337005,-0.2483258976716276,0.71338606911949],"aabb_xy":[[-0.48493939203727243,-0.25280051404210824],[-0.43993939240946767,-0.2438512813011469]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_8","position":[0.6732272913320307,0.08747068328674201,0.71338606911949],"aabb_xy":[[0.6387648133189429,0.08080700610381919],[0.7076897693451184,0.09413436046966484]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_9","position":[-0.4755682093527337,-2.3724882731451507,0.71338606911949],"aabb_xy":[[-0.5007890462125733,-2.3977120239980367],[-0.4503473724928939,-2.347264522292263]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_10","position":[-0.3229183585147911,1.1966479255501188,0.71338606911949],"aabb_xy":[[-0.387918356396439,1.1455242618435781],[-0.2579183606331434,1.2477715892566599]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_11","position":[-0.29524974802064424,-0.43719520790031474,0.71338606911949],"aabb_xy":[[-0.3852497516975623,-0.49862761447741905],[-0.205249744343726,-0.3757628013232103]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_12","position":[-0.09925331549255911,1.38003379962182,0.71338606911949],"aabb_xy":[[-0.1453384067472906,1.3160338023692648],[-0.05316822423782764,1.444033796874375]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_13","position":[0.17832169853183744,-2.4771964009316956,0.71338606911949],"aabb_xy":[[0.1412875891037777,-2.511573608265405],[0.21535580795989712,-2.442819193597986]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_14","position":[0.5730717415440019,-0.7677028948303946,0.71338606911949],"aabb_xy":[[0.5090717396316596,-0.8236140440884049],[0.6370717434563443,-0.711791745572384]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_15","position":[0.6968892849286596,-1.097265054532115,0.71338606911949],"aabb_xy":[[0.6907946570405414,-1.1058344490837837],[0.7029839128167781,-1.0886956599804463]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_16","position":[0.6536862980850502,-1.5214532940752277,0.71338606911949],"aabb_xy":[[0.5896863009729445,-1.570485663869638],[0.7176862951971559,-1.4724209242808168]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_17","position":[0.043323375631701744,1.4416548202081683,0.71338606911949],"aabb_xy":[[0.02040766274665184,1.418750523071745],[0.06623908851675164,1.464559117344592]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_18","position":[-0.528078761413818,-0.4396505743369832,0.71338606911949],"aabb_xy":[[-0.5920787616877963,-0.48971667453427115],[-0.4640787611398398,-0.3895844741396952]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_19","position":[0.27291681946734225,0.7993852434202902,0.71338606911949],"aabb_xy":[[0.1829168208728723,0.7831346571068691],[0.3629168180618122,0.8156358297337112]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_20","position":[-0.48964084030090455,-2.060054941333019,0.71338606911949],"aabb_xy":[[-0.5446363181215639,-2.1150549427669256],[-0.4346453624802451,-2.0050549398991118]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6913543047005375,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9178.png","name":"9178"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9178.png","name":"9178"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5875.png","name":"5875"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2839.png","name":"2839"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1295.png","name":"1295"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/816.png","name":"816"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":849.3301054834884,"rotation_z_degrees":247.11079849500388,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.001879438461453383,-0.0019796784101458534,0.0009904266426644347]},{"name":"camera_2","offset_m":[0.008134979646058513,0.0034450813885931846,0.01857036361480365]},{"name":"camera_3","offset_m":[0.0081767558197759,0.002117999468120798,0.0031608678199384274]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0019375104906155661,0.0010574935360839295,-0.0009116714448384],"end_effector_yaw_offset_degrees":0.4559784707838239},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[3.4201120270367646e-05,-0.0013908050927177568,0.0015113651772875117],"end_effector_yaw_offset_degrees":-0.24703086344205594},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0013296075746873919,-0.0007424245421511447,0.0009733539500465399],"end_effector_yaw_offset_degrees":0.9603574821406187},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0015544422551652635,5.509793352116536e-05,-0.0015336710285590023],"end_effector_yaw_offset_degrees":0.736816364855948}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004020077110427597,-0.004124281289266796],"position_m":[0.1594799228895724,-0.1502242812892668,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0001549869365550646,0.00035532671425735334],"position_m":[0.27405498693655506,-0.34844467328574263,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.002865162840918869,0.0001767226084022199],"position_m":[0.30443483715908115,0.28027672260840225,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0009026241237484181,0.0016034487064458171],"position_m":[0.3604026241237484,0.06190344870644582,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4e9045a159f67dccc32266c040ac9ce8a5ea0ca1ae7a7880c3f6b3672d480beb","episode_index":26,"episode_name":"episode_0026"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0026.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_9178/tex_ceiling_textures_816/tex_floor_textures_1295/tex_table_textures_5875/tex_wall_textures_2839","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":8026810052497848913,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":8026810052497848913,"visual_seed":8026810052497848913,"scene_id":"lab_003","finished_at":"2026-09-05T19:59:57"} +{"episode_id":"ep_000027","started_at":"2026-09-05T20:00:01","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_0","position":[0.0775229635722442,1.4204179984299148,0.71338606911949],"aabb_xy":[[0.06939527537893099,1.411504390019207],[0.08565065176555743,1.4293316068406225]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_1","position":[0.6053830478422297,0.03536573285221234,0.71338606911949],"aabb_xy":[[0.5716074886515369,0.021327237639047314],[0.6391586070329228,0.049404228065377365]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_2","position":[-0.25737517374942065,0.5914180951765253,0.71338606911949],"aabb_xy":[[-0.27325966701474574,0.5770651548777013],[-0.24149068048409544,0.6057710354753494]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_3","position":[-0.1044769016125322,1.3569252179298679,0.71338606911949],"aabb_xy":[[-0.12003267102279751,1.341374784685461],[-0.08892113220226697,1.3724756511742753]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_4","position":[-0.35345187999715627,-1.75835188072268,0.71338606911949],"aabb_xy":[[-0.40342517400041666,-1.8083518812772268],[-0.30347858599389577,-1.708351880168132]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_5","position":[-0.14321709883402833,-0.6845285721784249,0.71338606911949],"aabb_xy":[[-0.15251071707117891,-0.7220285706665587],[-0.13392348059687775,-0.6470285736902909]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_6","position":[-0.49323562633989104,-0.21643339357257618,0.71338606911949],"aabb_xy":[[-0.5582356273403914,-0.2672197587272511],[-0.42823562533939047,-0.16564702841790122]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_7","position":[-0.1151849108658819,-2.4314640700476313,0.71338606911949],"aabb_xy":[[-0.11926306877293164,-2.4355450502958944],[-0.11110675295883216,-2.4273830897993673]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_8","position":[-0.4269708818690569,0.9045418345588412,0.71338606911949],"aabb_xy":[[-0.49197088002497597,0.878245590008929],[-0.36197088371313785,0.9308380791087534]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_9","position":[-0.505352781474122,0.33650948051105267,0.71338606911949],"aabb_xy":[[-0.5603527810958678,0.28152578772358],[-0.45035278185237615,0.39149317329852545]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_10","position":[0.08252302834066583,-1.8577259569795546,0.71338606911949],"aabb_xy":[[0.01852303191334395,-1.9048955808016512],[0.14652302476798776,-1.8105563331574583]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_11","position":[-0.5947439465287413,0.5224576708845534,0.71338606911949],"aabb_xy":[[-0.6020051940991487,0.5096706606210439],[-0.5874826989583339,0.5352446811480629]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_12","position":[-0.2352915356301044,-1.0662438846600129,0.71338606911949],"aabb_xy":[[-0.25887665909399926,-1.1312438869054446],[-0.21170641216620958,-1.001243882414581]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_13","position":[-0.16495754250175754,0.7261331183494528,0.71338606911949],"aabb_xy":[[-0.18263317309035584,0.7084529020700501],[-0.14728191191315917,0.7438133346288556]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_14","position":[0.6517332260250059,-0.562652787390018,0.71338606911949],"aabb_xy":[[0.6398004916631779,-0.5750349401978775],[0.663665960386834,-0.5502706345821587]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_15","position":[0.5813237025457649,-0.48434871739182084,0.71338606911949],"aabb_xy":[[0.5733302127504829,-0.49234684933229655],[0.589317192341047,-0.47635058545134523]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_16","position":[-0.3164980398378982,0.23574897389980087,0.71338606911949],"aabb_xy":[[-0.36430420745166686,0.17074897119274188],[-0.26869187222412955,0.3007489766068598]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_17","position":[-0.28504244832500014,-1.2479099009041914,0.71338606911949],"aabb_xy":[[-0.31337215827354037,-1.2523706430979085],[-0.2567127383764599,-1.2434491587104743]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_18","position":[0.4978413213072399,0.9228292576057111,0.71338606911949],"aabb_xy":[[0.4869897150583643,0.9119699668780601],[0.5086929275561155,0.9336885483333621]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_19","position":[0.425475479896555,1.5197854692280317,0.71338606911949],"aabb_xy":[[0.40797548076218787,1.5099058421904437],[0.4429754790309222,1.5296650962656193]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_20","position":[-0.3720812772494738,-0.8540638789989541,0.71338606911949],"aabb_xy":[[-0.39458127677318117,-0.8765598264495748],[-0.34958127772576636,-0.8315679315483332]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6916802583679288,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4564.png","name":"4564"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4564.png","name":"4564"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8258.png","name":"8258"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4749.png","name":"4749"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8965.png","name":"8965"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/987.png","name":"987"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":842.77988403481,"rotation_z_degrees":150.01215350143255,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018817666725121977,0.012993792924987774,-0.014375195267037122]},{"name":"camera_2","offset_m":[0.009032985178507959,-0.010572458911366153,0.011412708333756617]},{"name":"camera_3","offset_m":[-0.0013041197078998007,0.002780257502613622,0.019780279074392736]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0001831765989306496,-0.0012344035735427524,-0.0011577050128396742],"end_effector_yaw_offset_degrees":-0.796067100275446},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0012156982661662079,-0.0016353554992700628,3.127264357969187e-05],"end_effector_yaw_offset_degrees":0.11259059410138361},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0009262156258154376,-0.001071494241298303,-0.0009502398537622723],"end_effector_yaw_offset_degrees":0.8504982108771315},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0016061721397008489,0.0009480477945760764,0.0005014927486946923],"end_effector_yaw_offset_degrees":0.6387118379027539}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0005568801653605291,-0.0025761426614944317],"position_m":[0.16405688016536055,-0.14867614266149443,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00042672435033158564,0.00017427021555826722],"position_m":[0.27432672435033156,-0.34862572978444173,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0033690750633688883,-0.0030479373685096457],"position_m":[0.3106690750633689,0.27705206263149035,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004063450493751645,0.0008196532855487314],"position_m":[0.35543654950624837,0.06111965328554873,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"42d262f9d201267d66601ce440ab2e730a3df23b3d6cfacc21220af663417e6b","episode_index":27,"episode_name":"episode_0027"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0027.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_4564/tex_ceiling_textures_987/tex_floor_textures_8965/tex_table_textures_8258/tex_wall_textures_4749","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":6465729373798526918,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":6465729373798526918,"visual_seed":6465729373798526918,"scene_id":"lab_003","finished_at":"2026-09-05T20:03:25"} +{"episode_id":"ep_000028","started_at":"2026-09-05T20:03:31","dimensions":{"distractor":{"count":24,"items":[{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_0","position":[-0.5123924523057344,-1.4133702231171943,0.71338606911949],"aabb_xy":[[-0.5242645353172355,-1.4983702228108446],[-0.5005203692942333,-1.328370223423544]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_1","position":[0.29573156898002195,-2.224964213288224,0.71338606911949],"aabb_xy":[[0.28701759993008735,-2.2474642139474112],[0.30444553802995633,-2.202464212629035]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_2","position":[-0.5637322102819607,-1.0532414780457324,0.71338606911949],"aabb_xy":[[-0.6087247970004112,-1.0982414773201812],[-0.5187396235635103,-1.0082414787712837]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_3","position":[0.35323799232705877,-1.2433944217553385,0.71338606911949],"aabb_xy":[[0.306108613325223,-1.30739442279974],[0.40036737132889433,-1.1793944207109361]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_4","position":[-0.010256104676083289,0.7051794634756994,0.71338606911949],"aabb_xy":[[-0.06025093760402489,0.6551794645804558],[0.03973872825185831,0.7551794623709429]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_5","position":[0.11540556307920502,-1.9751935909054765,0.71338606911949],"aabb_xy":[[0.030405564661781792,-2.0600678863677615],[0.20040556149662825,-1.8903192954431913]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_6","position":[0.5527822858734235,-0.035552394171313395,0.71338606911949],"aabb_xy":[[0.535282285628374,-0.053052182010880244],[0.5702822861184728,-0.01805260633174655]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_7","position":[-0.03498310030344831,1.6560598945361558,0.71338606911949],"aabb_xy":[[-0.07061225620340805,1.6204272277793028],[0.0006460555965114301,1.6916925612930087]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_8","position":[0.4471797877341359,-2.0593632043857215,0.71338606911949],"aabb_xy":[[0.39717978815780125,-2.109343783337828],[0.4971797873104707,-2.009382625433616]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_9","position":[-0.3426303025703904,1.2521264599836486,0.71338606911949],"aabb_xy":[[-0.351923920807541,1.2146264614955147],[-0.3333366843332398,1.2896264584717825]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_10","position":[-0.23206258688040737,0.9202727013699459,0.71338606911949],"aabb_xy":[[-0.26706258601036303,0.9145274802942815],[-0.19706258775045168,0.9260179224456098]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_11","position":[0.4295488805557164,1.7149923730326395,0.71338606911949],"aabb_xy":[[0.37956593036823694,1.6649923733900787],[0.4795318307431956,1.7649923726751995]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_12","position":[0.17444054286205724,0.6154530251651389,0.71338606911949],"aabb_xy":[[0.15657143510760174,0.601620117187928],[0.19230965061651273,0.6292859331423498]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_13","position":[-0.4470276776478595,1.0190146414993428,0.71338606911949],"aabb_xy":[[-0.4589604120096876,1.0066324886914837],[-0.4350949432860315,1.0313967943072024]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_14","position":[-0.29238929913137407,-0.32291798800202987,0.71338606911949],"aabb_xy":[[-0.372389299404981,-0.39586753582774653],[-0.21238929885776706,-0.24996844017631312]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_15","position":[-0.3009622776144625,-0.9799727893448604,0.71338606911949],"aabb_xy":[[-0.3168467708797876,-0.9943257296436845],[-0.2850777843491373,-0.9656198490460364]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_16","position":[-0.007992030881806778,-1.2802032081602008,0.71338606911949],"aabb_xy":[[-0.03049203089195507,-1.2942994277998041],[0.014507969128341514,-1.2661069885205976]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_17","position":[0.4111655449509759,-1.5340529665056464,0.71338606911949],"aabb_xy":[[0.4020056660070993,-1.5405841845491834],[0.4203254238948525,-1.5275217484621093]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_18","position":[0.4991249176792476,0.38655222244127385,0.71338606911949],"aabb_xy":[[0.4341249197976,0.335428558734733],[0.5641249155608956,0.4376758861478148]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_19","position":[0.3803861687885206,-2.5008407216906323,0.71338606911949],"aabb_xy":[[0.3305034719108244,-2.550840720936907],[0.43026886566621686,-2.4508407224443576]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_20","position":[-0.38758613237024425,-0.6910462926697285,0.71338606911949],"aabb_xy":[[-0.45158613095681666,-0.7380532560692371],[-0.32358613378367174,-0.6440393292702197]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_21","position":[0.23399664658558705,1.4544702038391768,0.71338606911949],"aabb_xy":[[0.22424065707641314,1.4447076697799424],[0.24375263609476092,1.4642327378984112]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_22","position":[-0.49907991751396685,1.292832698077837,0.71338606911949],"aabb_xy":[[-0.5890799140148384,1.2469210556593784],[-0.409079921013095,1.3387443404962949]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_23","position":[-0.03571251305035039,0.964318411365118,0.71338606911949],"aabb_xy":[[-0.04174952605101512,0.9582917102961699],[-0.029675500049685666,0.9703451124340663]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6923861546289872,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6238.png","name":"6238"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6238.png","name":"6238"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2.png","name":"2"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5542.png","name":"5542"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6780.png","name":"6780"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8412.png","name":"8412"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":732.820112742804,"rotation_z_degrees":226.84331000797965,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009246183180813512,0.014893101171876501,-0.011342343226422935]},{"name":"camera_2","offset_m":[0.00880573545452059,-0.0014383098746661646,-0.010445949323952472]},{"name":"camera_3","offset_m":[0.01057612128580777,-0.0117554617882187,-0.017888810520276927]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0006683078335542312,-0.0016702125088023175,0.00011308726802731952],"end_effector_yaw_offset_degrees":0.24263743192281395},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0008972289872242584,-9.050017087602717e-05,-0.00010631844650526071],"end_effector_yaw_offset_degrees":0.8719932740670246},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[1.8036808907590136e-06,-0.00030213275692259783,0.001388384048785037],"end_effector_yaw_offset_degrees":-0.8171154233800817},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008785293110084302,0.001076460696020585,-0.00031062433453404154],"end_effector_yaw_offset_degrees":-0.1778888991214187}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.002303366036025399,0.00027588337737656336],"position_m":[0.1658033660360254,-0.14582411662262346,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0019302769699969888,0.0013546857712012682],"position_m":[0.27583027696999696,-0.3474453142287987,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004237506220364681,-0.004680165780834583],"position_m":[0.30306249377963534,0.27541983421916544,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0009888104626451987,0.0035960681507266725],"position_m":[0.3585111895373548,0.06389606815072667,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c915c512ec26fb043bdd4d40888dfa7c4ad93ae35f96722db52630dbf13bf802","episode_index":28,"episode_name":"episode_0028"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0028.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_6238/tex_ceiling_textures_8412/tex_floor_textures_6780/tex_table_textures_2/tex_wall_textures_5542","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":2067843168298482813,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":2067843168298482813,"visual_seed":2067843168298482813,"scene_id":"lab_003","finished_at":"2026-09-05T20:06:49"} +{"episode_id":"ep_000029","started_at":"2026-09-05T20:06:54","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_0","position":[-0.06120348931799602,1.0174880838477733,0.71338606911949],"aabb_xy":[[-0.10338790347882677,0.9534880835705619],[-0.01901907515716529,1.0814880841249843]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_1","position":[-0.5900988064754352,0.4498129826124999,0.71338606911949],"aabb_xy":[[-0.6076771086643821,0.43223849303839496],[-0.5725205042864884,0.46738747218660476]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_2","position":[0.28584803953747806,1.4513536047669757,0.71338606911949],"aabb_xy":[[0.24881393010941835,1.416976397433266],[0.3228821489655378,1.485730812100685]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_3","position":[-0.5811292210526419,1.1723945850723747,0.71338606911949],"aabb_xy":[[-0.6040449339376918,1.1494902879359514],[-0.558213508167592,1.1952988822087984]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_4","position":[-0.27312382195876894,-1.7309485969213112,0.71338606911949],"aabb_xy":[[-0.28192587726774154,-1.7387599230762403],[-0.2643217666497961,-1.7231372707663821]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_5","position":[0.3001206844694928,-2.293610586713413,0.71338606911949],"aabb_xy":[[0.22012068750645364,-2.3706862283571866],[0.38012068143253197,-2.2165349450696397]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_6","position":[-0.12709082595917487,-1.9562309295966518,0.71338606911949],"aabb_xy":[[-0.14459082509354204,-1.9661105566342394],[-0.10959082682480771,-1.9463513025590637]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_7","position":[0.38678091914437673,-1.8443210539734736,0.71338606911949],"aabb_xy":[[0.3692809198662899,-1.8616591540398193],[0.40428091842246366,-1.8269829539071274]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_8","position":[-0.44367609736705144,-1.904493456122633,0.71338606911949],"aabb_xy":[[-0.4565480008679916,-1.9844934565364691],[-0.4308041938661113,-1.8244934557087968]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_9","position":[0.552448646878748,-0.9282716064521026,0.71338606911949],"aabb_xy":[[0.48744864684444533,-0.9749722831324299],[0.6174486469130508,-0.8815709297717753]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_10","position":[0.1831890616940327,1.0140652370722942,0.71338606911949],"aabb_xy":[[0.145689060178401,1.0028384640561492],[0.22068906320966442,1.0252920100884393]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_11","position":[0.6433415678487513,-0.5904785997408053,0.71338606911949],"aabb_xy":[[0.6277857984384861,-0.6060290329852126],[0.6588973372590167,-0.5749281664963982]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_12","position":[-0.2692340454474087,0.8426095412024002,0.71338606911949],"aabb_xy":[[-0.2745665601020217,0.8372852129571646],[-0.2639015307927957,0.8479338694476357]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_13","position":[0.6259873221392409,0.7844320821254307,0.71338606911949],"aabb_xy":[[0.5909873230092852,0.7786868610497665],[0.6609873212691966,0.7901773032010947]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_14","position":[-0.1283441620636505,-1.4377968164464616,0.71338606911949],"aabb_xy":[[-0.14525489449999227,-1.4512690220390763],[-0.11143342962730872,-1.424324610853847]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_15","position":[0.2736179632142054,-0.9408660245654108,0.71338606911949],"aabb_xy":[[0.2096179661020997,-0.9898983943598213],[0.3376179603263111,-0.8918336547710001]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_16","position":[0.5084667296189991,1.7964491778301368,0.71338606911949],"aabb_xy":[[0.4859667300952916,1.7739532303795156],[0.5309667291427064,1.8189451252807571]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_17","position":[-0.011993042514432228,-2.41065896660384,0.71338606911949],"aabb_xy":[[-0.07599304168420216,-2.457425653722802],[0.052006956655337715,-2.363892279484877]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_18","position":[0.16590959742647182,-1.7696682221134767,0.71338606911949],"aabb_xy":[[0.0759095980081009,-1.8030437189576662],[0.2559095968448427,-1.7362927252692868]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_19","position":[-0.5967746194126781,-0.41313996296119937,0.71338606911949],"aabb_xy":[[-0.6027411583534139,-0.41910110762056335],[-0.5908080804719422,-0.4071788183018353]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_20","position":[0.3623336643116897,0.37307884292575455,0.71338606911949],"aabb_xy":[[0.3497309651746132,0.36048344670088905],[0.37493636344876613,0.38567423915062005]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_21","position":[-0.36221705359953105,0.6450025423940269,0.71338606911949],"aabb_xy":[[-0.4122170552610257,0.595004100138324],[-0.31221705193803617,0.6950009846497295]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_22","position":[0.5401986303909516,1.67411420104473,0.71338606911949],"aabb_xy":[[0.502698630573918,1.669475989733588],[0.5776986302079851,1.6787524123558717]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_23","position":[-0.4967680283068268,-0.6303906831253332,0.71338606911949],"aabb_xy":[[-0.5867680306408459,-0.7078730377104459],[-0.40676802597280787,-0.5529083285402205]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_24","position":[0.6742920671528663,1.6255899786377754,0.71338606911949],"aabb_xy":[[0.6242920658690262,1.5756111242471533],[0.7242920684367061,1.6755688330283975]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_25","position":[-0.152012027016869,-0.6268271400333403,0.71338606911949],"aabb_xy":[[-0.17418455399351984,-0.6490028071894635],[-0.12983950004021816,-0.6046514728772171]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_26","position":[0.44860633079460266,-0.29610839188450466,0.71338606911949],"aabb_xy":[[0.42854791918136237,-0.3161734787936622],[0.46866474240784295,-0.2760433049753471]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_27","position":[-0.4988887447988102,-0.059687376502252754,0.71338606911949],"aabb_xy":[[-0.5788887419583855,-0.07123497746006979],[-0.41888874763923484,-0.048139775544435714]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_28","position":[0.6467620045748692,-1.7513718169212162,0.71338606911949],"aabb_xy":[[0.6395182385286238,-1.8313718151248186],[0.6540057706211144,-1.6713718187176139]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_29","position":[0.4746241843117178,0.7974398610994551,0.71338606911949],"aabb_xy":[[0.46591021526178333,0.7749398604402666],[0.4833381533616523,0.8199398617586431]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_30","position":[0.5421597299871388,0.28292596444495155,0.71338606911949],"aabb_xy":[[0.4621597278243762,0.20297078081880787],[0.6221597321499012,0.3628811480710951]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_31","position":[-0.24663970828474968,-0.9300593455857296,0.71338606911949],"aabb_xy":[[-0.2691534001082068,-1.0000593461867369],[-0.22412601646129243,-0.8600593449847219]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.692987394358669,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8300.png","name":"8300"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8300.png","name":"8300"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9759.png","name":"9759"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3498.png","name":"3498"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5589.png","name":"5589"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5629.png","name":"5629"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":665.0216358661091,"rotation_z_degrees":224.09590984372088,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012207738127506754,0.007648185979113421,-0.01096695669519423]},{"name":"camera_2","offset_m":[-0.0027691057690047184,-0.017820746688085132,-0.007576930446248343]},{"name":"camera_3","offset_m":[0.014535492151334772,-0.007633267146602134,-0.0052023143696746914]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0003077856588579056,-0.0014481892503586575,-0.0008218705062707401],"end_effector_yaw_offset_degrees":-0.35876006031431373},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-9.749510742054442e-05,-0.0011795568847764218,-0.0017476371563127202],"end_effector_yaw_offset_degrees":-0.48556596192050927},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0007888112313066404,-0.001549748980839153,-0.0002008837249624217],"end_effector_yaw_offset_degrees":0.20398976453460782},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0015275820282192446,0.0013070298875592044,0.0012763068745978482],"end_effector_yaw_offset_degrees":-0.8559326506994409}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0006897988450964209,-0.0007978519334790437],"position_m":[0.16281020115490358,-0.14689785193347904,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0035946860393047337,0.0030329797491301545],"position_m":[0.2774946860393047,-0.34576702025086986,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00016528185412079035,-0.004053173741711804],"position_m":[0.3071347181458792,0.2760468262582882,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004433461626657079,0.0008666940545095526],"position_m":[0.3639334616266571,0.06116669405450955,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f1b3d82e0293dc8b3372208aad700fbcf902d193ef35d9334b1e5371046282ec","episode_index":29,"episode_name":"episode_0029"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0029.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_8300/tex_ceiling_textures_5629/tex_floor_textures_5589/tex_table_textures_9759/tex_wall_textures_3498","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":8424249545601091105,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":8424249545601091105,"visual_seed":8424249545601091105,"scene_id":"lab_003","finished_at":"2026-09-05T20:10:27"} +{"episode_id":"ep_000030","started_at":"2026-09-05T20:10:31","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_0","position":[0.5743760365111652,-0.43996444988395567,0.71338606911949],"aabb_xy":[[0.5609295098771219,-0.4534343015370469],[0.5878225631452085,-0.42649459823086444]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_1","position":[-0.19639758146430303,0.9962424183591909,0.71338606911949],"aabb_xy":[[-0.2763975784273422,0.9191667767154172],[-0.11639758450126386,1.0733180600029641]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_2","position":[0.1854493771099237,1.7036293656856913,0.71338606911949],"aabb_xy":[[0.0954493734330055,1.6421969591085863],[0.27544938078684184,1.765061772262795]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_3","position":[-0.17990103356597653,0.5331120234910629,0.71338606911949],"aabb_xy":[[-0.19657816955907206,0.5164120995171326],[-0.16322389757288105,0.5498119474649932]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_4","position":[-0.2599602797110316,-0.3377452105313288,0.71338606911949],"aabb_xy":[[-0.2949602796070504,-0.3461194460432687],[-0.22496027981501268,-0.32937097501938883]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_5","position":[-0.32880912373056803,-1.8839851156335272,0.71338606911949],"aabb_xy":[[-0.37880912468110084,-1.9155342626370488],[-0.2788091227800352,-1.852435968630006]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_6","position":[0.07306459997017156,-1.7433834537292874,0.71338606911949],"aabb_xy":[[0.06507061139246817,-1.7513835338243775],[0.08105858854787495,-1.7353833736341968]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_7","position":[0.4781909159164648,-0.9916838002971773,0.71338606911949],"aabb_xy":[[0.47285840126185175,-0.9970081285424129],[0.4835234305710777,-0.9863594720519419]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_8","position":[-0.1077545953398007,-0.7057453118574772,0.71338606911949],"aabb_xy":[[-0.1165566506487734,-0.7135566380124062],[-0.09895254003082797,-0.697933985702548]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_9","position":[0.6416131040292596,0.5471011239883263,0.71338606911949],"aabb_xy":[[0.5916138288608236,0.49710112271237916],[0.6916123791976959,0.5971011252642735]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_10","position":[-0.14943155030994826,1.7431926162212315,0.71338606911949],"aabb_xy":[[-0.20442702813060762,1.688192614787324],[-0.09443607248928884,1.798192617655138]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_11","position":[8.485653922085667e-06,-1.508238549984201,0.71338606911949],"aabb_xy":[[-0.05762198323334876,-1.5682385489109112],[0.05763895454119293,-1.4482385510574902]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_12","position":[0.5390047622081928,-0.8163176900311198,0.71338606911949],"aabb_xy":[[0.5229428347496752,-0.9013176918437116],[0.5550666896667105,-0.7313176882185279]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_13","position":[-0.445222232461856,-1.1322954856442895,0.71338606911949],"aabb_xy":[[-0.49235161146369155,-1.196295486688691],[-0.3980928534600202,-1.068295484599887]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_14","position":[0.659939677651024,0.08175244973193552,0.71338606911949],"aabb_xy":[[0.6528993677174871,0.001752450332264122],[0.6669799875845611,0.16175244913160694]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_15","position":[-0.5566843445129157,0.7860422974240202,0.71338606911949],"aabb_xy":[[-0.6366843459430428,0.7065251424114107],[-0.4766843430827884,0.8655594524366297]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_16","position":[0.2003082324026747,1.2525528878436902,0.71338606911949],"aabb_xy":[[0.16599195522805674,1.2025528878705125],[0.2346245095772926,1.302552887816868]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_17","position":[-0.1574336464096625,-1.5212152786763218,0.71338606911949],"aabb_xy":[[-0.1682852526585381,-1.5320745694039728],[-0.1465820401607869,-1.5103559879486708]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_18","position":[-0.27583271483449495,-1.426156955972843,0.71338606911949],"aabb_xy":[[-0.31801712899532575,-1.4901569562500543],[-0.23364830067366427,-1.3621569556956319]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_19","position":[0.235290233443458,-1.092346647355841,0.71338606911949],"aabb_xy":[[0.1712902341492898,-1.1563327877246952],[0.2992902327376262,-1.0283605069869868]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6887323781630054,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/539.png","name":"539"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/539.png","name":"539"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8476.png","name":"8476"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9098.png","name":"9098"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1004.png","name":"1004"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9097.png","name":"9097"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":832.8809211566836,"rotation_z_degrees":136.3507248829284,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008557241363235222,-0.002740247832393971,0.010745955712612058]},{"name":"camera_2","offset_m":[-0.0064053752044685285,0.019298839032682678,0.0010679788830668252]},{"name":"camera_3","offset_m":[-0.010456776066242925,0.01635473582294063,-0.012126816517313297]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.000609276233291837,-0.0010064845522677914,-0.0018229443389868806],"end_effector_yaw_offset_degrees":0.015069498513498258},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0005491181647147591,0.0004269385351835359,0.0019715589562403274],"end_effector_yaw_offset_degrees":-0.10080346556933328},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00043486182478775105,-0.0014714563752658044,-0.001012175605144142],"end_effector_yaw_offset_degrees":-0.5224299305400113},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001545941689961893,0.001715595739824193,-0.0019395954033888457],"end_effector_yaw_offset_degrees":-0.5255723391471796}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.00481949041879009,0.0006946358146649881],"position_m":[0.1586805095812099,-0.145405364185335,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004407209849804208,-0.0022309149680539843],"position_m":[0.2694927901501958,-0.351030914968054,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0019417957103479802,0.0028561824024871266],"position_m":[0.30535820428965205,0.28295618240248716,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0015828141903328928,-0.0008603969317372588],"position_m":[0.3610828141903329,0.05943960306826274,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c5e01a96374894c98f1206a9e71e8a940762314cf46d8c2a4f34ef5cd184a1cc","episode_index":30,"episode_name":"episode_0030"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0030.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_539/tex_ceiling_textures_9097/tex_floor_textures_1004/tex_table_textures_8476/tex_wall_textures_9098","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":2970811969328011425,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":2970811969328011425,"visual_seed":2970811969328011425,"scene_id":"lab_003","finished_at":"2026-09-05T20:14:07"} +{"episode_id":"ep_000031","started_at":"2026-09-05T20:14:12","dimensions":{"distractor":{"count":26,"items":[{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_0","position":[0.6626848593849972,1.2278953527447865,0.71338606911949],"aabb_xy":[[0.657226913747977,1.1478953494371273],[0.6681428050220172,1.3078953560524456]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_1","position":[-0.30596660309316753,-2.0026394943472696,0.71338606911949],"aabb_xy":[[-0.31919754862784877,-2.0158669133692686],[-0.2927356575584862,-1.9894120753252698]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_2","position":[0.14072410309785366,-2.416784089807253,0.71338606911949],"aabb_xy":[[0.1102398529708235,-2.466784089588749],[0.1712083532248838,-2.366784090025757]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_3","position":[-0.29420477934890155,1.0061903949372173,0.71338606911949],"aabb_xy":[[-0.34920025716956093,0.9511903935033104],[-0.23920930152824216,1.0611903963711242]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_4","position":[-0.20647785570045896,-1.6568568001431894,0.71338606911949],"aabb_xy":[[-0.24094033371354676,-1.6635204773261119],[-0.1720153776873712,-1.6501931229602664]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_5","position":[0.575580763901012,-0.12545232822551222,0.71338606911949],"aabb_xy":[[0.5205807647244224,-0.18044200300046984],[0.6305807630776014,-0.07046265345055455]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_6","position":[-0.5738830822376669,1.246675671158172,0.71338606911949],"aabb_xy":[[-0.6113830820547004,1.24203745984703],[-0.5363830824206333,1.2513138824693137]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_7","position":[0.6390420903680867,-0.9914653134721179,0.71338606911949],"aabb_xy":[[0.5919127113662509,-1.0554653145165198],[0.6861714693699222,-0.9274653124277158]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_8","position":[0.4302129084343309,-0.9764971744657807,0.71338606911949],"aabb_xy":[[0.40521290926869785,-0.9834494201711372],[0.4552129075999641,-0.9695449287604241]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_9","position":[-0.39357332795259375,0.8383450643028842,0.71338606911949],"aabb_xy":[[-0.4310733281244657,0.8056443289199771],[-0.3560733277807218,0.8710457996857914]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_10","position":[-0.5234094156500039,-1.0986671997732427,0.71338606911949],"aabb_xy":[[-0.535281498661505,-1.183667199466893],[-0.5115373326385028,-1.0136672000795923]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_11","position":[0.5542585104531152,1.4142909755919324,0.71338606911949],"aabb_xy":[[0.5426895297061788,1.3892909754750007],[0.5658274912000519,1.439290975708864]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_12","position":[-0.49062769984976273,-1.6468230721261317,0.71338606911949],"aabb_xy":[[-0.5057905728266998,-1.6619885294212506],[-0.47546482687282565,-1.6316576148310131]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_13","position":[-0.1673614075185732,0.37664854486120625,0.71338606911949],"aabb_xy":[[-0.2323614075528759,0.32994786818087896],[-0.10236140748427044,0.42334922154153354]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_14","position":[0.471358639209559,0.12549775948831998,0.71338606911949],"aabb_xy":[[0.43706172819181827,0.09120087327837859],[0.5056555502272995,0.15979464569826132]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_15","position":[-0.48397602157022274,-1.9725263490456708,0.71338606911949],"aabb_xy":[[-0.5030883289282015,-1.9916611279229128],[-0.4648637142122439,-1.9533915701684288]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_16","position":[-0.5598959725291774,1.7103099503293682,0.71338606911949],"aabb_xy":[[-0.6498959711236475,1.694059364015947],[-0.4698959739347076,1.726560536642789]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_17","position":[-0.026947632544081057,1.1829299717806077,0.71338606911949],"aabb_xy":[[-0.03572885969131729,1.1741502244920776],[-0.018166405396844835,1.1917097190691381]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_18","position":[0.4464816322101983,-0.3058070730947029,0.71338606911949],"aabb_xy":[[0.43570865828883054,-0.3408070713137419],[0.4572546061315661,-0.2708070748756639]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_19","position":[0.7107958441639877,-1.959442258837166,0.71338606911949],"aabb_xy":[[0.6995507885933698,-1.9706840565612616],[0.7220408997346055,-1.948200461113071]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_20","position":[-0.6286239236191522,-0.03617075142943049,0.71338606911949],"aabb_xy":[[-0.6441796930294176,-0.0517211846738377],[-0.613068154208887,-0.020620318185023304]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_21","position":[0.46567966584668774,0.2539922537089878,0.71338606911949],"aabb_xy":[[0.4485775878883196,0.23688544817771806],[0.4827817438050559,0.27109905924025757]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_22","position":[0.364198996258674,0.6768968192536229,0.71338606911949],"aabb_xy":[[0.3597683669038339,0.6714484475189403],[0.36862962561351426,0.6823451909883055]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_23","position":[0.4401624869999208,-0.6288819754946045,0.71338606911949],"aabb_xy":[[0.38016248640390465,-0.6836944480398279],[0.500162487595937,-0.574069502949381]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_24","position":[0.6265874474050814,-0.43362083781718486,0.71338606911949],"aabb_xy":[[0.536900371096966,-0.5236208380716354],[0.7162745237131969,-0.34362083756273426]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_25","position":[-0.22378348262604192,1.5487629277031467,0.71338606911949],"aabb_xy":[[-0.23723000926008528,1.5352930760500554],[-0.21033695599199861,1.562232779356238]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6960047221993857,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9374.png","name":"9374"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9374.png","name":"9374"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/262.png","name":"262"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9158.png","name":"9158"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9368.png","name":"9368"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9601.png","name":"9601"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":657.47167810521,"rotation_z_degrees":48.3670456188116,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009442144053233608,0.0006591509468627001,-0.004443631441579093]},{"name":"camera_2","offset_m":[0.016225231560881365,0.018493520153977355,0.009464936622302824]},{"name":"camera_3","offset_m":[-0.008459931459004833,-0.002319037567803623,-0.005059748559444483]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00033817316125461317,-0.0013475702030507249,0.0016840590855746306],"end_effector_yaw_offset_degrees":0.009030345973137788},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00024195502834819626,0.00012898941780961062,-0.0017077513519673441],"end_effector_yaw_offset_degrees":0.013382116379984987},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001439708534886465,-0.0014164839665973057,-0.0016941088452909338],"end_effector_yaw_offset_degrees":-0.3942600708639745},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001717346642588104,0.001296607953417593,-0.0003058778447569974],"end_effector_yaw_offset_degrees":0.2013467721529585}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004762054078587637,-0.0022963651799996643],"position_m":[0.16826205407858763,-0.14839636517999968,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0035174304479189287,-0.0031070446196759275],"position_m":[0.2774174304479189,-0.3519070446196759,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004115255432030055,0.0004350461353977639],"position_m":[0.30318474456796995,0.28053504613539776,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003913318810807107,-0.0031802184087058264],"position_m":[0.3634133188108071,0.057119781591294175,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"fe12b5f6b871b1f16518dab3c66ee3a4def61294641c68bdb1c4bda0696dde7d","episode_index":31,"episode_name":"episode_0031"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0031.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_9374/tex_ceiling_textures_9601/tex_floor_textures_9368/tex_table_textures_262/tex_wall_textures_9158","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":2880485996955265579,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":2880485996955265579,"visual_seed":2880485996955265579,"scene_id":"lab_003","finished_at":"2026-09-05T20:17:35"} +{"episode_id":"ep_000032","started_at":"2026-09-05T20:17:40","dimensions":{"distractor":{"count":32,"items":[{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_0","position":[0.5129904879071863,-2.2598608464816214,0.71338606911949],"aabb_xy":[[0.4279904892151116,-2.2918467098765],[0.5979904865992609,-2.227874983086742]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_1","position":[0.6217957028325012,0.13398543759889803,0.71338606911949],"aabb_xy":[[0.5417957042451818,0.054669835660737125],[0.7017957014198206,0.2133010395370589]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_2","position":[-0.3207010953128034,0.8659320224419416,0.71338606911949],"aabb_xy":[[-0.327742546263551,0.858905270704147],[-0.3136596443620558,0.8729587741797361]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_3","position":[-0.5404157630213782,-0.43368479402061144,0.71338606911949],"aabb_xy":[[-0.6204157610021631,-0.4412863349824634],[-0.46041576504059306,-0.4260832530587595]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_4","position":[-0.6283792069107301,0.13191898421308057,0.71338606911949],"aabb_xy":[[-0.6458792060450972,0.12203935717549273],[-0.6108792077763628,0.14179861125066837]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_5","position":[0.4494610301906745,-0.32858039177783116,0.71338606911949],"aabb_xy":[[0.38946102854775266,-0.38058054106977535],[0.5094610318335964,-0.276580242485887]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_6","position":[0.5660012531751524,-1.635914946882298,0.71338606911949],"aabb_xy":[[0.552850007203863,-1.6609149466389848],[0.5791524991464417,-1.6109149471256117]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_7","position":[-0.3563779369993007,-0.9858201122911789,0.71338606911949],"aabb_xy":[[-0.3710213425533337,-1.0004788319479632],[-0.3417345314452677,-0.9711613926343946]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_8","position":[-0.34620247509961355,-2.49546580565908,0.71338606911949],"aabb_xy":[[-0.35031842521168616,-2.4995813606919253],[-0.34208652498754083,-2.491350250626234]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_9","position":[-0.5052226050345912,-1.763513575451063,0.71338606911949],"aabb_xy":[[-0.5108042766687199,-1.7760135752688382],[-0.49964093340046234,-1.7510135756332872]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_10","position":[0.31261763180736035,1.4538470809121615,0.71338606911949],"aabb_xy":[[0.28221952070821676,1.4234401789104918],[0.34301574290650394,1.4842539829138308]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_11","position":[-0.31320203303786065,0.7971928240469617,0.71338606911949],"aabb_xy":[[-0.3932020316947466,0.7826879651226989],[-0.2332020343809746,0.8116976829712245]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_12","position":[-0.16318287622209482,1.4637536461421479,0.71338606911949],"aabb_xy":[[-0.2531828727229665,1.4178420037236894],[-0.07318287972122305,1.509665288560606]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_13","position":[0.004681879299828329,1.762206927248148,0.71338606911949],"aabb_xy":[[-0.005729679380655384,1.7568611939122494],[0.015093437980312041,1.7675526605840461]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_14","position":[-0.459839201458242,0.07754494680585244,0.71338606911949],"aabb_xy":[[-0.5098392031197366,0.027546504550149727],[-0.40983919979674716,0.12754338906155513]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_15","position":[0.6455612957933776,-1.610988305238723,0.71338606911949],"aabb_xy":[[0.6368633335026623,-1.623113279546198],[0.6542592580840929,-1.5988633309312485]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_16","position":[-0.4718486409887642,-1.9240686558634654,0.71338606911949],"aabb_xy":[[-0.5568486394061876,-2.0089429513257504],[-0.38684864257134105,-1.8391943604011805]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_17","position":[-0.5796095846969216,-0.8926435271773665,0.71338606911949],"aabb_xy":[[-0.597040299775928,-0.9099156418412173],[-0.562178869617915,-0.8753714125135157]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_18","position":[0.5128608864994271,-1.0124930817639821,0.71338606911949],"aabb_xy":[[0.4763650658721482,-1.04897702419074],[0.5493567071267057,-0.9760091393372248]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_19","position":[0.3840708321134616,1.7790074739170767,0.71338606911949],"aabb_xy":[[0.34907083380276616,1.771292458993531],[0.41907083042415705,1.7867224888406223]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_20","position":[-0.6429105793656005,-1.49247290242234,0.71338606911949],"aabb_xy":[[-0.6628016192459408,-1.505128713707037],[-0.6230195394852603,-1.4798170911376431]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_21","position":[0.5020888836385307,1.2502286424140925,0.71338606911949],"aabb_xy":[[0.46475760711328806,1.2155755876192404],[0.5394201601637733,1.284881697208945]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_22","position":[0.4289525560099474,-2.0320621449852485,0.71338606911949],"aabb_xy":[[0.36495255563241374,-2.0818074118360603],[0.492952556387481,-1.9823168781344358]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_23","position":[-0.12006546906649396,-1.8294846211829197,0.71338606911949],"aabb_xy":[[-0.15436238008423459,-1.863781507392861],[-0.08576855804875332,-1.7951877349729783]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_24","position":[0.07470770994126086,-2.3366512690966403,0.71338606911949],"aabb_xy":[[0.06649316482557686,-2.3453278593942812],[0.08292225505694482,-2.3279746787989986]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_25","position":[0.6941473663271127,1.5630105883829688,0.71338606911949],"aabb_xy":[[0.6716473660835973,1.5508059537231966],[0.7166473665706281,1.5752152230427405]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_26","position":[0.38585711444216986,-0.6397678568667997,0.71338606911949],"aabb_xy":[[0.335864002332978,-0.6897678575409955],[0.4358502265513618,-0.5897678561926042]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_27","position":[0.32681177223107705,-1.0948373985354505,0.71338606911949],"aabb_xy":[[0.2468117719574701,-1.167786946361167],[0.40681177250468403,-1.0218878507097335]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_28","position":[0.5010964189861296,0.8999971795950725,0.71338606911949],"aabb_xy":[[0.4947843194497911,0.8942302403418538],[0.5074085185224679,0.9057641188482914]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_29","position":[-0.35040252321062226,-0.0859960296416542,0.71338606911949],"aabb_xy":[[-0.36164757878124004,-0.09723782736574949],[-0.3391574676400044,-0.07475423191755892]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_30","position":[-0.21417969049454844,-0.9301591050189959,0.71338606911949],"aabb_xy":[[-0.22433270604869773,-0.9662286465917361],[-0.20402667494039897,-0.8940895634462555]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_31","position":[-0.49739058072584535,-2.092134172109567,0.71338606911949],"aabb_xy":[[-0.5223905802775839,-2.102276655974702],[-0.47239058117410687,-2.0819916882444325]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.685954270530965,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9040.png","name":"9040"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9040.png","name":"9040"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2900.png","name":"2900"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5538.png","name":"5538"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2339.png","name":"2339"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9352.png","name":"9352"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":768.2825972848973,"rotation_z_degrees":225.01855492443715,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014629959759036876,-0.016005268236609506,0.018991432795545164]},{"name":"camera_2","offset_m":[-0.01073005064333704,0.01755639521150183,0.009194560745321066]},{"name":"camera_3","offset_m":[0.01532725539119575,-0.013726728394630926,-0.0175126541128282]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00038523453676849633,-0.0011021861832708588,-0.0010596203038564882],"end_effector_yaw_offset_degrees":0.01783339373713133},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.000242082367981316,-0.0014136265357521465,0.0010632569420649762],"end_effector_yaw_offset_degrees":0.22242607073123732},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0008516417117182609,-0.0007765598312866834,-0.0018695092580289577],"end_effector_yaw_offset_degrees":0.8983778267523526},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00044205990130154324,-0.0008530009537523183,-0.00017971625053465564],"end_effector_yaw_offset_degrees":-0.9455150122163372}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003181275487871696,-0.003908714548546957],"position_m":[0.1666812754878717,-0.15000871454854697,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004410300490696631,0.0032462065804546277],"position_m":[0.26948969950930335,-0.3455537934195454,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0016229511192501125,-0.00019395661503075062],"position_m":[0.3056770488807499,0.27990604338496927,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004377592877536136,0.0006494605654383204],"position_m":[0.35512240712246385,0.06094946056543832,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"89b4b417866b501f01fc2110f0975bda12e6b9dbbb85100838892de484dd0cc1","episode_index":32,"episode_name":"episode_0032"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0032.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_9040/tex_ceiling_textures_9352/tex_floor_textures_2339/tex_table_textures_2900/tex_wall_textures_5538","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":8176419789947284674,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":8176419789947284674,"visual_seed":8176419789947284674,"scene_id":"lab_003","finished_at":"2026-09-05T20:21:01"} +{"episode_id":"ep_000033","started_at":"2026-09-05T20:21:05","dimensions":{"distractor":{"count":30,"items":[{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_0","position":[0.04807823378632414,-2.4479075807317114,0.71338606911949],"aabb_xy":[[-0.04192176989059404,-2.5093399873088154],[0.1380782374632423,-2.3864751741546066]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_1","position":[0.5093777944456437,1.3674684578461669,0.71338606911949],"aabb_xy":[[0.5017535263554654,1.3598352343096232],[0.5170020625358219,1.3751016813827106]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_2","position":[-0.44689424829159563,-0.6818202366970338,0.71338606911949],"aabb_xy":[[-0.5108942503413276,-0.7219147197863417],[-0.38289424624186363,-0.6417257536077258]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_3","position":[0.3649389596744652,-1.3754520594756947,0.71338606911949],"aabb_xy":[[0.274938959951291,-1.3985254120108743],[0.45493895939763934,-1.3523787069405147]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_4","position":[-0.49278189130499495,0.04443160232016963,0.71338606911949],"aabb_xy":[[-0.5427818925888348,-0.005547252070452479],[-0.4427818900211549,0.09441045671079172]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_5","position":[-0.5998205348104144,-1.1617462686188542,0.71338606911949],"aabb_xy":[[-0.6223205346243168,-1.166220884989335],[-0.577320534996512,-1.1572716522483735]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_6","position":[0.6264467955727324,-0.9817363149351126,0.71338606911949],"aabb_xy":[[0.5765640986950361,-1.0317363141813876],[0.6763294924504285,-0.931736315688838]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_7","position":[-0.46782104720602147,-2.335262527046382,0.71338606911949],"aabb_xy":[[-0.5227947692423545,-2.3902625266106146],[-0.41284732516968864,-2.280262527482148]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_8","position":[-0.3769976439388935,1.2561697179623956,0.71338606911949],"aabb_xy":[[-0.4569976442125005,1.183220170136679],[-0.2969976436652865,1.3291192657881123]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_9","position":[0.3022681822660591,1.5547516744589154,0.71338606911949],"aabb_xy":[[0.2952267313153115,1.547724922721121],[0.3093096332168067,1.5617784261967098]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_10","position":[-0.3452832361816866,-1.415547043195327,0.71338606911949],"aabb_xy":[[-0.38278323769731826,-1.4267738162114718],[-0.30778323466605484,-1.4043202701791817]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_11","position":[-0.47436357217179753,1.4847249082680318,0.71338606911949],"aabb_xy":[[-0.5643635686726693,1.4388132658495734],[-0.3843635756709258,1.5306365506864898]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_12","position":[0.017183684493158102,-1.426299963722366,0.71338606911949],"aabb_xy":[[-0.032811326466293936,-1.4762999627579578],[0.06717869545261014,-1.3762999646867744]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_13","position":[0.488024920530687,0.26435061985397335,0.71338606911949],"aabb_xy":[[0.4505249202385122,0.2603091444533697],[0.5255249208228618,0.26839209525457697]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_14","position":[-0.3241011438344056,-2.5184100179552975,0.71338606911949],"aabb_xy":[[-0.38910114386870825,-2.5651106946356252],[-0.2591011438001028,-2.4717093412749707]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_15","position":[0.49501763046964364,-1.6914913620706713,0.71338606911949],"aabb_xy":[[0.4759053231116647,-1.7106261409479133],[0.5141299378276225,-1.6723565831934293]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_16","position":[0.22124926146449053,-1.9457639699184495,0.71338606911949],"aabb_xy":[[0.19624926219252825,-1.9621093335146118],[0.2462492607364528,-1.9294186063222871]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_17","position":[-0.1792597040472509,-1.133337613771802,0.71338606911949],"aabb_xy":[[-0.24325970047457282,-1.1805072375938988],[-0.11525970761992901,-1.0861679899497059]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_18","position":[0.6439082733137975,-1.5689964447825278,0.71338606911949],"aabb_xy":[[0.5939308564485438,-1.618996446271776],[0.693885690179051,-1.518996443293279]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_19","position":[0.20653167961574892,1.569680931527793,0.71338606911949],"aabb_xy":[[0.1846419320268081,1.4796809342385442],[0.2284214272046897,1.6596809288170424]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_20","position":[0.4146218818947103,-1.7116161140200694,0.71338606911949],"aabb_xy":[[0.40733956551804645,-1.8016161176295777],[0.42190419827137376,-1.6216161104105598]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_21","position":[-0.06951517423891918,-0.04221934851996112,0.71338606911949],"aabb_xy":[[-0.12451517341550865,-0.09720902329491875],[-0.014515175062329674,0.012770326254996536]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_22","position":[-0.6003993942988527,0.4332186951079491,0.71338606911949],"aabb_xy":[[-0.6643993915845013,0.39171197615510517],[-0.536399397013204,0.4747254140607931]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_23","position":[-0.5800547321518946,-1.305657662151035,0.71338606911949],"aabb_xy":[[-0.6350547317736405,-1.3606413549385077],[-0.5250547325301488,-1.2506739693635622]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_24","position":[-0.09006145942195876,1.4685996358907594,0.71338606911949],"aabb_xy":[[-0.10047301810244244,1.4632539025548608],[-0.07964990074147502,1.4739453692266575]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_25","position":[-0.15226877720067256,1.5998071248949173,0.71338606911949],"aabb_xy":[[-0.15868259084385747,1.5933973046472485],[-0.1458549635574876,1.6062169451425852]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_26","position":[-0.3750584720441368,1.002106352419459,0.71338606911949],"aabb_xy":[[-0.4250584737056315,0.9521079101637561],[-0.32505847038264196,1.0521047946751614]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_27","position":[-0.6296694215762156,1.4383490324803563,0.71338606911949],"aabb_xy":[[-0.6546694211279541,1.4282065486152213],[-0.6046694220244772,1.4484915163454908]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_28","position":[-0.2259455614463458,1.2719047394258594,0.71338606911949],"aabb_xy":[[-0.24722356958981806,1.2069047370997863],[-0.20466755330287356,1.3369047417519324]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_29","position":[-0.28367929773792777,-1.6745918892806742,0.71338606911949],"aabb_xy":[[-0.34767930008072934,-1.7195327405248064],[-0.21967929539512623,-1.6296510380365414]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.693995408592117,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1776.png","name":"1776"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1776.png","name":"1776"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3740.png","name":"3740"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1347.png","name":"1347"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7118.png","name":"7118"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/163.png","name":"163"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":740.4844521854261,"rotation_z_degrees":56.41087178986219,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011573949484879664,-0.011671764141352497,-0.0005115002147212215]},{"name":"camera_2","offset_m":[-0.009761714493980604,-0.01627230117788016,-0.013079949555941443]},{"name":"camera_3","offset_m":[0.017330705285979294,-0.008240997297178528,0.00451602634368092]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001258675844989443,-0.0006309589014003988,-6.867550024895622e-05],"end_effector_yaw_offset_degrees":0.8518934786916796},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0019527922856485162,0.0010177823273890018,-0.0013027237143810218],"end_effector_yaw_offset_degrees":-0.3871873511002535},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0002669881634914063,-0.000221486241396076,-0.0012121790395863276],"end_effector_yaw_offset_degrees":0.3384781217473276},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0017985219639048448,-0.00036614038950488173,0.0006544082492303447],"end_effector_yaw_offset_degrees":0.5137355787455298}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004314269577464061,-0.00155198024647746],"position_m":[0.15918573042253595,-0.14765198024647747,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001416236942455993,-0.002717667067033844],"position_m":[0.275316236942456,-0.35151766706703386,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.001048645280491263,0.0029993941846322226],"position_m":[0.30625135471950876,0.28309939418463226,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00021589991105817538,0.003906846156849552],"position_m":[0.3592841000889418,0.06420684615684955,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9362a7a6d43651edafb72c85f824feb7d7cf0f6e9e7b74eb59abb737765ba528","episode_index":33,"episode_name":"episode_0033"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0033.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_1776/tex_ceiling_textures_163/tex_floor_textures_7118/tex_table_textures_3740/tex_wall_textures_1347","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":4770102563843325073,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":4770102563843325073,"visual_seed":4770102563843325073,"scene_id":"lab_003","finished_at":"2026-09-05T20:24:33"} +{"episode_id":"ep_000034","started_at":"2026-09-05T20:24:38","dimensions":{"distractor":{"count":21,"items":[{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_0","position":[0.10334002546586041,-1.1755080852253255,0.71338606911949],"aabb_xy":[[0.04570955657858956,-1.2355080841520358],[0.16097049435313127,-1.1155080862986146]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_1","position":[-0.05758753476495759,-1.8555912357098767,0.71338606911949],"aabb_xy":[[-0.07459763205500825,-1.8717257242081509],[-0.040577437474906934,-1.839456747211603]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_2","position":[-0.41801820421183145,-0.2704524387550151,0.71338606911949],"aabb_xy":[[-0.4355182044711681,-0.2845439809437878],[-0.4005182039524949,-0.25636089656624256]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_3","position":[0.5637363840816032,-0.6623535907957645,0.71338606911949],"aabb_xy":[[0.49973638079189503,-0.7056885097996821],[0.6277363873713112,-0.6190186717918469]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_4","position":[0.5966385259967164,-2.501963309882686,0.71338606911949],"aabb_xy":[[0.5326385237763094,-2.546336394007975],[0.6606385282171234,-2.4575902257573983]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_5","position":[-0.27061725909139783,-0.5050828250057506,0.71338606911949],"aabb_xy":[[-0.3346172563937442,-0.5494492519736074],[-0.20661726178905138,-0.4607163980378939]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_6","position":[-0.37854489203278013,0.016708505988776157,0.71338606911949],"aabb_xy":[[-0.4235374787512305,-0.0282914932856726],[-0.33355230531432967,0.06170850526322491]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_7","position":[-0.4706357997999757,1.4610366070569207,0.71338606911949],"aabb_xy":[[-0.483262587087172,1.4514905333553478],[-0.4580090125127793,1.4705826807584936]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_8","position":[0.2434842077380429,-1.4056915961388199,0.71338606911949],"aabb_xy":[[0.2209877863041788,-1.4281915959455673],[0.265980629171907,-1.3831915963320724]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_9","position":[0.26008319676263336,-0.8565655739676987,0.71338606911949],"aabb_xy":[[0.20508319758604382,-0.9115552487426564],[0.3150831959392228,-0.8015758991927411]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_10","position":[0.558082367125684,0.26483824716500814,0.71338606911949],"aabb_xy":[[0.4940823678315157,0.2008521067961539],[0.6220823664198522,0.3288243875338623]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_11","position":[0.19191034231027326,1.6081967395444434,0.71338606911949],"aabb_xy":[[0.1741168353753568,1.5903969939486458],[0.20970384924518967,1.625996485140241]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_12","position":[0.4639531653327216,-0.9342937089786396,0.71338606911949],"aabb_xy":[[0.398953164332221,-0.9850800741333146],[0.5289531663332221,-0.8835073438239647]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_13","position":[-0.17338107482868803,-2.0271815537689832,0.71338606911949],"aabb_xy":[[-0.20929457925367773,-2.063095061985738],[-0.13746757040369834,-1.9912680455522287]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_14","position":[0.021712030049186093,-1.6969179060454667,0.71338606911949],"aabb_xy":[[0.01035029539589993,-1.7082863724517547],[0.03307376470247225,-1.6855494396391786]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_15","position":[-0.5024963739546715,-1.4195400814511323,0.71338606911949],"aabb_xy":[[-0.532894485053815,-1.4499469834528018],[-0.47209826285552786,-1.3891331794494628]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_16","position":[0.3183315527622017,-0.6580277911623302,0.71338606911949],"aabb_xy":[[0.3074910745356868,-0.6752140724529792],[0.3291720309887166,-0.6408415098716815]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_17","position":[0.4970968634849451,-2.2463930758508224,0.71338606911949],"aabb_xy":[[0.48422495998400494,-2.3263930762646585],[0.5099687669858852,-2.1663930754369862]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_18","position":[-0.19192706551905414,0.16853070800761172,0.71338606911949],"aabb_xy":[[-0.19750873715318287,0.1560307081898362],[-0.18634539388492535,0.1810307078253872]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_19","position":[-0.37352919541245594,-2.4054795466006405,0.71338606911949],"aabb_xy":[[-0.42754479169435594,-2.4694795494928976],[-0.31951359913055594,-2.3414795437083833]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_20","position":[0.2837924248501722,1.3261125674638419,0.71338606911949],"aabb_xy":[[0.21979242458970136,1.2811037681109136],[0.34779242511064296,1.3711213668167697]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6955889877606423,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9572.png","name":"9572"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9572.png","name":"9572"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8111.png","name":"8111"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/402.png","name":"402"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5164.png","name":"5164"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8602.png","name":"8602"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":820.5220489485614,"rotation_z_degrees":108.7126591928472,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005352540356954698,-0.008115317037124018,-0.01072187911655675]},{"name":"camera_2","offset_m":[-0.012523418623798906,-2.3472412268854548e-05,0.0033832825199044438]},{"name":"camera_3","offset_m":[-0.00046540567024642987,-0.0014092833935477611,-0.01411830687270904]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.000562579541364786,-0.0019881024934396392,-0.0017854878177022946],"end_effector_yaw_offset_degrees":0.3073773806654909},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0017236578209398816,-0.0017346672955756662,-0.001634619278807169],"end_effector_yaw_offset_degrees":-0.13812836771525827},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-8.59450858071713e-05,-0.00023299931509011265,-0.00025961097512759907],"end_effector_yaw_offset_degrees":0.6352868093916726},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0011024300486789569,9.642713847835341e-05,-0.0009399307758508342],"end_effector_yaw_offset_degrees":0.2376317143098674}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0021032364038398145,0.0022919059421006418],"position_m":[0.1613967635961602,-0.14380809405789938,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004620723503109706,-0.00039027022439723155],"position_m":[0.2785207235031097,-0.34919027022439725,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003930098425987476,0.0009226745371260251],"position_m":[0.30336990157401256,0.28102267453712604,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0012684028879631597,-0.0010439764890072508],"position_m":[0.36076840288796314,0.059256023510992746,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a1f943e8774087b7b918e754ab81c5f8b2aa8d14104c0ebd902306264e1e8864","episode_index":34,"episode_name":"episode_0034"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0034.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_9572/tex_ceiling_textures_8602/tex_floor_textures_5164/tex_table_textures_8111/tex_wall_textures_402","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":8935637248709062701,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":8935637248709062701,"visual_seed":8935637248709062701,"scene_id":"lab_003","finished_at":"2026-09-05T20:28:10"} +{"episode_id":"ep_000035","started_at":"2026-09-05T20:28:14","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_0","position":[0.47123797688591096,-2.1048640510606074,0.71338606911949],"aabb_xy":[[0.460397498659396,-2.122050332351256],[0.4820784551124258,-2.0876777697699587]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_1","position":[-0.3877886442135526,-0.11685242795676931,0.71338606911949],"aabb_xy":[[-0.40528864349163946,-0.13419052802311526],[-0.3702886449354657,-0.09951432789042336]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_2","position":[0.4964346594251443,-0.7164548046377734,0.71338606911949],"aabb_xy":[[0.48851137918639603,-0.7389548048757768],[0.5043579396638926,-0.6939548043997701]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_3","position":[0.47598213731415884,-1.0239477200077238,0.71338606911949],"aabb_xy":[[0.41198213497135727,-1.0688885712518563],[0.5399821396569604,-0.9790068687635914]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_4","position":[0.5154326857218372,-0.22660880478636658,0.71338606911949],"aabb_xy":[[0.5107975705696037,-0.2304761398635152],[0.5200678008740705,-0.2227414697092179]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_5","position":[0.09439449969873748,-1.8204537237406975,0.71338606911949],"aabb_xy":[[0.02439449706215112,-1.8405585887365625],[0.16439450233532382,-1.8003488587448315]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_6","position":[0.4633701838652682,0.22769078813732158,0.71338606911949],"aabb_xy":[[0.4355251470846611,0.19690628939900992],[0.49121522064587536,0.25847528687563326]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_7","position":[0.04939237679414965,1.5188598543454659,0.71338606911949],"aabb_xy":[[0.042131129223742236,1.5060728440819564],[0.056653624364557065,1.5316468646089754]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_8","position":[0.3025013454954817,-1.4029123628467794,0.71338606911949],"aabb_xy":[[0.2525280514922212,-1.4529123634013266],[0.3524746394987421,-1.3529123622922319]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_9","position":[0.669779974471675,0.8350528565929096,0.71338606911949],"aabb_xy":[[0.6329853413467688,0.7981469814963273],[0.7065746075965813,0.8719587316894919]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_10","position":[0.055667411516063914,-0.7504864030795784,0.71338606911949],"aabb_xy":[[0.005668136347627757,-0.8004864043555255],[0.10566668668450008,-0.7004864018036312]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_11","position":[-0.5727706162515125,-2.0967534970309023,0.71338606911949],"aabb_xy":[[-0.5860015617861938,-2.1099809160529017],[-0.5595396707168312,-2.083526078008903]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_12","position":[0.6863539003620733,-0.07307257312765847,0.71338606911949],"aabb_xy":[[0.6488539000698984,-0.07711404852826206],[0.723853900654248,-0.06903109772705487]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_13","position":[0.5725500148029361,-1.9210849884916157,0.71338606911949],"aabb_xy":[[0.5355159053748764,-1.955462195825325],[0.6095841242309958,-1.8867077811579063]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_14","position":[0.669328595689336,-1.7431198324406343,0.71338606911949],"aabb_xy":[[0.6638706500523159,-1.8231198357482932],[0.6747865413263561,-1.663119829132975]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_15","position":[-0.3553421833600553,0.5360166640408766,0.71338606911949],"aabb_xy":[[-0.3782578962451053,0.513112366904453],[-0.33242647047500545,0.5589209611773001]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_16","position":[-0.1625693951278342,-0.6552059602688947,0.71338606911949],"aabb_xy":[[-0.18708301922484005,-0.6794705535709311],[-0.13805577103082833,-0.6309413669668582]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_17","position":[-0.07888750391122923,-1.0814653363648346,0.71338606911949],"aabb_xy":[[-0.11266306310192221,-1.0955038315779997],[-0.04511194472053627,-1.0674268411516694]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_18","position":[-0.34276104085537706,-0.8556415802729296,0.71338606911949],"aabb_xy":[[-0.3520546590925276,-0.8931415787610635],[-0.33346742261822643,-0.8181415817847957]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_19","position":[-0.5942396292035186,1.3947507410797617,0.71338606911949],"aabb_xy":[[-0.6061117122150197,1.3097507413861111],[-0.5823675461920175,1.4797507407734118]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_20","position":[0.4703342099285772,-0.4340479591427324,0.71338606911949],"aabb_xy":[[0.4623079392979513,-0.4427994541200851],[0.47836048055920327,-0.42529646416537986]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_21","position":[-0.5236043733010559,-1.6667098623534455,0.71338606911949],"aabb_xy":[[-0.5876043704131616,-1.7157422321478561],[-0.4596043761889502,-1.617677492559035]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_22","position":[-0.436913238859968,1.1931563670849674,0.71338606911949],"aabb_xy":[[-0.44848221960690465,1.1681563669680357],[-0.4253442581130315,1.2181563672018991]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.690719257057322,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3087.png","name":"3087"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3087.png","name":"3087"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6302.png","name":"6302"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6209.png","name":"6209"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7363.png","name":"7363"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3010.png","name":"3010"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":783.8331285320323,"rotation_z_degrees":288.01828309704626,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011952551024427435,0.01797615871421136,-0.0016157120667320453]},{"name":"camera_2","offset_m":[0.0005053980854205255,-0.001801151262023716,-0.002639605490113387]},{"name":"camera_3","offset_m":[-0.01855257631777811,-0.019338138380369654,-0.010990984695029639]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00020965681900035615,-0.00043697094114512154,-0.0017409259034814682],"end_effector_yaw_offset_degrees":0.6559798428134322},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0019737627790707727,0.0012963519955720964,0.001771454036804327],"end_effector_yaw_offset_degrees":-0.0262543884048958},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-4.508460748245272e-05,0.00010520346353858241,-0.0004498854856128168],"end_effector_yaw_offset_degrees":0.30296081924485363},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0007949203415117828,-0.0017105904096339603,-0.0005819608837681004],"end_effector_yaw_offset_degrees":-0.8807781192140425}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.000420604697146618,0.002885961906343034],"position_m":[0.16392060469714662,-0.143214038093657,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003367430465272217,-0.004371536753973131],"position_m":[0.27053256953472776,-0.3531715367539731,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.001262824497216636,0.00336000080880246],"position_m":[0.30603717550278337,0.28346000080880246,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0030469872156281518,-0.0014215306510030456],"position_m":[0.35645301278437186,0.05887846934899695,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"351d5125cffaad9a7af0bfa9b98823ed7d4cba09846ff6f1d8aca5ad30aa7a8b","episode_index":35,"episode_name":"episode_0035"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0035.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_3087/tex_ceiling_textures_3010/tex_floor_textures_7363/tex_table_textures_6302/tex_wall_textures_6209","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":1865421737017810618,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":1865421737017810618,"visual_seed":1865421737017810618,"scene_id":"lab_003","finished_at":"2026-09-05T20:31:43"} +{"episode_id":"ep_000036","started_at":"2026-09-05T20:31:48","dimensions":{"distractor":{"count":22,"items":[{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_0","position":[-0.344477634658358,1.443503877509507,0.71338606911949],"aabb_xy":[[-0.42947763307578124,1.358629582047222],[-0.2594776362409348,1.528378172971792]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_1","position":[-0.37064315895084327,-0.7139845472177275,0.71338606911949],"aabb_xy":[[-0.43064315879741005,-0.7708031694107662],[-0.3106431591042765,-0.6571659250246888]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_2","position":[-0.6234082657492375,0.7964612490456489,0.71338606911949],"aabb_xy":[[-0.6274864236562872,0.7923802687973854],[-0.6193301078421878,0.800542229293912]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_3","position":[0.3089859764659799,-1.9544008434880786,0.71338606911949],"aabb_xy":[[0.27468906544823923,-1.9886977296980197],[0.3432828874837205,-1.920103957278137]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_4","position":[0.019210305141103,1.0455140535146001,0.71338606911949],"aabb_xy":[[0.01362863350697424,1.0330140536968246],[0.024791976775231758,1.0580140533323756]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_5","position":[-0.5337100317930752,-1.2284259976392295,0.71338606911949],"aabb_xy":[[-0.6137038553716334,-1.3084260002320713],[-0.45371620821451697,-1.1484259950463882]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_6","position":[-0.008669451251566818,-1.2867278704527452,0.71338606911949],"aabb_xy":[[-0.05814987246552561,-1.350727868365597],[0.040810969962391974,-1.2227278725398933]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_7","position":[-0.17828293119304583,-0.45455794675321304,0.71338606911949],"aabb_xy":[[-0.2282603480582994,-0.5045579482424616],[-0.12830551432779222,-0.4045579452639645]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_8","position":[0.3730491121777584,-1.3768256243228043,0.71338606911949],"aabb_xy":[[0.3090491098349568,-1.4217664755669366],[0.43704911452055994,-1.3318847730786716]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_9","position":[-0.3508350883124488,-0.5112155019942297,0.71338606911949],"aabb_xy":[[-0.4008350893315842,-0.5476817177320578],[-0.3008350872933136,-0.4747492862564019]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_10","position":[-0.22619222894233842,1.8037273828785838,0.71338606911949],"aabb_xy":[[-0.2367597086004374,1.793182352765575],[-0.2156247492842394,1.8142724129915921]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_11","position":[-0.20406975564964464,-1.0613951216581956,0.71338606911949],"aabb_xy":[[-0.20820561198234483,-1.0988951211025526],[-0.19993389931694444,-1.0238951222138386]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_12","position":[0.3672299839782436,0.6409216629136911,0.71338606911949],"aabb_xy":[[0.3547626258685079,0.6284563382803675],[0.3796973420879792,0.6533869875470145]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_13","position":[0.4876897343349289,0.7594274492739328,0.71338606911949],"aabb_xy":[[0.4226897361790099,0.7331312047240205],[0.552689732490848,0.7857236938238449]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_14","position":[-0.34838593510745547,-2.4532309138013058,0.71338606911949],"aabb_xy":[[-0.3564292950334106,-2.538230914896672],[-0.34034257518150024,-2.3682309127059393]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_15","position":[-0.42989352229506217,-2.051176904706886,0.71338606911949],"aabb_xy":[[-0.45239352230521046,-2.0652731243464895],[-0.4073935222849139,-2.037080685067283]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_16","position":[-0.25931558181829184,0.4151915297737001,0.71338606911949],"aabb_xy":[[-0.32331558322628245,0.36340257824977534],[-0.19531558041030114,0.46698048129762476]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_17","position":[0.6179717538586238,-0.09978182216289522,0.71338606911949],"aabb_xy":[[0.5539717567465181,-0.14881419195730583],[0.6819717509707295,-0.050749452368484604]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_18","position":[-0.5016266231018511,1.2847516970348156,0.71338606911949],"aabb_xy":[[-0.5391266242866437,1.2803334743387547],[-0.46412662191705817,1.2891699197308757]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_19","position":[0.28055529257121115,-1.1506603608171202,0.71338606911949],"aabb_xy":[[0.2205552909282893,-1.2026605101090644],[0.340555294214133,-1.098660211525176]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_20","position":[-0.220199131474214,-2.052776566659271,0.71338606911949],"aabb_xy":[[-0.22651123101055243,-2.05854350591249],[-0.21388703193787556,-2.0470096274060525]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_21","position":[0.5398798389806774,-1.8580395587226786,0.71338606911949],"aabb_xy":[[0.4848798398040878,-1.913029233497636],[0.5948798381572667,-1.8030498839477207]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6898670495751568,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7497.png","name":"7497"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7497.png","name":"7497"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8658.png","name":"8658"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7493.png","name":"7493"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5194.png","name":"5194"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7084.png","name":"7084"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":575.9176428119171,"rotation_z_degrees":264.35781145224945,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013708875652514552,0.013602554629292881,0.018631624910782876]},{"name":"camera_2","offset_m":[-0.00946984615298105,-0.002764757822157026,0.01779196392184686]},{"name":"camera_3","offset_m":[0.01597847028958679,0.0016018507935369394,0.0018311133849867392]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0007403006129791147,-0.0019435654463956455,0.0004313059150532553],"end_effector_yaw_offset_degrees":-0.7170285416196012},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0012165199571631318,-0.0013686809899589184,-0.0007057494867714644],"end_effector_yaw_offset_degrees":0.5316502174171369},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0012558913357113726,2.909974059045863e-05,0.00022277909676092153],"end_effector_yaw_offset_degrees":-0.5145404603580512},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0017444778555972974,-0.001960682605179594,0.0010133421588998455],"end_effector_yaw_offset_degrees":-0.132842251644139}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.003555953952234916,-0.0027361588146509875],"position_m":[0.1599440460477651,-0.14883615881465098,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[3.5977328534842964e-05,0.0031099414303180717],"position_m":[0.2739359773285348,-0.34569005856968194,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003425191621706957,-0.0002271493460642756],"position_m":[0.310725191621707,0.27987285065393575,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003647338541757329,0.0016926753652589553],"position_m":[0.3631473385417573,0.06199267536525895,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"024d63ac14f88a3e5cd80db6134034f7d5cfbd1ee4518ce966231ea1bc98d04f","episode_index":36,"episode_name":"episode_0036"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0036.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_7497/tex_ceiling_textures_7084/tex_floor_textures_5194/tex_table_textures_8658/tex_wall_textures_7493","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":3394419000939142520,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":3394419000939142520,"visual_seed":3394419000939142520,"scene_id":"lab_003","finished_at":"2026-09-05T20:35:32"} +{"episode_id":"ep_000037","started_at":"2026-09-05T20:35:36","dimensions":{"distractor":{"count":33,"items":[{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_0","position":[0.25577971638514785,-2.173391108616025,0.71338606911949],"aabb_xy":[[0.2444179817318617,-2.1847595750223125],[0.267141451038434,-2.162022642209737]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_1","position":[-0.1353445755329229,-0.8370592777267158,0.71338606911949],"aabb_xy":[[-0.2003445765334234,-0.8878456428813908],[-0.07034457453242238,-0.7862729125720409]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_2","position":[-0.4233913011159492,-1.2036233048565048,0.71338606911949],"aabb_xy":[[-0.4686699159970984,-1.2676233042046883],[-0.3781126862347999,-1.139623305508321]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_3","position":[-0.147442445518021,0.6455815435058856,0.71338606911949],"aabb_xy":[[-0.19725922498285575,0.5955815450215822],[-0.09762566605318623,0.695581541990189]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_4","position":[-0.6393607185944603,1.20798163665176,0.71338606911949],"aabb_xy":[[-0.6845320364426294,1.1439816395072215],[-0.5941894007462915,1.2719816337962984]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_5","position":[0.17439716823911267,0.9977864150185285,0.71338606911949],"aabb_xy":[[0.140956993043093,0.9643427891875982],[0.20783734343513222,1.0312300408494584]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_6","position":[-0.3215331938443566,0.6740733976318589,0.71338606911949],"aabb_xy":[[-0.34653319377687447,0.6671907294109356],[-0.2965331939118387,0.6809560658527822]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_7","position":[-0.1010687342032961,0.2989829312119894,0.71338606911949],"aabb_xy":[[-0.15106873586479083,0.24898448895628664],[-0.051068732541801325,0.34898137346769204]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_8","position":[0.18801261887414555,-1.0831165104807219,0.71338606911949],"aabb_xy":[[0.16673461073067328,-1.148116512806795],[0.20929062701761778,-1.0181165081546488]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_9","position":[0.12171681691066649,-1.47560594863575,0.71338606911949],"aabb_xy":[[0.09880110402561659,-1.4985102457721737],[0.1446325297957164,-1.4527016514993267]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_10","position":[0.5302202242573886,-1.5592044458694014,0.71338606911949],"aabb_xy":[[0.5242536853166528,-1.5651655905287654],[0.5361867631981243,-1.5532433012100375]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_11","position":[0.14080177024425355,1.4877201309888517,0.71338606911949],"aabb_xy":[[0.07080176760766721,1.467615265992986],[0.2108017728808399,1.507824995984717]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_12","position":[-0.5992746691938226,0.8391523343060845,0.71338606911949],"aabb_xy":[[-0.6592746708367444,0.7871521850141403],[-0.5392746675509007,0.8911524835980287]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_13","position":[-0.6631148513014206,1.0607047490868786,0.71338606911949],"aabb_xy":[[-0.6930824082112462,1.0307047487889929],[-0.6331472943915949,1.0907047493847644]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_14","position":[0.0850193895611091,0.796343991278639,0.71338606911949],"aabb_xy":[[0.035041972695855524,0.7463439897893903],[0.1349968064263627,0.8463439927678874]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_15","position":[-0.14269746020123864,-1.9080842920267291,0.71338606911949],"aabb_xy":[[-0.2066974587878111,-1.9550912554262376],[-0.07869746161466618,-1.8610773286272202]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_16","position":[-0.3359884087126871,-1.938992303398442,0.71338606911949],"aabb_xy":[[-0.3598246263532922,-2.028992304206929],[-0.3121521910720821,-1.848992302589956]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_17","position":[-0.280400298925289,0.4634293847212527,0.71338606911949],"aabb_xy":[[-0.31790029942264725,0.45946070117313437],[-0.24290029842793076,0.4673980682693712]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_18","position":[0.4026764908578164,-0.891333532193374,0.71338606911949],"aabb_xy":[[0.3604920766969857,-0.9553335324705853],[0.44486090501864717,-0.8273335319161629]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_19","position":[0.006568388411793302,1.1126227597263605,0.71338606911949],"aabb_xy":[[-0.005303694599707809,1.02762276003271],[0.018440471423294413,1.1976227594200106]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_20","position":[-0.34918296273260413,-0.053819441136693236,0.71338606911949],"aabb_xy":[[-0.38668296302477895,-0.05786091653729683],[-0.3116829624404293,-0.04977796573608964]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_21","position":[-0.23005963816226827,-1.2362969062130509,0.71338606911949],"aabb_xy":[[-0.23615426605038659,-1.2448663007647196],[-0.22396501027414994,-1.2277275116613822]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_22","position":[0.45963521176597966,-2.3655273624610946,0.71338606911949],"aabb_xy":[[0.3956352125962097,-2.4122940495800567],[0.5236352109357496,-2.3187606753421317]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_23","position":[0.3529415060782881,1.6918592466176343,0.71338606911949],"aabb_xy":[[0.28794150792236906,1.665563002067722],[0.4179415042342072,1.7181554911675463]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_24","position":[0.6513988189584763,-1.540398263729686,0.71338606911949],"aabb_xy":[[0.6325144351899661,-1.559284188510039],[0.6702832027269865,-1.5215123389493335]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_25","position":[-0.22592208031987676,-2.33189990970533,0.71338606911949],"aabb_xy":[[-0.26342208049174864,-2.364600645088237],[-0.18842208014800477,-2.2991991743224225]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_26","position":[0.30102787656186747,1.0974243201859522,0.71338606911949],"aabb_xy":[[0.2538984975600317,1.03342431914155],[0.348157255563703,1.1614243212303539]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_27","position":[-0.6794497003152645,0.15683926943650262,0.71338606911949],"aabb_xy":[[-0.6835278582223143,0.1527582891882393],[-0.6753715424082147,0.16092024968476593]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_28","position":[-0.16665287362239967,0.8508111867994557,0.71338606911949],"aabb_xy":[[-0.24665287409261566,0.8425004791851074],[-0.08665287315218374,0.8591218944138042]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_29","position":[-0.11079305129069095,-0.5765192479625769,0.71338606911949],"aabb_xy":[[-0.1747887486857875,-0.6405192462632855],[-0.046797353895594335,-0.5125192496618681]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_30","position":[0.08252864368067558,-2.183785248304863,0.71338606911949],"aabb_xy":[[0.0738306813899603,-2.195910222612338],[0.09122660597139087,-2.1716602739973885]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_31","position":[-0.0749621491107425,-2.2176464061475043,0.71338606911949],"aabb_xy":[[-0.1299576269314019,-2.2726464075814112],[-0.019966671290083116,-2.1626464047135974]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_32","position":[0.04461846221080945,-1.3190924692125494,0.71338606911949],"aabb_xy":[[0.00898930631084971,-1.3547251359694024],[0.08024761811076919,-1.2834598024556965]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6965820818916415,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2075.png","name":"2075"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2075.png","name":"2075"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/263.png","name":"263"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7878.png","name":"7878"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1592.png","name":"1592"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6633.png","name":"6633"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":768.02466570405,"rotation_z_degrees":264.1971526995285,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01931314221929754,0.00951717806373198,0.01577252749595327]},{"name":"camera_2","offset_m":[-0.003176190032326661,0.015791880527969145,0.006299186912329436]},{"name":"camera_3","offset_m":[-0.0007172441145177622,-0.0033282678720536613,-0.01593020406870494]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001993400333071725,8.495980966216144e-05,0.001217186145253938],"end_effector_yaw_offset_degrees":-0.1913040675035531},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0012807688529600397,0.0002277339065585261,-0.0006148978763481062],"end_effector_yaw_offset_degrees":0.013794753342454724},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0019927249759909994,0.0010513752650985575,0.001480731678524777],"end_effector_yaw_offset_degrees":0.408589302320558},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0016762835320437651,-0.0008699580841001176,-0.001671085027210383],"end_effector_yaw_offset_degrees":-0.6865159227896416}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0035360453243186213,0.0003371122413702828],"position_m":[0.16703604532431862,-0.14576288775862972,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00430611409430483,-0.0029027043019389433],"position_m":[0.2782061140943048,-0.35170270430193895,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0006622409791930337,0.0022683763952318567],"position_m":[0.30796224097919306,0.2823683763952319,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0034143222094254622,0.004636040095705917],"position_m":[0.35608567779057454,0.06493604009570592,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1cc1f26eadb9b4967306d4e8060964f1d2415f6e88cf47dd045f99176f028bab","episode_index":37,"episode_name":"episode_0037"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0037.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_2075/tex_ceiling_textures_6633/tex_floor_textures_1592/tex_table_textures_263/tex_wall_textures_7878","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":9123617754379447954,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":9123617754379447954,"visual_seed":9123617754379447954,"scene_id":"lab_003","finished_at":"2026-09-05T20:39:16"} +{"episode_id":"ep_000038","started_at":"2026-09-05T20:39:19","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_0","position":[-0.6202781831728735,1.6328690756135402,0.71338606911949],"aabb_xy":[[-0.6242386669426079,1.6252012110280196],[-0.6163176994031392,1.6405369401990608]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_1","position":[-0.15482021682447322,1.2644389112474688,0.71338606911949],"aabb_xy":[[-0.17510451954787196,1.2441562861047597],[-0.13453591410107443,1.2847215363901774]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_2","position":[-0.16461210960432238,-1.22735038211535,0.71338606911949],"aabb_xy":[[-0.18650185719326315,-1.317350379404599],[-0.14272236201538155,-1.1373503848261008]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_3","position":[-0.21833909770891474,1.0659759609213428,0.71338606911949],"aabb_xy":[[-0.27333909733066064,1.01099226813387],[-0.16333909808716893,1.1209596537088156]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_4","position":[0.10778673315418774,-1.2877236366699107,0.71338606911949],"aabb_xy":[[0.07028673236219231,-1.2940914776281007],[0.1452867339461832,-1.2813557957117203]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_5","position":[0.5277577107083229,-1.7410872049308397,0.71338606911949],"aabb_xy":[[0.463757710447852,-1.7860960042837677],[0.5917577109687936,-1.6960784055779117]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_6","position":[-0.6898973918461546,1.0006390341387141,0.71338606911949],"aabb_xy":[[-0.6933380680862118,0.9967776011643497],[-0.6864567156060974,1.0045004671130786]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_7","position":[0.2775243868057299,-1.9155521696202267,0.71338606911949],"aabb_xy":[[0.2688264245150146,-1.9276771439277016],[0.28622234909644517,-1.9034271953127522]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_8","position":[0.07969386717353333,-2.241617021013964,0.71338606911949],"aabb_xy":[[0.01969386732696654,-2.2984356432070028],[0.13969386702010012,-2.1847983988209254]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_9","position":[0.3752450522016575,-0.7386818206639714,0.71338606911949],"aabb_xy":[[0.28524505278328655,-0.772057317508161],[0.4652450516200283,-0.7053063238197815]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_10","position":[-0.37807263086031434,0.22069851552773256,0.71338606911949],"aabb_xy":[[-0.4480726324625939,0.20726572232607499],[-0.3080726292580349,0.23413130872939014]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_11","position":[0.5334506881210499,-1.9480431711236552,0.71338606911949],"aabb_xy":[[0.44972846262096744,-2.038043174658351],[0.6171729136211324,-1.8580431675889593]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_12","position":[-0.08401455330827279,-1.174980272077198,0.71338606911949],"aabb_xy":[[-0.09911685476929086,-1.1900817937082593],[-0.06891225184725466,-1.1598787504461359]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_13","position":[-0.5596689252794858,1.7622241756199686,0.71338606911949],"aabb_xy":[[-0.584668924551448,1.745878812023806],[-0.5346689260075235,1.7785695392161307]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_14","position":[0.6449446076644125,-2.2001958981189285,0.71338606911949],"aabb_xy":[[0.5949446063805726,-2.25017475250955],[0.6949446089482525,-2.150217043728306]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_15","position":[-0.0310792047173718,0.8835775049993568,0.71338606911949],"aabb_xy":[[-0.08106215490485112,0.8335775053567963],[0.018903745470107536,0.9335775046419171]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_16","position":[-0.19852156045582658,0.4647510470430114,0.71338606911949],"aabb_xy":[[-0.2209863304272317,0.4422510461641509],[-0.17605679048442147,0.4872510479218719]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_17","position":[-0.09145110521241351,-1.9689634779148806,0.71338606911949],"aabb_xy":[[-0.13662242306058248,-2.032963475059419],[-0.04627978736424453,-1.9049634807703422]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_18","position":[-0.5385523300193223,-2.2585022786741034,0.71338606911949],"aabb_xy":[[-0.5449661436625072,-2.264912098921772],[-0.5321385163761373,-2.252092458426435]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_19","position":[0.6729709139317626,-2.3469080594254943,0.71338606911949],"aabb_xy":[[0.664256944881828,-2.369408060084682],[0.6816848829816969,-2.3244080587663056]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_20","position":[-0.06563478431909686,1.0176659508075367,0.71338606911949],"aabb_xy":[[-0.08254551675543863,1.004193745214922],[-0.048724051882755075,1.0311381564001514]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_21","position":[0.45365422425961754,1.1844011492191862,0.71338606911949],"aabb_xy":[[0.3896542249654493,1.1204150088503317],[0.5176542235537858,1.2483872895880401]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_22","position":[0.3166977305084102,0.5143243922246956,0.71338606911949],"aabb_xy":[[0.28670606777453983,0.48432439288789497],[0.3466893932422805,0.544324391561496]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6872851721140156,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2008.png","name":"2008"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2008.png","name":"2008"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8314.png","name":"8314"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3357.png","name":"3357"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8348.png","name":"8348"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7064.png","name":"7064"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":574.6113508063643,"rotation_z_degrees":141.40818084648373,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01416717173576192,-0.0056117348705813485,0.0063545816869541895]},{"name":"camera_2","offset_m":[-0.01655021730673526,-0.0021514066408802636,0.009428328493537447]},{"name":"camera_3","offset_m":[0.010005227224529189,0.01885940609561137,-0.010388042084333722]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[6.352485251183253e-06,0.0008764649956526142,0.0010504429856278562],"end_effector_yaw_offset_degrees":0.2707836433235127},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0007449116590640154,0.0016730197922126622,-0.0016007241085767587],"end_effector_yaw_offset_degrees":0.9298213985290897},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-5.1376861533336104e-05,-0.0011108243877569427,0.001811452898693871],"end_effector_yaw_offset_degrees":-0.21081190223069424},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0017996230514394963,-8.445075748326602e-06,-0.000898052696698621],"end_effector_yaw_offset_degrees":0.2810538689981794}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0034294587778283293,0.0030292412672526118],"position_m":[0.16007054122217168,-0.14307075873274738,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002640920206909838,0.003640560256681499],"position_m":[0.27125907979309016,-0.3451594397433185,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004591155710024725,0.0015418842207652727],"position_m":[0.31189115571002474,0.2816418842207653,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003930510445917614,-0.002421450624659284],"position_m":[0.3634305104459176,0.05787854937534072,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a4897abece6c55c0d07d96de0528864109ce46d814b273e22553a51b36bbad74","episode_index":38,"episode_name":"episode_0038"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0038.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_2008/tex_ceiling_textures_7064/tex_floor_textures_8348/tex_table_textures_8314/tex_wall_textures_3357","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":2331544984022747349,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":2331544984022747349,"visual_seed":2331544984022747349,"scene_id":"lab_003","finished_at":"2026-09-05T20:42:48"} +{"episode_id":"ep_000039","started_at":"2026-09-05T20:42:52","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_0","position":[-0.3169814827746594,-1.9988688635619407,0.71338606911949],"aabb_xy":[[-0.35448148288025233,-2.0056910254149214],[-0.2794814826690664,-1.9920467017089596]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_1","position":[-0.39113986404625634,-1.3365858230474519,0.71338606911949],"aabb_xy":[[-0.407201791504774,-1.4215858248600435],[-0.3750779365877387,-1.2515858212348598]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_2","position":[-0.575390206492441,-2.506929176810517,0.71338606911949],"aabb_xy":[[-0.5952812463727813,-2.519584988095214],[-0.5554991666121009,-2.4942733655258205]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_3","position":[-0.05522531621712978,-2.4546840719676566,0.71338606911949],"aabb_xy":[[-0.09022531611314866,-2.4630583074795966],[-0.020225316321110912,-2.4463098364557165]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_4","position":[0.23675340723116034,-1.107384824045561,0.71338606911949],"aabb_xy":[[0.18175340805457083,-1.1623744988205185],[0.2917534064077498,-1.0523951492706032]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_5","position":[-0.5101968430327589,1.699946352422685,0.71338606911949],"aabb_xy":[[-0.5476968414561592,1.686782138454854],[-0.47269684460935846,1.7131105663905155]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_6","position":[-0.37661125315750954,-1.7300996780267481,0.71338606911949],"aabb_xy":[[-0.41515694598271063,-1.7686454490829369],[-0.33806556033230856,-1.6915539069705594]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_7","position":[-0.5795907487405789,-0.1918488337961861,0.71338606911949],"aabb_xy":[[-0.6495907513771653,-0.2119536987920516],[-0.5095907461039926,-0.17174396880032058]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_8","position":[0.6235816672510486,-1.295640086766628,0.71338606911949],"aabb_xy":[[0.5435816639932056,-1.375636594558612],[0.7035816705088915,-1.215643578974644]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_9","position":[0.5744523134053825,-1.837783021035773,0.71338606911949],"aabb_xy":[[0.5585678201400573,-1.852135961334597],[0.5903368066707076,-1.8234300807369488]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_10","position":[-0.11445755857422757,0.5629778053272574,0.71338606911949],"aabb_xy":[[-0.1720880274614984,0.5029778064005466],[-0.0568270896869567,0.6229778042539678]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_11","position":[0.3944680318344269,-2.211978360001593,0.71338606911949],"aabb_xy":[[0.3444680301729321,-2.261976802257296],[0.4444680334959216,-2.1619799177458905]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_12","position":[-0.556460902215842,1.368410794412604,0.71338606911949],"aabb_xy":[[-0.646460904549861,1.2909284398274914],[-0.46646089988182293,1.4458931489977167]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_13","position":[0.32161347786888883,0.5606175058997853,0.71338606911949],"aabb_xy":[[0.3145731679353519,0.48061750650011403],[0.3286537878024259,0.6406175052994568]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_14","position":[-0.5342970685084608,-1.850827534802371,0.71338606911949],"aabb_xy":[[-0.584296343676897,-1.9008275360783182],[-0.48429779334002465,-1.8008275335264239]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_15","position":[-0.5933403882709447,1.1776476758490233,0.71338606911949],"aabb_xy":[[-0.6013343768486481,1.169647595753933],[-0.5853463996932413,1.1856477559441136]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_16","position":[0.03455946008919486,-0.739183064743316,0.71338606911949],"aabb_xy":[[-0.05544053850527508,-0.755433651056737],[0.1245594586836648,-0.7229324784298949]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_17","position":[-0.39176299635093587,-0.6455361223904772,0.71338606911949],"aabb_xy":[[-0.45676299423258376,-0.6966597860970182],[-0.32676299846928814,-0.5944124586839364]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_18","position":[-0.46708950717448894,0.1759490689817298,0.71338606911949],"aabb_xy":[[-0.5310895074484672,0.12588296878444183],[-0.40308950690051065,0.22601516917901776]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_19","position":[-0.1901676550161978,-2.3190346312777534,0.71338606911949],"aabb_xy":[[-0.22766765359181856,-2.331770926941311],[-0.15266765644057695,-2.306298335614195]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_20","position":[-0.02653463207322715,-0.9547780961689512,0.71338606911949],"aabb_xy":[[-0.03744040816078986,-1.0347780925677803],[-0.015628855985664436,-0.8747780997701221]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_21","position":[-0.041376224256534866,0.14289710364363462,0.71338606911949],"aabb_xy":[[-0.07887622544132764,0.13847888094757405],[-0.0038762230717420613,0.14731532633969513]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_22","position":[-0.4831976636664783,0.7175456889687157,0.71338606911949],"aabb_xy":[[-0.5631976658292408,0.637590505342572],[-0.4031976615037158,0.7975008725948592]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_23","position":[0.2709327058453077,-2.5324539875537844,0.71338606911949],"aabb_xy":[[0.24044845571827755,-2.58245398733528],[0.30141695597233786,-2.482453987772288]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.686514224284434,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4821.png","name":"4821"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4821.png","name":"4821"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5929.png","name":"5929"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2093.png","name":"2093"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3809.png","name":"3809"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/522.png","name":"522"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":712.0189632241327,"rotation_z_degrees":320.6802777787366,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0021428656815875684,0.0004610201691145656,0.007331141447102608]},{"name":"camera_2","offset_m":[-0.014315128573931035,0.013933152395573491,-0.005425128781260211]},{"name":"camera_3","offset_m":[-0.002364697923062299,-0.004785654369391908,0.015041657555754383]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0010248569320816955,0.001923767061019383,0.0015194037562643345],"end_effector_yaw_offset_degrees":0.12593882346650553},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0009626444530799485,0.00021242990118623727,-0.00045551491522914525],"end_effector_yaw_offset_degrees":-0.6843717072217332},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0017311228334648092,0.0009097177851088161,0.001131956582410251],"end_effector_yaw_offset_degrees":0.2546062629948769},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0018693541327488416,-0.0005574810673062394,-0.00021743215459004046],"end_effector_yaw_offset_degrees":0.9697327638375086}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.003831940723007643,0.0030355925225100154],"position_m":[0.15966805927699237,-0.14306440747749,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0037334256046047455,0.003295563588628261],"position_m":[0.2701665743953952,-0.34550443641137174,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004088112041044356,-0.0020904257592120256],"position_m":[0.3113881120410444,0.278009574240788,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004366818097422028,-0.0015291791749237516],"position_m":[0.363866818097422,0.058770820825076245,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"abd1451be936d0f08914d9504c5c3720627e601b9a4f46e85748e88fc5f5ee26","episode_index":39,"episode_name":"episode_0039"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0039.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_4821/tex_ceiling_textures_522/tex_floor_textures_3809/tex_table_textures_5929/tex_wall_textures_2093","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":2699079519159208181,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":2699079519159208181,"visual_seed":2699079519159208181,"scene_id":"lab_003","finished_at":"2026-09-05T20:46:17"} +{"episode_id":"ep_000040","started_at":"2026-09-05T20:46:21","dimensions":{"distractor":{"count":32,"items":[{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_0","position":[-0.07828647600260674,-2.0441921150229,0.71338606911949],"aabb_xy":[[-0.13828647651045964,-2.1010388487088214],[-0.018286475494753814,-1.9873453813369788]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_1","position":[-0.25984655354022707,-0.8187429830212813,0.71338606911949],"aabb_xy":[[-0.3099440175213007,-0.8827429835310933],[-0.20974908955915345,-0.7547429825114697]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_2","position":[0.49150390232297636,-0.5407776267907818,0.71338606911949],"aabb_xy":[[0.4275082049278797,-0.6047776250914905],[0.555499599718073,-0.4767776284900731]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_3","position":[-0.2365061899079377,-1.7933491153751242,0.71338606911949],"aabb_xy":[[-0.27241969433292734,-1.8292626235918787],[-0.20059268548294798,-1.7574356071583697]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_4","position":[0.34988892890733436,1.7172690640279131,0.71338606911949],"aabb_xy":[[0.3417752742339572,1.709163247573884],[0.3580025835807114,1.7253748804819422]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_5","position":[-0.5762260425976473,1.3193145103591921,0.71338606911949],"aabb_xy":[[-0.6562260440277745,1.2397973553465826],[-0.4962260411675201,1.3988316653718016]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_6","position":[0.4256008470454491,-1.1088528316366186,0.71338606911949],"aabb_xy":[[0.40817013196644253,-1.1261249463004692],[0.44303156212445555,-1.0915807169727676]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_7","position":[-0.6429044362958736,-1.258637423391135,0.71338606911949],"aabb_xy":[[-0.6804044369604522,-1.274324481391357],[-0.6054044356312948,-1.2429503653909126]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_8","position":[0.09650303266681726,1.369345814834943,0.71338606911949],"aabb_xy":[[0.08780507037610195,1.3572208405274686],[0.10520099495753255,1.381470789142418]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_9","position":[0.24848377476633599,-1.0477547965011036,0.71338606911949],"aabb_xy":[[0.21098377447416114,-1.051796271901707],[0.2859837750585108,-1.0437133211005]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_10","position":[0.00809268750929959,-0.7562157157500655,0.71338606911949],"aabb_xy":[[-0.030453005315901442,-0.7947614868062542],[0.04663838033450062,-0.717669944693877]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_11","position":[0.3739839900011166,1.469787552363219,0.71338606911949],"aabb_xy":[[0.34401643309129093,1.4397875520653334],[0.40395154691094226,1.4997875526611049]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_12","position":[-0.4869061047784866,-1.2693003904711653,0.71338606911949],"aabb_xy":[[-0.4982678394317728,-1.2806688568774531],[-0.47554437012520046,-1.257931924064877]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_13","position":[0.1626359087561754,-0.8264880636660368,0.71338606911949],"aabb_xy":[[0.13223779765703178,-0.8568949656677062],[0.19303401985531896,-0.7960811616643672]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_14","position":[0.5357831094341716,-2.169619134230635,0.71338606911949],"aabb_xy":[[0.47578310883815556,-2.2244316067758585],[0.5957831100301879,-2.1148066616854115]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_15","position":[-0.5114377232367073,1.6633436677539417,0.71338606911949],"aabb_xy":[[-0.6014377199723175,1.610160204436647],[-0.4214377265010971,1.716527131071236]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_16","position":[-0.09538933733397614,1.6993512100655708,0.71338606911949],"aabb_xy":[[-0.16538934072553813,1.66403543636214],[-0.02538933394241417,1.7346669837690016]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_17","position":[-0.4517547854926286,-0.01201265303291077,0.71338606911949],"aabb_xy":[[-0.4565983802538586,-0.016864305511894884],[-0.4469111907313987,-0.007161000553926657]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_18","position":[0.20486126684875605,1.0598037646458738,0.71338606911949],"aabb_xy":[[0.19570138790487945,1.0532725466023365],[0.21402114579263265,1.0663349826894106]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_19","position":[-0.25566657874609,-0.07626798549379687,0.71338606911949],"aabb_xy":[[-0.270768880207108,-0.09136950712485868],[-0.24056427728507182,-0.06116646386273505]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_20","position":[-0.639830188479279,0.410803578356588,0.71338606911949],"aabb_xy":[[-0.6458672014799437,0.40477687728763984],[-0.6337931754786142,0.41683027942553624]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_21","position":[0.4679489805968271,0.654794021244737,0.71338606911949],"aabb_xy":[[0.42014281298305833,0.5897940185376779],[0.5157551482105956,0.7197940239517958]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_22","position":[-0.5995607516917502,-2.3181739626638,0.71338606911949],"aabb_xy":[[-0.6635607530997408,-2.3699629141877248],[-0.5355607502837595,-2.2663850111398753]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_23","position":[-0.2088815078699739,-1.1102761517103852,0.71338606911949],"aabb_xy":[[-0.24621278439521652,-1.1449292065052377],[-0.17155023134473127,-1.0756230969155332]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_24","position":[0.26255396245755713,-0.7915269372847487,0.71338606911949],"aabb_xy":[[0.24366957868904693,-0.8104128620651014],[0.28143834622606734,-0.7726410125043959]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_25","position":[0.2681015485205541,-1.190017802396302,0.71338606911949],"aabb_xy":[[0.2506015492424672,-1.207355902462648],[0.28560154779864094,-1.172679702329956]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_26","position":[0.16273926861060395,-2.1738790051265267,0.71338606911949],"aabb_xy":[[0.09273926680185851,-2.195232773890714],[0.2327392704193494,-2.1525252363623393]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_27","position":[0.14668389840604923,-1.4807018080487413,0.71338606911949],"aabb_xy":[[0.09670508989573334,-1.53070180805446],[0.19666270691636512,-1.4307018080430225]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_28","position":[0.05915092784369003,0.9788128375965104,0.71338606911949],"aabb_xy":[[-0.004849069458656388,0.9344464106286536],[0.12315092514603641,1.0231792645643671]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_29","position":[0.523959095421167,0.8761743878944839,0.71338606911949],"aabb_xy":[[0.5120870124096659,0.7911743882008335],[0.5358311784326681,0.9611743875881342]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_30","position":[0.29302428309991424,0.865774048277637,0.71338606911949],"aabb_xy":[[0.27481845943866656,0.8547486476956454],[0.3112301067611619,0.8767994488596287]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_31","position":[-0.07124404504168114,1.0182235023342825,0.71338606911949],"aabb_xy":[[-0.07828549599242873,1.011196750596488],[-0.06420259409093354,1.025250254072077]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6925752665856808,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4361.png","name":"4361"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4361.png","name":"4361"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/121.png","name":"121"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6826.png","name":"6826"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9700.png","name":"9700"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4714.png","name":"4714"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":790.3325798722169,"rotation_z_degrees":305.08506962644475,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009237445149833557,0.008959151475403927,0.0006334897407600064]},{"name":"camera_2","offset_m":[-0.010549282312619762,0.004663552080399355,-0.0013150637523544964]},{"name":"camera_3","offset_m":[-0.009093565662090719,-0.0009036798271090211,-0.0026048816608378114]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0005999562331885696,-0.001615966189855628,0.00131524350597035],"end_effector_yaw_offset_degrees":0.8752422542616103},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0007529178770031755,-0.0014118425258008304,-0.0012869742795085482],"end_effector_yaw_offset_degrees":-0.7454727598304887},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00015020979280219596,-0.0019388852495264178,0.0019318151619753757],"end_effector_yaw_offset_degrees":0.49819424226811604},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00014824979162045846,-0.0014657056813951199,0.0007023091646687217],"end_effector_yaw_offset_degrees":-0.17967146529284017}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.00360242378863186,0.001077474225543342],"position_m":[0.15989757621136816,-0.14502252577445668,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0007523576606846697,-0.0036005061235822554],"position_m":[0.2731476423393153,-0.35240050612358226,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0019424463060749271,-0.004763492732261275],"position_m":[0.30924244630607495,0.27533650726773873,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0022336609733481973,-0.0015192828991150219],"position_m":[0.3617336609733482,0.05878071710088498,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"adf3f602a2cf567c8635a370cd29a7ddcf4d88ec72e9242f856fab2a6e829bca","episode_index":40,"episode_name":"episode_0040"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0040.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_4361/tex_ceiling_textures_4714/tex_floor_textures_9700/tex_table_textures_121/tex_wall_textures_6826","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":1304760121971751709,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":1304760121971751709,"visual_seed":1304760121971751709,"scene_id":"lab_003","finished_at":"2026-09-05T20:49:53"} +{"episode_id":"ep_000041","started_at":"2026-09-05T20:49:57","dimensions":{"distractor":{"count":29,"items":[{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_0","position":[0.4014269089180498,0.6682967504707755,0.71338606911949],"aabb_xy":[[0.3764269096460875,0.6519513868746132],[0.42642690819001206,0.6846421140669379]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_1","position":[-0.4973802583983857,-0.8515522242150966,0.71338606911949],"aabb_xy":[[-0.5613802555104914,-0.9005845940095072],[-0.43338026128627993,-0.802519854420686]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_2","position":[-0.4181601070579235,-2.0806394474442858,0.71338606911949],"aabb_xy":[[-0.4781601079187363,-2.132065877450772],[-0.3581601061971107,-2.0292130174377987]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_3","position":[-0.4530297137805529,0.20417463795734792,0.71338606911949],"aabb_xy":[[-0.5330297123678722,0.12485903601918703],[-0.37302971519323347,0.2834902398955088]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_4","position":[0.3656435464596195,1.4278108311173372,0.71338606911949],"aabb_xy":[[0.31566612959436585,1.3778108296280884],[0.415620963324873,1.4778108326065855]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_5","position":[-0.6165013913474864,0.40779720029381794,0.71338606911949],"aabb_xy":[[-0.6615013928137152,0.36279734343233727],[-0.5715013898812575,0.45279705715529867]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_6","position":[0.1462173133377126,-2.398819063900822,0.71338606911949],"aabb_xy":[[0.12370362151425535,-2.468819064501829],[0.16873100516116973,-2.328819063299814]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_7","position":[0.0543484919099505,-2.2698950857083497,0.71338606911949],"aabb_xy":[[0.04001406678378704,-2.2819553012628884],[0.06868291703611396,-2.257834870153811]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_8","position":[-0.4043595386136766,1.3796821211270336,0.71338606911949],"aabb_xy":[[-0.42185953789176345,1.3623440210606876],[-0.3868595393355897,1.3970202211933795]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_9","position":[-0.019211363767393075,-0.9199074217071155,0.71338606911949],"aabb_xy":[[-0.08321136016296615,-0.983870710125849],[0.04478863262818,-0.8559441332883819]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_10","position":[0.25127147365403457,-1.6935370606818911,0.71338606911949],"aabb_xy":[[0.21377147298945584,-1.709224118682113],[0.2887714743186132,-1.6778500026816687]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_11","position":[0.4167180536013444,-0.38711174705754825,0.71338606911949],"aabb_xy":[[0.3817180544085261,-0.39807879305521077],[0.4517180527941626,-0.3761447010598855]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_12","position":[0.5784594280667192,-2.328941752541325,0.71338606911949],"aabb_xy":[[0.5134594301850715,-2.3800654162478665],[0.643459425948367,-2.2778180888347848]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_13","position":[-0.30055753599047463,0.9764569064909363,0.71338606911949],"aabb_xy":[[-0.38055753925448776,0.962896874182023],[-0.2205575327264615,0.9900169387998496]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_14","position":[0.7132697713067448,-2.0814566053464914,0.71338606911949],"aabb_xy":[[0.7067681347987402,-2.0912244273728016],[0.7197714078147495,-2.071688783320182]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_15","position":[0.4246399241494083,0.9345252494053407,0.71338606911949],"aabb_xy":[[0.3696444463287489,0.8795252479714337],[0.47963540197006765,0.9895252508392476]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_16","position":[-0.0730954500018618,1.6996463431997317,0.71338606911949],"aabb_xy":[[-0.08113880992781695,1.6146463421043653],[-0.06505209007590661,1.7846463442950982]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_17","position":[0.6455401864542629,-1.9885005206099304,0.71338606911949],"aabb_xy":[[0.5755401843228333,-2.0112624862356263],[0.7155401885856923,-1.9657385549842346]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_18","position":[0.5540756330647696,0.6574859544758413,0.71338606911949],"aabb_xy":[[0.5503723717356306,0.6537839361671233],[0.5577788943939084,0.661187972784559]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_19","position":[-0.6375930179022996,-1.3680476884955397,0.71338606911949],"aabb_xy":[[-0.6608748601004308,-1.4530476897927678],[-0.6143111757041682,-1.2830476871983116]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_20","position":[0.20701546481783528,-0.5313019278408531,0.71338606911949],"aabb_xy":[[0.19823423767059908,-0.5400816751293834],[0.21579669196507154,-0.5225221805523231]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_21","position":[0.2725103711311203,-2.4585194557386894,0.71338606911949],"aabb_xy":[[0.2654689201803727,-2.465546207476484],[0.2795518220818679,-2.451492704000895]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_22","position":[0.3755281112839879,1.762877909996861,0.71338606911949],"aabb_xy":[[0.31052811017804466,1.7379125369287327],[0.4405281123899312,1.7878432830649893]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_23","position":[-0.6268768992174691,1.7425991175173343,0.71338606911949],"aabb_xy":[[-0.6345011673076475,1.7349658939807908],[-0.619252631127291,1.7502323410538783]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_24","position":[0.5388663999528036,-1.1444009692503259,0.71338606911949],"aabb_xy":[[0.47386640139573066,-1.1741535026642083],[0.6038663985098763,-1.114648435836443]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_25","position":[0.6353340087005723,-0.5419302507628454,0.71338606911949],"aabb_xy":[[0.5988381880732936,-0.5784141931896029],[0.6718298293278511,-0.5054463083360877]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_26","position":[0.6504182074667064,1.5837335156786874,0.71338606911949],"aabb_xy":[[0.5854182064662059,1.5329471505240122],[0.7154182084672069,1.634519880833362]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_27","position":[-0.11569784659189597,0.6804358881141348,0.71338606911949],"aabb_xy":[[-0.16350401420566463,0.6154358854070758],[-0.06789167897812731,0.7454358908211938]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_28","position":[0.2116775119257156,1.3086227002898294,0.71338606911949],"aabb_xy":[[0.1576619156438156,1.2446226973975723],[0.2656931082076156,1.3726227031820866]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6911071930258114,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2929.png","name":"2929"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2929.png","name":"2929"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1896.png","name":"1896"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9777.png","name":"9777"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5082.png","name":"5082"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1587.png","name":"1587"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":767.1510387005178,"rotation_z_degrees":251.02582703604764,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011070449779758382,0.0003230586674084594,-0.013982572048106445]},{"name":"camera_2","offset_m":[-0.012981486087580128,0.0025156755765590455,-0.01087521002689214]},{"name":"camera_3","offset_m":[0.01668956115688457,-0.0036939236276476647,-0.004095674515533377]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00045840515451959574,0.0012877645039094405,0.00018616215865679313],"end_effector_yaw_offset_degrees":0.622310954811238},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0007261111101151006,-0.0015964078797881438,-0.0009802260348000759],"end_effector_yaw_offset_degrees":0.09416898250113581},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-9.534935998533538e-05,-0.0003674136269365355,-0.0014428130007870155],"end_effector_yaw_offset_degrees":0.45299850180666823},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0017214373410928217,-0.0007011576947255165,0.00043707790833426947],"end_effector_yaw_offset_degrees":-0.4139539303492268}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004129003428559377,0.000790075559416575],"position_m":[0.16762900342855938,-0.14530992444058344,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00022918040632222657,0.0009732221498597064],"position_m":[0.2741291804063222,-0.34782677785014027,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0031619906801289054,0.002769309876291222],"position_m":[0.3104619906801289,0.2828693098762912,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0037963280258174843,0.001970200640328195],"position_m":[0.36329632802581746,0.06227020064032819,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0956192090bdbc1c40de27cbccebd3c142286b8aaa807ae97e901456015bb821","episode_index":41,"episode_name":"episode_0041"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0041.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_2929/tex_ceiling_textures_1587/tex_floor_textures_5082/tex_table_textures_1896/tex_wall_textures_9777","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":4654762960994409094,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":4654762960994409094,"visual_seed":4654762960994409094,"scene_id":"lab_003","finished_at":"2026-09-05T20:53:45"} +{"episode_id":"ep_000042","started_at":"2026-09-05T20:53:49","dimensions":{"distractor":{"count":33,"items":[{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_0","position":[0.433234266263522,1.2406424711434272,0.71338606911949],"aabb_xy":[[0.4007725653815945,1.2105096390285244],[0.4656959671454494,1.2707753032583295]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_1","position":[0.04854954410832335,-2.0742264161100112,0.71338606911949],"aabb_xy":[[0.011049543760095586,-2.0860178116910943],[0.08604954445655111,-2.0624350205289272]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_2","position":[-0.20814292635827297,-1.132700260987909,0.71338606911949],"aabb_xy":[[-0.2581429250041941,-1.1826198046473715],[-0.15814292771235175,-1.0827807173284467]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_3","position":[0.688805148744772,-0.44674760186161055,0.71338606911949],"aabb_xy":[[0.6542140658907266,-0.5117476021466415],[0.723396231598817,-0.38174760157657944]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_4","position":[0.26383885394246864,1.0825401496741645,0.71338606911949],"aabb_xy":[[0.23883885467050633,1.066194786078002],[0.28883885321443087,1.0988855132703268]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_5","position":[0.6720090495162829,0.7733100141339224,0.71338606911949],"aabb_xy":[[0.6564532801060178,0.7577595808895154],[0.6875648189265483,0.7888604473783298]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_6","position":[-0.5243459352085144,0.4728183466080993,0.71338606911949],"aabb_xy":[[-0.5336929427908096,0.45851472439045526],[-0.5149989276262191,0.4871219688257433]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_7","position":[-0.386841360476108,1.7992814797525454,0.71338606911949],"aabb_xy":[[-0.39555532952604244,1.776781479093357],[-0.37812739142617346,1.8217814804117334]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_8","position":[0.5856562095187696,0.8619326910173508,0.71338606911949],"aabb_xy":[[0.5056562084456493,0.8521546446799664],[0.66565621059189,0.8717107373547353]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_9","position":[-0.22566635815355274,1.0868751710887947,0.71338606911949],"aabb_xy":[[-0.3056663586237687,1.0785644634744465],[-0.14566635768333677,1.095185878703143]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_10","position":[-0.5631220655552898,0.36780971310767674,0.71338606911949],"aabb_xy":[[-0.5735336242357734,0.36246397977177824],[-0.5527105068748059,0.37315544644357523]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_11","position":[0.5134783980197712,-0.0910813456629147,0.71338606911949],"aabb_xy":[[0.5047804357290561,-0.10320631997038943],[0.5221763603104866,-0.07895637135543997]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_12","position":[-0.39423108198605605,0.5847432265541448,0.71338606911949],"aabb_xy":[[-0.42923108196255194,0.5752786105065282],[-0.3592310820095603,0.5942078426017614]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_13","position":[0.2006146820464435,-1.7300231745324783,0.71338606911949],"aabb_xy":[[0.1668391228557505,-1.744061669745643],[0.23439024123713645,-1.7159846793193132]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_14","position":[0.6558848436889675,1.8031532037780198,0.71338606911949],"aabb_xy":[[0.6497902158008492,1.7945838092263513],[0.6619794715770858,1.8117225983296887]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_15","position":[-0.36234803182914427,-1.9117692553618104,0.71338606911949],"aabb_xy":[[-0.41734803145089017,-1.9667529481492834],[-0.3073480322073985,-1.856785562574338]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_16","position":[0.4434215325558939,-0.8047100605816659,0.71338606911949],"aabb_xy":[[0.378421533998821,-0.8344625939955486],[0.5084215311129667,-0.7749575271677833]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_17","position":[-0.1340942998225907,-0.06140150633105668,0.71338606911949],"aabb_xy":[[-0.14545603447587682,-0.07276997273734476],[-0.1227325651693045,-0.05003303992476859]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_18","position":[-0.12762637150840328,-0.6503427130549211,0.71338606911949],"aabb_xy":[[-0.14077761747969264,-0.6753427128116076],[-0.11447512553711392,-0.6253427132982345]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_19","position":[-0.20153113211753748,0.10151458289263404,0.71338606911949],"aabb_xy":[[-0.2103331874265102,0.09370325673770497],[-0.19272907680856477,0.10932590904756312]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_20","position":[-0.2204587014580739,-1.3930100457657937,0.71338606911949],"aabb_xy":[[-0.2820494606820667,-1.4570100438748408],[-0.15886794223408107,-1.329010047656747]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_21","position":[-0.29327054465478586,1.4941943941041624,0.71338606911949],"aabb_xy":[[-0.2972310284245202,1.4865265295186418],[-0.2893100608850515,1.501862258689683]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_22","position":[0.19812503695842154,-1.1478489267510024,0.71338606911949],"aabb_xy":[[0.1341250376642533,-1.2118350671198566],[0.26212503625258976,-1.0838627863821482]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_23","position":[-0.35684138405127275,1.0048773595470446,0.71338606911949],"aabb_xy":[[-0.39184138324409096,0.9939103135493815],[-0.3218413848584544,1.0158444055447067]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_24","position":[-0.336108322416612,-1.5333129203884919,0.71338606911949],"aabb_xy":[[-0.36062194651361784,-1.5575775136905283],[-0.3115946983196061,-1.5090483270864554]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_25","position":[-0.42030073150790015,-2.4559625278127553,0.71338606911949],"aabb_xy":[[-0.44279986723412706,-2.4784625285910185],[-0.3978015957816731,-2.433462527034492]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_26","position":[-0.3511705681999024,-1.6950872282921936,0.71338606911949],"aabb_xy":[[-0.3591968388305284,-1.7038387232695462],[-0.3431442975692764,-1.686335733314841]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_27","position":[0.11198924222706053,-1.5796061797091459,0.71338606911949],"aabb_xy":[[0.08570041790661985,-1.605877613363797],[0.13827806654750116,-1.5533347460544946]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_28","position":[-0.5430840030152557,-1.0608397182357818,0.71338606911949],"aabb_xy":[[-0.563142414628496,-1.0809048051449395],[-0.5230255914020154,-1.0407746313266242]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_29","position":[0.6158623823639422,-1.8165883940954912,0.71338606911949],"aabb_xy":[[0.5813999043508544,-1.823252071278414],[0.65032486037703,-1.8099247169125685]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_30","position":[0.3252292868429938,-1.420900651009352,0.71338606911949],"aabb_xy":[[0.31818897690945686,-1.5009006504090239],[0.33226959677653084,-1.3409006516096809]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_31","position":[-0.5770366366377722,0.7276579233301477,0.71338606911949],"aabb_xy":[[-0.6410366368982429,0.6826491239772197],[-0.5130366363773012,0.7726667226830757]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_32","position":[-0.29549543424703023,-2.316717819581212,0.71338606911949],"aabb_xy":[[-0.3174041163863812,-2.3386184864013027],[-0.27358675210767913,-2.294817152761121]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6901865644027319,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/12.png","name":"12"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/12.png","name":"12"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1821.png","name":"1821"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3807.png","name":"3807"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3081.png","name":"3081"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5709.png","name":"5709"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":698.3145772526742,"rotation_z_degrees":18.24908587586135,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01078743260932543,-0.0037521433958563194,0.013858885332543095]},{"name":"camera_2","offset_m":[0.011610087914984375,-0.008592293739536499,0.008077428956354792]},{"name":"camera_3","offset_m":[0.009222402824415301,0.002712171479335071,0.008527809938619423]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001285532536990587,0.001572159296728173,0.001995523474398928],"end_effector_yaw_offset_degrees":-0.7188062231663102},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0004748967280956561,-0.0019795035195678216,0.0009652474586626407],"end_effector_yaw_offset_degrees":-0.663149558702143},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0005932313618517919,-0.0002346322753940986,-0.0006492543282710041],"end_effector_yaw_offset_degrees":0.4578191381970105},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0016295604682292177,-0.0019257117594799781,-0.001609709963182512],"end_effector_yaw_offset_degrees":-0.4113894633215358}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.002249253952266819,0.002383287596362131],"position_m":[0.16125074604773318,-0.14371671240363787,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003445909033640684,-0.003460859804032701],"position_m":[0.2704540909663593,-0.3522608598040327,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003067025881837303,-0.002549899462387002],"position_m":[0.31036702588183734,0.27755010053761303,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0013624680917247497,-0.003980284747326],"position_m":[0.36086246809172473,0.056319715252674,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ab99847602291c1690654f02c7a5c59240ba22016dd2ab04bb34a423ea95f21b","episode_index":42,"episode_name":"episode_0042"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0042.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_12/tex_ceiling_textures_5709/tex_floor_textures_3081/tex_table_textures_1821/tex_wall_textures_3807","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":4302898079537396666,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":4302898079537396666,"visual_seed":4302898079537396666,"scene_id":"lab_003","finished_at":"2026-09-05T20:57:14"} +{"episode_id":"ep_000043","started_at":"2026-09-05T20:57:19","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_0","position":[0.01599990015462438,-2.509194515403455,0.71338606911949],"aabb_xy":[[-0.0015001001047122435,-2.523286057592228],[0.03349990041396101,-2.4951029732146828]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_1","position":[-0.5023910860314877,-0.16792425290019874,0.71338606911949],"aabb_xy":[[-0.5663910833171363,-0.20943097185304269],[-0.438391088745839,-0.12641753394735475]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_2","position":[0.1242797857117891,-1.4004388783936044,0.71338606911949],"aabb_xy":[[0.03459270940367365,-1.490438878648055],[0.21396686201990456,-1.3104388781391538]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_3","position":[0.476579018569115,0.15753452288880565,0.71338606911949],"aabb_xy":[[0.4684653638957379,0.1494287064347766],[0.4846926732424921,0.16564033934283476]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_4","position":[-0.6405828664270604,-1.7696176705411806,0.71338606911949],"aabb_xy":[[-0.6627553934037113,-1.7917933376973032],[-0.6184103394504096,-1.747442003385057]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_5","position":[-0.32617138054060485,-0.6477280712056259,0.71338606911949],"aabb_xy":[[-0.3474493886840771,-0.712728073531699],[-0.3048933723971326,-0.5827280688795529]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_6","position":[0.30916019017846286,-1.3382671683276306,0.71338606911949],"aabb_xy":[[0.2917294750994563,-1.355539282991481],[0.3265909052574693,-1.3209950536637793]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_7","position":[0.09389351446846383,1.1830659699151438,0.71338606911949],"aabb_xy":[[0.043796050487390215,1.1190659694053322],[0.14399097844953745,1.2470659704249558]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_8","position":[0.07800662366161004,1.6616737554823717,0.71338606911949],"aabb_xy":[[0.01800662306559385,1.6068612829371485],[0.13800662425762622,1.7164862280275954]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_9","position":[-0.20820276866681336,-1.8646526118241842,0.71338606911949],"aabb_xy":[[-0.2882027658263886,-1.876200212782001],[-0.12820277150723805,-1.853105010866367]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_10","position":[-0.2160348083627705,-0.8065503597120467,0.71338606911949],"aabb_xy":[[-0.24951397562381145,-0.8400294730831539],[-0.18255564110172956,-0.7730712463409399]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_11","position":[0.6577901345674406,-2.110851754870132,0.71338606911949],"aabb_xy":[[0.6001596656801697,-2.170851753796842],[0.7154206034547114,-2.050851755943421]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_12","position":[-0.6343883215377714,-1.5735346155990886,0.71338606911949],"aabb_xy":[[-0.6475395675090607,-1.5985346153557756],[-0.621237075566482,-1.5485346158424025]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_13","position":[-0.06389485817549112,0.13306842078150272,0.71338606911949],"aabb_xy":[[-0.10514366920540584,0.07806842126928525],[-0.022646047145576383,0.18806842029372015]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_14","position":[0.43822256102695656,1.4994045695363467,0.71338606911949],"aabb_xy":[[0.3742225637246101,1.4550381425684902],[0.502222558329303,1.5437709965042037]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_15","position":[0.3806381508809391,1.0577016601686493,0.71338606911949],"aabb_xy":[[0.3438435177560328,1.020795785072067],[0.4174327840058453,1.0946075352652316]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_16","position":[-0.49256259628529575,-0.33546397985258647,0.71338606911949],"aabb_xy":[[-0.5575625941669435,-0.3865876435591274],[-0.42756259840364796,-0.2843403161460456]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_17","position":[-0.37442959422717886,0.6503839408882488,0.71338606911949],"aabb_xy":[[-0.46442959790409694,0.5889515343111443],[-0.2844295905502606,0.711816347465353]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_18","position":[0.5809874663136998,0.22958242179682742,0.71338606911949],"aabb_xy":[[0.5309874652945646,0.1931162060589995],[0.6309874673328352,0.26604863753465535]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_19","position":[-0.1478855803284972,-1.5794483222865372,0.71338606911949],"aabb_xy":[[-0.16222000545466064,-1.5915085378410758],[-0.13355115520233374,-1.5673881067319981]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_20","position":[0.5256007147245245,-2.1648938273718845,0.71338606911949],"aabb_xy":[[0.5006007147920066,-2.171776495592808],[0.5506007146570424,-2.158011159150961]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_21","position":[0.5151510709856235,0.9488857220528382,0.71338606911949],"aabb_xy":[[0.46515106962473624,0.8989078174774225],[0.5651510723465106,0.9988636266282538]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_22","position":[-0.2004110015217732,1.2590317708011391,0.71338606911949],"aabb_xy":[[-0.21952330887975208,1.2398969919238971],[-0.18129869416379435,1.2781665496783812]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_23","position":[-0.03523444191871172,-0.15212734009187479,0.71338606911949],"aabb_xy":[[-0.04056695657332471,-0.15745166833711038],[-0.029901927264098738,-0.1468030118466392]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_24","position":[0.18349105647056463,-2.560942591509027,0.71338606911949],"aabb_xy":[[0.16838875500954648,-2.576044113140088],[0.19859335793158267,-2.545841069877964]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_25","position":[-0.4970079534105006,0.3175114701250501,0.71338606911949],"aabb_xy":[[-0.5078595596593762,0.3066521793973991],[-0.486156347161625,0.3283707608527011]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_26","position":[0.6123744295065019,-0.40347157697383107,0.71338606911949],"aabb_xy":[[0.5323744308496159,-0.4179764358980939],[0.6923744281633879,-0.38896671804956834]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_27","position":[-0.3051731467829185,1.4461355906761866,0.71338606911949],"aabb_xy":[[-0.3376348476648459,1.4160027585612835],[-0.272711445900991,1.4762684227910887]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_28","position":[-0.1756225657161935,-0.16107557012042095,0.71338606911949],"aabb_xy":[[-0.19312249915017685,-0.17857557004065547],[-0.1581226322822101,-0.14357557020018638]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6900831304577423,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2403.png","name":"2403"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2403.png","name":"2403"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/942.png","name":"942"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1336.png","name":"1336"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1835.png","name":"1835"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2708.png","name":"2708"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":644.3083044174739,"rotation_z_degrees":66.03652315693282,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0010100447459304614,0.010687183058727939,0.0015559405803145417]},{"name":"camera_2","offset_m":[0.013534914223411531,-0.017627382627721903,0.016481294187373426]},{"name":"camera_3","offset_m":[-0.019909350171265713,0.008035741592656319,-0.0033180069665465287]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0013079277324878538,-0.0017716898676964964,0.001522430342143008],"end_effector_yaw_offset_degrees":-0.16029870818964653},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0008775624855834043,0.0017174983796346393,0.00158056629471729],"end_effector_yaw_offset_degrees":-0.6715361936043558},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0017352819308338128,0.001205938273977642,0.000999291249970178],"end_effector_yaw_offset_degrees":0.24264186854128766},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0016703778822120948,-0.0019359776692548093,-0.0007583202250190451],"end_effector_yaw_offset_degrees":0.5840729376636951}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0019488332159374377,-8.973181886554743e-05],"position_m":[0.16544883321593745,-0.14618973181886555,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0006274880834023396,0.003701184529931953],"position_m":[0.2745274880834023,-0.34509881547006804,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0011147248500455887,-0.004822169158323537],"position_m":[0.3084147248500456,0.27527783084167645,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00012651900104487888,-0.0011944780501155884],"position_m":[0.3593734809989551,0.05910552194988441,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d5cb12d8afe52cdbb96711bfa1b93b250f27a9fddd91a47b0a543bd812640d1e","episode_index":43,"episode_name":"episode_0043"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0043.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_2403/tex_ceiling_textures_2708/tex_floor_textures_1835/tex_table_textures_942/tex_wall_textures_1336","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":8281336938393151178,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":8281336938393151178,"visual_seed":8281336938393151178,"scene_id":"lab_003","finished_at":"2026-09-05T21:01:01"} +{"episode_id":"ep_000044","started_at":"2026-09-05T21:01:05","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_0","position":[-0.3714100419419823,-0.5808492802119098,0.71338606911949],"aabb_xy":[[-0.42140931711041846,-0.630849281487857],[-0.32141076677354613,-0.5308492789359627]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_1","position":[0.2985121133045555,-0.5961906492263309,0.71338606911949],"aabb_xy":[[0.25632769914372483,-0.6601906495035421],[0.3406965274653863,-0.5321906489491197]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_2","position":[-0.5135170058659372,-0.1765197984773832,0.71338606911949],"aabb_xy":[[-0.5775170080863442,-0.22089288260267148],[-0.44951700364553016,-0.1321467143520949]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_3","position":[0.6171219420587901,0.31201532247448815,0.71338606911949],"aabb_xy":[[0.5946219425350827,0.2895193750238673],[0.6396219415824975,0.3345112699251089]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_4","position":[0.28737159392519196,-1.6987055296338291,0.71338606911949],"aabb_xy":[[0.2791570488095079,-1.7073821199314703],[0.2955861390408759,-1.6900289393361876]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_5","position":[0.3073738427453483,-2.0669420703494255,0.71338606911949],"aabb_xy":[[0.242373841639405,-2.0919074434175537],[0.3723738438512916,-2.041976697281297]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_6","position":[-0.4767308720655843,1.3249917451092377,0.71338606911949],"aabb_xy":[[-0.5417308730227114,1.2730435331755319],[-0.411730871108457,1.376939957042943]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_7","position":[-0.32596723483059925,0.5223262808937132,0.71338606911949],"aabb_xy":[[-0.35096723410256153,0.5059809172975509],[-0.30096723555863697,0.5386716444898756]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_8","position":[0.5563734341988031,0.8934596140605486,0.71338606911949],"aabb_xy":[[0.5113734327325743,0.8484597571990681],[0.601373435665032,0.9384594709220294]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_9","position":[0.08491235193568536,-0.6702052374197283,0.71338606911949],"aabb_xy":[[0.06800161949934357,-0.6836774430123427],[0.10182308437202713,-0.6567330318271136]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_10","position":[-0.28411130280683145,-1.2684905017441417,0.71338606911949],"aabb_xy":[[-0.348111305149633,-1.3134313529882742],[-0.2201113004640299,-1.2235496505000092]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_11","position":[-0.39225331419422377,1.202133829343686,0.71338606911949],"aabb_xy":[[-0.42671579220731154,1.1954701521607631],[-0.357790836181136,1.2087975065266086]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_12","position":[-0.40128032328841506,-1.5741309214526715,0.71338606911949],"aabb_xy":[[-0.45128032272861063,-1.6240988459369876],[-0.3512803238482194,-1.524162996968355]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_13","position":[-0.05629060065443203,1.0855283608201654,0.71338606911949],"aabb_xy":[[-0.06889329979150849,1.0729329645952999],[-0.043687901517355576,1.0981237570450308]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_14","position":[0.5096392417936222,-2.530833584583241,0.71338606911949],"aabb_xy":[[0.4546392435918774,-2.571355551209678],[0.564639239995367,-2.490311617956803]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_15","position":[-0.24752589592980612,1.7310541680784302,0.71338606911949],"aabb_xy":[[-0.2523694906910361,1.7262025155994458],[-0.24268230116857614,1.735905820557414]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_16","position":[-0.5538059130500494,-2.5448543576751925,0.71338606911949],"aabb_xy":[[-0.6338059117069355,-2.559359216599456],[-0.47380591439316344,-2.53034949875093]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_17","position":[0.6743599761678147,-1.0714710553437994,0.71338606911949],"aabb_xy":[[0.6368599777444144,-1.0846352693116297],[0.7118599745912151,-1.0583068413759686]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_18","position":[0.4915435445708496,-0.07352442759654387,0.71338606911949],"aabb_xy":[[0.47977535777619207,-0.15852442750176546],[0.5033117313655071,0.011475572308677686]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_19","position":[-0.14795104517330904,-1.5490579319921827,0.71338606911949],"aabb_xy":[[-0.15607873336662229,-1.5579715404028902],[-0.13982335697999584,-1.5401443235814751]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_20","position":[-0.15740678904068406,-1.8097953384498227,0.71338606911949],"aabb_xy":[[-0.19170370005842466,-1.8440922246597637],[-0.1231098780229434,-1.7754984522398811]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_21","position":[0.6534935024663746,0.1418393873109034,0.71338606911949],"aabb_xy":[[0.6359935033320073,0.13195976027331552],[0.6709935016007417,0.15171901434849117]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_22","position":[0.20497609393089677,1.7705479804073767,0.71338606911949],"aabb_xy":[[0.139976096049249,1.719424316700836],[0.26997609181254456,1.8216716441139178]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_23","position":[0.5378008010664828,1.6543179976116096,0.71338606911949],"aabb_xy":[[0.5249288975655426,1.5743179971977737],[0.5506727045674229,1.734317998025446]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6856774759192336,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8673.png","name":"8673"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8673.png","name":"8673"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4220.png","name":"4220"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7744.png","name":"7744"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3947.png","name":"3947"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/924.png","name":"924"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":848.46317559453,"rotation_z_degrees":40.76618336974235,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009054604434896685,0.010759103203170174,0.004234979576524557]},{"name":"camera_2","offset_m":[-0.002693233895078341,0.008488316707822893,0.007470534082085055]},{"name":"camera_3","offset_m":[-0.002319182184838585,0.01689522960514193,0.001088467535901444]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0013916047152337354,-0.0006565384382170025,-0.001391144664776141],"end_effector_yaw_offset_degrees":0.6453807198172674},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0017753557229140484,0.0003874069556515699,0.00016101400353249126],"end_effector_yaw_offset_degrees":-0.7346971978714081},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0006566740894803562,-0.0014984393048416075,0.0007012209423929729],"end_effector_yaw_offset_degrees":-0.06971781351161943},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00022571885352122632,0.0009457836564241737,0.0018798653373758552],"end_effector_yaw_offset_degrees":0.5379168265861938}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004649929805322964,0.004575385761482738],"position_m":[0.15885007019467703,-0.14152461423851728,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004743451294440631,0.003224433254074636],"position_m":[0.26915654870555933,-0.3455755667459254,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0036002905852574696,-0.0015314505546067938],"position_m":[0.30369970941474256,0.2785685494453932,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001427003368947792,-0.00011709336923662172],"position_m":[0.3609270033689478,0.06018290663076338,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5dde55377dff1a83969ea0c95fd5f53bd900f5803afd4dd85ca9a97ea7047838","episode_index":44,"episode_name":"episode_0044"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0044.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_8673/tex_ceiling_textures_924/tex_floor_textures_3947/tex_table_textures_4220/tex_wall_textures_7744","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":7632359497395663329,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":7632359497395663329,"visual_seed":7632359497395663329,"scene_id":"lab_003","finished_at":"2026-09-05T21:04:36"} +{"episode_id":"ep_000045","started_at":"2026-09-05T21:04:41","dimensions":{"distractor":{"count":24,"items":[{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_0","position":[-0.0956020270807354,0.9165734813913362,0.71338606911949],"aabb_xy":[[-0.14560202744130143,0.8665934941817331],[-0.045602026720169324,0.966553468600939]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_1","position":[-0.09308558015329105,-1.8115423828503359,0.71338606911949],"aabb_xy":[[-0.1032385957074404,-1.8476119244230758],[-0.08293256459914165,-1.775472841277595]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_2","position":[0.0756024620132234,-1.5167105395137717,0.71338606911949],"aabb_xy":[[0.03810246122122796,-1.5230783804719616],[0.11310246280521885,-1.5103426985555812]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_3","position":[0.27890242612220195,-2.518683739694925,0.71338606911949],"aabb_xy":[[0.2439024262261831,-2.527057975206865],[0.3139024260182208,-2.510309504182985]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_4","position":[0.7057465615917413,0.8238107538274577,0.71338606911949],"aabb_xy":[[0.697823281352993,0.8013107535894544],[0.7136698418304896,0.8463107540654611]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_5","position":[0.40004767160818133,-0.5936173382484564,0.71338606911949],"aabb_xy":[[0.3350476706510541,-0.6455655501821621],[0.46504767256530855,-0.541669126314751]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_6","position":[-0.28480585638316747,-2.41875851831135,0.71338606911949],"aabb_xy":[[-0.33480585595950224,-2.468739097263456],[-0.2348058568068328,-2.3687779393592443]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_7","position":[-0.21457055109457085,0.37427334517550914,0.71338606911949],"aabb_xy":[[-0.22703790920430653,0.3618080205421857],[-0.20210319298483523,0.3867386698088327]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_8","position":[0.05269648592553111,-0.7267419277603089,0.71338606911949],"aabb_xy":[[0.031418477782058855,-0.7917419300863818],[0.07397449406900336,-0.6617419254342357]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_9","position":[-0.03629371645250501,-2.0962353927039867,0.71338606911949],"aabb_xy":[[-0.07075619446559278,-2.102899069886909],[-0.0018312384394172307,-2.0895717155210636]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_10","position":[0.05516006878812585,1.6636104243031,0.71338606911949],"aabb_xy":[[0.04865843228012124,1.6538426022767905],[0.06166170529613047,1.67337824632941]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_11","position":[-0.6815236321332357,-2.563127447380071,0.71338606911949],"aabb_xy":[[-0.6934563664950637,-2.5755096001879303],[-0.6695908977714076,-2.5507452945722116]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_12","position":[0.2592493039834207,0.9642702091468411,0.71338606911949],"aabb_xy":[[0.2281023851398376,0.894270210460034],[0.29039622282700384,1.0342702078336483]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_13","position":[0.1378652437903941,0.6421427821934098,0.71338606911949],"aabb_xy":[[0.1211881077972986,0.6254428582194795],[0.15454237978348961,0.6588427061673401]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_14","position":[-0.392297718959698,1.6200192782858767,0.71338606911949],"aabb_xy":[[-0.4040659057543556,1.5350192783806555],[-0.38052953216504054,1.7050192781910987]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_15","position":[0.7001834298749814,-0.3049801632732505,0.71338606911949],"aabb_xy":[[0.67690158767685,-0.3899801645704785],[0.7234652720731127,-0.2199801619760224]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_16","position":[0.3636081741988979,-1.2367258316783982,0.71338606911949],"aabb_xy":[[0.35275656795002225,-1.2475851224060495],[0.37445978044777345,-1.2258665409507474]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_17","position":[0.47183688607671326,-1.178813810867881,0.71338606911949],"aabb_xy":[[0.4647954351259657,-1.1858405626056758],[0.4788783370274609,-1.1717870591300865]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_18","position":[-0.2826608639086634,-1.427980559831234,0.71338606911949],"aabb_xy":[[-0.3466608603042365,-1.4919438482499676],[-0.21866086751309033,-1.3640172714125005]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_19","position":[-0.0854863084436216,-1.450002325901868,0.71338606911949],"aabb_xy":[[-0.165486305847215,-1.5299948971000508],[-0.005486311040028168,-1.3700097547036851]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_20","position":[0.31772510258055386,-1.725643801700405,0.71338606911949],"aabb_xy":[[0.3084314843434033,-1.763143800188539],[0.32701872081770444,-1.688143803212271]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_21","position":[0.6238866057050905,-1.9631309089763977,0.71338606911949],"aabb_xy":[[0.6062109751164921,-1.9808111252558005],[0.6415622362936888,-1.945450692696995]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_22","position":[-0.18939672407615327,-1.8617141136409412,0.71338606911949],"aabb_xy":[[-0.1954913519642716,-1.8702835081926101],[-0.18330209618803495,-1.8531447190892727]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_23","position":[0.20735868163223292,1.2864083133427995,0.71338606911949],"aabb_xy":[[0.18106985731179223,1.260136879688148],[0.23364750595267356,1.3126797469974505]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6945036247134347,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7899.png","name":"7899"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7899.png","name":"7899"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7823.png","name":"7823"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5559.png","name":"5559"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9192.png","name":"9192"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1059.png","name":"1059"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":799.6358734111168,"rotation_z_degrees":176.0700120613964,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011205519775274625,0.00443805924422442,-0.005917551189555005]},{"name":"camera_2","offset_m":[0.011620420905180676,-0.014877976671862437,0.01605200003115036]},{"name":"camera_3","offset_m":[-0.0023760686455800775,-0.01917266592788802,-0.013279939080612566]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0008096824069543816,0.00032014468575196266,-0.0005965461802392245],"end_effector_yaw_offset_degrees":-0.9434264089303119},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0012142957568472236,0.0016326133568797438,0.00143734317703937],"end_effector_yaw_offset_degrees":-0.10555815927449141},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0018224869909941282,0.0015793842605707,0.00048547248690191313],"end_effector_yaw_offset_degrees":-0.9376002346332684},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0016500234086788941,0.001415335053627475,-0.000458171077827274],"end_effector_yaw_offset_degrees":0.2961934303735543}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0014794348849305572,0.0034487522243035603],"position_m":[0.16202056511506946,-0.14265124777569646,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0017069976124293494,-0.003225942539845903],"position_m":[0.27560699761242935,-0.3520259425398459,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.000845723028115892,0.0015650463337635997],"position_m":[0.30814572302811594,0.2816650463337636,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002066422151261428,-0.004354179068643176],"position_m":[0.3615664221512614,0.055945820931356825,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ee0b3a9d1b9f1c65c075d5989878f06cec171d0b55e8d3f3759f734c376f227d","episode_index":45,"episode_name":"episode_0045"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0045.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_7899/tex_ceiling_textures_1059/tex_floor_textures_9192/tex_table_textures_7823/tex_wall_textures_5559","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":5923496306176634092,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":5923496306176634092,"visual_seed":5923496306176634092,"scene_id":"lab_003","finished_at":"2026-09-05T21:08:28"} +{"episode_id":"ep_000046","started_at":"2026-09-05T21:08:32","dimensions":{"distractor":{"count":33,"items":[{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_0","position":[0.252566218128198,0.6863346501612706,0.71338606911949],"aabb_xy":[[0.17256622111395004,0.6662000984878594],[0.332566215142446,0.706469201834682]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_1","position":[-0.6270787884389977,-0.45783299298854896,0.71338606911949],"aabb_xy":[[-0.6870787900819194,-0.5098331422804931],[-0.5670787867960757,-0.40583284369660483]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_2","position":[0.5350979258182444,0.5234012703577897,0.71338606911949],"aabb_xy":[[0.4801056751827335,0.46840126861447695],[0.5900901764537554,0.5784012721011025]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_3","position":[-0.6444101812742942,-1.4891934068929495,0.71338606911949],"aabb_xy":[[-0.6904952725290256,-1.5531934041455047],[-0.5983250900195627,-1.4251934096403944]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_4","position":[-0.4823635551396004,-1.0619059733193221,0.71338606911949],"aabb_xy":[[-0.5173635551160962,-1.0713705893669387],[-0.4473635551631046,-1.0524413572717055]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_5","position":[-0.1711198147535663,1.086083298112885,0.71338606911949],"aabb_xy":[[-0.17575492990579966,1.082215963035736],[-0.1664846996013329,1.0899506331900335]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_6","position":[0.5376869978388201,-0.6447275114062687,0.71338606911949],"aabb_xy":[[0.5321053262046913,-0.6572275112240441],[0.5432686694729489,-0.6322275115884931]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_7","position":[-0.21409510957331845,0.9888979482391891,0.71338606911949],"aabb_xy":[[-0.27809510687566485,0.9445315212713322],[-0.15009511227097203,1.0332643752070458]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_8","position":[0.1747576574725792,-2.2291757642237724,0.71338606911949],"aabb_xy":[[0.1495368206127395,-2.2543995150766585],[0.19997849433241885,-2.2039520133708854]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_9","position":[-0.49211216651930545,1.602452616590576,0.71338606911949],"aabb_xy":[[-0.5537029257432984,1.538452618481529],[-0.4305214072953127,1.6664526146996228]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_10","position":[-0.42948967439623587,0.1999071615093735,0.71338606911949],"aabb_xy":[[-0.45200336621969306,0.129907160908366],[-0.40697598257277867,0.269907162110381]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_11","position":[0.25934309444283454,-1.8264763169428628,0.71338606911949],"aabb_xy":[[0.2368430949191271,-1.8489722643934832],[0.2818430939665419,-1.8039803694922416]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_12","position":[-0.12887425467966773,1.7018637580420655,0.71338606911949],"aabb_xy":[[-0.18387425430141358,1.646880065254593],[-0.07387425505792189,1.7568474508295384]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_13","position":[0.08634481981342246,-1.0077516335400847,0.71338606911949],"aabb_xy":[[0.051882472415280635,-1.042245515937907],[0.12080716721156423,-0.9732577511422617]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_14","position":[-0.084918525211778,-1.9038550517902237,0.71338606911949],"aabb_xy":[[-0.17491852171264974,-1.949766694208682],[0.005081471289093752,-1.8579434093717655]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_15","position":[-0.10734766638229898,0.8203669198887495,0.71338606911949],"aabb_xy":[[-0.17134766967200707,0.7770320008848319],[-0.04334766309259085,0.8637018388926672]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_16","position":[-0.6241257708743633,1.66969889628048,0.71338606911949],"aabb_xy":[[-0.6282616272070635,1.6321988968361232],[-0.6199899145416631,1.7071988957248372]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_17","position":[0.46977279305469977,-1.256893689357359,0.71338606911949],"aabb_xy":[[0.38977279565110634,-1.3368862605555418],[0.5497727904582932,-1.1769011181591762]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_18","position":[0.3274511573253216,-0.5151648391553163,0.71338606911949],"aabb_xy":[[0.28995115721972864,-0.5219870010082973],[0.36495115743091455,-0.5083426773023351]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_19","position":[-0.4198483902926087,1.2082982837419989,0.71338606911949],"aabb_xy":[[-0.423808874062343,1.2006304191564783],[-0.41588790652287433,1.2159661483275195]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_20","position":[0.08937574845367824,-1.4593505713654988,0.71338606911949],"aabb_xy":[[0.02537574677568087,-1.5078679628448128],[0.1533757501316756,-1.4108331798861844]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_21","position":[0.43330601243651845,1.412115557396469,0.71338606911949],"aabb_xy":[[0.3983060125404996,1.403741321884529],[0.4683060123325373,1.420489792908409]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_22","position":[0.2323389575903616,-1.5956095749968133,0.71338606911949],"aabb_xy":[[0.209838957078321,-1.6181014333622117],[0.2548389581024022,-1.573117716631415]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_23","position":[-0.4918846389376855,-1.4147216812235694,0.71338606911949],"aabb_xy":[[-0.5032463735909716,-1.4260901476298573],[-0.4805229042843993,-1.4033532148172811]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_24","position":[0.5713251973280986,-2.4544881391827875,0.71338606911949],"aabb_xy":[[0.5300206542643626,-2.518488138750904],[0.6126297403918346,-2.39048813961467]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_25","position":[0.6380895486761942,0.3451597366944483,0.71338606911949],"aabb_xy":[[0.6030895503654986,0.3374447217709026],[0.6730895469868895,0.3528747516179939]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_26","position":[0.451875588268289,0.7960685968744556,0.71338606911949],"aabb_xy":[[0.4437479000749758,0.787154988463748],[0.4600032764616022,0.8049822052851633]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_27","position":[0.48630493546605913,1.107828843191387,0.71338606911949],"aabb_xy":[[0.44897365894081653,1.0731757883965347],[0.5236362119913017,1.1424818979862392]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_28","position":[-0.530706379377559,-1.8581639825037914,0.71338606911949],"aabb_xy":[[-0.5805890762552554,-1.9081639817500664],[-0.48082368249986296,-1.808163983257517]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_29","position":[0.419491550897545,-1.8386618188980832,0.71338606911949],"aabb_xy":[[0.35949155003673205,-1.8900882489045694],[0.47949155175835767,-1.7872353888915966]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_30","position":[-0.09867388026236124,-2.1236583290508366,0.71338606911949],"aabb_xy":[[-0.10671724018831641,-2.208658330146203],[-0.09063052033640606,-2.03865832795547]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_31","position":[0.1901925426496911,-1.3199442581965308,0.71338606911949],"aabb_xy":[[0.12519254449377207,-1.346240502746443],[0.25519254080561016,-1.2936480136466186]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_32","position":[0.4887331480842212,-0.7821827504792296,0.71338606911949],"aabb_xy":[[0.4662331478407058,-0.7943873851390015],[0.5112331483277366,-0.7699781158194576]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6853060620896747,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2697.png","name":"2697"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2697.png","name":"2697"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7909.png","name":"7909"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7937.png","name":"7937"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8854.png","name":"8854"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7476.png","name":"7476"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":648.7978362225655,"rotation_z_degrees":79.93222943475186,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013835887843613538,-0.005283263756211652,-0.008691598975884927]},{"name":"camera_2","offset_m":[0.003171983951661548,-0.012000763629885594,0.0076731442503987154]},{"name":"camera_3","offset_m":[-0.012520262783473225,-0.011758775612796462,-0.0025074478628468663]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001885565648438559,-0.001246764900585869,0.000451883594419826],"end_effector_yaw_offset_degrees":-0.8492655438545336},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0007993392334146028,-0.0005637899361346985,0.0018875886120704659],"end_effector_yaw_offset_degrees":0.04422096628807015},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00039689856931129116,-0.0018637046901100775,0.0018027058542008935],"end_effector_yaw_offset_degrees":-0.41409197057417857},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0013305121478321812,-0.0014563109301705857,-0.0009872344394424037],"end_effector_yaw_offset_degrees":-0.4404429669404917}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0027000347969433048,-0.004914900263058923],"position_m":[0.1607999652030567,-0.15101490026305894,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004581218026903537,0.004240710836137641],"position_m":[0.26931878197309644,-0.34455928916386236,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0015377245573202332,-0.0021030141602767696],"position_m":[0.3088377245573202,0.27799698583972327,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0011658357598549308,-0.003358508805459112],"position_m":[0.3583341642401451,0.05694149119454089,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"180fc9bde4ed77bc43e0e5ab892eeb96e8375800ff9b0b77b222a0b190fd3bdc","episode_index":46,"episode_name":"episode_0046"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0046.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_2697/tex_ceiling_textures_7476/tex_floor_textures_8854/tex_table_textures_7909/tex_wall_textures_7937","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":8841643459875669409,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":8841643459875669409,"visual_seed":8841643459875669409,"scene_id":"lab_003","finished_at":"2026-09-05T21:12:04"} +{"episode_id":"ep_000047","started_at":"2026-09-05T21:12:09","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_0","position":[-0.21022191715777905,1.6929419829445762,0.71338606911949],"aabb_xy":[[-0.22772191741711573,1.6788504407558043],[-0.19272191689844248,1.7070335251333495]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_1","position":[0.4785643544772211,-0.9753952391578864,0.71338606911949],"aabb_xy":[[0.4135643565955734,-1.0265189028644273],[0.5435643523588689,-0.9242715754513455]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_2","position":[0.021595441919378455,0.9124088358886331,0.71338606911949],"aabb_xy":[[-0.0434045562365406,0.886112591338721],[0.08659544007529751,0.9387050804385454]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_3","position":[-0.19573220338405184,-1.911655179038056,0.71338606911949],"aabb_xy":[[-0.20016283273889204,-1.9171035507727388],[-0.1913015740292117,-1.9062068073033738]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_4","position":[-0.5420785041099889,0.8630237791412676,0.71338606911949],"aabb_xy":[[-0.5581404315685065,0.7780237773286757],[-0.5260165766514712,0.9480237809538593]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_5","position":[0.555057634229708,0.5111137109988655,0.71338606911949],"aabb_xy":[[0.4910576309399998,0.4677787919949478],[0.619057637519416,0.554448630002783]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_6","position":[-0.1843200860774823,-2.423051462087443,0.71338606911949],"aabb_xy":[[-0.22023359050247196,-2.458964970304198],[-0.14840658165249257,-2.3871379538706883]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_7","position":[-0.335232646198549,-2.365785767671957,0.71338606911949],"aabb_xy":[[-0.3902326458202949,-2.4207694604594296],[-0.2802326465768032,-2.310802074884484]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_8","position":[0.6447499112495141,-1.9900233333820747,0.71338606911949],"aabb_xy":[[0.6301065056954811,-2.004682053038859],[0.6593933168035471,-1.9753646137252905]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_9","position":[-0.0798220123323613,1.2275475861325078,0.71338606911949],"aabb_xy":[[-0.13494721796195205,1.1675475846912207],[-0.02469680670277052,1.287547587573795]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_10","position":[-0.5277673586036878,-0.37776463235536495,0.71338606911949],"aabb_xy":[[-0.5729386764518569,-0.4417646294999034],[-0.482596040755519,-0.31376463521082654]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_11","position":[-0.5614694504968383,-1.7349816380304945,0.71338606911949],"aabb_xy":[[-0.598503559924898,-1.769358845364204],[-0.5244353410687785,-1.7006044306967851]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_12","position":[0.20659750345022443,-1.545499621443012,0.71338606911949],"aabb_xy":[[0.1644130892893937,-1.6094996217202233],[0.24878191761105517,-1.481499621165801]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_13","position":[-0.0885907857931445,-0.742021135729422,0.71338606911949],"aabb_xy":[[-0.09775066473702108,-0.748552353772959],[-0.07943090684926789,-0.7354899176858849]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_14","position":[0.37485446980364867,0.4562749298228148,0.71338606911949],"aabb_xy":[[0.3198544706270592,0.40128525504785706],[0.42985446898023816,0.5112646045977723]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_15","position":[-0.11161243731047521,-2.277528341241508,0.71338606911949],"aabb_xy":[[-0.12828957330357071,-2.2942282652154384],[-0.0949353013173797,-2.260828417267578]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_16","position":[-0.1425199375317059,-1.723799882182106,0.71338606911949],"aabb_xy":[[-0.1489337511748908,-1.730209702429774],[-0.13610612388852092,-1.7173900619344373]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_17","position":[0.5366238617316323,0.7118490114274851,0.71338606911949],"aabb_xy":[[0.5317802669704024,0.706997358948501],[0.5414674564928623,0.7167006639064692]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_18","position":[-0.26398423050368436,-0.7968952121523489,0.71338606911949],"aabb_xy":[[-0.28898422977564664,-0.8132405757485112],[-0.2389842312317221,-0.7805498485561865]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_19","position":[0.5809212394487617,-1.7084555243681714,0.71338606911949],"aabb_xy":[[0.5753395678146329,-1.7209555241859467],[0.5865029110828905,-1.6959555245503957]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_20","position":[-0.3332965196616757,-1.6769469993841342,0.71338606911949],"aabb_xy":[[-0.3972965210696664,-1.7287359509080589],[-0.26929651825368506,-1.6251580478602095]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_21","position":[-0.47988061864224996,-0.6516416985553866,0.71338606911949],"aabb_xy":[[-0.569880620976269,-0.7291240531404992],[-0.3898806163082309,-0.5741593439702739]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_22","position":[0.559388283897142,-0.5319697529853284,0.71338606911949],"aabb_xy":[[0.4993882840505751,-0.5887883751783671],[0.6193882837437087,-0.47515113079228977]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_23","position":[-0.37556528083626617,1.0465182088298453,0.71338606911949],"aabb_xy":[[-0.3930652142702496,1.0290182089096107],[-0.35806534740228285,1.0640182087500798]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_24","position":[0.17558701446753644,0.7261692437696206,0.71338606911949],"aabb_xy":[[0.13825573794229382,0.6915161889747684],[0.21291829099277906,0.7608222985644729]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_25","position":[0.1428297902108684,-1.7471268425326183,0.71338606911949],"aabb_xy":[[0.120329789967353,-1.75933147719239],[0.16532979045438378,-1.7349222078728461]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_26","position":[-0.1036350460140153,1.4495286124907358,0.71338606911949],"aabb_xy":[[-0.1536298789419569,1.399528613595492],[-0.05364021308607368,1.4995286113859791]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_27","position":[0.23899575392409023,0.9004481874339616,0.71338606911949],"aabb_xy":[[0.23436063877185678,0.8965808523568127],[0.24363086907632356,0.90431552251111]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_28","position":[-0.35983438112111404,1.6155234041972295,0.71338606911949],"aabb_xy":[[-0.39733438106488045,1.607230314162393],[-0.32233438117734764,1.623816494232066]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_29","position":[0.08792759516698945,1.5577042776308079,0.71338606911949],"aabb_xy":[[0.07005848741253395,1.5438713696535966],[0.10579670292144494,1.5715371856080187]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_30","position":[-0.15860233361720355,-1.8222574021896785,0.71338606911949],"aabb_xy":[[-0.172936758743367,-1.8343176177442173],[-0.1442679084910401,-1.8101971866351396]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_31","position":[0.15547458899918742,1.2264827837407357,0.71338606911949],"aabb_xy":[[0.07175236349910494,1.1364827802060398],[0.23919681449926986,1.3164827872754317]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_32","position":[0.18677926839983072,-2.1455945872365465,0.71338606911949],"aabb_xy":[[0.17431191029009507,-2.15805991186987],[0.19924662650956637,-2.133129262603223]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6925216606812976,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7897.png","name":"7897"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7897.png","name":"7897"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7010.png","name":"7010"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2413.png","name":"2413"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3993.png","name":"3993"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/19.png","name":"19"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":702.4306687722772,"rotation_z_degrees":51.900525185739255,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007014628838960016,0.0048325764309996855,-0.016594552206026087]},{"name":"camera_2","offset_m":[0.015578594585554936,0.007277654734714974,0.013602999652414172]},{"name":"camera_3","offset_m":[0.008993710441301407,0.016613072355263558,-0.009714643783764102]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0015923658152569428,0.00021005379870378928,0.0003309185926774175],"end_effector_yaw_offset_degrees":0.5215703721092633},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0004423481235500521,0.0013331620587546272,0.0013054518306754468],"end_effector_yaw_offset_degrees":0.8175068986176612},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0005851559085705946,0.0007207979710591537,0.0011707715181254745],"end_effector_yaw_offset_degrees":0.8931062575951925},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005868344676905153,0.00042540237996518786,0.0014461177300390793],"end_effector_yaw_offset_degrees":-0.6876852462109742}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003428404665785179,-0.004099796791978609],"position_m":[0.16692840466578518,-0.15019979679197862,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0006157587877071314,-0.0011695106931531442],"position_m":[0.2745157587877071,-0.34996951069315313,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004305817399998814,0.004275697459847304],"position_m":[0.3116058173999988,0.2843756974598473,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004100295038466105,0.004924931212364459],"position_m":[0.3636002950384661,0.06522493121236446,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"2dcdf722e1e77fb90fc3401f6aca9532e27115f80fe32b638463369a8e47acdf","episode_index":47,"episode_name":"episode_0047"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0047.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_7897/tex_ceiling_textures_19/tex_floor_textures_3993/tex_table_textures_7010/tex_wall_textures_2413","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":5094412806187831548,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":5094412806187831548,"visual_seed":5094412806187831548,"scene_id":"lab_003","finished_at":"2026-09-05T21:15:41"} +{"episode_id":"ep_000048","started_at":"2026-09-05T21:15:46","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_0","position":[0.28586635037510033,-2.4335715958344086,0.71338606911949],"aabb_xy":[[0.2802846787409715,-2.446071595652184],[0.29144802200922904,-2.4210715960166325]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_1","position":[-0.11769825507652043,1.606985647345463,0.71338606911949],"aabb_xy":[[-0.16769825451671605,1.5570177228611466],[-0.06769825563632481,1.6569535718297792]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_2","position":[0.6904525500607399,-2.1953595609891368,0.71338606911949],"aabb_xy":[[0.6679561286268758,-2.2178595607958838],[0.712948971494604,-2.172859561182389]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_3","position":[-0.10916610026025109,0.31777870531911434,0.71338606911949],"aabb_xy":[[-0.11462404589727117,0.23777870201145518],[-0.10370815462323103,0.3977787086267734]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_4","position":[-0.42536415889709445,-1.2368263978987812,0.71338606911949],"aabb_xy":[[-0.4603641588735902,-1.2462910139463979],[-0.39036415892059856,-1.2273617818511646]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_5","position":[-0.03307139575260176,-2.301280597088957,0.71338606911949],"aabb_xy":[[-0.0716170885778028,-2.3398263681451454],[0.00547429707259927,-2.262734826032768]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_6","position":[-0.46783480961973856,1.2762401756697312,0.71338606911949],"aabb_xy":[[-0.48911281776321075,1.211240173343658],[-0.44655680147626625,1.341240177995804]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_7","position":[-0.3562192945005579,0.5242990487805348,0.71338606911949],"aabb_xy":[[-0.3795011366986892,0.4392990474833068],[-0.3329374523024265,0.6092990500777629]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_8","position":[0.23769578400266989,-1.2227661830284202,0.71338606911949],"aabb_xy":[[0.20119996337539112,-1.2592501254551776],[0.2741916046299486,-1.1862822406016624]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_9","position":[0.5966735461265267,1.8028336777339171,0.71338606911949],"aabb_xy":[[0.587871490817554,1.795022351578988],[0.6054756014354994,1.8106450038888462]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_10","position":[-0.6339752741011163,0.29236328464965755,0.71338606911949],"aabb_xy":[[-0.6618203108817234,0.26157878591134587],[-0.6061302373205092,0.32314778338796923]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_11","position":[0.6618033918657327,-2.529417910501041,0.71338606911949],"aabb_xy":[[0.6509517856168571,-2.540277201228692],[0.6726549981146083,-2.5185586197733896]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_12","position":[-0.6296512571408365,-1.0207304541896627,0.71338606911949],"aabb_xy":[[-0.6936512544431829,-1.0650968811575194],[-0.5656512598384901,-0.9763640272218059]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_13","position":[-0.010750232726160047,0.7009505695841471,0.71338606911949],"aabb_xy":[[-0.06575023190274953,0.6459608948091894],[0.04424976645042944,0.7559402443591047]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_14","position":[0.6215643202796424,0.8847646272780851,0.71338606911949],"aabb_xy":[[0.6033584966183948,0.8737392266960937],[0.6397701439408902,0.895790027860077]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_15","position":[-0.4394921024147545,-0.7642018396006232,0.71338606911949],"aabb_xy":[[-0.4769921009903753,-0.7769381352641811],[-0.4019921038391337,-0.7514655439370652]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_16","position":[-0.035102884476532537,1.7597439468859846,0.71338606911949],"aabb_xy":[[-0.05065865388679781,1.7441935136415776],[-0.01954711506626727,1.775294380130392]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_17","position":[-0.02621979496359239,1.1126359424759054,0.71338606911949],"aabb_xy":[[-0.03272143147159701,1.1028681204495958],[-0.019718158455587772,1.1224037645022154]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_18","position":[-0.4339854979818845,-1.9647452220670807,0.71338606911949],"aabb_xy":[[-0.4540439095951248,-1.9848103089762381],[-0.4139270863686442,-1.9446801351579228]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_19","position":[0.6687815138385691,1.10010071226761,0.71338606911949],"aabb_xy":[[0.6147659175566689,1.036100709375353],[0.7227971101204689,1.1641007151598672]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_20","position":[-0.2618409109679216,-1.284727761010454,0.71338606911949],"aabb_xy":[[-0.32584091167139095,-1.3307461434833747],[-0.19784091026445227,-1.2387093785375327]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_21","position":[0.4651646764382029,0.8946300696564657,0.71338606911949],"aabb_xy":[[0.385164675967987,0.8863193620421177],[0.5451646769084189,0.9029407772708145]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_22","position":[0.20782133883196086,-2.290760109363442,0.71338606911949],"aabb_xy":[[0.190243036643014,-2.308334598937547],[0.2253996410209077,-2.273185619789337]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_23","position":[0.6714713616750929,0.08290148280635545,0.71338606911949],"aabb_xy":[[0.6346767285501865,0.045995607709773165],[0.7082659947999991,0.11980735790293771]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_24","position":[0.3765590624124928,-1.204962185375147,0.71338606911949],"aabb_xy":[[0.3315664756940423,-1.2499621846495959],[0.4215516491309431,-1.1599621861006983]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_25","position":[-0.2068966962235388,0.4115596229321392,0.71338606911949],"aabb_xy":[[-0.256880931931716,0.3615596241186436],[-0.15691246051536156,0.4615596217456348]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_26","position":[0.6574321426835423,0.4530337010867056,0.71338606911949],"aabb_xy":[[0.6074321417330094,0.42148455408318414],[0.707432143634075,0.48458284809022695]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_27","position":[-0.219254881195738,1.1138420706009984,0.71338606911949],"aabb_xy":[[-0.2265371975724016,1.023842066991489],[-0.21197256481907428,1.203842074210507]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6885340436687051,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1128.png","name":"1128"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1128.png","name":"1128"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8836.png","name":"8836"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5007.png","name":"5007"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5053.png","name":"5053"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9184.png","name":"9184"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":734.2836664137205,"rotation_z_degrees":352.3051811995271,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0023155579558885447,0.008259609490151715,0.0075216409344418846]},{"name":"camera_2","offset_m":[0.006730428307440507,0.017893754284616693,-0.014857509892580546]},{"name":"camera_3","offset_m":[-0.006663882323512121,-0.01862603001598706,0.008040351041877988]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0002652998905513684,-0.0015186766057278494,-0.0017467903559906764],"end_effector_yaw_offset_degrees":-0.7198195122712447},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.001760596252405345,-0.0003478818525004014,0.0016740429213915145],"end_effector_yaw_offset_degrees":0.6152827578458819},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0001340953975542806,-0.0012225562948947571,-0.00017580062984337628],"end_effector_yaw_offset_degrees":0.4437907454759995},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0010629939700465868,0.0009922524580357867,0.000759665552075807],"end_effector_yaw_offset_degrees":0.8941860971026343}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0037164246443787286,-0.004174865577964524],"position_m":[0.15978357535562127,-0.15027486557796454,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004558096835326857,-0.002096482618082467],"position_m":[0.2693419031646731,-0.3508964826180825,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[3.983680694672007e-05,-0.0013252186421808432],"position_m":[0.30733983680694676,0.2787747813578192,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0012500189576412565,0.004092166031244438],"position_m":[0.36075001895764125,0.06439216603124444,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c6f33b5592e2cbdf60839aace9d8f2e7d816497c4f5dabf6631efd0f851bc6d2","episode_index":48,"episode_name":"episode_0048"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0048.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_1128/tex_ceiling_textures_9184/tex_floor_textures_5053/tex_table_textures_8836/tex_wall_textures_5007","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":1552057735715883870,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":1552057735715883870,"visual_seed":1552057735715883870,"scene_id":"lab_003","finished_at":"2026-09-05T21:19:22"} +{"episode_id":"ep_000049","started_at":"2026-09-05T21:19:26","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_0","position":[-0.2650606930479874,-2.153035205087738,0.71338606911949],"aabb_xy":[[-0.33006069400511456,-2.2049834170214435],[-0.20006069209086016,-2.1010869931540324]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_1","position":[0.20150749221039155,-1.4974993049902903,0.71338606911949],"aabb_xy":[[0.17900749220024326,-1.5115955246298935],[0.22400749222053984,-1.483403085350687]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_2","position":[0.01078397234675077,-0.9174965283831016,0.71338606911949],"aabb_xy":[[-0.053216027913720036,-0.9625053277360295],[0.07478397260722157,-0.8724877290301735]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_3","position":[-0.40159828572024164,-0.4215006486984749,0.71338606911949],"aabb_xy":[[-0.49159828513861253,-0.45487614554266464],[-0.31159828630187075,-0.3881251518542852]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_4","position":[0.41306164580337,-2.2084946475676692,0.71338606911949],"aabb_xy":[[0.333061645529763,-2.281444195393386],[0.49306164607697694,-2.1355450997419525]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_5","position":[0.6063903204618248,-1.0827842074333969,0.71338606911949],"aabb_xy":[[0.568890319797246,-1.0984712654336188],[0.6438903211264034,-1.0670971494331745]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_6","position":[0.4235519837586512,1.4126404597755067,0.71338606911949],"aabb_xy":[[0.3931538726595076,1.382233557773837],[0.45395009485779475,1.443047361777176]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_7","position":[0.22779932443974282,-1.263110166086448,0.71338606911949],"aabb_xy":[[0.2131559188857098,-1.2777688857432323],[0.24244272999377578,-1.2484514464296639]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_8","position":[-0.571674484347249,0.7435148170967127,0.71338606911949],"aabb_xy":[[-0.6091744829228697,0.7307785214331547],[-0.5341744857716281,0.7562511127602706]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_9","position":[-0.614929782993736,-0.18847730163867737,0.71338606911949],"aabb_xy":[[-0.6300926559706731,-0.20364275893379616],[-0.5997669100167989,-0.17331184434355862]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_10","position":[-0.49435886457893186,-0.2365535436501065,0.71338606911949],"aabb_xy":[[-0.5583545619740284,-0.3005535419508152],[-0.4303631671838352,-0.1725535453493978]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_11","position":[0.13607333504989894,-1.1463426231305565,0.71338606911949],"aabb_xy":[[0.11857340161591554,-1.1638426230507908],[0.15357326848388228,-1.1288426232103217]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_12","position":[0.3675688309520755,0.8968502022562639,0.71338606911949],"aabb_xy":[[0.3450696952258485,0.8743502014780008],[0.39006796667830246,0.9193502030345267]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_13","position":[0.08343998879258985,1.3768982612935052,0.71338606911949],"aabb_xy":[[0.019439986449788293,1.3319574100493725],[0.1474399911353914,1.4218391125376375]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_14","position":[-0.5353668517982506,-2.102388528276908,0.71338606911949],"aabb_xy":[[-0.5969576110222435,-2.166388526385955],[-0.4737760925742579,-2.038388530167861]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_15","position":[-0.3397941945397219,0.7705964537609371,0.71338606911949],"aabb_xy":[[-0.3491412021220171,0.756292831543293],[-0.33044718695742664,0.784900075978581]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_16","position":[0.43876746501364994,-1.6543250768801099,0.71338606911949],"aabb_xy":[[0.43065381034027284,-1.662430893334139],[0.44688111968702704,-1.6462192604260808]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_17","position":[0.14718510684026942,-1.840685819297316,0.71338606911949],"aabb_xy":[[0.1296851065809328,-1.854777361486089],[0.16468510709960604,-1.8265942771085437]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_18","position":[0.42467308091722367,0.431753256840433,0.71338606911949],"aabb_xy":[[0.415379462680073,0.3942532583522991],[0.43396669915437414,0.4692532553285669]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_19","position":[-0.35979681762068777,-0.6332187264534432,0.71338606911949],"aabb_xy":[[-0.39729681796891547,-0.6450101220345266],[-0.32229681727245996,-0.6214273308723595]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_20","position":[-0.4948364468565788,1.2797691576166472,0.71338606911949],"aabb_xy":[[-0.5177521597416287,1.2568648604802237],[-0.4719207339715289,1.3026734547530707]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_21","position":[0.2554607921858143,1.646440091802932,0.71338606911949],"aabb_xy":[[0.2505047720009332,1.623940091600811],[0.2604168123706955,1.6689400920050543]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_22","position":[-0.4669577106284672,0.66559613142095,0.71338606911949],"aabb_xy":[[-0.4914713347254731,0.6413315381189135],[-0.4424440865314614,0.6898607247229864]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_23","position":[-0.22154154619649025,-1.2204278099194266,0.71338606911949],"aabb_xy":[[-0.2280431827044949,-1.2301956319457363],[-0.21503990968848566,-1.2106599878931168]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_24","position":[0.5894673766190752,0.06459385470756906,0.71338606911949],"aabb_xy":[[0.5834303636184106,0.05856715363862086],[0.5955043896197401,0.07062055577651727]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_25","position":[-0.2296285288863003,1.1543656613406483,0.71338606911949],"aabb_xy":[[-0.319628525387172,1.1084540189221899],[-0.13962853238542852,1.2002773037591064]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_26","position":[0.5103369782484959,-1.5019380528369313,0.71338606911949],"aabb_xy":[[0.44033697611706624,-1.5247000184626267],[0.5803369803799253,-1.4791760872112354]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_27","position":[-0.046330655977201096,1.1166124973628926,0.71338606911949],"aabb_xy":[[-0.0567422146576848,1.1112667640269942],[-0.03591909729671738,1.121958230698791]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_28","position":[0.4910066468027503,-0.22623043274088017,0.71338606911949],"aabb_xy":[[0.4794376660558137,-0.2512304328578119],[0.5025756275496869,-0.20123043262394846]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_29","position":[-0.5474146290432964,-1.1258047385906083,0.71338606911949],"aabb_xy":[[-0.5523139213498598,-1.1534816578931768],[-0.5425153367367328,-1.0981278192880393]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6876714508872449,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4175.png","name":"4175"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4175.png","name":"4175"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4005.png","name":"4005"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1844.png","name":"1844"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7732.png","name":"7732"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1811.png","name":"1811"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":652.6738454204954,"rotation_z_degrees":260.29625652656523,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005968236011147203,-0.019285960735528268,-0.003239664315198759]},{"name":"camera_2","offset_m":[0.008289466962543669,0.01719477554455692,-0.00030188064777485896]},{"name":"camera_3","offset_m":[0.014717329815578838,0.008339775636748845,0.005786342930309624]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0010100469329025847,0.0019285573851710496,-0.0016733320508163178],"end_effector_yaw_offset_degrees":0.4912835402824125},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0009357336965913766,0.0012101351207241028,-0.0006833972142309653],"end_effector_yaw_offset_degrees":-0.9325738582425029},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007868630826283964,0.0019425447331340674,-0.000945058765342608],"end_effector_yaw_offset_degrees":0.267379965247005},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0013250522046773933,0.000877623171133067,0.0009425048703626017],"end_effector_yaw_offset_degrees":0.7840517054605474}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0024563272073522113,-0.0033751480139806245],"position_m":[0.1659563272073522,-0.14947514801398062,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0018186291662398747,0.004288642397409204],"position_m":[0.2720813708337601,-0.3445113576025908,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003929118416041763,-0.0005075136951348969],"position_m":[0.3112291184160418,0.2795924863048651,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004722940547148041,0.001908026988413825],"position_m":[0.36422294054714804,0.06220802698841382,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"619bf5712edb5d7c7f8c3e0b379a8ae3ec853496c13a81ad1b05c257a7f3d1cb","episode_index":49,"episode_name":"episode_0049"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0049.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_4175/tex_ceiling_textures_1811/tex_floor_textures_7732/tex_table_textures_4005/tex_wall_textures_1844","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":7215110247617084596,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":7215110247617084596,"visual_seed":7215110247617084596,"scene_id":"lab_003","finished_at":"2026-09-05T21:22:57"} +{"episode_id":"ep_000050","started_at":"2026-09-05T21:23:01","dimensions":{"distractor":{"count":24,"items":[{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_0","position":[0.06733847790812675,0.8373632824275439,0.71338606911949],"aabb_xy":[[0.012338478286380919,0.7823795896400713],[0.1223384775298726,0.8923469752150167]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_1","position":[-0.34657729434781964,0.7229698598525927,0.71338606911949],"aabb_xy":[[-0.354500574586568,0.7004698596145893],[-0.3386540141090713,0.745469860090596]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_2","position":[0.6445240083460906,-2.2265636219664175,0.71338606911949],"aabb_xy":[[0.564524009758771,-2.305879223904578],[0.7245240069334099,-2.147248020028256]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_3","position":[0.46437008204903685,1.1909355085117852,0.71338606911949],"aabb_xy":[[0.4526018952543794,1.1059355086065639],[0.4761382688436944,1.275935508417007]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_4","position":[0.22442366900620836,-2.081762547536325,0.71338606911949],"aabb_xy":[[0.17444486049589247,-2.131762547542044],[0.27440247751652425,-2.0317625475306063]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_5","position":[-0.069276076384989,-1.0836120041955433,0.71338606911949],"aabb_xy":[[-0.08682277130110794,-1.1211120057597945],[-0.05172938146887007,-1.046112002631292]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_6","position":[-0.19791281612104222,0.68826245306711,0.71338606911949],"aabb_xy":[[-0.23250389897508741,0.6232624527820788],[-0.16332173326699698,0.7532624533521409]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_7","position":[0.1809039610939358,-2.3946814075892466,0.71338606911949],"aabb_xy":[[0.16340396084888642,-2.412181195428813],[0.1984039613389852,-2.3771816197496793]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_8","position":[-0.5588891298723726,-0.35853726041599066,0.71338606911949],"aabb_xy":[[-0.5821709720705038,-0.4435372617132187],[-0.5356072876742412,-0.2735372591187626]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_9","position":[-0.027183186506519297,-2.507341965961105,0.71338606911949],"aabb_xy":[[-0.08217543714203025,-2.562341967704418],[0.027809064128991656,-2.4523419642177924]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_10","position":[0.5468425530312657,-0.14265521213336285,0.71338606911949],"aabb_xy":[[0.4818425544741929,-0.17240774554724544],[0.6118425515883386,-0.1129026787194802]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_11","position":[-0.5543483840367426,1.042182698223482,0.71338606911949],"aabb_xy":[[-0.5655934396073604,1.0309409004993866],[-0.5431033284661247,1.0534244959475771]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_12","position":[0.5536154612624045,0.9980272394262282,0.71338606911949],"aabb_xy":[[0.546203005721016,0.9921760290046001],[0.5610279168037929,1.0038784498478561]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_13","position":[-0.39307346841823176,0.9346036702165215,0.71338606911949],"aabb_xy":[[-0.41065177060717856,0.9170291806424166],[-0.37549516622928486,0.9521781597906264]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_14","position":[-0.13514067682614617,0.9197247766588381,0.71338606911949],"aabb_xy":[[-0.21514068008398912,0.8397282688668541],[-0.05514067356830321,0.9997212844508221]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_15","position":[-0.3751714770052596,1.1618440812939381,0.71338606911949],"aabb_xy":[[-0.3877982642924559,1.1522980075923652],[-0.3625446897180632,1.171390154995511]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_16","position":[-0.1864561396078267,-1.7457348999143343,0.71338606911949],"aabb_xy":[[-0.2504561399853603,-1.7954801667651465],[-0.12245613923029305,-1.695989633063522]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_17","position":[0.1554910283830675,-1.4926580344155076,0.71338606911949],"aabb_xy":[[0.07549103122349221,-1.5042056353733244],[0.23549102554264278,-1.4811104334576903]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_18","position":[-0.08562021322513902,-2.240701858654049,0.71338606911949],"aabb_xy":[[-0.10312021348447567,-2.2547934008428214],[-0.06812021296580241,-2.226610316465276]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_19","position":[0.5141503811294112,-0.368658722509688,0.71338606911949],"aabb_xy":[[0.47313243774304037,-0.41865872314064534],[0.5551683245157821,-0.3186587218787307]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_20","position":[0.4242527561983598,-1.5899442779601838,0.71338606911949],"aabb_xy":[[0.3342527525214416,-1.651376684537288],[0.514252759875278,-1.5285118713830792]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_21","position":[-0.5832528158752699,1.3063655876539673,0.71338606911949],"aabb_xy":[[-0.6217985087004709,1.2678198165977783],[-0.5447071230500689,1.3449113587101558]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_22","position":[-0.5694244229761231,-1.5241432903957757,0.71338606911949],"aabb_xy":[[-0.6334244250258552,-1.5642377734850839],[-0.5054244209263912,-1.484048807306468]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_23","position":[-0.6247344512038259,-2.3994012038351573,0.71338606911949],"aabb_xy":[[-0.6438467585618047,-2.4185359827123993],[-0.605622143845847,-2.3802664249579153]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6918593138794875,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7774.png","name":"7774"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7774.png","name":"7774"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3280.png","name":"3280"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/370.png","name":"370"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4808.png","name":"4808"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6007.png","name":"6007"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":556.216911670263,"rotation_z_degrees":341.16013090036023,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01040411140397266,0.016725710396429127,-0.007553294934553777]},{"name":"camera_2","offset_m":[0.014846110895492804,-0.0017635922405900145,0.006631640595463728]},{"name":"camera_3","offset_m":[0.01618265422498712,0.013155000642637613,-0.015457268930051966]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0008817137217899704,0.0009627304008063154,0.001644258141710436],"end_effector_yaw_offset_degrees":0.9492784014144304},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00048269069332222995,-0.001094567723024496,-0.0015432003414657914],"end_effector_yaw_offset_degrees":0.1339624002605524},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0019137790983886217,-0.0008931095480467085,-0.00119091667981213],"end_effector_yaw_offset_degrees":0.9641320418759451},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0016268524487855333,0.0007525038635289769,-0.000556632514665215],"end_effector_yaw_offset_degrees":-0.3946906385222049}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004409366967638311,-0.004674365109540895],"position_m":[0.1590906330323617,-0.1507743651095409,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.000825598831744696,-0.0023157591051860184],"position_m":[0.27307440116825527,-0.351115759105186,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0005516959626487416,0.004859169159973879],"position_m":[0.30674830403735126,0.2849591691599739,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0022252199186649415,0.0009966804302745484],"position_m":[0.35727478008133506,0.061296680430274544,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b9e3a107a11ba91b84cf011676e3e6603531a85baf79bced598bab0017fabf03","episode_index":50,"episode_name":"episode_0050"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0050.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_7774/tex_ceiling_textures_6007/tex_floor_textures_4808/tex_table_textures_3280/tex_wall_textures_370","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":3504219336272597126,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":3504219336272597126,"visual_seed":3504219336272597126,"scene_id":"lab_003","finished_at":"2026-09-05T21:26:55"} +{"episode_id":"ep_000051","started_at":"2026-09-05T21:26:59","dimensions":{"distractor":{"count":35,"items":[{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_0","position":[-0.3106207505064332,-2.4102598244842754,0.71338606911949],"aabb_xy":[[-0.3159583261724378,-2.4352598254134157],[-0.30528317484042866,-2.385259823555136]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_1","position":[0.3354640451121451,-0.5875167867164337,0.71338606911949],"aabb_xy":[[0.3004640437606634,-0.6078765226732544],[0.37046404646362685,-0.5671570507596128]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_2","position":[-0.18138883511735282,1.6769544574280668,0.71338606911949],"aabb_xy":[[-0.18950248979072992,1.6688486409740375],[-0.17327518044397572,1.6850602738820957]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_3","position":[0.42712773683065186,-0.8582159109213381,0.71338606911949],"aabb_xy":[[0.4198839707844065,-0.9382159091249406],[0.43437150287689713,-0.7782159127177358]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_4","position":[0.2051951497274399,-2.0574573116200194,0.71338606911949],"aabb_xy":[[0.1411951533318668,-2.121420600038753],[0.269195146123013,-1.9934940232012859]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_5","position":[0.5907610030880748,-0.2169515214413571,0.71338606911949],"aabb_xy":[[0.5532610022960793,-0.22331936239954717],[0.6282610038800702,-0.21058368048316697]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_6","position":[0.5102235796948662,-0.6255636185736775,0.71338606911949],"aabb_xy":[[0.44022357705827986,-0.645668483569543],[0.5802235823314525,-0.605458753577812]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_7","position":[-0.4741545249027823,1.0693469553918677,0.71338606911949],"aabb_xy":[[-0.559154523594857,1.037361091996989],[-0.3891545262107077,1.1013328187867466]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_8","position":[-0.1251346779940572,-2.5537977485416166,0.71338606911949],"aabb_xy":[[-0.1626346795096889,-2.5650245215577616],[-0.08763467647842549,-2.5425709755254715]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_9","position":[-0.017282363602646456,1.164076466895287,0.71338606911949],"aabb_xy":[[-0.05228236279546472,1.1531094208976242],[0.017717635590171813,1.1750435128929493]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_10","position":[0.5309138154808861,0.8176657713787017,0.71338606911949],"aabb_xy":[[0.5064001913838803,0.7934011780766652],[0.555427439577892,0.8419303646807381]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_11","position":[0.6221306027569968,0.9418806546281804,0.71338606911949],"aabb_xy":[[0.6030182953990179,0.9227458757509384],[0.6412429101149756,0.9610154335054224]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_12","position":[-0.24584803401445132,-0.14063783215033876,0.71338606911949],"aabb_xy":[[-0.26342633620339817,-0.15821232172444366],[-0.22826973182550447,-0.12306334257623386]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_13","position":[0.4466655655979952,-1.0493618904463613,0.71338606911949],"aabb_xy":[[0.43149339631636185,-1.0645307473745647],[0.46183773487962854,-1.034193033518158]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_14","position":[-0.0376270534916856,0.7227695055315948,0.71338606911949],"aabb_xy":[[-0.07262705346818144,0.7133048894839782],[-0.00262705351518977,0.7322341215792114]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_15","position":[0.2855949345792581,1.2578710771064712,0.71338606911949],"aabb_xy":[[0.26200981111536326,1.1928710748610394],[0.30918005804315296,1.322871079351903]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_16","position":[-0.39191378833908513,-0.6967070095242924,0.71338606911949],"aabb_xy":[[-0.4294137895238779,-0.7011252322203528],[-0.3544137871542923,-0.6922887868282318]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_17","position":[0.501648177951195,-2.2808420812755528,0.71338606911949],"aabb_xy":[[0.4466744559148621,-2.3358420808397864],[0.5566218999875279,-2.22584208171132]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_18","position":[-0.1238793133489775,1.487877549716368,0.71338606911949],"aabb_xy":[[-0.13564750014363505,1.4028775498111465],[-0.11211112655432001,1.5728775496215899]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_19","position":[-0.3982609335599626,0.22216359215799608,0.71338606911949],"aabb_xy":[[-0.4582609344207753,0.17073716215150964],[-0.3382609326991497,0.27359002216448236]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_20","position":[-0.17070738130903096,-1.84756988859088,0.71338606911949],"aabb_xy":[[-0.17986726025290756,-1.8541011066344169],[-0.16154750236515436,-1.8410386705473427]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_21","position":[0.6315174977111668,-0.9644570413922657,0.71338606911949],"aabb_xy":[[0.62447718777763,-1.0444570407919374],[0.6385578076447039,-0.8844570419925947]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_22","position":[0.7031140986674378,0.9415270553756718,0.71338606911949],"aabb_xy":[[0.6938204804302871,0.9040270568875379],[0.7124077169045883,0.9790270538638057]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_23","position":[0.4282195485846856,0.8923637314962134,0.71338606911949],"aabb_xy":[[0.39230604415969583,0.8564502232794586],[0.4641330530096752,0.9282772397129679]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_24","position":[0.053596186971795134,-1.045974427183796,0.71338606911949],"aabb_xy":[[0.023198075872651543,-1.0763813291854654],[0.08399429807093871,-1.0155675251821263]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_25","position":[-0.48786678478319523,-2.4395567097810433,0.71338606911949],"aabb_xy":[[-0.5228667839131509,-2.4453019308567074],[-0.4528667856532395,-2.4338114887053792]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_26","position":[-0.25746807101246555,-2.053519010598831,0.71338606911949],"aabb_xy":[[-0.3214680674397875,-2.1006886344209277],[-0.1934680745851437,-2.006349386776735]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_27","position":[0.3643265744976525,-0.8223823707228732,0.71338606911949],"aabb_xy":[[0.35239384013582437,-0.8347645235307326],[0.3762593088594805,-0.8100002179150139]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_28","position":[0.6028777501433922,0.15293867960448315,0.71338606911949],"aabb_xy":[[0.5663819295161133,0.11645473717772556],[0.6393735707706708,0.1894226220312407]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_29","position":[-0.18563764493670543,-2.4153880040065916,0.71338606911949],"aabb_xy":[[-0.2456376465796273,-2.467388153298536],[-0.1256376432937836,-2.3633878547146474]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_30","position":[0.6823782508073306,0.7538909778288669,0.71338606911949],"aabb_xy":[[0.6672759493463123,0.7387894561978049],[0.6974805522683485,0.7689924994599285]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_31","position":[0.6362123793254204,0.02195756553955608,0.71338606911949],"aabb_xy":[[0.6163213394450803,0.009301754254859242],[0.6561034192057608,0.034613376824252924]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_32","position":[-0.3476373454660503,-1.865971289352483,0.71338606911949],"aabb_xy":[[-0.3851373454098167,-1.8742643793873195],[-0.3101373455222839,-1.8576781993176463]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_33","position":[0.05646406004739313,-1.6796223073775596,0.71338606911949],"aabb_xy":[[-0.008535941058550156,-1.704587680445688],[0.12146406115333641,-1.6546569343094315]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_34","position":[0.672615222802972,1.4947087556690772,0.71338606911949],"aabb_xy":[[0.6618422488816043,1.4597087574500383],[0.6833881967243398,1.5297087538881162]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6958056114649129,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6059.png","name":"6059"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6059.png","name":"6059"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3315.png","name":"3315"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7816.png","name":"7816"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8506.png","name":"8506"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1556.png","name":"1556"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":693.1409662613944,"rotation_z_degrees":1.6214994625931123,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.003106102738458974,-0.016615050974503047,0.00663843714962567]},{"name":"camera_2","offset_m":[-0.018982738215856047,0.012905353372525945,-0.009777712921580108]},{"name":"camera_3","offset_m":[-0.013946816563209974,-0.018828102353004493,-0.017837287790467764]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001966262436154805,0.0011269885607456463,-0.0016385791611467936],"end_effector_yaw_offset_degrees":-0.9602549066991033},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0003510054133366255,-0.0010421875516200478,-0.0007496813710347761],"end_effector_yaw_offset_degrees":-0.8690580081961323},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0013959910499754128,-0.001254686032880029,0.0007704755293052399],"end_effector_yaw_offset_degrees":-0.8136484098368009},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006006665726558137,0.001288799518742652,0.001417552302286003],"end_effector_yaw_offset_degrees":-0.3169842114128987}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0009199947121202364,-0.0011178733248674699],"position_m":[0.16258000528787978,-0.14721787332486747,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002912633499222643,-0.0037441918014327856],"position_m":[0.27681263349922264,-0.35254419180143276,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0009602699827228386,0.0014806497139672027],"position_m":[0.3082602699827229,0.28158064971396723,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00050223737683598,-0.0014902636215542741],"position_m":[0.36000223737683595,0.05880973637844573,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9fcf0b956ed7f018f27b724d338776be56e1faed40e28266964c088befdc1095","episode_index":51,"episode_name":"episode_0051"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0051.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_6059/tex_ceiling_textures_1556/tex_floor_textures_8506/tex_table_textures_3315/tex_wall_textures_7816","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":1430508857832441417,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":1430508857832441417,"visual_seed":1430508857832441417,"scene_id":"lab_003","finished_at":"2026-09-05T21:30:45"} +{"episode_id":"ep_000052","started_at":"2026-09-05T21:30:49","dimensions":{"distractor":{"count":22,"items":[{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_0","position":[0.47267013734105934,0.05307283322759693,0.71338606911949],"aabb_xy":[[0.45446431367981177,0.04204743264560529],[0.4908759610023071,0.06409823380958857]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_1","position":[0.12066917956932832,-1.2599106982134074,0.71338606911949],"aabb_xy":[[0.09708405610543346,-1.3249107004588394],[0.14425430303322317,-1.1949106959679758]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_2","position":[-0.011882870540137258,-1.2888484897677355,0.71338606911949],"aabb_xy":[[-0.07188287038670405,-1.3456671119607742],[0.04811712930642953,-1.2320298675746968]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_3","position":[-0.04711829712903681,-2.1371676130001616,0.71338606911949],"aabb_xy":[[-0.1020920191653697,-2.192167612564395],[0.007855424907296064,-2.082167613435929]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_4","position":[0.6289200673832418,-0.07153585574256027,0.71338606911949],"aabb_xy":[[0.5811138997694731,-0.1365358584496192],[0.6767262349970105,-0.006535853035501303]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_5","position":[0.48313823929119337,-1.861432891237215,0.71338606911949],"aabb_xy":[[0.46550540369766574,-1.8790558372528376],[0.5007710748847208,-1.8438099452215917]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_6","position":[-0.15240657985348005,0.9470255034042889,0.71338606911949],"aabb_xy":[[-0.18990658014565487,0.9429840280036853],[-0.11490657956130523,0.9510669788048925]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_7","position":[0.06255243990771409,-0.6848989367353266,0.71338606911949],"aabb_xy":[[-0.0014475633819940323,-0.7282338557392442],[0.12655244319742218,-0.6415640177314089]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_8","position":[-0.47807354196274077,-1.746814109503379,0.71338606911949],"aabb_xy":[[-0.5233521568438899,-1.8108141088515624],[-0.43279492708159145,-1.682814110155195]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_9","position":[-0.006397110915573934,1.2037032444193545,0.71338606911949],"aabb_xy":[[-0.07039711413421179,1.1569801325203464],[0.057602892303063924,1.250426356318363]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_10","position":[-0.46606635882033237,-0.5656805794465942,0.71338606911949],"aabb_xy":[[-0.5510663572377557,-0.6505548749088792],[-0.38106636040290914,-0.48080628398430925]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_11","position":[0.26671884210985686,1.7111800807996977,0.71338606911949],"aabb_xy":[[0.22986829417286925,1.6736800799766642],[0.30356939004684447,1.7486800816227317]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_12","position":[0.5093619724724803,-1.508588826407373,0.71338606911949],"aabb_xy":[[0.5052460223604075,-1.5127043814402183],[0.5134779225845528,-1.5044732713745272]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_13","position":[-0.05550915419542557,-1.8737607805432557,0.71338606911949],"aabb_xy":[[-0.06634963242194047,-1.8909470618339044],[-0.04466867596891067,-1.856574499252607]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_14","position":[0.6891069397576075,-1.984125221217718,0.71338606911949],"aabb_xy":[[0.6811836595188592,-2.006625221455722],[0.6970302199963558,-1.961625220979715]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_15","position":[0.25080927530631103,0.9956025530958454,0.71338606911949],"aabb_xy":[[0.16080927857070076,0.9424190897785507],[0.3408092720419212,1.0487860164131397]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_16","position":[-0.11634783083041134,0.28136323805725816,0.71338606911949],"aabb_xy":[[-0.19634783190353167,0.2715851917198737],[-0.03634782975729099,0.2911412843946426]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_17","position":[0.6783494986887466,-1.7309871221938797,0.71338606911949],"aabb_xy":[[0.6746462373596076,-1.7346891405025973],[0.6820527600178854,-1.7272851038851618]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_18","position":[0.27130084235019447,-2.388003994005316,0.71338606911949],"aabb_xy":[[0.20630084139306729,-2.4399522059390213],[0.3363008433073217,-2.33605578207161]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_19","position":[-0.27026154827257004,1.4588888677186538,0.71338606911949],"aabb_xy":[[-0.2879371788611683,1.4412086514392508],[-0.25258591768397165,1.4765690839980563]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_20","position":[-0.13200000688712543,-1.0852816012507132,0.71338606911949],"aabb_xy":[[-0.1679135113121151,-1.1211951094674673],[-0.09608650246213572,-1.0493680930339582]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_21","position":[0.1186606754705678,-2.0419045768922004,0.71338606911949],"aabb_xy":[[0.09366067591882932,-2.052047060757335],[0.14366067502230628,-2.0317620930270657]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6905933905119787,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8017.png","name":"8017"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8017.png","name":"8017"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8897.png","name":"8897"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/294.png","name":"294"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/87.png","name":"87"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9748.png","name":"9748"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":521.4966031109789,"rotation_z_degrees":352.9949294740789,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011369191219751716,0.0026473796329794658,0.0020681622179534558]},{"name":"camera_2","offset_m":[0.010799323335443527,-0.0015492176325993291,0.01447092643534702]},{"name":"camera_3","offset_m":[0.004735932249874283,-0.015422595887606576,0.002007466255824753]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.000677897805643948,0.0005225770412931887,-0.0011072376320410773],"end_effector_yaw_offset_degrees":0.5094892315876511},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.001452450808780779,-0.0004947844483350853,-0.0015513876596232176],"end_effector_yaw_offset_degrees":0.779603605670673},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001074984231719034,0.001573793618984038,-0.0005447083136590142],"end_effector_yaw_offset_degrees":-0.21750520911454618},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0005184784327867988,-0.0012532778037400427,0.0005477907179552363],"end_effector_yaw_offset_degrees":-0.9308200103818172}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0028554143621638975,-0.0024368078880408085],"position_m":[0.16635541436216392,-0.14853680788804083,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002957760760018916,-0.003435379654496945],"position_m":[0.27094223923998106,-0.3522353796544969,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003572906457851503,-0.0045987290434886955],"position_m":[0.31087290645785154,0.27550127095651133,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002058981999121252,0.0030333903845261205],"position_m":[0.35744101800087874,0.06333339038452612,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8cb7de9946b867edccd48bd714d2b2c705667e43272f0f305af4facd840b7940","episode_index":52,"episode_name":"episode_0052"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0052.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_8017/tex_ceiling_textures_9748/tex_floor_textures_87/tex_table_textures_8897/tex_wall_textures_294","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":5468842620997881519,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":5468842620997881519,"visual_seed":5468842620997881519,"scene_id":"lab_003","finished_at":"2026-09-05T21:34:37"} +{"episode_id":"ep_000053","started_at":"2026-09-05T21:34:43","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_0","position":[0.48199021979427226,1.1079459763861035,0.71338606911949],"aabb_xy":[[0.47157866111378843,1.1026002430502049],[0.49240177847475586,1.1132917097220016]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_1","position":[-0.3199046985487073,-1.520782966280357,0.71338606911949],"aabb_xy":[[-0.35740469836574085,-1.5254211775914985],[-0.28240469873167373,-1.5161447549692149]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_2","position":[0.3761652666056938,1.028726997255259,0.71338606911949],"aabb_xy":[[0.2861652671873229,0.9953515004110691],[0.46616526602406466,1.0621024940994486]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_3","position":[-0.5650223729754951,0.5208985449248247,0.71338606911949],"aabb_xy":[[-0.5853066756988937,0.5006159197821156],[-0.5447380702520962,0.5411811700675333]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_4","position":[-0.24836958968127104,1.6271830316515064,0.71338606911949],"aabb_xy":[[-0.26725397344978125,1.6082971068711533],[-0.22948520591276084,1.646068956431859]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_5","position":[-0.12294465941774546,0.732202632399249,0.71338606911949],"aabb_xy":[[-0.17293777152693735,0.6822026317250535],[-0.07295154730855358,0.7822026330734448]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_6","position":[0.22873639705051296,-1.0050148537097279,0.71338606911949],"aabb_xy":[[0.21610960976331658,-1.0145609274113008],[0.24136318433770929,-0.995468780008155]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_7","position":[-0.5069245715464861,0.35259288003400213,0.71338606911949],"aabb_xy":[[-0.5229864990050035,0.26759287822141026],[-0.49086264408796826,0.4375928818465939]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_8","position":[0.3000571752078488,0.47476971746314733,0.71338606911949],"aabb_xy":[[0.2947195995418443,0.44976971653400755],[0.3053947508738534,0.4997697183922871]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_9","position":[0.07946890301261333,-0.6828458331930236,0.71338606911949],"aabb_xy":[[0.009468906602651523,-0.703283768844705],[0.14946889942257507,-0.6624078975413416]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_10","position":[-0.22294599213278277,1.1190812633616187,0.71338606911949],"aabb_xy":[[-0.28794599477057625,1.0676016646621715],[-0.15794598949498925,1.1705608620610655]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_11","position":[-0.4392300486932393,-0.15126967832194715,0.71338606911949],"aabb_xy":[[-0.4544022179748726,-0.1664385352501505],[-0.42405787941160594,-0.1361008213937438]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_12","position":[0.5804674187831302,-2.29835269566118,0.71338606911949],"aabb_xy":[[0.5724734302054267,-2.30635277575627],[0.5884614073608335,-2.2903526155660896]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_13","position":[0.323224356712555,1.2950281653494158,0.71338606911949],"aabb_xy":[[0.28822435673605923,1.2855635493017994],[0.3582243566890509,1.3044927813970326]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_14","position":[0.3610872836869896,-1.9077105913131942,0.71338606911949],"aabb_xy":[[0.297087281344188,-1.9526514425573267],[0.4250872860297911,-1.8627697400690617]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_15","position":[-0.5912970060199818,1.1622156795664185,0.71338606911949],"aabb_xy":[[-0.6014500215741311,1.126146137993678],[-0.5811439904658323,1.1982852211391586]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_16","position":[-0.1677798121738061,1.2253549970638535,0.71338606911949],"aabb_xy":[[-0.20527981074942692,1.2126187014002956],[-0.1302798135981853,1.2380912927274115]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_17","position":[-0.16019081111695677,-2.00758611806843,0.71338606911949],"aabb_xy":[[-0.22419081252494744,-2.0593750695923543],[-0.09619080970896611,-1.955797166544505]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_18","position":[-0.5194061490302588,-1.2910211925154604,0.71338606911949],"aabb_xy":[[-0.5231094103593976,-1.2947232108241784],[-0.5157028877011198,-1.2873191742067425]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_19","position":[-0.29136997416242183,0.3846359640489547,0.71338606911949],"aabb_xy":[[-0.37136997463263777,0.37632525643460635],[-0.2113699736922059,0.3929466716633031]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_20","position":[-0.05690146403897889,-1.3422293560551555,0.71338606911949],"aabb_xy":[[-0.12190146407328162,-1.3889300327354828],[0.008098535995323834,-1.2955286793748282]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_21","position":[-0.5011387474049448,0.727347523480502,0.71338606911949],"aabb_xy":[[-0.5190078551594004,0.7135146155032912],[-0.4832696396504894,0.7411804314577131]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_22","position":[-0.359542104159681,-2.112348504611748,0.71338606911949],"aabb_xy":[[-0.37010958381778,-2.122893534724756],[-0.34897462450158195,-2.101803474498739]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_23","position":[-0.5846044388608913,-0.9308868558045607,0.71338606911949],"aabb_xy":[[-0.6742915151690068,-1.0208868560590112],[-0.49491736255277585,-0.84088685555011]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_24","position":[0.6756144175035932,1.4495155338248478,0.71338606911949],"aabb_xy":[[0.6692006038604081,1.4431057135771792],[0.682028231146778,1.4559253540725159]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_25","position":[-0.46354661058827684,1.1513864464144707,0.71338606911949],"aabb_xy":[[-0.5085391973067273,1.106386447140022],[-0.41855402386982643,1.1963864456889195]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_26","position":[0.040843806855578424,1.2320598827032367,0.71338606911949],"aabb_xy":[[-0.009140428852598803,1.182059883889741],[0.09082804256375565,1.2820598815167321]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_27","position":[0.6864030565144914,-2.053335940272244,0.71338606911949],"aabb_xy":[[0.6585580197338843,-2.084120439010556],[0.7142480932950985,-2.0225514415339325]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_28","position":[0.27284195660911503,-2.03205573279085,0.71338606911949],"aabb_xy":[[0.23534195509348332,-2.043282505806995],[0.31034195812474674,-2.020828959774705]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_29","position":[-0.27971015221457396,-1.6324634315551034,0.71338606911949],"aabb_xy":[[-0.3437101554332118,-1.6791865434541118],[-0.2157101489959361,-1.585740319656095]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_30","position":[0.5810733340389083,-0.20468780715043122,0.71338606911949],"aabb_xy":[[0.5565597099419024,-0.2289524004524677],[0.6055869581359141,-0.1804232138483948]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_31","position":[0.6046889425973363,-1.3481461611288872,0.71338606911949],"aabb_xy":[[0.6002583132424962,-1.35359453286357],[0.6091195719521766,-1.3426977893942045]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_32","position":[0.6908139615190063,0.7323318797780174,0.71338606911949],"aabb_xy":[[0.6799623552701306,0.7214725890503664],[0.7016655677678818,0.7431911705056684]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_33","position":[0.04838746771254776,-2.122573767780922,0.71338606911949],"aabb_xy":[[-0.0016125333065875051,-2.1590399835187504],[0.09838746873168305,-2.0861075520430945]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_34","position":[-0.4076822486546892,-0.5229709641858005,0.71338606911949],"aabb_xy":[[-0.4554884162684578,-0.5879709668928593],[-0.35987608104092056,-0.4579709614787414]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.69430815070899,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3149.png","name":"3149"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3149.png","name":"3149"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9289.png","name":"9289"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5469.png","name":"5469"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5429.png","name":"5429"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1088.png","name":"1088"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":591.4954030216044,"rotation_z_degrees":148.38654127108865,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0072511838674822506,-0.012303416463181682,-0.008483008308131645]},{"name":"camera_2","offset_m":[-0.01720394088111388,0.014494383856719157,0.01414079595150321]},{"name":"camera_3","offset_m":[-0.014584685601461169,-0.007645738398499132,0.008824235728404663]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0009854774767784477,-0.0018343421997851887,-0.0005087186188440173],"end_effector_yaw_offset_degrees":0.5590259907640733},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0012276375246954086,0.0003515244821838872,-0.0016721944598583893],"end_effector_yaw_offset_degrees":-0.3594102787605913},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0004935397557100998,0.0009022606860874922,-0.0014429811413275778],"end_effector_yaw_offset_degrees":0.5669957061777009},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0006376336962307331,0.0003879932816295969,-0.0007590495524556378],"end_effector_yaw_offset_degrees":-0.1278052927708475}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003837309917303252,-0.003559899965079328],"position_m":[0.16733730991730325,-0.14965989996507933,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003425037830697939,0.00010126948491528173],"position_m":[0.2773250378306979,-0.3486987305150847,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0034075350268823403,0.0007551099524244738],"position_m":[0.30389246497311767,0.28085510995242446,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004793332509834904,0.0007265930830428202],"position_m":[0.3547066674901651,0.06102659308304282,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"55d63a36cfe45bcce55c4d28a1e0e0cade000bdea0f681360d070b25149d9635","episode_index":53,"episode_name":"episode_0053"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0053.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_3149/tex_ceiling_textures_1088/tex_floor_textures_5429/tex_table_textures_9289/tex_wall_textures_5469","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":8498096978162600615,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":8498096978162600615,"visual_seed":8498096978162600615,"scene_id":"lab_003","finished_at":"2026-09-05T21:38:16"} +{"episode_id":"ep_000054","started_at":"2026-09-05T21:38:20","dimensions":{"distractor":{"count":32,"items":[{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_0","position":[0.47176778210481274,-0.9887192556427404,0.71338606911949],"aabb_xy":[[0.45999959531015533,-1.073719255547962],[0.48353596889947037,-0.903719255737519]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_1","position":[0.233079402844648,1.505028126106971,0.71338606911949],"aabb_xy":[[0.22047670370757155,1.4924327298821056],[0.24568210198172447,1.5176235223318366]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_2","position":[0.11135034385648146,1.5627764200615482,0.71338606911949],"aabb_xy":[[0.07635034387998563,1.5533118040139315],[0.1463503438329773,1.5722410361091648]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_3","position":[-0.3775610984382131,-1.7576001141052173,0.71338606911949],"aabb_xy":[[-0.41506109923020856,-1.763967955063407],[-0.34006109764621767,-1.7512322731470267]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_4","position":[-0.5579803740443545,-0.7148289928267892,0.71338606911949],"aabb_xy":[[-0.6219803744218881,-0.7645742596776015],[-0.4939803736668209,-0.665083725975977]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_5","position":[-0.5481753083959449,-0.08404472698502241,0.71338606911949],"aabb_xy":[[-0.5522912585080174,-0.0881602820178679],[-0.5440593582838721,-0.0799291719521769]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_6","position":[0.31768211616556297,-1.7281321967414385,0.71338606911949],"aabb_xy":[[0.262689865530052,-1.7831321984847517],[0.3726743668010739,-1.6731321949981262]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_7","position":[0.46776254426191555,-0.49510679146007597,0.71338606911949],"aabb_xy":[[0.43276254506909717,-0.5060738374577385],[0.5027625434547337,-0.48413974546241323]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_8","position":[-0.18486948741356957,1.0613190697511916,0.71338606911949],"aabb_xy":[[-0.19543696707166858,1.050774039638183],[-0.17430200775547056,1.0718640998642002]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_9","position":[0.15084968075241778,-1.7878967443402052,0.71338606911949],"aabb_xy":[[0.14285619095713578,-1.7958948762806812],[0.15884317054769984,-1.77989861239973]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_10","position":[-5.19159959190274e-05,-1.1824789173387196,0.71338606911949],"aabb_xy":[[-0.09005191541428992,-1.215854414182909],[0.08994808342245186,-1.1491034204945296]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_11","position":[0.3442785108459383,-2.548163082567958,0.71338606911949],"aabb_xy":[[0.3276013748528428,-2.5648630065418883],[0.3609556468390338,-2.5314631585940277]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_12","position":[-0.05651541916853309,-0.7080356244742247,0.71338606911949],"aabb_xy":[[-0.10179403404968235,-0.7720356238224084],[-0.011236804287383828,-0.6440356251260411]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_13","position":[0.6589622704113391,0.4863310838016677,0.71338606911949],"aabb_xy":[[0.6161955635319191,0.4223310803798652],[0.7017289772907594,0.5503310872234701]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_14","position":[0.1899091963366779,-2.2238787117075844,0.71338606911949],"aabb_xy":[[0.13490919813493304,-2.2644006783340216],[0.24490919453842272,-2.1833567450811464]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_15","position":[-0.2537874380440311,0.42210216557185687,0.71338606911949],"aabb_xy":[[-0.2950919811077671,0.3581021660037398],[-0.2124828949802951,0.48610216513997395]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_16","position":[-0.04701450192494061,0.6643491780357866,0.71338606911949],"aabb_xy":[[-0.06289899519026576,0.6499962377369626],[-0.03113000865961546,0.6787021183346107]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_17","position":[0.043775386247898784,0.9909842931505026,0.71338606911949],"aabb_xy":[[0.008775384896417054,0.9706245571936818],[0.07877538759938052,1.0113440291073235]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_18","position":[0.32412291414554506,1.1094252528561417,0.71338606911949],"aabb_xy":[[0.27414549728029136,1.059425251366893],[0.37410033101079854,1.15942525434539]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_19","position":[0.541630517005621,-0.07214065547587634,0.71338606911949],"aabb_xy":[[0.4516305202700107,-0.12532411879317085],[0.6316305137412311,-0.018957192158581812]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_20","position":[0.006776174036730809,-1.9568408388570013,0.71338606911949],"aabb_xy":[[-0.048223825585015034,-2.011824531644474],[0.06177617365847665,-1.9018571460695288]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_21","position":[-0.6489903900462419,1.6545242499770718,0.71338606911949],"aabb_xy":[[-0.6864903912310346,1.650106027281011],[-0.611490388861449,1.658942472673132]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_22","position":[-0.6692728659257171,1.1078094010296833,0.71338606911949],"aabb_xy":[[-0.6867728661850538,1.0937178588409107],[-0.6517728656663806,1.121900943218456]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_23","position":[-0.47348595027360285,-1.1305928413118167,0.71338606911949],"aabb_xy":[[-0.5234859519350975,-1.1805912835675192],[-0.42348594861210803,-1.0805943990561138]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_24","position":[0.3052344041104862,0.9191711402313278,0.71338606911949],"aabb_xy":[[0.2971067159171729,0.9102575318206202],[0.31336209230379936,0.9280847486420355]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_25","position":[-0.16345434283944282,-1.9156765115225118,0.71338606911949],"aabb_xy":[[-0.1790101122497081,-1.9312269447669193],[-0.14789857342917756,-1.9001260782781049]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_26","position":[0.28598985220959705,-0.5578521310969267,0.71338606911949],"aabb_xy":[[0.2627080100114657,-0.6428521323941546],[0.3092716944077284,-0.47285212979969854]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_27","position":[0.4699653570593376,1.2742677585283362,0.71338606911949],"aabb_xy":[[0.40496535610221035,1.2223195465946306],[0.5349653580164647,1.3262159704620418]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_28","position":[0.5786956724491323,1.5690860103438449,0.71338606911949],"aabb_xy":[[0.5286956738032111,1.519166466684382],[0.6286956710950535,1.6190055540033068]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_29","position":[-0.5430945420898409,-2.2083376657168485,0.71338606911949],"aabb_xy":[[-0.5805945424380686,-2.2201290612979316],[-0.5055945417416131,-2.1965462701357645]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_30","position":[-0.49971488800618813,0.5835132183388736,0.71338606911949],"aabb_xy":[[-0.5362107086334668,0.5470292759121159],[-0.4632190673789093,0.619997160765631]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_31","position":[0.03211380328074975,1.6592592109158306,0.71338606911949],"aabb_xy":[[0.026776227614745185,1.6342592099866906],[0.03745137894675432,1.6842592118449702]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6901153144722272,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6887.png","name":"6887"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6887.png","name":"6887"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5747.png","name":"5747"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3518.png","name":"3518"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1157.png","name":"1157"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1725.png","name":"1725"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":838.8316623821056,"rotation_z_degrees":22.560418034857243,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00861734630169647,0.012322890845662172,0.016092789480982524]},{"name":"camera_2","offset_m":[-0.013896343567256629,0.014553356812828998,0.006975177875046392]},{"name":"camera_3","offset_m":[-0.0028731394478928654,-0.013232915057379575,0.012629120505608698]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0004807560497846076,-0.0012650247381518311,0.0017810719458909111],"end_effector_yaw_offset_degrees":-0.5403022265758322},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0017160547550949187,0.0014273802167881328,-0.000927360394255146],"end_effector_yaw_offset_degrees":0.12594645656815406},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0016190238737725927,0.0011833826400397536,0.0004880562978030029],"end_effector_yaw_offset_degrees":-0.820592364157325},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00037056784715457916,0.0018077348820127134,0.00039633310237876347],"end_effector_yaw_offset_degrees":-0.3037543941231369}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.002089289358973492,-0.004612151816184259],"position_m":[0.16141071064102652,-0.15071215181618428,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0003644271580513971,0.003181797888259394],"position_m":[0.2742644271580514,-0.3456182021117406,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0019343912602940304,-0.0045910494014536896],"position_m":[0.305365608739706,0.2755089505985463,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0015776918784803128,0.004807324291466727],"position_m":[0.3610776918784803,0.06510732429146672,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"cb3fd13d9459ea37bf891b530764a8a8fe4f5cddaeaff3fde4a7584849d57d4d","episode_index":54,"episode_name":"episode_0054"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0054.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_6887/tex_ceiling_textures_1725/tex_floor_textures_1157/tex_table_textures_5747/tex_wall_textures_3518","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":2149436113874170023,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":2149436113874170023,"visual_seed":2149436113874170023,"scene_id":"lab_003","finished_at":"2026-09-05T21:42:04"} +{"episode_id":"ep_000055","started_at":"2026-09-05T21:42:10","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_0","position":[0.41196803073959765,-1.1532389456435386,0.71338606911949],"aabb_xy":[[0.40663551608498466,-1.1585632738887741],[0.41730054539421063,-1.147914617398303]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_1","position":[0.12821063985021963,-1.3390861434085033,0.71338606911949],"aabb_xy":[[0.04821063659237668,-1.4190826512004873],[0.2082106431080626,-1.2590896356165193]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_2","position":[0.17968843536769796,-2.395899295531235,0.71338606911949],"aabb_xy":[[0.09968843820812265,-2.4074468964890516],[0.25968843252727325,-2.3843516945734176]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_3","position":[0.1399606975002049,-2.558539571852994,0.71338606911949],"aabb_xy":[[0.12562627237404145,-2.5705997874075326],[0.15429512262636835,-2.5464793562984553]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_4","position":[-0.30330449997482456,-1.8757820459272057,0.71338606911949],"aabb_xy":[[-0.3683044981307436,-1.9020782904771176],[-0.2383045018189055,-1.8494858013772932]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_5","position":[0.6697010796554297,-1.0098521203699198,0.71338606911949],"aabb_xy":[[0.620220658441471,-1.0738521182827718],[0.7191815008693886,-0.9458521224570682]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_6","position":[-0.44118910313225895,0.3563361683810582,0.71338606911949],"aabb_xy":[[-0.49116791164257484,0.30633616837533933],[-0.39121029462194307,0.40633616838677694]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_7","position":[0.14841293383132081,1.7289581472882625,0.71338606911949],"aabb_xy":[[0.1325284405659957,1.7146052069894382],[0.164297427096646,1.7433110875870863]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_8","position":[-0.18669766602823312,-2.375327048210332,0.71338606911949],"aabb_xy":[[-0.23450383364200175,-2.4403270509173907],[-0.13889149841446446,-2.3103270455032727]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_9","position":[0.14645579356712513,-1.6916589205663948,0.71338606911949],"aabb_xy":[[0.1391945459967177,-1.7044459308299045],[0.15371704113753254,-1.6788719103028855]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_10","position":[-0.5140809014369501,-2.454786425886703,0.71338606911949],"aabb_xy":[[-0.5780809007311183,-2.5187725662555573],[-0.45008090214278185,-2.390800285517849]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_11","position":[0.5081398882276,1.3300730870824324,0.71338606911949],"aabb_xy":[[0.4955131009404037,1.3205270133808595],[0.5207666755147964,1.3396191607840053]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_12","position":[0.33352811307432173,-1.878079708811581,0.71338606911949],"aabb_xy":[[0.25352811164419453,-1.9575968638241905],[0.41352811450444893,-1.7985625537989716]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_13","position":[-0.4838111638410954,1.3791067655827938,0.71338606911949],"aabb_xy":[[-0.5248291072274662,1.3291067649518364],[-0.44279322045472447,1.429106766213751]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_14","position":[-0.038162489721847104,-1.7950987125475664,0.71338606911949],"aabb_xy":[[-0.04694371686908334,-1.8038784598360968],[-0.029381262574610885,-1.7863189652590368]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_15","position":[-0.4270401516241973,0.8144949971315589,0.71338606911949],"aabb_xy":[[-0.4447157822127956,0.7968147808521561],[-0.40936452103559895,0.8321752134109616]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_16","position":[-0.42679749956011653,1.702164366753903,0.71338606911949],"aabb_xy":[[-0.4907975017805235,1.6577912826286145],[-0.36279749733970945,1.746537450879191]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_17","position":[0.2021767007028903,-2.1539289054596673,0.71338606911949],"aabb_xy":[[0.1941333407769351,-2.2389289065550337],[0.21022006062884543,-2.068928904364301]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_18","position":[-0.30764687938742546,0.15907879733821062,0.71338606911949],"aabb_xy":[[-0.3716468797649591,0.10933353048739833],[-0.24364687900989185,0.20882406418902286]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_19","position":[-0.4475937329942532,-2.0337198360351483,0.71338606911949],"aabb_xy":[[-0.46948348058319395,-2.123719833324397],[-0.42570398540531235,-1.943719838745899]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_20","position":[-0.4323899346677372,-0.26925601340761673,0.71338606911949],"aabb_xy":[[-0.4442620176792383,-0.35425601310126703],[-0.42051785165623606,-0.18425601371396633]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_21","position":[0.04608949540044949,-0.7159233037722581,0.71338606911949],"aabb_xy":[[-0.017910506511892847,-0.7718344530302685],[0.11008949731279183,-0.6600121545142477]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_22","position":[-0.581214125846688,-2.1327830454822454,0.71338606911949],"aabb_xy":[[-0.5856447552015283,-2.1382314172169283],[-0.5767834964918479,-2.1273346737475634]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_23","position":[-0.3452900817734177,-0.5612338297120987,0.71338606911949],"aabb_xy":[[-0.3623001790634683,-0.5773683182103725],[-0.328279984483367,-0.5450993412138246]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_24","position":[0.2322667798573781,-1.7483237540085375,0.71338606911949],"aabb_xy":[[0.22856351852823922,-1.7520257723172552],[0.23597004118651696,-1.7446217356998197]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_25","position":[0.26998820864918593,1.5500242380064555,0.71338606911949],"aabb_xy":[[0.2618745539758088,1.5419184215524264],[0.278101863322563,1.5581300544604846]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_26","position":[0.24833100575000389,-0.6167911273096256,0.71338606911949],"aabb_xy":[[0.24108723970375853,-0.696791125513228],[0.2555747717962492,-0.5367911291060232]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_27","position":[-0.2943926398487572,0.32391789856067765,0.71338606911949],"aabb_xy":[[-0.30523311807527204,0.3067316172700288],[-0.2835521616222422,0.3411041798513264]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_28","position":[0.6250787622622609,-0.8597120074049043,0.71338606911949],"aabb_xy":[[0.5550787658522988,-0.8801499430565858],[0.6950787586722224,-0.8392740717532223]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_29","position":[0.6765531073745459,1.7251061285385503,0.71338606911949],"aabb_xy":[[0.6465614446406756,1.6951061292017497],[0.7065447701084162,1.7551061278753508]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_30","position":[0.311119184234363,1.6364155549400974,0.71338606911949],"aabb_xy":[[0.3017017096645003,1.6269993778023784],[0.32053665880422577,1.6458317320778164]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6959778481737038,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7194.png","name":"7194"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7194.png","name":"7194"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1690.png","name":"1690"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4276.png","name":"4276"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/620.png","name":"620"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1190.png","name":"1190"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":616.8280077916161,"rotation_z_degrees":304.8760316210353,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018811844124708047,0.013101008476325528,-0.011204451418259756]},{"name":"camera_2","offset_m":[-0.011788619861710582,-0.011838246670795178,0.013538488842750326]},{"name":"camera_3","offset_m":[0.011543495000886462,0.009517675368911144,0.0050190128137222526]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0011011344573109293,0.0013772973857906884,-0.0008768692123873438],"end_effector_yaw_offset_degrees":-0.3958450465243539},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0016555185700450061,-0.0001532581200725774,0.0006570647719611618],"end_effector_yaw_offset_degrees":0.3269199311101132},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0008457068181112835,0.0005600854624701525,0.0006735596564243452],"end_effector_yaw_offset_degrees":-0.27093800919072697},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0011163460858390956,-0.001422383741270297,0.0004521894467494213],"end_effector_yaw_offset_degrees":0.32616244038234643}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.000890988418281142,-0.0003139127732528415],"position_m":[0.16439098841828115,-0.14641391277325286,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004327733859692398,-0.0016673747023271822],"position_m":[0.27822773385969235,-0.3504673747023272,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0018694795314733149,-0.003178904336895041],"position_m":[0.3054305204685267,0.27692109566310497,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0003181966992715649,-0.0016527253584816262],"position_m":[0.35981819669927156,0.05864727464151837,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ca618eed209048db211c769d2653b29420a229026903203600857d69d5530720","episode_index":55,"episode_name":"episode_0055"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0055.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_7194/tex_ceiling_textures_1190/tex_floor_textures_620/tex_table_textures_1690/tex_wall_textures_4276","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":8601015398686616144,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":8601015398686616144,"visual_seed":8601015398686616144,"scene_id":"lab_003","finished_at":"2026-09-05T21:45:45"} +{"episode_id":"ep_000056","started_at":"2026-09-05T21:45:49","dimensions":{"distractor":{"count":31,"items":[{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_0","position":[-0.23607500363425765,-0.7558928950682027,0.71338606911949],"aabb_xy":[[-0.3160750005972968,-0.8329685367119761],[-0.15607500667121849,-0.6788172534244292]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_1","position":[-0.6338414150436102,-1.8911260870387019,0.71338606911949],"aabb_xy":[[-0.6713414152154822,-1.9238268224216089],[-0.5963414148717383,-1.8584253516557945]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_2","position":[-0.5764370759107718,1.387937619209504,0.71338606911949],"aabb_xy":[[-0.589063863197968,1.378391545507931],[-0.5638102886235753,1.3974836929110768]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_3","position":[-0.22727964180429433,1.0413580669851608,0.71338606911949],"aabb_xy":[[-0.23974699991402998,1.0288927423518373],[-0.21481228369455868,1.0538233916184843]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_4","position":[0.35157976257976453,-2.5657821610491465,0.71338606911949],"aabb_xy":[[0.34673616781853456,-2.570633813528131],[0.3564233573409945,-2.560930508570163]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_5","position":[-0.4249985179532205,-1.7188793166389558,0.71338606911949],"aabb_xy":[[-0.5149985216301385,-1.7803117232160597],[-0.33499851427630223,-1.657446910061851]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_6","position":[-0.011920183143939389,1.6979096196645096,0.71338606911949],"aabb_xy":[[-0.06190313333141872,1.6479096200219487],[0.03806276704353994,1.7479096193070696]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_7","position":[0.3366465221968975,-2.2772047452599837,0.71338606911949],"aabb_xy":[[0.2726465189782597,-2.3239278571589925],[0.4006465254155354,-2.230481633360976]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_8","position":[0.3326050858780514,0.8452663796403526,0.71338606911949],"aabb_xy":[[0.28260508630171666,0.7952858006882466],[0.3826050854543861,0.8952469585924585]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_9","position":[0.0803491724494958,-2.1327552164277117,0.71338606911949],"aabb_xy":[[0.07393535880631084,-2.13916503667538],[0.08676298609268072,-2.1263453961800427]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_10","position":[-0.11584537849171406,1.2294274621950492,0.71338606911949],"aabb_xy":[[-0.16584537985260128,1.1794495576196335],[-0.06584537713082686,1.2794053667704648]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_11","position":[0.5847805724853135,-2.3925793707075615,0.71338606911949],"aabb_xy":[[0.5347805730451177,-2.4425472951918774],[0.634780571925509,-2.342611446223245]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_12","position":[-0.14469597781072607,0.29972049105659293,0.71338606911949],"aabb_xy":[[-0.1607579052692437,0.21472048924400108],[-0.1286340503522084,0.3847204928691847]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_13","position":[0.5756968306490147,-1.3513817170969578,0.71338606911949],"aabb_xy":[[0.48569683205454484,-1.367632303410379],[0.6656968292434847,-1.335131130783537]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_14","position":[0.12512308791874094,-1.130888501672535,0.71338606911949],"aabb_xy":[[0.102623952192514,-1.153388502450798],[0.14762222364496794,-1.108388500894272]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_15","position":[-0.27081124896754666,-0.4419721889413437,0.71338606911949],"aabb_xy":[[-0.2804428851879763,-0.45160950172105263],[-0.26117961274711704,-0.4323348761616348]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_16","position":[-0.27255063735697477,-0.3603107868981166,0.71338606911949],"aabb_xy":[[-0.2970642614539806,-0.3845753802001531],[-0.2480370132599689,-0.3360461935960802]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_17","position":[-0.5764938749112306,0.734461610527803,0.71338606911949],"aabb_xy":[[-0.5983836225001714,0.6444616132385539],[-0.5546041273222898,0.8244616078170521]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_18","position":[0.15495613835711908,-0.9109454675469417,0.71338606911949],"aabb_xy":[[0.1049828443538586,-0.960945468101489],[0.2049294323603795,-0.8609454669923943]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_19","position":[0.21442201798862126,-1.2753132734097,0.71338606911949],"aabb_xy":[[0.17983093513457604,-1.340313273694731],[0.24901310084266648,-1.2103132731246689]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_20","position":[0.1755651923725584,-1.8873070273809374,0.71338606911949],"aabb_xy":[[0.1505651928208199,-1.897449511246072],[0.20056519192429687,-1.8771645435158026]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_21","position":[-0.47782504047523966,0.9820546021540593,0.71338606911949],"aabb_xy":[[-0.5418250375873455,0.9330222323596488],[-0.413825043363134,1.0310869719484699]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_22","position":[0.6117125691663383,-1.9972632667684254,0.71338606911949],"aabb_xy":[[0.6037185805886348,-2.0052633468635155],[0.6197065577440416,-1.9892631866733346]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_23","position":[0.6431544110573606,-0.024186654029133337,0.71338606911949],"aabb_xy":[[0.6343523557483878,-0.031997980184062406],[0.6519564663663332,-0.016375327874204256]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_24","position":[0.3426541419470541,-0.9315611378941189,0.71338606911949],"aabb_xy":[[0.2925566779659805,-0.9955611384039307],[0.39275160592812774,-0.8675611373843071]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_25","position":[-0.21261501982672992,-0.606408627524232,0.71338606911949],"aabb_xy":[[-0.21987626739713734,-0.6191956377877414],[-0.2053537722563225,-0.5936216172607225]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_26","position":[0.7150382935553774,-0.6193608135205404,0.71338606911949],"aabb_xy":[[0.7095803479183572,-0.6993608168281995],[0.7204962391923974,-0.5393608102128813]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_27","position":[-0.6525146587497508,-0.5316449661380571,0.71338606911949],"aabb_xy":[[-0.6625963658283243,-0.6116449640301717],[-0.6424329516711773,-0.45164496824594236]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_28","position":[0.18453401012489545,-1.5003734439196097,0.71338606911949],"aabb_xy":[[0.1558846777644792,-1.5290190031966853],[0.21318334248531165,-1.4717278846425337]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_29","position":[-0.059586535287055375,-1.0758226196483036,0.71338606911949],"aabb_xy":[[-0.1395803588656136,-1.1558226222411452],[0.02040728829150284,-0.995822617055462]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_30","position":[-0.4261191524243201,1.181074397607364,0.71338606911949],"aabb_xy":[[-0.4335316079657086,1.1752231871857362],[-0.41870669688293166,1.186925608028992]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6933054435618815,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9993.png","name":"9993"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9993.png","name":"9993"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8076.png","name":"8076"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8322.png","name":"8322"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5807.png","name":"5807"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1701.png","name":"1701"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":668.5548707459477,"rotation_z_degrees":335.52639291372213,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01227799169770957,0.0012998176686672101,0.0001617349025040231]},{"name":"camera_2","offset_m":[0.014144922954666145,0.010745781048573124,0.01889948258090297]},{"name":"camera_3","offset_m":[-0.0026909575905228814,0.016898556007955656,-0.001269200006099789]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0004995863974434408,0.00021955311580746642,0.001705667190470818],"end_effector_yaw_offset_degrees":0.3126674216109242},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0019548465150764235,-0.00026050057994953316,0.0009492653826482576],"end_effector_yaw_offset_degrees":0.47750877389697033},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0018872806364750127,0.0019483013112972201,-0.0015033055823203642],"end_effector_yaw_offset_degrees":-0.2789154703165677},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0019346360013528369,-0.0002530406748161224,-0.0018123348502024977],"end_effector_yaw_offset_degrees":0.8347722360716139}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0011471477384791175,0.0017192951067806807],"position_m":[0.16235285226152088,-0.14438070489321933,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0011153195873435948,-0.0018672642276359053],"position_m":[0.2750153195873436,-0.3506672642276359,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0033579764062258563,0.0034687679711156863],"position_m":[0.3106579764062259,0.2835687679711157,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002998950847804729,0.0036693956351978316],"position_m":[0.35650104915219527,0.06396939563519784,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"379f9ab2b83ed489d166552286fa28648a945c0dde2e1bf8d7fac47d9a3b5fd7","episode_index":56,"episode_name":"episode_0056"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0056.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_9993/tex_ceiling_textures_1701/tex_floor_textures_5807/tex_table_textures_8076/tex_wall_textures_8322","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":1398351277506674378,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":1398351277506674378,"visual_seed":1398351277506674378,"scene_id":"lab_003","finished_at":"2026-09-05T21:49:27"} +{"episode_id":"ep_000057","started_at":"2026-09-05T21:49:30","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_0","position":[-0.292111979252717,1.52494234999669,0.71338606911949],"aabb_xy":[[-0.3373905941338663,1.4609423506485066],[-0.24683336437156778,1.588942349344874]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_1","position":[0.1279937329765164,1.0895149488345766,0.71338606911949],"aabb_xy":[[0.0808643539746807,1.0255149477901744],[0.17512311197835204,1.1535149498789783]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_2","position":[-0.6559437663912963,-1.8276454711513517,0.71338606911949],"aabb_xy":[[-0.6893839415873158,-1.8610890969822815],[-0.6225035911952765,-1.7942018453204214]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_3","position":[-0.5091763367530888,1.1161625342859014,0.71338606911949],"aabb_xy":[[-0.517304024946402,1.1072489258751939],[-0.5010486485597756,1.1250761426966094]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_4","position":[0.09762031866911736,-0.9010575217349628,0.71338606911949],"aabb_xy":[[0.08892235637840207,-0.9131824960424377],[0.10631828095983266,-0.8889325474274883]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_5","position":[-0.02742134399240126,1.4417318569543744,0.71338606911949],"aabb_xy":[[-0.08143694027430126,1.377731854062117],[0.026594252289498747,1.5057318598466314]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_6","position":[0.5738659172138114,-0.1649861676208011,0.71338606911949],"aabb_xy":[[0.5368318077857517,-0.19936337495451054],[0.6109000266418712,-0.13060896028709165]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_7","position":[0.1502131881150348,0.9384590832083055,0.71338606911949],"aabb_xy":[[0.14141113280606207,0.9306477570533763],[0.1590152434240075,0.9462704093632345]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_8","position":[0.13634909551599017,1.3391475936327053,0.71338606911949],"aabb_xy":[[0.11134909596425169,1.3290051097675706],[0.16134909506772865,1.34929007749784]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_9","position":[0.5397236706821216,1.7241804057893302,0.71338606911949],"aabb_xy":[[0.4697236742721596,1.7037424701376482],[0.6097236670920831,1.7446183414410117]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_10","position":[-0.19040099342309158,0.5321838515268329,0.71338606911949],"aabb_xy":[[-0.21290099323699396,0.5277092351563522],[-0.1679009936091892,0.5366584678973136]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_11","position":[-0.2673985517249916,-1.8112247211415045,0.71338606911949],"aabb_xy":[[-0.30489855201716637,-1.8152661965421082],[-0.22989855143281673,-1.8071832457409012]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_12","position":[-0.3326897974734436,-1.4273635636185704,0.71338606911949],"aabb_xy":[[-0.3503226330669712,-1.4449865096341932],[-0.31505696187991605,-1.4097406176029472]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_13","position":[0.5226952930483024,-0.5862189834718521,0.71338606911949],"aabb_xy":[[0.49814907742555165,-0.6164678800208891],[0.547241508671053,-0.555970086922815]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_14","position":[0.4597244928025235,-0.017539663154931606,0.71338606911949],"aabb_xy":[[0.45438691713651885,-0.042539664084071394],[0.465062068468528,0.007460337774208181]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_15","position":[-0.6458645197055954,-0.7388889055889132,0.71338606911949],"aabb_xy":[[-0.6796400788962884,-0.7529274008020782],[-0.6120889605149025,-0.7248504103757482]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_16","position":[0.49599699828804455,1.1887460003634938,0.71338606911949],"aabb_xy":[[0.44589953430697093,1.1247459998536822],[0.5460944622691182,1.2527460008733058]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_17","position":[-0.4414746777911675,-0.0835991044833655,0.71338606911949],"aabb_xy":[[-0.45968050145241524,-0.09462450506535715],[-0.4232688541299199,-0.07257370390137387]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_18","position":[0.3477432058225398,-1.27749261782447,0.71338606911949],"aabb_xy":[[0.3067252624361689,-1.3274926184554274],[0.38876114920891064,-1.2274926171935128]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_19","position":[-0.14316109526613308,-2.326787871192432,0.71338606911949],"aabb_xy":[[-0.14811711545101428,-2.3492878713945533],[-0.13820507508125188,-2.3042878709903105]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_20","position":[-0.45314434994553177,-1.9538117223631812,0.71338606911949],"aabb_xy":[[-0.4760600628305817,-1.9767160194996047],[-0.4302286370604819,-1.9309074252267577]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_21","position":[-0.6039698114127285,0.8756956254523636,0.71338606911949],"aabb_xy":[[-0.6384321588108702,0.8412017430545407],[-0.5695074640145866,0.910189507850186]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_22","position":[-0.2316894441260412,-1.3404335652109833,0.71338606911949],"aabb_xy":[[-0.24415680223577688,-1.352898889844307],[-0.21922208601630558,-1.32796824057766]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_23","position":[-0.022017649750479817,-1.8747287729924103,0.71338606911949],"aabb_xy":[[-0.10701764844255446,-1.906714636387289],[0.06298234894159482,-1.8427429095975314]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_24","position":[0.5289244004522271,-1.891501116531711,0.71338606911949],"aabb_xy":[[0.4789414502647477,-1.9415011161742712],[0.5789073506397063,-1.8415011168891504]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_25","position":[0.6417882291051449,1.4271732161343826,0.71338606911949],"aabb_xy":[[0.6347467781543974,1.4201464643965882],[0.6488296800558926,1.434199967872177]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_26","position":[-0.5809473341994669,1.5235149638939327,0.71338606911949],"aabb_xy":[[-0.6609473363622292,1.443559780267789],[-0.5009473320367043,1.6034701475200763]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_27","position":[-0.6515624338884985,1.2309464837601531,0.71338606911949],"aabb_xy":[[-0.6740624338986468,1.2168502641205499],[-0.6290624338783503,1.2450427033997564]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_28","position":[-0.3640140155444424,-0.5971992362826974,0.71338606911949],"aabb_xy":[[-0.42800971293953893,-0.6611992345834061],[-0.30001831814934576,-0.5331992379819888]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_29","position":[0.4809697913594764,-1.128743943924419,0.71338606911949],"aabb_xy":[[0.4169697893097443,-1.1688384270137269],[0.5449697934092084,-1.088649460835111]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_30","position":[0.2825100369002741,-2.0147013409824517,0.71338606911949],"aabb_xy":[[0.1925100374819032,-2.048076837826641],[0.372510036318645,-1.9813258441382615]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6904500737136674,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1531.png","name":"1531"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1531.png","name":"1531"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4309.png","name":"4309"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2101.png","name":"2101"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7972.png","name":"7972"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8020.png","name":"8020"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":639.0302833632842,"rotation_z_degrees":88.09845000098508,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0077128889888562376,0.015833701320090248,-0.0004459782968092435]},{"name":"camera_2","offset_m":[-0.0021960255835875367,0.010550463694148686,-0.013551875859558025]},{"name":"camera_3","offset_m":[0.003093619340519077,0.005762087339568126,0.007381231687625226]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0016042788047665123,0.0013686419631832275,-9.587829915049906e-05],"end_effector_yaw_offset_degrees":0.5077274004467216},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00015589968828424268,0.0005484962871378555,-0.0012990419037828128],"end_effector_yaw_offset_degrees":0.7183733838269812},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0009994304776259344,-0.0013029630984535685,-0.0006012469142442588],"end_effector_yaw_offset_degrees":0.41996231916269067},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00024248841103326332,0.0007288634961810643,0.000951760921765707],"end_effector_yaw_offset_degrees":-0.049466281058597295}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0004659630908843944,-0.003944479761578923],"position_m":[0.1630340369091156,-0.15004447976157892,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0018112969601970564,-0.0012122025798571058],"position_m":[0.2720887030398029,-0.3500122025798571,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004695859375109202,0.0032945835564369723],"position_m":[0.3026041406248908,0.283394583556437,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004476285073280154,0.004026978372367265],"position_m":[0.3639762850732801,0.06432697837236727,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e2df5ea11ab8a7ae3d245bf410995016999551bfa96979d52198be162a630502","episode_index":57,"episode_name":"episode_0057"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0057.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_1531/tex_ceiling_textures_8020/tex_floor_textures_7972/tex_table_textures_4309/tex_wall_textures_2101","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":9000009105460247740,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":9000009105460247740,"visual_seed":9000009105460247740,"scene_id":"lab_003","finished_at":"2026-09-05T21:53:08"} +{"episode_id":"ep_000058","started_at":"2026-09-05T21:53:13","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_0","position":[0.15699935355318428,-0.5908833120901751,0.71338606911949],"aabb_xy":[[0.13788704619520542,-0.610018090967417],[0.17611166091116315,-0.571748533212933]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_1","position":[-0.5070952152407311,-1.136590018525253,0.71338606911949],"aabb_xy":[[-0.5147984059148081,-1.144299389223991],[-0.49939202456665405,-1.1288806478265152]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_2","position":[0.5118591423736711,-1.6413924217540785,0.71338606911949],"aabb_xy":[[0.4775428651990532,-1.691392421727256],[0.5461754195482891,-1.5913924217809006]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_3","position":[-0.6551578453237629,0.6312711028776223,0.71338606911949],"aabb_xy":[[-0.6630811255625112,0.608771102639619],[-0.6472345650850145,0.6537711031156257]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_4","position":[0.32483829986987844,1.2334446754952078,0.71338606911949],"aabb_xy":[[0.32040767051503827,1.2279963037605253],[0.3292689292247186,1.2388930472298902]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_5","position":[-0.6001104845134005,-1.2851184479086795,0.71338606911949],"aabb_xy":[[-0.6301021472472708,-1.31511844724548],[-0.5701188217795301,-1.255118448571879]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_6","position":[0.5057015270787928,-1.1812718619183267,0.71338606911949],"aabb_xy":[[0.42070152866136956,-1.2661461573806119],[0.590701525496216,-1.096397566456042]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_7","position":[0.5951846505607359,0.5340260593000337,0.71338606911949],"aabb_xy":[[0.5453019536830397,0.4840260600537589],[0.6450673474384321,0.5840260585463084]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_8","position":[-0.06459577494065127,0.9120013174778676,0.71338606911949],"aabb_xy":[[-0.0727234631339645,0.90308770906716],[-0.05646808674733805,0.9209149258885753]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_9","position":[-0.3575966786789861,-0.5276826610073444,0.71338606911949],"aabb_xy":[[-0.44759667727345603,-0.5439332473207654],[-0.26759668008451615,-0.5114320746939234]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_10","position":[0.3117560151497285,-0.9017640015930009,0.71338606911949],"aabb_xy":[[0.24675601699380945,-0.928060246142913],[0.37675601330564756,-0.8754677570430887]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_11","position":[-0.4789267407681967,0.8644921247743067,0.71338606911949],"aabb_xy":[[-0.498817780648537,0.8518363134896101],[-0.4590357008878565,0.8771479360590038]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_12","position":[0.15062675691076655,1.193681233814822,0.71338606911949],"aabb_xy":[[0.1379999696235702,1.184135160113249],[0.1632535441979629,1.2032273075163948]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_13","position":[-0.29392464596541235,1.0768703294733886,0.71338606911949],"aabb_xy":[[-0.3314246457824459,1.0722321181622467],[-0.2564246461483788,1.0815085407845304]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_14","position":[-0.5489762047307053,1.2687877298315833,0.71338606911949],"aabb_xy":[[-0.5528900779261279,1.2600387144250262],[-0.5450623315352827,1.2775367452381399]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_15","position":[0.0857302674131446,1.7433533317247663,0.71338606911949],"aabb_xy":[[0.015730265281715033,1.7205913660990702],[0.1557302695445741,1.7661152973504615]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_16","position":[0.31510302942870627,-1.5751188546146357,0.71338606911949],"aabb_xy":[[0.26512973542544577,-1.6251188551691829],[0.36507632343196667,-1.5251188540600882]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_17","position":[-0.1484207170223958,1.716620795484347,0.71338606911949],"aabb_xy":[[-0.22842071403664377,1.6964862438109358],[-0.0684207200081478,1.7367553471577584]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_18","position":[-0.06155356173234716,1.0224826944324819,0.71338606911949],"aabb_xy":[[-0.08606718582935302,0.9982181011304454],[-0.03703993763534131,1.0467472877345183]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_19","position":[-0.02200593838098197,1.5111294200659589,0.71338606911949],"aabb_xy":[[-0.03241749706146568,1.5057836867300602],[-0.011594379700498255,1.516475153401857]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_20","position":[0.267192738059148,1.399085355749723,0.71338606911949],"aabb_xy":[[0.23289582704140732,1.3647884695397814],[0.3014896490768886,1.433382241959664]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_21","position":[0.07208664397643338,-1.003579634912961,0.71338606911949],"aabb_xy":[[0.03458664387084042,-1.0104017967659422],[0.10958664408202633,-0.9967574730599801]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_22","position":[-0.3813961024379528,-2.2379413322466384,0.71338606911949],"aabb_xy":[[-0.46139610570196593,-2.2515013645555517],[-0.30139609917393967,-2.224381299937725]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_23","position":[-0.49691840224461725,0.3764409988002182,0.71338606911949],"aabb_xy":[[-0.5319184014374354,0.3654739528025555],[-0.4619184030517989,0.38740804479788077]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_24","position":[0.14266023782204407,1.4983092502470243,0.71338606911949],"aabb_xy":[[0.09268142931172818,1.4483092502413053],[0.19263904633235995,1.548309250252743]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_25","position":[-0.4133522182157075,-0.6205652030925635,0.71338606911949],"aabb_xy":[[-0.42213344536294384,-0.6293449503810937],[-0.4045709910684714,-0.6117854558040334]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_26","position":[0.09546064139008614,0.9677121868395515,0.71338606911949],"aabb_xy":[[0.035460641543519356,0.9108935646465126],[0.15546064123665293,1.02453080903259]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_27","position":[-0.289230512159994,1.4734652896698903,0.71338606911949],"aabb_xy":[[-0.29412980446655745,1.4457883703673213],[-0.28433121985343046,1.5011422089724589]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_28","position":[0.4612596347687288,0.9603750476512483,0.71338606911949],"aabb_xy":[[0.4393509526293776,0.9384743808311574],[0.4831683169080797,0.9822757144713389]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_29","position":[0.3030584169659932,1.7150226735970597,0.71338606911949],"aabb_xy":[[0.2948438718503092,1.706346083299418],[0.31127296208167715,1.7236992638947006]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6919977407277944,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1496.png","name":"1496"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1496.png","name":"1496"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8803.png","name":"8803"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5946.png","name":"5946"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7110.png","name":"7110"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/342.png","name":"342"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":586.6700298627406,"rotation_z_degrees":196.15363205627355,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013010657564995722,0.00018238958121506374,-0.006507260934555413]},{"name":"camera_2","offset_m":[0.006587989705873102,-0.0023487340062259277,-0.014344676634336681]},{"name":"camera_3","offset_m":[0.016076554460894194,-0.0030586792669340668,0.019642002712833024]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.000730663788267711,-0.0004460194513337416,-0.0010830724748631987],"end_effector_yaw_offset_degrees":-0.32772318928291866},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0005410337675973444,-0.001306743145611864,-0.0006543044777295014],"end_effector_yaw_offset_degrees":-0.9333233810052239},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0011065077582060462,0.001661539254708765,0.0016600989968476813],"end_effector_yaw_offset_degrees":-0.2663076343630706},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0018480754995178921,-0.0006662965120462889,-0.0015879181864625848],"end_effector_yaw_offset_degrees":-0.5505038697487834}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004841433172066824,0.0015081058332457034],"position_m":[0.16834143317206682,-0.1445918941667543,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0021923154971761546,0.002582415290749429],"position_m":[0.2760923154971761,-0.34621758470925057,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0006421046512299546,-0.004372564090657013],"position_m":[0.30794210465122995,0.275727435909343,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004305033468219681,-0.0005431485982428496],"position_m":[0.3638050334682197,0.05975685140175715,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1faee68bc676b7e6f9730163da68e75165ad5f9b89a860776219002333724e6f","episode_index":58,"episode_name":"episode_0058"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0058.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_1496/tex_ceiling_textures_342/tex_floor_textures_7110/tex_table_textures_8803/tex_wall_textures_5946","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":660367051168958442,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":660367051168958442,"visual_seed":660367051168958442,"scene_id":"lab_003","finished_at":"2026-09-05T21:56:37"} +{"episode_id":"ep_000059","started_at":"2026-09-05T21:56:42","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_0","position":[0.6094823550655915,-2.0959404198533433,0.71338606911949],"aabb_xy":[[0.5919823548062548,-2.110031962042116],[0.6269823553249281,-2.0818488776645707]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_1","position":[0.5789800622912384,1.7158892761516902,0.71338606911949],"aabb_xy":[[0.5741364675300085,1.711037623672706],[0.5838236570524684,1.7207409286306743]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_2","position":[0.10373952579720702,-1.628168117782126,0.71338606911949],"aabb_xy":[[0.09962357568513436,-1.6322836728149712],[0.10785547590927969,-1.6240525627492801]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_3","position":[0.38309937362161905,-1.4717686751027201,0.71338606911949],"aabb_xy":[[0.3190993722136284,-1.5235576266266448],[0.4470993750296097,-1.4199797235787954]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_4","position":[-0.41151481801841056,-1.671759074364287,0.71338606911949],"aabb_xy":[[-0.4765148159000584,-1.722882738070828],[-0.34651482013676277,-1.6206354106577463]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_5","position":[0.4748892219764467,1.8085630888995223,0.71338606911949],"aabb_xy":[[0.43988922284649096,1.8028178678238582],[0.5098892211064023,1.8143083099751864]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_6","position":[-0.24685123138212295,-2.5272566387067896,0.71338606911949],"aabb_xy":[[-0.2521888070481275,-2.5522566396359294],[-0.2415136557161184,-2.50225663777765]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_7","position":[-0.4474584217173809,1.101771340976554,0.71338606911949],"aabb_xy":[[-0.4644685190074316,1.0856368524782798],[-0.4304483244273303,1.1179058294748276]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_8","position":[0.330927499592385,1.7865358328082048,0.71338606911949],"aabb_xy":[[0.32701362639696246,1.7777868174016476],[0.3348413727878075,1.7952848482147612]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_9","position":[-0.5532399891359724,1.0467200040327955,0.71338606911949],"aabb_xy":[[-0.5888691450359321,1.0110873372759424],[-0.5176108332360126,1.0823526707896483]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_10","position":[0.5539895294347148,1.5826323522997963,0.71338606911949],"aabb_xy":[[0.508989527968486,1.537632495438316],[0.5989895309009436,1.6276322091612774]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_11","position":[-0.32553285928151193,0.4933472906073977,0.71338606911949],"aabb_xy":[[-0.3726622382833475,0.42934728956299567],[-0.27840348027967615,0.5573472916517996]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_12","position":[-0.47384440326547855,0.2998935307178181,0.71338606911949],"aabb_xy":[[-0.4867163067664187,0.21989353030398198],[-0.4609724997645384,0.37989353113165425]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_13","position":[-0.01413748970136286,-0.6817434887215699,0.71338606911949],"aabb_xy":[[-0.031239567659731016,-0.6988502942528396],[0.002964588257005296,-0.6646366831903001]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_14","position":[-0.10017839774518267,-1.2650761279395215,0.71338606911949],"aabb_xy":[[-0.1901783942460544,-1.3109877703579795],[-0.010178401244310907,-1.219164485521063]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_15","position":[-0.6379504338682634,-2.197263314333143,0.71338606911949],"aabb_xy":[[-0.6665997662286797,-2.225908873610219],[-0.6093011015078472,-2.1686177550560672]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_16","position":[0.34046939555970224,-1.7676192785399651,0.71338606911949],"aabb_xy":[[0.2804693939167804,-1.8196194278319096],[0.4004693972026241,-1.7156191292480212]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_17","position":[0.6392939641534916,0.62823700814777,0.71338606911949],"aabb_xy":[[0.6320327165830841,0.6154499978842605],[0.6465552117238991,0.6410240184112794]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_18","position":[0.26456397751018734,0.704795110803563,0.71338606911949],"aabb_xy":[[0.19456397411862533,0.6694793371001321],[0.33456398090174927,0.7401108845069938]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_19","position":[0.5720539421089259,-1.2370416918928846,0.71338606911949],"aabb_xy":[[0.4920539406787986,-1.3165588469054939],[0.652053943539053,-1.157524536880275]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_20","position":[0.41742438262002235,0.8642582210018208,0.71338606911949],"aabb_xy":[[0.40186861320975714,0.8487077877574137],[0.43298015203028767,0.8798086542462281]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_21","position":[0.1485885211659983,-1.5014237700539268,0.71338606911949],"aabb_xy":[[0.1310885218879114,-1.5187618701202725],[0.16608852044408515,-1.4840856699875806]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_22","position":[-0.20522797725374875,0.3485439038015592,0.71338606911949],"aabb_xy":[[-0.24022797723024458,0.3390792877539426],[-0.17022797727725292,0.3580085198491758]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6906514890817468,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8311.png","name":"8311"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8311.png","name":"8311"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2356.png","name":"2356"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4533.png","name":"4533"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3720.png","name":"3720"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3020.png","name":"3020"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":726.007718646548,"rotation_z_degrees":231.71370114824555,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017622692616817894,-0.017343368247419888,0.00665363013258722]},{"name":"camera_2","offset_m":[-0.009457159386208716,0.013595131238154378,0.0014912657719581904]},{"name":"camera_3","offset_m":[-0.0071866775839492195,0.00020585899674604655,-0.018342160561920985]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0010880385393029028,0.001566238932571632,0.0005636724489787876],"end_effector_yaw_offset_degrees":0.4385613600461442},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0002573392795313296,-0.0006686122227093194,0.0012103659569135238],"end_effector_yaw_offset_degrees":0.4378339440443497},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0012410246374450202,-0.0007662999442006866,0.0004413128129166317],"end_effector_yaw_offset_degrees":0.1971729278840868},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0019939336847337027,0.0005990473388669927,-0.001538128585114066],"end_effector_yaw_offset_degrees":0.1745410002496135}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004548881497450864,-0.0035093886008319185],"position_m":[0.15895111850254914,-0.14960938860083192,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00125573743176807,0.003652675074606854],"position_m":[0.275155737431768,-0.34514732492539313,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003931372752353534,-0.0010482953864190125],"position_m":[0.30336862724764646,0.279051704613581,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0009890065171647769,0.0022430073676109356],"position_m":[0.36048900651716476,0.06254300736761094,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"da16eabb46b213fa2b754ef19feb20c7897562a61a8a4ebbae4029da9a45dc6f","episode_index":59,"episode_name":"episode_0059"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0059.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_8311/tex_ceiling_textures_3020/tex_floor_textures_3720/tex_table_textures_2356/tex_wall_textures_4533","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":4419964068040752243,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":4419964068040752243,"visual_seed":4419964068040752243,"scene_id":"lab_003","finished_at":"2026-09-05T22:00:20"} +{"episode_id":"ep_000060","started_at":"2026-09-05T22:00:24","dimensions":{"distractor":{"count":33,"items":[{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_0","position":[-0.1908777266152506,-2.294132222915126,0.71338606911949],"aabb_xy":[[-0.20867123355016703,-2.3119319685109243],[-0.17308421968033416,-2.276332477319329]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_1","position":[0.09929067017594806,1.1985252543918774,0.71338606911949],"aabb_xy":[[0.035290668497950706,1.1500078629125634],[0.1632906718539454,1.2470426458711918]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_2","position":[-0.6006979074248358,-2.2608674592423874,0.71338606911949],"aabb_xy":[[-0.604833763757536,-2.298367458686745],[-0.5965620510921356,-2.223367459798031]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_3","position":[-0.5767788434373753,-0.22886769087436676,0.71338606911949],"aabb_xy":[[-0.5821164191033799,-0.25386769180350655],[-0.5714412677713707,-0.20386768994522697]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_4","position":[-0.12748559068235665,-1.854636885003682,0.71338606911949],"aabb_xy":[[-0.1752917582961253,-1.9196368877107408],[-0.07967942306858801,-1.7896368822966229]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_5","position":[-0.4198020799480177,0.5242695643644479,0.71338606911949],"aabb_xy":[[-0.45659671307292404,0.48736368926786566],[-0.3830074468231115,0.5611754394610302]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_6","position":[0.48333352412559716,0.7437883641863805,0.71338606911949],"aabb_xy":[[0.43805490924444795,0.6797883648381968],[0.5286121390067464,0.8077883635345642]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_7","position":[-0.18609633489113175,0.8108172503879225,0.71338606911949],"aabb_xy":[[-0.25609633130109344,0.7903793147362405],[-0.11609633848116992,0.8312551860396039]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_8","position":[0.6421085524047481,-0.7852723482630952,0.71338606911949],"aabb_xy":[[0.6222175125244079,-0.7979281595477923],[0.6619995922850884,-0.7726165369783986]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_9","position":[0.549991701422178,-2.1597822428051536,0.71338606911949],"aabb_xy":[[0.5000186358896626,-2.209782242617687],[0.5999647669546935,-2.109782242992621]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_10","position":[-0.2716695202037235,-1.6535475734698482,0.71338606911949],"aabb_xy":[[-0.29666952013624137,-1.6604302416907715],[-0.2466695202712056,-1.6466649052489248]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_11","position":[-0.10315388710480711,-2.0751403114736844,0.71338606911949],"aabb_xy":[[-0.1163848326394884,-2.088367730495683],[-0.08992294157012581,-2.061912892451684]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_12","position":[0.06712895118001516,-2.4872965531539597,0.71338606911949],"aabb_xy":[[-0.02287104741445478,-2.5035471394673814],[0.1571289497744851,-2.471045966840539]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_13","position":[-0.5849695598750249,1.6370179867298336,0.71338606911949],"aabb_xy":[[-0.6094831839720306,1.6127533934277969],[-0.5604559357780189,1.6612825800318698]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_14","position":[0.6912627452778362,0.13445584388890586,0.71338606911949],"aabb_xy":[[0.6736299096843086,0.1168328978732829],[0.7088955808713637,0.15207878990452883]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_15","position":[0.35107235922422375,-0.9856464655439934,0.71338606911949],"aabb_xy":[[0.3335723589648872,-0.9997380077327662],[0.36857235948356043,-0.971554923355221]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_16","position":[0.4382313803748883,-1.8439101465478114,0.71338606911949],"aabb_xy":[[0.4047912051788687,-1.8773537723787412],[0.4716715555709079,-1.810466520716881]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_17","position":[0.20528083047591839,1.4245841443315235,0.71338606911949],"aabb_xy":[[0.1412808340485965,1.3774145205094273],[0.2692808269032403,1.4717537681536201]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_18","position":[0.6256982604356531,-0.0713610154273554,0.71338606911949],"aabb_xy":[[0.5616982590276623,-0.1231499669512801],[0.6896982618436437,-0.01957206390343069]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_19","position":[-0.02735087661409863,0.3328775021261343,0.71338606911949],"aabb_xy":[[-0.03812385053546641,0.29787750390709533],[-0.01657790269273085,0.3678775003451733]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_20","position":[-0.13699378967843945,0.9857018324864613,0.71338606911949],"aabb_xy":[[-0.1869937900390055,0.9357218452768582],[-0.08699378931787337,1.035681819696064]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_21","position":[-0.17989414964586892,0.4560500086087793,0.71338606911949],"aabb_xy":[[-0.2298941505964017,0.42450086160525785],[-0.12989414869533608,0.48759915561230066]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_22","position":[-0.5576748254985886,-1.6270964147819709,0.71338606911949],"aabb_xy":[[-0.6076577756860678,-1.6770964144245308],[-0.5076918753111092,-1.57709641513941]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_23","position":[-0.3959105753797131,-2.52445476494158,0.71338606911949],"aabb_xy":[[-0.3996138367088519,-2.528156783250297],[-0.39220731405057413,-2.5207527466328616]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_24","position":[0.2518366866363281,-1.083337688090133,0.71338606911949],"aabb_xy":[[0.22992800449697703,-1.1052383549102236],[0.2737453687756791,-1.0614370212700421]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_25","position":[0.47907194273400777,-1.1555464255436876,0.71338606911949],"aabb_xy":[[0.44407194446388787,-1.1626205532386755],[0.5140719410041277,-1.1484722978486992]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_26","position":[-0.4995736626409247,0.370963833624983,0.71338606911949],"aabb_xy":[[-0.5177794863021723,0.3599384330429914],[-0.481367838979677,0.38198923420697467]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_27","position":[-0.46767471620537954,-2.5001968251531586,0.71338606911949],"aabb_xy":[[-0.4753779068794566,-2.5079061958518962],[-0.4599715255313025,-2.49248745445442]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_28","position":[-0.4045574016370172,-0.4468298979736436,0.71338606911949],"aabb_xy":[[-0.45453481850227073,-0.4968298994628921],[-0.35457998477176356,-0.396829896484395]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_29","position":[-0.22721988330982662,-1.068301086896091,0.71338606911949],"aabb_xy":[[-0.26471988312686023,-1.0729392982072326],[-0.1897198834927931,-1.0636628755849489]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_30","position":[-0.6314919505842428,0.03755555341836114,0.71338606911949],"aabb_xy":[[-0.6866171562138335,-0.02244444802292599],[-0.5763667449546519,0.09755555485964829]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_31","position":[0.28516954888015666,1.6796572006956727,0.71338606911949],"aabb_xy":[[0.27790830130974925,1.6668701904321634],[0.2924307964505641,1.6924442109591824]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_32","position":[0.3223120258262968,-2.16123831035748,0.71338606911949],"aabb_xy":[[0.30481202654820994,-2.178576410423826],[0.3398120251043837,-2.143900210291134]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6937182019777751,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7255.png","name":"7255"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7255.png","name":"7255"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9825.png","name":"9825"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6091.png","name":"6091"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6985.png","name":"6985"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9529.png","name":"9529"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":784.9376357239515,"rotation_z_degrees":138.56782340107176,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004868885761307316,0.004312355768672699,-0.016050424257583816]},{"name":"camera_2","offset_m":[0.01729316298940749,-0.016983585358962938,-0.017443354284991948]},{"name":"camera_3","offset_m":[0.009746435992056143,0.015763943491509783,-0.018910592719949323]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.000814984071570107,-0.0012229911368555673,0.0013299419836986528],"end_effector_yaw_offset_degrees":0.9729795936726806},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0009243974437579748,-0.0003876142971620698,0.0010645514176442434],"end_effector_yaw_offset_degrees":-0.20694077424280155},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0015158716556969809,0.0018489252874127919,-0.000831719323162174],"end_effector_yaw_offset_degrees":0.24756170387477217},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001877440101710376,-0.0014099845486180587,0.0006585547431246712],"end_effector_yaw_offset_degrees":0.03968515852402055}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0030834694692103365,0.0018303953772624447],"position_m":[0.16658346946921035,-0.14426960462273755,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-8.272129763831071e-05,-0.0047132305433519915],"position_m":[0.27381727870236167,-0.353513230543352,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003782482040122363,0.00473363512991505],"position_m":[0.3110824820401224,0.28483363512991505,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0037280846446355086,-0.003860456995094899],"position_m":[0.35577191535536445,0.0564395430049051,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b87ca6e5104a9052c04233739617cfca56aabd5d7a17f8e55762c0f76bea46ac","episode_index":60,"episode_name":"episode_0060"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0060.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_7255/tex_ceiling_textures_9529/tex_floor_textures_6985/tex_table_textures_9825/tex_wall_textures_6091","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":7980308157618305466,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":7980308157618305466,"visual_seed":7980308157618305466,"scene_id":"lab_003","finished_at":"2026-09-05T22:03:57"} +{"episode_id":"ep_000061","started_at":"2026-09-05T22:04:01","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_0","position":[-0.4698070164428271,-1.5946932546720385,0.71338606911949],"aabb_xy":[[-0.48490931790384506,-1.6097947763031],[-0.45470471498180887,-1.579591733040976]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_1","position":[-0.39666741890767293,0.7820005263997678,0.71338606911949],"aabb_xy":[[-0.4466407129109333,0.7320005258452205],[-0.3466941249044124,0.8320005269543151]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_2","position":[-0.23029449228021864,-1.4855308685545436,0.71338606911949],"aabb_xy":[[-0.26779449209725215,-1.4901690798656855],[-0.19279449246318506,-1.4808926572434018]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_3","position":[0.6197334614895067,0.176269451526069,0.71338606911949],"aabb_xy":[[0.5647334623129172,0.12127977675111135],[0.6747334606660962,0.23125912630102663]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_4","position":[0.7106425065562263,-1.7815459774015179,0.71338606911949],"aabb_xy":[[0.7069392452270873,-1.7852479957102356],[0.7143457678853651,-1.7778439590928001]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_5","position":[-0.5710893351697258,1.1349386770496142,0.71338606911949],"aabb_xy":[[-0.6350893365777164,1.0831497255256892],[-0.507089333761735,1.1867276285735386]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_6","position":[0.3210708615035529,0.6270890455522022,0.71338606911949],"aabb_xy":[[0.3036401464245463,0.6098169308883513],[0.3385015765825593,0.6443611602160529]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_7","position":[-0.12726488020253923,1.3258976126255173,0.71338606911949],"aabb_xy":[[-0.1576629913016828,1.2954907106238476],[-0.09686676910339563,1.3563045146271866]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_8","position":[0.4542090090020048,-1.693532256902583,0.71338606911949],"aabb_xy":[[0.448242470061269,-1.699493401561947],[0.46017554794274057,-1.6875711122432187]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_9","position":[0.5038517886301177,-1.4857727423447438,0.71338606911949],"aabb_xy":[[0.4862189530365902,-1.5033956883603667],[0.5214846242236453,-1.4681497963291208]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_10","position":[0.3045592038735412,-1.5161881322194977,0.71338606911949],"aabb_xy":[[0.288674710608216,-1.5305410725183217],[0.3204436971388663,-1.5018351919206736]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_11","position":[0.03606073895510198,-2.3788978394874096,0.71338606911949],"aabb_xy":[[-0.0339392626471775,-2.392330632689067],[0.10606074055738146,-2.365465046285752]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_12","position":[0.22102426058954538,-0.943145927382655,0.71338606911949],"aabb_xy":[[0.1710294276616038,-0.9931459262778987],[0.271019093517487,-0.8931459284874116]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_13","position":[-0.08945680456860694,-1.0423662685056327,0.71338606911949],"aabb_xy":[[-0.09861668351248354,-1.0488974865491696],[-0.08029692562473034,-1.0358350504620955]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_14","position":[-0.15492230955252972,1.1825686361154948,0.71338606911949],"aabb_xy":[[-0.20991456018804072,1.1275686343721822],[-0.09993005891701881,1.2375686378588078]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_15","position":[-0.4057764890623666,1.5526389575153376,0.71338606911949],"aabb_xy":[[-0.42398231272361425,1.541613556933346],[-0.3875706654011189,1.5636643580973293]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_16","position":[0.48144052879941435,-2.285873130327373,0.71338606911949],"aabb_xy":[[0.40144052663665186,-2.3658283139535166],[0.5614405309621768,-2.2059179467012293]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_17","position":[0.4933939259303908,0.35303051066821256,0.71338606911949],"aabb_xy":[[0.4558939273547699,0.3402942150046547],[0.5308939245060115,0.36576680633177056]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_18","position":[-0.23311798845347814,0.547159165390728,0.71338606911949],"aabb_xy":[[-0.2370784722232125,0.5394913008052074],[-0.22915750468374374,0.5548270299762486]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_19","position":[0.42558116418448777,-0.43732381738761594,0.71338606911949],"aabb_xy":[[0.41999949255035907,-0.4498238172053914],[0.4311628358186166,-0.4248238175698404]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.693081758814641,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8327.png","name":"8327"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8327.png","name":"8327"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6310.png","name":"6310"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1867.png","name":"1867"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4874.png","name":"4874"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/809.png","name":"809"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":824.9079247351963,"rotation_z_degrees":38.214580961687105,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014550334921429587,0.016058569266433873,-0.018824483396814348]},{"name":"camera_2","offset_m":[0.007893768204534687,-0.001505134299327672,-0.0021984070811202593]},{"name":"camera_3","offset_m":[0.0019105659022825745,0.01901349187953417,0.00017781938087863686]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0016421192436396471,0.0002917547563408263,-0.00048219291039839577],"end_effector_yaw_offset_degrees":0.845586146872843},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0019130984732080743,0.0008955283484944859,0.00020528141903037147],"end_effector_yaw_offset_degrees":0.39261774499918434},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0015123410777716324,-0.0011023872571448866,0.0011470114408847353],"end_effector_yaw_offset_degrees":-0.096550226545701},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0016624919785069663,-0.0011145101682618207,-0.0014853304130686396],"end_effector_yaw_offset_degrees":0.03002092587276839}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0012177800381827876,0.00492951127614433],"position_m":[0.16228221996181721,-0.14117048872385568,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0006972885351600004,-0.004501936524784316],"position_m":[0.27320271146484,-0.3533019365247843,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[6.64546155417613e-05,-0.00027543057302407883],"position_m":[0.3073664546155418,0.2798245694269759,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002962032387377667,0.0016302701177682687],"position_m":[0.3624620323873777,0.06193027011776827,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9145b6f3d827625d1322ccf3e9aec655ec8c306ef255fccc3138a0ebb7b39783","episode_index":61,"episode_name":"episode_0061"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0061.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_8327/tex_ceiling_textures_809/tex_floor_textures_4874/tex_table_textures_6310/tex_wall_textures_1867","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":2867101821310864923,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":2867101821310864923,"visual_seed":2867101821310864923,"scene_id":"lab_003","finished_at":"2026-09-05T22:07:26"} +{"episode_id":"ep_000062","started_at":"2026-09-05T22:07:30","dimensions":{"distractor":{"count":27,"items":[{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_0","position":[0.5910506648590008,-1.3514147845350508,0.71338606911949],"aabb_xy":[[0.5073284393589184,-1.4414147880697468],[0.6747728903590833,-1.2614147810003549]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_1","position":[0.5987056849215491,-0.4499866571487767,0.71338606911949],"aabb_xy":[[0.5798213011530389,-0.46887258192912956],[0.6175900686900593,-0.431100732368424]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_2","position":[0.38640480591641135,-1.6514309159298135,0.71338606911949],"aabb_xy":[[0.32240480565594054,-1.6964397152827415],[0.45040480617688217,-1.6064221165768855]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_3","position":[0.3587110706395604,1.602647422010794,0.71338606911949],"aabb_xy":[[0.2937110727579127,1.5515237583042534],[0.4237110685212083,1.653771085717335]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_4","position":[0.20690573206042173,0.7346839711457451,0.71338606911949],"aabb_xy":[[0.18662142933702294,0.7144013460030362],[0.22719003478382047,0.7549665962884539]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_5","position":[-0.5314338221324721,-2.4583864658061048,0.71338606911949],"aabb_xy":[[-0.5539338216561794,-2.4808824132567247],[-0.5089338226087646,-2.435890518355483]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_6","position":[0.28929975636243843,0.8494144775279229,0.71338606911949],"aabb_xy":[[0.2758532297283951,0.8359446258748316],[0.30274628299648176,0.8628843291810141]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_7","position":[0.6358497306967181,0.21642890479930488,0.71338606911949],"aabb_xy":[[0.6072003983363018,0.18778334552222906],[0.6644990630571342,0.24507446407638064]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_8","position":[-0.07946944308345816,-1.2499454010739182,0.71338606911949],"aabb_xy":[[-0.12945239327093747,-1.2999454007164783],[-0.02948649289597882,-1.1999454014313575]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_9","position":[-0.0803707047617257,-0.9333367536603312,0.71338606911949],"aabb_xy":[[-0.10226045235066648,-1.02333675094958],[-0.05848095717278489,-0.843336756371082]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_10","position":[0.051931881820570513,-0.9266092927130021,0.71338606911949],"aabb_xy":[[0.02943188181042223,-0.9407055123526054],[0.0744318818307188,-0.9125130730733988]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_11","position":[0.33450075244759536,-2.075495298281558,0.71338606911949],"aabb_xy":[[0.3193285831659621,-2.090664155209762],[0.34967292172922876,-2.0603264413533546]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_12","position":[0.019772124390162515,-2.071072347528902,0.71338606911949],"aabb_xy":[[-0.060227876080053436,-2.079383055143251],[0.09977212486037848,-2.0627616399145543]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_13","position":[-0.3856771556103883,-2.4000105407056616,0.71338606911949],"aabb_xy":[[-0.3929209216566336,-2.480010538909264],[-0.37843338956414296,-2.320010542502059]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_14","position":[0.4959924751519402,-1.8174156474766938,0.71338606911949],"aabb_xy":[[0.47835963955841265,-1.8350385934923168],[0.5136253107454678,-1.7997927014610708]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_15","position":[-0.4991178981612669,1.7929859924921074,0.71338606911949],"aabb_xy":[[-0.5366178981050334,1.784692902457271],[-0.4616178982175005,1.8012790825269442]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_16","position":[0.23651688752456823,1.194402144850713,0.71338606911949],"aabb_xy":[[0.15651688725096122,1.1214525970249962],[0.31651688779817516,1.2673516926764297]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_17","position":[-0.2397621043652508,-0.9596458320387564,0.71338606911949],"aabb_xy":[[-0.3037621014773565,-1.0086782018331673],[-0.17576210725314512,-0.9106134622443459]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_18","position":[0.481436686538514,0.527613040350452,0.71338606911949],"aabb_xy":[[0.4274210902566139,0.4636130374581948],[0.5354522828204139,0.5916130432427091]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_19","position":[-0.4328024060734698,-1.2156943264285605,0.71338606911949],"aabb_xy":[[-0.44093009426678303,-1.2246079348392682],[-0.4246747178801566,-1.2067807180178531]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_20","position":[0.0027261373558791213,-0.6549609772492064,0.71338606911949],"aabb_xy":[[-0.014773861922207754,-0.6722990773155524],[0.020226136633965996,-0.6376228771828605]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_21","position":[-0.33284073919445256,-1.6392839351624602,0.71338606911949],"aabb_xy":[[-0.39684074124418456,-1.6793784182517681],[-0.26884073714472057,-1.5991894520731522]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_22","position":[-0.31809957808789424,0.7669617451109842,0.71338606911949],"aabb_xy":[[-0.3880995814794562,0.7316459714075534],[-0.2480995746963323,0.8022775188144151]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_23","position":[-0.11189841716760984,-2.3673449661637287,0.71338606911949],"aabb_xy":[[-0.13439841698151223,-2.3718195825342097],[-0.08939841735370746,-2.3628703497932486]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_24","position":[-0.40051655144571546,-0.7840855863527305,0.71338606911949],"aabb_xy":[[-0.41298390955545117,-0.7965509109860541],[-0.38804919333597987,-0.7716202617194071]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_25","position":[-0.6251927852687783,-1.525997707934363,0.71338606911949],"aabb_xy":[[-0.6751920604372146,-1.5759977092103101],[-0.5751935101003423,-1.4759977066584158]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_26","position":[-0.32519067295300147,-2.5618627119608504,0.71338606911949],"aabb_xy":[[-0.39519067508443095,-2.584624677586546],[-0.2551906708215719,-2.539100746335155]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6889490447948179,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6263.png","name":"6263"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6263.png","name":"6263"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3493.png","name":"3493"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9350.png","name":"9350"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3523.png","name":"3523"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9400.png","name":"9400"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":691.4159105836973,"rotation_z_degrees":195.64126733742702,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019264407659020863,0.012047446161955907,0.015561654045513181]},{"name":"camera_2","offset_m":[0.01664636475460039,-0.013576459510079407,-0.012431965995478609]},{"name":"camera_3","offset_m":[0.018827971917668055,0.008052776161039193,0.01893290856765063]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0009289375027161859,-0.00172734064184428,-0.0007143377511637152],"end_effector_yaw_offset_degrees":0.4982067956350591},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0005469772301307759,0.00016539214376681474,-0.00011482930420928916],"end_effector_yaw_offset_degrees":0.4598035048792799},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0006034022221559393,-0.0005254399961836698,-0.0017404530619675085],"end_effector_yaw_offset_degrees":0.28518554869017354},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001555490355734121,0.0015532685937268069,-0.0011670099032211425],"end_effector_yaw_offset_degrees":-0.08158384588159184}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0012223626548542666,-0.0010214005891949762],"position_m":[0.16472236265485427,-0.14712140058919498,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0018030809967572235,0.001772204213176939],"position_m":[0.27209691900324273,-0.3470277957868231,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004990917805050208,-0.0024928320748786406],"position_m":[0.3023090821949498,0.27760716792512136,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0027938699803109848,-0.004486529355803695],"position_m":[0.356706130019689,0.055813470644196304,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0f2df05faae83ae54ff40b0c3cf07333da89d621cc307def6b18abff10b03dc9","episode_index":62,"episode_name":"episode_0062"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0062.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_6263/tex_ceiling_textures_9400/tex_floor_textures_3523/tex_table_textures_3493/tex_wall_textures_9350","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":7665014463275840673,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":7665014463275840673,"visual_seed":7665014463275840673,"scene_id":"lab_003","finished_at":"2026-09-05T22:10:57"} +{"episode_id":"ep_000063","started_at":"2026-09-05T22:11:01","dimensions":{"distractor":{"count":22,"items":[{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_0","position":[-0.14612186333379618,-0.11904300629713482,0.71338606911949],"aabb_xy":[[-0.18058421073193792,-0.15353688869495746],[-0.11165951593565433,-0.0845491238993121]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_1","position":[-0.167271977639873,1.3285622291553034,0.71338606911949],"aabb_xy":[[-0.21725621334805023,1.2785622303418078],[-0.11728774193169578,1.378562227968799]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_2","position":[-0.3906498884300788,-0.7168717427357609,0.71338606911949],"aabb_xy":[[-0.42496616560469674,-0.7668717427089385],[-0.35633361125546087,-0.6668717427625831]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_3","position":[-0.5571786238625561,0.014224567989719272,0.71338606911949],"aabb_xy":[[-0.5632732517506746,0.005655173438050554],[-0.5510839959744379,0.02279396254138799]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_4","position":[0.3902502674183126,-0.738735428294947,0.71338606911949],"aabb_xy":[[0.3783175330564845,-0.7511175811028064],[0.40218300178014066,-0.7263532754870876]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_5","position":[0.3474251698210544,-1.3813477240245304,0.71338606911949],"aabb_xy":[[0.2874251695696532,-1.4356290490609949],[0.40742517007245554,-1.3270663989880656]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_6","position":[-0.2674416544537508,0.7051706824399928,0.71338606911949],"aabb_xy":[[-0.33744165709033713,0.6850658174441272],[-0.19744165181716444,0.7252755474358582]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_7","position":[-0.4330206382497613,-2.3432725126704734,0.71338606911949],"aabb_xy":[[-0.43672389957890007,-2.3469745309791907],[-0.4293173769206224,-2.3395704943617552]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_8","position":[-0.3269438696047829,1.1565049298025292,0.71338606911949],"aabb_xy":[[-0.3357250967520192,1.147725182513999],[-0.3181626424575468,1.1652846770910594]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_9","position":[-0.6609384876251078,-0.7170418785108379,0.71338606911949],"aabb_xy":[[-0.680996899238348,-0.7371069654199955],[-0.6408800760118675,-0.6969767916016805]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_10","position":[0.2814633017523003,1.504213805093284,0.71338606911949],"aabb_xy":[[0.20146330147869326,1.4312642572675671],[0.3614633020259072,1.5771633529190006]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_11","position":[-0.3377492176243883,-1.2167873852512472,0.71338606911949],"aabb_xy":[[-0.39774921822040443,-1.271599857796471],[-0.2777492170283721,-1.161974912706024]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_12","position":[-0.2671752892869926,-0.9861207214090719,0.71338606911949],"aabb_xy":[[-0.2896752892971409,-1.0002169410486754],[-0.24467528927684434,-0.9720245017694688]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_13","position":[0.3854808652107904,0.36033100961410014,0.71338606911949],"aabb_xy":[[0.3530191643288629,0.33019817749919744],[0.4179425660927178,0.3904638417290027]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_14","position":[0.48654021700447014,-2.073897848958898,0.71338606911949],"aabb_xy":[[0.4265402164966173,-2.130744582644819],[0.5465402175123231,-2.017051115272976]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_15","position":[-0.14380031611394894,-0.8364228656194479,0.71338606911949],"aabb_xy":[[-0.17880031609044478,-0.8458874816670646],[-0.10880031613745311,-0.8269582495718314]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_16","position":[0.10602755871527592,-2.185197666710667,0.71338606911949],"aabb_xy":[[0.08353113728141182,-2.2076976665174146],[0.12852398014914002,-2.1626976669039197]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_17","position":[-0.599384993806982,-1.5996491551384335,0.71338606911949],"aabb_xy":[[-0.6633849957193244,-1.655560304396444],[-0.5353849918946397,-1.543738005880423]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_18","position":[0.6427803384947308,1.2987958738262755,0.71338606911949],"aabb_xy":[[0.5777803375376036,1.2468476618925701],[0.707780339451858,1.3507440857599813]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_19","position":[-0.25833601929786143,-2.039563090030464,0.71338606911949],"aabb_xy":[[-0.29292710215190665,-2.104563090315495],[-0.22374493644381624,-1.974563089745433]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_20","position":[-0.37566241153593716,1.787624120667021,0.71338606911949],"aabb_xy":[[-0.38436037382665245,1.7754991463595464],[-0.3669644492452218,1.7997490949744959]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_21","position":[-0.22659391887977148,-1.718554135904447,0.71338606911949],"aabb_xy":[[-0.23700547756025514,-1.723899869240345],[-0.21618236019928772,-1.7132084025685483]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6891416140229548,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1873.png","name":"1873"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1873.png","name":"1873"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7827.png","name":"7827"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4887.png","name":"4887"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1627.png","name":"1627"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1808.png","name":"1808"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":566.7911880870784,"rotation_z_degrees":28.569839692185415,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004625008423469286,3.416573392197447e-05,0.019127115820984083]},{"name":"camera_2","offset_m":[-0.007129905863249256,-0.0029491957690047435,-0.01682452521408019]},{"name":"camera_3","offset_m":[-0.011074666387289364,0.0017053853343209843,0.00894924817797129]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001796822671727414,-0.00027116378626547465,-0.0007849641025829955],"end_effector_yaw_offset_degrees":0.47065899725997573},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0012455423454701838,0.0007358684884649965,0.0019720295916625897],"end_effector_yaw_offset_degrees":0.6337323873849086},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00010727580089679245,0.0013201912072530902,-0.0004417687291093024],"end_effector_yaw_offset_degrees":0.7194490207348152},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0013321902042006412,0.0003144311885876364,-0.0017187061743472226],"end_effector_yaw_offset_degrees":-0.35881491879859984}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0005621415457529554,-0.0046753702285489895],"position_m":[0.16406214154575297,-0.150775370228549,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0029493419568885726,-0.0005661960740301055],"position_m":[0.2709506580431114,-0.3493661960740301,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003199863842398269,0.003723737571655638],"position_m":[0.3104998638423983,0.28382373757165563,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003943468501005173,0.00025960132223370666],"position_m":[0.3555565314989948,0.0605596013222337,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6866786c608f32e6224ff6b809d20ffcec30a8a035bf7abd9348397849c954cf","episode_index":63,"episode_name":"episode_0063"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0063.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_1873/tex_ceiling_textures_1808/tex_floor_textures_1627/tex_table_textures_7827/tex_wall_textures_4887","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":6522408379310755237,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":6522408379310755237,"visual_seed":6522408379310755237,"scene_id":"lab_003","finished_at":"2026-09-05T22:14:23"} +{"episode_id":"ep_000064","started_at":"2026-09-05T22:14:27","dimensions":{"distractor":{"count":21,"items":[{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_0","position":[0.18372400995692295,1.654478515372475,0.71338606911949],"aabb_xy":[[0.1337240105167273,1.6045105908881587],[0.23372400939711854,1.7044464398567913]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_1","position":[0.44436460372136444,0.24912552804467047,0.71338606911949],"aabb_xy":[[0.43972948856913097,0.24525819296752183],[0.4489997188735977,0.2529928631218191]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_2","position":[-0.5895769798289613,-0.826243712073429,0.71338606911949],"aabb_xy":[[-0.644576978030706,-0.8667656786998664],[-0.5345769816272163,-0.7857217454469912]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_3","position":[-0.5189919645493039,-0.6661340587510851,0.71338606911949],"aabb_xy":[[-0.5302370201199216,-0.6773758564751803],[-0.5077469089786859,-0.6548922610269897]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_4","position":[0.47226763371643377,-0.2842363850955767,0.71338606911949],"aabb_xy":[[0.4372676337399379,-0.2937010011431933],[0.5072676336929296,-0.2747717690479601]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_5","position":[-0.3453415136400271,-2.367032865388147,0.71338606911949],"aabb_xy":[[-0.4253353372185853,-2.4470328679809885],[-0.26534769006146885,-2.2870328627953054]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_6","position":[0.5418474759032785,-0.4926889438338411,0.71338606911949],"aabb_xy":[[0.4568474774858553,-0.5775632392961261],[0.6268474743207018,-0.40781464837155607]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_7","position":[-0.20116617947837423,-2.155403844896602,0.71338606911949],"aabb_xy":[[-0.20713271841911,-2.1613649895559663],[-0.1951996405376384,-2.149442700237238]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_8","position":[-0.39599591799509104,-0.32736969897864965,0.71338606911949],"aabb_xy":[[-0.4184959182386064,-0.3395743336384216],[-0.3734959177515756,-0.3151650643188777]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_9","position":[0.06885688761264797,-2.2646693276780328,0.71338606911949],"aabb_xy":[[0.05625418847557151,-2.2772647239028987],[0.08145958674972442,-2.2520739314531677]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_10","position":[0.5712370696660172,1.6135520485139252,0.71338606911949],"aabb_xy":[[0.5062370687088901,1.5616038365802196],[0.6362370706231445,1.6655002604476308]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_11","position":[-0.15190051335195076,1.3402584873419965,0.71338606911949],"aabb_xy":[[-0.18436221423387816,1.3101256552270937],[-0.11943881247002326,1.3703913194568988]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_12","position":[0.1535734280315243,-0.7907737705015749,0.71338606911949],"aabb_xy":[[0.1074883367767928,-0.8547737677541302],[0.19965851928625575,-0.7267737732490199]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_13","position":[0.577306516853447,1.084800499193224,0.71338606911949],"aabb_xy":[[0.5274897373886123,1.0348005007089207],[0.6271232963182818,1.1348004976775274]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_14","position":[0.5990816301228734,-1.6012761451088768,0.71338606911949],"aabb_xy":[[0.5190816298492664,-1.6742256929345936],[0.6790816303964804,-1.5283265972831601]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_15","position":[-0.3938236311583721,1.211362237249764,0.71338606911949],"aabb_xy":[[-0.44382363210890485,1.1798130902462425],[-0.34382363020783924,1.2429113842532853]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_16","position":[-0.3612253801063584,-1.1785824659131194,0.71338606911949],"aabb_xy":[[-0.4212253803577596,-1.232863790949584],[-0.30122537985495723,-1.1243011408766548]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_17","position":[-0.4921659972473521,-0.5645476045909716,0.71338606911949],"aabb_xy":[[-0.5421659989088468,-0.6145460468466742],[-0.4421659955858573,-0.5145491623352688]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_18","position":[-0.44024787509508,1.3873326139913114,0.71338606911949],"aabb_xy":[[-0.5002478756029328,1.3304858803053898],[-0.38024787458722703,1.4441793476772324]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_19","position":[-0.4459987381810126,0.2847689889722065,0.71338606911949],"aabb_xy":[[-0.45471270723094703,0.2622689883130182],[-0.43728476913107805,0.30726898963139465]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_20","position":[-0.05297340819238572,1.0475215144861352,0.71338606911949],"aabb_xy":[[-0.07055171038133257,1.02994702491203],[-0.03539510600343886,1.06509600406024]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6893390527973102,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1276.png","name":"1276"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1276.png","name":"1276"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9858.png","name":"9858"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9708.png","name":"9708"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6915.png","name":"6915"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4379.png","name":"4379"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":688.5174757748852,"rotation_z_degrees":181.0473237010049,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0032418461973657345,-0.013626992707581668,0.017291287596688933]},{"name":"camera_2","offset_m":[-0.002588141196836539,-0.011509789649926683,0.014013814543578102]},{"name":"camera_3","offset_m":[-0.016963313420781844,-0.019044017616530472,0.0065382950482562145]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0013650747453702507,0.001915189068916045,0.0012706161356843193],"end_effector_yaw_offset_degrees":-0.8000192834281801},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0006608003825709808,0.0019665015607649656,-0.0007711412685246191],"end_effector_yaw_offset_degrees":0.650604763901222},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001692633774254422,-0.001942210398077743,-0.0008679107889057512],"end_effector_yaw_offset_degrees":-0.0057343507442069175},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001517608922085981,-0.0001802651468936114,0.001516300153146312],"end_effector_yaw_offset_degrees":-0.10419116265606698}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00294522948405273,0.003127728284989947],"position_m":[0.16644522948405274,-0.14297227171501006,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0015290093144964012,0.0014679962859909055],"position_m":[0.2723709906855036,-0.3473320037140091,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0008213329477501728,-0.004454103652863057],"position_m":[0.3081213329477502,0.27564589634713693,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0029549727378827386,-0.001973962367979226],"position_m":[0.35654502726211723,0.05832603763202077,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"95eb12f31f4586156601f192a0223c1e5e912dedded07ec52f1d3776a13014c7","episode_index":64,"episode_name":"episode_0064"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0064.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_1276/tex_ceiling_textures_4379/tex_floor_textures_6915/tex_table_textures_9858/tex_wall_textures_9708","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":7834228973228333898,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":7834228973228333898,"visual_seed":7834228973228333898,"scene_id":"lab_003","finished_at":"2026-09-05T22:18:14"} +{"episode_id":"ep_000065","started_at":"2026-09-05T22:18:19","dimensions":{"distractor":{"count":35,"items":[{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_0","position":[0.6955677320883944,1.0990506702098406,0.71338606911949],"aabb_xy":[[0.6829409448011979,1.0895045965082677],[0.7081945193755906,1.1085967439114135]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_1","position":[0.14456909003164697,-1.5574065143947815,0.71338606911949],"aabb_xy":[[0.1290133206213817,-1.5729569476391887],[0.16012485944191224,-1.5418560811503743]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_2","position":[-0.37996153167598773,-1.9664569738965518,0.71338606911949],"aabb_xy":[[-0.44396152897833413,-2.0108234008644086],[-0.31596153437364133,-1.922090546928695]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_3","position":[0.4196649285278533,-1.7983829441927197,0.71338606911949],"aabb_xy":[[0.39749240155120236,-1.8205586113488423],[0.44183745550450404,-1.7762072770365962]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_4","position":[-0.2890415369210312,0.7776180783489126,0.71338606911949],"aabb_xy":[[-0.3135877525437819,0.7473691817998755],[-0.26449532129828046,0.8078669748979497]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_5","position":[0.5334181833457254,-0.312763539464306,0.71338606911949],"aabb_xy":[[0.5228507036876264,-0.32330856957731463],[0.5439856630038244,-0.3022185093512975]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_6","position":[-0.06152643140095315,1.2481161036334418,0.71338606911949],"aabb_xy":[[-0.14152642856052844,1.2365685026756248],[0.01847356575862215,1.2596637045912589]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_7","position":[0.020276187375895316,1.5412466140705088,0.71338606911949],"aabb_xy":[[-0.059723810027698096,1.4612540428723257],[0.10027618477948873,1.6212391852686914]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_8","position":[0.6626984522478925,-0.6720214225146317,0.71338606911949],"aabb_xy":[[0.6127196437375765,-0.7220214225203505],[0.7126772607582083,-0.6220214225089129]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_9","position":[-0.013487156073513695,1.7837973116324837,0.71338606911949],"aabb_xy":[[-0.01762301240621389,1.746297312188127],[-0.009351299740813503,1.821297311076841]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_10","position":[0.5450512774376526,0.7159094835589239,0.71338606911949],"aabb_xy":[[0.5217694352395212,0.6309094822616959],[0.5683331196357839,0.800909484856152]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_11","position":[-0.5196695252034366,-0.23817202954456684,0.71338606911949],"aabb_xy":[[-0.574665003024096,-0.2931720309784738],[-0.4646740473827772,-0.1831720281106599]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_12","position":[-0.6237463076689488,1.1400644703754463,0.71338606911949],"aabb_xy":[[-0.6541444187680923,1.1096575683737766],[-0.5933481965698051,1.1704713723771156]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_13","position":[-0.23358309924204512,-1.9050113746191502,0.71338606911949],"aabb_xy":[[-0.24333908875121898,-1.9147739086783844],[-0.2238271097328712,-1.8952488405599155]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_14","position":[-0.20131010603366123,-2.3725138104641963,0.71338606911949],"aabb_xy":[[-0.2813101040144462,-2.380115351426048],[-0.12131010805287619,-2.364912269502344]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_15","position":[-0.05357396978605011,0.9573610437988638,0.71338606911949],"aabb_xy":[[-0.0714430775405056,0.9435281358216527],[-0.03570486203159461,0.9711939517760746]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_16","position":[0.4508282382791502,-1.1938429663547592,0.71338606911949],"aabb_xy":[[0.4283318168452861,-1.2163429661615066],[0.4733246597130143,-1.1713429665480117]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_17","position":[-0.34369671286792874,0.20404223248979836,0.71338606911949],"aabb_xy":[[-0.3611967121460156,0.1867041324234524],[-0.32619671358984187,0.2213803325561443]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_18","position":[-0.22457997026946547,-2.1571735438236823,0.71338606911949],"aabb_xy":[[-0.308302195769548,-2.247173547358378],[-0.14085774476938304,-2.067173540288986]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_19","position":[0.5177226412955676,-1.6438360835218657,0.71338606911949],"aabb_xy":[[0.46773969110808816,-1.6938360831644261],[0.5677055914830468,-1.5938360838793053]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_20","position":[0.08140660881606876,-1.8918168955898134,0.71338606911949],"aabb_xy":[[0.017406608555597957,-1.9368256949427414],[0.14540660907653957,-1.8468080962368854]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_21","position":[0.35130412445256987,-2.156338597813592,0.71338606911949],"aabb_xy":[[0.34406035840632454,-2.236338596017194],[0.3585478904988152,-2.0763385996099895]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_22","position":[0.6922129718556072,-1.946866247275712,0.71338606911949],"aabb_xy":[[0.6875778567033737,-1.9507335823528604],[0.6968480870078404,-1.942998912198563]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_23","position":[-0.049656296523976406,-1.4539416959700806,0.71338606911949],"aabb_xy":[[-0.08698757304921903,-1.4885947507649329],[-0.012325019998733783,-1.4192886411752283]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_24","position":[-0.0783940316466567,0.7286753320134394,0.71338606911949],"aabb_xy":[[-0.1324096279285567,0.6646753291211821],[-0.024378435364756687,0.7926753349056964]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_25","position":[0.5959118188440524,-2.2813538259998634,0.71338606911949],"aabb_xy":[[0.5309118206881334,-2.307650070549775],[0.6609118169999715,-2.2550575814499507]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_26","position":[0.15244088333959693,-1.6901833251968945,0.71338606911949],"aabb_xy":[[0.10262410387476217,-1.7401833236811974],[0.2022576628044317,-1.6401833267125907]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_27","position":[0.13249820772422327,-0.7649348241428202,0.71338606911949],"aabb_xy":[[0.11499820747917387,-0.782434611982387],[0.14999820796927263,-0.7474350363032533]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_28","position":[-0.532147298705274,1.6725599177207928,0.71338606911949],"aabb_xy":[[-0.6171472973973486,1.6405740543259135],[-0.44714730001319936,1.7045457811156712]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_29","position":[0.3261618085018545,1.052864569990962,0.71338606911949],"aabb_xy":[[0.31823852826310617,1.0303645697529586],[0.33408508874060283,1.0753645702289654]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_30","position":[0.05730282448850066,1.018040928306179,0.71338606911949],"aabb_xy":[[0.05196524882249609,0.9930409273770393],[0.06264040015450523,1.0430409292353189]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_31","position":[-0.5692999881338797,-2.055242698888793,0.71338606911949],"aabb_xy":[[-0.6142999896001086,-2.1002425557502735],[-0.5242999866676509,-2.010242842027312]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_32","position":[0.663608391851809,0.29356011904513357,0.71338606911949],"aabb_xy":[[0.6164790128499732,0.22956011800073156],[0.7107377708536445,0.35756012008953547]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_33","position":[-0.24858034268668777,-0.6677333932938234,0.71338606911949],"aabb_xy":[[-0.2567948878023717,-0.6764099835914645],[-0.24036579757100376,-0.6590568029961819]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_34","position":[0.64822664440973,-1.0403945924764417,0.71338606911949],"aabb_xy":[[0.5842266437062607,-1.0864129749493627],[0.7122266451131993,-0.9943762100035207]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6951101450853019,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2134.png","name":"2134"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2134.png","name":"2134"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3013.png","name":"3013"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2162.png","name":"2162"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9892.png","name":"9892"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2847.png","name":"2847"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":681.7664650682193,"rotation_z_degrees":30.747600068280015,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007023992153659918,0.0009360394463104847,-0.014981066723805978]},{"name":"camera_2","offset_m":[-0.007819110631940891,-0.010377514392676005,-0.010053227097249802]},{"name":"camera_3","offset_m":[-0.006894821232414104,-0.015956235361851995,-0.017107575132465334]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0019534241682324103,-0.0011845446465318008,0.00045220437223666846],"end_effector_yaw_offset_degrees":0.9995359155134493},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0003986074307418151,0.0008210861289154334,0.00027439198554759766],"end_effector_yaw_offset_degrees":-0.12015431696179424},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00014783758055223568,0.0012908994684440915,-0.0009184354501191275],"end_effector_yaw_offset_degrees":0.9881453581346296},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001321404660159434,-0.0010233436292335116,-2.996654725026266e-06],"end_effector_yaw_offset_degrees":0.6582467321304728}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0048865230313565305,0.0030830600293194283],"position_m":[0.15861347696864347,-0.14301693997068057,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004395096267250616,0.00017506592368123942],"position_m":[0.2782950962672506,-0.3486249340763188,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0038100000309256804,0.0005508278338849093],"position_m":[0.3111100000309257,0.28065082783388495,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0033911308514110285,-0.0013738895702875807],"position_m":[0.35610886914858897,0.05892611042971242,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f2913ebb9889ef0f5e90543cc4f100850f3c8cb8bacf222fbb52c8facee83b0a","episode_index":65,"episode_name":"episode_0065"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0065.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_2134/tex_ceiling_textures_2847/tex_floor_textures_9892/tex_table_textures_3013/tex_wall_textures_2162","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":3353195855985620822,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":3353195855985620822,"visual_seed":3353195855985620822,"scene_id":"lab_003","finished_at":"2026-09-05T22:21:53"} +{"episode_id":"ep_000066","started_at":"2026-09-05T22:21:57","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_0","position":[-0.6370530755778658,-1.6253847394886498,0.71338606911949],"aabb_xy":[[-0.6468090650870396,-1.635147273547884],[-0.6272970860686918,-1.6156222054294151]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_1","position":[-0.2123558058253372,0.37669911290580504,0.71338606911949],"aabb_xy":[[-0.2723558064213534,0.3218866403605816],[-0.15235580522932105,0.4315115854510286]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_2","position":[-0.27087688869026977,-0.9224366490559586,0.71338606911949],"aabb_xy":[[-0.27621446435627434,-0.9474366499850984],[-0.2655393130242652,-0.8974366481268188]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_3","position":[0.028482691070607635,-1.2095053805014888,0.71338606911949],"aabb_xy":[[0.010276867409359961,-1.2205307810834805],[0.04668851473185531,-1.1984799799194972]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_4","position":[0.5578455044550277,1.1077653856344303,0.71338606911949],"aabb_xy":[[0.48784550264628224,1.0864116168702427],[0.6278455062637731,1.1291191543986174]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_5","position":[0.4333581637233537,-0.4798530995766028,0.71338606911949],"aabb_xy":[[0.3833581650774324,-0.5297726432360653],[0.4833581623692748,-0.42993355591714055]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_6","position":[0.004344314888503287,-1.9223349496834192,0.71338606911949],"aabb_xy":[[-0.030118163124584485,-1.9289986268663417],[0.03880679290159106,-1.9156712725004963]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_7","position":[-0.4072169308574315,-0.587153806908689,0.71338606911949],"aabb_xy":[[-0.4712169301515997,-0.6511399472775432],[-0.34321693156326327,-0.5231676665398348]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_8","position":[0.2769230366850799,1.2033069762186925,0.71338606911949],"aabb_xy":[[0.19192303826765666,1.1184326807564073],[0.3619230351025031,1.2881812716809773]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_9","position":[-0.5946628329064285,1.0054298143109865,0.71338606911949],"aabb_xy":[[-0.6115735653427703,0.9919576087183721],[-0.5777521004700867,1.0189020199036012]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_10","position":[0.30985022443663723,1.747131722992656,0.71338606911949],"aabb_xy":[[0.2548502248148914,1.6921480302051835],[0.3648502240583831,1.802115415780129]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_11","position":[-0.6086815112193834,-0.41662926877533124,0.71338606911949],"aabb_xy":[[-0.645715620647443,-0.45100647610904065],[-0.5716474017913236,-0.3822520614416217]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_12","position":[-0.3531757326692456,-0.12877915689874975,0.71338606911949],"aabb_xy":[[-0.38563743355117297,-0.1589119890136523],[-0.32071403178731805,-0.09864632478384709]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_13","position":[-0.5899170042743269,-1.9634905968840641,0.71338606911949],"aabb_xy":[[-0.6398944211395804,-2.0134905983733122],[-0.5399395874090732,-1.9134905953948154]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_14","position":[0.37415021678261917,1.0151626129140143,0.71338606911949],"aabb_xy":[[0.3101502203552973,0.9679929890919179],[0.43815021320994113,1.0623322367361108]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_15","position":[0.6317105393403721,0.05519627677680994,0.71338606911949],"aabb_xy":[[0.6084286971422408,-0.02980372452041812],[0.6549923815385035,0.14019627807403798]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_16","position":[-0.0933120105391343,0.8745630411417662,0.71338606911949],"aabb_xy":[[-0.11522069267848532,0.8526623743216755],[-0.07140332839978324,0.8964637079618569]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_17","position":[0.3757296282045248,-1.5459001443706257,0.71338606911949],"aabb_xy":[[0.32073737756901394,-1.6009001461139385],[0.4307218788400359,-1.4909001426273127]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_18","position":[0.6248617630281084,-0.24255336441636866,0.71338606911949],"aabb_xy":[[0.5944636519289647,-0.2729602664180381],[0.6552598741272518,-0.21214646241469912]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_19","position":[-0.12036729951830638,-0.9922733194678526,0.71338606911949],"aabb_xy":[[-0.21036729811277632,-1.0085239057812736],[-0.030367300923836438,-0.9760227331544316]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6913047086641091,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9367.png","name":"9367"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9367.png","name":"9367"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9942.png","name":"9942"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3882.png","name":"3882"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1272.png","name":"1272"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5884.png","name":"5884"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":819.476822432064,"rotation_z_degrees":179.63524155336407,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016826035264418216,0.006121608006580962,-0.0034216787122346853]},{"name":"camera_2","offset_m":[-0.0056982461942426885,0.005217485357676573,-0.013668747037549474]},{"name":"camera_3","offset_m":[-0.015057463853985507,0.016446712074674495,-0.013764132253808105]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0011141552657114345,-0.0018437488013061851,0.00020299189789101287],"end_effector_yaw_offset_degrees":0.811958329635404},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00020803433276010306,-0.0001412639108333215,-0.0009942918195150093],"end_effector_yaw_offset_degrees":0.09063856400972159},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0017042786115636286,0.000584379912002349,0.00021153642136576781],"end_effector_yaw_offset_degrees":-0.2559011965625759},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0012490982960710081,0.0004055504076485414,-0.0013277482852373191],"end_effector_yaw_offset_degrees":0.7041225722249065}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.001209108290449218,0.0014788017741810267],"position_m":[0.1647091082904492,-0.14462119822581898,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002756667899192246,0.004952082431046404],"position_m":[0.27665666789919224,-0.3438479175689536,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0013469567057520261,-0.0005711508215134912],"position_m":[0.305953043294248,0.2795288491784865,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0025437389216114315,-0.003916801970241032],"position_m":[0.3620437389216114,0.05638319802975897,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b000cf546100574218744de009fd7508583960e5b285005c5fe2034bde18c0c6","episode_index":66,"episode_name":"episode_0066"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0066.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_9367/tex_ceiling_textures_5884/tex_floor_textures_1272/tex_table_textures_9942/tex_wall_textures_3882","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":3807030725959879241,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":3807030725959879241,"visual_seed":3807030725959879241,"scene_id":"lab_003","finished_at":"2026-09-05T22:26:02"} +{"episode_id":"ep_000067","started_at":"2026-09-05T22:26:07","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_0","position":[0.37467695815274316,0.6786247387549968,0.71338606911949],"aabb_xy":[[0.3248601786879084,0.6286247402706935],[0.4244937376175779,0.7286247372393002]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_1","position":[-0.468342224973585,0.7382491215267417,0.71338606911949],"aabb_xy":[[-0.4858422252329217,0.7241575793379692],[-0.45084222471424845,0.7523406637155146]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_2","position":[0.3791725254137366,1.5439835046125334,0.71338606911949],"aabb_xy":[[0.3426767047864578,1.5074995621857759],[0.41566834604101527,1.580467447039291]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_3","position":[-0.6502345747238717,-1.6934789491640325,0.71338606911949],"aabb_xy":[[-0.6621066577353728,-1.7784789488576829],[-0.6383624917123706,-1.6084789494703822]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_4","position":[-0.2270009333461811,1.5331320687483339,0.71338606911949],"aabb_xy":[[-0.28700093420699385,1.4817056387418472],[-0.16700093248536826,1.58455849875482]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_5","position":[-0.07139207684752935,-1.9750191367208514,0.71338606911949],"aabb_xy":[[-0.1551143023476118,-2.065019140255547],[0.012330148652553122,-1.8850191331861552]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_6","position":[-0.40644056869600237,-1.328109560480337,0.71338606911949],"aabb_xy":[[-0.4563232655736985,-1.3781095597266118],[-0.35655787181830606,-1.2781095612340623]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_7","position":[0.36274296283400087,-0.7154064566339386,0.71338606911949],"aabb_xy":[[0.34531224775499425,-0.7326785712977893],[0.38017367791300727,-0.6981343419700877]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_8","position":[-0.2922296839592667,0.5015895093948028,0.71338606911949],"aabb_xy":[[-0.29768762959628675,0.42158950608714363],[-0.2867717383222466,0.5815895127024618]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_9","position":[-0.07031872593391986,1.3990393969703976,0.71338606911949],"aabb_xy":[[-0.12031872537411548,1.349071472486081],[-0.020318726493724237,1.4490073214547137]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_10","position":[0.5598762354969122,-2.264066963940332,0.71338606911949],"aabb_xy":[[0.5098762342130722,-2.314045818330954],[0.6098762367807521,-2.2140881095497096]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_11","position":[0.33312573375333265,-1.0502370216649928,0.71338606911949],"aabb_xy":[[0.2972122293283429,-1.086150529881747],[0.3690392381783223,-1.014323513448238]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_12","position":[-0.20049792884326179,-0.5239148476614104,0.71338606911949],"aabb_xy":[[-0.2904979285664359,-0.5469882001965901],[-0.11049792912008759,-0.5008414951262304]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_13","position":[0.13441503143495837,1.6445253507984599,0.71338606911949],"aabb_xy":[[0.10011812041721771,1.6102284645885185],[0.16871194245269897,1.6788222370084012]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_14","position":[0.2596783977186612,1.1585107715291247,0.71338606911949],"aabb_xy":[[0.20967839814232653,1.1085301925770188],[0.30967839729499597,1.2084913504812307]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_15","position":[0.588192235852576,1.4847418168878783,0.71338606911949],"aabb_xy":[[0.5281922342096541,1.4327416675959341],[0.6481922374954978,1.5367419661798225]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_16","position":[0.25533524503369864,-2.1925096087538822,0.71338606911949],"aabb_xy":[[0.2410008199075352,-2.204569824308421],[0.2696696701598621,-2.1804493931993436]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_17","position":[0.5897430759687103,-0.7402969240478243,0.71338606911949],"aabb_xy":[[0.4997430794678385,-0.7862085664662825],[0.679743072469582,-0.694385281629366]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_18","position":[0.1152739477659328,-1.9495284682420615,0.71338606911949],"aabb_xy":[[0.09027394783341491,-1.956411136462985],[0.1402739476984507,-1.9426458000211384]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_19","position":[0.6192229719661162,-1.2490775808723669,0.71338606911949],"aabb_xy":[[0.5552229717056453,-1.2940863802252947],[0.6832229722265869,-1.2040687815194386]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_20","position":[0.5881274612581664,-2.486388373993789,0.71338606911949],"aabb_xy":[[0.5331352106226556,-2.541388375737102],[0.6431197118936774,-2.4313883722504763]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6907494608246254,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1009.png","name":"1009"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1009.png","name":"1009"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9290.png","name":"9290"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6858.png","name":"6858"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7116.png","name":"7116"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2420.png","name":"2420"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":576.3559893696405,"rotation_z_degrees":354.0827920962814,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0007701967678136919,0.004981378313645379,0.006705540368074015]},{"name":"camera_2","offset_m":[0.016938660240154422,-0.011860222202597135,-0.0006148799120511556]},{"name":"camera_3","offset_m":[0.0036025674963627956,-0.008390448865372569,-0.018317147953913468]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0006756564707739786,0.0011467951164111333,0.0019522838225895494],"end_effector_yaw_offset_degrees":0.3929106981956101},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00159455980155697,0.0017273184631198305,0.0009106683022910415],"end_effector_yaw_offset_degrees":0.32402480528933153},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001270156010816795,0.00014571620540702358,-0.0005133981436900453],"end_effector_yaw_offset_degrees":-0.7702878735014722},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008517522166350262,-0.0004462190897981256,0.000564114723918427],"end_effector_yaw_offset_degrees":-0.36785801523260653}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0024424758529011104,-0.001446678834481443],"position_m":[0.1610575241470989,-0.14754667883448144,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0012335697227577377,0.003418280232080905],"position_m":[0.2751335697227577,-0.3453817197679191,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0045773105931239495,0.00488001856238002],"position_m":[0.31187731059312396,0.28498001856238003,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0031919804783461696,-0.0040946300497649345],"position_m":[0.36269198047834617,0.05620536995023506,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"2d1e63d738377ee9921779cd71bad80a6303dcf7499ae16f0ec5c3783a0d0fdc","episode_index":67,"episode_name":"episode_0067"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0067.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_1009/tex_ceiling_textures_2420/tex_floor_textures_7116/tex_table_textures_9290/tex_wall_textures_6858","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":1831015999299015025,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":1831015999299015025,"visual_seed":1831015999299015025,"scene_id":"lab_003","finished_at":"2026-09-05T22:29:37"} +{"episode_id":"ep_000068","started_at":"2026-09-05T22:29:41","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_0","position":[0.049708404086168057,-1.0166027328260365,0.71338606911949],"aabb_xy":[[0.021863367305560932,-1.0473872315643482],[0.07755344086677518,-0.9858182340877248]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_1","position":[0.43522935468285184,-1.3746457948704789,0.71338606911949],"aabb_xy":[[0.42723586488756987,-1.3826439268109545],[0.4432228444781339,-1.3666476629300033]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_2","position":[0.6997643517675749,0.06693687772814805,0.71338606911949],"aabb_xy":[[0.6772643519536724,0.06246226135766736],[0.7222643515814772,0.07141149409862874]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_3","position":[-0.6089282100782492,-1.017416395500848,0.71338606911949],"aabb_xy":[[-0.6339282093502113,-1.03376175909701],[-0.5839282108062868,-1.0010710319046854]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_4","position":[0.11718124700611288,-1.4236892947625088,0.71338606911949],"aabb_xy":[[0.03718124999186488,-1.4438238464359199],[0.19718124402036086,-1.4035547430890973]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_5","position":[-0.11432574891266967,-1.0560918025676762,0.71338606911949],"aabb_xy":[[-0.16213191652643832,-1.1210918052747352],[-0.06651958129890101,-0.9910917998606172]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_6","position":[0.31009430422440176,1.573055226970792,0.71338606911949],"aabb_xy":[[0.24609860682930518,1.5090552286700831],[0.37409000161949835,1.6370552252715005]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_7","position":[0.5297322557198203,-0.1350837186196192,0.71338606911949],"aabb_xy":[[0.47473904438268355,-0.19008371895841283],[0.584725467056957,-0.0800837182808256]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_8","position":[0.23138666929492124,0.7386602617555376,0.71338606911949],"aabb_xy":[[0.14138666987655035,0.7052847649113478],[0.32138666871329213,0.7720357585997273]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_9","position":[0.5194836857969336,-1.5306680231519578,0.71338606911949],"aabb_xy":[[0.49759393820799286,-1.6206680204412067],[0.5413734333858744,-1.4406680258627085]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_10","position":[-0.15527539882720098,1.5871310659169775,0.71338606911949],"aabb_xy":[[-0.1804962356870406,1.5619073150640905],[-0.13005456196736126,1.612354816769864]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_11","position":[0.053329446481028,-0.712641044445979,0.71338606911949],"aabb_xy":[[-0.02667055379257897,-0.7855905922716958],[0.13332944675463498,-0.6396914966202624]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_12","position":[0.590148497220613,0.14114022177918084,0.71338606911949],"aabb_xy":[[0.5789034416499951,0.12989842405508556],[0.6013935527912307,0.15238201950327612]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_13","position":[-0.2532421642673668,-0.7891221981827345,0.71338606911949],"aabb_xy":[[-0.3132421641139336,-0.8459408203757732],[-0.1932421644208,-0.7323035759896959]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_14","position":[0.28531191513420817,-1.8060374988577195,0.71338606911949],"aabb_xy":[[0.2724400116332679,-1.8860374992715556],[0.2981838186351482,-1.7260374984438833]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_15","position":[-0.6320785391496573,-0.44546806685175966,0.71338606911949],"aabb_xy":[[-0.6677076950496169,-0.4811007336086126],[-0.5964493832496974,-0.4098354000949067]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_16","position":[-0.3740246419417514,-2.3883808105215203,0.71338606911949],"aabb_xy":[[-0.3833716495240467,-2.4026844327391643],[-0.3646776343594562,-2.3740771883038763]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_17","position":[-0.28449696969782284,0.20862331565635817,0.71338606911949],"aabb_xy":[[-0.30140770213416457,0.19515111006374364],[-0.267586237261481,0.2220955212489727]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_18","position":[-0.250937429471271,1.4738990175905582,0.71338606911949],"aabb_xy":[[-0.28843742804689176,1.461162721927],[-0.21343743089565018,1.486635313254116]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_19","position":[0.10980849703154782,-1.6388846306435814,0.71338606911949],"aabb_xy":[[0.04480849699724511,-1.6855853073239089],[0.17480849706585055,-1.5921839539632543]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_20","position":[0.24032445234282596,1.2767944443861032,0.71338606911949],"aabb_xy":[[0.19032961941488435,1.2267944454908597],[0.29031928527076756,1.3267944432813468]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_21","position":[0.5029124555767641,-2.501604953104021,0.71338606911949],"aabb_xy":[[0.45291318040832795,-2.551604954379968],[0.5529117307452003,-2.451604951828074]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_22","position":[-0.10910676397738373,0.1753454544467421,0.71338606911949],"aabb_xy":[[-0.1731067610894894,0.1263130846523315],[-0.045106766865278036,0.2243778242411527]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_23","position":[-0.1750802620277504,0.5849793615349381,0.71338606911949],"aabb_xy":[[-0.26476733833586585,0.4949793612804876],[-0.08539318571963495,0.6749793617893887]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_24","position":[0.539834826374239,-0.7586550970668744,0.71338606911949],"aabb_xy":[[0.48581923009233885,-0.8226550999591314],[0.5938504226561389,-0.6946550941746171]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_25","position":[0.35250348983096913,-0.5962975951783132,0.71338606911949],"aabb_xy":[[0.33000348931892853,-0.6187894535437114],[0.3750034903430097,-0.5738057368129147]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_26","position":[-0.3664482206442509,0.6936861838704464,0.71338606911949],"aabb_xy":[[-0.38402652283319777,0.6761116942963415],[-0.3488699184553041,0.7112606734445514]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6940737320251321,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8569.png","name":"8569"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8569.png","name":"8569"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1731.png","name":"1731"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6314.png","name":"6314"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7541.png","name":"7541"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1225.png","name":"1225"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":599.1380399954559,"rotation_z_degrees":115.37500660649867,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012552909059712226,-0.008047267004465222,0.0024675238296145395]},{"name":"camera_2","offset_m":[-0.01524534059661101,-0.017721774307955754,0.01494741387180219]},{"name":"camera_3","offset_m":[0.0038626705924075036,0.013688503175639969,-0.0032196045973477]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0013994990293772955,-0.0013760133342750258,0.0016897133668462723],"end_effector_yaw_offset_degrees":-0.2502511705109456},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0007631656001797099,0.0014692473156045268,0.0014885063593945438],"end_effector_yaw_offset_degrees":-0.43782937500984764},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0009561633165342362,0.0019843176953193457,0.00042252922582399367],"end_effector_yaw_offset_degrees":-0.2150010055362559},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008160265088300671,0.0003954880349806072,-0.0007726560982767668],"end_effector_yaw_offset_degrees":-0.19757980304834444}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0005308608873940621,-0.0022411083463330663],"position_m":[0.16403086088739408,-0.14834110834633307,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0024524240746814363,-0.0011032314563269342],"position_m":[0.2763524240746814,-0.34990323145632696,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0046543092215917915,0.0025262142348801957],"position_m":[0.3119543092215918,0.2826262142348802,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0038450171659828855,0.0004792394127722888],"position_m":[0.3633450171659829,0.06077923941277229,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"63bdd7c57aa3cc6eeefce391d349f4d93ffd57ad0cc0dc328efa317a26c197eb","episode_index":68,"episode_name":"episode_0068"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0068.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_8569/tex_ceiling_textures_1225/tex_floor_textures_7541/tex_table_textures_1731/tex_wall_textures_6314","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":5417589275050381062,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":5417589275050381062,"visual_seed":5417589275050381062,"scene_id":"lab_003","finished_at":"2026-09-05T22:33:08"} +{"episode_id":"ep_000069","started_at":"2026-09-05T22:33:12","dimensions":{"distractor":{"count":28,"items":[{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_0","position":[-0.39605987214451105,0.759826094906094,0.71338606911949],"aabb_xy":[[-0.48574694845262645,0.6698260946516433],[-0.30637279583639554,0.8498260951605444]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_1","position":[0.18828372047255548,0.672481210604515,0.71338606911949],"aabb_xy":[[0.1507837201243277,0.6606898150234315],[0.2257837208207832,0.6842726061855986]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_2","position":[-0.14747390155471574,0.7520157349388743,0.71338606911949],"aabb_xy":[[-0.22747390014203517,0.6727001330007134],[-0.06747390296739632,0.8313313368770352]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_3","position":[-0.07422960461747719,-0.7162144252451115,0.71338606911949],"aabb_xy":[[-0.15422960259826224,-0.7238159662069633],[0.005770393363307854,-0.7086128842832594]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_4","position":[0.6193625330112156,-2.459407862356648,0.71338606911949],"aabb_xy":[[0.5393625315810883,-2.5389250173692575],[0.6993625344413427,-2.3798907073440385]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_5","position":[-0.023910746317844622,-1.8814447620177428,0.71338606911949],"aabb_xy":[[-0.04580049390678542,-1.9714447593069917],[-0.0020209987289038253,-1.7914447647284935]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_6","position":[-0.5064507577195526,-0.6729070282185379,0.71338606911949],"aabb_xy":[[-0.5964507600535717,-0.7503893828036506],[-0.41645075538553356,-0.5954246736334253]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_7","position":[-0.5834770905809563,-2.056120866531964,0.71338606911949],"aabb_xy":[[-0.6384693412164673,-2.1111208682752767],[-0.5284848399454454,-2.001120864788651]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_8","position":[0.23807370024082342,-1.34975248333641,0.71338606911949],"aabb_xy":[[0.21448857677692854,-1.4147524855818419],[0.26165882370471827,-1.2847524810909783]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_9","position":[-0.39320759821199275,0.9830177966721063,0.71338606911949],"aabb_xy":[[-0.44820759783373865,0.9280341038846338],[-0.33820759859024696,1.0380014894595793]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_10","position":[0.09687324906020822,-1.7280307594000193,0.71338606911949],"aabb_xy":[[0.09275729894813554,-1.7321463144328644],[0.10098919917228087,-1.7239152043671733]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_11","position":[-0.09021080612144261,-0.9338007101244747,0.71338606911949],"aabb_xy":[[-0.1084166297826903,-0.9448261107064665],[-0.07200498246019495,-0.9227753095424832]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_12","position":[0.5778859541354591,-0.11127472827853246,0.71338606911949],"aabb_xy":[[0.5128859531783317,-0.16322294021223804],[0.6428859550925862,-0.05932651634482689]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_13","position":[-0.4094080017034601,-0.20030459046230664,0.71338606911949],"aabb_xy":[[-0.4944080001208833,-0.2851788859245916],[-0.32440800328603686,-0.11543029500002167]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_14","position":[0.5975776248169933,-0.7289466563531224,0.71338606911949],"aabb_xy":[[0.533577622904651,-0.7848578056111328],[0.6615776267293357,-0.673035507095112]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_15","position":[0.45297985697192167,-1.040626715953553,0.71338606911949],"aabb_xy":[[0.38897985671145086,-1.085635515306481],[0.5169798572323925,-0.995617916600625]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_16","position":[0.18063211197360152,-0.7545430120798688,0.71338606911949],"aabb_xy":[[0.17022055329311778,-0.7598887454157672],[0.1910436706540852,-0.7491972787439702]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_17","position":[-0.05392134966863815,1.1397158315386728,0.71338606911949],"aabb_xy":[[-0.06261931195935344,1.1275908572311981],[-0.04522338737792286,1.1518408058461476]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_18","position":[0.23013732429969191,1.5292205192206016,0.71338606911949],"aabb_xy":[[0.2122682165452364,1.5153876112433908],[0.24800643205414738,1.543053427197813]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_19","position":[0.2248058224702305,1.7596281120622321,0.71338606911949],"aabb_xy":[[0.13480582573462024,1.7064446487449374],[0.31480581920584066,1.8128115753795264]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_20","position":[0.5183633586308065,-1.366054526702792,0.71338606911949],"aabb_xy":[[0.48336335865431057,-1.3755191427504085],[0.5533633586073022,-1.3565899106551753]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_21","position":[0.49065499567931936,1.1582007800598015,0.71338606911949],"aabb_xy":[[0.42665499839367077,1.1166940611069576],[0.554654992964968,1.1997074990126455]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_22","position":[0.0008658720248083673,-2.0456333478231645,0.71338606911949],"aabb_xy":[[-0.007057408213939964,-2.068133348061168],[0.008789152263556699,-2.023133347585161]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_23","position":[-0.21034352373337306,-2.3478551870576214,0.71338606911949],"aabb_xy":[[-0.22009951324254692,-2.3576177211168554],[-0.20058753422419914,-2.3380926529983865]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_24","position":[0.48748942135538176,-2.0551821900028324,0.71338606911949],"aabb_xy":[[0.4742584758207004,-2.0684096090248314],[0.500720366890063,-2.0419547709808326]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_25","position":[-0.6053804238888526,1.315131531264714,0.71338606911949],"aabb_xy":[[-0.6278795596150796,1.292631530486451],[-0.5828812881626256,1.337631532042977]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_26","position":[0.5466522923723989,-2.2534669578620434,0.71338606911949],"aabb_xy":[[0.4988461247586302,-2.318466960569102],[0.5944584599861675,-2.188466955154984]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_27","position":[0.2729580742192884,-1.618907641103711,0.71338606911949],"aabb_xy":[[0.25545807494120154,-1.636245741170057],[0.2904580734973753,-1.6015695410373652]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6877595413794224,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9776.png","name":"9776"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9776.png","name":"9776"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6965.png","name":"6965"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9911.png","name":"9911"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3416.png","name":"3416"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8508.png","name":"8508"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":533.7269280298356,"rotation_z_degrees":321.1576491697878,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004505378970119277,0.004919761658964163,-0.001961365777856598]},{"name":"camera_2","offset_m":[0.007294329223330495,-0.006715212963006359,0.002937761183556084]},{"name":"camera_3","offset_m":[0.0007415243831638135,-0.003881106659098927,-0.01961218511966334]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0011771204690565413,0.0016740265823014635,0.00011939761565703732],"end_effector_yaw_offset_degrees":0.19904048342536207},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0006358978206869414,-0.0005882924158762219,-0.001177959752906006],"end_effector_yaw_offset_degrees":0.428893159611756},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0017576678124341899,0.0013604984204551238,0.0010468914243437163],"end_effector_yaw_offset_degrees":0.6273466070792848},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0008710778401607722,0.0013023356963094918,0.0019822109553700243],"end_effector_yaw_offset_degrees":-0.17047278078613615}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0049413862730422085,0.0042579404946110405],"position_m":[0.16844138627304223,-0.14184205950538897,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0029030527378538164,0.002247247341887625],"position_m":[0.2709969472621462,-0.34655275265811236,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004243621151896624,-0.003052685348611246],"position_m":[0.31154362115189665,0.27704731465138877,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003626133425636225,0.0012181679331976624],"position_m":[0.3631261334256362,0.061518167933197664,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a7a2ae948bbf7a63153b783395531d9ddb144e5aa99444685329016b2db6e39a","episode_index":69,"episode_name":"episode_0069"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0069.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_9776/tex_ceiling_textures_8508/tex_floor_textures_3416/tex_table_textures_6965/tex_wall_textures_9911","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":4070770387887858158,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":4070770387887858158,"visual_seed":4070770387887858158,"scene_id":"lab_003","finished_at":"2026-09-05T22:36:37"} +{"episode_id":"ep_000070","started_at":"2026-09-05T22:36:41","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_0","position":[0.45703681892960524,1.3021324838719366,0.71338606911949],"aabb_xy":[[0.4092306513158365,1.2371324811648776],[0.5048429865433739,1.3671324865789956]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_1","position":[0.616990785042129,1.1741608460443351,0.71338606911949],"aabb_xy":[[0.5799566756140693,1.1397836387106257],[0.6540248944701887,1.2085380533780445]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_2","position":[-0.04917500912893724,-1.177379009718105,0.71338606911949],"aabb_xy":[[-0.10417500733068208,-1.2179009763445425],[0.005824989072807588,-1.1368570430916674]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_3","position":[-0.6727398810877852,0.5692089507380982,0.71338606911949],"aabb_xy":[[-0.690239880365872,0.5518708506717522],[-0.6552398818096983,0.5865470508044441]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_4","position":[-0.20795298745051138,1.0196129755880858,0.71338606911949],"aabb_xy":[[-0.2719529907402195,0.9762780565841681],[-0.14395298416080327,1.0629478945920032]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_5","position":[0.269173638373592,1.5843765684602205,0.71338606911949],"aabb_xy":[[0.21929094149589584,1.534376569213946],[0.31905633525128824,1.6343765677064954]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_6","position":[0.4702084139783236,1.5970310256301858,0.71338606911949],"aabb_xy":[[0.45697746844364223,1.5838036066081862],[0.4834393595130048,1.610258444652185]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_7","position":[-0.05307309495050294,0.12052999596082037,0.71338606911949],"aabb_xy":[[-0.08807309630198468,0.10017026000399952],[-0.01807309359902121,0.14088973191764118]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_8","position":[0.14943636823262896,1.5914670573208114,0.71338606911949],"aabb_xy":[[0.1265206553475791,1.5685627601843881],[0.17235208111767888,1.6143713544572351]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_9","position":[0.10077730553471598,-1.5067511971422707,0.71338606911949],"aabb_xy":[[0.09669914762766624,-1.5108321773905338],[0.10485546344176572,-1.5026702168940071]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_10","position":[-0.5866613369705382,-0.47261458485105035,0.71338606911949],"aabb_xy":[[-0.6204368961612311,-0.48665308006421537],[-0.5528857777798452,-0.4585760896378853]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_11","position":[0.5639907811472809,-0.8759651791370271,0.71338606911949],"aabb_xy":[[0.5465600660682742,-0.8932372938008778],[0.5814214962262872,-0.8586930644731762]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_12","position":[0.5037600495242793,0.6536614645958694,0.71338606911949],"aabb_xy":[[0.4974479499879409,0.6478945253426506],[0.5100721490606177,0.6594284038490882]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_13","position":[0.12232889945321501,1.755575948491034,0.71338606911949],"aabb_xy":[[0.08732890118309511,1.7485018207960459],[0.15732889772333492,1.7626500761860222]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_14","position":[-0.5267542612668481,0.519181360039517,0.71338606911949],"aabb_xy":[[-0.57674737337604,0.46918135936532135],[-0.4767611491576562,0.5691813607137126]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_15","position":[0.6578608281070031,0.9394592612045285,0.71338606911949],"aabb_xy":[[0.5938608274035337,0.8934408787316076],[0.7218608288104724,0.9854776436774496]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_16","position":[0.48138436605628154,-0.2534910506971366,0.71338606911949],"aabb_xy":[[0.44388436763288125,-0.26665526466496725],[0.5188843644796819,-0.240326836729306]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_17","position":[0.6112189018035588,-1.354914409406785,0.71338606911949],"aabb_xy":[[0.5612189031576376,-1.4048339530662473],[0.66121890044948,-1.3049948657473225]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_18","position":[0.41121054625098075,-0.6500847782577819,0.71338606911949],"aabb_xy":[[0.3887105457389401,-0.6725766366231801],[0.4337105467630213,-0.6275929198923834]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_19","position":[-0.6071816496959985,-1.0062661828694635,0.71338606911949],"aabb_xy":[[-0.6457273425211995,-1.0448119539256522],[-0.5686359568707974,-0.9677204118132748]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_20","position":[-0.09524435263232256,1.1508472046565652,0.71338606911949],"aabb_xy":[[-0.10337204082563578,1.1419335962458572],[-0.08711666443900934,1.1597608130672727]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_21","position":[0.5448191742508497,-1.8641540424145848,0.71338606911949],"aabb_xy":[[0.4648191755939637,-1.8786589013388477],[0.6248191729077357,-1.849649183490322]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_22","position":[0.3495017169170913,0.8818413451015901,0.71338606911949],"aabb_xy":[[0.3151854397424734,0.8318413451284123],[0.38381799409170925,0.9318413450747678]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_23","position":[-0.11302849212057398,1.4757402710843732,0.71338606911949],"aabb_xy":[[-0.13552849236408937,1.4635356364246015],[-0.09052849187705858,1.4879449057441454]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_24","position":[-0.508602135290006,-1.4601720239192486,0.71338606911949],"aabb_xy":[[-0.598602137624025,-1.537654378504361],[-0.4186021329559869,-1.3826896693341357]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_25","position":[-0.2922756910217308,-2.288897216803649,0.71338606911949],"aabb_xy":[[-0.29571636726178796,-2.292758649778014],[-0.2888350147816736,-2.285035783829285]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_26","position":[-0.048685668724418374,-2.4181260244700717,0.71338606911949],"aabb_xy":[[-0.0525995419198409,-2.426875039876628],[-0.04477179552899585,-2.4093770090635145]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_27","position":[0.346999244078122,-1.3284035647744552,0.71338606911949],"aabb_xy":[[0.3059813006917511,-1.3784035654054128],[0.3880171874644929,-1.278403564143498]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_28","position":[0.15351691906709275,-2.058591848044609,0.71338606911949],"aabb_xy":[[0.08351691567553075,-2.0939076217480395],[0.2235169224586547,-2.0232760743411777]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_29","position":[0.28682262548173143,-1.9952844558448866,0.71338606911949],"aabb_xy":[[0.2693226263473643,-2.005164082882474],[0.30432262461609866,-1.9854048288072983]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_30","position":[0.3986400769645877,-1.0563413760938005,0.71338606911949],"aabb_xy":[[0.30864008046371594,-1.1022530185122585],[0.48864007346545946,-1.010429733675342]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_31","position":[0.03928876736525144,1.2931929037173284,0.71338606911949],"aabb_xy":[[0.029135751811102048,1.2571233621445879],[0.0494417829194008,1.3292624452900685]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_32","position":[0.40492309215721045,-0.5001959895681614,0.71338606911949],"aabb_xy":[[0.33992309105126717,-0.5251613626362897],[0.46992309326315373,-0.47523061650003307]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_33","position":[-0.6502958449587256,-1.19343919985502,0.71338606911949],"aabb_xy":[[-0.6539991062878644,-1.1971412181637378],[-0.6465925836295866,-1.1897371815463018]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_34","position":[-0.41806820976344244,-1.9317627007217562,0.71338606911949],"aabb_xy":[[-0.5080682091818134,-1.9651381975659457],[-0.3280682103450715,-1.8983872038775662]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.693182416520156,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5114.png","name":"5114"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5114.png","name":"5114"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9632.png","name":"9632"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9116.png","name":"9116"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9173.png","name":"9173"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5218.png","name":"5218"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":536.8306561979235,"rotation_z_degrees":4.951504596181979,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018314131873549282,-0.00330948072105847,0.010154013675878308]},{"name":"camera_2","offset_m":[-0.003086449841807587,0.00932436275415206,0.0021805754845902886]},{"name":"camera_3","offset_m":[0.00829234200325617,0.0038411141993782358,-0.005052565236906918]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0002620551355635844,-0.0006536244379003863,-0.0015276821446366339],"end_effector_yaw_offset_degrees":-0.13448994815255166},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00014430363892368038,-0.0017372549923504277,7.300635137680311e-07],"end_effector_yaw_offset_degrees":-0.3497705686072916},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007230045786542627,0.001678448305692575,-0.0018798956404771552],"end_effector_yaw_offset_degrees":-0.8030277407593718},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00046710603335903397,0.001231975647922835,-0.0012448324952253312],"end_effector_yaw_offset_degrees":-0.9226865158911652}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0027046460652245512,-0.00042920273666649175],"position_m":[0.16620464606522456,-0.1465292027366665,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0017828066431313438,-0.00048227807892023324],"position_m":[0.27568280664313133,-0.3492822780789202,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00018525979767805047,-0.003428796757255338],"position_m":[0.307114740202322,0.2766712032427447,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0041771092529486985,8.189916040823517e-06],"position_m":[0.3553228907470513,0.060308189916040825,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"42e131ab3c174272f9c0d1523ab37f3dd51f53144d2396548cabe464773f8852","episode_index":70,"episode_name":"episode_0070"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0070.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_5114/tex_ceiling_textures_5218/tex_floor_textures_9173/tex_table_textures_9632/tex_wall_textures_9116","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":8071308202280496921,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":8071308202280496921,"visual_seed":8071308202280496921,"scene_id":"lab_003","finished_at":"2026-09-05T22:40:13"} +{"episode_id":"ep_000071","started_at":"2026-09-05T22:40:18","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_0","position":[0.583807613303257,1.3421236983491922,0.71338606911949],"aabb_xy":[[0.5796916631911843,1.3380081433163462],[0.5879235634153296,1.3462392533820373]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_1","position":[0.12092020478584786,1.676837127305021,0.71338606911949],"aabb_xy":[[0.11299692454709952,1.654337127067018],[0.1288434850245962,1.6993371275430247]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_2","position":[-0.4307908254214445,-2.562311658020128,0.71338606911949],"aabb_xy":[[-0.443393524558521,-2.5749070542449934],[-0.4181881262843681,-2.5497162617952625]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_3","position":[-0.018429952968712082,0.9529983614208049,0.71338606911949],"aabb_xy":[[-0.027847427538574828,0.9435821842830857],[-0.00901247839884933,0.9624145385585238]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_4","position":[0.3336073669672035,-1.3928677304422235,0.71338606911949],"aabb_xy":[[0.29860736869708354,-1.3999418581372114],[0.36860736523732335,-1.385793602747235]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_5","position":[-0.032159524695984154,-1.809103769076423,0.71338606911949],"aabb_xy":[[-0.12184660100409961,-1.8991037693308734],[0.0575275516121313,-1.7191037688219724]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_6","position":[-0.3422223612162222,-1.8804745531095457,0.71338606911949],"aabb_xy":[[-0.42222236264634944,-1.959991708122155],[-0.26222235978609504,-1.800957398096936]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_7","position":[-0.10561556361365776,-1.0292426209081689,0.71338606911949],"aabb_xy":[[-0.12812925543711495,-1.0992426215091764],[-0.08310187179020055,-0.9592426203071613]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_8","position":[0.6091488646207068,-1.9819631075076352,0.71338606911949],"aabb_xy":[[0.5924717286276113,-1.9986630314815654],[0.6258260006138023,-1.9652631835337049]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_9","position":[0.14693800111885547,-1.0674521955922396,0.71338606911949],"aabb_xy":[[0.11014336799394919,-1.1043580706888219],[0.18373263424376174,-1.0305463204956573]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_10","position":[0.5059493182178332,-0.26882878727763515,0.71338606911949],"aabb_xy":[[0.4814031025950824,-0.2990776838266722],[0.5304955338405838,-0.23857989072859812]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_11","position":[0.7041004599435114,-0.3756927847849596,0.71338606911949],"aabb_xy":[[0.6959868052701343,-0.3837986012389887],[0.7122141146168885,-0.3675869683309305]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_12","position":[-0.39582670252653923,0.8745625193550404,0.71338606911949],"aabb_xy":[[-0.4458267019667348,0.8245945948707241],[-0.34582670308634356,0.9245304438393567]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_13","position":[0.48699314110424274,1.1769144377757224,0.71338606911949],"aabb_xy":[[0.42199314014711564,1.1249662258420166],[0.55199314206137,1.2288626497094277]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_14","position":[-0.45854515373997773,-1.3011741708433862,0.71338606911949],"aabb_xy":[[-0.46830114324915156,-1.3109367049026206],[-0.4487891642308038,-1.2914116367841517]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_15","position":[-0.44637333650691174,-2.37885596957336,0.71338606911949],"aabb_xy":[[-0.46243526396542933,-2.4638559713859514],[-0.43031140904839404,-2.2938559677607677]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_16","position":[-0.29630386613619764,-1.0301286478272549,0.71338606911949],"aabb_xy":[[-0.3045184112518815,-1.0388052381248958],[-0.28808932102051354,-1.021452057529613]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_17","position":[-0.614833393344195,0.9295357644853257,0.71338606911949],"aabb_xy":[[-0.6218737032777321,0.8495357650856545],[-0.6077930834106581,1.0095357638849973]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_18","position":[-0.28762565064895357,1.7669056130005827,0.71338606911949],"aabb_xy":[[-0.300776896620243,1.7419056132438966],[-0.27447440467766426,1.7919056127572697]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_19","position":[0.15218984622290832,1.583727845863835,0.71338606911949],"aabb_xy":[[0.11718984703009003,1.5727607998661721],[0.18718984541572656,1.5946948918614972]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_20","position":[-0.24299112851900168,-2.129550470379669,0.71338606911949],"aabb_xy":[[-0.2484490741560217,-2.209550473687328],[-0.23753318288198155,-2.04955046707201]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_21","position":[-0.19284132246547425,-0.4566602762053398,0.71338606911949],"aabb_xy":[[-0.2106348294003907,-0.4744600218011374],[-0.17504781553055782,-0.43886053060954205]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_22","position":[0.44348099611823955,0.7112627434948142,0.71338606911949],"aabb_xy":[[0.4209809965945321,0.6887667960441933],[0.4659809956419469,0.7337586909454349]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_23","position":[0.4093447852849239,-1.783622067255855,0.71338606911949],"aabb_xy":[[0.38642907239987406,-1.8065263643922786],[0.43226049816997386,-1.7607177701194316]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_24","position":[-0.014573391399236857,-2.239547776879354,0.71338606911949],"aabb_xy":[[-0.049573392750718585,-2.259907512836175],[0.02042660995224487,-2.2191880409225333]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_25","position":[-0.15769808526459383,0.09750205140008461,0.71338606911949],"aabb_xy":[[-0.19894689629450854,0.04250205188786716],[-0.11644927423467909,0.15250205091230207]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_26","position":[-0.10730437811895077,1.1427842831120119,0.71338606911949],"aabb_xy":[[-0.135634088067491,1.138323540918295],[-0.07897466817041056,1.1472450253057291]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_27","position":[-0.3383692158322753,-0.5992749359631955,0.71338606911949],"aabb_xy":[[-0.3933624271694121,-0.6542749363019891],[-0.28337600449513856,-0.5442749356244019]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_28","position":[0.12770387744552536,-1.4638675921986632,0.71338606911949],"aabb_xy":[[0.06770387759895857,-1.520686214391702],[0.18770387729209215,-1.4070489700056246]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_29","position":[0.06372139995143411,1.4112156173736818,0.71338606911949],"aabb_xy":[[0.0262214013758133,1.3984793217101237],[0.1012213985270549,1.4239519130372396]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_30","position":[0.36657470485572774,0.47264924403691033,0.71338606911949],"aabb_xy":[[0.36053769185506296,0.4666225429679622],[0.3726117178563924,0.4786759451058586]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_31","position":[0.5956976616485927,-2.4972343978540272,0.71338606911949],"aabb_xy":[[0.5543931185848567,-2.5612343974221448],[0.6370022047123287,-2.4332343982859106]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_32","position":[0.23743246186277767,-0.8517462586166367,0.71338606911949],"aabb_xy":[[0.211143637542337,-0.8780176922712878],[0.26372128618321833,-0.8254748249619853]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_33","position":[-0.37430854740966696,-0.9045931586378146,0.71338606911949],"aabb_xy":[[-0.4243085483601997,-0.9361423056413359],[-0.3243085464591341,-0.8730440116342931]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6944272294046195,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4203.png","name":"4203"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4203.png","name":"4203"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/815.png","name":"815"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2186.png","name":"2186"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6527.png","name":"6527"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9979.png","name":"9979"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":741.734116524916,"rotation_z_degrees":117.54533357016724,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016831168902662213,0.01274109392548713,-0.011811516639414274]},{"name":"camera_2","offset_m":[-0.011388760715072213,-0.009691835618101963,-0.008385214034365727]},{"name":"camera_3","offset_m":[0.004969511798009311,-0.0008566837445134028,0.004295935408623958]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00027859374691557057,-0.0014933070385181632,-0.0018801462758520386],"end_effector_yaw_offset_degrees":0.3241118035454613},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0012446785464087853,0.0016587656670753697,0.0001810651001384186],"end_effector_yaw_offset_degrees":0.045030489523456785},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007021953793789129,-0.0014092742879562824,0.0013869194833288903],"end_effector_yaw_offset_degrees":-0.5825383166904787},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001295015561940251,-6.0593235006608636e-05,-0.0015671910053870982],"end_effector_yaw_offset_degrees":-0.2743738843634347}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.000352104881921997,-0.0040331542861949685],"position_m":[0.163147895118078,-0.15013315428619498,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004943863076537641,0.0024907010938036876],"position_m":[0.27884386307653763,-0.34630929890619633,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0040640700884058975,-0.003465914000931744],"position_m":[0.3032359299115941,0.27663408599906825,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.000940198580312919,0.0015874858251134017],"position_m":[0.3585598014196871,0.0618874858251134,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5a728ce891492914c40581527ab56e65de291aaa936467c57867a66f49baab15","episode_index":71,"episode_name":"episode_0071"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0071.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_4203/tex_ceiling_textures_9979/tex_floor_textures_6527/tex_table_textures_815/tex_wall_textures_2186","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":5046917396325215745,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":5046917396325215745,"visual_seed":5046917396325215745,"scene_id":"lab_003","finished_at":"2026-09-05T22:43:42"} +{"episode_id":"ep_000072","started_at":"2026-09-05T22:43:48","dimensions":{"distractor":{"count":28,"items":[{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_0","position":[-0.5733851741939043,-0.035210528990139434,0.71338606911949],"aabb_xy":[[-0.5835381897480535,-0.07128007056287974],[-0.5632321586397547,0.000859012582600911]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_1","position":[0.5877128607256015,-0.4453895359053317,0.71338606911949],"aabb_xy":[[0.5502128609085679,-0.45002774721647354],[0.625212860542635,-0.44075132459418986]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_2","position":[0.5934164533341977,1.0803052780031788,0.71338606911949],"aabb_xy":[[0.563448896424372,1.050305277705293],[0.6233840102440233,1.1103052783010645]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_3","position":[-0.48078407494383824,-0.7602535819840501,0.71338606911949],"aabb_xy":[[-0.5182840761286309,-0.7646718046801106],[-0.4432840737590453,-0.7558353592879896]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_4","position":[-0.15173437680110557,0.4768450435852363,0.71338606911949],"aabb_xy":[[-0.1646062803020457,0.3968450431714001],[-0.1388624733001654,0.5568450439990724]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_5","position":[0.3540817154742788,-1.9685757275014693,0.71338606911949],"aabb_xy":[[0.3496510861194386,-1.974024099236152],[0.358512344829119,-1.963127355766787]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_6","position":[0.49501141987746644,-2.0763908393256005,0.71338606911949],"aabb_xy":[[0.43101142276536075,-2.125423209120011],[0.5590114169895721,-2.02735846953119]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_7","position":[0.6566009584763479,0.015080926417758711,0.71338606911949],"aabb_xy":[[0.6500993219683433,0.005313104391448939],[0.6631025949843525,0.024848748444068484]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_8","position":[-0.541950685483662,-2.1637377730120377,0.71338606911949],"aabb_xy":[[-0.6059506887022998,-2.2104608849110465],[-0.47795068226502413,-2.11701466111303]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_9","position":[0.43534286912631526,0.5385882777079671,0.71338606911949],"aabb_xy":[[0.39784286918254885,0.5302951876731306],[0.47284286907008166,0.5468813677428037]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_10","position":[0.5154516450693425,-1.3853837742061947,0.71338606911949],"aabb_xy":[[0.5002794757877093,-1.400552631134398],[0.5306238143509759,-1.3702149172779914]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_11","position":[-0.3169200302973009,-0.4091097692683183,0.71338606911949],"aabb_xy":[[-0.38192003129780144,-0.45989613442299326],[-0.2519200292968004,-0.3583234041136434]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_12","position":[0.5268723226720222,-1.2730914032327365,0.71338606911949],"aabb_xy":[[0.518744634478709,-1.2820050116434443],[0.5350000108653354,-1.2641777948220287]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_13","position":[-0.4187449807053332,0.9895670436382269,0.71338606911949],"aabb_xy":[[-0.4228231386123829,0.9854860633899636],[-0.41466682279828343,0.9936480238864902]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_14","position":[0.3429113789614029,-0.9171682158047139,0.71338606911949],"aabb_xy":[[0.28791912832589195,-0.9721682175480268],[0.3979036295969139,-0.8621682140614013]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_15","position":[0.2839094829251635,0.7481380606094783,0.71338606911949],"aabb_xy":[[0.24640948226058476,0.7324510026092559],[0.32140948358974214,0.7638251186097003]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_16","position":[0.5582295275764824,-0.30254062644785185,0.71338606911949],"aabb_xy":[[0.5082295280001478,-0.35252120539995785],[0.6082295271528172,-0.25256004749574595]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_17","position":[-0.503866077508442,0.10333363587884392,0.71338606911949],"aabb_xy":[[-0.5388660774044609,0.09495940036690396],[-0.4688660776124232,0.11170787139078385]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_18","position":[0.506833667125979,-1.1439112742615007,0.71338606911949],"aabb_xy":[[0.48433366760227153,-1.1664072217121213],[0.5293336666496863,-1.1214153268108797]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_19","position":[-0.283974735855645,-1.5222368011353118,0.71338606911949],"aabb_xy":[[-0.29275596300288126,-1.5310165484238423],[-0.2751935087084088,-1.5134570538467818]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_20","position":[-0.2540958586269915,1.8000765115520045,0.71338606911949],"aabb_xy":[[-0.2621221292576175,1.791325016574652],[-0.24606958799636552,1.8088280065293572]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_21","position":[-0.22702669214243143,-1.010532600751548,0.71338606911949],"aabb_xy":[[-0.24308861960094907,-1.0955326025641396],[-0.21096476468391379,-0.9255325989389561]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_22","position":[0.015824567379435606,0.8054519226018684,0.71338606911949],"aabb_xy":[[0.007022512070462897,0.7976405964469393],[0.024626622688408317,0.8132632487567975]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_23","position":[-0.6113345033389381,-1.7177099256800914,0.71338606911949],"aabb_xy":[[-0.652352446725309,-1.7677099263110487],[-0.5703165599525672,-1.667709925049134]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_24","position":[0.03924449047079048,-2.0352661899939832,0.71338606911949],"aabb_xy":[[0.033277951530054695,-2.041227334653348],[0.04521102941152627,-2.0293050453346195]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_25","position":[0.1813640569512226,-2.5163715452670994,0.71338606911949],"aabb_xy":[[0.16620118397428552,-2.5315370025622186],[0.1965269299281597,-2.501206087971981]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_26","position":[-0.15945626138308344,1.3077387846978867,0.71338606911949],"aabb_xy":[[-0.223456263725885,1.2627979334537542],[-0.09545625904028189,1.3526796359420192]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_27","position":[-0.5998670448298928,1.7256225334571336,0.71338606911949],"aabb_xy":[[-0.6373670449354858,1.7188003716041522],[-0.5623670447242999,1.7324446953101145]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6969881236947698,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5276.png","name":"5276"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5276.png","name":"5276"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4928.png","name":"4928"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5452.png","name":"5452"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4306.png","name":"4306"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2789.png","name":"2789"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":531.739747503769,"rotation_z_degrees":35.28129782129614,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005501705766950828,0.0018632384105346095,-0.000367688425469935]},{"name":"camera_2","offset_m":[0.015451348588922127,-0.00634860876102529,0.01167665828461385]},{"name":"camera_3","offset_m":[0.01033452200968445,0.0035381276613020117,0.00715050645287774]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0006480969088082777,-0.0013280092809337812,-0.0007221884787089476],"end_effector_yaw_offset_degrees":0.1787825584453382},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0005586505726933267,0.0013773037889418748,-0.0011681371364885957],"end_effector_yaw_offset_degrees":0.7520799919512127},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0014885651822145198,-0.00035812026574070285,-0.0016193181646340584],"end_effector_yaw_offset_degrees":0.30440500579410923},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005568849366273869,0.0010516680007093167,-0.0005193068464620697],"end_effector_yaw_offset_degrees":0.9192504166750184}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.002929112363413824,-0.003323672574127945],"position_m":[0.1605708876365862,-0.14942367257412795,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004045060320019652,-0.004151101740766743],"position_m":[0.27794506032001964,-0.3529511017407667,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0030120518998673317,0.0008639953410017323],"position_m":[0.3042879481001327,0.28096399534100175,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[5.131988174671316e-05,0.0016462508637771853],"position_m":[0.3595513198817467,0.06194625086377718,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3bc5d5aaa5a78133e69c594bcd60315f963af64545789ac3f5b419c4b1f87c9f","episode_index":72,"episode_name":"episode_0072"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0072.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_5276/tex_ceiling_textures_2789/tex_floor_textures_4306/tex_table_textures_4928/tex_wall_textures_5452","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":3136794698313392767,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":3136794698313392767,"visual_seed":3136794698313392767,"scene_id":"lab_003","finished_at":"2026-09-05T22:47:13"} +{"episode_id":"ep_000073","started_at":"2026-09-05T22:47:19","dimensions":{"distractor":{"count":31,"items":[{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_0","position":[-0.5771026838110466,0.781593551934272,0.71338606911949],"aabb_xy":[[-0.632098161631706,0.7265935505003649],[-0.5221072059903872,0.8365935533681788]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_1","position":[-0.3644486317140164,0.01947136532323901,0.71338606911949],"aabb_xy":[[-0.3803331249793415,0.005118425024414952],[-0.3485641384486912,0.03382430562206307]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_2","position":[0.5746183927527819,-0.31227856334407766,0.71338606911949],"aabb_xy":[[0.48461838907586363,-0.37371096992118197],[0.6646183964297,-0.25084615676697325]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_3","position":[0.05350176554895836,1.349662761990091,0.71338606911949],"aabb_xy":[[-0.02649823771505478,1.3361027296811778],[0.1335017688129715,1.3632227942990045]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_4","position":[-0.5367762574441939,-2.3050996547560096,0.71338606911949],"aabb_xy":[[-0.5917499794805268,-2.3600996543202433],[-0.481802535407861,-2.250099655191777]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_5","position":[-0.284628855632854,0.48620325691988997,0.71338606911949],"aabb_xy":[[-0.29378873457673055,0.47967203887635296],[-0.27546897668897735,0.492734474963427]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_6","position":[0.47693082442152357,0.3328061072099948,0.71338606911949],"aabb_xy":[[0.45193082514956134,0.3164607436138325],[0.5019308236934859,0.34915147080615716]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_7","position":[0.4627490564777941,-0.9086213358436692,0.71338606911949],"aabb_xy":[[0.4252490556857986,-0.9149891768018592],[0.5002490572697895,-0.902253494885479]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_8","position":[-0.42004812692968824,1.0470714490914554,0.71338606911949],"aabb_xy":[[-0.48004812752570447,0.992258976546232],[-0.3600481263336721,1.101883921636679]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_9","position":[0.5244290144307082,0.17994288303366313,0.71338606911949],"aabb_xy":[[0.4444290172711328,0.1683952820758461],[0.6044290115902834,0.19149048399148016]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_10","position":[0.34644418789826603,1.6207808875772547,0.71338606911949],"aabb_xy":[[0.29144418827652024,1.565797194789782],[0.40144418752001193,1.6757645803647274]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_11","position":[0.6142096537559989,-1.8892207142446067,0.71338606911949],"aabb_xy":[[0.5502096523480081,-1.9410096657685316],[0.6782096551639895,-1.8374317627206822]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_12","position":[-0.17445794726275532,0.49020947868695464,0.71338606911949],"aabb_xy":[[-0.18077004679909373,0.4844425394337358],[-0.16814584772641686,0.4959764179401734]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_13","position":[0.375005528250137,-1.4969005710676884,0.71338606911949],"aabb_xy":[[0.36891090036201873,-1.5054699656193573],[0.3811001561382554,-1.4883311765160199]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_14","position":[-0.1803593955290087,-1.319234355241524,0.71338606911949],"aabb_xy":[[-0.19044110260758215,-1.3992343531336386],[-0.1702776884504352,-1.2392343573494093]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_15","position":[-0.3249090652046739,-0.29691192298447566,0.71338606911949],"aabb_xy":[[-0.33362303425460826,-0.3194119236436638],[-0.3161950961547393,-0.2744119223252873]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_16","position":[-0.18060235649234435,1.338176248977438,0.71338606911949],"aabb_xy":[[-0.21810235767713712,1.333758026281377],[-0.14310235530755153,1.342594471673498]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_17","position":[-0.06034954548086002,-1.6175109985529064,0.71338606911949],"aabb_xy":[[-0.15034954781487908,-1.6949933531380192],[0.029650456853159035,-1.540028643967794]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_18","position":[-0.00814859157277914,-0.8036411805349497,0.71338606911949],"aabb_xy":[[-0.027260898930758004,-0.8227759594121916],[0.010963715785199724,-0.7845064016577076]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_19","position":[-0.2754856108250889,1.6727957179184823,0.71338606911949],"aabb_xy":[[-0.3129856111172637,1.6687542425178785],[-0.23798561053291406,1.6768371933190855]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_20","position":[-0.604298613563856,1.5690299299112405,0.71338606911949],"aabb_xy":[[-0.6281348312044611,1.4790299291027542],[-0.580462395923251,1.6590299307197274]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_21","position":[0.3404549921906488,0.5257437292247289,0.71338606911949],"aabb_xy":[[0.2904549911715136,0.48927751348690096],[0.39045499320978416,0.5622099449625568]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_22","position":[0.09126564312008956,1.7433597024296534,0.71338606911949],"aabb_xy":[[0.08035986703252683,1.6633597060308243],[0.10217141920765226,1.8233596988284826]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_23","position":[-0.48178601496918244,-0.16673266213802096,0.71338606911949],"aabb_xy":[[-0.493354995716119,-0.19173266225495267],[-0.47021703422224587,-0.14173266202108925]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_24","position":[-0.4156968106809092,-0.4477004912993543,0.71338606911949],"aabb_xy":[[-0.44069680984654225,-0.45465273700471076],[-0.390696811515276,-0.4407482455939976]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_25","position":[-0.2830136484648887,-0.5374579596035369,0.71338606911949],"aabb_xy":[[-0.29385412669140354,-0.5546442408941857],[-0.27217317023837373,-0.5202716783128881]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_26","position":[0.706790111813068,1.6751176550182731,0.71338606911949],"aabb_xy":[[0.6987467518871128,1.5901176539229065],[0.7148334717390231,1.7601176561136394]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_27","position":[-0.017668859373678902,0.38866606859850883,0.71338606911949],"aabb_xy":[[-0.02808041805416261,0.3833203352626103],[-0.0072573006931951865,0.39401180193440727]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_28","position":[-0.6728768980737856,-0.5052026478870673,0.71338606911949],"aabb_xy":[[-0.690670405008702,-0.5230023934828648],[-0.6550833911388692,-0.4874029022912695]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_29","position":[-0.022632338667926355,0.4559577349633872,0.71338606911949],"aabb_xy":[[-0.04026517426145393,0.4383347889477642],[-0.004999503074398784,0.4735806809790101]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_30","position":[-0.09850857231715526,0.052576530360221696,0.71338606911949],"aabb_xy":[[-0.1328054833348959,0.018279644150280314],[-0.06421166129941462,0.08687341657016305]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6866235624176783,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6986.png","name":"6986"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6986.png","name":"6986"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1553.png","name":"1553"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6167.png","name":"6167"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5939.png","name":"5939"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/675.png","name":"675"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":515.9904258400741,"rotation_z_degrees":7.885276556319463,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.018596745871085098,0.011395844579552675,0.0019433561256196538]},{"name":"camera_2","offset_m":[-0.015519564892151201,-0.018473685922428117,0.018575394707040626]},{"name":"camera_3","offset_m":[0.017316715564624354,-0.01737236059340287,0.011173734513327687]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0010635570394383178,-0.00021083647670065773,-0.0015511611885315624],"end_effector_yaw_offset_degrees":0.0007684403518437577},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-6.51724119865324e-05,0.0012357994967034111,-0.0014216118377774296],"end_effector_yaw_offset_degrees":0.6382099579605929},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0009218906165685704,-0.0011036508438677845,0.0018749140051776093],"end_effector_yaw_offset_degrees":-0.8940421794189275},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0015487243908717898,-0.0016250563740235538,0.0012065504775718963],"end_effector_yaw_offset_degrees":-0.4452976769855861}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.001800916706885437,-0.002301876736389359],"position_m":[0.16169908329311458,-0.14840187673638935,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004345952101227651,0.0020294758988455034],"position_m":[0.26955404789877235,-0.3467705241011545,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003584536091074577,-0.0002171516129932027],"position_m":[0.3108845360910746,0.27988284838700683,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0032088617042992226,-0.0039191990202454546],"position_m":[0.3627088617042992,0.05638080097975454,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d3ba4cee8ab26876447e8165ec2508d533cd168d8efe23cef8580912e3b369c2","episode_index":73,"episode_name":"episode_0073"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0073.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_6986/tex_ceiling_textures_675/tex_floor_textures_5939/tex_table_textures_1553/tex_wall_textures_6167","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":3272961756847042453,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":3272961756847042453,"visual_seed":3272961756847042453,"scene_id":"lab_003","finished_at":"2026-09-05T22:50:34"} +{"episode_id":"ep_000074","started_at":"2026-09-05T22:50:39","dimensions":{"distractor":{"count":21,"items":[{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_0","position":[-0.4579135231796781,1.069887597682818,0.71338606911949],"aabb_xy":[[-0.492913521449798,1.0628134699878298],[-0.4229135249095582,1.076961725377806]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_1","position":[-0.1842225145630324,-1.7097113328842117,0.71338606911949],"aabb_xy":[[-0.2166842154449598,-1.739844164999114],[-0.1517608136811049,-1.679578500769309]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_2","position":[-0.4237839153368631,1.548049160353464,0.71338606911949],"aabb_xy":[[-0.4298785432249815,1.5394797658017954],[-0.41768928744874484,1.5566185549051328]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_3","position":[0.5743001640413448,1.1052014394224297,0.71338606911949],"aabb_xy":[[0.48430016036442636,1.043769032845325],[0.6643001677182627,1.1666338459995338]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_4","position":[-0.13051539411700375,0.9404790211316807,0.71338606911949],"aabb_xy":[[-0.14515879967103673,0.9258203014748962],[-0.11587198856297076,0.9551377407884647]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_5","position":[-0.36797743783915515,-1.5589304697010844,0.71338606911949],"aabb_xy":[[-0.42296968847466615,-1.6139304714443976],[-0.3129851872036442,-1.503930467957772]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_6","position":[0.011708169987666328,0.8365115438904671,0.71338606911949],"aabb_xy":[[-0.03829183103146895,0.8000453281526393],[0.06170817100680161,0.8729777596282952]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_7","position":[0.583164749889622,1.3346554855354222,0.71338606911949],"aabb_xy":[[0.5191647534940488,1.270692197116689],[0.6471647462851949,1.398618773954156]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_8","position":[0.6525359323842679,1.6454571172279793,0.71338606911949],"aabb_xy":[[0.6139902395590668,1.6069113461717903],[0.6910816252094689,1.6840028882841678]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_9","position":[-0.4420322060536533,-2.142128708667305,0.71338606911949],"aabb_xy":[[-0.45211391313222676,-2.222128706559419],[-0.4319504989750798,-2.0621287107751898]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_10","position":[-0.290058940259964,-2.2185891373361293,0.71338606911949],"aabb_xy":[[-0.31255893978367133,-2.2410850847867496],[-0.2675589407362565,-2.196093189885508]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_11","position":[-0.33873292596992205,1.7214831062927414,0.71338606911949],"aabb_xy":[[-0.428732924564392,1.7052325199793206],[-0.2487329273754521,1.7377336926061626]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_12","position":[-0.5514148398007139,-2.0666928401662825,0.71338606911949],"aabb_xy":[[-0.5665777127776511,-2.0818582974614013],[-0.536251966823777,-2.0515273828711638]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_13","position":[0.15786941982756908,1.3347070487526649,0.71338606911949],"aabb_xy":[[0.1418074923690514,1.249707046940073],[0.1739313472860867,1.4197070505652567]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_14","position":[-0.4454744519316304,-0.8890847223789946,0.71338606911949],"aabb_xy":[[-0.4804744519081262,-0.8985493384266111],[-0.41047445195513454,-0.8796201063313779]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_15","position":[-0.35112276134159515,-0.7153653256244681,0.71338606911949],"aabb_xy":[[-0.36075439756202476,-0.7250026384041769],[-0.34149112512116553,-0.7057280128447591]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_16","position":[-0.4102591391598952,1.3927631710823731,0.71338606911949],"aabb_xy":[[-0.47025914080281705,1.3407630217904287],[-0.35025913751697335,1.444763320374317]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_17","position":[0.41006814180489015,1.2665705735382904,0.71338606911949],"aabb_xy":[[0.36025136234005534,1.216570575053987],[0.45988492126972486,1.3165705720225938]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_18","position":[0.49135953180630754,-2.2951124824634417,0.71338606911949],"aabb_xy":[[0.4418791105923488,-2.3591124803762935],[0.5408399530202663,-2.23111248455059]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_19","position":[0.2471822684319155,1.6651007710586616,0.71338606911949],"aabb_xy":[[0.16718227146887626,1.5880251294148877],[0.3271822653949546,1.7421764127024346]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_20","position":[-0.051152433723315904,1.6389053496977346,0.71338606911949],"aabb_xy":[[-0.11515243289308585,1.5921386625787721],[0.012847565446454037,1.685672036816697]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6870131623949361,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9775.png","name":"9775"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9775.png","name":"9775"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/830.png","name":"830"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5365.png","name":"5365"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6252.png","name":"6252"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/278.png","name":"278"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":792.5002563548412,"rotation_z_degrees":23.248079040950607,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012475184673372093,0.01976819252031581,-0.012582108967754642]},{"name":"camera_2","offset_m":[0.01564765710500469,0.01227487621602676,-0.011993370515337972]},{"name":"camera_3","offset_m":[0.002630366863691277,-0.001857798482627234,0.008641364935225736]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00025554131411781355,-0.00036101666820348086,0.001277369986383707],"end_effector_yaw_offset_degrees":-0.02659986969428174},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0009689596151566092,-0.0009591628834654,-0.0017714618088767366],"end_effector_yaw_offset_degrees":0.6685001535273809},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0003869404321660448,0.0018683909764742206,0.000574276021395584],"end_effector_yaw_offset_degrees":-0.3327609796133677},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0011535657462971773,0.0019200246742685423,0.0005354148875059777],"end_effector_yaw_offset_degrees":-0.49060594456130224}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0014606968203163487,-0.0032820796072826333],"position_m":[0.16496069682031636,-0.14938207960728264,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0024482722097172284,0.0045149401856125855],"position_m":[0.27145172779028276,-0.3442850598143874,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0025709683478487523,0.004741306502786524],"position_m":[0.30472903165215126,0.28484130650278655,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0018829200219104905,0.0016743588970643541],"position_m":[0.36138292002191047,0.061974358897064354,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"11b722f1699609ed54f2c04c81cf10b09a73458184f4e66b6aa8f3c0ebe7025b","episode_index":74,"episode_name":"episode_0074"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0074.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_9775/tex_ceiling_textures_278/tex_floor_textures_6252/tex_table_textures_830/tex_wall_textures_5365","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":5808649235429683119,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":5808649235429683119,"visual_seed":5808649235429683119,"scene_id":"lab_003","finished_at":"2026-09-05T22:53:32"} +{"episode_id":"ep_000075","started_at":"2026-09-05T22:53:36","dimensions":{"distractor":{"count":23,"items":[{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_0","position":[0.49401718907283443,-1.0740574101687739,0.71338606911949],"aabb_xy":[[0.4602416298821415,-1.0880959053819388],[0.5277927482635274,-1.060018914955609]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_1","position":[-0.25487599273480005,0.7162380802433472,0.71338606911949],"aabb_xy":[[-0.2673433508445357,0.7037727556100238],[-0.2424086346250644,0.7287034048766708]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_2","position":[0.3163559029912866,-1.1243476359155604,0.71338606911949],"aabb_xy":[[0.23635590558769312,-1.204340207113743],[0.39635590039487995,-1.0443550647173774]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_3","position":[0.206688032063031,-1.7497992291421378,0.71338606911949],"aabb_xy":[[0.18418889633680402,-1.772299229920401],[0.22918716778925796,-1.727299228363875]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_4","position":[0.7068313510913702,0.5342595124345633,0.71338606911949],"aabb_xy":[[0.6974138765215074,0.5248433352968442],[0.7162488256612329,0.5436756895722823]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_5","position":[0.5528374468580652,1.4711448776169687,0.71338606911949],"aabb_xy":[[0.5399655433571251,1.3911448772031323],[0.5657093503590054,1.5511448780308046]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_6","position":[0.3692822622673786,1.628100207229553,0.71338606911949],"aabb_xy":[[0.3142822640656337,1.5875782406031156],[0.4242822604691234,1.6686221738559908]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_7","position":[-0.37786771037458167,-1.7690419732891252,0.71338606911949],"aabb_xy":[[-0.4418677110780511,-1.8150603557620466],[-0.3138677096711124,-1.7230235908162046]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_8","position":[-0.47406225571306876,-1.2670222207749655,0.71338606911949],"aabb_xy":[[-0.5380622560906023,-1.3167674876257776],[-0.41006225533553514,-1.217276953924153]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_9","position":[-0.5411142035071244,-2.2149981492895314,0.71338606911949],"aabb_xy":[[-0.547615840015129,-2.224765971315841],[-0.5346125669991197,-2.2052303272632217]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_10","position":[-0.4167173158961665,-0.16862769816080947,0.71338606911949],"aabb_xy":[[-0.4293441031833628,-0.17817377186238234],[-0.4040905286089701,-0.15908162445923654]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_11","position":[-0.6194118237025671,-1.719251988337224,0.71338606911949],"aabb_xy":[[-0.67941182421042,-1.776098722023145],[-0.5594118231947142,-1.6624052546513024]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_12","position":[0.28549609856120506,-2.2090611804960614,0.71338606911949],"aabb_xy":[[0.23052237652487217,-2.2640611800602946],[0.34046982059753794,-2.154061180931828]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_13","position":[-0.25592202990117785,-2.24291021031917,0.71338606911949],"aabb_xy":[[-0.3456091062092933,-2.33291021057362],[-0.1662349535930624,-2.152910210064719]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_14","position":[0.06954715887331786,-1.7204417219825947,0.71338606911949],"aabb_xy":[[0.004547160991670061,-1.7715653856891358],[0.13454715675496565,-1.669318058276054]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_15","position":[0.15934217783282634,1.0171692005890103,0.71338606911949],"aabb_xy":[[0.15563891650368744,1.0134671822802925],[0.16304543916196518,1.020871218897728]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_16","position":[0.29725484209632513,-1.9338543559136854,0.71338606911949],"aabb_xy":[[0.23725484123551224,-1.9852807859201715],[0.35725484295713783,-1.8824279259071988]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_17","position":[0.037843414950092025,-0.7218023579281971,0.71338606911949],"aabb_xy":[[0.020210579356564447,-0.73942530394382],[0.05547625054361959,-0.704179411912574]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_18","position":[-0.44870128803169995,-1.0162813958602515,0.71338606911949],"aabb_xy":[[-0.48620128954733166,-1.0275081688763965],[-0.41120128651606824,-1.0050546228441064]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_19","position":[0.4645994421326445,-1.571872185249759,0.71338606911949],"aabb_xy":[[0.4592669274780315,-1.5771965134949948],[0.46993195678725747,-1.5665478570045237]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_20","position":[-0.341020733686185,1.0191245403047238,0.71338606911949],"aabb_xy":[[-0.3860207351524139,0.9741246834432433],[-0.2960207322199562,1.0641243971662047]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_21","position":[-0.4576344909584423,-2.5259467427435665,0.71338606911949],"aabb_xy":[[-0.4663484600083767,-2.5484467434027542],[-0.44892052190850773,-2.503446742084378]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_22","position":[-0.13672669268046744,0.7239160516847525,0.71338606911949],"aabb_xy":[[-0.18654347214530217,0.673916053200449],[-0.08690991321563266,0.7739160501690557]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6909225919771985,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8555.png","name":"8555"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8555.png","name":"8555"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8242.png","name":"8242"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5632.png","name":"5632"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3313.png","name":"3313"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2217.png","name":"2217"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":617.5831603358348,"rotation_z_degrees":239.3034500005522,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006880647864296629,-0.01883538164734117,-0.012119705442226804]},{"name":"camera_2","offset_m":[-0.012053445174621875,0.017787388479741765,-0.013258820883717423]},{"name":"camera_3","offset_m":[-0.006611223492852774,0.018655671120171077,-0.0047609236588349955]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0005576954220505733,-0.0009395986297169468,-9.615103164990258e-05],"end_effector_yaw_offset_degrees":-0.4083844012208313},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.001507755173032478,0.0019199241752795356,-0.00030296321125158443],"end_effector_yaw_offset_degrees":0.5922368492669283},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.000703881139777698,-0.0011303005059993786,-0.0019026529666707997],"end_effector_yaw_offset_degrees":-0.23294638992510763},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0019288838924210801,-0.0015834996836367142,0.0011961011845562455],"end_effector_yaw_offset_degrees":-0.08006239152845929}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004827549320251393,-0.0034519915918289354],"position_m":[0.1683275493202514,-0.14955199159182894,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00012473861741559965,0.0011607053148857292],"position_m":[0.27402473861741555,-0.3476392946851143,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004693034726519916,0.0034069486262630127],"position_m":[0.3026069652734801,0.283506948626263,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001344363791432458,-0.0029559120275590312],"position_m":[0.3608443637914324,0.05734408797244097,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3ca4468a0b209fe596dc98f25f1ff30682dfca333e75528c9285826ec5d067dc","episode_index":75,"episode_name":"episode_0075"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0075.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_8555/tex_ceiling_textures_2217/tex_floor_textures_3313/tex_table_textures_8242/tex_wall_textures_5632","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":3691072230107313936,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":3691072230107313936,"visual_seed":3691072230107313936,"scene_id":"lab_003","finished_at":"2026-09-05T22:57:13"} +{"episode_id":"ep_000076","started_at":"2026-09-05T22:59:38","dimensions":{"distractor":{"count":26,"items":[{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_0","position":[0.6019075492558632,1.2867492252242623,0.71338606911949],"aabb_xy":[[0.5644075506802423,1.274012929560704],[0.6394075478314839,1.29948552088782]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_1","position":[0.6463632833855095,-2.2060615694536323,0.71338606911949],"aabb_xy":[[0.6362102678313599,-2.242131111026372],[0.6565162989396587,-2.1699920278808915]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_2","position":[0.0043477109693362825,-2.1952307606750985,0.71338606911949],"aabb_xy":[[-0.033152289695242414,-2.2109178186753202],[0.04184771163391498,-2.179543702674876]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_3","position":[-0.6800262421046761,0.1911650431772256,0.71338606911949],"aabb_xy":[[-0.6863383416410145,0.18539810392400674],[-0.6737141425683377,0.1969319824304444]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_4","position":[0.48502745908591116,-1.0530040364068078,0.71338606911949],"aabb_xy":[[0.39502745966754027,-1.0863795332509973],[0.575027458504282,-1.019628539562618]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_5","position":[-0.5641915975390805,0.9701120357479405,0.71338606911949],"aabb_xy":[[-0.6441915961959666,0.9556071768236777],[-0.48419159888219454,0.9846168946722033]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_6","position":[0.5460079757083143,0.8414616410582809,0.71338606911949],"aabb_xy":[[0.4960148635991225,0.7914616403840853],[0.5960010878175063,0.8914616417324766]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_7","position":[0.1546314342319216,-2.032299663750947,0.71338606911949],"aabb_xy":[[0.09463143363590543,-2.0871121362961707],[0.21463143482793778,-1.9774871912057237]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_8","position":[0.28539764851397387,-1.2716470529471853,0.71338606911949],"aabb_xy":[[0.24011903363282455,-1.335647052295369],[0.33067626339512307,-1.2076470535990016]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_9","position":[-0.13381736208287542,0.5246517418602097,0.71338606911949],"aabb_xy":[[-0.16380902481674575,0.49465174252340904],[-0.1038256993490051,0.5546517411970101]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_10","position":[0.33958126663102983,1.3547767183207768,0.71338606911949],"aabb_xy":[[0.25958126337318693,1.2747802105287929],[0.41958126988887284,1.4347732261127608]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_11","position":[-0.36617955652049555,0.5773841951682903,0.71338606911949],"aabb_xy":[[-0.44990178202057796,0.48738419163359437],[-0.28245733102041304,0.6673841987029863]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_12","position":[0.378066210869594,-2.2222936764459034,0.71338606911949],"aabb_xy":[[0.3280662105090279,-2.272273663655506],[0.42806621123016003,-2.1723136892363]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_13","position":[0.5347747806677845,-1.7746542708388766,0.71338606911949],"aabb_xy":[[0.46477477803119815,-1.7947591358347417],[0.6047747833043708,-1.7545494058430107]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_14","position":[0.4748301306135003,1.1370782923771956,0.71338606911949],"aabb_xy":[[0.4148301303620991,1.082796967340731],[0.5348301308649015,1.1913596174136603]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_15","position":[-0.3288666404329559,-1.5826793575181768,0.71338606911949],"aabb_xy":[[-0.36386663874365127,-1.5903943724417224],[-0.2938666421222604,-1.5749643425946311]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_16","position":[-0.47919379804953044,-0.6966381763238234,0.71338606911949],"aabb_xy":[[-0.5141937979455493,-0.7050124118357634],[-0.44419379815351157,-0.6882639408118835]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_17","position":[0.6889552941506916,-1.2716390187254403,0.71338606911949],"aabb_xy":[[0.6611102573700844,-1.3024235174637522],[0.7168003309312987,-1.2408545199871288]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_18","position":[-0.32881940925902153,1.1217756381031458,0.71338606911949],"aabb_xy":[[-0.33684567988964753,1.1130241431257932],[-0.32079313862839554,1.1305271330804985]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_19","position":[-0.15780979109203708,0.35556917304215974,0.71338606911949],"aabb_xy":[[-0.22180979277003443,0.30705178156284546],[-0.09380978941403972,0.4040865645214739]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_20","position":[0.23999104167352625,0.8123325285278078,0.71338606911949],"aabb_xy":[[0.22410654840820116,0.7979795882289838],[0.25587553493885146,0.826685468826632]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_21","position":[-0.42189827896003657,0.20691849781494698,0.71338606911949],"aabb_xy":[[-0.5018982800331568,0.19714045147756254],[-0.34189827788691624,0.21669654415233142]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_22","position":[0.05704322147317986,1.1538497071484692,0.71338606911949],"aabb_xy":[[0.01954322130130793,1.1211489717655618],[0.0945432216450518,1.1865504425313762]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_23","position":[0.18575524223497164,-2.5657674640197508,0.71338606911949],"aabb_xy":[[0.168745144944921,-2.5819019525180242],[0.2027653395250223,-2.5496329755214764]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_24","position":[0.002417611818140486,-0.8036685923649531,0.71338606911949],"aabb_xy":[[-0.07758238616264455,-0.8112701333268052],[0.08241760979892553,-0.7960670514031013]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_25","position":[-0.2115460326936039,-0.4630901903277742,0.71338606911949],"aabb_xy":[[-0.2334547148329549,-0.4849908571478649],[-0.18963735055425282,-0.4411895235076834]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6973037149817448,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6971.png","name":"6971"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6971.png","name":"6971"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5881.png","name":"5881"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9849.png","name":"9849"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1050.png","name":"1050"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6822.png","name":"6822"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":521.68498145294,"rotation_z_degrees":50.86814539819312,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016358947301936932,0.01955406253721079,0.011528098854605009]},{"name":"camera_2","offset_m":[0.010956289514680275,0.017619958704408096,-0.002999957693902114]},{"name":"camera_3","offset_m":[0.007211599676232167,-0.015094315845689455,-0.019101470483869797]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0011134864845095999,-0.0014493911448235208,-0.0007793501395275987],"end_effector_yaw_offset_degrees":0.006616434798623949},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0019618824973268176,-0.00040652103027750074,-0.0006257957914594262],"end_effector_yaw_offset_degrees":-0.12658507471198033},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0010654294910526587,-0.0006384575023661223,-0.001206412660759157],"end_effector_yaw_offset_degrees":-0.31000464113618253},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0007189962974119123,-0.001108361473044351,-0.0007968332351215484],"end_effector_yaw_offset_degrees":0.8162807292728449}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0016260510049490194,-0.002806534031851442],"position_m":[0.16187394899505098,-0.14890653403185145,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004994781914180455,-0.0031545947021230916],"position_m":[0.27889478191418043,-0.3519545947021231,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003550090842543159,-0.0005114112080652367],"position_m":[0.30374990915745687,0.27958858879193477,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0042156504743544885,0.001239617207462712],"position_m":[0.3637156504743545,0.06153961720746271,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"01ea1d6954d10e0a5fe1ed61f047230156941e3102a5bf94763e67bd1df87d1b","episode_index":77,"episode_name":"episode_0077"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0077.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_6971/tex_ceiling_textures_6822/tex_floor_textures_1050/tex_table_textures_5881/tex_wall_textures_9849","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":1099953006082615785,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":1099953006082615785,"visual_seed":1099953006082615785,"scene_id":"lab_003","finished_at":"2026-09-05T23:03:14"} +{"episode_id":"ep_000077","started_at":"2026-09-05T23:03:17","dimensions":{"distractor":{"count":27,"items":[{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_0","position":[-0.09867611988442238,-1.6882872552180954,0.71338606911949],"aabb_xy":[[-0.10357541219098584,-1.7159641745206642],[-0.09377682757785885,-1.6606103359155266]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_1","position":[0.047836105609640245,1.2182416512675855,0.71338606911949],"aabb_xy":[[0.03033610535030363,1.2041501090788131],[0.06533610586897688,1.2323331934563584]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_2","position":[-0.3892847594625049,1.5261812493427436,0.71338606911949],"aabb_xy":[[-0.4532847613748473,1.4702701000847331],[-0.3252847575501626,1.582092398600754]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_3","position":[-0.6101158341320848,-1.726591676963954,0.71338606911949],"aabb_xy":[[-0.6252880034137183,-1.7417605338921576],[-0.5949436648504516,-1.7114228200357509]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_4","position":[-0.37492199336253335,-1.821226547066002,0.71338606911949],"aabb_xy":[[-0.40992199255535156,-1.8321935930636641],[-0.339921994169715,-1.810259501068339]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_5","position":[0.4439046414172061,-2.370266800199186,0.71338606911949],"aabb_xy":[[0.35390463774028785,-2.43169920677629],[0.5339046450941242,-2.308834393622081]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_6","position":[-0.39686541823625077,0.15964400867350736,0.71338606911949],"aabb_xy":[[-0.44686042919570285,0.10964400963791565],[-0.34687040727679874,0.2096440077090991]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_7","position":[0.20477724200283298,-2.0880187912566432,0.71338606911949],"aabb_xy":[[0.12477724172922601,-2.1609683390823595],[0.28477724227643997,-2.015069243430926]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_8","position":[0.4585269919653421,0.41027047797508187,0.71338606911949],"aabb_xy":[[0.4085269903038473,0.3602720357193791],[0.5085269936268368,0.46026892023078453]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_9","position":[0.5727280269035484,1.535692369769008,0.71338606911949],"aabb_xy":[[0.5654667793331409,1.5229053595054984],[0.5799892744739559,1.5484793800325174]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_10","position":[-0.4607988480365256,0.940158156166341,0.71338606911949],"aabb_xy":[[-0.5257988459181735,0.8890344924598003],[-0.39579885015487787,0.991281819872882]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_11","position":[0.062368448493624995,1.732392341029772,0.71338606911949],"aabb_xy":[[0.05159547457225721,1.6973923428107327],[0.07314142241499277,1.7673923392488107]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_12","position":[-0.4052308483959422,0.5631726376512782,0.71338606911949],"aabb_xy":[[-0.47023084950188554,0.5382072645831499],[-0.34023084728999897,0.5881380107194065]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_13","position":[0.5260887864842068,1.647528552070043,0.71338606911949],"aabb_xy":[[0.49362708560227925,1.6173957199551399],[0.5585504873661341,1.677661384184945]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_14","position":[0.2754677246498137,1.0813440147595736,0.71338606911949],"aabb_xy":[[0.25046772537785145,1.0649986511634113],[0.300467723921776,1.097689378355736]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_15","position":[0.5620187766011742,-1.7305095490335645,0.71338606911949],"aabb_xy":[[0.5539824418998892,-1.7385476683379812],[0.5700551113024589,-1.7224714297291477]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_16","position":[-0.09413397726197814,1.1878392495582761,0.71338606911949],"aabb_xy":[[-0.14413397683831286,1.1378586706061702],[-0.044133977685643436,1.237819828510382]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_17","position":[-0.5510598113011809,-2.367618998727972,0.71338606911949],"aabb_xy":[[-0.5677369472942763,-2.3843189227019024],[-0.5343826753080853,-2.350919074754042]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_18","position":[-0.5047568416422843,-1.4325154366217192,0.71338606911949],"aabb_xy":[[-0.5128704963156613,-1.4406212530757485],[-0.4966431869689071,-1.4244096201676903]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_19","position":[-0.5810600866243444,-1.9312471006883993,0.71338606911949],"aabb_xy":[[-0.6288662542381129,-1.9962471033954579],[-0.5332539190105756,-1.86624709798134]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_20","position":[0.5248052462448034,0.0072000675175498685,0.71338606911949],"aabb_xy":[[0.5101618406907704,-0.007458652139234413],[0.5394486517988364,0.02185878717433415]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_21","position":[-0.4761814659984963,-0.5438394104432258,0.71338606911949],"aabb_xy":[[-0.4862631730770697,-0.6238394083353404],[-0.4660997589199227,-0.46383941255111105]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_22","position":[0.6276344619489429,-0.29614652279946707,0.71338606911949],"aabb_xy":[[0.5826418752304925,-0.34114652207391577],[0.6726270486673933,-0.25114652352501826]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_23","position":[0.42264970827029846,-1.9174231292268384,0.71338606911949],"aabb_xy":[[0.39906458480640356,-1.9824231314722702],[0.44623483173419326,-1.8524231269814067]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_24","position":[-0.33640840677443495,-1.3588236176513322,0.71338606911949],"aabb_xy":[[-0.37390840659146846,-1.363461828962474],[-0.29890840695740134,-1.3541854063401904]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_25","position":[-0.1789228913093771,0.8711964591224608,0.71338606911949],"aabb_xy":[[-0.2489228929116566,0.8577636659208032],[-0.10892288970709763,0.8846292523241184]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_26","position":[0.16075488248721193,-1.0849687594444817,0.71338606911949],"aabb_xy":[[0.09075487909564993,-1.1202845331479125],[0.23075488587877388,-1.0496529857410508]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6915003028611392,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/162.png","name":"162"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/162.png","name":"162"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/530.png","name":"530"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9559.png","name":"9559"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8385.png","name":"8385"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3422.png","name":"3422"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":557.7021336589187,"rotation_z_degrees":96.68033813305655,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0018413310303760921,0.015739860775933156,0.010050836559201436]},{"name":"camera_2","offset_m":[0.012398731452386524,-0.0015411844547723874,0.010632891776190579]},{"name":"camera_3","offset_m":[0.012120755514800196,0.014244802471273726,-0.010252032528305262]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0014831349183159334,-2.9879399845414174e-05,-0.00035701584554743786],"end_effector_yaw_offset_degrees":-0.6636291769643621},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0006198516159118851,0.0002805525745778739,0.0003949909438923185],"end_effector_yaw_offset_degrees":-0.109369326820552},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00041344170574888215,0.0015037763537650187,0.001898398622796138],"end_effector_yaw_offset_degrees":-0.8066764176007304},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-8.643610546545154e-05,-3.059453565832076e-05,0.0003013389729995303],"end_effector_yaw_offset_degrees":-0.321588703842824}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.001665503700122025,-0.0014641594438734341],"position_m":[0.16516550370012203,-0.14756415944387344,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001009063333889706,-0.0019197572381231976],"position_m":[0.27289093666611025,-0.3507197572381232,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0005871241161673427,0.00014336976958225986],"position_m":[0.30671287588383267,0.28024336976958225,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0012434231552868567,0.002253326425294606],"position_m":[0.36074342315528685,0.06255332642529461,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"623bc168cc4f33bf02054a71a2a103236a5658f0ff670bf19b2d2ad447466ebb","episode_index":78,"episode_name":"episode_0078"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0078.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_162/tex_ceiling_textures_3422/tex_floor_textures_8385/tex_table_textures_530/tex_wall_textures_9559","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":7608536056915607768,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":7608536056915607768,"visual_seed":7608536056915607768,"scene_id":"lab_003","finished_at":"2026-09-05T23:06:53"} +{"episode_id":"ep_000078","started_at":"2026-09-05T23:06:56","dimensions":{"distractor":{"count":35,"items":[{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_0","position":[-0.36704737271349325,-1.1369961938257442,0.71338606911949],"aabb_xy":[[-0.37712907979206667,-1.2169961917178587],[-0.3569656656349197,-1.0569961959336294]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_1","position":[-0.6832903545914486,-1.4911293145720421,0.71338606911949],"aabb_xy":[[-0.6920715817386849,-1.4999090618605728],[-0.6745091274442123,-1.4823495672835123]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_2","position":[0.6196572672123213,-0.9289726118137553,0.71338606911949],"aabb_xy":[[0.6115436125389442,-0.9370784282677844],[0.6277709218856984,-0.9208667953597263]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_3","position":[-0.18852651360857176,-1.647803247800311,0.71338606911949],"aabb_xy":[[-0.23852578877700792,-1.6978032490762587],[-0.1385272384401356,-1.5978032465243643]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_4","position":[0.3299374774495212,-0.827265891689221,0.71338606911949],"aabb_xy":[[0.2798400134684475,-0.891265892199033],[0.38003494143059474,-0.7632658911794094]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_5","position":[-0.647454474119022,1.397577842448967,0.71338606911949],"aabb_xy":[[-0.6527920497850266,1.3725778415198275],[-0.6421168984530174,1.422577843378107]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_6","position":[0.4667995113108456,-1.1364610272409836,0.71338606911949],"aabb_xy":[[0.38679951434780646,-1.2135366688847569],[0.5467995082738848,-1.05938538559721]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_7","position":[0.27129587905472397,-2.3663733544212544,0.71338606911949],"aabb_xy":[[0.25428578176467326,-2.3825078429195283],[0.28830597634477456,-2.3502388659229805]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_8","position":[0.5283882467258776,0.05032043659504204,0.71338606911949],"aabb_xy":[[0.5123263192673598,-0.034679565217549765],[0.5444501741843951,0.13532043840763383]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_9","position":[-0.5726672743361229,-1.1283794545584287,0.71338606911949],"aabb_xy":[[-0.6030653854352663,-1.158786356560098],[-0.5422691632369792,-1.097972552556759]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_10","position":[-0.5759891109121824,-0.09210532037817165,0.71338606911949],"aabb_xy":[[-0.611618266812142,-0.1277379871350246],[-0.5403599550122226,-0.056472653621318716]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_11","position":[0.08881872381283595,-1.0570913749382072,0.71338606911949],"aabb_xy":[[0.07947171623054072,-1.0713949971558512],[0.09816573139513118,-1.0427877527205631]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_12","position":[0.637795940720173,-1.325719341635242,0.71338606911949],"aabb_xy":[[0.6202959404608365,-1.3398108838240148],[0.6552959409795097,-1.3116277994464696]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_13","position":[-0.4829625349354977,-1.9397689233144761,0.71338606911949],"aabb_xy":[[-0.5529625313454594,-1.9602068589661574],[-0.41296253852553577,-1.919330987662794]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_14","position":[-0.34739249989178955,0.24092419103706142,0.71338606911949],"aabb_xy":[[-0.4050229687790603,0.1809241921103508],[-0.28976203100451864,0.30092418996377196]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_15","position":[-0.436308096002261,0.632748225350023,0.71338606911949],"aabb_xy":[[-0.46130809527422334,0.6164028617538606],[-0.4113080967302988,0.6490935889461853]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_16","position":[0.10140950898267176,-1.9515484006367556,0.71338606911949],"aabb_xy":[[0.03740950707032942,-2.007459549894766],[0.1654095108950141,-1.8956372513787452]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_17","position":[-0.32494458976311885,1.036046266323944,0.71338606911949],"aabb_xy":[[-0.3720739687649545,0.9720462652795419],[-0.2778152107612832,1.1000462673683458]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_18","position":[0.7087412761896978,-0.9509938693616322,0.71338606911949],"aabb_xy":[[0.7006135879963846,-0.9599074777723399],[0.7168689643830111,-0.9420802609509246]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_19","position":[0.599631245374014,-1.023174450207371,0.71338606911949],"aabb_xy":[[0.5931296088660095,-1.032942272233681],[0.6061328818820187,-1.0134066281810614]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_20","position":[-0.644078148177713,0.8497331142222886,0.71338606911949],"aabb_xy":[[-0.6481563060847628,0.8456521339740253],[-0.6399999902706632,0.8538140944705519]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_21","position":[0.6599574420676777,1.0145009582178264,0.71338606911949],"aabb_xy":[[0.6396731393442788,0.9942183330751174],[0.6802417447910764,1.034783583360535]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_22","position":[-0.12495511517873892,1.5392442225562175,0.71338606911949],"aabb_xy":[[-0.1323675707201274,1.5333930121345893],[-0.11754265963735043,1.5450954329778452]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_23","position":[-0.3980808194543149,-1.6622117821739244,0.71338606911949],"aabb_xy":[[-0.42436964377475545,-1.6884832158285754],[-0.3717919951338741,-1.635940348519273]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_24","position":[0.001974413239995254,-1.117445074669085,0.71338606911949],"aabb_xy":[[-0.03261666961404996,-1.1824450749541158],[0.036565496094040466,-1.0524450743840537]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_25","position":[-0.4699696878160194,1.6834755218389863,0.71338606911949],"aabb_xy":[[-0.5249651656366787,1.6284755204050791],[-0.41497420999535994,1.738475523272893]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_26","position":[0.5972772032295302,-0.4925230691911442,0.71338606911949],"aabb_xy":[[0.5747780675033032,-0.515023069969407],[0.6197763389557571,-0.4700230684128811]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_27","position":[-0.344804507690619,-0.8566848988698892,0.71338606911949],"aabb_xy":[[-0.42480450816083504,-0.8649956064842378],[-0.2648045072204031,-0.848374191255541]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_28","position":[-0.23050475044034058,0.826217783782504,0.71338606911949],"aabb_xy":[[-0.3005047530769269,0.8061129187866385],[-0.1605047478037542,0.8463226487783695]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_29","position":[0.4936346991620937,0.6808038516613477,0.71338606911949],"aabb_xy":[[0.48564120936681177,0.6728057197208721],[0.5016281889573758,0.6888019836018233]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_30","position":[0.10364623004387719,1.0045983566043457,0.71338606911949],"aabb_xy":[[0.0917134956820491,0.9922162037964863],[0.11557896440570524,1.016980509412205]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_31","position":[-0.0001516963330522314,-2.507774138016314,0.71338606911949],"aabb_xy":[[-0.05015169577324785,-2.5577420625006297],[0.04984830310714339,-2.457806213531997]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_32","position":[0.1094889965605439,1.36777332051932,0.71338606911949],"aabb_xy":[[0.059495884451351996,1.3177733198451245],[0.15948210866973578,1.4177733211935157]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_33","position":[0.38155075916764924,0.6042002887021187,0.71338606911949],"aabb_xy":[[0.36638788619071216,0.5890348314070001],[0.3967136321445864,0.6193657459972376]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_34","position":[0.22842292495596306,1.2267828587164158,0.71338606911949],"aabb_xy":[[0.22378780980372967,1.2229155236392668],[0.23305804010819645,1.2306501937935643]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6931738406096263,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1836.png","name":"1836"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1836.png","name":"1836"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4495.png","name":"4495"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5076.png","name":"5076"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6767.png","name":"6767"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2365.png","name":"2365"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":714.4392677964581,"rotation_z_degrees":96.73166526155121,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0024846404216997964,0.012815085045822575,0.010136921047591722]},{"name":"camera_2","offset_m":[-0.01822246864856802,-0.008879359229119426,0.0052867303694614926]},{"name":"camera_3","offset_m":[0.00740068956932503,0.011773308596389833,0.006777646198455601]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0011287340565243656,-2.5378988639445862e-05,0.0012396589993502495],"end_effector_yaw_offset_degrees":0.9438601205576818},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0001665073518674104,0.0004140190824251256,-0.0019368081710578187],"end_effector_yaw_offset_degrees":0.5017415657248068},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00010558620700365702,0.0003881159038085619,-0.0019764071534806686],"end_effector_yaw_offset_degrees":0.7141779774137946},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0011859162968170431,0.0017524769493541237,0.001988917773123553],"end_effector_yaw_offset_degrees":0.3465744750254587}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.002714129667848392,0.004199628016832821],"position_m":[0.1662141296678484,-0.14190037198316718,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00040423838738856775,-0.002817848695433246],"position_m":[0.27430423838738854,-0.3516178486954332,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0011491815234253968,-0.0032890117313325576],"position_m":[0.30844918152342543,0.27681098826866746,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0038772309426571496,-0.0024966937415141464],"position_m":[0.35562276905734286,0.057803306258485856,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8d2248a1cd4d80b6d014a9c1ccae7d9558a53df664ffb27464e2c46742eb94ae","episode_index":79,"episode_name":"episode_0079"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0079.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_1836/tex_ceiling_textures_2365/tex_floor_textures_6767/tex_table_textures_4495/tex_wall_textures_5076","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":7869405558612834519,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":7869405558612834519,"visual_seed":7869405558612834519,"scene_id":"lab_003","finished_at":"2026-09-05T23:10:16"} +{"episode_id":"ep_000079","started_at":"2026-09-05T23:10:20","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_0","position":[0.32921285012711543,-0.6329388326710896,0.71338606911949],"aabb_xy":[[0.26521284871912476,-0.6847277841950142],[0.3932128515351061,-0.5811498811471648]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_1","position":[-0.08224941174775824,0.64158503817151,0.71338606911949],"aabb_xy":[[-0.093022385669126,0.606585039952471],[-0.07147643782639045,0.676585036390549]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_2","position":[0.3962978806206925,-1.4656885686274579,0.71338606911949],"aabb_xy":[[0.3836951814836161,-1.4782839648523234],[0.408900579757769,-1.4530931724025924]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_3","position":[0.4871408368118788,-0.9658788612270564,0.71338606911949],"aabb_xy":[[0.40214083839445564,-1.0507531566893413],[0.572140835229302,-0.8810045657647713]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_4","position":[-0.06352115709518669,0.5332574656054234,0.71338606911949],"aabb_xy":[[-0.07232321240415937,0.5254461394504942],[-0.054719101786213954,0.5410687917603524]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_5","position":[0.639733402694578,-1.2343127420167315,0.71338606911949],"aabb_xy":[[0.6172334021825373,-1.2568046003821298],[0.6622334032066185,-1.2118208836513331]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_6","position":[0.44765984107094825,0.4714775553462709,0.71338606911949],"aabb_xy":[[0.4015747498162167,0.4074775580937158],[0.4937449323256797,0.535477552598826]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_7","position":[-0.3230064292534461,0.22016302412768818,0.71338606911949],"aabb_xy":[[-0.34628827145157737,0.13516302283046008],[-0.2997245870553147,0.3051630254249162]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_8","position":[-0.616143408328026,0.5176587823202397,0.71338606911949],"aabb_xy":[[-0.6248413706187412,0.5055338080127649],[-0.6074454460373107,0.5297837566277144]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_9","position":[0.2862533362427526,1.1509996061760246,0.71338606911949],"aabb_xy":[[0.24348662936333237,1.0869996027542224],[0.32902004312217276,1.2149996095978273]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_10","position":[-0.5842370496935174,1.551081504777541,0.71338606911949],"aabb_xy":[[-0.6342370492698521,1.501100925825435],[-0.5342370501171827,1.601062083729647]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_11","position":[-0.4294215436784034,-1.8381007695028393,0.71338606911949],"aabb_xy":[[-0.5094215451085307,-1.9176179245154485],[-0.34942154224827615,-1.7585836144902296]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_12","position":[0.09962443904837115,-2.2291673563572445,0.71338606911949],"aabb_xy":[[0.03562444262104926,-2.276336980179341],[0.16362443547569305,-2.181997732535148]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_13","position":[0.22537816699097668,-1.3258610372423227,0.71338606911949],"aabb_xy":[[0.18852761905398907,-1.3633610380653565],[0.2622287149279643,-1.288361036419289]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_14","position":[-0.2958860743253715,-1.4046668150883308,0.71338606911949],"aabb_xy":[[-0.3558860759682933,-1.4566669643802752],[-0.2358860726824496,-1.3526666657963868]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_15","position":[0.637842346151585,-2.3882296710522217,0.71338606911949],"aabb_xy":[[0.6276893305974354,-2.424299212624961],[0.6479953617057341,-2.3521601294794805]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_16","position":[0.08889904151279593,-0.8376221886796249,0.71338606911949],"aabb_xy":[[0.0338990433110511,-0.8781441553060624],[0.14389903971454077,-0.7971002220531872]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_17","position":[-0.1503035341671889,1.700552323722842,0.71338606911949],"aabb_xy":[[-0.17019457404752913,1.6878965124381453],[-0.13041249428684865,1.713208135007539]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_18","position":[-0.3516952278942951,1.0220111963304754,0.71338606911949],"aabb_xy":[[-0.4416952246299053,0.9688277330131807],[-0.26169523115868487,1.0751946596477697]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_19","position":[-0.37127490797796464,-2.417988885619041,0.71338606911949],"aabb_xy":[[-0.41627490944419354,-2.462988742480522],[-0.3262749065117358,-2.372989028757561]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_20","position":[0.6768360015308752,-0.9540531469623752,0.71338606911949],"aabb_xy":[[0.6468443387970049,-0.9840531462991756],[0.7068276642647455,-0.9240531476255746]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_21","position":[0.0029683242175023716,-1.301405713097827,0.71338606911949],"aabb_xy":[[-0.01309360324101527,-1.3864057149104188],[0.019030251676020012,-1.2164057112852351]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_22","position":[0.6638202155317328,-0.5561144471574444,0.71338606911949],"aabb_xy":[[0.637531391211292,-0.5823858808120956],[0.6901090398521733,-0.5298430135027932]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_23","position":[-0.13481405224216314,1.4556890130241729,0.71338606911949],"aabb_xy":[[-0.20481405437359262,1.432927047398477],[-0.06481405011073355,1.4784509786498683]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_24","position":[0.5117564644829304,-0.8179453710398468,0.71338606911949],"aabb_xy":[[0.4941781622939836,-0.8355198606139517],[0.5293347666718773,-0.8003708814657419]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_25","position":[0.42204185610361744,-2.450152338285722,0.71338606911949],"aabb_xy":[[0.36704185648187165,-2.505136031073195],[0.47704185572536334,-2.3951686454982495]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_26","position":[-0.4875831488741882,-1.3189563283540162,0.71338606911949],"aabb_xy":[[-0.5775831453750598,-1.3648679707724742],[-0.3975831523733164,-1.2730446859355578]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_27","position":[-0.25649924153547154,-0.16946186314586598,0.71338606911949],"aabb_xy":[[-0.26452551216609754,-0.17821335812321862],[-0.24847297090484555,-0.1607103681685134]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_28","position":[0.4417390885388093,1.54004532647738,0.71338606911949],"aabb_xy":[[0.4378252153433868,1.5312963110708233],[0.44565296173423186,1.548794341883937]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_29","position":[0.5357448813051948,0.8146609178662825,0.71338606911949],"aabb_xy":[[0.5284836337347875,0.8018739076027729],[0.5430061288756024,0.8274479281297918]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6946310660683347,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6393.png","name":"6393"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6393.png","name":"6393"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4881.png","name":"4881"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9487.png","name":"9487"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7771.png","name":"7771"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7652.png","name":"7652"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":662.4634815876758,"rotation_z_degrees":187.0087461010976,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011975304394174522,0.008950728753753339,0.01230760990182166]},{"name":"camera_2","offset_m":[-0.019796684562087163,0.012182485938587607,0.0043239128111197955]},{"name":"camera_3","offset_m":[0.013067064812379205,0.01884699892921952,0.0036243528392606757]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0017738647388699318,-0.0010370189240682436,0.0006731046208539792],"end_effector_yaw_offset_degrees":-0.7538473206338216},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0009043465059603215,0.0019139467835403547,-0.0006018604226795908],"end_effector_yaw_offset_degrees":0.8241315786330885},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001399430000683266,-0.0006117677891396163,-0.001616475360025341],"end_effector_yaw_offset_degrees":0.17304647191147216},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0013058632402534248,-0.0011461317537575573,-0.0016460510360700505],"end_effector_yaw_offset_degrees":0.41773595391126017}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.002735706671561108,-0.004192011402256415],"position_m":[0.1607642933284389,-0.15029201140225643,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0009842464212762095,-0.004702663361331983],"position_m":[0.2748842464212762,-0.35350266336133196,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004080653772438789,0.004319086301318738],"position_m":[0.3113806537724388,0.28441908630131874,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0018790104594056788,-0.0019044097279254926],"position_m":[0.3576209895405943,0.058395590272074506,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8e1424d4e4b74f0cdc268e98bb8c2bd195f4f2da9009031379ec41799b9bc045","episode_index":80,"episode_name":"episode_0080"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0080.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_6393/tex_ceiling_textures_7652/tex_floor_textures_7771/tex_table_textures_4881/tex_wall_textures_9487","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":7809318072728288201,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":7809318072728288201,"visual_seed":7809318072728288201,"scene_id":"lab_003","finished_at":"2026-09-05T23:14:03"} +{"episode_id":"ep_000080","started_at":"2026-09-05T23:14:07","dimensions":{"distractor":{"count":20,"items":[{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_0","position":[-0.45837208466160984,0.4603362926095995,0.71338606911949],"aabb_xy":[[-0.5083669175895514,0.4103362937143559],[-0.40837725173366823,0.510336291504843]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_1","position":[-0.06396864561141846,-2.263976741019336,0.71338606911949],"aabb_xy":[[-0.14396864262566644,-2.284111292692747],[0.016031351402829533,-2.243842189345924]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_2","position":[0.5274366757164923,-0.2388963197592946,0.71338606911949],"aabb_xy":[[0.43743667203957404,-0.3003287263363989],[0.6174366793934104,-0.1774639131821902]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_3","position":[0.40051703450158427,-2.008628632654041,0.71338606911949],"aabb_xy":[[0.34051703285866236,-2.060628781945985],[0.46051703614450606,-1.9566284833620968]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_4","position":[0.35175947212542513,-2.363461437379162,0.71338606911949],"aabb_xy":[[0.28675947101948185,-2.38842681044729],[0.4167594732313684,-2.3384960643110335]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_5","position":[0.05131155194116799,-0.6690565596554381,0.71338606911949],"aabb_xy":[[0.03388083686216148,-0.6863286743192888],[0.0687422670201745,-0.6517844449915872]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_6","position":[0.5002536425331863,-1.3503744375220847,0.71338606911949],"aabb_xy":[[0.42025363926917314,-1.363934469830998],[0.5802536457971994,-1.3368144052131714]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_7","position":[-0.3040686953834398,-2.2012762804822468,0.71338606911949],"aabb_xy":[[-0.3079825685788623,-2.2100252958888036],[-0.30015482218801726,-2.19252726507569]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_8","position":[0.19836487544256998,1.4848740443250867,0.71338606911949],"aabb_xy":[[0.14336487626598046,1.4298843695501289],[0.25336487461915946,1.5398637191000442]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_9","position":[0.21810938949004488,-0.6555829268463329,0.71338606911949],"aabb_xy":[[0.193595765393039,-0.6798475201483695],[0.2426230135870507,-0.6313183335442966]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_10","position":[0.665159308578479,1.7220839506054815,0.71338606911949],"aabb_xy":[[0.623854765514743,1.6580839510373642],[0.7064638516422149,1.7860839501735983]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_11","position":[0.516723860294233,-2.3348085656136086,0.71338606911949],"aabb_xy":[[0.5066421532156594,-2.414808563505723],[0.5268055673728064,-2.2548085677214935]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_12","position":[0.1746576077668145,-1.9736858441038516,0.71338606911949],"aabb_xy":[[0.13715760697481902,-1.9800536850620416],[0.2121576085588099,-1.9673180031456616]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_13","position":[-0.5977881559104632,1.5956837432624362,0.71338606911949],"aabb_xy":[[-0.6477881568609959,1.5641345962589146],[-0.5477881549599303,1.6272328902659574]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_14","position":[-0.15354969773890959,-0.9893558364792445,0.71338606911949],"aabb_xy":[[-0.20354969875804488,-1.0258220522170727],[-0.10354969671977432,-0.9528896207414168]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_15","position":[0.11161256504973327,-1.3193455611685956,0.71338606911949],"aabb_xy":[[0.10036750947911544,-1.3305873588926909],[0.1228576206203511,-1.3081037634445003]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_16","position":[0.6495084195112792,1.207772572097201,0.71338606911949],"aabb_xy":[[0.6415851392725309,1.1852725718591977],[0.6574316997500276,1.2302725723352044]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_17","position":[-0.5239192131313932,0.13237066940522624,0.71338606911949],"aabb_xy":[[-0.5464192133749086,0.12016603474545429],[-0.5014192128878778,0.1445753040649982]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_18","position":[0.5445892801871539,0.17125763076564127,0.71338606911949],"aabb_xy":[[0.48058928290150515,0.12975091181279733],[0.6085892774728024,0.21276434971848526]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_19","position":[-0.46659079422646743,1.011977086213581,0.71338606911949],"aabb_xy":[[-0.5305907933962374,0.9652103990946185],[-0.40259079505669754,1.0587437733325433]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6855270590872352,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3490.png","name":"3490"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3490.png","name":"3490"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4083.png","name":"4083"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8231.png","name":"8231"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3094.png","name":"3094"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9447.png","name":"9447"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":576.6714731847294,"rotation_z_degrees":179.77239596793262,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019846748628382253,-0.018794056870779726,-0.017986503107630593]},{"name":"camera_2","offset_m":[-0.0037148739857619482,0.0001486250272622197,-0.004940697345491234]},{"name":"camera_3","offset_m":[-0.00412009458322192,0.004227853709981945,-0.0011830222597733892]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0008983521084227788,0.00019363141676421048,0.0012800070512607757],"end_effector_yaw_offset_degrees":0.6181103543126862},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0007042298889866254,-0.00012857644758378496,-0.0012396024988093157],"end_effector_yaw_offset_degrees":-0.30735079578031654},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008874136248628304,0.00015658651201452085,-0.0008544615168123496],"end_effector_yaw_offset_degrees":0.984344779106928},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010468241060923385,0.0005954111438488301,0.001440546869012058],"end_effector_yaw_offset_degrees":0.3781258454620704}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.001219479243339966,-0.000998971959553987],"position_m":[0.16471947924333996,-0.147098971959554,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004306405761854579,0.004273672438112165],"position_m":[0.2695935942381454,-0.34452632756188784,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0012395742163239022,-0.0037908022656798534],"position_m":[0.3060604257836761,0.27630919773432017,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003131177223059909,0.0010536013479970083],"position_m":[0.3626311772230599,0.06135360134799701,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"dd99eb783117e2c73f623e95ec675e7ed49f9170631831b381e39eb445b8d9d9","episode_index":81,"episode_name":"episode_0081"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0081.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_3490/tex_ceiling_textures_9447/tex_floor_textures_3094/tex_table_textures_4083/tex_wall_textures_8231","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":1732832664000533601,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":1732832664000533601,"visual_seed":1732832664000533601,"scene_id":"lab_003","finished_at":"2026-09-05T23:17:37"} +{"episode_id":"ep_000081","started_at":"2026-09-05T23:17:41","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_0","position":[-0.0492443992397249,1.7945405620259076,0.71338606911949],"aabb_xy":[[-0.06357882436588835,1.782480346471369],[-0.03490997411356145,1.8066007775804467]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_1","position":[-0.05575337981969575,-0.07838311959069744,0.71338606911949],"aabb_xy":[[-0.10574821274763735,-0.12838311848594097],[-0.005758546891754146,-0.0283831206954539]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_2","position":[0.7064587220641447,1.692601976322441,0.71338606911949],"aabb_xy":[[0.6889587886301614,1.6751019764022064],[0.7239586554981281,1.7101019762426755]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_3","position":[0.39872324794506575,1.123407758301496,0.71338606911949],"aabb_xy":[[0.3619286148201594,1.0865018832049138],[0.43551788106997197,1.1603136333980784]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_4","position":[0.5714131614600486,0.30943778593109217,0.71338606911949],"aabb_xy":[[0.49141315820220566,0.22944127813910825],[0.6514131647178916,0.3894342937230762]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_5","position":[0.0965930408882556,1.3863853449479153,0.71338606911949],"aabb_xy":[[0.0868370513790817,1.3766228108886807],[0.10634903039742948,1.3961478790071495]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_6","position":[0.07238951640327163,0.9618996858832647,0.71338606911949],"aabb_xy":[[0.008389513184633782,0.9151765739842563],[0.13638951962190948,1.008622797782273]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_7","position":[0.328379264897269,1.7281290363709778,0.71338606911949],"aabb_xy":[[0.31575247761007263,1.7185829626694047],[0.34100605218446534,1.7376751100725505]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_8","position":[-0.5987450966872487,-1.1913864462853163,0.71338606911949],"aabb_xy":[[-0.6066683769259971,-1.2138864465233197],[-0.5908218164485004,-1.168886446047313]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_9","position":[-0.39936782255935815,-1.0011948399381307,0.71338606911949],"aabb_xy":[[-0.43686782098275845,-1.014359053905961],[-0.36186782413595775,-0.9880306259702999]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_10","position":[-0.3762570687033116,1.7754513152181093,0.71338606911949],"aabb_xy":[[-0.38429340340459645,1.7674131959136925],[-0.36822073400202676,1.783489434522526]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_11","position":[-0.012986982979035888,-1.6089262194704925,0.71338606911949],"aabb_xy":[[-0.02854275238930116,-1.6244766527149],[0.0025687864312293755,-1.5933757862260856]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_12","position":[0.28206274380197327,0.6518692388672394,0.71338606911949],"aabb_xy":[[0.2712897698806055,0.6168692406482003],[0.29283571772334105,0.6868692370862782]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_13","position":[0.11586817217598455,-2.4002385443735315,0.71338606911949],"aabb_xy":[[0.07901762423899696,-2.437738545196565],[0.15271872011297216,-2.3627385435504977]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_14","position":[-0.17613825479569434,-0.8845504970400861,0.71338606911949],"aabb_xy":[[-0.19363825393006148,-0.8944301240776739],[-0.15863825566132714,-0.8746708700024982]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_15","position":[0.6091082144181856,-1.2326346228831495,0.71338606911949],"aabb_xy":[[0.5191082179173138,-1.2785462653016075],[0.6991082109190573,-1.186722980464691]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_16","position":[-0.6321456700253433,-1.7815673954625966,0.71338606911949],"aabb_xy":[[-0.6473085430022804,-1.7967328527577155],[-0.6169827970484062,-1.766401938167478]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_17","position":[0.6180146980038677,-0.13618214775768767,0.71338606911949],"aabb_xy":[[0.5809805885758078,-0.17055935509139708],[0.6550488074319273,-0.1018049404239782]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_18","position":[0.28128141067292745,-2.242244856181139,0.71338606911949],"aabb_xy":[[0.21628140803513396,-2.2937244548805857],[0.34628141331072093,-2.190765257481692]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_19","position":[0.11492811734225905,-2.509477538870778,0.71338606911949],"aabb_xy":[[0.1036830617716412,-2.5207193365948735],[0.12617317291287689,-2.498235741146683]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_20","position":[-0.40827517206171854,-2.191175159997008,0.71338606911949],"aabb_xy":[[-0.43077430778794545,-2.2136751607752707],[-0.3857760363354915,-2.168675159218745]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_21","position":[-0.40044722414143974,-1.2813554115219334,0.71338606911949],"aabb_xy":[[-0.435447223334258,-1.2923224575195957],[-0.3654472249486215,-1.2703883655242707]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_22","position":[0.3807055938613215,-1.0903040416752894,0.71338606911949],"aabb_xy":[[0.32668999757942147,-1.1543040445675465],[0.43472119014322147,-1.0263040387830322]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_23","position":[-0.11060710704733534,-1.8320581458394782,0.71338606911949],"aabb_xy":[[-0.13310710755937594,-1.8545500042048766],[-0.08810710653529473,-1.8095662874740799]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_24","position":[-0.0811557951186831,-0.9141135916672323,0.71338606911949],"aabb_xy":[[-0.09292398191334063,-0.999113591572454],[-0.06938760832402559,-0.8291135917620109]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_25","position":[0.03562871815026658,1.2376462724377126,0.71338606911949],"aabb_xy":[[-4.377496931606828e-07,1.2020136056808595],[0.07125787405022632,1.2732789391945654]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6936449956098336,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1079.png","name":"1079"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1079.png","name":"1079"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/288.png","name":"288"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6883.png","name":"6883"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3130.png","name":"3130"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6136.png","name":"6136"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":692.9034960241936,"rotation_z_degrees":112.92647840292567,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00449794782686129,-0.009531165648832393,-0.010155655301914628]},{"name":"camera_2","offset_m":[0.0019203809851541659,0.018410672419157417,0.001880884603739523]},{"name":"camera_3","offset_m":[-0.018635728430415558,0.004503911490480652,-0.01157305838183098]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00035164534375984246,-0.00011575782931418565,-0.0009709267823625996],"end_effector_yaw_offset_degrees":-0.5115263081627894},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0018273672179304615,-0.0014759591930005845,0.0012172702421570604],"end_effector_yaw_offset_degrees":0.35237575003906163},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001286699358990455,-0.0008353003299556229,-0.0010616265460623468],"end_effector_yaw_offset_degrees":0.1377560307545731},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0012511290346019122,-0.0004951204843330658,0.0015486078625617902],"end_effector_yaw_offset_degrees":-0.976634721065849}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0007283599098846924,0.0011639537031392826],"position_m":[0.16277164009011533,-0.14493604629686072,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0020021105707890945,-0.001024177726885147],"position_m":[0.27590211057078906,-0.3498241777268851,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003803429763141031,-0.00272713536388599],"position_m":[0.31110342976314104,0.27737286463611405,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00033690586932995717,-0.001872397981635392],"position_m":[0.3598369058693299,0.05842760201836461,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f67b0af97891ec34fa339c0ebc2d15304e86ad2fd3535e2416ebb3e192dd1cbe","episode_index":82,"episode_name":"episode_0082"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0082.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_1079/tex_ceiling_textures_6136/tex_floor_textures_3130/tex_table_textures_288/tex_wall_textures_6883","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":767068346356944050,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":767068346356944050,"visual_seed":767068346356944050,"scene_id":"lab_003","finished_at":"2026-09-05T23:21:05"} +{"episode_id":"ep_000082","started_at":"2026-09-05T23:21:09","dimensions":{"distractor":{"count":30,"items":[{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_0","position":[0.4936785122300278,0.8952222837160404,0.71338606911949],"aabb_xy":[[0.4436785135841066,0.845302740056578],[0.543678510875949,0.9451418273755028]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_1","position":[-0.3880141150266315,0.3491830457302121,0.71338606911949],"aabb_xy":[[-0.3962286601423154,0.3405064554325707],[-0.37979956991094743,0.35785963602785326]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_2","position":[0.00501531389559573,0.7953908772915246,0.71338606911949],"aabb_xy":[[-0.01949831020141013,0.7711262839894881],[0.02952893799260159,0.819655470593561]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_3","position":[0.22543786356621776,-0.6049436128159837,0.71338606911949],"aabb_xy":[[0.19043786358972192,-0.6144082288636004],[0.2604378635427136,-0.5954789967683671]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_4","position":[-0.06291833394957103,-1.973290319950174,0.71338606911949],"aabb_xy":[[-0.15291833628359008,-2.0507726745352866],[0.027081668384448032,-1.8958079653650615]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_5","position":[0.23951238320248758,-1.7808153867389152,0.71338606911949],"aabb_xy":[[0.18451238402589806,-1.8358050615138728],[0.29451238237907706,-1.7258257119639575]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_6","position":[-0.024478619684399683,-0.5634258276514932,0.71338606911949],"aabb_xy":[[-0.02843910345413406,-0.5710936922370139],[-0.020518135914665312,-0.5557579630659727]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_7","position":[-0.06462557108588962,1.3567603923536118,0.71338606911949],"aabb_xy":[[-0.07978844406282672,1.3415949350584933],[-0.049462698108952555,1.3719258496487308]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_8","position":[0.49371789019780876,-0.10898619140080168,0.71338606911949],"aabb_xy":[[0.4297178898202751,-0.15873145825161394],[0.5577178905753424,-0.059240924549989415]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_9","position":[0.6627789487696665,-1.7595813825350843,0.71338606911949],"aabb_xy":[[0.652625933215517,-1.7956509241078242],[0.6729319643238157,-1.7235118409623436]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_10","position":[-0.3235232885112987,-1.824224048861753,0.71338606911949],"aabb_xy":[[-0.3696083797660301,-1.888224046114308],[-0.27743819725656715,-1.7602240516091978]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_11","position":[-0.6004232951364485,-1.8266691208430479,0.71338606911949],"aabb_xy":[[-0.6063898340771842,-1.832630265502412],[-0.5944567561957127,-1.8207079761836837]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_12","position":[-0.5366481508094454,-0.49960064147764705,0.71338606911949],"aabb_xy":[[-0.5966481506560122,-0.5564192636706857],[-0.4766481509628786,-0.44278201928460836]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_13","position":[0.4186557370124222,0.4273562567687894,0.71338606911949],"aabb_xy":[[0.402771243747097,0.4130033164699653],[0.4345402302777473,0.4417091970676134]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_14","position":[0.3933464980773833,-1.741099346412985,0.71338606911949],"aabb_xy":[[0.348067883196234,-1.8050993457611686],[0.4386251129585325,-1.6770993470648012]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_15","position":[-0.31284142203964116,1.3372668888678052,0.71338606911949],"aabb_xy":[[-0.3503414223878689,1.3254754932867217],[-0.2753414216914134,1.3490582844488888]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_16","position":[-0.23641814355231,1.5271473946714962,0.71338606911949],"aabb_xy":[[-0.24513211260224446,1.5046473940123077],[-0.22770417450237548,1.5496473953306842]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_17","position":[0.6053464746340613,-1.1914776639880156,0.71338606911949],"aabb_xy":[[0.5708839966209734,-1.1981413411709383],[0.639808952647149,-1.1848139868050929]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_18","position":[-0.37553110978474163,-0.3555141415083338,0.71338606911949],"aabb_xy":[[-0.3859426684652253,-0.36085987484423226],[-0.36511955110425787,-0.3501684081724353]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_19","position":[-0.5685867698546184,-1.2822085034150952,0.71338606911949],"aabb_xy":[[-0.6485867668176575,-1.3592841450588686],[-0.48858677289157915,-1.2051328617713217]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_20","position":[0.662887773741277,-0.6060501750214249,0.71338606911949],"aabb_xy":[[0.6558474638077401,-0.6860501744210964],[0.669928083674814,-0.5260501756217536]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_21","position":[-0.259244718630598,-1.1301280865833483,0.71338606911949],"aabb_xy":[[-0.26387983378283136,-1.1339954216604966],[-0.25460960347836453,-1.1262607515061995]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_22","position":[-0.495506192182565,0.29822468891454257,0.71338606911949],"aabb_xy":[[-0.5034996819778471,0.29022655697406696],[-0.48751270238728306,0.3062228208550183]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_23","position":[-0.41208250671025887,1.6968643411882645,0.71338606911949],"aabb_xy":[[-0.49708250512768204,1.6119900457259793],[-0.3270825082928356,1.7817386366505492]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_24","position":[0.24183706654609693,-2.1238862087257186,0.71338606911949],"aabb_xy":[[0.1918439544369051,-2.173886209399915],[0.2918301786552889,-2.073886208051524]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_25","position":[-0.18202274348609848,-0.7950987276427968,0.71338606911949],"aabb_xy":[[-0.2070227426517316,-0.8020509733481533],[-0.15702274432046537,-0.7881464819374402]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_26","position":[-0.5198411071160418,1.2255944361428526,0.71338606911949],"aabb_xy":[[-0.5696578865808766,1.1755944376585492],[-0.47002432765120705,1.275594434627156]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_27","position":[-0.32948116482230977,-2.4729856308660545,0.71338606911949],"aabb_xy":[[-0.34768698848355745,-2.484011031448046],[-0.3112753411610621,-2.461960230284063]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_28","position":[0.3840452900574962,-1.586716399439646,0.71338606911949],"aabb_xy":[[0.32004528978351793,-1.6367824996369342],[0.4480452903314744,-1.5366502992423583]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_29","position":[0.6983434914505033,1.2206560330109761,0.71338606911949],"aabb_xy":[[0.6864714084390023,1.1356560333173256],[0.7102155744620046,1.3056560327046263]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6902352923504805,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8289.png","name":"8289"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8289.png","name":"8289"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8176.png","name":"8176"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/83.png","name":"83"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5400.png","name":"5400"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3031.png","name":"3031"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":561.2442718592454,"rotation_z_degrees":138.6430567150883,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0010954074456884129,0.019791812283064748,0.019870674199183657]},{"name":"camera_2","offset_m":[0.005600751298891413,-0.010303695933712272,-0.00038924774207653445]},{"name":"camera_3","offset_m":[0.014788062076968766,0.014023452478986707,0.0018856386471452248]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[9.765291603147696e-05,0.0019368987331603825,-0.0008017059926525398],"end_effector_yaw_offset_degrees":0.23492054669175788},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0012736653711346007,-0.0009769254539198889,0.0004299307968188321],"end_effector_yaw_offset_degrees":-0.8933278547287331},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0003844569752359892,0.0009091076741222933,0.0002926328641429132],"end_effector_yaw_offset_degrees":-0.3804359565123452},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0005688692406826171,7.468767155023202e-05,0.0014499137637125643],"end_effector_yaw_offset_degrees":0.9997652216302324}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.001628512832005098,-0.003812119473151937],"position_m":[0.1618714871679949,-0.14991211947315194,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0004098388840757085,0.0030207393194840856],"position_m":[0.2743098388840757,-0.3457792606805159,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.002523303595697036,0.0025647473556649307],"position_m":[0.304776696404303,0.28266474735566494,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003915442360284489,-0.004763384194836288],"position_m":[0.3634154423602845,0.05553661580516371,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5f2fb804a5fdfad0447c387c11335e5786a625163bb3219f6e1a07d8874de6d6","episode_index":83,"episode_name":"episode_0083"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0083.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_8289/tex_ceiling_textures_3031/tex_floor_textures_5400/tex_table_textures_8176/tex_wall_textures_83","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":6341729618906837832,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":6341729618906837832,"visual_seed":6341729618906837832,"scene_id":"lab_003","finished_at":"2026-09-05T23:24:40"} +{"episode_id":"ep_000083","started_at":"2026-09-05T23:24:44","dimensions":{"distractor":{"count":33,"items":[{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_0","position":[0.6029262469919392,-1.9587819333531977,0.71338606911949],"aabb_xy":[[0.5129262504910673,-2.0046935757716553],[0.6929262434928108,-1.9128702909347393]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_1","position":[0.16041599734639933,-1.5356834868581462,0.71338606911949],"aabb_xy":[[0.14848326298457126,-1.5480656396660057],[0.1723487317082274,-1.523301334050287]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_2","position":[-0.08690611640334489,-1.0631850966516831,0.71338606911949],"aabb_xy":[[-0.17690611873736395,-1.1406674512367958],[0.0030938859306741673,-0.9857027420665705]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_3","position":[0.3424818630627895,0.9613178219248084,0.71338606911949],"aabb_xy":[[0.3344455283615046,0.9532797026203915],[0.3505181977640743,0.9693559412292251]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_4","position":[0.5637119889355962,-0.6049433531075972,0.71338606911949],"aabb_xy":[[0.5142315677216374,-0.6689433510204491],[0.613192410149555,-0.5409433551947455]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_5","position":[-0.09789240869462323,-1.871781993698392,0.71338606911949],"aabb_xy":[[-0.16289240657627102,-1.9229056574049332],[-0.03289241081297544,-1.8206583299918515]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_6","position":[0.625422587700182,-1.3194168496543806,0.71338606911949],"aabb_xy":[[0.5991337633797412,-1.3456882833090316],[0.6517114120206225,-1.293145415999729]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_7","position":[-0.08103516495615681,0.20774842256552484,0.71338606911949],"aabb_xy":[[-0.09882867189107325,0.18994867696972717],[-0.06324165802124038,0.2255481681613225]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_8","position":[0.5766867014607662,1.6859456725567123,0.71338606911949],"aabb_xy":[[0.5545141744841153,1.663770005400589],[0.598859228437417,1.7081213397128352]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_9","position":[0.1800521181061897,-2.157739189394767,0.71338606911949],"aabb_xy":[[0.132922739104354,-2.2217391904391683],[0.22718149710802535,-2.0937391883503644]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_10","position":[0.684511206755755,0.5876244371035417,0.71338606911949],"aabb_xy":[[0.6540269566287249,0.5376244373220457],[0.7149954568827852,0.6376244368850376]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_11","position":[0.42819479417008366,0.32595676273119745,0.71338606911949],"aabb_xy":[[0.3931947949772654,0.31498971673353476],[0.4631947933629019,0.33692380872886]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_12","position":[-0.3494195296458616,-2.283291566414992,0.71338606911949],"aabb_xy":[[-0.3798176407450051,-2.313698468416661],[-0.31902141854671795,-2.252884664413322]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_13","position":[-0.1818266877161271,0.3343964944576028,0.71338606911949],"aabb_xy":[[-0.2268192744345775,0.28939649518315397],[-0.13683410099767668,0.3793964937320515]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_14","position":[-0.6404689144687196,-1.348516307956749,0.71338606911949],"aabb_xy":[[-0.6579689147280562,-1.3626078501455219],[-0.6229689142093829,-1.3344247657679766]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_15","position":[-0.04707175218670345,0.7345187196024838,0.71338606911949],"aabb_xy":[[-0.09707175320583875,0.6980525038646559],[0.0029282488324318128,0.7709849353403119]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_16","position":[0.584257573093055,0.9496937934149612,0.71338606911949],"aabb_xy":[[0.49425756941613663,0.8882613868378566],[0.674257576769973,1.0111261999920653]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_17","position":[-0.571095462412835,-0.15985036179164158,0.71338606911949],"aabb_xy":[[-0.6350954643251774,-0.21576151104965202],[-0.5070954605004927,-0.10393921253363114]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_18","position":[-0.19902753063989143,-1.5387930952115476,0.71338606911949],"aabb_xy":[[-0.2540275298164809,-1.5937827699865053],[-0.1440275314633019,-1.48380342043659]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_19","position":[0.5971821991488271,-2.3918601350727933,0.71338606911949],"aabb_xy":[[0.5892589189100788,-2.4143601353107966],[0.6051054793875754,-2.36936013483479]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_20","position":[-0.09064257487275063,1.3028020566250067,0.71338606911949],"aabb_xy":[[-0.10580544784968772,1.287636599329888],[-0.07547970189581354,1.3179675139201255]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_21","position":[0.6869068726001057,-2.509376376776806,0.71338606911949],"aabb_xy":[[0.649872763172046,-2.543753584110515],[0.7239409820281655,-2.4749991694430964]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_22","position":[-0.6620768072568773,0.5580577330823435,0.71338606911949],"aabb_xy":[[-0.67298258334444,0.47805773668351437],[-0.6511710311693146,0.6380577294811727]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_23","position":[0.20554607049639173,1.259497429521486,0.71338606911949],"aabb_xy":[[0.15042086486680095,1.1994974280801987],[0.2606712761259825,1.319497430962773]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_24","position":[0.3501987115472356,1.3434731317600916,0.71338606911949],"aabb_xy":[[0.3310864041892567,1.3243383528828498],[0.36931101890521445,1.3626079106373339]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_25","position":[-0.18174736123745017,-0.39694509378550613,0.71338606911949],"aabb_xy":[[-0.21552292042814314,-0.4109835889986711],[-0.1479718020467572,-0.38290659857234105]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_26","position":[0.5117467934539919,0.21487504805583324,0.71338606911949],"aabb_xy":[[0.47320110062879084,0.17632927699964457],[0.5502924862791929,0.2534208191120219]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_27","position":[0.4983068218184754,1.343312598421377,0.71338606911949],"aabb_xy":[[0.46267766591851567,1.307679931664524],[0.5339359777184352,1.37894526517823]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_28","position":[-0.1838803795205758,-0.12688342031725464,0.71338606911949],"aabb_xy":[[-0.20888037945309368,-0.13376608853817795],[-0.1588803795880579,-0.12000075209633132]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_29","position":[-0.25885217316301073,1.4051663794198892,0.71338606911949],"aabb_xy":[[-0.26819918074530597,1.3908627572022452],[-0.2495051655807155,1.4194700016375332]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_30","position":[0.13000600247027372,1.0567999737861458,0.71338606911949],"aabb_xy":[[0.12179145735458972,1.048123383488504],[0.13822054758595767,1.0654765640837867]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_31","position":[0.48580636048028936,-0.2984870051127597,0.71338606911949],"aabb_xy":[[0.43080636085854357,-0.35347069790023244],[0.5408063601020352,-0.243503312325287]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_32","position":[-0.0548370565396592,-2.216518122352385,0.71338606911949],"aabb_xy":[[-0.07233705678470856,-2.2340179101919513],[-0.0373370562946098,-2.1990183345128176]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6903734890661856,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4203.png","name":"4203"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4203.png","name":"4203"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3329.png","name":"3329"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/289.png","name":"289"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9575.png","name":"9575"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4940.png","name":"4940"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":599.7906486793918,"rotation_z_degrees":232.76529441321296,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009185044947598957,0.008532301138137178,0.017630678574424238]},{"name":"camera_2","offset_m":[-0.0071599757111444045,-0.01353558367397882,-0.013358572540389631]},{"name":"camera_3","offset_m":[0.006556951744512835,-0.005838330171327354,0.0003407790659919023]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0012600350113400553,-0.0012181710785737062,7.493202686502821e-05],"end_effector_yaw_offset_degrees":0.089046425797213},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0016196200714832095,8.287684298895811e-06,0.0006170990089005538],"end_effector_yaw_offset_degrees":-0.8898497057412604},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0019014808657999353,0.0018746181334333809,-0.0013259516059367646],"end_effector_yaw_offset_degrees":-0.5625296021208193},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0005314037077906279,-0.00011323968994626419,0.0001985472428246214],"end_effector_yaw_offset_degrees":-0.7286586295645896}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.002827076726331374,8.934799831524561e-05],"position_m":[0.16632707672633137,-0.14601065200168475,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0039603802037501985,-0.004691423561300581],"position_m":[0.26993961979624975,-0.3534914235613006,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002345526879832368,0.0037804703900436573],"position_m":[0.3096455268798324,0.28388047039004366,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004994801032185241,-0.003031500280447238],"position_m":[0.35450519896781474,0.057268499719552765,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"06f697d357cc1cbaf5054adf8b556b80673d5986cb86123e018ad5113f396ae8","episode_index":84,"episode_name":"episode_0084"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0084.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_4203/tex_ceiling_textures_4940/tex_floor_textures_9575/tex_table_textures_3329/tex_wall_textures_289","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":6709056487046574669,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":6709056487046574669,"visual_seed":6709056487046574669,"scene_id":"lab_003","finished_at":"2026-09-05T23:28:39"} +{"episode_id":"ep_000084","started_at":"2026-09-05T23:32:43","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_0","position":[-0.554670732150171,-1.0620518210573426,0.71338606911949],"aabb_xy":[[-0.595975275213907,-1.1260518206254595],[-0.513366189086435,-0.9980518214892253]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_1","position":[0.09023025472227952,0.8498950633329696,0.71338606911949],"aabb_xy":[[0.025230256840631744,0.7987713996264288],[0.15523025260392734,0.9010187270395106]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_2","position":[0.5808607133728414,-0.8341410921944814,0.71338606911949],"aabb_xy":[[0.5632824111838944,-0.8517155817685862],[0.5984390155617881,-0.8165666026203764]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_3","position":[0.5682650156282276,-2.542816573891092,0.71338606911949],"aabb_xy":[[0.557413409379352,-2.5536758646187425],[0.5791166218771032,-2.531957283163441]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_4","position":[-0.06297740487046377,-1.1682067307847541,0.71338606911949],"aabb_xy":[[-0.0979774062219455,-1.188566466741575],[-0.027977403518982046,-1.1478469948279333]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_5","position":[0.26100871281305127,1.225470651152825,0.71338606911949],"aabb_xy":[[0.20601550147591458,1.1704706508140315],[0.3160019241501881,1.2804706514916186]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_6","position":[0.22772703392692462,0.6403336618428646,0.71338606911949],"aabb_xy":[[0.163727033549391,0.5905883949920522],[0.29172703430445823,0.6900789286936767]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_7","position":[-0.1141917034126253,0.4631839725731841,0.71338606911949],"aabb_xy":[[-0.1380279210532304,0.3731839717646977],[-0.09035548577202025,0.5531839733816707]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_8","position":[-0.4244908475014573,-1.5698240622030109,0.71338606911949],"aabb_xy":[[-0.47961605313104805,-1.629824063644298],[-0.3693656418718665,-1.5098240607617237]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_9","position":[-0.0930482604687296,1.6119564501512609,0.71338606911949],"aabb_xy":[[-0.11054825960309678,1.6020768231136728],[-0.07554826133436243,1.6218360771888485]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_10","position":[-0.4034081272785063,0.0383924624247145,0.71338606911949],"aabb_xy":[[-0.43840812725500217,0.028927846377097888],[-0.3684081273020105,0.047857078472331116]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_11","position":[-0.46442542966448586,0.8782558917252308,0.71338606911949],"aabb_xy":[[-0.5444254329223288,0.7982593839332467],[-0.3844254264066429,0.9582523995172146]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_12","position":[0.5230508198006376,1.3302651346672683,0.71338606911949],"aabb_xy":[[0.45905082121406515,1.2832581712677593],[0.5870508183872101,1.3772720980667768]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_13","position":[-0.20043594218953287,0.7776280232603145,0.71338606911949],"aabb_xy":[[-0.20486657154437307,0.7721796515256321],[-0.19600531283469272,0.7830763949949973]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_14","position":[0.686808216822389,1.607149288535091,0.71338606911949],"aabb_xy":[[0.6523457388093012,1.6004856113521682],[0.7212706948354768,1.6138129657180136]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_15","position":[-0.2767527913115383,-0.42591381716636967,0.71338606911949],"aabb_xy":[[-0.2808886476442385,-0.4634138166107268],[-0.2726169349788381,-0.3884138177220128]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_16","position":[-0.5290648513119285,-1.3973621607642954,0.71338606911949],"aabb_xy":[[-0.5422957968466098,-1.4105895797862948],[-0.5158339057772472,-1.384134741742296]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_17","position":[-0.5442127992605635,-1.8657466449543114,0.71338606911949],"aabb_xy":[[-0.6242127979174497,-1.8802515038785743],[-0.46421280060367764,-1.8512417860300485]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_18","position":[0.2631053782153371,-2.202909963187177,0.71338606911949],"aabb_xy":[[0.24567466313633055,-2.2201820778510277],[0.28053609329434354,-2.1856378485233257]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_19","position":[-0.2514892208013842,-2.33117168185715,0.71338606911949],"aabb_xy":[[-0.34117629710949965,-2.4211716821116007],[-0.16180214449326874,-2.2411716816026996]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_20","position":[0.09550234673772129,-1.5331022866223782,0.71338606911949],"aabb_xy":[[0.030502344099927817,-1.584581885321825],[0.16050234937551477,-1.481622687922931]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_21","position":[0.4889347277895004,-1.938634489128229,0.71338606911949],"aabb_xy":[[0.4764673696797648,-1.9510998137615527],[0.5014020858992361,-1.9261691644949057]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_22","position":[-0.20346059961262064,-1.2884010905992935,0.71338606911949],"aabb_xy":[[-0.20996223612062523,-1.2981689126256035],[-0.196958963104616,-1.278633268572984]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_23","position":[0.05828866403691502,-1.2773749555563065,0.71338606911949],"aabb_xy":[[0.04137793160057322,-1.290847161148921],[0.07519939647325677,-1.2639027499636917]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_24","position":[0.6268611695527897,-1.7696246959477286,0.71338606911949],"aabb_xy":[[0.5909476651278,-1.8055382041644827],[0.6627746739777792,-1.7337111877309737]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_25","position":[0.3993603890088726,-2.30667457473006,0.71338606911949],"aabb_xy":[[0.3913170290829174,-2.3916745758254265],[0.4074037489348277,-2.2216745736346937]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_26","position":[-0.5418829292284839,-2.0268703878441814,0.71338606911949],"aabb_xy":[[-0.5468389494133652,-2.0493703880463037],[-0.5369269090436029,-2.00437038764206]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_27","position":[0.460718738352206,0.16408823251413063,0.71338606911949],"aabb_xy":[[0.4536784284186691,0.08408823311445922],[0.4677590482857431,0.24408823191380205]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_28","position":[0.6266423541502915,-2.1396250867707427,0.71338606911949],"aabb_xy":[[0.5954954353067083,-2.20962508545755],[0.6577892729938746,-2.0696250880839355]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_29","position":[0.274490919629791,-1.634115817299822,0.71338606911949],"aabb_xy":[[0.2648592834093614,-1.643753130079531],[0.2841225558502206,-1.624478504520113]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_30","position":[0.2568993380373781,-1.3338335480123404,0.71338606911949],"aabb_xy":[[0.2069205295270622,-1.3838335480180592],[0.30687814654769396,-1.2838335480066216]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_31","position":[0.0957522762947598,1.3874741376339004,0.71338606911949],"aabb_xy":[[0.08971526329409507,1.3814474365649525],[0.10178928929542454,1.3935008387028487]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_32","position":[-0.22293867269934153,-0.14824418562588448,0.71338606911949],"aabb_xy":[[-0.23961580869243704,-0.1649441095998148],[-0.20626153670624603,-0.13154426165195424]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_33","position":[-0.021434962609399144,1.4776784909833123,0.71338606911949],"aabb_xy":[[-0.05575123978401708,1.4276784910101346],[0.012881314565218797,1.52767849095649]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.696542714036699,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7102.png","name":"7102"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7102.png","name":"7102"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9462.png","name":"9462"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8517.png","name":"8517"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4125.png","name":"4125"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1186.png","name":"1186"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":660.7235922409152,"rotation_z_degrees":72.13162832714755,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012298681448835617,0.015788205823378986,0.0029779566752692194]},{"name":"camera_2","offset_m":[0.005356354754753906,-0.0168199194095742,-0.015499549886369292]},{"name":"camera_3","offset_m":[0.009478437518756665,0.013506558231712987,0.011344952581294126]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00011954304582570364,-0.00026970945739845974,5.3282362394563125e-05],"end_effector_yaw_offset_degrees":-0.8077827263701425},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0015952373008390965,-0.0008691272564660317,0.0018990581092382043],"end_effector_yaw_offset_degrees":-0.9687413486239125},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00012229910876022693,0.0019024569678227515,0.0012792818874448066],"end_effector_yaw_offset_degrees":0.5064054310794717},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0007400516990615602,0.0013541100091902527,0.0005015825793690757],"end_effector_yaw_offset_degrees":-0.30233522326465945}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0006772041480289257,-0.0023533982322362867],"position_m":[0.16282279585197107,-0.1484533982322363,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004635674915075122,-0.002260591427005282],"position_m":[0.2785356749150751,-0.3510605914270053,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004781281467007372,-0.003099146201303188],"position_m":[0.30251871853299267,0.2770008537986968,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0013526956543959334,0.00010488883046754632],"position_m":[0.35814730434560405,0.060404888830467546,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8b19727152173970010ab3ec7f7575cf96772ebfc9c840f319fb03edeefafda9","episode_index":86,"episode_name":"episode_0086"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0086.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_7102/tex_ceiling_textures_1186/tex_floor_textures_4125/tex_table_textures_9462/tex_wall_textures_8517","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":3269582156288437022,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":3269582156288437022,"visual_seed":3269582156288437022,"scene_id":"lab_003","finished_at":"2026-09-05T23:36:08"} +{"episode_id":"ep_000085","started_at":"2026-09-05T23:36:12","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_0","position":[0.44503443908032314,-0.7320495267699332,0.71338606911949],"aabb_xy":[[0.39790506007848736,-0.796049527814335],[0.4921638180821587,-0.6680495257255311]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_1","position":[-0.5880105478784744,-2.2692561448666386,0.71338606911949],"aabb_xy":[[-0.5950508578120115,-2.3492561442663105],[-0.5809702379449375,-2.1892561454669677]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_2","position":[-0.5799008569819037,1.3678707703203932,0.71338606911949],"aabb_xy":[[-0.6174008581666964,1.3634525476243324],[-0.5424008557971108,1.3722889930164535]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_3","position":[0.1705634843385625,0.6259210919990417,0.71338606911949],"aabb_xy":[[0.13306348416669056,0.5932203566161344],[0.20806348451043444,0.6586218273819487]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_4","position":[-0.5788978781462503,-1.7231947787429953,0.71338606911949],"aabb_xy":[[-0.6013970138724771,-1.745694779521258],[-0.5563987424200232,-1.7006947779647321]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_5","position":[-0.25292275028972516,1.4333607653924498,0.71338606911949],"aabb_xy":[[-0.3129227511505379,1.3819343353859632],[-0.19292274942891233,1.484787195398936]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_6","position":[-0.43100190463989263,-0.22761937053544923,0.71338606911949],"aabb_xy":[[-0.5010019010498543,-0.2480573061871309],[-0.3610019082299307,-0.20718143488376745]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_7","position":[0.3882833476800478,-1.3335507560559106,0.71338606911949],"aabb_xy":[[0.3082833444222049,-1.4135472638478945],[0.4682833509378908,-1.2535542482639266]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_8","position":[-0.18494405103383627,0.4122583546713203,0.71338606911949],"aabb_xy":[[-0.22244405113942922,0.40543619281833915],[-0.1474440509282433,0.4190805165243014]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_9","position":[-0.26248855957767353,-1.0770867999808926,0.71338606911949],"aabb_xy":[[-0.332488561179953,-1.0905195931825502],[-0.19248855797539405,-1.063654006779235]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_10","position":[0.5684747545549498,0.9129601212401135,0.71338606911949],"aabb_xy":[[0.5134825039194388,0.8579601194968011],[0.6234670051904607,0.9679601229834266]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_11","position":[0.5871515269424108,-2.2743928609905932,0.71338606911949],"aabb_xy":[[0.5696515266973613,-2.291892648830159],[0.6046515271874601,-2.2568930731510255]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_12","position":[-0.41658817605300724,0.7347022209165703,0.71338606911949],"aabb_xy":[[-0.4525016804779969,0.6987887126998156],[-0.3806746716280175,0.7706157291333249]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_13","position":[-0.34236682676553404,-1.552815604715025,0.71338606911949],"aabb_xy":[[-0.3524485338441074,-1.6328156026071394],[-0.33228511968696045,-1.4728156068229101]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_14","position":[-0.46561294251836643,0.1389783034231007,0.71338606911949],"aabb_xy":[[-0.4702480576705998,0.13511096834595204],[-0.46097782736613296,0.14284563850024934]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_15","position":[-0.27030189112556613,-0.5916030620006245,0.71338606911949],"aabb_xy":[[-0.27822517136431446,-0.6141030622386279],[-0.2623786108868178,-0.5691030617626212]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_16","position":[0.533705042323934,0.5109404636029171,0.71338606911949],"aabb_xy":[[0.4687050437668612,0.4811879301890345],[0.5987050408810068,0.5406929970167997]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_17","position":[-0.5169194891336438,-0.5401016524139095,0.71338606911949],"aabb_xy":[[-0.5769194897296599,-0.594914124959133],[-0.45691948853762754,-0.485289179868686]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_18","position":[-0.5088807870314854,-0.8848721464896427,0.71338606911949],"aabb_xy":[[-0.5665112559187562,-0.9448721454163531],[-0.45125031814421446,-0.8248721475629319]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_19","position":[-0.5274895385189483,1.6028869841832418,0.71338606911949],"aabb_xy":[[-0.5874895390268012,1.5460402504973203],[-0.46748953801109544,1.659733717869163]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_20","position":[0.5115869286776267,-2.1662086329154664,0.71338606911949],"aabb_xy":[[0.4475869254589888,-2.2129317448144747],[0.5755869318962645,-2.119485521016458]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_21","position":[0.07430835047302564,-0.7258515822181204,0.71338606911949],"aabb_xy":[[0.07017249414032546,-0.7633515816624774],[0.07844420680572585,-0.6883515827737634]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_22","position":[-0.14672152223035884,0.025318088548941464,0.71338606911949],"aabb_xy":[[-0.15322315873836345,0.015550266522631698],[-0.14021988572235422,0.03508591057525124]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_23","position":[-0.26707356708336955,1.8107279680760002,0.71338606911949],"aabb_xy":[[-0.28457356621773666,1.8008483410384122],[-0.24957356794900235,1.8206075951135878]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_24","position":[-0.09083691902685254,-1.6143856611307221,0.71338606911949],"aabb_xy":[[-0.13302133318768328,-1.6783856614079333],[-0.04865250486602178,-1.550385660853511]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_25","position":[-0.31443789916148607,1.0813298483643368,0.71338606911949],"aabb_xy":[[-0.32265244427717,1.0726532580666952],[-0.30622335404580203,1.0900064386619779]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_26","position":[-0.2245629973482548,-1.1894797204355185,0.71338606911949],"aabb_xy":[[-0.23218726543843304,-1.1971129439720625],[-0.21693872925807656,-1.181846496898975]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_27","position":[-0.07992988585404881,-2.024786174602518,0.71338606911949],"aabb_xy":[[-0.11422679687178941,-2.059083060812459],[-0.04563297483630816,-1.9904892883925762]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_28","position":[-0.34687854339015894,-2.3924980628334906,0.71338606911949],"aabb_xy":[[-0.36937854340030724,-2.4065942824730935],[-0.32437854338001065,-2.378401843193887]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6887411702694719,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5698.png","name":"5698"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5698.png","name":"5698"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5556.png","name":"5556"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4367.png","name":"4367"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2168.png","name":"2168"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4843.png","name":"4843"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":709.6394397805136,"rotation_z_degrees":22.74610649255079,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009039433579393373,0.019890221228033366,-0.009201317906820012]},{"name":"camera_2","offset_m":[0.014388621125421188,-0.010442110669199423,0.016738150954910703]},{"name":"camera_3","offset_m":[0.005040165686923944,0.003790598700785342,0.0036491415676555353]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001954026400527541,-0.0008440198171207657,-0.0009139157939435602],"end_effector_yaw_offset_degrees":-0.5850351698499845},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0019609480456395986,0.0007177770581557135,-0.0010893052934681934],"end_effector_yaw_offset_degrees":0.46182660834953393},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0006966225171362863,-0.0008291878842057417,-0.0010457861315033325],"end_effector_yaw_offset_degrees":-0.4498522056229284},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00032581324820411036,-0.000860521420435071,0.0014657150211942029],"end_effector_yaw_offset_degrees":-0.7072550553611505}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.001654506329210043,0.003528671295908438],"position_m":[0.16515450632921005,-0.14257132870409156,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0047245253893462135,-0.0027832192895678775],"position_m":[0.2691754746106538,-0.35158321928956787,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0009700133284467919,-0.0007720118083746385],"position_m":[0.3063299866715532,0.27932798819162535,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0030795556720408764,-0.00045449156854052587],"position_m":[0.36257955567204087,0.05984550843145947,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"17baac2abd5b523f391f342f5bd2173bec2d7111a0039f5214d3150d8369efd7","episode_index":87,"episode_name":"episode_0087"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0087.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_5698/tex_ceiling_textures_4843/tex_floor_textures_2168/tex_table_textures_5556/tex_wall_textures_4367","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":1486625146325818343,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":1486625146325818343,"visual_seed":1486625146325818343,"scene_id":"lab_003","finished_at":"2026-09-05T23:39:36"} +{"episode_id":"ep_000086","started_at":"2026-09-05T23:39:40","dimensions":{"distractor":{"count":26,"items":[{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_0","position":[-0.4885236437523257,-1.3231829719216675,0.71338606911949],"aabb_xy":[[-0.5000926244992623,-1.3481829720385992],[-0.4769546630053892,-1.2981829718047357]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_1","position":[0.1039633898100999,1.082822548744331,0.71338606911949],"aabb_xy":[[0.06950091179701212,1.076158871561408],[0.13842586782318766,1.0894862259272535]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_2","position":[0.7010616268159093,-1.8338031136557373,0.71338606911949],"aabb_xy":[[0.6835149318997904,-1.8713031152199888],[0.7186083217320283,-1.7963031120914863]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_3","position":[-0.42303138355334025,0.7621729818670264,0.71338606911949],"aabb_xy":[[-0.4830313851962621,0.7101728325750822],[-0.3630313819104184,0.8141731311589706]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_4","position":[-0.4200045002703425,-2.16782496099302,0.71338606911949],"aabb_xy":[[-0.47000450155418244,-2.2178038153836415],[-0.3700044989865025,-2.1178461066023972]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_5","position":[-0.03781576069664461,-1.7379772213717564,0.71338606911949],"aabb_xy":[[-0.10781576229892409,-1.7514100145734142],[0.03218424090563487,-1.724544428170099]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_6","position":[0.5959116584252733,0.14305262184909529,0.71338606911949],"aabb_xy":[[0.5584116584815069,0.1347595318142587],[0.6334116583690397,0.15134571188393187]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_7","position":[-0.5441830268086105,-2.0574228972526396,0.71338606911949],"aabb_xy":[[-0.5536005013784733,-2.0668390743903586],[-0.5347655522387478,-2.0480067201149206]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_8","position":[0.19397410146577643,0.6216811939763307,0.71338606911949],"aabb_xy":[[0.18593776676449156,0.6136430746719139],[0.20201043616706124,0.6297193132807475]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_9","position":[-0.4977970141563024,-0.8506324888177506,0.71338606911949],"aabb_xy":[[-0.5477970137326371,-0.9006130677698565],[-0.4477970145799677,-0.8006519098656446]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_10","position":[-0.2514703042903619,0.32086984830384724,0.71338606911949],"aabb_xy":[[-0.26897030356844875,0.3035317482375013],[-0.233970305012275,0.3382079483701932]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_11","position":[0.4201403509999475,-2.1046318687981764,0.71338606911949],"aabb_xy":[[0.4141738120592117,-2.1105930134575406],[0.4261068899406833,-2.0986707241388123]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_12","position":[-0.025119827357501623,-1.128299709396393,0.71338606911949],"aabb_xy":[[-0.03240214373416527,-1.2182997130059015],[-0.017837510980837964,-1.0382997057868835]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_13","position":[-0.48132018147684014,-2.2798775557850286,0.71338606911949],"aabb_xy":[[-0.5188201821414189,-2.29556461378525],[-0.44382018081226143,-2.2641904977848055]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_14","position":[0.22946035457170633,-2.0129479469116403,0.71338606911949],"aabb_xy":[[0.1654603572860577,-2.054454665864484],[0.293460351857355,-1.9714412279587963]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_15","position":[0.708436952601895,-1.4693686749216457,0.71338606911949],"aabb_xy":[[0.7004429640241915,-1.4773687550167358],[0.7164309411795983,-1.4613685948265551]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_16","position":[-0.2528196245608609,1.7488190854223258,0.71338606911949],"aabb_xy":[[-0.26542232369793733,1.7362236891974603],[-0.24021692542378442,1.7614144816471913]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_17","position":[-0.5023967206541423,-1.4653870514783829,0.71338606911949],"aabb_xy":[[-0.5103902104494243,-1.4733851834188585],[-0.4944032308588603,-1.4573889195379073]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_18","position":[-0.07695423701350412,-0.7749091504448493,0.71338606911949],"aabb_xy":[[-0.11195423690952298,-0.7832833859567893],[-0.04195423711748524,-0.7665349149329094]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_19","position":[-0.05919697954276282,1.7839373710039674,0.71338606911949],"aabb_xy":[[-0.07669697867712998,1.7740577439663794],[-0.04169698040839564,1.793816998041555]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_20","position":[0.46873396339295015,0.4221758719513349,0.71338606911949],"aabb_xy":[[0.4087339628850972,0.36532913826541347],[0.5287339639008031,0.47902260563725607]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_21","position":[-0.14598114228860526,-2.364289666656152,0.71338606911949],"aabb_xy":[[-0.18348114258078008,-2.3683311420567557],[-0.10848114199643044,-2.360248191255548]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_22","position":[-0.16661459272340973,0.5723467257521722,0.71338606911949],"aabb_xy":[[-0.17385835876965502,0.4923467275485698],[-0.15937082667716437,0.6523467239557745]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_23","position":[0.35997110797075105,-1.7215582282520754,0.71338606911949],"aabb_xy":[[0.3172044010913308,-1.7855582316738776],[0.4027378148501712,-1.6575582248302727]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_24","position":[-0.3126304441923371,-2.283882393641027,0.71338606911949],"aabb_xy":[[-0.3286923716508547,-2.368882395453619],[-0.2965685167338194,-2.1988823918284353]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_25","position":[0.3791248017636857,-0.8705920516398067,0.71338606911949],"aabb_xy":[[0.3293080222988509,-0.92059205012411],[0.42894158122852044,-0.8205920531555033]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6895603497061089,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6798.png","name":"6798"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6798.png","name":"6798"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9932.png","name":"9932"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6379.png","name":"6379"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7142.png","name":"7142"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7242.png","name":"7242"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":617.4261248306017,"rotation_z_degrees":294.741724958779,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014889595713059093,0.011669572491185162,0.015787629344687696]},{"name":"camera_2","offset_m":[0.007204126379019654,-0.017830715401368453,0.0030530044914368476]},{"name":"camera_3","offset_m":[-0.015007646213582141,0.014844738738084232,-0.012271331267619617]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0006377946101919192,0.0006530988668022233,0.0017329988369518155],"end_effector_yaw_offset_degrees":-0.6528825131010063},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.001765206652533915,0.0005803980470880307,0.0012543987460623806],"end_effector_yaw_offset_degrees":-0.7186768969444353},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0009987205467530144,0.001906164744719564,0.0019560192400370586],"end_effector_yaw_offset_degrees":-0.8151666587015118},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0005903586463197998,0.0018777926181109228,0.0016200760809614028],"end_effector_yaw_offset_degrees":-0.13904870186630558}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.00016271899472503765,-0.00498543685567236],"position_m":[0.16333728100527498,-0.15108543685567236,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002767217195125562,-0.001082322655754954],"position_m":[0.2711327828048744,-0.349882322655755,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0021265684493599504,-0.002916396366609586],"position_m":[0.3051734315506401,0.27718360363339045,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003070239253975382,0.0002203187697376631],"position_m":[0.3564297607460246,0.060520318769737666,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"de9af68c82271a79b94f416975c1401a9ef4152a525f4e884d26b80dc0f79fc5","episode_index":88,"episode_name":"episode_0088"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0088.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_6798/tex_ceiling_textures_7242/tex_floor_textures_7142/tex_table_textures_9932/tex_wall_textures_6379","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":7953368946347865054,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":7953368946347865054,"visual_seed":7953368946347865054,"scene_id":"lab_003","finished_at":"2026-09-05T23:43:21"} +{"episode_id":"ep_000087","started_at":"2026-09-05T23:43:25","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_0","position":[-0.5399599169622398,-0.9518536083168367,0.71338606911949],"aabb_xy":[[-0.5436631782913786,-0.9555556266255545],[-0.5362566556331008,-0.9481515900081188]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_1","position":[0.7094899600791684,1.5006333098194191,0.71338606911949],"aabb_xy":[[0.7050593307243284,1.4951849380847368],[0.7139205894340087,1.5060816815541018]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_2","position":[-0.3784949701241301,0.1880892519588202,0.71338606911949],"aabb_xy":[[-0.3865313048254149,0.1800511326544034],[-0.37045863542284524,0.19612737126323695]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_3","position":[-0.2566722615055334,0.2699424933624113,0.71338606911949],"aabb_xy":[[-0.2816722606711665,0.2629902476570547],[-0.2316722623399003,0.27689473906776785]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_4","position":[0.0072182404292460145,1.12739291883487,0.71338606911949],"aabb_xy":[[-0.042879223551827605,1.0633929183250581],[0.057315704410319634,1.1913929193446817]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_5","position":[-0.22531918666805167,-0.16908205282853528,0.71338606911949],"aabb_xy":[[-0.28931918694202985,-0.21914815302582324],[-0.16131918639407342,-0.11901595263124731]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_6","position":[-0.5577896796740297,-1.6693883439643449,0.71338606911949],"aabb_xy":[[-0.5923807625280749,-1.7343883442493757],[-0.5231985968199845,-1.6043883436793136]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_7","position":[0.6338914581379547,0.26246088317018357,0.71338606911949],"aabb_xy":[[0.6183356887276895,0.24691044992577643],[0.64944722754822,0.2780113164145908]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_8","position":[-0.08539982042247729,0.6042685047885654,0.71338606911949],"aabb_xy":[[-0.14939551781757388,0.5402685064878566],[-0.021404123027380706,0.668268503089274]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_9","position":[-0.454290968502224,-1.9782472994733362,0.71338606911949],"aabb_xy":[[-0.5042640340347395,-2.0282472992858693],[-0.4043179029697086,-1.9282472996608035]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_10","position":[-0.0881812350028417,-1.7279759394622258,0.71338606911949],"aabb_xy":[[-0.14317348563835264,-1.7829759412055388],[-0.03318898436733075,-1.6729759377189133]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_11","position":[0.1438093780499673,-0.7135922353773216,0.71338606911949],"aabb_xy":[[0.0798093777894965,-0.7586010347302496],[0.2078093783104381,-0.6685834360243936]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_12","position":[0.689420704324861,1.248361184770165,0.71338606911949],"aabb_xy":[[0.6831086047885226,1.242594245516946],[0.6957328038611994,1.254128124023384]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_13","position":[-0.4668288697910007,0.5174283961918915,0.71338606911949],"aabb_xy":[[-0.5308288701685342,0.46768312934107925],[-0.402828869413467,0.5671736630427038]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_14","position":[-0.4856890815811843,1.2929335410306688,0.71338606911949],"aabb_xy":[[-0.5356678900915002,1.2429335410249498],[-0.43571027307086835,1.3429335410363874]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_15","position":[-0.5305972487469022,-1.3418942839920498,0.71338606911949],"aabb_xy":[[-0.600597252138464,-1.3772100576954807],[-0.46059724535534013,-1.306578510288619]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_16","position":[0.09348160972210218,-1.1037497033572967,0.71338606911949],"aabb_xy":[[0.02848160872160166,-1.1545360685119717],[0.1584816107226027,-1.0529633382026218]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_17","position":[-0.4077019323125081,-1.7618591139241584,0.71338606911949],"aabb_xy":[[-0.45046863919192826,-1.8258591173459608],[-0.3649352254330879,-1.697859110502356]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_18","position":[0.5929054848136683,-2.260118818031396,0.71338606911949],"aabb_xy":[[0.5690692671730633,-2.3501188188398827],[0.6167417024542734,-2.17011881722291]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_19","position":[0.22356566000261402,0.5606393173145303,0.71338606911949],"aabb_xy":[[0.1983448231427743,0.5354155664616433],[0.24878649686245363,0.5858630681674168]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_20","position":[-0.5051693797488194,-0.18307164287684374,0.71338606911949],"aabb_xy":[[-0.5851693783361387,-0.26238724481500464],[-0.4251693811614999,-0.10375604093868286]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_21","position":[-0.05988065017326272,1.3436350900036453,0.71338606911949],"aabb_xy":[[-0.12488064805491053,1.292511426297105],[0.00511934770838507,1.3947587537101866]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6951575550953568,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6892.png","name":"6892"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6892.png","name":"6892"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6668.png","name":"6668"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4796.png","name":"4796"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9158.png","name":"9158"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3003.png","name":"3003"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":697.55328495609,"rotation_z_degrees":73.86412101303128,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0141984397946919,0.003861762184878225,-0.009163458162029233]},{"name":"camera_2","offset_m":[-0.004241774285146459,-0.01954373565908964,-0.01701775478602767]},{"name":"camera_3","offset_m":[0.006033122166930874,0.006708447125357456,0.014189129769714166]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0002404392984616875,-0.001387947941429327,-0.0013780430408096046],"end_effector_yaw_offset_degrees":-0.5410637071441529},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0009412882508131669,5.157608628621104e-05,-0.0011249248309364557],"end_effector_yaw_offset_degrees":0.3161634313914392},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0006351485496640047,-0.00036326935312754353,-0.001324474825545006],"end_effector_yaw_offset_degrees":-0.12449374224404419},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0014999506762283336,0.0015488573439883043,-0.0012849333787883297],"end_effector_yaw_offset_degrees":0.889994941767766}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0005167078722248001,0.001179894511795906],"position_m":[0.1640167078722248,-0.1449201054882041,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004379425305180471,5.35263461433318e-05],"position_m":[0.27827942530518046,-0.3487464736538567,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0016952484316602977,0.0028272794748915907],"position_m":[0.3089952484316603,0.2829272794748916,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0008412978138515057,-0.00493885169635323],"position_m":[0.3603412978138515,0.05536114830364677,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c808d6c8692f064927f4a7d871aab697d4b413d879461b0803dab7f09517298f","episode_index":89,"episode_name":"episode_0089"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0089.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_6892/tex_ceiling_textures_3003/tex_floor_textures_9158/tex_table_textures_6668/tex_wall_textures_4796","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":7616331746998630646,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":7616331746998630646,"visual_seed":7616331746998630646,"scene_id":"lab_003","finished_at":"2026-09-05T23:46:47"} +{"episode_id":"ep_000088","started_at":"2026-09-05T23:46:51","dimensions":{"distractor":{"count":22,"items":[{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_0","position":[-0.4131875576872644,-0.05307572067963928,0.71338606911949],"aabb_xy":[[-0.4631875590481516,-0.1030536252550549],[-0.36318755632637717,-0.003097816104223674]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_1","position":[-0.22147176589338813,-2.4795876091346676,0.71338606911949],"aabb_xy":[[-0.23663463887032524,-2.4947530664297863],[-0.20630889291645108,-2.464422151839549]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_2","position":[0.3284357773953086,-2.508878410598827,0.71338606911949],"aabb_xy":[[0.2806296097815399,-2.573878413305886],[0.37624194500907715,-2.443878407891768]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_3","position":[-0.6809657657580976,0.15080081797683986,0.71338606911949],"aabb_xy":[[-0.688209531804343,0.07080081977323749],[-0.6737219997118523,0.23080081618044224]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_4","position":[-0.5250420115524961,1.4668633312365427,0.71338606911949],"aabb_xy":[[-0.5890420101390684,1.419856367837034],[-0.4610420129659235,1.5138702946360514]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_5","position":[0.17584848643575435,-1.3511099152344095,0.71338606911949],"aabb_xy":[[0.14545037533661076,-1.3815168172360788],[0.20624659753489794,-1.3207030132327398]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_6","position":[-0.21849090819065342,1.4982039477348965,0.71338606911949],"aabb_xy":[[-0.28249090846463165,1.4481378475376085],[-0.15449090791667516,1.5482700479321845]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_7","position":[-0.0984019811700344,-1.9660028952799142,0.71338606911949],"aabb_xy":[[-0.1411686880494546,-2.0300028987017167],[-0.05563527429061421,-1.9020028918581118]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_8","position":[0.39363230118410897,0.6851590725488479,0.71338606911949],"aabb_xy":[[0.33850709555451813,0.6251590711075606],[0.4487575068136997,0.7451590739901349]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_9","position":[-0.5506571494671225,-1.210321094311927,0.71338606911949],"aabb_xy":[[-0.5728296764437734,-1.2324967614680502],[-0.5284846224904717,-1.1881454271558036]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_10","position":[-0.3610482101634323,-1.6532162134419217,0.71338606911949],"aabb_xy":[[-0.4062195280116013,-1.7172162105864606],[-0.31587689231526334,-1.5892162162973837]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_11","position":[-0.48885225283216777,0.6600539104803498,0.71338606911949],"aabb_xy":[[-0.5031866779583312,0.647993694925811],[-0.47451782770600426,0.6721141260348887]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_12","position":[0.24799361858279612,-1.9693844968548078,0.71338606911949],"aabb_xy":[[0.23996734795217012,-1.9781359918321608],[0.2560198892134221,-1.9606330018774556]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_13","position":[0.5216253250664125,-0.7679006900667662,0.71338606911949],"aabb_xy":[[0.47152786108533884,-0.831900690576578],[0.5717227890474861,-0.7039006895569544]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_14","position":[0.3959356293899041,-1.2063447585445182,0.71338606911949],"aabb_xy":[[0.38794213959462215,-1.214342890484994],[0.4039291191851862,-1.1983466266040428]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_15","position":[-0.27794476114833194,-1.3783928299810886,0.71338606911949],"aabb_xy":[[-0.28257987630056525,-1.3822601650582371],[-0.2733096459960984,-1.3745254949039396]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_16","position":[-0.5581541594420691,-0.9209633241234709,0.71338606911949],"aabb_xy":[[-0.5615948356821264,-0.9248247570978355],[-0.5547134832020121,-0.9171018911491066]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_17","position":[0.45924015001093443,-0.2093551210326714,0.71338606911949],"aabb_xy":[[0.40924014965036837,-0.25933510824227435],[0.5092401503715005,-0.15937513382306845]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_18","position":[-0.19199738396131294,0.9200783663266745,0.71338606911949],"aabb_xy":[[-0.20949738323939981,0.9027402662603285],[-0.17449738468322606,0.9374164663930205]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_19","position":[0.1827338208936039,1.4910420036192398,0.71338606911949],"aabb_xy":[[0.17739624522759936,1.4660420026901],[0.1880713965596085,1.5160420045483796]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_20","position":[-0.3468845657790347,-1.4109470863349722,0.71338606911949],"aabb_xy":[[-0.3548078460177831,-1.4334470865729756],[-0.33896128554028643,-1.3884470860969689]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_21","position":[-0.22173834468038028,1.28303287791928,0.71338606911949],"aabb_xy":[[-0.2567383445763991,1.2746586424073396],[-0.1867383447843614,1.2914071134312197]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6884332250072442,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3372.png","name":"3372"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3372.png","name":"3372"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1520.png","name":"1520"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1824.png","name":"1824"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8637.png","name":"8637"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9774.png","name":"9774"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":714.6199187584252,"rotation_z_degrees":105.2673450385408,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008994810347198326,0.011787698831552961,0.018857846607536]},{"name":"camera_2","offset_m":[0.019143000405154636,-0.00015395161813695768,0.015041156165403271]},{"name":"camera_3","offset_m":[-0.011213614562936219,-0.012693226659178563,-0.01780532563728633]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0005340971920057371,-0.0017382457804209373,-0.0017959104969487028],"end_effector_yaw_offset_degrees":-0.20306940531926654},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0009095837708512438,0.0017482453906987549,-0.0017058466244809646],"end_effector_yaw_offset_degrees":0.5115983518387386},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008933257737837169,0.00012234004929783564,-0.0014193312149760984],"end_effector_yaw_offset_degrees":0.7287857243230069},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0014058213805476327,-0.0005480949518987242,-0.0007960946905906847],"end_effector_yaw_offset_degrees":-0.46814990066067685}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.00020243198948127327,0.0013365743522467301],"position_m":[0.16329756801051873,-0.14476342564775327,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002234156872868972,0.0020569422878295605],"position_m":[0.271665843127131,-0.34674305771217045,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0021990019454015564,-0.00036985228695644336],"position_m":[0.30510099805459845,0.27973014771304355,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0016322250565673725,-0.0007363039778442038],"position_m":[0.35786777494343264,0.0595636960221558,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9346405294e10c3ab4441c5aee10753e7bdb43ab24836c086e53f97bdc06bba7","episode_index":90,"episode_name":"episode_0090"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0090.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_3372/tex_ceiling_textures_9774/tex_floor_textures_8637/tex_table_textures_1520/tex_wall_textures_1824","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":7516753642836974754,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":7516753642836974754,"visual_seed":7516753642836974754,"scene_id":"lab_003","finished_at":"2026-09-05T23:50:16"} +{"episode_id":"ep_000089","started_at":"2026-09-05T23:50:20","dimensions":{"distractor":{"count":31,"items":[{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_0","position":[0.6368683158476942,-0.3779871356360096,0.71338606911949],"aabb_xy":[[0.6239964123467541,-0.45798713604984576],[0.6497402193486344,-0.29798713522217346]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_1","position":[-0.4246890012767717,-1.3409814847734827,0.71338606911949],"aabb_xy":[[-0.4591513486749135,-1.375475367171305],[-0.39022665387862987,-1.3064876023756595]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_2","position":[0.12911905030621962,-2.353508251699529,0.71338606911949],"aabb_xy":[[0.09411905203609972,-2.360582379394517],[0.16411904857633952,-2.3464341240045408]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_3","position":[-0.3356977729148615,0.529355558509712,0.71338606911949],"aabb_xy":[[-0.4256977723332324,0.49598006166552233],[-0.24569777349649063,0.5627310553539018]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_4","position":[-0.6395568326106384,-2.5147151393730254,0.71338606911949],"aabb_xy":[[-0.6434707058060608,-2.5234641547795817],[-0.6356429594152159,-2.505966123966468]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_5","position":[0.20245109609896372,0.7200138218173229,0.71338606911949],"aabb_xy":[[0.17245943336509337,0.6900138224805222],[0.23244275883283402,0.7500138211541233]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_6","position":[-0.5497490489015282,-2.0666460387700596,0.71338606911949],"aabb_xy":[[-0.6047445267221875,-2.1216460402039665],[-0.4947535710808687,-2.0116460373361527]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_7","position":[-0.3942880598339251,-0.5224428779261725,0.71338606911949],"aabb_xy":[[-0.45587881905791794,-0.5864428760352194],[-0.3326973006099323,-0.4584428798171256]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_8","position":[0.47387796231221113,0.5826780913527672,0.71338606911949],"aabb_xy":[[0.38387796557660087,0.5294946280354726],[0.5638779590478213,0.6358615546700617]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_9","position":[-0.38462134094951206,0.7395829167416581,0.71338606911949],"aabb_xy":[[-0.4646213389302971,0.7319813757798062],[-0.304621342968727,0.74718445770351]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_10","position":[-0.08566629782288782,-2.4966829769931937,0.71338606911949],"aabb_xy":[[-0.10353540557734331,-2.510515884970405],[-0.06779719006843232,-2.4828500690159827]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_11","position":[-0.24461281773582538,1.1586436914074065,0.71338606911949],"aabb_xy":[[-0.2946128190196653,1.1086648370167842],[-0.19461281645198542,1.2086225457980284]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_12","position":[-0.663099664162895,-0.8779128060133017,0.71338606911949],"aabb_xy":[[-0.677743069716928,-0.8925715256700858],[-0.648456258608862,-0.8632540863565173]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_13","position":[0.4355375407593629,-0.9948094005316293,0.71338606911949],"aabb_xy":[[0.43157705698962856,-1.0024772651171499],[0.43949802452909725,-0.9871415359461087]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_14","position":[0.5962971574998333,-2.469087856005649,0.71338606911949],"aabb_xy":[[0.589053391453588,-2.5490878542092514],[0.6035409235460787,-2.3890878578020467]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_15","position":[0.5659228061942125,1.0506937934218867,0.71338606911949],"aabb_xy":[[0.5508205047331942,1.0355922717908244],[0.5810251076552304,1.0657953150529482]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_16","position":[-0.02340638494964331,-2.1731864067593025,0.71338606911949],"aabb_xy":[[-0.060906384893409715,-2.181479496794139],[0.014093614994123094,-2.164893316724466]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_17","position":[-0.1712675069994184,0.4224473317527595,0.71338606911949],"aabb_xy":[[-0.18947333066066607,0.4114219311707678],[-0.15306168333817072,0.4334727323347511]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_18","position":[-0.3155814494671297,-0.1213627278836773,0.71338606911949],"aabb_xy":[[-0.3326835274254979,-0.13846953341494705],[-0.2984793715087616,-0.10425592235240753]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_19","position":[-0.011504578725541892,-1.0508688776143291,0.71338606911949],"aabb_xy":[[-0.07550458013353255,-1.1026578291382538],[0.05249542268244877,-0.9990799260904045]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_20","position":[0.2952096013348292,-2.5012461703060827,0.71338606911949],"aabb_xy":[[0.28274224322509356,-2.513711494939406],[0.30767695944456486,-2.488780845672759]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_21","position":[0.6979589333647058,-2.423992169734546,0.71338606911949],"aabb_xy":[[0.69199239442397,-2.4299533143939103],[0.7039254723054414,-2.418031025075182]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_22","position":[-0.03836404620656941,1.687102312980381,0.71338606911949],"aabb_xy":[[-0.07268032338118735,1.6371023130072033],[-0.004047769031951476,1.7371023129535588]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_23","position":[0.21784251882038208,-1.0160255366747615,0.71338606911949],"aabb_xy":[[0.13784252185734291,-1.093101178318535],[0.29784251578342125,-0.938949895030988]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_24","position":[0.6360641762592567,-1.9271665866897394,0.71338606911949],"aabb_xy":[[0.5710641777021839,-1.9569191201036216],[0.7010641748163295,-1.8974140532758563]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_25","position":[0.598984125389439,0.77064661907681,0.71338606911949],"aabb_xy":[[0.5739841262238059,0.7636943733714534],[0.6239841245550721,0.7775988647821666]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_26","position":[0.5248299492098762,1.4473778054826307,0.71338606911949],"aabb_xy":[[0.5147482421313027,1.3673778075905159],[0.5349116562884496,1.5273778033747452]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_27","position":[0.12043605577545557,-2.229735387376537,0.71338606911949],"aabb_xy":[[0.09046849886562991,-2.2597353876744224],[0.15040361268528124,-2.1997353870786513]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_28","position":[0.2776124570952154,1.110135564207042,0.71338606911949],"aabb_xy":[[0.19761245566508823,1.0306184091944326],[0.3576124585253426,1.1896527192196515]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_29","position":[0.4692279506604562,-0.24122890676837505,0.71338606911949],"aabb_xy":[[0.40422795062615346,-0.28792958344870234],[0.5342279506947589,-0.19452823008804776]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_30","position":[0.624417926546948,0.9144908844338362,0.71338606911949],"aabb_xy":[[0.5766117589331793,0.8494908817267772],[0.6722240941607166,0.9794908871408952]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6928883936477345,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1510.png","name":"1510"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1510.png","name":"1510"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7963.png","name":"7963"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4337.png","name":"4337"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8977.png","name":"8977"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1644.png","name":"1644"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":689.2046874777266,"rotation_z_degrees":248.37160719419708,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0028859720594306137,0.007209660852136451,-0.013447904866332527]},{"name":"camera_2","offset_m":[-0.015096502296478524,0.016778022668154768,-0.018806256117857526]},{"name":"camera_3","offset_m":[0.004482308320676802,-0.008716976943763334,-0.014368056900742734]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00045290685405634354,-0.0009923844930365506,-0.0003113843110773228],"end_effector_yaw_offset_degrees":0.023093819240895153},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0014258785724271532,0.0016065147841353472,0.0017147182793648074],"end_effector_yaw_offset_degrees":-0.6097689275352007},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0012731185956666473,-0.0006623894748716262,-0.0012188563271813314],"end_effector_yaw_offset_degrees":-0.9446150032501615},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001659307232509415,0.001256925409661196,-0.001904360445960498],"end_effector_yaw_offset_degrees":-0.7126824363526736}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0037439711611733538,0.00024351680153568683],"position_m":[0.16724397116117337,-0.1458564831984643,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0040652108170262736,0.004050426843480435],"position_m":[0.27796521081702624,-0.34474957315651955,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004963904066655405,0.002854973413162181],"position_m":[0.3023360959333446,0.28295497341316217,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002275869631588113,0.0031827089580493866],"position_m":[0.3572241303684119,0.06348270895804939,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e685fe40e2e7ae8b14a6a43734889c67318b2773f359624f0ebb33fbead25f9c","episode_index":91,"episode_name":"episode_0091"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0091.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_1510/tex_ceiling_textures_1644/tex_floor_textures_8977/tex_table_textures_7963/tex_wall_textures_4337","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":3862340469101615578,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":3862340469101615578,"visual_seed":3862340469101615578,"scene_id":"lab_003","finished_at":"2026-09-05T23:53:49"} +{"episode_id":"ep_000090","started_at":"2026-09-05T23:53:52","dimensions":{"distractor":{"count":28,"items":[{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_0","position":[0.11355664101341945,-0.919136449814272,0.71338606911949],"aabb_xy":[[0.023556637336501256,-0.9805688563913761],[0.20355664469033757,-0.8577040432371674]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_1","position":[0.6293727038382619,-2.480901601979181,0.71338606911949],"aabb_xy":[[0.5908270110130609,-2.5194473730353697],[0.667918396663463,-2.4423558309229922]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_2","position":[0.6603295751052691,0.05164137621527676,0.71338606911949],"aabb_xy":[[0.6489678404519827,0.04027290980898868],[0.6716913097585551,0.06300984262156484]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_3","position":[-0.37780854481330933,1.4927266871765865,0.71338606911949],"aabb_xy":[[-0.38866015106218493,1.4818673964489355],[-0.36695693856443373,1.5035859779042375]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_4","position":[-0.2301615515931606,-0.7669418937093953,0.71338606911949],"aabb_xy":[[-0.3201615480940323,-0.8128535361278534],[-0.14016155509228878,-0.7210302512909369]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_5","position":[0.6419558914898562,-0.47744961141092235,0.71338606911949],"aabb_xy":[[0.6044558906978608,-0.48381745236911244],[0.6794558922818517,-0.47108177045273225]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_6","position":[-0.022737804046194854,-2.1247143067245693,0.71338606911949],"aabb_xy":[[-0.044627551635135654,-2.2147143040138184],[-0.0008480564572540572,-2.03471430943532]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_7","position":[-0.32087911926576124,-2.2059374240533436,0.71338606911949],"aabb_xy":[[-0.38487911655140983,-2.2474441430061876],[-0.25687912198011253,-2.1644307051004996]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_8","position":[-0.42285403668902755,-1.3743001723053478,0.71338606911949],"aabb_xy":[[-0.4429124483022678,-1.3943652592145053],[-0.4027956250757872,-1.35423508539619]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_9","position":[0.5232942137903551,-1.642718829271706,0.71338606911949],"aabb_xy":[[0.5156699457001769,-1.6503520528082498],[0.5309184818805334,-1.6350856057351624]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_10","position":[0.5461674481519034,0.4659186883880948,0.71338606911949],"aabb_xy":[[0.4960699841708298,0.40191868787828305],[0.596264912132977,0.5299186888979066]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_11","position":[0.1877174535732501,-1.7035266628401975,0.71338606911949],"aabb_xy":[[0.1710403175801546,-1.7202265868141278],[0.2043945895663456,-1.6868267388662672]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_12","position":[0.5702375655226448,1.6138937425873805,0.71338606911949],"aabb_xy":[[0.5002375639203653,1.6004609493857231],[0.6402375671249243,1.6273265357890383]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_13","position":[-0.137711179379573,-1.1489944082816321,0.71338606911949],"aabb_xy":[[-0.18771118039870832,-1.1854606240194603],[-0.08771117836043775,-1.1125281925438044]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_14","position":[-0.14694107954168312,1.764489088676219,0.71338606911949],"aabb_xy":[[-0.22694108280569625,1.7509290563673057],[-0.06694107627766999,1.7780491209851323]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_15","position":[0.10604499912750776,1.1989877325625535,0.71338606911949],"aabb_xy":[[0.10070742346150319,1.173987731633414],[0.11138257479351232,1.2239877334916935]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_16","position":[0.2613168775752487,1.287097574061859,0.71338606911949],"aabb_xy":[[0.25573520594111987,1.2745975742440836],[0.2668985492093774,1.2995975738796346]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_17","position":[-0.5559314838652373,1.276910539570844,0.71338606911949],"aabb_xy":[[-0.5640591720585505,1.2679969311601362],[-0.547803795671924,1.2858241479815518]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_18","position":[-0.18781317852436852,-1.4192720456049845,0.71338606911949],"aabb_xy":[[-0.2069254858823474,-1.4384068244822268],[-0.16870087116638968,-1.4001372667277427]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_19","position":[0.6540140602205222,-1.8597020922922038,0.71338606911949],"aabb_xy":[[0.649878203887822,-1.897202091736561],[0.6581499165532224,-1.822202092847847]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_20","position":[-0.4734782177147936,0.36072777400891987,0.71338606911949],"aabb_xy":[[-0.5634782174379677,0.33765442147374],[-0.38347821799161935,0.38380112654409965]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_21","position":[0.6852511760472282,1.763528317799603,0.71338606911949],"aabb_xy":[[0.6517720087861874,1.7300492044284963],[0.7187303433082692,1.7970074311707103]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_22","position":[0.4278197088766571,-0.9324153804076947,0.71338606911949],"aabb_xy":[[0.3628197103195843,-0.9621679138215773],[0.49281970743373,-0.902662846993812]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_23","position":[-0.139464362730232,-0.9644162717170699,0.71338606911949],"aabb_xy":[[-0.20346436299070278,-1.0094250710699977],[-0.07546436246976117,-0.9194074723641419]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_24","position":[0.574104841938124,-0.6154390913884276,0.71338606911949],"aabb_xy":[[0.4841048396041049,-0.6929214459735402],[0.664104844272143,-0.5379567368033149]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_25","position":[-0.6264270018681066,-0.8778968001152987,0.71338606911949],"aabb_xy":[[-0.6814270014898526,-0.9328804929027715],[-0.5714270022463609,-0.8229131073278261]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_26","position":[-0.48252661303810296,0.08325765001405605,0.71338606911949],"aabb_xy":[[-0.5465266116246754,0.036250686614547334],[-0.4185266144515305,0.13026461341356477]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_27","position":[0.14913637223192155,1.310561014571956,0.71338606911949],"aabb_xy":[[0.12413637306628844,1.3036087688665994],[0.17413637139755467,1.3175132602773125]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6888912804992042,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9446.png","name":"9446"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9446.png","name":"9446"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7601.png","name":"7601"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4069.png","name":"4069"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8586.png","name":"8586"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7351.png","name":"7351"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":545.1482176846994,"rotation_z_degrees":127.2955390190994,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004119764232987887,0.00368543698640374,-0.00838179615155692]},{"name":"camera_2","offset_m":[-0.008555491261850361,-0.009910522085584903,0.0019983324140177665]},{"name":"camera_3","offset_m":[0.01814418001443169,-0.0108949164306439,0.018209221572478642]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0009170765963921234,0.0005982915162033491,-0.0011611165014170297],"end_effector_yaw_offset_degrees":0.19650059363456984},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00134275098483322,0.0016053052502114687,-0.0005412931463367699],"end_effector_yaw_offset_degrees":0.33810528877611157},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0011667969953020997,0.0015865562124952716,-0.001985977963438638],"end_effector_yaw_offset_degrees":-0.8859633967777951},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00019063485934390904,-0.0010189025740223391,0.0017397775546361366],"end_effector_yaw_offset_degrees":-0.12964887559241944}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004952384528059692,0.0035121966756313803],"position_m":[0.15854761547194032,-0.14258780332436863,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0005946521737951417,0.003968367522793256],"position_m":[0.27330534782620486,-0.3448316324772067,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0048303358482706185,0.0025075766790327208],"position_m":[0.3024696641517294,0.28260757667903275,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0037492429040426557,-0.001748703480395799],"position_m":[0.3557507570959573,0.0585512965196042,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9566549c305586b2afb2a207b43fee2f8e819294cfc4cf4fe10ecca7ecd97052","episode_index":92,"episode_name":"episode_0092"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0092.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_9446/tex_ceiling_textures_7351/tex_floor_textures_8586/tex_table_textures_7601/tex_wall_textures_4069","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":2014438356370170368,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":2014438356370170368,"visual_seed":2014438356370170368,"scene_id":"lab_003","finished_at":"2026-09-05T23:56:49"} +{"episode_id":"ep_000091","started_at":"2026-09-05T23:56:53","dimensions":{"distractor":{"count":31,"items":[{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_0","position":[0.7139238767456373,1.7510379032936796,0.71338606911949],"aabb_xy":[[0.7052099076957026,1.7285379026344911],[0.7226378457955716,1.7735379039528676]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_1","position":[-0.5329784723380545,-1.172137444033116,0.71338606911949],"aabb_xy":[[-0.5979784734439978,-1.1971028171012443],[-0.4679784712321112,-1.1471720709649877]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_2","position":[-0.6406717402715499,-2.4907595099168987,0.71338606911949],"aabb_xy":[[-0.6447498981785997,-2.4948404901651613],[-0.6365935823645001,-2.486678529668635]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_3","position":[-0.6378445530634107,0.7795901255267159,0.71338606911949],"aabb_xy":[[-0.6545216890565061,0.7628902015527856],[-0.6211674170703151,0.7962900495006462]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_4","position":[-0.17473663196249067,-1.8625320824274993,0.71338606911949],"aabb_xy":[[-0.17843989329162951,-1.8662341007362169],[-0.17103337063335178,-1.8588300641187814]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_5","position":[0.5711576446222377,1.2827409128628458,0.71338606911949],"aabb_xy":[[0.5639138785759924,1.2027409146592434],[0.578401410668483,1.3627409110664481]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_6","position":[-0.4131097115194215,-0.5340309072415943,0.71338606911949],"aabb_xy":[[-0.49310971198963743,-0.5423416148559428],[-0.3331097110492055,-0.525720199627246]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_7","position":[-0.018090913539440923,-1.7558307390644416,0.71338606911949],"aabb_xy":[[-0.05559091433143637,-1.7621985800226319],[0.019409087252554524,-1.7494628981062514]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_8","position":[0.43291009596318,0.8536572874554178,0.71338606911949],"aabb_xy":[[0.3779178453276691,0.7986572857121053],[0.487902346598691,0.9086572891987308]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_9","position":[0.6132817075612231,0.9499864570440253,0.71338606911949],"aabb_xy":[[0.5332817104016477,0.9384388560862083],[0.6932817047207983,0.9615340580018423]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_10","position":[-0.3718150116007109,-0.6673663228945228,0.71338606911949],"aabb_xy":[[-0.39431501211275144,-0.689858181259921],[-0.34931501108867025,-0.6448744645291243]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_11","position":[0.0345886227712795,1.28480508435729,0.71338606911949],"aabb_xy":[[-0.02941137863671117,1.233016132833365],[0.09858862417927015,1.3365940358812145]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_12","position":[0.2856625934875353,1.1918747597885804,0.71338606911949],"aabb_xy":[[0.2776192335615801,1.106874758693214],[0.29370595341349043,1.2768747608839468]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_13","position":[0.011710177180403347,1.1570802623984484,0.71338606911949],"aabb_xy":[[0.002908121871430637,1.1492689362435191],[0.02051223248937606,1.1648915885533773]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_14","position":[0.6602993688861649,-0.058663143206694635,0.71338606911949],"aabb_xy":[[0.6476966697490885,-0.07125853943156013],[0.6729020680232414,-0.046067746981829145]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_15","position":[0.6815969089619751,0.6422066957519408,0.71338606911949],"aabb_xy":[[0.6721794343921124,0.6327905186142216],[0.6910143835318379,0.6516228728896597]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_16","position":[0.24723043175042447,-1.3618978791645584,0.71338606911949],"aabb_xy":[[0.1832304298380821,-1.4178090284225688],[0.3112304336627668,-1.305986729906548]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_17","position":[-0.25211386830525895,0.26517702424642664,0.71338606911949],"aabb_xy":[[-0.3421138719821771,0.20374461766932223],[-0.16211386462834074,0.32660943082353094]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_18","position":[-0.522191225622483,1.0841067729603857,0.71338606911949],"aabb_xy":[[-0.5673625434706521,1.0201067758158475],[-0.47701990777431413,1.1481067701049243]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_19","position":[-0.6433422268238311,-1.930001896210519,0.71338606911949],"aabb_xy":[[-0.6904716058256667,-1.9940018972549207],[-0.5962128478219954,-1.8660018951661168]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_20","position":[-0.5137610029948887,-0.03367574517122751,0.71338606911949],"aabb_xy":[[-0.5547789463812596,-0.08367574580218484],[-0.4727430596085178,0.016324255459729826]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_21","position":[-0.12296007636459083,1.2788216160594819,0.71338606911949],"aabb_xy":[[-0.1604600749402116,1.2660853203959237],[-0.08546007778897001,1.2915579117230396]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_22","position":[-0.5848229310344776,-0.8219637316758996,0.71338606911949],"aabb_xy":[[-0.6399481366640682,-0.8819637331171868],[-0.5296977254048867,-0.7619637302346125]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_23","position":[-0.4875626935259193,1.70183339882573,0.71338606911949],"aabb_xy":[[-0.5525626916818384,1.6755371542758177],[-0.42256269537000024,1.7281296433756421]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_24","position":[-0.5862016583727021,0.6827183933278915,0.71338606911949],"aabb_xy":[[-0.6206640057708438,0.6482245109300687],[-0.5517393109745602,0.7172122757257141]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_25","position":[-0.29640735166555937,-1.9994864086037512,0.71338606911949],"aabb_xy":[[-0.3314073515615782,-2.007860644115691],[-0.26140735176954044,-1.9911121730918115]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_26","position":[-0.3027801343190231,-2.1164858997821865,0.71338606911949],"aabb_xy":[[-0.3107736241143052,-2.1244840317226625],[-0.29478664452374115,-2.1084877678417113]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_27","position":[-0.14273795303182724,-0.5896816923902855,0.71338606911949],"aabb_xy":[[-0.18398676406174197,-0.6446816919025027],[-0.10148914200191252,-0.5346816928780678]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_28","position":[0.09607883896264491,-1.6936889684721395,0.71338606911949],"aabb_xy":[[0.06774912901410468,-1.6981497106658567],[0.12440854891118514,-1.6892282262784226]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_29","position":[-0.49772064509194763,-1.8515240598578107,0.71338606911949],"aabb_xy":[[-0.5477206467534422,-1.9015225021135134],[-0.4477206434304528,-1.801525617602108]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_30","position":[-0.5988855734733649,0.36409122219406287,0.71338606911949],"aabb_xy":[[-0.6362168499986075,0.32943816739921056],[-0.5615542969481223,0.3987442769889152]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6932463445558847,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6602.png","name":"6602"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6602.png","name":"6602"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2544.png","name":"2544"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7588.png","name":"7588"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9485.png","name":"9485"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1140.png","name":"1140"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":598.9051911928091,"rotation_z_degrees":92.63572587209778,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011231199602922293,-0.017763323140179633,0.018037406321045262]},{"name":"camera_2","offset_m":[0.0189718490918719,0.015178253843689208,0.018675431276490403]},{"name":"camera_3","offset_m":[0.007650644306303921,-0.010973007874554654,-0.001903690097892284]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00045456605248486346,0.0009833798013255766,0.0009715848250379496],"end_effector_yaw_offset_degrees":-0.4757699159245463},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0005994997938661944,0.0014323769595003927,-9.677344827669103e-05],"end_effector_yaw_offset_degrees":-0.8212211228944304},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0015424972740536256,0.000803791491666676,-0.0012757542847986426],"end_effector_yaw_offset_degrees":-0.08407302368525582},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0005941245363893354,0.0003449871789288775,-0.00031433790549877214],"end_effector_yaw_offset_degrees":0.5672213284312011}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0033785917591487337,-0.004441604045446789],"position_m":[0.16012140824085128,-0.1505416040454468,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0006608174700060802,-0.004763190645575293],"position_m":[0.2732391825299939,-0.3535631906455753,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.00036942696902795506,-0.0011073330177119576],"position_m":[0.307669426969028,0.2789926669822881,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0025183285084545504,0.0048821074295935145],"position_m":[0.36201832850845456,0.06518210742959352,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c5ad9acfcb668cd6246a39b9b00ee474efd76d1e522a22b4d7b4446f58bcd050","episode_index":93,"episode_name":"episode_0093"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0093.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_6602/tex_ceiling_textures_1140/tex_floor_textures_9485/tex_table_textures_2544/tex_wall_textures_7588","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":2739834726257654635,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":2739834726257654635,"visual_seed":2739834726257654635,"scene_id":"lab_003","finished_at":"2026-09-05T23:59:59"} +{"episode_id":"ep_000092","started_at":"2026-09-06T00:00:03","dimensions":{"distractor":{"count":32,"items":[{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_0","position":[0.23325789815964393,-1.978968271957486,0.71338606911949],"aabb_xy":[[0.21134921602029288,-2.000868938777576],[0.25516658029899497,-1.957067605137395]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_1","position":[-0.0034980983692624035,1.1590816272607363,0.71338606911949],"aabb_xy":[[-0.010538408302799398,1.079081627861065],[0.00354221156427459,1.2390816266604079]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_2","position":[0.22847442731898115,-1.5228667089708487,0.71338606911949],"aabb_xy":[[0.20218560299854046,-1.5491381426255],[0.25476325163942176,-1.4965952753161975]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_3","position":[-0.37337892305066933,1.76125972859986,0.71338606911949],"aabb_xy":[[-0.4098747436779481,1.7247757861731026],[-0.3368831024233906,1.7977436710266177]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_4","position":[-0.10949393153789122,-1.765558954015676,0.71338606911949],"aabb_xy":[[-0.14449392980801112,-1.772633081710664],[-0.0744939332677713,-1.7584848263206876]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_5","position":[-0.5948068992482474,-1.649820866030724,0.71338606911949],"aabb_xy":[[-0.6008439122489121,-1.6558475670996724],[-0.5887698862475826,-1.6437941649617762]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_6","position":[0.4097587875601836,0.5817037651868535,0.71338606911949],"aabb_xy":[[0.39155296389893596,0.570678364604862],[0.4279646112214313,0.5927291657688453]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_7","position":[0.5695275085767697,-0.18845453654199718,0.71338606911949],"aabb_xy":[[0.49952750697449033,-0.20188732974365478],[0.6395275101790493,-0.17502174334033962]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_8","position":[0.3483220168822698,-1.3661436529066793,0.71338606911949],"aabb_xy":[[0.2983377811740926,-1.4161436517201749],[0.39830625259044705,-1.3161436540931837]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_9","position":[-0.4880255192194756,0.016267955459637662,0.71338606911949],"aabb_xy":[[-0.5099152668084164,-0.07373204182961145],[-0.4661357716305348,0.10626795274888677]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_10","position":[-0.1532692039840826,0.10138056785332639,0.71338606911949],"aabb_xy":[[-0.17576920422759804,0.08917593319355444],[-0.13076920374056725,0.11358520251309834]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_11","position":[-0.17352887870087075,-2.0883877312885337,0.71338606911949],"aabb_xy":[[-0.22350194423338626,-2.138387731101067],[-0.12355581316835532,-2.0383877314760013]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_12","position":[-0.13758569143614063,-0.4714180063250386,0.71338606911949],"aabb_xy":[[-0.17508569295177234,-0.48264477934118366],[-0.10008568992050892,-0.46019123330889355]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_13","position":[-0.5850138516939085,0.6146802347366633,0.71338606911949],"aabb_xy":[[-0.6025921538828554,0.5971057451625583],[-0.5674355495049617,0.6322547243107681]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_14","position":[0.2301200714860988,-1.239056332421994,0.71338606911949],"aabb_xy":[[0.22478755683148585,-1.2443806606672296],[0.23545258614071182,-1.2337320041767585]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_15","position":[-0.3334272154694118,1.3914165077670781,0.71338606911949],"aabb_xy":[[-0.3634188782032821,1.3614165084302776],[-0.30343555273554146,1.4214165071038787]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_16","position":[-0.6177795593487452,-0.3494570120099443,0.71338606911949],"aabb_xy":[[-0.6402795588724524,-0.371952959460565],[-0.5952795598250376,-0.32696106455932344]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_17","position":[-0.5441175722546869,-0.2611895802149018,0.71338606911949],"aabb_xy":[[-0.5546850519127859,-0.27173461032791035],[-0.5335500925965879,-0.25064455010189324]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_18","position":[0.2222539768454933,-2.326749725175225,0.71338606911949],"aabb_xy":[[0.14225397358148015,-2.3403097574841385],[0.30225398010950644,-2.313189692866312]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_19","position":[0.41545688225565813,-2.4366997528719394,0.71338606911949],"aabb_xy":[[0.390456883090025,-2.443651998577296],[0.44045688142129125,-2.429747507166583]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_20","position":[-0.09665057418683254,1.159194767668736,0.71338606911949],"aabb_xy":[[-0.10534853647754784,1.1470697933612612],[-0.08795261189611725,1.1713197419762107]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_21","position":[-0.26008821194838505,-0.5239851547620282,0.71338606911949],"aabb_xy":[[-0.2716571926953217,-0.5489851548789599],[-0.24851923120144853,-0.4989851546450965]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_22","position":[0.2706428543188407,1.042411346813731,0.71338606911949],"aabb_xy":[[0.23314285589544032,1.0292471328459003],[0.308142852742241,1.0555755607815618]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_23","position":[-0.675033782915525,-2.4872940222059494,0.71338606911949],"aabb_xy":[[-0.6791119408225748,-2.491375002454213],[-0.6709556250084752,-2.4832130419576868]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_24","position":[-0.05666806205384178,-1.4704754727934148,0.71338606911949],"aabb_xy":[[-0.1066680614940374,-1.520443397277731],[-0.006668062613646157,-1.4205075483090983]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_25","position":[0.010885587284674703,-2.1223228578155293,0.71338606911949],"aabb_xy":[[-0.006614411849692469,-2.132202484853117],[0.02838558641904187,-2.1124432307779415]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_26","position":[0.5877998365841199,-1.0671832331349995,0.71338606911949],"aabb_xy":[[0.5277998349411981,-1.1191833824269437],[0.6477998382270418,-1.0151830838430553]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_27","position":[0.411374664089472,-1.5049369771146144,0.71338606911949],"aabb_xy":[[0.3313746669298967,-1.5164845780724312],[0.4913746612490473,-1.4933893761567971]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_28","position":[-0.27157238195763356,-2.4849325138529776,0.71338606911949],"aabb_xy":[[-0.2960860060546394,-2.5091971071550145],[-0.2470587578606277,-2.4606679205509416]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_29","position":[-0.38070135027336655,-1.3954090676624293,0.71338606911949],"aabb_xy":[[-0.46070135054697353,-1.468358615488146],[-0.30070134999975956,-1.3224595198367126]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_30","position":[0.08365421451510646,-1.48500081198871,0.71338606911949],"aabb_xy":[[0.05865421524314419,-1.5013461755848723],[0.10865421378706874,-1.4686554483925476]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_31","position":[0.5674105318259852,-2.4518840435565874,0.71338606911949],"aabb_xy":[[0.5498638369098663,-2.489384045120839],[0.5849572267421042,-2.414384041992336]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6928326736773698,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9548.png","name":"9548"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9548.png","name":"9548"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5591.png","name":"5591"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2713.png","name":"2713"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6639.png","name":"6639"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2895.png","name":"2895"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":627.3516249057255,"rotation_z_degrees":222.86550564359968,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.017431899985745684,-0.01646494225542503,-0.01655033757700502]},{"name":"camera_2","offset_m":[0.019156674900706865,-0.0002933803851975017,0.0011797589949641835]},{"name":"camera_3","offset_m":[0.018754943813521118,-0.011363347059947536,0.0032395685311345304]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0012262596845944618,-0.0016036690517091277,-0.0012986045828183865],"end_effector_yaw_offset_degrees":-0.6680321947943055},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00010114748302662369,0.0005853593091907396,-9.553157976924177e-05],"end_effector_yaw_offset_degrees":0.9662059203609945},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0017544689159090534,-0.001926517750059175,0.0005280405996233367],"end_effector_yaw_offset_degrees":-0.1868317765119587},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0002568579489080514,0.001238498422527409,0.0006736353707831847],"end_effector_yaw_offset_degrees":0.6033565206197078}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0013666018171829089,-0.0048783593545658034],"position_m":[0.1621333981828171,-0.1509783593545658,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0001739709375754451,-0.0025364661410629155],"position_m":[0.2740739709375754,-0.3513364661410629,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0036605442334337037,0.0005371013055215099],"position_m":[0.3036394557665663,0.28063710130552155,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0016712040300301168,-0.0026373818164335083],"position_m":[0.35782879596996986,0.057662618183566494,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"97252e6d16a9256ae9bed398867ffd2edec4a12e14158071da6a8cbd0d9d8109","episode_index":94,"episode_name":"episode_0094"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0094.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_9548/tex_ceiling_textures_2895/tex_floor_textures_6639/tex_table_textures_5591/tex_wall_textures_2713","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":5410065399431265612,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":5410065399431265612,"visual_seed":5410065399431265612,"scene_id":"lab_003","finished_at":"2026-09-06T00:03:33"} +{"episode_id":"ep_000093","started_at":"2026-09-06T00:03:37","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_0","position":[0.04233602148085336,0.8306279805076118,0.71338606911949],"aabb_xy":[[-0.021663980739553675,0.7862548963823235],[0.10633602370126038,0.8750010646329001]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_1","position":[0.47408331387101743,-2.100247954929483,0.71338606911949],"aabb_xy":[[0.4687507992164045,-2.105572283174719],[0.47941582852563047,-2.0949236266842473]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_2","position":[-0.29298544179532926,-1.7530694848634618,0.71338606911949],"aabb_xy":[[-0.35698544108949753,-1.8170556252323158],[-0.2289854425011611,-1.6890833444946074]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_3","position":[0.3400411346507839,-1.8802051419580752,0.71338606911949],"aabb_xy":[[0.3291895284019083,-1.8910644326857262],[0.3508927408996595,-1.8693458512304242]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_4","position":[0.3495518401944242,1.5816877665010298,0.71338606911949],"aabb_xy":[[0.32626999799629286,1.4966877652038018],[0.37283368239255554,1.666687767798258]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_5","position":[-0.3844607687545381,-1.335452473531549,0.71338606911949],"aabb_xy":[[-0.4194607679473563,-1.3464195195292115],[-0.3494607695617198,-1.324485427533886]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_6","position":[-0.10977010030352241,-2.2116537533259706,0.71338606911949],"aabb_xy":[[-0.15757626791729107,-2.2766537560330296],[-0.06196393268975375,-2.1466537506189116]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_7","position":[-0.023387615045859178,1.6095027578720367,0.71338606911949],"aabb_xy":[[-0.04588675077208615,1.587002757093774],[-0.0008884793196322072,1.6320027586502999]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_8","position":[0.41541497874633593,1.2633225766844003,0.71338606911949],"aabb_xy":[[0.3514149784723577,1.2132564764871123],[0.47941497902031416,1.3133886768816883]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_9","position":[0.607316365420864,0.04851643085293844,0.71338606911949],"aabb_xy":[[0.5898164319868805,0.03101643093270389],[0.6248162988548472,0.06601643077317298]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_10","position":[-0.6372784216652129,-0.17896381888154433,0.71338606911949],"aabb_xy":[[-0.6656081316137531,-0.1834245610752614],[-0.6089487117166726,-0.17450307668782727]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_11","position":[-0.6445505227842809,-0.09353127272345763,0.71338606911949],"aabb_xy":[[-0.6533525780932536,-0.10134259887838669],[-0.6357484674753082,-0.08571994656852854]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_12","position":[-0.42125406453593517,1.3740800550252517,0.71338606911949],"aabb_xy":[[-0.4314070800900844,1.338010513452511],[-0.4111010489817856,1.4101495965979918]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_13","position":[-0.5999405816767086,0.26950003833373737,0.71338606911949],"aabb_xy":[[-0.6130918276479981,0.24450003857705083],[-0.5867893357054194,0.2945000380904239]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_14","position":[0.6467678609107441,0.7694790243285201,0.71338606911949],"aabb_xy":[[0.6408013219700084,0.7635178796691561],[0.6527343998514799,0.7754401689878841]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_15","position":[-0.06665156790067761,-1.4492497489260687,0.71338606911949],"aabb_xy":[[-0.11165156936690647,-1.4942496057875494],[-0.021651566434448755,-1.404249892064588]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_16","position":[-0.2632804592650814,0.7892731507687238,0.71338606911949],"aabb_xy":[[-0.28085876145402827,0.7716986611946188],[-0.24570215707613458,0.8068476403428286]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_17","position":[0.3128088747013682,-0.7402121525011967,0.71338606911949],"aabb_xy":[[0.3046952200279911,-0.7483179689552257],[0.3209225293747453,-0.7321063360471676]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_18","position":[-0.42439704297178305,0.8028603196046808,0.71338606911949],"aabb_xy":[[-0.48939704407772633,0.7778949465365527],[-0.35939704186583976,0.8278256926728093]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_19","position":[0.6717431327898169,0.6482720022711015,0.71338606911949],"aabb_xy":[[0.6638198525510686,0.6257720020330982],[0.6796664130285652,0.670772002509105]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_20","position":[-0.5934750238629317,1.3924810908639058,0.71338606911949],"aabb_xy":[[-0.6184750237954496,1.3855984226429827],[-0.5684750239304138,1.3993637590848294]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_21","position":[-0.3436605570241287,0.6579205202221847,0.71338606911949],"aabb_xy":[[-0.3513637476982057,0.6502111495234466],[-0.33595736635005163,0.6656298909209226]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_22","position":[-0.18761547225415365,-0.8585759195910607,0.71338606911949],"aabb_xy":[[-0.19152934544957614,-0.8673249349976176],[-0.1837015990587311,-0.849826904184504]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_23","position":[-0.5421734576406979,-0.37261796857215934,0.71338606911949],"aabb_xy":[[-0.632173454376308,-0.4258014318894539],[-0.4521734609050876,-0.3194345052548649]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6889428424598778,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4099.png","name":"4099"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4099.png","name":"4099"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2688.png","name":"2688"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6654.png","name":"6654"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4350.png","name":"4350"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8104.png","name":"8104"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":512.1830455579095,"rotation_z_degrees":210.64684322112757,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010362455075990375,-0.019967119803765768,-0.005983593952044846]},{"name":"camera_2","offset_m":[0.01365009162348917,-0.005235384578943014,0.012058924196584695]},{"name":"camera_3","offset_m":[-0.009455873566937414,-0.0025333491509996788,0.01636787974023313]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0012190157512369563,-0.0006783919304430423,-0.00019509887603323455],"end_effector_yaw_offset_degrees":-0.21211617614956957},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.001647792685877131,0.0013912386072326712,0.0008100717338098418],"end_effector_yaw_offset_degrees":0.1118734163127193},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001039372633842882,-0.0014928719773493722,-0.0001226349972266764],"end_effector_yaw_offset_degrees":0.0952888862848218},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00033848119120451084,-0.0003250582316164099,-0.0008528666078497444],"end_effector_yaw_offset_degrees":0.8222611786841507}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0014661933793208093,-0.00386966702424574],"position_m":[0.1620338066206792,-0.14996966702424575,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0018487884057097727,0.0017061389920204036],"position_m":[0.2720512115942902,-0.3470938610079796,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003664663146153703,0.0018647882233401181],"position_m":[0.31096466314615373,0.28196478822334015,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0027463567816114354,-0.003106924019020384],"position_m":[0.36224635678161143,0.05719307598097961,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c0454c8c58ffd501b68c2ae1dd6211d6cc6dca863ad0ca1ea24e7ea2f2c46434","episode_index":95,"episode_name":"episode_0095"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0095.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_4099/tex_ceiling_textures_8104/tex_floor_textures_4350/tex_table_textures_2688/tex_wall_textures_6654","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":3342705092086271801,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":3342705092086271801,"visual_seed":3342705092086271801,"scene_id":"lab_003","finished_at":"2026-09-06T00:07:01"} +{"episode_id":"ep_000094","started_at":"2026-09-06T00:07:05","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_0","position":[-0.49800840210161534,-1.3659562020011318,0.71338606911949],"aabb_xy":[[-0.5480076772700515,-1.415956203277079],[-0.4480091269331791,-1.3159562007251846]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_1","position":[0.06885805577361037,0.9049887715241494,0.71338606911949],"aabb_xy":[[0.004858058661504697,0.8559564017297387],[0.13285805288571606,0.95402114131856]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_2","position":[0.5376385393875036,-1.0230752892463353,0.71338606911949],"aabb_xy":[[0.502638541076808,-1.030790304169881],[0.572638537698199,-1.0153602743227896]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_3","position":[-0.4303448689954157,-2.2286884746236386,0.71338606911949],"aabb_xy":[[-0.4953448716332091,-2.2801680733230856],[-0.36534486635762214,-2.1772088759241917]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_4","position":[0.650704100836824,-0.0969040343012102,0.71338606911949],"aabb_xy":[[0.6425904461634468,-0.10500985075523926],[0.658817755510201,-0.0887982178471811]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_5","position":[0.2853123813365669,-1.6187420348701165,0.71338606911949],"aabb_xy":[[0.22031238277949405,-1.648494568283999],[0.3503123798936397,-1.5889895014562339]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_6","position":[-0.24685904675667164,-1.8696544085978468,0.71338606911949],"aabb_xy":[[-0.3108590431839935,-1.9168240324199435],[-0.1828590503293497,-1.8224847847757506]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_7","position":[0.6862678933928501,-0.9030773476355636,0.71338606911949],"aabb_xy":[[0.6512678934968312,-0.9114515831475035],[0.721267893288869,-0.8947031121236236]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_8","position":[0.5686243311256836,1.3889578538066014,0.71338606911949],"aabb_xy":[[0.5214949521238478,1.3249578527621995],[0.6157537101275191,1.4529578548510034]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_9","position":[-0.14846672314900522,0.13453198382101217,0.71338606911949],"aabb_xy":[[-0.22846672361922118,0.1262212762066638],[-0.06846672267878927,0.14284269143536055]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_10","position":[0.5179253106524695,0.9592086461518026,0.71338606911949],"aabb_xy":[[0.511613211116131,0.9534417068985838],[0.5242374101888078,0.9649755854050214]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_11","position":[0.24237650789058174,-1.923809347164123,0.71338606911949],"aabb_xy":[[0.2268207384803165,-1.9393597804085307],[0.257932277300847,-1.9082589139197164]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_12","position":[-0.33165294037159054,-0.44667143640917617,0.71338606911949],"aabb_xy":[[-0.36814876099886923,-0.48315537883593374],[-0.29515711974431175,-0.4101874939824186]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_13","position":[-0.5373496630280228,-0.24291655424164915,0.71338606911949],"aabb_xy":[[-0.5445934290742681,-0.3229165524452515],[-0.5301058969817775,-0.16291655603804678]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_14","position":[0.44571180107552166,-2.184529903190155,0.71338606911949],"aabb_xy":[[0.42321180126161934,-2.1890045195606356],[0.4682118008894241,-2.1800552868196745]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_15","position":[0.07987917569329439,-2.2593686183294603,0.71338606911949],"aabb_xy":[[0.06672792972200503,-2.284368618086147],[0.09303042166458375,-2.234368618572774]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_16","position":[0.21745926151641826,-0.7222886239646398,0.71338606911949],"aabb_xy":[[0.20704770283593452,-0.7276343573005382],[0.22787082019690194,-0.7169428906287412]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_17","position":[0.3984040201004053,1.3789240716338194,0.71338606911949],"aabb_xy":[[0.33440402370483224,1.3149607832150858],[0.4624040164959784,1.442887360052553]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_18","position":[-0.09969782657128812,-2.2893684502138516,0.71338606911949],"aabb_xy":[[-0.16969782298124986,-2.3098063858655324],[-0.029697830161326304,-2.268930514562169]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_19","position":[-0.3118088306013234,0.5385665836515217,0.71338606911949],"aabb_xy":[[-0.3486034637262297,0.5016607085549394],[-0.27501419747641714,0.5754724587481039]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_20","position":[-0.27511568669870307,-1.4595194997993381,0.71338606911949],"aabb_xy":[[-0.2976156872107436,-1.4820113581647365],[-0.2526156861866624,-1.4370276414339398]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_21","position":[-0.4348413272384846,0.38491642619176947,0.71338606911949],"aabb_xy":[[-0.4723413273440776,0.37809426433878834],[-0.39734132713289166,0.3917385880447506]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_22","position":[0.5778399045534668,-1.9130691842553604,0.71338606911949],"aabb_xy":[[0.5228399049317211,-1.9680528770428334],[0.6328399041752127,-1.858085491467888]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_23","position":[0.25870206949869046,1.5303400412318102,0.71338606911949],"aabb_xy":[[0.2533644938326859,1.5053400403026704],[0.264039645164695,1.55534004216095]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_24","position":[0.5942504632372023,-0.30228605637506334,0.71338606911949],"aabb_xy":[[0.5607712959761615,-0.3357651697461704],[0.6277296304982434,-0.2688069430039564]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_25","position":[0.11654069210461382,1.300782947983539,0.71338606911949],"aabb_xy":[[0.1073808131607372,1.2942517299400023],[0.12570057104849042,1.3073141660270764]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6943900019635385,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3885.png","name":"3885"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3885.png","name":"3885"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7566.png","name":"7566"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2853.png","name":"2853"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8903.png","name":"8903"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6631.png","name":"6631"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":594.3408718617612,"rotation_z_degrees":195.82424447107383,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013287130664626303,-0.0008795493064906908,0.005892099701880985]},{"name":"camera_2","offset_m":[-0.019006671609843234,-0.009553317733933251,0.012801687542846569]},{"name":"camera_3","offset_m":[0.003885753131520401,-0.017341913871819273,0.006908861242140327]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0006166615425796632,0.0006265086112763889,0.001049826783850512],"end_effector_yaw_offset_degrees":0.0661126699140413},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-7.13111963027693e-05,-2.768224890395887e-05,-0.0004735967786121016],"end_effector_yaw_offset_degrees":-0.4760640384004804},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00020524276026005804,-0.0014484510134689594,0.0004947128233651565],"end_effector_yaw_offset_degrees":0.3770301490243262},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0011157397863726746,0.0014215898716801569,0.0013948955808326842],"end_effector_yaw_offset_degrees":0.8367783360132139}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0020109517785368977,-0.004198225954471409],"position_m":[0.1655109517785369,-0.15029822595447143,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003632227015417767,0.0002951319873306067],"position_m":[0.27753222701541774,-0.3485048680126694,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0013597131585653564,-0.004249305532307488],"position_m":[0.3086597131585654,0.2758506944676925,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003767666001498936,0.0036344952818060097],"position_m":[0.35573233399850107,0.063934495281806,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"90a9685fe5b7419a7455e4ef5eaf4f1b9d683b0c87605137b8787cbaa7d73e98","episode_index":96,"episode_name":"episode_0096"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0096.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_3885/tex_ceiling_textures_6631/tex_floor_textures_8903/tex_table_textures_7566/tex_wall_textures_2853","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":7346069637810040651,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":7346069637810040651,"visual_seed":7346069637810040651,"scene_id":"lab_003","finished_at":"2026-09-06T00:10:32"} +{"episode_id":"ep_000095","started_at":"2026-09-06T00:10:37","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_0","position":[-0.2671684410767707,1.107593634243444,0.71338606911949],"aabb_xy":[[-0.27963579918650633,1.0951283096101205],[-0.25470108296703503,1.1200589588767675]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_1","position":[0.6359136350235461,1.3926098708106505,0.71338606911949],"aabb_xy":[[0.5898285437688147,1.3286098735580951],[0.6819987262782776,1.4566098680632054]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_2","position":[0.3146932356265024,-0.710251368888414,0.71338606911949],"aabb_xy":[[0.2646932361863068,-0.7602192933727302],[0.36469323506669804,-0.6602834444040976]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_3","position":[-0.24350382470002724,0.27594927748416476,0.71338606911949],"aabb_xy":[[-0.28204951752522833,0.23740350642797609],[-0.20495813187482623,0.31449504854035343]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_4","position":[0.5525724323140779,-0.6001464944257815,0.71338606911949],"aabb_xy":[[0.4975724326923321,-0.6551301872132543],[0.6075724319358238,-0.5451628016383089]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_5","position":[-0.04079912226671256,-1.575881165878505,0.71338606911949],"aabb_xy":[[-0.06207713041018481,-1.6408811682045779],[-0.019521114123240313,-1.5108811635524317]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_6","position":[0.7012752502694186,0.7041437237947248,0.71338606911949],"aabb_xy":[[0.694773613761414,0.694375901768415],[0.7077768867774232,0.7139115458210346]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_7","position":[0.41610736069433885,-2.026004309283694,0.71338606911949],"aabb_xy":[[0.4120292027872891,-2.030085289531957],[0.4201855186013886,-2.021923329035431]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_8","position":[0.4470298139868787,-1.796766804941046,0.71338606911949],"aabb_xy":[[0.4295298148525115,-1.8066464319786335],[0.46452981312124586,-1.7868871779034579]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_9","position":[0.2709695603919975,-1.3617911503052575,0.71338606911949],"aabb_xy":[[0.19096956342895832,-1.438866791949031],[0.35096955735503665,-1.284715508661484]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_10","position":[-0.44320015192618645,-2.0267825606326952,0.71338606911949],"aabb_xy":[[-0.45254715950848173,-2.0410861828503393],[-0.4338531443438913,-2.012478938415051]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_11","position":[-0.5674370015392782,-0.6698697733203385,0.71338606911949],"aabb_xy":[[-0.631436998824927,-0.7113764922731824],[-0.5034370042536297,-0.6283630543674945]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_12","position":[-0.10664284960211845,0.27933150003471274,0.71338606911949],"aabb_xy":[[-0.11273747749023677,0.270762105483044],[-0.10054822171400013,0.28790089458638146]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_13","position":[0.7110894493697371,-0.8725935549234121,0.71338606911949],"aabb_xy":[[0.7031661691309887,-0.8950935551614154],[0.7190127296084854,-0.8500935546854087]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_14","position":[-0.10653761418221197,0.9801987712713878,0.71338606911949],"aabb_xy":[[-0.11533966949118468,0.9723874451164586],[-0.09773555887323926,0.9880100974263167]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_15","position":[0.3101417195712326,1.4693692732375703,0.71338606911949],"aabb_xy":[[0.27422821514624285,1.4334557650208157],[0.34605522399622224,1.5052827814543248]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_16","position":[-0.4537808224886848,0.0070643030284198716,0.71338606911949],"aabb_xy":[[-0.46319829705854754,-0.002351874109299157],[-0.44436334791882204,0.0164804801661389]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_17","position":[0.3499626297816605,-2.119148727169835,0.71338606911949],"aabb_xy":[[0.3460487565862379,-2.1278977425763914],[0.35387650297708295,-2.110399711763278]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_18","position":[-0.6082190681371681,-2.2849705395813547,0.71338606911949],"aabb_xy":[[-0.6136770137741882,-2.3649705428890133],[-0.602761122500148,-2.204970536273695]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_19","position":[-0.500625093289862,0.7809916279069138,0.71338606911949],"aabb_xy":[[-0.5906250927082328,0.747616131062724],[-0.41062509387149104,0.8143671247511034]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_20","position":[0.6249653919527149,1.5501861479970631,0.71338606911949],"aabb_xy":[[0.5963160595922986,1.521540588719987],[0.6536147243131311,1.5788317072741387]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_21","position":[-0.19884400844991573,-1.3799808399895808,0.71338606911949],"aabb_xy":[[-0.2628440104996477,-1.420075323078889],[-0.1348440064001837,-1.339886356900273]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_22","position":[-0.012751667672954214,-0.9467889362560462,0.71338606911949],"aabb_xy":[[-0.0767516647850599,-0.9958213060504567],[0.051248329439151474,-0.8977565664616355]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_23","position":[-0.061935613878801754,-2.321945044663595,0.71338606911949],"aabb_xy":[[-0.11193561345513647,-2.3719256236157014],[-0.011935614302467035,-2.2719644657114895]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_24","position":[0.5201217434968284,-1.1032471539502993,0.71338606911949],"aabb_xy":[[0.502621743251779,-1.1207469417898661],[0.5376217437418778,-1.0857473661107324]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_25","position":[0.4170602595624886,-2.278727426163755,0.71338606911949],"aabb_xy":[[0.4090168996365334,-2.3637274272591213],[0.4251036194884438,-2.1937274250683885]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_26","position":[-0.10263273548302343,-2.077903049900515,0.71338606911949],"aabb_xy":[[-0.12042624241793985,-2.0957027954963126],[-0.08483922854810698,-2.060103304304717]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6924641402755195,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5266.png","name":"5266"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5266.png","name":"5266"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5807.png","name":"5807"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2354.png","name":"2354"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4799.png","name":"4799"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7948.png","name":"7948"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":844.7117148013269,"rotation_z_degrees":201.7896617309796,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011480790275861059,0.011402234411796806,-0.014523469276242377]},{"name":"camera_2","offset_m":[0.01485901359948039,-0.0043700823562132195,0.001568479707570583]},{"name":"camera_3","offset_m":[0.018817837489854234,0.0004673077462511617,0.01431334458753412]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0006702095042402543,0.001986703941708353,0.0008372503568721689],"end_effector_yaw_offset_degrees":-0.7149089697444995},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0006135326183677641,0.0005933230118402525,0.0019289716698043186],"end_effector_yaw_offset_degrees":0.65652736452892},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0011350830350995978,-0.0009499519312883931,-0.0014127224882945241],"end_effector_yaw_offset_degrees":0.8378854759491003},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00046262128360673367,0.0014364259284300276,0.000326777941717051],"end_effector_yaw_offset_degrees":0.5337150314311354}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0007097707198757573,0.004362732303424007],"position_m":[0.16420977071987578,-0.141737267696576,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004009644102048478,0.004806786506132214],"position_m":[0.27790964410204844,-0.3439932134938678,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0037779027302460117,-0.004251932664661403],"position_m":[0.31107790273024605,0.2758480673353386,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0024067147405234367,-0.004837195159179839],"position_m":[0.35709328525947653,0.05546280484082016,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b390b4b8b1e96434bc19e64e54b8815405e2d3a13d9457fdc00522b764f69a2d","episode_index":97,"episode_name":"episode_0097"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0097.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_5266/tex_ceiling_textures_7948/tex_floor_textures_4799/tex_table_textures_5807/tex_wall_textures_2354","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":6295256758542893590,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":6295256758542893590,"visual_seed":6295256758542893590,"scene_id":"lab_003","finished_at":"2026-09-06T00:14:02"} +{"episode_id":"ep_000096","started_at":"2026-09-06T00:14:06","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_0","position":[0.2726551918271267,1.557735944662038,0.71338606911949],"aabb_xy":[[0.2426635290932564,1.5277359453252375],[0.30264685456099705,1.5877359439988386]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_1","position":[-0.15099963940019612,0.5302101427243993,0.71338606911949],"aabb_xy":[[-0.15584323416142612,0.5253584902454151],[-0.14615604463896617,0.5350617952033834]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_2","position":[-0.16022993093132432,-0.4731860568495887,0.71338606911949],"aabb_xy":[[-0.2402299280908996,-0.4847336578074057],[-0.08022993377174903,-0.4616384558917716]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_3","position":[-0.08784520202130752,-0.9108246050204392,0.71338606911949],"aabb_xy":[[-0.10248860757534049,-0.9254833246772233],[-0.07320179646727452,-0.8961658853636548]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_4","position":[0.1703017011436515,0.6942260015601067,0.71338606911949],"aabb_xy":[[0.1332675917155918,0.6598487942263973],[0.20733581057171122,0.7286032088938161]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_5","position":[-0.2292996930190599,-1.3657385718400568,0.71338606911949],"aabb_xy":[[-0.24117177603056097,-1.4507385715337073],[-0.21742761000755875,-1.2807385721464066]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_6","position":[-0.3465698259238474,0.5955731548800434,0.71338606911949],"aabb_xy":[[-0.3965698245697686,0.545653611220581],[-0.2965698272779262,0.6454926985395057]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_7","position":[-0.16633786332433387,0.8999514144496823,0.71338606911949],"aabb_xy":[[-0.17769959797762,0.8885829480433941],[-0.15497612867104768,0.9113198808559703]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_8","position":[-0.5367357891249734,-1.9940142113383879,0.71338606911949],"aabb_xy":[[-0.6007357914677749,-2.03895506258252],[-0.4727357867821718,-1.9490733600942556]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_9","position":[0.6036357921991826,0.6669725100967852,0.71338606911949],"aabb_xy":[[0.5686357908477008,0.6466127741399643],[0.6386357935506642,0.687332246053606]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_10","position":[-0.3612780874385505,-0.347078142330405,0.71338606911949],"aabb_xy":[[-0.4412780906963934,-0.427074650122389],[-0.2812780841807075,-0.26708163453842104]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_11","position":[0.12247165964952644,-2.0546571710266175,0.71338606911949],"aabb_xy":[[0.07249859411701097,-2.104657170839151],[0.1724447251820419,-2.004657171214085]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_12","position":[0.23306718639299795,-2.0225039734826664,0.71338606911949],"aabb_xy":[[0.22565473085160948,-2.0283551839042944],[0.24047964193438642,-2.0166527630610385]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_13","position":[0.5638536093934376,-0.17595885513577647,0.71338606911949],"aabb_xy":[[0.4838536061294244,-0.1895188874446898],[0.6438536126574507,-0.16239882282686313]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_14","position":[0.33940062871165955,-0.5063085380025334,0.71338606911949],"aabb_xy":[[0.31693585874025443,-0.5288085388813938],[0.36186539868306467,-0.4838085371236728]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_15","position":[-0.3560540648206227,-1.9195769567037098,0.71338606911949],"aabb_xy":[[-0.36001454859035714,-1.9272448212892301],[-0.35209358105088834,-1.911909092118189]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_16","position":[-0.2843475793726677,-2.1950415136996644,0.71338606911949],"aabb_xy":[[-0.3543475815040972,-2.2178034793253594],[-0.2143475772412381,-2.1722795480739685]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_17","position":[0.5190750681867584,1.6446184460321365,0.71338606911949],"aabb_xy":[[0.49716638604740726,1.6227177792120457],[0.5409837503261093,1.6665191128522272]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_18","position":[-0.6098198143532786,1.354144770775156,0.71338606911949],"aabb_xy":[[-0.6598190895217148,1.3041447694992088],[-0.5598205391848424,1.404144772051103]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_19","position":[0.6333956938170573,-1.0191233761272356,0.71338606911949],"aabb_xy":[[0.5533956923869301,-1.098640531139845],[0.7133956952471845,-0.9396062211146261]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_20","position":[0.3283272096927212,-2.3887759821382892,0.71338606911949],"aabb_xy":[[0.30582720918068057,-2.4112678405036876],[0.35082721020476176,-2.366284123772891]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_21","position":[0.6457180000349765,0.8062993683876329,0.71338606911949],"aabb_xy":[[0.6112555220218886,0.79963569120471],[0.6801804780480641,0.8129630455705557]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_22","position":[-0.45898778971932486,0.07373110007181483,0.71338606911949],"aabb_xy":[[-0.5229877883058973,0.026724136672306095],[-0.39498779113275234,0.12073806347132353]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_23","position":[0.5163132506176595,-0.8268821285238026,0.71338606911949],"aabb_xy":[[0.4741288364568288,-0.8908821288010139],[0.5584976647784903,-0.7628821282465915]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_24","position":[-0.08039243383115391,-2.516049920425473,0.71338606911949],"aabb_xy":[[-0.08573000949715849,-2.5410499213546127],[-0.07505485816514935,-2.491049919496333]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_25","position":[0.2043409165021679,1.6934022294587465,0.71338606911949],"aabb_xy":[[0.12434091542904754,1.683624183121362],[0.28434091757528823,1.703180275796131]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_26","position":[-0.08710791467310519,-1.628435658062823,0.71338606911949],"aabb_xy":[[-0.11210791394506747,-1.6447810216589853],[-0.06210791540114292,-1.6120902944666606]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_27","position":[-0.5755098497774653,-0.49512731563090107,0.71338606911949],"aabb_xy":[[-0.611139005677425,-0.530759982387754],[-0.5398806938775055,-0.4594946488740481]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_28","position":[0.5124403736891072,1.4228618569854707,0.71338606911949],"aabb_xy":[[0.5015345976015444,1.3428618605866414],[0.5233461497766698,1.5028618533842997]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_29","position":[-0.08990081811247463,0.62852278521125,0.71338606911949],"aabb_xy":[[-0.10596274557099228,0.5435227833986582],[-0.07383889065395699,0.7135227870238419]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_30","position":[0.016898314807958337,-1.130727229421966,0.71338606911949],"aabb_xy":[[-0.04710168724177366,-1.1708217125112739],[0.08089831685769033,-1.090632746332658]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_31","position":[0.10165437763769403,1.4437349929194627,0.71338606911949],"aabb_xy":[[0.03765437693422471,1.3977166104465417],[0.16565437834116342,1.4897533753923837]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_32","position":[-0.6373270122653572,-0.25919309553436065,0.71338606911949],"aabb_xy":[[-0.654905314454304,-0.27676758510846555],[-0.6197487100764103,-0.24161860596025575]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_33","position":[-0.612418036129882,0.8191145055038764,0.71338606911949],"aabb_xy":[[-0.6243507704917101,0.806732352696017],[-0.6004853017680539,0.8314966583117357]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6881870310899041,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6787.png","name":"6787"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6787.png","name":"6787"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5170.png","name":"5170"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7510.png","name":"7510"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8796.png","name":"8796"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/520.png","name":"520"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":845.4020138288729,"rotation_z_degrees":349.63490375855076,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017780451393228255,0.00040738102592827174,-0.01893743876940008]},{"name":"camera_2","offset_m":[0.01838949635148712,-0.013367367054903743,-0.015850065793643803]},{"name":"camera_3","offset_m":[-0.013137240834547943,0.011151739331636771,-0.007671279208712401]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0015411815654200875,0.0010509000745750167,0.00040325228608601923],"end_effector_yaw_offset_degrees":0.19306697838643982},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00014203902134641037,-0.001110795116100188,8.169473333874411e-05],"end_effector_yaw_offset_degrees":0.021011683050678798},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0016707382124770557,0.000159712824525763,0.001109594158113176],"end_effector_yaw_offset_degrees":-0.7277849096302553},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001990030224371317,0.0019897405258106774,0.000665045807642612],"end_effector_yaw_offset_degrees":-0.8134534591264553}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0023670278768828353,-0.00032748153687402453],"position_m":[0.16586702787688284,-0.14642748153687404,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001503433318330796,0.003804117416924325],"position_m":[0.27239656668166917,-0.3449958825830757,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0015544607691144676,-0.0014248635326177517],"position_m":[0.30574553923088554,0.2786751364673823,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00184259766104558,-0.001917744412615633],"position_m":[0.36134259766104554,0.058382255587384364,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"268b286b94ab12393e33988c7eb79642ff264112ecb104b07c42c90f1f31d981","episode_index":98,"episode_name":"episode_0098"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0098.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_6787/tex_ceiling_textures_520/tex_floor_textures_8796/tex_table_textures_5170/tex_wall_textures_7510","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":181545998528049475,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":181545998528049475,"visual_seed":181545998528049475,"scene_id":"lab_003","finished_at":"2026-09-06T00:17:35"} +{"episode_id":"ep_000097","started_at":"2026-09-06T00:17:40","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_0","position":[0.4916311030045437,-1.7628743181473596,0.71338606911949],"aabb_xy":[[0.426631102970241,-1.809574994827687],[0.5566311030388464,-1.7161736414670323]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_1","position":[-0.25859636104539263,-0.1647274488147743,0.71338606911949],"aabb_xy":[[-0.2627322173780929,-0.2022274482591313],[-0.2544605047126925,-0.1272274493704173]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_2","position":[0.5797044508673299,1.2497063737449365,0.71338606911949],"aabb_xy":[[0.5157087534722332,1.1857063754442279],[0.6437001482624264,1.3137063720456452]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_3","position":[-0.5554567423302835,1.6672417545146883,0.71338606911949],"aabb_xy":[[-0.5662972205567984,1.6500554732240393],[-0.5446162641037686,1.6844280358053367]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_4","position":[0.031026340220960957,1.8125310401955335,0.71338606911949],"aabb_xy":[[0.018423641083884498,1.799935643970668],[0.043629039358037414,1.825126436420399]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_5","position":[-0.6599137559204353,1.646043251263967,0.71338606911949],"aabb_xy":[[-0.6787981396889456,1.6271573264836143],[-0.6410293721519252,1.66492917604432]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_6","position":[0.4438019921996734,-1.942212793082367,0.71338606911949],"aabb_xy":[[0.42600848526475704,-1.9600125386781646],[0.4615954991345899,-1.9244130474865693]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_7","position":[-0.5031810402245467,-2.5566368512221436,0.71338606911949],"aabb_xy":[[-0.5318303725849628,-2.5852824104992185],[-0.47453170786413035,-2.527991291945067]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_8","position":[-0.580230485919088,-2.050093223676889,0.71338606911949],"aabb_xy":[[-0.6263155771738196,-2.114093220929444],[-0.5341453946643566,-1.986093226424334]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_9","position":[0.20522204347131423,-0.8847497204326251,0.71338606911949],"aabb_xy":[[0.19700749835563022,-0.8934263107302663],[0.21343658858699818,-0.8760731301349837]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_10","position":[-0.4847930083161593,-2.4036375079794285,0.71338606911949],"aabb_xy":[[-0.54879300857663,-2.4486463073323566],[-0.4207930080556884,-2.3586287086265005]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_11","position":[-0.25444760918368564,-1.7022524173156026,0.71338606911949],"aabb_xy":[[-0.3144476090302524,-1.7590710395086413],[-0.1944476093371188,-1.645433795122564]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_12","position":[-0.05536589948457582,-2.3167361786078606,0.71338606911949],"aabb_xy":[[-0.11936590153430782,-2.356830661697169],[0.008634102565156176,-2.276641695518553]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_13","position":[0.335950351764162,-1.250813324654752,0.71338606911949],"aabb_xy":[[0.31808124400970644,-1.2646462326319627],[0.35381945951861743,-1.2369804166775407]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_14","position":[0.6668304234312317,-1.915129947969443,0.71338606911949],"aabb_xy":[[0.6562629437731327,-1.9256749780824516],[0.6773979030893307,-1.9045849178564345]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_15","position":[-0.07834129151626501,-0.023213384431202577,0.71338606911949],"aabb_xy":[[-0.08558505756251034,-0.10321338263480495],[-0.07109752547001968,0.0567866137723998]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_16","position":[-0.45057483503557083,-1.870652863577423,0.71338606911949],"aabb_xy":[[-0.4750884591325766,-1.8949174568794598],[-0.42606121093856486,-1.8463882702753869]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_17","position":[-0.5777238397317789,0.44935877295819404,0.71338606911949],"aabb_xy":[[-0.6277238407509141,0.41289255722036616],[-0.5277238387126436,0.48582498869602203]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_18","position":[0.03119603467009824,1.5499114992710958,0.71338606911949],"aabb_xy":[[0.011137623056857952,1.5298464123619384],[0.05125444628333853,1.5699765861802533]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_19","position":[-0.06406019897823922,-1.011209847546739,0.71338606911949],"aabb_xy":[[-0.11405331108743112,-1.0612098482209347],[-0.01406708686904733,-0.9612098468725434]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_20","position":[-0.6070581113938184,1.0906799211107878,0.71338606911949],"aabb_xy":[[-0.6686488706178112,1.0266799230017412],[-0.5454673521698256,1.154679919219835]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_21","position":[-0.3088868739208472,-0.5245798795181775,0.71338606911949],"aabb_xy":[[-0.3367319107014543,-0.5553643782564892],[-0.28104183714024006,-0.49379538077986584]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_22","position":[0.39618253102996714,-0.8122898960042686,0.71338606911949],"aabb_xy":[[0.3901455180293025,-0.818316597073217],[0.4022195440306319,-0.8062631949353206]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_23","position":[-0.5752536076913577,0.5935085908649982,0.71338606911949],"aabb_xy":[[-0.5832899423926425,0.5854704715605814],[-0.5672172729900729,0.601546710169415]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_24","position":[-0.27091700948977393,1.5632591316090259,0.71338606911949],"aabb_xy":[[-0.334917005885347,1.4992958431902923],[-0.20691701309420085,1.6272224200277594]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6905097304711427,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1618.png","name":"1618"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1618.png","name":"1618"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2403.png","name":"2403"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6961.png","name":"6961"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7175.png","name":"7175"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3046.png","name":"3046"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":742.8044666739663,"rotation_z_degrees":353.08584135033396,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015761289505457694,0.001805738925293482,-0.0031053837082253254]},{"name":"camera_2","offset_m":[0.009890137021978263,-0.01240665445695225,-0.011477723652077856]},{"name":"camera_3","offset_m":[0.005081614404991282,0.01213459451852027,-0.007587040257205366]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0019172937464644645,0.00017185839762492517,0.0005545747027567455],"end_effector_yaw_offset_degrees":0.29922485749627215},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-4.176623467043146e-05,-0.0005112804820268492,0.0013464339547636195],"end_effector_yaw_offset_degrees":0.1094526774431488},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001074968155917103,-0.001228354029420955,0.0017752740939875424],"end_effector_yaw_offset_degrees":-0.20543890254979158},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0008046557474364149,-0.0008622521204029617,-0.0019181971616194433],"end_effector_yaw_offset_degrees":-0.33343982167056097}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0042011657310885376,-0.00125669893805182],"position_m":[0.16770116573108854,-0.14735669893805184,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0017882361376057422,-0.001290665881933988],"position_m":[0.2721117638623942,-0.350090665881934,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0005326758741934414,-0.004932614214619277],"position_m":[0.30783267587419344,0.27516738578538075,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0033129244524520455,-0.0009509717051317248],"position_m":[0.3561870755475479,0.059349028294868274,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d36d82dd3411797dd72eff2cecc0a40dbcdb00f0fd481f30a7a5814830ae1ea4","episode_index":99,"episode_name":"episode_0099"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0099.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_1618/tex_ceiling_textures_3046/tex_floor_textures_7175/tex_table_textures_2403/tex_wall_textures_6961","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":3783867735950779404,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":3783867735950779404,"visual_seed":3783867735950779404,"scene_id":"lab_003","finished_at":"2026-09-06T00:21:05"} +{"episode_id":"ep_000098","started_at":"2026-09-06T00:21:10","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_0","position":[0.11639225972233513,0.9739786031881685,0.71338606911949],"aabb_xy":[[0.0713922582561063,0.928978746326688],[0.161392261188564,1.0189784600496492]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_1","position":[0.5454325812819589,-1.5153991340130066,0.71338606911949],"aabb_xy":[[0.46543258426771095,-1.535533685686418],[0.6254325782962069,-1.4952645823395954]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_2","position":[-0.15756744280759494,1.5817586050284356,0.71338606911949],"aabb_xy":[[-0.16672732175147154,1.5752273869848985],[-0.14840756386371834,1.5882898230719726]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_3","position":[-0.3200263853876227,1.1553077485346384,0.71338606911949],"aabb_xy":[[-0.3331776313589121,1.1303077487779518],[-0.3068751394163334,1.180307748291325]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_4","position":[0.6812226661845631,0.8951548143094268,0.71338606911949],"aabb_xy":[[0.6560018293247234,0.8699310634565399],[0.7064435030444027,0.9203785651623134]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_5","position":[-0.057751656502274984,1.189337450531108,0.71338606911949],"aabb_xy":[[-0.0927516578537567,1.168977714574287],[-0.022751655150793245,1.2096971864879287]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_6","position":[-0.45790512892780766,0.7955455805224116,0.71338606911949],"aabb_xy":[[-0.5219051296312771,0.7495271980494908],[-0.39390512822433843,0.8415639629953329]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_7","position":[-0.06892619426622515,1.384457606678342,0.71338606911949],"aabb_xy":[[-0.1589261939893993,1.361384254143162],[0.02107380545694903,1.4075309592135217]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_8","position":[0.21861749691186516,-2.37645838884793,0.71338606911949],"aabb_xy":[[0.17585079003244497,-2.4404583922697323],[0.26138420379128535,-2.3124583854261274]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_9","position":[0.3768520750203739,-1.9569150767205614,0.71338606911949],"aabb_xy":[[0.3722169598681405,-1.9607824117977097],[0.38148719017260724,-1.9530477416434122]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_10","position":[0.4649940166383415,-0.4657207681680169,0.71338606911949],"aabb_xy":[[0.4049940160423253,-0.5205332407132404],[0.5249940172343577,-0.41090829562279335]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_11","position":[-0.5709675036942551,1.6599130419017558,0.71338606911949],"aabb_xy":[[-0.5886003392877825,1.6422900958861328],[-0.5533346681007274,1.6775359879173788]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_12","position":[-0.5629839365745941,-1.974014117280158,0.71338606911949],"aabb_xy":[[-0.5913136465231345,-1.9784748594738752],[-0.534654226626054,-1.9695533750864411]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_13","position":[-0.21719444281434003,-1.0605064776139503,0.71338606911949],"aabb_xy":[[-0.255740135639541,-1.099052248670139],[-0.17864874998913896,-1.0219607065577616]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_14","position":[-0.25280032722014767,-0.5084976706082425,0.71338606911949],"aabb_xy":[[-0.2703470221362666,-0.5459976721724937],[-0.23525363230402874,-0.4709976690439912]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_15","position":[0.30831865070458764,-2.415741260525698,0.71338606911949],"aabb_xy":[[0.3044047775091651,-2.424490275932255],[0.31223252390001016,-2.4069922451191412]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_16","position":[0.26568826594201667,-1.1029812388826157,0.71338606911949],"aabb_xy":[[0.25842701837160925,-1.1157682491461252],[0.2729495135124241,-1.0901942286191062]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_17","position":[0.5122809218017341,-2.103929701417975,0.71338606911949],"aabb_xy":[[0.47850536261104115,-2.11796819663114],[0.5460564809924271,-2.0898912062048103]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_18","position":[0.5172830365223609,1.3352740296266075,0.71338606911949],"aabb_xy":[[0.4797830380989605,1.3221098156587767],[0.5547830349457612,1.3484382435944382]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_19","position":[0.2994724056901954,1.2423003481749322,0.71338606911949],"aabb_xy":[[0.25338731443546386,1.1783003509223773],[0.3455574969449268,1.3063003454274875]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_20","position":[-0.2372197194630073,-1.747809092767911,0.71338606911949],"aabb_xy":[[-0.30121971863277724,-1.7945757798868733],[-0.17321972029323737,-1.7010424056489484]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_21","position":[0.5911684138201694,0.49300618897805126,0.71338606911949],"aabb_xy":[[0.5411684142438347,0.44302561002594537],[0.6411684133965041,0.5429867679301572]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_22","position":[0.19251193320503868,-2.159058073032609,0.71338606911949],"aabb_xy":[[0.18370987789606594,-2.166869399187538],[0.20131398851401136,-2.1512467468776797]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_23","position":[0.22590594061729152,-1.3495836254326599,0.71338606911949],"aabb_xy":[[0.13590594119892058,-1.3829591222768496],[0.31590594003566236,-1.3162081285884701]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_24","position":[0.05637039940781019,1.4892415170266955,0.71338606911949],"aabb_xy":[[0.02137040109711475,1.4815265021031498],[0.09137039771850564,1.4969565319502411]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_25","position":[-0.4950220803057028,-2.3803572088153344,0.71338606911949],"aabb_xy":[[-0.5787443058057853,-2.4703572123500304],[-0.4112998548056204,-2.2903572052806385]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_26","position":[-0.41722917653974106,0.36234099010163856,0.71338606911949],"aabb_xy":[[-0.45472917648350747,0.354047900066802],[-0.37972917659597466,0.37063408013647514]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_27","position":[0.6377596904807095,1.4653193074462885,0.71338606911949],"aabb_xy":[[0.62025969023566,1.4478195196067214],[0.6552596907257587,1.482819095285855]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_28","position":[-0.4680317762766224,-1.4831410665457998,0.71338606911949],"aabb_xy":[[-0.528031777137435,-1.5345674965522857],[-0.4080317754158095,-1.431714636539313]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_29","position":[-0.3551934203714386,-2.3069237539989884,0.71338606911949],"aabb_xy":[[-0.3671261547332667,-2.319305906806848],[-0.34326068600961057,-2.294541601191129]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6917723543150711,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8902.png","name":"8902"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8902.png","name":"8902"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9597.png","name":"9597"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/777.png","name":"777"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9478.png","name":"9478"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2437.png","name":"2437"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":621.0993171281681,"rotation_z_degrees":110.05095259759878,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013520809002892258,0.004554662748682499,-0.014329422725194055]},{"name":"camera_2","offset_m":[0.009566266377306044,0.0064225232578227764,-0.0055854727359416455]},{"name":"camera_3","offset_m":[-0.00480389815297177,-0.011629827326423002,-0.009203673702877543]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0016887749122623,0.0002125709056499366,0.0004598720531787891],"end_effector_yaw_offset_degrees":-0.06361681096010874},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0007890671056146807,0.0009485821454177641,0.0009917010669015878],"end_effector_yaw_offset_degrees":0.33352985821458203},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00036174436891400893,-0.0019009705263253736,-0.0019631217276274955],"end_effector_yaw_offset_degrees":-0.828317709038199},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006528353625647912,-0.0011582499118540789,-3.396409053883949e-05],"end_effector_yaw_offset_degrees":0.5465212095933127}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004064287109941874,-0.0034036580763185578],"position_m":[0.16756428710994187,-0.14950365807631857,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0014713311695607424,0.00178679272014615],"position_m":[0.2753713311695607,-0.34701320727985385,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003006413601995577,-0.004496997568591482],"position_m":[0.30429358639800447,0.27560300243140856,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0008752785636901217,-0.003398720569562249],"position_m":[0.3603752785636901,0.056901279430437754,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d2ffb87e3ad2e5062d52abd58cf7de2e2f33929bfc0a7c9cdaaa39ac0bc4d96b","episode_index":100,"episode_name":"episode_0100"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0100.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_8902/tex_ceiling_textures_2437/tex_floor_textures_9478/tex_table_textures_9597/tex_wall_textures_777","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":2996412626267165941,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":2996412626267165941,"visual_seed":2996412626267165941,"scene_id":"lab_003","finished_at":"2026-09-06T00:24:29"} +{"episode_id":"ep_000099","started_at":"2026-09-06T00:24:32","dimensions":{"distractor":{"count":33,"items":[{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_0","position":[-0.30076288340188984,-1.1853190209491233,0.71338606911949],"aabb_xy":[[-0.3417808267882607,-1.2353190215800807],[-0.25974494001551895,-1.135319020318166]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_1","position":[-0.3865388278426876,-0.8002021776486696,0.71338606911949],"aabb_xy":[[-0.44153882701927705,-0.8551918524236272],[-0.3315388286660981,-0.7452125028737119]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_2","position":[-0.6329411668464389,-0.6044877692188839,0.71338606911949],"aabb_xy":[[-0.6679411651165587,-0.611561896913872],[-0.5979411685763188,-0.5974136415238956]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_3","position":[-0.10725143469907417,-1.6481310804494538,0.71338606911949],"aabb_xy":[[-0.12512054245352966,-1.6619639884266644],[-0.08938232694461867,-1.6342981724722427]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_4","position":[-0.061814042160114546,-2.517257860608027,0.71338606911949],"aabb_xy":[[-0.09830986278739329,-2.553741803034784],[-0.025318221532835798,-2.480773918181269]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_5","position":[0.5110147341911513,-0.8491137360193604,0.71338606911949],"aabb_xy":[[0.48742961072725655,-0.9141137382647923],[0.5345998576550463,-0.7841137337739287]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_6","position":[-0.2096353276544557,-0.5890751071444054,0.71338606911949],"aabb_xy":[[-0.2736353297041877,-0.6291695902337134],[-0.1456353256047237,-0.5489806240550975]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_7","position":[-0.2476932024009304,1.0423628300319074,0.71338606911949],"aabb_xy":[[-0.25893825797154824,1.0311210323078122],[-0.2364481468303126,1.0536046277560027]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_8","position":[0.1655354360577641,1.5037744352300026,0.71338606911949],"aabb_xy":[[0.09553543445548462,1.490341642028345],[0.2355354376600436,1.5172072284316602]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_9","position":[-0.12376148054631275,-2.0176807470191584,0.71338606911949],"aabb_xy":[[-0.13569421490814082,-2.0300628998270183],[-0.11182874618448468,-2.0052985942112995]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_10","position":[0.3396988872368143,0.9429810978885738,0.71338606911949],"aabb_xy":[[0.3171997515105873,0.9204810971103107],[0.36219802296304127,0.9654810986668366]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_11","position":[-0.020158168454577075,-2.278431112401412,0.71338606911949],"aabb_xy":[[-0.032784955741773425,-2.2879771861029847],[-0.0075313811673807275,-2.2688850386998385]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_12","position":[0.07169766469175543,1.6976379808843007,0.71338606911949],"aabb_xy":[[0.016705414056244487,1.642637979140988],[0.1266899153272664,1.7526379826276135]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_13","position":[0.4091252803541974,-2.306138612647109,0.71338606911949],"aabb_xy":[[0.3947908552280339,-2.318198828201647],[0.4234597054803608,-2.2940783970925698]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_14","position":[-0.6253759735591159,-1.5343215128925403,0.71338606911949],"aabb_xy":[[-0.641260466824441,-1.5486744531913643],[-0.6094914802937907,-1.5199685725937162]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_15","position":[0.32811643124644685,0.7073019173613266,0.71338606911949],"aabb_xy":[[0.263116432689374,0.677549383947444],[0.3931164298035197,0.7370544507752093]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_16","position":[0.5188527813253525,0.9135433534107036,0.71338606911949],"aabb_xy":[[0.5108164466240676,0.9055052341062868],[0.5268891160266372,0.9215814727151204]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_17","position":[0.5431329643294434,-0.15815177501421296,0.71338606911949],"aabb_xy":[[0.5206681943580382,-0.18065177589307346],[0.5655977343008485,-0.13565177413535245]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_18","position":[-0.298910505394681,-1.8041515222632662,0.71338606911949],"aabb_xy":[[-0.3339105052906998,-1.812525757775206],[-0.2639105054986621,-1.7957772867513264]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_19","position":[0.5641793701574993,1.1607227012121304,0.71338606911949],"aabb_xy":[[0.4791793717400761,1.0758484057498454],[0.6491793685749225,1.2455969966744154]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_20","position":[-0.09975130683824329,0.0020050478508641945,0.71338606911949],"aabb_xy":[[-0.1366018547752309,-0.035494952972169536],[-0.0629007589012557,0.039505048673897925]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_21","position":[-0.255926306037306,1.2370563481286494,0.71338606911949],"aabb_xy":[[-0.2909263060138018,1.2275917320810328],[-0.22092630606081015,1.246520964176266]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_22","position":[-0.38783484172924615,-0.391884578162899,0.71338606911949],"aabb_xy":[[-0.4221317527469867,-0.4261814643728404],[-0.35353793071150547,-0.35758769195295764]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_23","position":[0.4871563507700425,1.6875888067949307,0.71338606911949],"aabb_xy":[[0.4071563502998266,1.6792780991805825],[0.5671563512402584,1.695899514409279]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_24","position":[0.13302251087543493,-0.8844473617933197,0.71338606911949],"aabb_xy":[[0.04302250854141587,-0.9619297163784323],[0.223022513209454,-0.806965007208207]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_25","position":[0.08539093408356635,-2.419879452687296,0.71338606911949],"aabb_xy":[[0.06789100064958296,-2.43737945260753],[0.10289086751754971,-2.402379452767061]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_26","position":[0.3219994328702953,-0.9719610442281705,0.71338606911949],"aabb_xy":[[0.30489735491192715,-0.9890678497594403],[0.33910151082866347,-0.9548542386969008]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_27","position":[0.6266331959159421,0.5270033816302404,0.71338606911949],"aabb_xy":[[0.5616331977600231,0.5007071370803282],[0.6916331940718612,0.5532996261801526]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_28","position":[-0.16450699969867544,-2.3683920792927498,0.71338606911949],"aabb_xy":[[-0.1820853018876223,-2.3859665688668548],[-0.1469286975097286,-2.3508175897186447]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_29","position":[0.22322549916728995,-1.3750441569508325,0.71338606911949],"aabb_xy":[[0.15922550273996808,-1.4222137807729291],[0.28722549559461186,-1.3278745331287363]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_30","position":[-0.48093841704182094,-2.2208959923568066,0.71338606911949],"aabb_xy":[[-0.49843841617618806,-2.230775619394394],[-0.4634384179074537,-2.2110163653192183]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_31","position":[0.6504979568352942,-2.110214841789822,0.71338606911949],"aabb_xy":[[0.6335872243989523,-2.123687047382436],[0.6674086892716359,-2.096742636197207]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_32","position":[0.2865539194526868,1.145706762001875,0.71338606911949],"aabb_xy":[[0.20655391802255957,1.0661896069892653],[0.36655392088281397,1.2252239170144843]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6898267842882254,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/968.png","name":"968"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/968.png","name":"968"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2492.png","name":"2492"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7332.png","name":"7332"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3312.png","name":"3312"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/746.png","name":"746"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":686.9209743465065,"rotation_z_degrees":260.3392420150878,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016399676369393688,0.008678421541121605,0.011356034087992153]},{"name":"camera_2","offset_m":[-0.0039053297335170725,-0.006736845202928712,3.7718478928278065e-05]},{"name":"camera_3","offset_m":[0.01597235365961214,0.013504095888560576,0.0010867914758410611]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0018442743523000718,-0.00026825931491283937,-0.0019335228127106432],"end_effector_yaw_offset_degrees":-0.46742962597078197},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0001551596619881225,0.0005097476195067173,0.001281231337076875],"end_effector_yaw_offset_degrees":0.6599394604399647},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0018280360278010832,-0.0011368544166758263,-0.0019225461077743127],"end_effector_yaw_offset_degrees":-0.9794650330657833},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00046774192804897386,0.0005608552891981132,0.0015302284760318817],"end_effector_yaw_offset_degrees":-0.9952460937393033}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00036","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.002869899010766037,-0.0007133109072382914],"position_m":[0.16636989901076604,-0.1468133109072383,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0018232483979821923,-1.4831335644624813e-06],"position_m":[0.2720767516020178,-0.34880148313356446,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0022665007607123176,-0.0007614660139959586],"position_m":[0.3050334992392877,0.27933853398600406,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004555563612692903,0.002459886954946965],"position_m":[0.36405556361269287,0.06275988695494697,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0541d79633e4456a59fc976ecd005463fe02698e641dae042fdbed3e5a899cb8","episode_index":101,"episode_name":"episode_0101"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/dataset/episode_0101.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_968/tex_ceiling_textures_746/tex_floor_textures_3312/tex_table_textures_2492/tex_wall_textures_7332","seeds":{"action_seed":3467342997343789152,"physical_seed":2387525450782902766,"visual_seed":7050477629194118230,"layout_id":"layout_00036","physical_randomization_enabled":true},"episode_seed":7050477629194118230,"visual_seed":7050477629194118230,"scene_id":"lab_003","finished_at":"2026-09-06T00:28:16"} diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/resolved_config.yaml b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..59b75579fdaeb24c62fae44770aa2ab36f39b35e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/resolved_config.yaml @@ -0,0 +1,257 @@ +name: lab3_heat_2beaker_s04_pslr_hte_00036 +task_type: workflow +controller_type: workflow +mode: collect +usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd +max_episodes: 100 +infer: + type: local + obs_names: + camera_1_rgb: camera_1_rgb + camera_2_rgb: camera_2_rgb + policy_model_path: '' + policy_config_path: '' + normalizer_path: '' + host: 127.0.0.1 + port: 8000 + n_obs_steps: 1 + timeout: 30 + max_retries: 3 +task: + max_steps: 14000 +workflow: + table_prim_path: /World/table + language_instruction: Pick up beaker b from home. Shake the current contents of + beaker b once. Place beaker b on the heater platform. Press the heater button + to start heating. + layout_id: layout_00036 + reproducibility: + enabled: true + layout_id: layout_00036 + action_seed: 3467342997343789152 + step_seeds: + - 8364271853804967550 + - 2286606184381782736 + - 3756280071158417180 + - 1809886146491636545 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.3073 + - 0.3073 + 'y': + - 0.2801 + - 0.2801 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.1635 + - 0.1635 + 'y': + - -0.1461 + - -0.1461 + z: + - 0.0 + - 0.0 + role: source + - name: inspection_platform + path: /World/target_plat + position_range: + x: + - 0.3595 + - 0.3595 + 'y': + - 0.0603 + - 0.0603 + z: + - 0.0 + - 0.0 + role: placement_target + - name: heat_device + path: /World/heat_device + position_range: + x: + - 0.2739 + - 0.2739 + 'y': + - -0.3488 + - -0.3488 + z: + - 0.0 + - 0.0 + - name: heater_platform + path: /World/heat_device/heat_device/heat_device/plat + parent_object: heat_device + role: placement_target + - name: heat_button + path: /World/heat_device/button + parent_object: heat_device + steps: + - skill: pick + target_object: beaker_b + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.3 + gripper_distances: 0.019 + reset_at_center: false + require_phase_convergence: false + lock_target_position: true + position_only: false + gripper_control_mode: position + gripper_control_params: + smooth_close: true + - skill: shake + target_object: beaker_b + params: + end_effector_euler: + - 0 + - 90 + - 30 + shake_distance: 0.08 + shake_center_offset_z: 0.0 + fallback_height_offset: 0.23 + events_dt: + - 0.04 + - 0.018 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.015 + position_only: true + position_threshold: 0.04 + - skill: place + target_object: heater_platform + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.005 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.045 + retreat_height: 0.15 + retreat_xy: 0.15 + keep_gripper_closed_until_release: true + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 + - skill: press + target_object: heat_button + params: + end_effector_euler: + - 0 + - 90 + - 10 + events_dt: + - 0.004 + - 0.02 + - 0.01 + - 0.02 + - 0.01 + - 0.02 + press_distance: 0.04 + gripper_gap: 0.0 + lock_target_position: true + initial_offset_z: 0.2 + press_z_tcp_offset: 0.025 + position_threshold: 0.01 + recreate_motion_controllers_on_reset: true +cameras: +- prim_path: /World/Camera1 + name: camera_1 + translation: + - 2.129903 + - 0.0 + - 2.075001 + resolution: + - 512 + - 512 + focal_length: 3.5 + orientation: + - 0.61237 + - 0.35355 + - 0.35355 + - 0.61237 + image_type: rgb +- prim_path: /World/Camera2 + name: camera_2 + translation: + - 0.1 + - 0.0 + - 2.65 + resolution: + - 512 + - 512 + focal_length: 2.825 + orientation: + - 0.70711 + - 0 + - 0 + - -0.70711 + image_type: rgb +- prim_path: /World/Camera3 + name: camera_3 + translation: + - 0.2 + - -3.01678 + - 1.16281 + resolution: + - 512 + - 512 + focal_length: 4 + orientation: + - 0.7681 + - 0.63858 + - -0.03028 + - -0.03642 + image_type: rgb + track_end_effector: true +robot: + type: ur5e + position: + - -0.27 + - 0.0 + - 0.71 +collector: + type: default + compression: gzip +multi_run: + run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_0_success.json new file mode 100644 index 0000000000000000000000000000000000000000..70a1c167bd13d0092eb5c16a581eed829b47ebf4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_0_success.json @@ -0,0 +1,926 @@ +{ + "episode": 0, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.19087973283530288, + -0.1454494160093181, + 1.045243646279504 + ], + "current_z": 1.045243646279504, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.18865725808022804, + "gripper_z": 1.0495429140278913, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18687434096480635, + -0.14974819800938105, + 1.0495429140278913 + ], + "object_minus_gripper": [ + 0.004005391870496533, + 0.004298782000062951, + -0.004299267748387292 + ], + "object_to_gripper_xy": 0.005875601307126356, + "object_to_gripper_z": -0.004299267748387292, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19087973283530288, + -0.16912089346689732, + 1.045243646279504 + ], + "finger_b": [ + 0.17984577004938232, + -0.1454494160093181, + 1.045243646279504 + ], + "finger_midpoint": [ + 0.1853627514423426, + -0.15728515473810772, + 1.045243646279504 + ], + "object_minus_finger_midpoint": [ + 0.0055169813929602796, + 0.011835738728789624, + 0.0 + ], + "finger_gap": 0.02611679880432824, + "fingertip_max_gap": 0.09502674771436315, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013058399402164132, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.045243646279504, + "object_top_z": 1.0920200794181951, + "finger_top_clearance": 0.046776433138691065, + "fingertip_min_top_clearance": 0.014032929941607335, + "object_projection_between_fingers": 0.8215061969067942, + "object_to_finger_line_xy": 0.010000850537294811, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.050013373857181576, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.23959410482568, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 204, + "max_stable_success_frames": 204, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1915306982843187, + -0.14833259520569847, + 1.2436021582963486 + ], + "held_position": [ + 0.19583426986013883, + -0.1442339847669794, + 1.239394898995043 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007281508543221405, + "max_held_gripper_dist": 0.007282913192380106, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.00420725930130561, + "max_held_gripper_z_dist": 0.004312882531113171, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08570549904202807, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.19583426986013883, + -0.1688866988068922, + 1.239394898995043 + ], + "held_grasp_finger_b": [ + 0.18693589471815963, + -0.1442339847669794, + 1.239394898995043 + ], + "held_grasp_midpoint": [ + 0.19138508228914924, + -0.15656034178693579, + 1.239394898995043 + ], + "held_grasp_object_position": [ + 0.19583426986013883, + -0.1442339847669794, + 1.239394898995043 + ], + "held_grasp_finger_gap": 0.02620949045100088, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024210938754056267, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.046281876638090996, + -0.9987854568382407, + -0.016899677608861022 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038796231898195464, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032682922088182104, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33329484767824813, + -0.348744381500649, + 0.847019482365615 + ], + "target_position": [ + 0.32650996357963763, + -0.35053655432824027, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007017587596570066, + "xy_threshold": 0.08, + "gripper_dist": 0.1853196393251467, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.847019482365615, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07525519067288994, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08536475742921977, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15438138862653564, + "release_required_pad_clearance": 0.05268237871460989, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.42057849305983613, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008091509342193604, + "max_z_decrease": 0.008091509342193604, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035042678033436137, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008091509342193604, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021105719965966552, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008091509342193604, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008091526557507025, + "max_button_displacement": 0.12, + "button_start": [ + 0.1822098940610885, + -0.406798005104065, + 0.7768088579177856 + ], + "button_final": [ + 0.1822098940610885, + -0.406798005104065, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18298049009320042, + -0.40521326410258673, + 0.8037164580030398 + ], + "closest_button": [ + 0.18222260475158686, + -0.4067871868610382, + 0.768717348575592 + ], + "closest_ee_minus_button": [ + 0.0007578853416135567, + 0.0015739227584514737, + 0.03499910942744777 + ], + "button_min_z_position": [ + 0.18222260475158686, + -0.4067871868610382, + 0.768717348575592 + ], + "min_active_finger_to_button": 0.14453707602899937, + "closest_active_finger": [ + 0.056226469576358795, + -0.4685850441455841, + 0.8083996772766113 + ], + "closest_active_finger_button": [ + 0.18221649527549738, + -0.4068014323711395, + 0.7737548351287842 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12599002569913859, + -0.06178361177444458, + 0.03464484214782715 + ], + "min_contact_pad_to_button": 0.021105719965966552, + "closest_contact_pad": [ + 0.18222260475158686, + -0.4067871868610382, + 0.7898230685415586 + ], + "closest_contact_pad_button": [ + 0.18222260475158686, + -0.4067871868610382, + 0.768717348575592 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021105719965966552 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 0, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "eed6df99b0feb8f680d146bbb11a7251768c165c10aef0f70d08a1031e491c82", + "visual_seed": 7955624049290934352, + "episode_index": 0, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_100_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_100_success.json new file mode 100644 index 0000000000000000000000000000000000000000..50c75c80c552b6a9386250fe59b35a8703edeca6 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_100_success.json @@ -0,0 +1,926 @@ +{ + "episode": 100, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.19138751867748507, + -0.14683712672996405, + 1.0460163701748753 + ], + "current_z": 1.0460163701748753, + "required_z": 0.8565865739225084, + "initial_z": 0.7565865739225084, + "lift_margin": 0.1894297962523669, + "gripper_z": 1.0501729097030146, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1875648471950119, + -0.15090794887822023, + 1.0501729097030146 + ], + "object_minus_gripper": [ + 0.0038226714824731722, + 0.004070822148256187, + -0.004156539528139325 + ], + "object_to_gripper_xy": 0.005584300334477611, + "object_to_gripper_z": -0.004156539528139325, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19138751867748507, + -0.17061904441785436, + 1.0460163701748753 + ], + "finger_b": [ + 0.18100037941794794, + -0.14683712672996405, + 1.0460163701748753 + ], + "finger_midpoint": [ + 0.18619394904771652, + -0.15872808557390922, + 1.0460163701748753 + ], + "object_minus_finger_midpoint": [ + 0.005193569629768552, + 0.01189095884394517, + 0.0 + ], + "finger_gap": 0.025951344298718086, + "fingertip_max_gap": 0.09768097982934021, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01297567214935905, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0460163701748753, + "object_top_z": 1.0938486795489444, + "finger_top_clearance": 0.047832309374069126, + "fingertip_min_top_clearance": 0.014349692812220738, + "object_projection_between_fingers": 0.8397964301468047, + "object_to_finger_line_xy": 0.009518816753364412, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05134048991467011, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.1263480010862876, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 205, + "max_stable_success_frames": 205, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19204106619703498, + -0.14931645247138348, + 1.2451282993130035 + ], + "held_position": [ + 0.1960710150163298, + -0.14535810802482887, + 1.24105815012369 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00696240566664824, + "max_held_gripper_dist": 0.006963882706577398, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004070149189313588, + "max_held_gripper_z_dist": 0.0041658180585026905, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08589509787882979, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.1960710150163298, + -0.1698291933214094, + 1.24105815012369 + ], + "held_grasp_finger_b": [ + 0.18732846014195112, + -0.14535810802482887, + 1.24105815012369 + ], + "held_grasp_midpoint": [ + 0.19169973757914047, + -0.15759365067311915, + 1.24105815012369 + ], + "held_grasp_object_position": [ + 0.1960710150163298, + -0.14535810802482887, + 1.24105815012369 + ], + "held_grasp_finger_gap": 0.025985886194702726, + "held_grasp_max_gap": 0.12496591120958328, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024341148479480438, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.014548041466762276, + -0.9998876320265798, + -0.003616325449984358 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004193046335418754, + "held_grasp_line_xy_max_dist": 0.04748295560479164, + "held_grasp_object_top_z": 0.04520071670413017, + "held_grasp_top_clearance": 0.032902955413552044, + "held_grasp_min_top_clearance": 0.013560215011239052 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3341106089008885, + -0.34573613447656637, + 0.8470196338640273 + ], + "target_position": [ + 0.32843578429429326, + -0.3470210215961727, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005818467944893149, + "xy_threshold": 0.08, + "gripper_dist": 0.18438765615072644, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196338640273, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07518354499918185, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08640227338621763, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15352378886839316, + "release_required_pad_clearance": 0.053201136693108816, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.4243376663449236, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008449375629425049, + "max_z_decrease": 0.008449375629425049, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0350114195446592, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008449375629425049, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02112690270262519, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008449375629425049, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008449433118591991, + "max_button_displacement": 0.12, + "button_start": [ + 0.18413570523262024, + -0.40328249335288996, + 0.7768088579177856 + ], + "button_final": [ + 0.18413570523262024, + -0.40328249335288996, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18323901574096552, + -0.40416116548566505, + 0.8037167696248528 + ], + "closest_button": [ + 0.18411746621131897, + -0.403258353471756, + 0.7687280178070068 + ], + "closest_ee_minus_button": [ + -0.0008784504703534535, + -0.0009028120139090712, + 0.034988751817846 + ], + "button_min_z_position": [ + 0.18411284685134888, + -0.40326130390167236, + 0.7683594822883606 + ], + "min_active_finger_to_button": 0.14661510068400668, + "closest_active_finger": [ + 0.04233139753341675, + -0.3895748257637024, + 0.8078708648681641 + ], + "closest_active_finger_button": [ + 0.18414220213890076, + -0.4032892286777496, + 0.7732645273208618 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.141810804605484, + 0.013714402914047186, + 0.034606337547302246 + ], + "min_contact_pad_to_button": 0.02112690270262519, + "closest_contact_pad": [ + 0.18411284685134888, + -0.4051969482284587, + 0.7893975263715536 + ], + "closest_contact_pad_button": [ + 0.18411284685134888, + -0.40326130390167236, + 0.7683594822883606 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0019356443267863344, + 0.021038044083192986 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 100, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d2ffb87e3ad2e5062d52abd58cf7de2e2f33929bfc0a7c9cdaaa39ac0bc4d96b", + "visual_seed": 2996412626267165941, + "episode_index": 100, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_101_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_101_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7752d63569595ae9fd2e55011f0142b94ed671be --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_101_success.json @@ -0,0 +1,926 @@ +{ + "episode": 101, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.19034295444425228, + -0.14451349024597215, + 1.0436861643258577 + ], + "current_z": 1.0436861643258577, + "required_z": 0.8565865904188322, + "initial_z": 0.7565865904188322, + "lift_margin": 0.18709957390702547, + "gripper_z": 1.0480078963408397, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18637002487738732, + -0.14864360403308816, + 1.0480078963408397 + ], + "object_minus_gripper": [ + 0.003972929566864958, + 0.004130113787116002, + -0.004321732014981983 + ], + "object_to_gripper_xy": 0.005730794817282806, + "object_to_gripper_z": -0.004321732014981983, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19034295444425228, + -0.1684984922576322, + 1.0436861643258577 + ], + "finger_b": [ + 0.18000219140682427, + -0.14451349024597215, + 1.0436861643258577 + ], + "finger_midpoint": [ + 0.1851725729255383, + -0.15650599125180217, + 1.0436861643258577 + ], + "object_minus_finger_midpoint": [ + 0.00517038151871399, + 0.01199250100583002, + 0.0 + ], + "finger_gap": 0.02611918263835171, + "fingertip_max_gap": 0.09259835494367444, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01305959131917585, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0436861643258577, + "object_top_z": 1.089126783097087, + "finger_top_clearance": 0.04544061877122929, + "fingertip_min_top_clearance": 0.01363218563136882, + "object_projection_between_fingers": 0.8432577747780207, + "object_to_finger_line_xy": 0.009495826331511206, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04879917747183722, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.0039748345025394, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 203, + "max_stable_success_frames": 203, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19078839248761778, + -0.14696358354719957, + 1.2434655805161738 + ], + "held_position": [ + 0.1949341897939154, + -0.14292650654155162, + 1.2392275186091817 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007172642106081566, + "max_held_gripper_dist": 0.007178813382810045, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004238061906992163, + "max_held_gripper_z_dist": 0.004331642171499839, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08579266376863172, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.1949341897939154, + -0.16747729504300232, + 1.2392275186091817 + ], + "held_grasp_finger_b": [ + 0.1860393849468415, + -0.14292650654155162, + 1.2392275186091817 + ], + "held_grasp_midpoint": [ + 0.19048678737037844, + -0.15520190079227697, + 1.2392275186091817 + ], + "held_grasp_object_position": [ + 0.1949341897939154, + -0.14292650654155162, + 1.2392275186091817 + ], + "held_grasp_finger_gap": 0.026112425573096305, + "held_grasp_max_gap": 0.12496599316596985, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024372969511547347, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.018402804137855455, + -0.9994244731301656, + -0.028496654336161997 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004235314846502583, + "held_grasp_line_xy_max_dist": 0.047482996582984924, + "held_grasp_object_top_z": 0.04520074278116226, + "held_grasp_top_clearance": 0.03285056867394344, + "held_grasp_min_top_clearance": 0.013560222834348679 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3331923846155306, + -0.3462933657815225, + 0.8470195988423597 + ], + "target_position": [ + 0.32514120472675034, + -0.3488092974498833, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00843512950471777, + "xy_threshold": 0.08, + "gripper_dist": 0.18480096738226895, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195988423597, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07513583463597619, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08652782707891941, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1543839335998469, + "release_required_pad_clearance": 0.05326391353945971, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.547086873367754, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008344531059265137, + "max_z_decrease": 0.008344531059265137, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501111364260392, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008344531059265137, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021199843934767797, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008344531059265137, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008344603440725967, + "max_button_displacement": 0.12, + "button_start": [ + 0.18084113299846644, + -0.4050707519054412, + 0.7768088579177856 + ], + "button_final": [ + 0.18084113299846644, + -0.4050707519054412, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17973255215268358, + -0.4042550838223692, + 0.8038144868152611 + ], + "closest_button": [ + 0.18080535531044004, + -0.4050511419773101, + 0.7688288688659668 + ], + "closest_ee_minus_button": [ + -0.0010728031577564578, + 0.0007960581549409373, + 0.034985617949294334 + ], + "button_min_z_position": [ + 0.18080721795558927, + -0.4050631523132323, + 0.7684643268585205 + ], + "min_active_finger_to_button": 0.14659698532861934, + "closest_active_finger": [ + 0.05181173235177994, + -0.4652567505836487, + 0.8077023029327393 + ], + "closest_active_finger_button": [ + 0.18085440993309015, + -0.40507614612579335, + 0.7728173732757568 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12904267758131022, + -0.060180604457855336, + 0.03488492965698242 + ], + "min_contact_pad_to_button": 0.021199843934767797, + "closest_contact_pad": [ + 0.18080721795558927, + -0.40562429422108903, + 0.7896567430166125 + ], + "closest_contact_pad_button": [ + 0.18080721795558927, + -0.4050631523132323, + 0.7684643268585205 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0005611419078567215, + 0.021192416158091976 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 101, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0541d79633e4456a59fc976ecd005463fe02698e641dae042fdbed3e5a899cb8", + "visual_seed": 7050477629194118230, + "episode_index": 101, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_10_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_10_success.json new file mode 100644 index 0000000000000000000000000000000000000000..bbc3935bde844eb9d6e1f254b1a16f02e172cec9 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_10_success.json @@ -0,0 +1,926 @@ +{ + "episode": 10, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.18911450970594465, + -0.14428729705936302, + 1.0454672188099465 + ], + "current_z": 1.0454672188099465, + "required_z": 0.8565866234085169, + "initial_z": 0.7565866234085169, + "lift_margin": 0.18888059540142965, + "gripper_z": 1.049759061767801, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18492707003089856, + -0.14860130065143703, + 1.049759061767801 + ], + "object_minus_gripper": [ + 0.00418743967504609, + 0.004314003592074012, + -0.004291842957854453 + ], + "object_to_gripper_xy": 0.006012094312681528, + "object_to_gripper_z": -0.004291842957854453, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.18911450970594465, + -0.16831483509020992, + 1.0454672188099465 + ], + "finger_b": [ + 0.1783751591461294, + -0.14428729705936302, + 1.0454672188099465 + ], + "finger_midpoint": [ + 0.183744834426037, + -0.15630106607478647, + 1.0454672188099465 + ], + "object_minus_finger_midpoint": [ + 0.005369675279907643, + 0.012013769015423448, + 0.0 + ], + "finger_gap": 0.02631836306213588, + "fingertip_max_gap": 0.09561957992334585, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013159181531067946, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0454672188099465, + "object_top_z": 1.0931298388005604, + "finger_top_clearance": 0.04766261999061383, + "fingertip_min_top_clearance": 0.014298785997184165, + "object_projection_between_fingers": 0.833490778339576, + "object_to_finger_line_xy": 0.009804567001121709, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05030978996167293, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.0673805184964755, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 204, + "max_stable_success_frames": 204, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1897642873944322, + -0.14769662604567516, + 1.243269064063683 + ], + "held_position": [ + 0.19425955578203566, + -0.14358741740557443, + 1.2390713425366073 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007396884448424191, + "max_held_gripper_dist": 0.007398600511001652, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0041977215270756485, + "max_held_gripper_z_dist": 0.004307041886748575, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08573478146390442, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.19425955578203566, + -0.1684192621454137, + 1.2390713425366073 + ], + "held_grasp_finger_b": [ + 0.1854456266640646, + -0.14358741740557443, + 1.2390713425366073 + ], + "held_grasp_midpoint": [ + 0.18985259122305015, + -0.15600333977549408, + 1.2390713425366073 + ], + "held_grasp_object_position": [ + 0.19425955578203566, + -0.14358741740557443, + 1.2390713425366073 + ], + "held_grasp_finger_gap": 0.026349684242512297, + "held_grasp_max_gap": 0.1249658665060997, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024311204442577058, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05479005665512192, + -0.9984807966572931, + -0.005843663093132222 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003720796996185305, + "held_grasp_line_xy_max_dist": 0.04748293325304985, + "held_grasp_object_top_z": 0.04520069435238838, + "held_grasp_top_clearance": 0.03256217645537199, + "held_grasp_min_top_clearance": 0.013560208305716514 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33357617819338703, + -0.35065045372458425, + 0.8470197173170865 + ], + "target_position": [ + 0.3282310090313708, + -0.35133529173053113, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0053888622607150055, + "xy_threshold": 0.08, + "gripper_dist": 0.18751038934109832, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470197173170865, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07529868913460729, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08591225077125507, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15622399084774982, + "release_required_pad_clearance": 0.05295612538562754, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.9470786959209819, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 156, + "max_placed_release_frames": 156 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008179962635040283, + "max_z_decrease": 0.008179962635040283, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.034997937007642324, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008179962635040283, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02107929443351327, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008179962635040283, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008179980244826909, + "max_button_displacement": 0.12, + "button_start": [ + 0.18393093347549433, + -0.4075967371463775, + 0.7768088579177856 + ], + "button_final": [ + 0.18393093347549433, + -0.4075967371463775, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1836285123244414, + -0.40721743724545345, + 0.8036235227654559 + ], + "closest_button": [ + 0.18394125998020167, + -0.4075832664966583, + 0.7686288952827454 + ], + "closest_ee_minus_button": [ + -0.00031274765576025376, + 0.0003658292512048744, + 0.03499462748271054 + ], + "button_min_z_position": [ + 0.18394125998020167, + -0.4075832664966583, + 0.7686288952827454 + ], + "min_active_finger_to_button": 0.14597559712081806, + "closest_active_finger": [ + 0.057161152362823486, + -0.4711672365665436, + 0.8106164932250977 + ], + "closest_active_finger_button": [ + 0.18393577635288233, + -0.40759921073913574, + 0.7760307192802429 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12677462399005884, + -0.06356802582740784, + 0.034585773944854736 + ], + "min_contact_pad_to_button": 0.02107929443351327, + "closest_contact_pad": [ + 0.18394125998020167, + -0.4083015639538914, + 0.7896959478192934 + ], + "closest_contact_pad_button": [ + 0.18394125998020167, + -0.4075832664966583, + 0.7686288952827454 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0007182974572330636, + 0.02106705253654806 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 10, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "246a44775ffe09f72795b81e5f9fdf376dad40ea6da8e481289176be53bf8659", + "visual_seed": 6191368827090666489, + "episode_index": 10, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_11_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_11_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b30899ca9984ace457f65948c45a61619dfdb5b0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_11_success.json @@ -0,0 +1,926 @@ +{ + "episode": 11, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.19052791160243396, + -0.14258130709136652, + 1.0438997987297727 + ], + "current_z": 1.0438997987297727, + "required_z": 0.8565865602024243, + "initial_z": 0.7565865602024243, + "lift_margin": 0.18731323852734838, + "gripper_z": 1.048273299107537, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18622397841826444, + -0.14691229909644946, + 1.048273299107537 + ], + "object_minus_gripper": [ + 0.004303933184169523, + 0.00433099200508294, + -0.0043735003777642945 + ], + "object_to_gripper_xy": 0.006105844135079764, + "object_to_gripper_z": -0.0043735003777642945, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19052791160243396, + -0.16672749620093666, + 1.0438997987297727 + ], + "finger_b": [ + 0.17981011917711756, + -0.14258130709136652, + 1.0438997987297727 + ], + "finger_midpoint": [ + 0.18516901538977576, + -0.15465440164615157, + 1.0438997987297727 + ], + "object_minus_finger_midpoint": [ + 0.0053588962126581985, + 0.012073094554785058, + 0.0 + ], + "finger_gap": 0.02641797726903582, + "fingertip_max_gap": 0.09371224082961019, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013208988634517898, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0438997987297727, + "object_top_z": 1.0901359859891973, + "finger_top_clearance": 0.04623618725942458, + "fingertip_min_top_clearance": 0.013870856177827373, + "object_projection_between_fingers": 0.835406924982938, + "object_to_finger_line_xy": 0.009796126331069913, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049356120414805096, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.8007096458658842, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 203, + "max_stable_success_frames": 203, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19060364531128116, + -0.14486700435099426, + 1.2418887230788214 + ], + "held_position": [ + 0.1950776110576211, + -0.1406114746949265, + 1.2376139472967862 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007509967386065642, + "max_held_gripper_dist": 0.007513447000548756, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004274775782035167, + "max_held_gripper_z_dist": 0.004383427740870971, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08584176872139955, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.1950776110576211, + -0.16522889173477615, + 1.2376139472967862 + ], + "held_grasp_finger_b": [ + 0.18575401410533293, + -0.1406114746949265, + 1.2376139472967862 + ], + "held_grasp_midpoint": [ + 0.190415812581477, + -0.15292018321485132, + 1.2376139472967862 + ], + "held_grasp_object_position": [ + 0.1950776110576211, + -0.1406114746949265, + 1.2376139472967862 + ], + "held_grasp_finger_gap": 0.026323880448037996, + "held_grasp_max_gap": 0.12496612727642059, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024409742665029478, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.02094200846994372, + -0.9994954983110165, + -0.023878465973716123 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004412883548089923, + "held_grasp_line_xy_max_dist": 0.047483063638210296, + "held_grasp_object_top_z": 0.04520077630877495, + "held_grasp_top_clearance": 0.03280065012991505, + "held_grasp_min_top_clearance": 0.013560232892632484 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3352959656710446, + -0.3482129175405213, + 0.84701950364179 + ], + "target_position": [ + 0.3283903741677284, + -0.35029033817094773, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007211301580602051, + "xy_threshold": 0.08, + "gripper_dist": 0.18698956081089083, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.84701950364179, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0752884012782148, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08669216323298416, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15604850516067204, + "release_required_pad_clearance": 0.05334608161649208, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.7058902428549079, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 156, + "max_placed_release_frames": 156 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008196353912353516, + "max_z_decrease": 0.008196353912353516, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03499347889204664, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008196353912353516, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02123420942044189, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008196353912353516, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008196373845200569, + "max_button_displacement": 0.12, + "button_start": [ + 0.1840903013944625, + -0.4065518081188202, + 0.7768088579177856 + ], + "button_final": [ + 0.1840903013944625, + -0.4065518081188202, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18355706221069376, + -0.40658146740904494, + 0.8036021583587728 + ], + "closest_button": [ + 0.184073194861412, + -0.40654596686363215, + 0.7686125040054321 + ], + "closest_ee_minus_button": [ + -0.0005161326507182318, + -3.550054541279213e-05, + 0.03498965435334067 + ], + "button_min_z_position": [ + 0.184073194861412, + -0.40654596686363215, + 0.7686125040054321 + ], + "min_active_finger_to_button": 0.14643286667017227, + "closest_active_finger": [ + 0.04294666647911072, + -0.38936132192611694, + 0.8080989718437195 + ], + "closest_active_finger_button": [ + 0.18410269916057578, + -0.4065561890602112, + 0.7731433510780334 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14115603268146507, + 0.01719486713409424, + 0.034955620765686035 + ], + "min_contact_pad_to_button": 0.02123420942044189, + "closest_contact_pad": [ + 0.184073194861412, + -0.40786688897234935, + 0.7898055881248774 + ], + "closest_contact_pad_button": [ + 0.184073194861412, + -0.40654596686363215, + 0.7686125040054321 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001320922108717204, + 0.021193084119445316 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 11, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f9d2436a8e5d563c1abcd27afed2a4fac3d0cd5dbb75d4606039e4e312098db0", + "visual_seed": 1322593137277456822, + "episode_index": 11, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_12_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_12_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c95d407836506617d8b2f0c744e0c62d620d0fee --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_12_success.json @@ -0,0 +1,926 @@ +{ + "episode": 12, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.1864233124682575, + -0.1427786534593097, + 1.0473507078156172 + ], + "current_z": 1.0473507078156172, + "required_z": 0.8565866237233976, + "initial_z": 0.7565866237233976, + "lift_margin": 0.19076408409221968, + "gripper_z": 1.0516398142971086, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18245596059558636, + -0.14704913195039732, + 1.0516398142971086 + ], + "object_minus_gripper": [ + 0.003967351872671138, + 0.004270478491087609, + -0.004289106481491389 + ], + "object_to_gripper_xy": 0.0058289679553441606, + "object_to_gripper_z": -0.004289106481491389, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1864233124682575, + -0.16640137496504476, + 1.0473507078156172 + ], + "finger_b": [ + 0.17539230964372282, + -0.1427786534593097, + 1.0473507078156172 + ], + "finger_midpoint": [ + 0.18090781105599016, + -0.15459001421217722, + 1.0473507078156172 + ], + "object_minus_finger_midpoint": [ + 0.005515501412267337, + 0.011811360752867511, + 0.0 + ], + "finger_gap": 0.026071363498145036, + "fingertip_max_gap": 0.09433316695849603, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013035681749072504, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0473507078156172, + "object_top_z": 1.0935209236043466, + "finger_top_clearance": 0.046170215788729374, + "fingertip_min_top_clearance": 0.013851064736618813, + "object_projection_between_fingers": 0.8209796087303818, + "object_to_finger_line_xy": 0.009994962774827625, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049666583479248017, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.490389305800022, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 206, + "max_stable_success_frames": 206, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18720765290067612, + -0.14581188912712068, + 1.2476543968248934 + ], + "held_position": [ + 0.19150150776946656, + -0.14178543995693088, + 1.2434458116904017 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0072361364959916494, + "max_held_gripper_dist": 0.007237659819242869, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004208585134491738, + "max_held_gripper_z_dist": 0.004300593631852534, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.086226518797066, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.19150150776946656, + -0.16653778046804885, + 1.2434458116904017 + ], + "held_grasp_finger_b": [ + 0.1827268211370897, + -0.14178543995693088, + 1.2434458116904017 + ], + "held_grasp_midpoint": [ + 0.18711416445327814, + -0.15416161021248986, + 1.2434458116904017 + ], + "held_grasp_object_position": [ + 0.19150150776946656, + -0.14178543995693088, + 1.2434458116904017 + ], + "held_grasp_finger_gap": 0.026261635255153945, + "held_grasp_max_gap": 0.1249658665060997, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024321873803355615, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.045598550843783, + -0.9987737033108438, + -0.01928371685359398 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003826015822405169, + "held_grasp_line_xy_max_dist": 0.04748293325304985, + "held_grasp_object_top_z": 0.045200712978839874, + "held_grasp_top_clearance": 0.03263966308261737, + "held_grasp_min_top_clearance": 0.013560213893651961 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3321297810378852, + -0.3511973281175763, + 0.847019818232666 + ], + "target_position": [ + 0.32582034528088943, + -0.3525943756523843, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006462253584174009, + "xy_threshold": 0.08, + "gripper_dist": 0.1857265758873899, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.847019818232666, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07575816418791169, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08700586500113026, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15359873298522533, + "release_required_pad_clearance": 0.053502932500565134, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.017048745371634, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008220911026000977, + "max_z_decrease": 0.008220911026000977, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502593377735741, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008220911026000977, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021053087914717303, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008220911026000977, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00822092302918471, + "max_button_displacement": 0.12, + "button_start": [ + 0.18152026832103724, + -0.4088558256626129, + 0.7768088579177856 + ], + "button_final": [ + 0.18152026832103724, + -0.4088558256626129, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1826758208811118, + -0.4085080163343297, + 0.8035931332146401 + ], + "closest_button": [ + 0.18151763081550595, + -0.4088420271873474, + 0.7685879468917847 + ], + "closest_ee_minus_button": [ + 0.0011581900656058575, + 0.0003340108530177077, + 0.03500518632285543 + ], + "button_min_z_position": [ + 0.18151763081550595, + -0.4088420271873474, + 0.7685879468917847 + ], + "min_active_finger_to_button": 0.14470140879381263, + "closest_active_finger": [ + 0.05636007338762283, + -0.47274723649024963, + 0.8104961514472961 + ], + "closest_active_finger_button": [ + 0.18152517080307, + -0.40885925292968744, + 0.775992214679718 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12516509741544718, + -0.06388798356056219, + 0.034503936767578125 + ], + "min_contact_pad_to_button": 0.021053087914717303, + "closest_contact_pad": [ + 0.18151763081550595, + -0.4095606058041596, + 0.7896287680619832 + ], + "closest_contact_pad_button": [ + 0.18151763081550595, + -0.4088420271873474, + 0.7685879468917847 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0007185786168121822, + 0.021040821170198565 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 12, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9cc98a610eaccbb95b02ceddcfdd034cdafc805bf67643ff460a5b5a71fc3362", + "visual_seed": 2881470030556931423, + "episode_index": 12, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_13_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_13_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7211868e85f1eb12385f9c44161eae51ad1d36d0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_13_success.json @@ -0,0 +1,926 @@ +{ + "episode": 13, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.18561276103999946, + -0.15002645688431387, + 1.045999990109323 + ], + "current_z": 1.045999990109323, + "required_z": 0.8565866043506317, + "initial_z": 0.7565866043506317, + "lift_margin": 0.18941338575869138, + "gripper_z": 1.0503266009884993, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18168145785070022, + -0.15420204602770676, + 1.0503266009884993 + ], + "object_minus_gripper": [ + 0.00393130318929924, + 0.004175589143392888, + -0.004326610879176185 + ], + "object_to_gripper_xy": 0.005735040493371858, + "object_to_gripper_z": -0.004326610879176185, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.18561276103999946, + -0.17391720747137293, + 1.045999990109323 + ], + "finger_b": [ + 0.1751097375129503, + -0.15002645688431387, + 1.045999990109323 + ], + "finger_midpoint": [ + 0.1803612492764749, + -0.1619718321778434, + 1.045999990109323 + ], + "object_minus_finger_midpoint": [ + 0.005251511763524563, + 0.011945375293529514, + 0.0 + ], + "finger_gap": 0.02609753756243701, + "fingertip_max_gap": 0.0966128375928203, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013048768781218486, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.045999990109323, + "object_top_z": 1.09315481663393, + "finger_top_clearance": 0.047154826524606896, + "fingertip_min_top_clearance": 0.014146447957382085, + "object_projection_between_fingers": 0.8380318528936758, + "object_to_finger_line_xy": 0.009614896228980194, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05080641879641015, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.9710127962918254, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 205, + "max_stable_success_frames": 205, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1859298003981489, + -0.1525155121223502, + 1.2438598105624123 + ], + "held_position": [ + 0.1900464441994229, + -0.14842160518003816, + 1.2396330166117144 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0071814077547883905, + "max_held_gripper_dist": 0.007186440941094837, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004226793950697916, + "max_held_gripper_z_dist": 0.004337781189649004, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08597728739267738, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.1900464441994229, + -0.1728722377706181, + 1.2396330166117144 + ], + "held_grasp_finger_b": [ + 0.18106422687514986, + -0.14842160518003816, + 1.2396330166117144 + ], + "held_grasp_midpoint": [ + 0.18555533553728637, + -0.16064692147532814, + 1.2396330166117144 + ], + "held_grasp_object_position": [ + 0.1900464441994229, + -0.14842160518003816, + 1.2396330166117144 + ], + "held_grasp_finger_gap": 0.0260482948029233, + "held_grasp_max_gap": 0.12496605277061462, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02437868204667642, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.007614117067909488, + -0.9998544459063002, + -0.01526801305611314 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00440186382571285, + "held_grasp_line_xy_max_dist": 0.04748302638530731, + "held_grasp_object_top_z": 0.04520081356167793, + "held_grasp_top_clearance": 0.032943080884103304, + "held_grasp_min_top_clearance": 0.013560244068503379 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3363339773851606, + -0.34366964135826594, + 0.8470195403045256 + ], + "target_position": [ + 0.3296871958796963, + -0.3456315757466537, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006930287939596764, + "xy_threshold": 0.08, + "gripper_dist": 0.18796837263746577, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195403045256, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07546191066250771, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08738024692124084, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15650355877520877, + "release_required_pad_clearance": 0.05369012346062042, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.389697680984925, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 156, + "max_placed_release_frames": 156 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008379518985748291, + "max_z_decrease": 0.008379518985748291, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0350010550408682, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008379518985748291, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021233687048969354, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008379518985748291, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008379626035680638, + "max_button_displacement": 0.12, + "button_start": [ + 0.1853871196508407, + -0.40189301967620844, + 0.7768088579177856 + ], + "button_final": [ + 0.1853871196508407, + -0.40189301967620844, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18453576245386188, + -0.40156322320949056, + 0.8055451260299968 + ], + "closest_button": [ + 0.18537268042564387, + -0.4018912017345428, + 0.7705556154251099 + ], + "closest_ee_minus_button": [ + -0.0008369179717819808, + 0.00032797852505223046, + 0.034989510604886975 + ], + "button_min_z_position": [ + 0.1853473931550979, + -0.40187832713127136, + 0.7684293389320374 + ], + "min_active_finger_to_button": 0.146792543718574, + "closest_active_finger": [ + 0.05660894513130188, + -0.46299177408218384, + 0.807842493057251 + ], + "closest_active_finger_button": [ + 0.18539911508560175, + -0.4018998742103576, + 0.7727864980697632 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12879016995429987, + -0.06109189987182623, + 0.03505599498748779 + ], + "min_contact_pad_to_button": 0.021233687048969354, + "closest_contact_pad": [ + 0.1853473931550979, + -0.4028158999832077, + 0.7896423166306274 + ], + "closest_contact_pad_button": [ + 0.1853473931550979, + -0.40187832713127136, + 0.7684293389320374 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0009375728519363524, + 0.021212977698590096 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 13, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1b33b4be72fda6d1b24ce3c68e8d408c783a5b6cc6b466b61c7af00a64afadf6", + "visual_seed": 1996263179810769010, + "episode_index": 13, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_14_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_14_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4c55cae2a4344611f3502e61fad5505736be93e4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_14_success.json @@ -0,0 +1,926 @@ +{ + "episode": 14, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.19010930606573515, + -0.14633832980440595, + 1.047452020052052 + ], + "current_z": 1.047452020052052, + "required_z": 0.8565865580757731, + "initial_z": 0.7565865580757731, + "lift_margin": 0.19086546197627896, + "gripper_z": 1.0517118271237915, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1858483528848064, + -0.1507159673268778, + 1.0517118271237915 + ], + "object_minus_gripper": [ + 0.004260953180928756, + 0.004377637522471861, + -0.004259807071739452 + ], + "object_to_gripper_xy": 0.006108963274420665, + "object_to_gripper_z": -0.004259807071739452, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19010930606573515, + -0.17031805616831996, + 1.047452020052052 + ], + "finger_b": [ + 0.17912626462469525, + -0.14633832980440595, + 1.047452020052052 + ], + "finger_midpoint": [ + 0.1846177853452152, + -0.15832819298636297, + 1.047452020052052 + ], + "object_minus_finger_midpoint": [ + 0.005491520720519949, + 0.011989863181957022, + 0.0 + ], + "finger_gap": 0.02637526257279333, + "fingertip_max_gap": 0.09304650913323265, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013187631286396679, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.047452020052052, + "object_top_z": 1.0931838536317127, + "finger_top_clearance": 0.0457318335796606, + "fingertip_min_top_clearance": 0.013719550073898213, + "object_projection_between_fingers": 0.8265989747860255, + "object_to_finger_line_xy": 0.009985505458866473, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049023254566616326, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.9194998402276395, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 206, + "max_stable_success_frames": 206, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19043766099021833, + -0.14939530438701432, + 1.2463681006916507 + ], + "held_position": [ + 0.1949555498112074, + -0.1451921775878846, + 1.2421989538438625 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007447105459626785, + "max_held_gripper_dist": 0.007448847860672701, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004169146847788241, + "max_held_gripper_z_dist": 0.004271727093144717, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08502883228814172, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.1949555498112074, + -0.1699626396602629, + 1.2421989538438625 + ], + "held_grasp_finger_b": [ + 0.18581369551879248, + -0.1451921775878846, + 1.2421989538438625 + ], + "held_grasp_midpoint": [ + 0.19038462266499995, + -0.15757740862407377, + 1.2421989538438625 + ], + "held_grasp_object_position": [ + 0.1949555498112074, + -0.1451921775878846, + 1.2421989538438625 + ], + "held_grasp_finger_gap": 0.02640358481689327, + "held_grasp_max_gap": 0.12496611982584, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024406602487041493, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.03690039369591875, + -0.9989293068995456, + -0.027903418469424457 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004125492648792007, + "held_grasp_line_xy_max_dist": 0.04748305991292, + "held_grasp_object_top_z": 0.04520079866051674, + "held_grasp_top_clearance": 0.03266015939449516, + "held_grasp_min_top_clearance": 0.013560239598155022 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3369265020594886, + -0.342608319112805, + 0.84701960167437 + ], + "target_position": [ + 0.3292740008586868, + -0.3448467034796626, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007973151146320107, + "xy_threshold": 0.08, + "gripper_dist": 0.18743282359161464, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.84701960167437, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07544554104869843, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08648621139701672, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15610903078496224, + "release_required_pad_clearance": 0.05324310569850836, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.5065890261205925, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 156, + "max_placed_release_frames": 156 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0082930326461792, + "max_z_decrease": 0.0082930326461792, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03510515172571723, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0082930326461792, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02110794613745448, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.0082930326461792, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008293037460949643, + "max_button_displacement": 0.12, + "button_start": [ + 0.1849739253520965, + -0.4011081755161285, + 0.7768088579177856 + ], + "button_final": [ + 0.1849739253520965, + -0.4011081755161285, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18276082669313667, + -0.3991467329883427, + 0.803496236350558 + ], + "closest_button": [ + 0.1849795132875442, + -0.4011012017726897, + 0.7685158252716064 + ], + "closest_ee_minus_button": [ + -0.0022186865944075207, + 0.0019544687843470188, + 0.03498041107895156 + ], + "button_min_z_position": [ + 0.1849795132875442, + -0.4011012017726897, + 0.7685158252716064 + ], + "min_active_finger_to_button": 0.14699103234962058, + "closest_active_finger": [ + 0.05593379586935043, + -0.46235018968582153, + 0.810927152633667 + ], + "closest_active_finger_button": [ + 0.18497809767723078, + -0.40111017227172846, + 0.7762343287467957 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12904430180788035, + -0.06124001741409307, + 0.03469282388687134 + ], + "min_contact_pad_to_button": 0.02110794613745448, + "closest_contact_pad": [ + 0.1849795132875442, + -0.4011012017726897, + 0.7896237714090609 + ], + "closest_contact_pad_button": [ + 0.1849795132875442, + -0.4011012017726897, + 0.7685158252716064 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02110794613745448 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 14, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7f9b16f9884f6180839b1d71f07b752c659c01b7a0c2cd991414e94dde59ea32", + "visual_seed": 691667903649935110, + "episode_index": 14, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_15_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_15_success.json new file mode 100644 index 0000000000000000000000000000000000000000..185707ad099ff52255e1af406eb9997bccb82ab9 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_15_success.json @@ -0,0 +1,926 @@ +{ + "episode": 15, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.18957169664751047, + -0.1430022164694181, + 1.0441683770864083 + ], + "current_z": 1.0441683770864083, + "required_z": 0.856586548243314, + "initial_z": 0.7565865482433141, + "lift_margin": 0.18758182884309427, + "gripper_z": 1.0491545659648038, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18506980823307667, + -0.14738852937289487, + 1.0491545659648038 + ], + "object_minus_gripper": [ + 0.004501888414433802, + 0.004386312903476769, + -0.0049861888783955255 + ], + "object_to_gripper_xy": 0.006285438742301137, + "object_to_gripper_z": -0.0049861888783955255, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.18957169664751047, + -0.1673947846981006, + 1.0441683770864083 + ], + "finger_b": [ + 0.17892316257368673, + -0.1430022164694181, + 1.0441683770864083 + ], + "finger_midpoint": [ + 0.1842474296105986, + -0.15519850058375934, + 1.0441683770864083 + ], + "object_minus_finger_midpoint": [ + 0.005324267036911884, + 0.012196284114341233, + 0.0 + ], + "finger_gap": 0.026615571808854977, + "fingertip_max_gap": 0.0965895932223021, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013307785904427482, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0441683770864083, + "object_top_z": 1.091293088974014, + "finger_top_clearance": 0.0471247118876057, + "fingertip_min_top_clearance": 0.014137413566281709, + "object_projection_between_fingers": 0.8399306992192298, + "object_to_finger_line_xy": 0.009759140092747469, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05079479661115105, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.9487838989011244, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 204, + "max_stable_success_frames": 204, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1891194476923155, + -0.14490186485861586, + 1.2421489892751756 + ], + "held_position": [ + 0.19371574394734592, + -0.14050363320133588, + 1.237260407055645 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008023005489977995, + "max_held_gripper_dist": 0.008024771129316212, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004888582219530591, + "max_held_gripper_z_dist": 0.004996462713525718, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08581228652566739, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.19371574394734592, + -0.1651154504366745, + 1.237260407055645 + ], + "held_grasp_finger_b": [ + 0.18400925043865224, + -0.14050363320133588, + 1.237260407055645 + ], + "held_grasp_midpoint": [ + 0.18886249719299908, + -0.1528095418190052, + 1.237260407055645 + ], + "held_grasp_object_position": [ + 0.19371574394734592, + -0.14050363320133588, + 1.237260407055645 + ], + "held_grasp_finger_gap": 0.026456711130826968, + "held_grasp_max_gap": 0.12496607512235641, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024760606522023956, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.015917196154050486, + -0.9997679620969899, + -0.014514297469229831 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005051646219630861, + "held_grasp_line_xy_max_dist": 0.04748303756117821, + "held_grasp_object_top_z": 0.04520075395703316, + "held_grasp_top_clearance": 0.032974950857167076, + "held_grasp_min_top_clearance": 0.013560226187109947 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33622870589271736, + -0.35123275302660184, + 0.8470197592923305 + ], + "target_position": [ + 0.32931132107717775, + -0.35349474401187203, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007277830439334344, + "xy_threshold": 0.08, + "gripper_dist": 0.18655791779724032, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470197592923305, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07532237322463226, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08814196111153481, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15566765604713492, + "release_required_pad_clearance": 0.05407098055576741, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.150649486125376, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008229255676269531, + "max_z_decrease": 0.008229255676269531, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502322959668682, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008229255676269531, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021247766207555727, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008229255676269531, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008229281742049175, + "max_button_displacement": 0.12, + "button_start": [ + 0.1850112527608871, + -0.4097562134265899, + 0.7768088579177856 + ], + "button_final": [ + 0.1850112527608871, + -0.4097562134265899, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18353827940114828, + -0.4098560086528652, + 0.8075572757861764 + ], + "closest_button": [ + 0.1850001215934753, + -0.40975645184516907, + 0.772564709186554 + ], + "closest_ee_minus_button": [ + -0.0014618421923270064, + -9.955680769613284e-05, + 0.034992566599622466 + ], + "button_min_z_position": [ + 0.18499383330345148, + -0.40974500775337214, + 0.7685796022415161 + ], + "min_active_finger_to_button": 0.14764831770881545, + "closest_active_finger": [ + 0.055453114211559296, + -0.4713519215583801, + 0.8080590963363647 + ], + "closest_active_finger_button": [ + 0.18502242863178248, + -0.40976160764694214, + 0.773152768611908 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12956931442022318, + -0.06159031391143799, + 0.03490632772445679 + ], + "min_contact_pad_to_button": 0.021247766207555727, + "closest_contact_pad": [ + 0.18499344587326044, + -0.4111436831143166, + 0.7901429335794933 + ], + "closest_contact_pad_button": [ + 0.18499344587326044, + -0.40975451469421387, + 0.7689406275749207 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0013891684201027266, + 0.021202306004572624 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 15, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "cc83e453ded6e277e64ca9d947cf46bf23d65f170eb08b554bc5d597cabf9461", + "visual_seed": 7243445145327533294, + "episode_index": 15, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_16_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_16_success.json new file mode 100644 index 0000000000000000000000000000000000000000..15b70661c50ec659a3e64117c7d7fd6b04e8cd27 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_16_success.json @@ -0,0 +1,926 @@ +{ + "episode": 16, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.18772684014130886, + -0.14005977711522238, + 1.0432785093798063 + ], + "current_z": 1.0432785093798063, + "required_z": 0.8565866001799515, + "initial_z": 0.7565866001799515, + "lift_margin": 0.1866919091998548, + "gripper_z": 1.0485031735610488, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1832467104437268, + -0.14444279729665344, + 1.0485031735610488 + ], + "object_minus_gripper": [ + 0.004480129697582047, + 0.004383020181431052, + -0.0052246641812425665 + ], + "object_to_gripper_xy": 0.006267569546322442, + "object_to_gripper_z": -0.0052246641812425665, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.18772684014130886, + -0.1644112879040869, + 1.0432785093798063 + ], + "finger_b": [ + 0.17703882051859696, + -0.14005977711522238, + 1.0432785093798063 + ], + "finger_midpoint": [ + 0.1823828303299529, + -0.15223553250965466, + 1.0432785093798063 + ], + "object_minus_finger_midpoint": [ + 0.005344009811355965, + 0.012175755394432275, + 0.0 + ], + "finger_gap": 0.02659379328256238, + "fingertip_max_gap": 0.09807059170399898, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013296896641281208, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0432785093798063, + "object_top_z": 1.0913576517118286, + "finger_top_clearance": 0.04807914233202237, + "fingertip_min_top_clearance": 0.014423742699606728, + "object_projection_between_fingers": 0.8384771727550279, + "object_to_finger_line_xy": 0.009786848472072769, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.051535295851999494, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.0036113262335293, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 203, + "max_stable_success_frames": 203, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18755668071157924, + -0.14229689328867517, + 1.2411280702293432 + ], + "held_position": [ + 0.19214653624289613, + -0.13795159619051112, + 1.23599267697974 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008143748798786923, + "max_held_gripper_dist": 0.00816002004609177, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005135393249603215, + "max_held_gripper_z_dist": 0.005238106802525122, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08436119070462253, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.19214653624289613, + -0.1626530841515362, + 1.23599267697974 + ], + "held_grasp_finger_b": [ + 0.18261677468547477, + -0.13795159619051112, + 1.23599267697974 + ], + "held_grasp_midpoint": [ + 0.18738165546418545, + -0.15030234017102367, + 1.23599267697974 + ], + "held_grasp_object_position": [ + 0.19214653624289613, + -0.13795159619051112, + 1.23599267697974 + ], + "held_grasp_finger_gap": 0.02647602430180886, + "held_grasp_max_gap": 0.12496603786945343, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.0247320292679854, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.0032182577636728216, + -0.999994821277244, + 1.5351203074054354e-05 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004804603984714346, + "held_grasp_line_xy_max_dist": 0.047483018934726715, + "held_grasp_object_top_z": 0.04520076885819435, + "held_grasp_top_clearance": 0.032865423453319775, + "held_grasp_min_top_clearance": 0.013560230657458304 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33300825065963, + -0.34785832214425394, + 0.8470196767953365 + ], + "target_position": [ + 0.3271292369312855, + -0.3494639793648612, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006094336512546031, + "xy_threshold": 0.08, + "gripper_dist": 0.18634780462030578, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196767953365, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07589829345403223, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0885115895976235, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1537334103281546, + "release_required_pad_clearance": 0.05425579479881175, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.529610714840034, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0084306001663208, + "max_z_decrease": 0.0084306001663208, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501003823810664, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0084306001663208, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021063967584339927, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.0084306001663208, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008430636150935878, + "max_button_displacement": 0.12, + "button_start": [ + 0.18282915651798248, + -0.4057254493236541, + 0.7768088579177856 + ], + "button_final": [ + 0.18282915651798248, + -0.4057254493236541, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18128771973442603, + -0.40580987942753405, + 0.8036837952763385 + ], + "closest_button": [ + 0.18283924460411072, + -0.4057124853134155, + 0.7687082886695862 + ], + "closest_ee_minus_button": [ + -0.001551524869684684, + -9.739411411852084e-05, + 0.034975506606752305 + ], + "button_min_z_position": [ + 0.18283897638320923, + -0.4057028591632843, + 0.7683782577514648 + ], + "min_active_finger_to_button": 0.14726109853980007, + "closest_active_finger": [ + 0.05462554097175598, + -0.4694008529186249, + 0.8106964230537415 + ], + "closest_active_finger_button": [ + 0.182832270860672, + -0.4057280719280243, + 0.7761328220367432 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12820672988891602, + -0.06367278099060059, + 0.03456360101699829 + ], + "min_contact_pad_to_button": 0.021063967584339927, + "closest_contact_pad": [ + 0.18283897638320923, + -0.4069106380951392, + 0.7894075706371939 + ], + "closest_contact_pad_button": [ + 0.18283897638320923, + -0.4057028591632843, + 0.7683782577514648 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0012077789318549192, + 0.021029312885729068 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 16, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "dc513792dda730c14d10296634479717fcd4332b0c0c690235cd77ecf9540e0b", + "visual_seed": 3177261015585786177, + "episode_index": 16, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_17_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_17_success.json new file mode 100644 index 0000000000000000000000000000000000000000..324519bfb5e7be5735453df6a602d72403700104 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_17_success.json @@ -0,0 +1,926 @@ +{ + "episode": 17, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.18986480905802916, + -0.14672195549666578, + 1.0438226880592771 + ], + "current_z": 1.0438226880592771, + "required_z": 0.8565865201738136, + "initial_z": 0.7565865201738137, + "lift_margin": 0.1872361678854635, + "gripper_z": 1.047999845488072, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18593518097383654, + -0.15097823242233813, + 1.047999845488072 + ], + "object_minus_gripper": [ + 0.003929628084192616, + 0.004256276925672348, + -0.004177157428794764 + ], + "object_to_gripper_xy": 0.00579291551363268, + "object_to_gripper_z": -0.004177157428794764, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.18986480905802916, + -0.17032743248537358, + 1.0438226880592771 + ], + "finger_b": [ + 0.17887041877570706, + -0.14672195549666578, + 1.0438226880592771 + ], + "finger_midpoint": [ + 0.18436761391686812, + -0.15852469399101968, + 1.0438226880592771 + ], + "object_minus_finger_midpoint": [ + 0.005497195141161038, + 0.011802738494353898, + 0.0 + ], + "finger_gap": 0.026040260397016617, + "fingertip_max_gap": 0.0950602206655107, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013020130198508301, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0438226880592771, + "object_top_z": 1.0904626016598844, + "finger_top_clearance": 0.04663991360060726, + "fingertip_min_top_clearance": 0.013991974080182162, + "object_projection_between_fingers": 0.8217409229042283, + "object_to_finger_line_xy": 0.009966406743150722, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.050030110332755354, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.4577497864853166, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 203, + "max_stable_success_frames": 203, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1905345225763047, + -0.14959342118435998, + 1.2425636443710364 + ], + "held_position": [ + 0.19476254996557577, + -0.1455395643478922, + 1.238474894647755 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007143377713283533, + "max_held_gripper_dist": 0.007144469695788544, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004088749723281326, + "max_held_gripper_z_dist": 0.004190994991570607, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0847954092302903, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.19476254996557577, + -0.17014888616564536, + 1.238474894647755 + ], + "held_grasp_finger_b": [ + 0.1859081385117321, + -0.1455395643478922, + 1.238474894647755 + ], + "held_grasp_midpoint": [ + 0.19033534423865395, + -0.15784422525676878, + 1.238474894647755 + ], + "held_grasp_object_position": [ + 0.19476254996557577, + -0.1455395643478922, + 1.238474894647755 + ], + "held_grasp_finger_gap": 0.026153763066214766, + "held_grasp_max_gap": 0.12496594101190567, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024212907973462098, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.041891794583963075, + -0.9989643494163107, + -0.017756861822468165 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003914050294341435, + "held_grasp_line_xy_max_dist": 0.047482970505952835, + "held_grasp_object_top_z": 0.04520069435238838, + "held_grasp_top_clearance": 0.032723313179871025, + "held_grasp_min_top_clearance": 0.013560208305716514 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.32916176562053157, + -0.34474981151494066, + 0.8470195305867748 + ], + "target_position": [ + 0.32254914125121886, + -0.3463701498576767, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00680825215415593, + "xy_threshold": 0.08, + "gripper_dist": 0.18463095054916678, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195305867748, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0753609451844239, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08593393870232234, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15352636387966165, + "release_required_pad_clearance": 0.05296696935116117, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.9691357055089677, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008257925510406494, + "max_z_decrease": 0.008257925510406494, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0350177722384365, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008257925510406494, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021280632265812276, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008257925510406494, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008257944580969515, + "max_button_displacement": 0.12, + "button_start": [ + 0.17824906110763544, + -0.4026316106319428, + 0.7768088579177856 + ], + "button_final": [ + 0.17824906110763544, + -0.4026316106319428, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1788845127705669, + -0.4036915194759643, + 0.8035462637323693 + ], + "closest_button": [ + 0.17823843657970423, + -0.4026173949241639, + 0.7685509324073792 + ], + "closest_ee_minus_button": [ + 0.0006460761908626822, + -0.0010741245518004483, + 0.03499533132499011 + ], + "button_min_z_position": [ + 0.17823843657970423, + -0.4026173949241639, + 0.7685509324073792 + ], + "min_active_finger_to_button": 0.14515511896913624, + "closest_active_finger": [ + 0.038309015333652496, + -0.3861602544784546, + 0.8077117800712585 + ], + "closest_active_finger_button": [ + 0.178261250257492, + -0.4026370942592621, + 0.7728995084762573 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1399522349238395, + 0.016476839780807495, + 0.03481227159500122 + ], + "min_contact_pad_to_button": 0.021280632265812276, + "closest_contact_pad": [ + 0.17823843657970423, + -0.4050040196783649, + 0.7896973111024504 + ], + "closest_contact_pad_button": [ + 0.17823843657970423, + -0.4026173949241639, + 0.7685509324073792 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002386624754201039, + 0.0211463786950713 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 17, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "511baa7889fb65245ad28e53e1f725f2d0001284bd2c44f4cc85c9c6911781ec", + "visual_seed": 812429047690920052, + "episode_index": 17, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_18_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_18_success.json new file mode 100644 index 0000000000000000000000000000000000000000..bd38210a9588f2414d4d5a772a3332ed655f4e07 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_18_success.json @@ -0,0 +1,926 @@ +{ + "episode": 18, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.1859670940354309, + -0.14676308551839773, + 1.0444222337702393 + ], + "current_z": 1.0444222337702393, + "required_z": 0.856586524388984, + "initial_z": 0.756586524388984, + "lift_margin": 0.18783570938125538, + "gripper_z": 1.0485621973009451, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1818189263793017, + -0.1509664627426816, + 1.0485621973009451 + ], + "object_minus_gripper": [ + 0.004148167656129215, + 0.004203377224283877, + -0.004139963530705781 + ], + "object_to_gripper_xy": 0.005905563054695545, + "object_to_gripper_z": -0.004139963530705781, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1859670940354309, + -0.1708543103351855, + 1.0444222337702393 + ], + "finger_b": [ + 0.1754883827158083, + -0.14676308551839773, + 1.0444222337702393 + ], + "finger_midpoint": [ + 0.18072773837561962, + -0.15880869792679161, + 1.0444222337702393 + ], + "object_minus_finger_midpoint": [ + 0.00523935565981129, + 0.012045612408393885, + 0.0 + ], + "finger_gap": 0.02627147700630853, + "fingertip_max_gap": 0.09461150511340466, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01313573850315426, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0444222337702393, + "object_top_z": 1.0911128459779798, + "finger_top_clearance": 0.0466906122077404, + "fingertip_min_top_clearance": 0.014007183662322136, + "object_projection_between_fingers": 0.8409085748516878, + "object_to_finger_line_xy": 0.009609090121983929, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04980575255670233, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.9789905398152765, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 203, + "max_stable_success_frames": 203, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18600432497039152, + -0.14894353641070612, + 1.2434675096010852 + ], + "held_position": [ + 0.1903078592152316, + -0.14480821394191312, + 1.239419268467427 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00721176505396965, + "max_held_gripper_dist": 0.007214008891758779, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004048241133658204, + "max_held_gripper_z_dist": 0.004148892194564935, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08620598395403817, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.1903078592152316, + -0.16932584905342088, + 1.239419268467427 + ], + "held_grasp_finger_b": [ + 0.18108887198156365, + -0.14480821394191312, + 1.239419268467427 + ], + "held_grasp_midpoint": [ + 0.18569836559839764, + -0.157067031497667, + 1.239419268467427 + ], + "held_grasp_object_position": [ + 0.1903078592152316, + -0.14480821394191312, + 1.239419268467427 + ], + "held_grasp_finger_gap": 0.026193589999760833, + "held_grasp_max_gap": 0.12496596336364746, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02437075396040661, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.015288755205757367, + -0.9997579574043906, + -0.01582025824250133 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004425808442707524, + "held_grasp_line_xy_max_dist": 0.04748298168182373, + "held_grasp_object_top_z": 0.045200709253549576, + "held_grasp_top_clearance": 0.03287438543428572, + "held_grasp_min_top_clearance": 0.013560212776064872 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3295351381119386, + -0.3506720206582775, + 0.8470194948679857 + ], + "target_position": [ + 0.3234340993996755, + -0.35224662014113506, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006300955237100803, + "xy_threshold": 0.08, + "gripper_dist": 0.18620278886834354, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470194948679857, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07524053736232914, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08652594515403843, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15519497469224922, + "release_required_pad_clearance": 0.053262972577019216, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.5455684083274523, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008438587188720703, + "max_z_decrease": 0.008438587188720703, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500077133678369, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008438587188720703, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.020961083617399092, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008438587188720703, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0084386886396597, + "max_button_displacement": 0.12, + "button_start": [ + 0.17913402616977686, + -0.40850809216499323, + 0.7768088579177856 + ], + "button_final": [ + 0.17913402616977686, + -0.40850809216499323, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17918374825207825, + -0.4077805973952273, + 0.8035505807216896 + ], + "closest_button": [ + 0.17916095256805414, + -0.408487319946289, + 0.7685569524765015 + ], + "closest_ee_minus_button": [ + 2.2795684024107254e-05, + 0.0007067225510616892, + 0.034993628245188146 + ], + "button_min_z_position": [ + 0.17916423082351682, + -0.4084798097610473, + 0.7683702707290649 + ], + "min_active_finger_to_button": 0.14546894808366917, + "closest_active_finger": [ + 0.05322233587503433, + -0.4727504253387451, + 0.8109892010688782 + ], + "closest_active_finger_button": [ + 0.1791387647390365, + -0.4085106551647186, + 0.7766450643539429 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12591642886400217, + -0.06423977017402654, + 0.0343441367149353 + ], + "min_contact_pad_to_button": 0.020961083617399092, + "closest_contact_pad": [ + 0.17916423082351682, + -0.4087535801009737, + 0.7893295664285052 + ], + "closest_contact_pad_button": [ + 0.17916423082351682, + -0.4084798097610473, + 0.7683702707290649 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00027377033992637134, + 0.020959295699440217 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 18, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3bfde139d25d00e309d70344df7857906b5a6b023c0f99379be9946dd6937e95", + "visual_seed": 2611217903780780615, + "episode_index": 18, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_19_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_19_success.json new file mode 100644 index 0000000000000000000000000000000000000000..29c252095b76280d5b4e505d88090596f239d9fe --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_19_success.json @@ -0,0 +1,926 @@ +{ + "episode": 19, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.19206891815686045, + -0.14469093585219323, + 1.0438827870715426 + ], + "current_z": 1.0438827870715426, + "required_z": 0.8565864912411237, + "initial_z": 0.7565864912411238, + "lift_margin": 0.18729629583041885, + "gripper_z": 1.048149286619933, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18803893172848765, + -0.14898298548767508, + 1.048149286619933 + ], + "object_minus_gripper": [ + 0.004029986428372795, + 0.004292049635481854, + -0.004266499548390312 + ], + "object_to_gripper_xy": 0.005887485090113505, + "object_to_gripper_z": -0.004266499548390312, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19206891815686045, + -0.1684354445246433, + 1.0438827870715426 + ], + "finger_b": [ + 0.1811174030055698, + -0.14469093585219323, + 1.0438827870715426 + ], + "finger_midpoint": [ + 0.1865931605812151, + -0.15656319018841824, + 1.0438827870715426 + ], + "object_minus_finger_midpoint": [ + 0.005475757575645335, + 0.011872254336225019, + 0.0 + ], + "finger_gap": 0.02614837234332196, + "fingertip_max_gap": 0.09240575722305255, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013074186171660973, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0438827870715426, + "object_top_z": 1.0892988471299263, + "finger_top_clearance": 0.04541606005838372, + "fingertip_min_top_clearance": 0.013624818017515116, + "object_projection_between_fingers": 0.8245880826719817, + "object_to_finger_line_xy": 0.00994472401846075, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04870287861152628, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.2314304598175267, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 203, + "max_stable_success_frames": 203, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19272814227189022, + -0.14776283525658024, + 1.2409572247086824 + ], + "held_position": [ + 0.19703089893853415, + -0.14364625126097877, + 1.236789189262035 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007268596715302042, + "max_held_gripper_dist": 0.007271879099877952, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004168035446647345, + "max_held_gripper_z_dist": 0.004280459664815162, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08609007302722313, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.19703089893853415, + -0.16828256499057323, + 1.236789189262035 + ], + "held_grasp_finger_b": [ + 0.18817073705139034, + -0.14364625126097877, + 1.236789189262035 + ], + "held_grasp_midpoint": [ + 0.19260081799496226, + -0.155964408125776, + 1.236789189262035 + ], + "held_grasp_object_position": [ + 0.19703089893853415, + -0.14364625126097877, + 1.236789189262035 + ], + "held_grasp_finger_gap": 0.026181108128751927, + "held_grasp_max_gap": 0.1249660900235176, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024242046093523414, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.03997167438879944, + -0.998371829059885, + -0.04069344156219623 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003966424812023995, + "held_grasp_line_xy_max_dist": 0.047483045011758804, + "held_grasp_object_top_z": 0.04520075395703316, + "held_grasp_top_clearance": 0.032725575404286486, + "held_grasp_min_top_clearance": 0.013560226187109947 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3392612884022893, + -0.34493108960271635, + 0.84701953912856 + ], + "target_position": [ + 0.3310568247532113, + -0.3474701607263617, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00858837038907686, + "xy_threshold": 0.08, + "gripper_dist": 0.18943111467205015, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.84701953912856, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07523168851697219, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08552535857211017, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15857028337426984, + "release_required_pad_clearance": 0.05276267928605509, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.574710741433885, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 159, + "max_placed_release_frames": 159 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008087098598480225, + "max_z_decrease": 0.008087098598480225, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500678485457635, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008087098598480225, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02115866146173784, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008087098598480225, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008087114219539594, + "max_button_displacement": 0.12, + "button_start": [ + 0.18675674498081207, + -0.4037316143512726, + 0.7768088579177856 + ], + "button_final": [ + 0.18675674498081207, + -0.4037316143512726, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1856882144923208, + -0.40338757286764715, + 0.8037110330077533 + ], + "closest_button": [ + 0.18674089014530182, + -0.40373048186302185, + 0.7687217593193054 + ], + "closest_ee_minus_button": [ + -0.0010526756529810055, + 0.0003429089953747022, + 0.03498927368844784 + ], + "button_min_z_position": [ + 0.18674089014530182, + -0.40373048186302185, + 0.7687217593193054 + ], + "min_active_finger_to_button": 0.14670091877322755, + "closest_active_finger": [ + 0.05893877148628235, + -0.46676647663116455, + 0.8080071210861206 + ], + "closest_active_finger_button": [ + 0.18676814436912537, + -0.40373742580413813, + 0.7732486724853516 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12782937288284302, + -0.06302905082702642, + 0.03475844860076904 + ], + "min_contact_pad_to_button": 0.02115866146173784, + "closest_contact_pad": [ + 0.18674089014530182, + -0.4045316582311563, + 0.7898652469994298 + ], + "closest_contact_pad_button": [ + 0.18674089014530182, + -0.40373048186302185, + 0.7687217593193054 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0008011763681344264, + 0.021143487680124418 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 19, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3403ccf54d17ddf13a7d7ae4c6a3491506a529532370e2be1bd5e6ded80611fa", + "visual_seed": 7926647856216900328, + "episode_index": 19, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_1_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_1_success.json new file mode 100644 index 0000000000000000000000000000000000000000..20fbb41783b91a7751a736da2987a6f9942176fc --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_1_success.json @@ -0,0 +1,926 @@ +{ + "episode": 1, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.18398310466760204, + -0.14202028157393953, + 1.0461516371638384 + ], + "current_z": 1.0461516371638384, + "required_z": 0.8565865754522518, + "initial_z": 0.7565865754522518, + "lift_margin": 0.1895650617115866, + "gripper_z": 1.050756971193608, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.17953697081747425, + -0.1463914938447719, + 1.050756971193608 + ], + "object_minus_gripper": [ + 0.0044461338501277925, + 0.00437121227083237, + -0.004605334029769592 + ], + "object_to_gripper_xy": 0.00623503030705767, + "object_to_gripper_z": -0.004605334029769592, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.18398310466760204, + -0.16631028672603285, + 1.0461516371638384 + ], + "finger_b": [ + 0.17324854925545613, + -0.14202028157393953, + 1.0461516371638384 + ], + "finger_midpoint": [ + 0.17861582696152908, + -0.1541652841499862, + 1.0461516371638384 + ], + "object_minus_finger_midpoint": [ + 0.005367277706072954, + 0.01214500257604667, + 0.0 + ], + "finger_gap": 0.026556261600329794, + "fingertip_max_gap": 0.09536824129752117, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013278130800164909, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0461516371638384, + "object_top_z": 1.0929369085990328, + "finger_top_clearance": 0.0467852714351944, + "fingertip_min_top_clearance": 0.014035581430558336, + "object_projection_between_fingers": 0.836606698526903, + "object_to_finger_line_xy": 0.009818490651681843, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.050184120648760586, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.4758937522375177, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 205, + "max_stable_success_frames": 205, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18379811158376638, + -0.14429453457585106, + 1.245836339070617 + ], + "held_position": [ + 0.18841169204356403, + -0.14000758352855047, + 1.2413096501023133 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007755900138394086, + "max_held_gripper_dist": 0.007765681040175122, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004526688968303771, + "max_held_gripper_z_dist": 0.004617803481509419, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08599189333804073, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.18841169204356403, + -0.16476332752844353, + 1.2413096501023133 + ], + "held_grasp_finger_b": [ + 0.17891915359603194, + -0.14000758352855047, + 1.2413096501023133 + ], + "held_grasp_midpoint": [ + 0.18366542281979797, + -0.152385455528497, + 1.2413096501023133 + ], + "held_grasp_object_position": [ + 0.18841169204356403, + -0.14000758352855047, + 1.2413096501023133 + ], + "held_grasp_finger_gap": 0.026513301325299266, + "held_grasp_max_gap": 0.12496591866016388, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024701277194677337, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0055398216210332, + -0.9999240646742188, + -0.011007963562620125 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004679613480186148, + "held_grasp_line_xy_max_dist": 0.04748295933008194, + "held_grasp_object_top_z": 0.045200712978839874, + "held_grasp_top_clearance": 0.032797487411771076, + "held_grasp_min_top_clearance": 0.013560213893651961 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33009543293277555, + -0.3468910109707537, + 0.8470197068351077 + ], + "target_position": [ + 0.32424493572961965, + -0.34859078893633627, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006092418457100179, + "xy_threshold": 0.08, + "gripper_dist": 0.18726029427058055, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470197068351077, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07545265106789364, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08864461064380334, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1557411232651931, + "release_required_pad_clearance": 0.05432230532190167, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.6653921204854414, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008302509784698486, + "max_z_decrease": 0.008302509784698486, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035067195056815055, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008302509784698486, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021222752959484947, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008302509784698486, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008302591088247003, + "max_button_displacement": 0.12, + "button_start": [ + 0.1799448579549789, + -0.4048522412776947, + 0.7768088579177856 + ], + "button_final": [ + 0.1799448579549789, + -0.4048522412776947, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18103104055303715, + -0.4029053276063611, + 0.8035020003125037 + ], + "closest_button": [ + 0.17990931868553156, + -0.40484291315078735, + 0.7685063481330872 + ], + "closest_ee_minus_button": [ + 0.0011217218675055873, + 0.0019375855444262458, + 0.03499565217941658 + ], + "button_min_z_position": [ + 0.17990931868553156, + -0.40484291315078735, + 0.7685063481330872 + ], + "min_active_finger_to_button": 0.14421414578656297, + "closest_active_finger": [ + 0.05319085717201233, + -0.46407896280288696, + 0.8078079223632812 + ], + "closest_active_finger_button": [ + 0.17995852231979365, + -0.4048561155796051, + 0.772874653339386 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12676766514778132, + -0.05922284722328186, + 0.034933269023895264 + ], + "min_contact_pad_to_button": 0.021222752959484947, + "closest_contact_pad": [ + 0.17990931868553156, + -0.40484291315078735, + 0.7897291010925721 + ], + "closest_contact_pad_button": [ + 0.17990931868553156, + -0.40484291315078735, + 0.7685063481330872 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021222752959484947 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 1, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "040d4d40f7bde128b984071ce9dd5f1de6465d28925a485d8f89d8815661f50a", + "visual_seed": 4834465171282505550, + "episode_index": 1, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_20_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_20_success.json new file mode 100644 index 0000000000000000000000000000000000000000..69a8189ae42ffd3fa9ccab3a131aaaa285648c97 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_20_success.json @@ -0,0 +1,926 @@ +{ + "episode": 20, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.18856013582927897, + -0.14623280762244642, + 1.046797744196508 + ], + "current_z": 1.046797744196508, + "required_z": 0.8565865240955689, + "initial_z": 0.7565865240955689, + "lift_margin": 0.19021122010093905, + "gripper_z": 1.0509788581560964, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18465680896048797, + -0.15042426968766937, + 1.0509788581560964 + ], + "object_minus_gripper": [ + 0.003903326868790996, + 0.004191462065222945, + -0.004181113959588423 + ], + "object_to_gripper_xy": 0.005727505119057399, + "object_to_gripper_z": -0.004181113959588423, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.18856013582927897, + -0.16996952616124666, + 1.046797744196508 + ], + "finger_b": [ + 0.17786780449624792, + -0.14623280762244642, + 1.046797744196508 + ], + "finger_midpoint": [ + 0.18321397016276345, + -0.15810116689184656, + 1.046797744196508 + ], + "object_minus_finger_midpoint": [ + 0.005346165666515523, + 0.011868359269400136, + 0.0 + ], + "finger_gap": 0.026033781060874363, + "fingertip_max_gap": 0.0939781052623124, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013016890530437194, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.046797744196508, + "object_top_z": 1.0926436099437642, + "finger_top_clearance": 0.04584586574725624, + "fingertip_min_top_clearance": 0.013753759724176905, + "object_projection_between_fingers": 0.8313173869744629, + "object_to_finger_line_xy": 0.00974890503927548, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0494890526311562, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.6544422144274056, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 206, + "max_stable_success_frames": 206, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18883045934808337, + -0.1484344564324005, + 1.2462031961966065 + ], + "held_position": [ + 0.1929449756370617, + -0.14436001078942326, + 1.242104146061348 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007094544636635011, + "max_held_gripper_dist": 0.007117489460763377, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004099050135258464, + "max_held_gripper_z_dist": 0.004200585575083293, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0856116939123142, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.1929449756370617, + -0.16878059067575013, + 1.242104146061348 + ], + "held_grasp_finger_b": [ + 0.18385152420379053, + -0.14436001078942326, + 1.242104146061348 + ], + "held_grasp_midpoint": [ + 0.18839824992042611, + -0.1565703007325867, + 1.242104146061348 + ], + "held_grasp_object_position": [ + 0.1929449756370617, + -0.14436001078942326, + 1.242104146061348 + ], + "held_grasp_finger_gap": 0.02605869492038567, + "held_grasp_max_gap": 0.12496623903512954, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02428335084359573, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.013996889158423955, + -0.9995925972684333, + -0.024874215164193414 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004385957970224956, + "held_grasp_line_xy_max_dist": 0.04748311951756477, + "held_grasp_object_top_z": 0.04520086571574211, + "held_grasp_top_clearance": 0.03293191026216524, + "held_grasp_min_top_clearance": 0.013560259714722633 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33224214986982636, + -0.3458962344983847, + 0.8470195561094058 + ], + "target_position": [ + 0.32594670221668054, + -0.347053847738821, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006400994420239145, + "xy_threshold": 0.08, + "gripper_dist": 0.18722280328374818, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195561094058, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07585317839930444, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08796722033941788, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15466729532128068, + "release_required_pad_clearance": 0.05398361016970894, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.9777039477589775, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008349180221557617, + "max_z_decrease": 0.008349180221557617, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.034995469972075206, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008349180221557617, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021234613869571116, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008349180221557617, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008349208477997349, + "max_button_displacement": 0.12, + "button_start": [ + 0.18164663016796107, + -0.40331530570983876, + 0.7768088579177856 + ], + "button_final": [ + 0.18164663016796107, + -0.40331530570983876, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18174158132873577, + -0.4035139266465004, + 0.8034543153793988 + ], + "closest_button": [ + 0.18163305521011347, + -0.40329834818840016, + 0.768459677696228 + ], + "closest_ee_minus_button": [ + 0.0001085261186223041, + -0.00021557845810021847, + 0.03499463768317079 + ], + "button_min_z_position": [ + 0.18163305521011347, + -0.40329834818840016, + 0.768459677696228 + ], + "min_active_finger_to_button": 0.1458021043018345, + "closest_active_finger": [ + 0.04112608730792999, + -0.38625118136405945, + 0.8076660633087158 + ], + "closest_active_finger_button": [ + 0.18165799975395197, + -0.4033189117908477, + 0.77277010679245 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14053191244602198, + 0.017067730426788275, + 0.03489595651626587 + ], + "min_contact_pad_to_button": 0.021234613869571116, + "closest_contact_pad": [ + 0.18163305521011347, + -0.40480473017969026, + 0.7896407928577605 + ], + "closest_contact_pad_button": [ + 0.18163305521011347, + -0.40329834818840016, + 0.768459677696228 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0015063819912901066, + 0.021181115161532427 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 20, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3d9eb5b297c680dda14fac58be182cbf83ab09fae30a1f382dadce7bef801c0e", + "visual_seed": 3095363020906677513, + "episode_index": 20, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_21_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_21_success.json new file mode 100644 index 0000000000000000000000000000000000000000..11843afc60ce98bdf73c6a550a75814ae64420d4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_21_success.json @@ -0,0 +1,926 @@ +{ + "episode": 21, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.18681955693790797, + -0.1468817435436368, + 1.0438200534413067 + ], + "current_z": 1.0438200534413067, + "required_z": 0.8565865589308517, + "initial_z": 0.7565865589308517, + "lift_margin": 0.187233494510455, + "gripper_z": 1.048508846624721, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18249344548244614, + -0.1511639897068292, + 1.048508846624721 + ], + "object_minus_gripper": [ + 0.0043261114554618285, + 0.004282246163192394, + -0.004688793183414308 + ], + "object_to_gripper_xy": 0.006087107073746448, + "object_to_gripper_z": -0.004688793183414308, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.18681955693790797, + -0.17114724355971492, + 1.0438200534413067 + ], + "finger_b": [ + 0.17630183853835826, + -0.1468817435436368, + 1.0438200534413067 + ], + "finger_midpoint": [ + 0.1815606977381331, + -0.15901449355167585, + 1.0438200534413067 + ], + "object_minus_finger_midpoint": [ + 0.005258859199774868, + 0.01213275000803904, + 0.0 + ], + "finger_gap": 0.026446869216648558, + "fingertip_max_gap": 0.0963985509104496, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013223434608324272, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0438200534413067, + "object_top_z": 1.0909971639329927, + "finger_top_clearance": 0.04717711049168605, + "fingertip_min_top_clearance": 0.01415313314750583, + "object_projection_between_fingers": 0.8418407697701898, + "object_to_finger_line_xy": 0.009650204487445201, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.050699275455224804, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.771659573638382, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 203, + "max_stable_success_frames": 203, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.186643484434644, + -0.14929810838539562, + 1.2433302125023646 + ], + "held_position": [ + 0.19111048040746273, + -0.14506742036156373, + 1.2387281463822442 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007683214610443602, + "max_held_gripper_dist": 0.007685524831965053, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004602066120120485, + "max_held_gripper_z_dist": 0.004698456066405621, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08600249832128226, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.19111048040746273, + -0.16972538132040954, + 1.2387281463822442 + ], + "held_grasp_finger_b": [ + 0.18173420170252702, + -0.14506742036156373, + 1.2387281463822442 + ], + "held_grasp_midpoint": [ + 0.1864223410549949, + -0.15739640084098663, + 1.2387281463822442 + ], + "held_grasp_object_position": [ + 0.19111048040746273, + -0.14506742036156373, + 1.2387281463822442 + ], + "held_grasp_finger_gap": 0.02638047840734878, + "held_grasp_max_gap": 0.12496612727642059, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02467930656134148, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.002397840553728138, + -0.9999538802568474, + -0.009299877416056868 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004719080644096848, + "held_grasp_line_xy_max_dist": 0.047483063638210296, + "held_grasp_object_top_z": 0.04520075395703316, + "held_grasp_top_clearance": 0.032883583497684166, + "held_grasp_min_top_clearance": 0.013560226187109947 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3324662640060526, + -0.35136233685904217, + 0.8470197454631202 + ], + "target_position": [ + 0.3257815751562262, + -0.3531397412170521, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006916952455443543, + "xy_threshold": 0.08, + "gripper_dist": 0.1877389442400806, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470197454631202, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07557846930675263, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08814153037257609, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15591394523363739, + "release_required_pad_clearance": 0.05407076518628805, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.152140569643298, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008188188076019287, + "max_z_decrease": 0.008188188076019287, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03503462481050029, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008188188076019287, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021027351933742007, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008188188076019287, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008188200136446227, + "max_button_displacement": 0.12, + "button_start": [ + 0.1814814954996109, + -0.4094012081623077, + 0.7768088579177856 + ], + "button_final": [ + 0.1814814954996109, + -0.4094012081623077, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1796338517540977, + -0.40938286011521574, + 0.8036063393253363 + ], + "closest_button": [ + 0.18148529529571533, + -0.40938767790794367, + 0.7686206698417664 + ], + "closest_ee_minus_button": [ + -0.00185144354161762, + 4.817792727929149e-06, + 0.03498566948356996 + ], + "button_min_z_position": [ + 0.18148529529571533, + -0.40938767790794367, + 0.7686206698417664 + ], + "min_active_finger_to_button": 0.1474355346706749, + "closest_active_finger": [ + 0.05311458557844162, + -0.47321444749832153, + 0.811022937297821 + ], + "closest_active_finger_button": [ + 0.18148484826087952, + -0.4094033241271972, + 0.7765780091285706 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1283702626824379, + -0.06381112337112432, + 0.03444492816925049 + ], + "min_contact_pad_to_button": 0.021027351933742007, + "closest_contact_pad": [ + 0.18148529529571533, + -0.4104743724051422, + 0.7896199227907453 + ], + "closest_contact_pad_button": [ + 0.18148529529571533, + -0.40938767790794367, + 0.7686206698417664 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0010866944971985038, + 0.020999252948978975 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 21, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d0c91dfcc9c3a1e876ce16682f48dd4cb550d5939f3812598687d3eebd4af0bb", + "visual_seed": 4473583271037741481, + "episode_index": 21, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_22_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_22_success.json new file mode 100644 index 0000000000000000000000000000000000000000..942165d4e71f990391e5e2e284baac51a0151256 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_22_success.json @@ -0,0 +1,926 @@ +{ + "episode": 22, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.18435453470024726, + -0.14947887147957672, + 1.0454547893129478 + ], + "current_z": 1.0454547893129478, + "required_z": 0.8565865449359297, + "initial_z": 0.7565865449359297, + "lift_margin": 0.1888682443770181, + "gripper_z": 1.0504844079866658, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.17993525142821387, + -0.15382196237085666, + 1.0504844079866658 + ], + "object_minus_gripper": [ + 0.004419283272033392, + 0.004343090891279933, + -0.005029618673717984 + ], + "object_to_gripper_xy": 0.006196168423178382, + "object_to_gripper_z": -0.005029618673717984, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.18435453470024726, + -0.17379761405935965, + 1.0454547893129478 + ], + "finger_b": [ + 0.17372413427995653, + -0.14947887147957672, + 1.0454547893129478 + ], + "finger_midpoint": [ + 0.1790393344901019, + -0.1616382427694682, + 1.0454547893129478 + ], + "object_minus_finger_midpoint": [ + 0.0053152002101453655, + 0.012159371289891474, + 0.0 + ], + "finger_gap": 0.02654066038661179, + "fingertip_max_gap": 0.09705535427261716, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013270330193305906, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0454547893129478, + "object_top_z": 1.0930908158778776, + "finger_top_clearance": 0.04763602656492982, + "fingertip_min_top_clearance": 0.01429080796947893, + "object_projection_between_fingers": 0.8395736149099091, + "object_to_finger_line_xy": 0.009740449844702195, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05102767713630858, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.7138427792014164, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 205, + "max_stable_success_frames": 205, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18414461122430456, + -0.15198442442026783, + 1.2426141413195813 + ], + "held_position": [ + 0.18869636333193018, + -0.1476677495297461, + 1.2376858160966542 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007977500790515431, + "max_held_gripper_dist": 0.00798200063460305, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004928325222927077, + "max_held_gripper_z_dist": 0.005040689449895774, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08616129984823924, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.18869636333193018, + -0.1723263035020469, + 1.2376858160966542 + ], + "held_grasp_finger_b": [ + 0.1792174141865761, + -0.1476677495297461, + 1.2376858160966542 + ], + "held_grasp_midpoint": [ + 0.18395688875925315, + -0.15999702651589648, + 1.2376858160966542 + ], + "held_grasp_object_position": [ + 0.18869636333193018, + -0.1476677495297461, + 1.2376858160966542 + ], + "held_grasp_finger_gap": 0.02641769787292375, + "held_grasp_max_gap": 0.12496606022119522, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024649498479188337, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0008589063753097516, + -0.9999629352450552, + -0.00856682064316261 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004730062948331138, + "held_grasp_line_xy_max_dist": 0.04748303011059761, + "held_grasp_object_top_z": 0.04520078003406525, + "held_grasp_top_clearance": 0.032867889264618894, + "held_grasp_min_top_clearance": 0.013560234010219574 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3365753732177272, + -0.3446804885574637, + 0.8470194733785555 + ], + "target_position": [ + 0.33066492145573845, + -0.3461820521329667, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006098207376112518, + "xy_threshold": 0.08, + "gripper_dist": 0.18347220021179256, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470194733785555, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.075347191742083, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08783692712960477, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15237583473115018, + "release_required_pad_clearance": 0.053918463564802385, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.8465313790691376, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008095502853393555, + "max_z_decrease": 0.008095502853393555, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03498895499785242, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008095502853393555, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021085890808288103, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008095502853393555, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008095518920783418, + "max_button_displacement": 0.12, + "button_start": [ + 0.18636484444141382, + -0.40244349837303156, + 0.7768088579177856 + ], + "button_final": [ + 0.18636484444141382, + -0.40244349837303156, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1849175010463518, + -0.4022106745514926, + 0.8036711146885646 + ], + "closest_button": [ + 0.1863777190446853, + -0.40243378281593317, + 0.7687133550643921 + ], + "closest_ee_minus_button": [ + -0.0014602179983335128, + 0.00022310826444055243, + 0.03495775962417247 + ], + "button_min_z_position": [ + 0.1863777190446853, + -0.40243378281593317, + 0.7687133550643921 + ], + "min_active_finger_to_button": 0.14703936889600783, + "closest_active_finger": [ + 0.058403849601745605, + -0.4660192131996155, + 0.8106938004493713 + ], + "closest_active_finger_button": [ + 0.18636989593505854, + -0.4024472236633301, + 0.7759969830513 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12796604633331293, + -0.0635719895362854, + 0.03469681739807129 + ], + "min_contact_pad_to_button": 0.021085890808288103, + "closest_contact_pad": [ + 0.1863777190446853, + -0.4033063313098057, + 0.7897811848127285 + ], + "closest_contact_pad_button": [ + 0.1863777190446853, + -0.40243378281593317, + 0.7687133550643921 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.000872548493872527, + 0.02106782974833643 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 22, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1ea5e90cf576251c316c5c545ce8bfd73da6b2f6161db57a58ebf1819ff2d75f", + "visual_seed": 3701628665264830740, + "episode_index": 22, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_23_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_23_success.json new file mode 100644 index 0000000000000000000000000000000000000000..25f42d66f8f8639b5d4db878f32a0abf611a58e0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_23_success.json @@ -0,0 +1,926 @@ +{ + "episode": 23, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.18379917224933986, + -0.14045206056837256, + 1.0467246870911027 + ], + "current_z": 1.0467246870911027, + "required_z": 0.8565865204425439, + "initial_z": 0.7565865204425439, + "lift_margin": 0.19013816664855876, + "gripper_z": 1.0510882443092158, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.17972906118541904, + -0.14478137722406526, + 1.0510882443092158 + ], + "object_minus_gripper": [ + 0.004070111063920828, + 0.004329316655692694, + -0.004363557218113101 + ], + "object_to_gripper_xy": 0.0059421197209336765, + "object_to_gripper_z": -0.004363557218113101, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.18379917224933986, + -0.1641532478983891, + 1.0467246870911027 + ], + "finger_b": [ + 0.17268865011341267, + -0.14045206056837256, + 1.0467246870911027 + ], + "finger_midpoint": [ + 0.17824391118137628, + -0.15230265423338082, + 1.0467246870911027 + ], + "object_minus_finger_midpoint": [ + 0.005555261067963585, + 0.011850593665008263, + 0.0 + ], + "finger_gap": 0.026176133843359376, + "fingertip_max_gap": 0.09300075407094496, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013088066921679683, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0467246870911027, + "object_top_z": 1.0926337363814644, + "finger_top_clearance": 0.04590904929036177, + "fingertip_min_top_clearance": 0.013772714787108564, + "object_projection_between_fingers": 0.819840182725574, + "object_to_finger_line_xy": 0.010060025214331293, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049000377035472484, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.6366186489006893, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 206, + "max_stable_success_frames": 206, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1843965594360987, + -0.1434791713081719, + 1.2452024197553997 + ], + "held_position": [ + 0.18878496347960408, + -0.13937294122260213, + 1.240926011763089 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007376102011319533, + "max_held_gripper_dist": 0.007376953500102935, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004276407992310771, + "max_held_gripper_z_dist": 0.004375328615351393, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08479679275163948, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.18878496347960408, + -0.16412273465025964, + 1.240926011763089 + ], + "held_grasp_finger_b": [ + 0.17983327956543696, + -0.13937294122260213, + 1.240926011763089 + ], + "held_grasp_midpoint": [ + 0.18430912152252052, + -0.15174783793643087, + 1.240926011763089 + ], + "held_grasp_object_position": [ + 0.18878496347960408, + -0.13937294122260213, + 1.240926011763089 + ], + "held_grasp_finger_gap": 0.02631890802466693, + "held_grasp_max_gap": 0.12496622413396835, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024197773545877488, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05644375875278752, + -0.998110966273952, + -0.024261102644667076 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0037823994307731768, + "held_grasp_line_xy_max_dist": 0.047483112066984176, + "held_grasp_object_top_z": 0.04520082846283913, + "held_grasp_top_clearance": 0.032596675002617925, + "held_grasp_min_top_clearance": 0.013560248538851738 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3384672735573796, + -0.3464846914438124, + 0.8470194175193244 + ], + "target_position": [ + 0.3310898752613696, + -0.34836885846260573, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007614203239517545, + "xy_threshold": 0.08, + "gripper_dist": 0.1862698301270763, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470194175193244, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07518387551381316, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08500757861198714, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15565017698162997, + "release_required_pad_clearance": 0.05250378930599357, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.0791281195516833, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 157, + "max_placed_release_frames": 157 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00819540023803711, + "max_z_decrease": 0.00819540023803711, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035011963015733456, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00819540023803711, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021224101058149373, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00819540023803711, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00819541827273998, + "max_button_displacement": 0.12, + "button_start": [ + 0.18678979575633997, + -0.4046303033828734, + 0.7768088579177856 + ], + "button_final": [ + 0.18678979575633997, + -0.4046303033828734, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18759776705124917, + -0.4040159323262102, + 0.8036104802250665 + ], + "closest_button": [ + 0.18677441775798792, + -0.4046226143836974, + 0.7686134576797485 + ], + "closest_ee_minus_button": [ + 0.0008233492932612496, + 0.0006066820574872067, + 0.034997022545318 + ], + "button_min_z_position": [ + 0.18677441775798792, + -0.4046226143836974, + 0.7686134576797485 + ], + "min_active_finger_to_button": 0.14500109255202243, + "closest_active_finger": [ + 0.060618430376052856, + -0.46695658564567566, + 0.8081054091453552 + ], + "closest_active_finger_button": [ + 0.18680125474929804, + -0.4046332836151122, + 0.773190975189209 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12618282437324518, + -0.062323302030563466, + 0.03491443395614624 + ], + "min_contact_pad_to_button": 0.021224101058149373, + "closest_contact_pad": [ + 0.18677441775798792, + -0.4052089183957459, + 0.7898294590308984 + ], + "closest_contact_pad_button": [ + 0.18677441775798792, + -0.4046226143836974, + 0.7686134576797485 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0005863040120485108, + 0.02121600135114987 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 23, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9b7cf9ceb918c998434966ff11b701e352ad70eca635780215fe3576efe6261b", + "visual_seed": 7924020320624346533, + "episode_index": 23, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_24_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_24_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1299b5fe5cbb75f03830b6500109197149c9e87b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_24_success.json @@ -0,0 +1,926 @@ +{ + "episode": 24, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.1830187175861503, + -0.14327166902182828, + 1.0445624982790196 + ], + "current_z": 1.0445624982790196, + "required_z": 0.8565865325344423, + "initial_z": 0.7565865325344423, + "lift_margin": 0.1879759657445773, + "gripper_z": 1.049264899499649, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.17853590733286254, + -0.14769605090709836, + 1.049264899499649 + ], + "object_minus_gripper": [ + 0.004482810253287756, + 0.0044243818852700845, + -0.004702401220629371 + ], + "object_to_gripper_xy": 0.006298471468037931, + "object_to_gripper_z": -0.004702401220629371, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1830187175861503, + -0.16751210930709864, + 1.0445624982790196 + ], + "finger_b": [ + 0.17209967383038952, + -0.14327166902182828, + 1.0445624982790196 + ], + "finger_midpoint": [ + 0.1775591957082699, + -0.15539188916446345, + 1.0445624982790196 + ], + "object_minus_finger_midpoint": [ + 0.005459521877880402, + 0.012120220142635169, + 0.0 + ], + "finger_gap": 0.026586170498286824, + "fingertip_max_gap": 0.09307039106757903, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013293085249143407, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0445624982790196, + "object_top_z": 1.090372588596046, + "finger_top_clearance": 0.04581009031702643, + "fingertip_min_top_clearance": 0.013743027095107895, + "object_projection_between_fingers": 0.8313223112812552, + "object_to_finger_line_xy": 0.00995564322251033, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049035195533789516, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.8457729987747773, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 204, + "max_stable_success_frames": 204, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18293126669533483, + -0.14611860779075866, + 1.240881147731051 + ], + "held_position": [ + 0.18759910328895968, + -0.1417778139139239, + 1.2362883535583402 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007856522656928837, + "max_held_gripper_dist": 0.007863925929345584, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004592794172710857, + "max_held_gripper_z_dist": 0.004712090816225256, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08567377067313407, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.18759910328895968, + -0.16651942280477164, + 1.2362883535583402 + ], + "held_grasp_finger_b": [ + 0.17817027989082965, + -0.1417778139139239, + 1.2362883535583402 + ], + "held_grasp_midpoint": [ + 0.18288469158989468, + -0.1541486183593478, + 1.2362883535583402 + ], + "held_grasp_object_position": [ + 0.18759910328895968, + -0.1417778139139239, + 1.2362883535583402 + ], + "held_grasp_finger_gap": 0.026477347321451968, + "held_grasp_max_gap": 0.12496600061655044, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024507772746465175, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.022862722830568942, + -0.9992616661069491, + -0.030877476482652044 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004446928554070915, + "held_grasp_line_xy_max_dist": 0.04748300030827522, + "held_grasp_object_top_z": 0.045200735330581665, + "held_grasp_top_clearance": 0.03273128038137925, + "held_grasp_min_top_clearance": 0.0135602205991745 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3342480881104585, + -0.3453397558022966, + 0.8470193949786887 + ], + "target_position": [ + 0.3263442177584665, + -0.34780212445092434, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008278552162234804, + "xy_threshold": 0.08, + "gripper_dist": 0.18456730989231857, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470193949786887, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07515087268213727, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08630375293626467, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15409955407237116, + "release_required_pad_clearance": 0.05315187646813234, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.3276366730340088, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00839453935623169, + "max_z_decrease": 0.00839453935623169, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.034999089664496844, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00839453935623169, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021092528319343936, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00839453935623169, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008394587777697676, + "max_button_displacement": 0.12, + "button_start": [ + 0.18204414844512934, + -0.4040635824203491, + 0.7768088579177856 + ], + "button_final": [ + 0.18204414844512934, + -0.4040635824203491, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1820438646977437, + -0.4036841690885537, + 0.8037763402945431 + ], + "closest_button": [ + 0.18202638626098624, + -0.40404343605041504, + 0.7687790989875793 + ], + "closest_ee_minus_button": [ + 1.7478436757450977e-05, + 0.00035926696186133755, + 0.0349972413069638 + ], + "button_min_z_position": [ + 0.1820206940174102, + -0.4040473699569702, + 0.768414318561554 + ], + "min_active_finger_to_button": 0.14571896587645702, + "closest_active_finger": [ + 0.05534820258617401, + -0.4671752452850342, + 0.8114253282546997 + ], + "closest_active_finger_button": [ + 0.18204721808433527, + -0.40406548976898193, + 0.7768054604530334 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12669901549816126, + -0.06310975551605225, + 0.03461986780166626 + ], + "min_contact_pad_to_button": 0.021092528319343936, + "closest_contact_pad": [ + 0.1820206940174102, + -0.40480266528938624, + 0.7894933194833993 + ], + "closest_contact_pad_button": [ + 0.1820206940174102, + -0.4040473699569702, + 0.768414318561554 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0007552953324160283, + 0.021079000921845337 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 24, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "362a609f4cb1cb0f3e449eee284f95e04b9fcb9bf753ce6efd78ee9692608055", + "visual_seed": 2362594371155437568, + "episode_index": 24, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_25_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_25_success.json new file mode 100644 index 0000000000000000000000000000000000000000..78e227e368714913b05ecf0d289961cfad283577 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_25_success.json @@ -0,0 +1,926 @@ +{ + "episode": 25, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.18807524164354444, + -0.1455930354745618, + 1.0435528929552302 + ], + "current_z": 1.0435528929552302, + "required_z": 0.8565865408057587, + "initial_z": 0.7565865408057587, + "lift_margin": 0.18696635214947155, + "gripper_z": 1.048014857514393, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18407395596095177, + -0.14980480865688448, + 1.048014857514393 + ], + "object_minus_gripper": [ + 0.00400128568259267, + 0.004211773182322687, + -0.004461964559162812 + ], + "object_to_gripper_xy": 0.005809416532927697, + "object_to_gripper_z": -0.004461964559162812, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.18807524164354444, + -0.16941851867501273, + 1.0435528929552302 + ], + "finger_b": [ + 0.177372077931724, + -0.1455930354745618, + 1.0435528929552302 + ], + "finger_midpoint": [ + 0.18272365978763422, + -0.15750577707478725, + 1.0435528929552302 + ], + "object_minus_finger_midpoint": [ + 0.005351581855910226, + 0.011912741600225457, + 0.0 + ], + "finger_gap": 0.02611917615808355, + "fingertip_max_gap": 0.09428129501841206, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013059588079041763, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0435528929552302, + "object_top_z": 1.089542506778456, + "finger_top_clearance": 0.04598961382322586, + "fingertip_min_top_clearance": 0.01379688414696774, + "object_projection_between_fingers": 0.8320788546990119, + "object_to_finger_line_xy": 0.00976325002229185, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049640647509206035, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.725891468195101, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 203, + "max_stable_success_frames": 203, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18845755828402574, + -0.14795960968361188, + 1.2405691344975307 + ], + "held_position": [ + 0.19266506627530966, + -0.14385253648430107, + 1.2362033427724453 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007323340163343476, + "max_held_gripper_dist": 0.007328464417884871, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004365791725085444, + "max_held_gripper_z_dist": 0.004473458821077969, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08610299316347705, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.19266506627530966, + -0.1683451692398879, + 1.2362033427724453 + ], + "held_grasp_finger_b": [ + 0.18363569805581564, + -0.14385253648430107, + 1.2362033427724453 + ], + "held_grasp_midpoint": [ + 0.18815038216556265, + -0.1560988528620945, + 1.2362033427724453 + ], + "held_grasp_object_position": [ + 0.19266506627530966, + -0.14385253648430107, + 1.2362033427724453 + ], + "held_grasp_finger_gap": 0.026103994900077143, + "held_grasp_max_gap": 0.12496603786945343, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02434609744304595, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.01493098939867717, + -0.9995215740383733, + -0.027086686534705254 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004344084361735676, + "held_grasp_line_xy_max_dist": 0.047483018934726715, + "held_grasp_object_top_z": 0.04520075395703316, + "held_grasp_top_clearance": 0.03289288783434817, + "held_grasp_min_top_clearance": 0.013560226187109947 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3389530476185961, + -0.3470788740898896, + 0.8470195518089495 + ], + "target_position": [ + 0.33155120603976773, + -0.3494142383506631, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007761519502556898, + "xy_threshold": 0.08, + "gripper_dist": 0.18454741111135434, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195518089495, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0752007799108747, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0865953169440729, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15394379509857173, + "release_required_pad_clearance": 0.05329765847203645, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.6134569510318548, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008237779140472412, + "max_z_decrease": 0.008237779140472412, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501181734066922, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008237779140472412, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021137093575264217, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008237779140472412, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008237804512634153, + "max_button_displacement": 0.12, + "button_start": [ + 0.1872511357069015, + -0.4056757092475891, + 0.7768088579177856 + ], + "button_final": [ + 0.1872511357069015, + -0.4056757092475891, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18637577300669156, + -0.4048420861249242, + 0.8035625835154047 + ], + "closest_button": [ + 0.18723084032535547, + -0.40567323565483093, + 0.7685710787773132 + ], + "closest_ee_minus_button": [ + -0.0008550673186639157, + 0.0008311495299067051, + 0.03499150473809143 + ], + "button_min_z_position": [ + 0.18723084032535547, + -0.40567323565483093, + 0.7685710787773132 + ], + "min_active_finger_to_button": 0.14632885173691562, + "closest_active_finger": [ + 0.059734076261520386, + -0.46846139430999756, + 0.8078646063804626 + ], + "closest_active_finger_button": [ + 0.18726317584514612, + -0.4056819677352905, + 0.7731197476387024 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12752909958362574, + -0.06277942657470703, + 0.034744858741760254 + ], + "min_contact_pad_to_button": 0.021137093575264217, + "closest_contact_pad": [ + 0.18723084032535547, + -0.4059620384545438, + 0.7897061992584544 + ], + "closest_contact_pad_button": [ + 0.18723084032535547, + -0.40567323565483093, + 0.7685710787773132 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0002888027997128839, + 0.02113512048114119 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 25, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "aca3244f1d13b1c2f007aec07541abd17b4b705f1945fecefcc47fde99895478", + "visual_seed": 5004981155357718328, + "episode_index": 25, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_26_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_26_success.json new file mode 100644 index 0000000000000000000000000000000000000000..30335b8cc2fc286fea289a251e7f2df4f01351f0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_26_success.json @@ -0,0 +1,926 @@ +{ + "episode": 26, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.18337311410047452, + -0.1465300167591367, + 1.0446393489526737 + ], + "current_z": 1.0446393489526737, + "required_z": 0.856586566623078, + "initial_z": 0.756586566623078, + "lift_margin": 0.18805278232959577, + "gripper_z": 1.0488902708339247, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.17939037882041867, + -0.15077705024922566, + 1.0488902708339247 + ], + "object_minus_gripper": [ + 0.003982735280055855, + 0.004247033490088953, + -0.00425092188125098 + ], + "object_to_gripper_xy": 0.0058223254612687824, + "object_to_gripper_z": -0.00425092188125098, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.18337311410047452, + -0.17030002596707086, + 1.0446393489526737 + ], + "finger_b": [ + 0.1725613873938694, + -0.1465300167591367, + 1.0446393489526737 + ], + "finger_midpoint": [ + 0.17796725074717196, + -0.1584150213631038, + 1.0446393489526737 + ], + "object_minus_finger_midpoint": [ + 0.005405863353302565, + 0.011885004603967075, + 0.0 + ], + "finger_gap": 0.026113344713452412, + "fingertip_max_gap": 0.09323074861472294, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013056672356726206, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0446393489526737, + "object_top_z": 1.0901830799737495, + "finger_top_clearance": 0.045543731021075784, + "fingertip_min_top_clearance": 0.013663119306322701, + "object_projection_between_fingers": 0.8285785694512325, + "object_to_finger_line_xy": 0.009841513838603745, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04911537430736147, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.419951584706079, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 204, + "max_stable_success_frames": 204, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18359312359182484, + -0.1488146837658717, + 1.2449045313012201 + ], + "held_position": [ + 0.18780911045246876, + -0.14471348345396767, + 1.2407373096183918 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007208337239705051, + "max_held_gripper_dist": 0.0072095701262506985, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004167221682828348, + "max_held_gripper_z_dist": 0.004261457564751048, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08587396286620047, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.18780911045246876, + -0.16924469653968102, + 1.2407373096183918 + ], + "held_grasp_finger_b": [ + 0.1786784689158004, + -0.14471348345396767, + 1.2407373096183918 + ], + "held_grasp_midpoint": [ + 0.18324378968413457, + -0.15697908999682436, + 1.2407373096183918 + ], + "held_grasp_object_position": [ + 0.18780911045246876, + -0.14471348345396767, + 1.2407373096183918 + ], + "held_grasp_finger_gap": 0.026175351579831883, + "held_grasp_max_gap": 0.12496588140726089, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02431235567494537, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.02233005532059926, + -0.9993897700823312, + -0.026859934552491575 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004303026462182652, + "held_grasp_line_xy_max_dist": 0.04748294070363045, + "held_grasp_object_top_z": 0.04520067200064659, + "held_grasp_top_clearance": 0.032840606432547534, + "held_grasp_min_top_clearance": 0.013560201600193977 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33419656035564527, + -0.34669672785226546, + 0.8470196421209404 + ], + "target_position": [ + 0.3271194400612876, + -0.3484524876020615, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007291661262004194, + "xy_threshold": 0.08, + "gripper_dist": 0.1881079362127153, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196421209404, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07589692147868507, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08755423425534191, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1555377086816451, + "release_required_pad_clearance": 0.053777117127670956, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.562916545024775, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008492052555084229, + "max_z_decrease": 0.008492052555084229, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502810382075902, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008492052555084229, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02105302323942673, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008492052555084229, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00849211863758053, + "max_button_displacement": 0.12, + "button_start": [ + 0.18281936645507812, + -0.40471395850181574, + 0.7768088579177856 + ], + "button_final": [ + 0.18281936645507812, + -0.40471395850181574, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1841737290860045, + -0.4044036957972548, + 0.8033179506637402 + ], + "closest_button": [ + 0.1828281283378601, + -0.4046816229820251, + 0.7683168053627014 + ], + "closest_ee_minus_button": [ + 0.0013456007481443821, + 0.0002779271847702658, + 0.035001145301038816 + ], + "button_min_z_position": [ + 0.1828281283378601, + -0.4046816229820251, + 0.7683168053627014 + ], + "min_active_finger_to_button": 0.14455155936467598, + "closest_active_finger": [ + 0.05810879170894623, + -0.4691373109817505, + 0.8100026845932007 + ], + "closest_active_finger_button": [ + 0.18282444775104523, + -0.40471675992012024, + 0.7754896283149719 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.124715656042099, + -0.06442055106163025, + 0.03451305627822876 + ], + "min_contact_pad_to_button": 0.02105302323942673, + "closest_contact_pad": [ + 0.1828281283378601, + -0.40541020481845674, + 0.7893572178117829 + ], + "closest_contact_pad_button": [ + 0.1828281283378601, + -0.4046816229820251, + 0.7683168053627014 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0007285818364316521, + 0.021040412449081503 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 26, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "4e9045a159f67dccc32266c040ac9ce8a5ea0ca1ae7a7880c3f6b3672d480beb", + "visual_seed": 8026810052497848913, + "episode_index": 26, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_27_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_27_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0162d9afc7a6103acaa21bda249e23ddf83efe86 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_27_success.json @@ -0,0 +1,926 @@ +{ + "episode": 27, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.18829148034976756, + -0.14698696003089087, + 1.0436787589461574 + ], + "current_z": 1.0436787589461574, + "required_z": 0.8565864809049473, + "initial_z": 0.7565864809049473, + "lift_margin": 0.1870922780412101, + "gripper_z": 1.0485304270064915, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18394835229916984, + -0.1513329246009799, + 1.0485304270064915 + ], + "object_minus_gripper": [ + 0.004343128050597722, + 0.004345964570089039, + -0.004851668060334102 + ], + "object_to_gripper_xy": 0.006144116641825575, + "object_to_gripper_z": -0.004851668060334102, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.18829148034976756, + -0.17129910589059488, + 1.0436787589461574 + ], + "finger_b": [ + 0.17773773322671604, + -0.14698696003089087, + 1.0436787589461574 + ], + "finger_midpoint": [ + 0.1830146067882418, + -0.1591430329607429, + 1.0436787589461574 + ], + "object_minus_finger_midpoint": [ + 0.005276873561525758, + 0.012156072929852019, + 0.0 + ], + "finger_gap": 0.02650399997435936, + "fingertip_max_gap": 0.09726323207618456, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013251999987179693, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0436787589461574, + "object_top_z": 1.0910760471054903, + "finger_top_clearance": 0.04739728815933297, + "fingertip_min_top_clearance": 0.014219186447799891, + "object_projection_between_fingers": 0.8414411370068657, + "object_to_finger_line_xy": 0.009680962861088369, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.051131616038092284, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.0698461427915813, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 203, + "max_stable_success_frames": 203, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18792127573723338, + -0.14899155879100184, + 1.2417134885297014 + ], + "held_position": [ + 0.1923661183209172, + -0.1446401091239312, + 1.2369593195011723 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007829039720847236, + "max_held_gripper_dist": 0.007832711848704203, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004754169028529098, + "max_held_gripper_z_dist": 0.0048622057605840485, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08562494845145015, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.1923661183209172, + -0.16919695822916542, + 1.2369593195011723 + ], + "held_grasp_finger_b": [ + 0.18278826900279596, + -0.1446401091239312, + 1.2369593195011723 + ], + "held_grasp_midpoint": [ + 0.1875771936618566, + -0.1569185336765483, + 1.2369593195011723 + ], + "held_grasp_object_position": [ + 0.1923661183209172, + -0.1446401091239312, + 1.2369593195011723 + ], + "held_grasp_finger_gap": 0.026358566644221742, + "held_grasp_max_gap": 0.12496603786945343, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024703170022808127, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.015786994444101875, + -0.9998010927062835, + -0.012187937879043043 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0049844004192133645, + "held_grasp_line_xy_max_dist": 0.047483018934726715, + "held_grasp_object_top_z": 0.04520074278116226, + "held_grasp_top_clearance": 0.033000363223729824, + "held_grasp_min_top_clearance": 0.013560222834348679 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.333448052709586, + -0.3466957378208717, + 0.8470194880659209 + ], + "target_position": [ + 0.32739117747506413, + -0.3486335441007606, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006359310558931765, + "xy_threshold": 0.08, + "gripper_dist": 0.18454181807796738, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470194880659209, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07585347340731953, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08912590812481956, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15228880102792372, + "release_required_pad_clearance": 0.05456295406240978, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 4.161109091831574, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008446097373962402, + "max_z_decrease": 0.008446097373962402, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03504810144624703, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008446097373962402, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021063668726085227, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008446097373962402, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008446152047038347, + "max_button_displacement": 0.12, + "button_start": [ + 0.18309110403060916, + -0.40489500761032104, + 0.7768088579177856 + ], + "button_final": [ + 0.18309110403060916, + -0.40489500761032104, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1844672908930414, + -0.403691735181354, + 0.8033646331960504 + ], + "closest_button": [ + 0.18310572206974035, + -0.4048683643341065, + 0.7683627605438232 + ], + "closest_ee_minus_button": [ + 0.001361568823301046, + 0.0011766291527525174, + 0.035001872652227206 + ], + "button_min_z_position": [ + 0.18310572206974035, + -0.4048683643341065, + 0.7683627605438232 + ], + "min_active_finger_to_button": 0.14415658594229575, + "closest_active_finger": [ + 0.05828533321619034, + -0.46821704506874084, + 0.8100206851959229 + ], + "closest_active_finger_button": [ + 0.18309628963470465, + -0.40489783883094793, + 0.7754660248756409 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12481095641851431, + -0.06331920623779291, + 0.03455466032028198 + ], + "min_contact_pad_to_button": 0.021063668726085227, + "closest_contact_pad": [ + 0.18310572206974035, + -0.4048683643341065, + 0.7894264292699085 + ], + "closest_contact_pad_button": [ + 0.18310572206974035, + -0.4048683643341065, + 0.7683627605438232 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021063668726085227 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 27, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "42d262f9d201267d66601ce440ab2e730a3df23b3d6cfacc21220af663417e6b", + "visual_seed": 6465729373798526918, + "episode_index": 27, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_28_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_28_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c5127437930fd079010211af6a1e6292c5c5a014 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_28_success.json @@ -0,0 +1,926 @@ +{ + "episode": 28, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.1900789645189142, + -0.1448110745840154, + 1.0457816469941978 + ], + "current_z": 1.0457816469941978, + "required_z": 0.85658659393358, + "initial_z": 0.7565865939335801, + "lift_margin": 0.1891950530606178, + "gripper_z": 1.0499514248379551, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18584861664208208, + -0.1491758689414422, + 1.0499514248379551 + ], + "object_minus_gripper": [ + 0.00423034787683213, + 0.004364794357426788, + -0.004169777843757272 + ], + "object_to_gripper_xy": 0.00607842684760151, + "object_to_gripper_z": -0.004169777843757272, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1900789645189142, + -0.16878076478979584, + 1.0457816469941978 + ], + "finger_b": [ + 0.17912930075799943, + -0.1448110745840154, + 1.0457816469941978 + ], + "finger_midpoint": [ + 0.18460413263845682, + -0.15679591968690562, + 1.0457816469941978 + ], + "object_minus_finger_midpoint": [ + 0.005474831880457387, + 0.011984845102890218, + 0.0 + ], + "finger_gap": 0.026352251991778174, + "fingertip_max_gap": 0.09152621710576594, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013176125995889087, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0457816469941978, + "object_top_z": 1.091162952864227, + "finger_top_clearance": 0.0453813058700292, + "fingertip_min_top_clearance": 0.01361439176100876, + "object_projection_between_fingers": 0.8273501931333479, + "object_to_finger_line_xy": 0.009959681938700152, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048263108552882975, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.4543224109119803, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 205, + "max_stable_success_frames": 205, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1905418873871954, + -0.14785694169925906, + 1.2439313486033854 + ], + "held_position": [ + 0.19503227176324975, + -0.14367294860728475, + 1.2398554896101996 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007367630322616276, + "max_held_gripper_dist": 0.007371657807503748, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004075858993185744, + "max_held_gripper_z_dist": 0.004185623645869274, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0862054609000571, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.19503227176324975, + -0.16844718273230247, + 1.2398554896101996 + ], + "held_grasp_finger_b": [ + 0.1860003647325933, + -0.14367294860728475, + 1.2398554896101996 + ], + "held_grasp_midpoint": [ + 0.19051631824792153, + -0.1560600656697936, + 1.2398554896101996 + ], + "held_grasp_object_position": [ + 0.19503227176324975, + -0.14367294860728475, + 1.2398554896101996 + ], + "held_grasp_finger_gap": 0.026369262809028512, + "held_grasp_max_gap": 0.12496600806713104, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024298256727235717, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.04765966228363988, + -0.9981626169069856, + -0.03741586295152865 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003948230145167446, + "held_grasp_line_xy_max_dist": 0.04748300403356552, + "held_grasp_object_top_z": 0.04520079120993614, + "held_grasp_top_clearance": 0.03262120520745996, + "held_grasp_min_top_clearance": 0.013560237362980843 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3381864198532799, + -0.34428999261336235, + 0.8470191623585126 + ], + "target_position": [ + 0.3288947300947295, + -0.34745312854511756, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009815341435320065, + "xy_threshold": 0.08, + "gripper_dist": 0.18923706854010686, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470191623585126, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07519288629559899, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08525600053887127, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15871010098411303, + "release_required_pad_clearance": 0.052628000269435635, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.31651747902266425, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 159, + "max_placed_release_frames": 159 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00809168815612793, + "max_z_decrease": 0.00809168815612793, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502496564922925, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00809168815612793, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021188369287744924, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00809168815612793, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008091700666462252, + "max_button_displacement": 0.12, + "button_start": [ + 0.18459466099739077, + -0.4037145972251892, + 0.7768088579177856 + ], + "button_final": [ + 0.18459466099739077, + -0.4037145972251892, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18489147580010562, + -0.4024145100828915, + 0.8037166641931592 + ], + "closest_button": [ + 0.1845804899930954, + -0.40371331572532654, + 0.7687171697616577 + ], + "closest_ee_minus_button": [ + 0.00031098580701022227, + 0.0012988056424350636, + 0.03499949443150152 + ], + "button_min_z_position": [ + 0.1845804899930954, + -0.40371331572532654, + 0.7687171697616577 + ], + "min_active_finger_to_button": 0.1451195926464215, + "closest_active_finger": [ + 0.057841964066028595, + -0.465179979801178, + 0.8080443143844604 + ], + "closest_active_finger_button": [ + 0.18460541963577273, + -0.4037184417247772, + 0.773213267326355 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12676345556974414, + -0.06146153807640076, + 0.03483104705810547 + ], + "min_contact_pad_to_button": 0.021188369287744924, + "closest_contact_pad": [ + 0.1845804899930954, + -0.40371331572532654, + 0.7899055390494026 + ], + "closest_contact_pad_button": [ + 0.1845804899930954, + -0.40371331572532654, + 0.7687171697616577 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021188369287744924 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 28, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c915c512ec26fb043bdd4d40888dfa7c4ad93ae35f96722db52630dbf13bf802", + "visual_seed": 2067843168298482813, + "episode_index": 28, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_29_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_29_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0266436a89bbc21f56054d1d5adf0d431c250c88 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_29_success.json @@ -0,0 +1,926 @@ +{ + "episode": 29, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.18671497369811144, + -0.1456247841675033, + 1.044662866715912 + ], + "current_z": 1.044662866715912, + "required_z": 0.8565865301059844, + "initial_z": 0.7565865301059844, + "lift_margin": 0.1880763366099275, + "gripper_z": 1.0491953798571645, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1827114135318596, + -0.14981682604600266, + 1.0491953798571645 + ], + "object_minus_gripper": [ + 0.004003560166251835, + 0.004192041878499364, + -0.004532513141252581 + ], + "object_to_gripper_xy": 0.0057966981218527235, + "object_to_gripper_z": -0.004532513141252581, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.18671497369811144, + -0.1696305902448373, + 1.044662866715912 + ], + "finger_b": [ + 0.1762833344537482, + -0.1456247841675033, + 1.044662866715912 + ], + "finger_midpoint": [ + 0.1814991540759298, + -0.1576276872061703, + 1.044662866715912 + ], + "object_minus_finger_midpoint": [ + 0.005215819622181622, + 0.012002903038666995, + 0.0 + ], + "finger_gap": 0.026174373397411157, + "fingertip_max_gap": 0.09805715387299846, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013087186698705578, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.044662866715912, + "object_top_z": 1.092373728550209, + "finger_top_clearance": 0.04771086183429718, + "fingertip_min_top_clearance": 0.014313258550289136, + "object_projection_between_fingers": 0.8411626869748373, + "object_to_finger_line_xy": 0.009567369769152125, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05152857693649923, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.4197623116418567, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 204, + "max_stable_success_frames": 204, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18689274538027906, + -0.14767281931239531, + 1.2408305552355265 + ], + "held_position": [ + 0.19103048302395584, + -0.1434984882489192, + 1.2364037852889855 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0073581386773422675, + "max_held_gripper_dist": 0.0073606047087635355, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004426769946541009, + "max_held_gripper_z_dist": 0.004542641272305081, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08562096389733559, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.19103048302395584, + -0.16787051095742492, + 1.2364037852889855 + ], + "held_grasp_finger_b": [ + 0.18185715532580427, + -0.1434984882489192, + 1.2364037852889855 + ], + "held_grasp_midpoint": [ + 0.18644381917488007, + -0.15568449960317204, + 1.2364037852889855 + ], + "held_grasp_object_position": [ + 0.19103048302395584, + -0.1434984882489192, + 1.2364037852889855 + ], + "held_grasp_finger_gap": 0.026041225623261156, + "held_grasp_max_gap": 0.12496598571538925, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024462680699895288, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.010222637808565721, + -0.9998720822147097, + -0.01230109279112268 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00471337247524642, + "held_grasp_line_xy_max_dist": 0.047482992857694625, + "held_grasp_object_top_z": 0.045200739055871964, + "held_grasp_top_clearance": 0.033063174312481805, + "held_grasp_min_top_clearance": 0.013560221716761588 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3361267265969524, + -0.3444594116102954, + 0.8470196041809002 + ], + "target_position": [ + 0.3305591391640373, + -0.3457748345671887, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005720871208013376, + "xy_threshold": 0.08, + "gripper_dist": 0.18563085639833876, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196041809002, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07557512356469023, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0891178542744595, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1537940377562877, + "release_required_pad_clearance": 0.05455892713722975, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 4.153011377661266, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008332490921020508, + "max_z_decrease": 0.008332490921020508, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502273924827676, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008332490921020508, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02120484651246546, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008332490921020508, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00833251393830544, + "max_button_displacement": 0.12, + "button_start": [ + 0.18625906109809875, + -0.4020362794399261, + 0.7768088579177856 + ], + "button_final": [ + 0.18625906109809875, + -0.4020362794399261, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18678502467492167, + -0.40059403281510464, + 0.8034657674935871 + ], + "closest_button": [ + 0.1862446218729019, + -0.402023047208786, + 0.7684763669967651 + ], + "closest_ee_minus_button": [ + 0.0005404028020197793, + 0.0014290143936813715, + 0.034989400496821976 + ], + "button_min_z_position": [ + 0.1862446218729019, + -0.402023047208786, + 0.7684763669967651 + ], + "min_active_finger_to_button": 0.1449681158504072, + "closest_active_finger": [ + 0.05903992801904678, + -0.4619286060333252, + 0.8081014752388 + ], + "closest_active_finger_button": [ + 0.18627256155014038, + -0.4020431935787201, + 0.7728686928749084 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1272326335310936, + -0.0598854124546051, + 0.0352327823638916 + ], + "min_contact_pad_to_button": 0.02120484651246546, + "closest_contact_pad": [ + 0.1862446218729019, + -0.402023047208786, + 0.7896812135092306 + ], + "closest_contact_pad_button": [ + 0.1862446218729019, + -0.402023047208786, + 0.7684763669967651 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02120484651246546 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 29, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f1b3d82e0293dc8b3372208aad700fbcf902d193ef35d9334b1e5371046282ec", + "visual_seed": 8424249545601091105, + "episode_index": 29, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_2_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_2_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ec28c4b510bf76f96f5a07ff525b410897c21606 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_2_success.json @@ -0,0 +1,926 @@ +{ + "episode": 2, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.1836826506278919, + -0.14054393917929137, + 1.046339798538811 + ], + "current_z": 1.046339798538811, + "required_z": 0.8565865289998402, + "initial_z": 0.7565865289998402, + "lift_margin": 0.18975326953897076, + "gripper_z": 1.0507905132528716, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.17934712096620417, + -0.14496494542974578, + 1.0507905132528716 + ], + "object_minus_gripper": [ + 0.004335529661687737, + 0.004421006250454412, + -0.004450714714060666 + ], + "object_to_gripper_xy": 0.0061921009127703305, + "object_to_gripper_z": -0.004450714714060666, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1836826506278919, + -0.16456337130454557, + 1.046339798538811 + ], + "finger_b": [ + 0.1726132728976319, + -0.14054393917929137, + 1.046339798538811 + ], + "finger_midpoint": [ + 0.1781479617627619, + -0.15255365524191847, + 1.046339798538811 + ], + "object_minus_finger_midpoint": [ + 0.005534688865130005, + 0.012009716062627102, + 0.0 + ], + "finger_gap": 0.026447386316134715, + "fingertip_max_gap": 0.09339177910237581, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013223693158067358, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.046339798538811, + "object_top_z": 1.0923520887911464, + "finger_top_clearance": 0.04601229025233544, + "fingertip_min_top_clearance": 0.013803687075700632, + "object_projection_between_fingers": 0.8248214621843335, + "object_to_finger_line_xy": 0.0100531736438007, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04919588955118791, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.7978371453035202, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 205, + "max_stable_success_frames": 205, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18389183012691662, + -0.14345952067015688, + 1.2429291568578542 + ], + "held_position": [ + 0.18847895552827298, + -0.1391949335158573, + 1.2385809281061673 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007624664997321707, + "max_held_gripper_dist": 0.007627483530012225, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0043482287516869444, + "max_held_gripper_z_dist": 0.004462398699670134, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08604554246385497, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.18847895552827298, + -0.1639570300830288, + 1.2385809281061673 + ], + "held_grasp_finger_b": [ + 0.1792418353999777, + -0.1391949335158573, + 1.2385809281061673 + ], + "held_grasp_midpoint": [ + 0.18386039546412536, + -0.15157598179944304, + 1.2385809281061673 + ], + "held_grasp_object_position": [ + 0.18847895552827298, + -0.1391949335158573, + 1.2385809281061673 + ], + "held_grasp_finger_gap": 0.02642888220614873, + "held_grasp_max_gap": 0.12496626883745193, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024375536912390736, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.03879565014477133, + -0.9988611798737754, + -0.027771223793955357 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004149230338116172, + "held_grasp_line_xy_max_dist": 0.04748313441872597, + "held_grasp_object_top_z": 0.04520079120993614, + "held_grasp_top_clearance": 0.03265466267289821, + "held_grasp_min_top_clearance": 0.013560237362980843 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33067827991561805, + -0.34832982371742527, + 0.8470194424900632 + ], + "target_position": [ + 0.3237725067425499, + -0.3501604556721846, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00714429258021068, + "xy_threshold": 0.08, + "gripper_dist": 0.18859718365499228, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470194424900632, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07565347566068263, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08679944100989294, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15658728390711438, + "release_required_pad_clearance": 0.05339972050494647, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.8131001736412742, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008378148078918457, + "max_z_decrease": 0.008378148078918457, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501221324492592, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008378148078918457, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020987278397586476, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008378148078918457, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008378168362037081, + "max_button_displacement": 0.12, + "button_start": [ + 0.1794724315404892, + -0.4064218997955321, + 0.7768088579177856 + ], + "button_final": [ + 0.1794724315404892, + -0.4064218997955321, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17880616993384468, + -0.40549614881024537, + 0.8034248792545121 + ], + "closest_button": [ + 0.179469034075737, + -0.4064037799835204, + 0.7684307098388672 + ], + "closest_ee_minus_button": [ + -0.0006628641418923165, + 0.0009076311732750253, + 0.03499416941564493 + ], + "button_min_z_position": [ + 0.179469034075737, + -0.4064037799835204, + 0.7684307098388672 + ], + "min_active_finger_to_button": 0.14600057752863785, + "closest_active_finger": [ + 0.052473053336143494, + -0.4696855843067169, + 0.8111836314201355 + ], + "closest_active_finger_button": [ + 0.17947909235954285, + -0.4064228534698486, + 0.7767821550369263 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12700603902339935, + -0.06326273083686834, + 0.03440147638320923 + ], + "min_contact_pad_to_button": 0.020987278397586476, + "closest_contact_pad": [ + 0.179469034075737, + -0.4065504057935915, + 0.7894174760359167 + ], + "closest_contact_pad_button": [ + 0.179469034075737, + -0.4064037799835204, + 0.7684307098388672 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0001466258100710771, + 0.020986766197049533 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 2, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ff8f8a650f91a63706676c69e6267733a75f8e6bd440da051423195f9d32f0f2", + "visual_seed": 7247817641169244309, + "episode_index": 2, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_30_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_30_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d9c97f1fc5df53b1d7296f40b2517994fd605e58 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_30_success.json @@ -0,0 +1,926 @@ +{ + "episode": 30, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.18269367599825775, + -0.14363455459750255, + 1.043761398688419 + ], + "current_z": 1.043761398688419, + "required_z": 0.8565865586188481, + "initial_z": 0.7565865586188482, + "lift_margin": 0.18717484006957097, + "gripper_z": 1.0481069716778133, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.17856870066611413, + -0.14792317950467943, + 1.0481069716778133 + ], + "object_minus_gripper": [ + 0.004124975332143621, + 0.00428862490717688, + -0.0043455729893941974 + ], + "object_to_gripper_xy": 0.005950439066594269, + "object_to_gripper_z": -0.0043455729893941974, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.18269367599825775, + -0.1676028163664347, + 1.043761398688419 + ], + "finger_b": [ + 0.17195667991306018, + -0.14363455459750255, + 1.043761398688419 + ], + "finger_midpoint": [ + 0.17732517795565897, + -0.1556186854819686, + 1.043761398688419 + ], + "object_minus_finger_midpoint": [ + 0.005368498042598785, + 0.011984130884466065, + 0.0 + ], + "finger_gap": 0.026263294864841365, + "fingertip_max_gap": 0.0958431449303781, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01313164743242067, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.043761398688419, + "object_top_z": 1.090825748828958, + "finger_top_clearance": 0.047064350140539, + "fingertip_min_top_clearance": 0.014119305042161733, + "object_projection_between_fingers": 0.8328650906118483, + "object_to_finger_line_xy": 0.009798737519660008, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05042157246518905, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.4662125613122257, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 203, + "max_stable_success_frames": 203, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18264112104404875, + -0.1458500232434209, + 1.2436870464650283 + ], + "held_position": [ + 0.18696325880221593, + -0.14167573419256896, + 1.239421275222747 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007369014056989654, + "max_held_gripper_dist": 0.007370196958367644, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004265771242281335, + "max_held_gripper_z_dist": 0.004356321888349335, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08543843730042845, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.18696325880221593, + -0.16625183178683603, + 1.239421275222747 + ], + "held_grasp_finger_b": [ + 0.17764219942037474, + -0.14167573419256896, + 1.239421275222747 + ], + "held_grasp_midpoint": [ + 0.18230272911129533, + -0.15396378298970248, + 1.239421275222747 + ], + "held_grasp_object_position": [ + 0.18696325880221593, + -0.14167573419256896, + 1.239421275222747 + ], + "held_grasp_finger_gap": 0.02628434364717425, + "held_grasp_max_gap": 0.12496584415435791, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024429998959456044, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.015281323109442007, + -0.9998510538680612, + -0.00802192264686674 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004473300370660243, + "held_grasp_line_xy_max_dist": 0.047482922077178955, + "held_grasp_object_top_z": 0.045200690627098083, + "held_grasp_top_clearance": 0.03284325302723385, + "held_grasp_min_top_clearance": 0.013560207188129425 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.32819460658168775, + -0.34973861262641115, + 0.8470195689180041 + ], + "target_position": [ + 0.32255724327492835, + -0.35103872928437285, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005785340817679353, + "xy_threshold": 0.08, + "gripper_dist": 0.18527545841871398, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195689180041, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07529965130581942, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.086068268989467, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15412633400991405, + "release_required_pad_clearance": 0.0530341344947335, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.0993044543746275, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008243680000305176, + "max_z_decrease": 0.008243680000305176, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03507936653193322, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008243680000305176, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021063012147246596, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008243680000305176, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008243705008796133, + "max_button_displacement": 0.12, + "button_start": [ + 0.1782571673393249, + -0.4073001742362976, + 0.7768088579177856 + ], + "button_final": [ + 0.1782571673393249, + -0.4073001742362976, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1764373630941844, + -0.40533867567026866, + 0.8036121404797575 + ], + "closest_button": [ + 0.17826823890209192, + -0.4072964191436767, + 0.7686353325843811 + ], + "closest_ee_minus_button": [ + -0.0018308758079075282, + 0.0019577434734080468, + 0.03497680789537638 + ], + "button_min_z_position": [ + 0.17827014625072474, + -0.4072845578193664, + 0.7685651779174805 + ], + "min_active_finger_to_button": 0.14665783461159942, + "closest_active_finger": [ + 0.048977673053741455, + -0.467279314994812, + 0.8096663355827332 + ], + "closest_active_finger_button": [ + 0.1782629787921905, + -0.40730378031730646, + 0.7750720381736755 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12928530573844904, + -0.05997553467750555, + 0.03459429740905762 + ], + "min_contact_pad_to_button": 0.021063012147246596, + "closest_contact_pad": [ + 0.17827014625072474, + -0.4072845578193664, + 0.7896281900647271 + ], + "closest_contact_pad_button": [ + 0.17827014625072474, + -0.4072845578193664, + 0.7685651779174805 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021063012147246596 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 30, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c5e01a96374894c98f1206a9e71e8a940762314cf46d8c2a4f34ef5cd184a1cc", + "visual_seed": 2970811969328011425, + "episode_index": 30, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_31_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_31_success.json new file mode 100644 index 0000000000000000000000000000000000000000..36e22b98d5fb4041ca608f6554ccf4751075d2ff --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_31_success.json @@ -0,0 +1,926 @@ +{ + "episode": 31, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.19242770207615048, + -0.14704501198270267, + 1.0472944680387402 + ], + "current_z": 1.0472944680387402, + "required_z": 0.8565866422486799, + "initial_z": 0.7565866422486799, + "lift_margin": 0.1907078257900603, + "gripper_z": 1.0514469527415873, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1882657315794664, + -0.1513324234638057, + 1.0514469527415873 + ], + "object_minus_gripper": [ + 0.00416197049668407, + 0.004287411481103037, + -0.004152484702847126 + ], + "object_to_gripper_xy": 0.005975273686080227, + "object_to_gripper_z": -0.004152484702847126, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19242770207615048, + -0.17101753644781284, + 1.0472944680387402 + ], + "finger_b": [ + 0.181664093407022, + -0.14704501198270267, + 1.0472944680387402 + ], + "finger_midpoint": [ + 0.18704589774158625, + -0.15903127421525776, + 1.0472944680387402 + ], + "object_minus_finger_midpoint": [ + 0.0053818043345642275, + 0.011986262232555084, + 0.0 + ], + "finger_gap": 0.026278074526350732, + "fingertip_max_gap": 0.09417437441695659, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013139037263175361, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0472944680387402, + "object_top_z": 1.0936091660896847, + "finger_top_clearance": 0.04631469805094457, + "fingertip_min_top_clearance": 0.01389440941528337, + "object_projection_between_fingers": 0.8322244312893937, + "object_to_finger_line_xy": 0.009819245770644655, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049587187208478295, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.0617683048877553, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 206, + "max_stable_success_frames": 206, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1927747002879798, + -0.14980928477418104, + 1.24358065369787 + ], + "held_position": [ + 0.19714520837663388, + -0.14563106078033647, + 1.2395341294687463 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0072755243819682194, + "max_held_gripper_dist": 0.007277298362089927, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.00404652422912366, + "max_held_gripper_z_dist": 0.004163516777613063, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08611524265826499, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.19714520837663388, + -0.17019921105506133, + 1.2395341294687463 + ], + "held_grasp_finger_b": [ + 0.18806182911383612, + -0.14563106078033647, + 1.2395341294687463 + ], + "held_grasp_midpoint": [ + 0.19260351874523501, + -0.1579151359176989, + 1.2395341294687463 + ], + "held_grasp_object_position": [ + 0.19714520837663388, + -0.14563106078033647, + 1.2395341294687463 + ], + "held_grasp_finger_gap": 0.0261935447534939, + "held_grasp_max_gap": 0.12496623158454895, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02430454687751919, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.02701795415824943, + -0.999259648265009, + -0.02738951446070948 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004221704017626492, + "held_grasp_line_xy_max_dist": 0.047483115792274475, + "held_grasp_object_top_z": 0.04520091786980629, + "held_grasp_top_clearance": 0.03280323010652243, + "held_grasp_min_top_clearance": 0.013560275360941886 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3375999962517505, + -0.3498607032226838, + 0.84701910032475 + ], + "target_position": [ + 0.33048188357265146, + -0.3519148589359948, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007408581767577311, + "xy_threshold": 0.08, + "gripper_dist": 0.18422617970784053, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.84701910032475, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07534077284815889, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08631821396418891, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1531587202767396, + "release_required_pad_clearance": 0.05315910698209446, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.3417111143282543, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008372306823730469, + "max_z_decrease": 0.008372306823730469, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03505631243245338, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008372306823730469, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02115154912323669, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008372306823730469, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008372373642012973, + "max_button_displacement": 0.12, + "button_start": [ + 0.18618181347846988, + -0.40817630290985096, + 0.7768088579177856 + ], + "button_final": [ + 0.18618181347846988, + -0.40817630290985096, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18738934680919686, + -0.40660870765581086, + 0.8034363837173655 + ], + "closest_button": [ + 0.18615037202835086, + -0.40816488862037653, + 0.7684365510940552 + ], + "closest_ee_minus_button": [ + 0.0012389747808460028, + 0.0015561809645656677, + 0.0349998326233103 + ], + "button_min_z_position": [ + 0.18615037202835086, + -0.40816488862037653, + 0.7684365510940552 + ], + "min_active_finger_to_button": 0.1442197192378866, + "closest_active_finger": [ + 0.06074756383895874, + -0.47025835514068604, + 0.8077878952026367 + ], + "closest_active_finger_button": [ + 0.18619205057621008, + -0.4081800282001495, + 0.7730130553245544 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12544448673725134, + -0.062078326940536555, + 0.034774839878082275 + ], + "min_contact_pad_to_button": 0.02115154912323669, + "closest_contact_pad": [ + 0.18615037202835086, + -0.40816488862037653, + 0.7895881002172919 + ], + "closest_contact_pad_button": [ + 0.18615037202835086, + -0.40816488862037653, + 0.7684365510940552 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02115154912323669 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 31, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "fe12b5f6b871b1f16518dab3c66ee3a4def61294641c68bdb1c4bda0696dde7d", + "visual_seed": 2880485996955265579, + "episode_index": 31, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_32_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_32_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d093dfa026592ead3137d5998b194cf58e9c592d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_32_success.json @@ -0,0 +1,926 @@ +{ + "episode": 32, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.19077360494679205, + -0.1483200883287723, + 1.044540351993602 + ], + "current_z": 1.044540351993602, + "required_z": 0.8565866104307206, + "initial_z": 0.7565866104307206, + "lift_margin": 0.18795374156288147, + "gripper_z": 1.0488721351150179, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18659509005200867, + -0.15261613604672153, + 1.0488721351150179 + ], + "object_minus_gripper": [ + 0.0041785148947833806, + 0.004296047717949225, + -0.0043317831214158 + ], + "object_to_gripper_xy": 0.005992996973203249, + "object_to_gripper_z": -0.0043317831214158, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19077360494679205, + -0.17229560878257993, + 1.044540351993602 + ], + "finger_b": [ + 0.1799878219075531, + -0.1483200883287723, + 1.044540351993602 + ], + "finger_midpoint": [ + 0.18538071342717258, + -0.16030784855567612, + 1.044540351993602 + ], + "object_minus_finger_midpoint": [ + 0.005392891519619469, + 0.011987760226903815, + 0.0 + ], + "finger_gap": 0.02628989723830206, + "fingertip_max_gap": 0.09849282680622962, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01314494861915103, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.044540351993602, + "object_top_z": 1.092650770426606, + "finger_top_clearance": 0.0481104184330039, + "fingertip_min_top_clearance": 0.014433125529901152, + "object_projection_between_fingers": 0.831683929742815, + "object_to_finger_line_xy": 0.009836278914428561, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05174641340311481, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.400721308312764, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 204, + "max_stable_success_frames": 204, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1908671214206733, + -0.15066466404292744, + 1.2439742191511618 + ], + "held_position": [ + 0.19524385157385474, + -0.14648031205688758, + 1.239729949976818 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007394483700781866, + "max_held_gripper_dist": 0.007396012691030599, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.00424426917434384, + "max_held_gripper_z_dist": 0.004342757485585436, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08577203755338218, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.19524385157385474, + -0.17106354408510166, + 1.239729949976818 + ], + "held_grasp_finger_b": [ + 0.18597621681606877, + -0.14648031205688758, + 1.239729949976818 + ], + "held_grasp_midpoint": [ + 0.19061003419496175, + -0.1587719280709946, + 1.239729949976818 + ], + "held_grasp_object_position": [ + 0.19524385157385474, + -0.14648031205688758, + 1.239729949976818 + ], + "held_grasp_finger_gap": 0.02627212117353171, + "held_grasp_max_gap": 0.12496608257293701, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024530450883350097, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.005652776844829135, + -0.9999840023598855, + -0.00020282565707918637 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004564262263994624, + "held_grasp_line_xy_max_dist": 0.047483041286468505, + "held_grasp_object_top_z": 0.04520081356167793, + "held_grasp_top_clearance": 0.032883200248837736, + "held_grasp_min_top_clearance": 0.013560244068503379 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.327743451462133, + -0.34435126574135355, + 0.8470196640413785 + ], + "target_position": [ + 0.3225541526340359, + -0.34556160773586425, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00532857861638224, + "xy_threshold": 0.08, + "gripper_dist": 0.1848160894532861, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196640413785, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07587517257744414, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08873532290856799, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1522432785890889, + "release_required_pad_clearance": 0.054367661454284, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.7588132793746976, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008165836334228516, + "max_z_decrease": 0.008165836334228516, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03499916742235264, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008165836334228516, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02128428135667599, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008165836334228516, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008165862228449193, + "max_button_displacement": 0.12, + "button_start": [ + 0.17825408279895777, + -0.4018230736255645, + 0.7768088579177856 + ], + "button_final": [ + 0.17825408279895777, + -0.4018230736255645, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1781470102675463, + -0.4025192417599879, + 0.8036350592242287 + ], + "closest_button": [ + 0.17823410034179682, + -0.4018182158470154, + 0.7686430215835571 + ], + "closest_ee_minus_button": [ + -8.709007425050652e-05, + -0.0007010259129724972, + 0.0349920376406716 + ], + "button_min_z_position": [ + 0.17823410034179682, + -0.4018182158470154, + 0.7686430215835571 + ], + "min_active_finger_to_button": 0.14593425451380468, + "closest_active_finger": [ + 0.03766171634197235, + -0.38423144817352295, + 0.8078641295433044 + ], + "closest_active_finger_button": [ + 0.17826694250106806, + -0.40182745456695557, + 0.7729734778404236 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1406052261590957, + 0.017596006393432617, + 0.03489065170288086 + ], + "min_contact_pad_to_button": 0.02128428135667599, + "closest_contact_pad": [ + 0.17823410034179682, + -0.40389822377204077, + 0.7898254246554934 + ], + "closest_contact_pad_button": [ + 0.17823410034179682, + -0.4018182158470154, + 0.7686430215835571 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0020800079250253845, + 0.021182403071936307 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 32, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "89b4b417866b501f01fc2110f0975bda12e6b9dbbb85100838892de484dd0cc1", + "visual_seed": 8176419789947284674, + "episode_index": 32, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_33_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_33_success.json new file mode 100644 index 0000000000000000000000000000000000000000..22828b07cc8ad3e65c3f6ea05cc66ca98aca572e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_33_success.json @@ -0,0 +1,926 @@ +{ + "episode": 33, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.18310350755042287, + -0.14577889188516135, + 1.045689519908086 + ], + "current_z": 1.045689519908086, + "required_z": 0.8565865082158098, + "initial_z": 0.7565865082158099, + "lift_margin": 0.18910301169227617, + "gripper_z": 1.049908721956798, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1791907082594646, + -0.15000911179283694, + 1.049908721956798 + ], + "object_minus_gripper": [ + 0.00391279929095828, + 0.004230219907675581, + -0.004219202048711956 + ], + "object_to_gripper_xy": 0.0057623570488662375, + "object_to_gripper_z": -0.004219202048711956, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.18310350755042287, + -0.16939443103072382, + 1.045689519908086 + ], + "finger_b": [ + 0.17216630813107217, + -0.14577889188516135, + 1.045689519908086 + ], + "finger_midpoint": [ + 0.17763490784074754, + -0.1575866614579426, + 1.045689519908086 + ], + "object_minus_finger_midpoint": [ + 0.005468599709675337, + 0.011807769572781235, + 0.0 + ], + "finger_gap": 0.026025295776882895, + "fingertip_max_gap": 0.09309919130592997, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013012647888441442, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.045689519908086, + "object_top_z": 1.0914182401939705, + "finger_top_clearance": 0.04572872028588448, + "fingertip_min_top_clearance": 0.013718616085765328, + "object_projection_between_fingers": 0.823387713330313, + "object_to_finger_line_xy": 0.00992449281824974, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04904959565296499, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.0107716675746454, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 205, + "max_stable_success_frames": 205, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.183759234303067, + -0.14865560289931273, + 1.2430374778852127 + ], + "held_position": [ + 0.18795563216790503, + -0.14460489836506404, + 1.2389195647821107 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0071396898103838315, + "max_held_gripper_dist": 0.007142661059010211, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0041179131031019445, + "max_held_gripper_z_dist": 0.004230087998929211, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08607399359372223, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.18795563216790503, + -0.16915848831391347, + 1.2389195647821107 + ], + "held_grasp_finger_b": [ + 0.17912996217878357, + -0.14460489836506404, + 1.2389195647821107 + ], + "held_grasp_midpoint": [ + 0.18354279717334432, + -0.15688169333948876, + 1.2389195647821107 + ], + "held_grasp_object_position": [ + 0.18795563216790503, + -0.14460489836506404, + 1.2389195647821107 + ], + "held_grasp_finger_gap": 0.026091593093046636, + "held_grasp_max_gap": 0.12496616452932358, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02411392112883235, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.045578366596081485, + -0.9984764265480202, + -0.031103667409636326 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003867898638045218, + "held_grasp_line_xy_max_dist": 0.04748308226466179, + "held_grasp_object_top_z": 0.045200809836387634, + "held_grasp_top_clearance": 0.03274158964975125, + "held_grasp_min_top_clearance": 0.01356024295091629 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33550955163986085, + -0.34957097470090637, + 0.8470195664226927 + ], + "target_position": [ + 0.32838069006718856, + -0.3515254813833527, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007391939102431173, + "xy_threshold": 0.08, + "gripper_dist": 0.18622660114851272, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195664226927, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07563517395238908, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08611970853672672, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15431697316778836, + "release_required_pad_clearance": 0.05305985426836336, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.1487439522513203, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008377432823181152, + "max_z_decrease": 0.008377432823181152, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035036776865089866, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008377432823181152, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021114214676167684, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008377432823181152, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00837749775642248, + "max_button_displacement": 0.12, + "button_start": [ + 0.18408061563968653, + -0.40778693556785583, + 0.7768088579177856 + ], + "button_final": [ + 0.18408061563968653, + -0.40778693556785583, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1855621040329708, + -0.4078842957513926, + 0.8037982505578131 + ], + "closest_button": [ + 0.18406385183334345, + -0.4077722132205963, + 0.7687937021255493 + ], + "closest_ee_minus_button": [ + 0.001498252199627348, + -0.00011208253079630914, + 0.03500454843226375 + ], + "button_min_z_position": [ + 0.18405254185199732, + -0.4077696204185486, + 0.7684314250946045 + ], + "min_active_finger_to_button": 0.1444200368067288, + "closest_active_finger": [ + 0.0446561798453331, + -0.39322325587272644, + 0.8076680898666382 + ], + "closest_active_finger_button": [ + 0.18409128487110135, + -0.40779319405555725, + 0.7729879021644592 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13943510502576825, + 0.01456993818283081, + 0.034680187702178955 + ], + "min_contact_pad_to_button": 0.021114214676167684, + "closest_contact_pad": [ + 0.18405254185199732, + -0.40892828626711064, + 0.7895138242664889 + ], + "closest_contact_pad_button": [ + 0.18405254185199732, + -0.4077696204185486, + 0.7684314250946045 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0011586658485620571, + 0.02108239917188437 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 33, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9362a7a6d43651edafb72c85f824feb7d7cf0f6e9e7b74eb59abb737765ba528", + "visual_seed": 4770102563843325073, + "episode_index": 33, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_34_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_34_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e622ffe3eca50759a3281891574bde9defc5d87e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_34_success.json @@ -0,0 +1,926 @@ +{ + "episode": 34, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.18553037235024075, + -0.1432628366044314, + 1.0439164647463903 + ], + "current_z": 1.0439164647463903, + "required_z": 0.8565865554707434, + "initial_z": 0.7565865554707434, + "lift_margin": 0.18732990927564697, + "gripper_z": 1.0482062905801641, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18144994072700568, + -0.14752699325559193, + 1.0482062905801641 + ], + "object_minus_gripper": [ + 0.00408043162323507, + 0.004264156651160533, + -0.004289825833773797 + ], + "object_to_gripper_xy": 0.0059019449487040625, + "object_to_gripper_z": -0.004289825833773797, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.18553037235024075, + -0.1671110239159526, + 1.0439164647463903 + ], + "finger_b": [ + 0.1746951599760099, + -0.1432628366044314, + 1.0439164647463903 + ], + "finger_midpoint": [ + 0.18011276616312533, + -0.15518693026019198, + 1.0439164647463903 + ], + "object_minus_finger_midpoint": [ + 0.005417606187115426, + 0.011924093655760581, + 0.0 + ], + "finger_gap": 0.026194233434862827, + "fingertip_max_gap": 0.09408273193864597, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013097116717431401, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0439164647463903, + "object_top_z": 1.0902324584371335, + "finger_top_clearance": 0.04631599369074313, + "fingertip_min_top_clearance": 0.013894798107222921, + "object_projection_between_fingers": 0.8288946971996576, + "object_to_finger_line_xy": 0.009864773286965356, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04954136596932299, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.036349436245923, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 203, + "max_stable_success_frames": 203, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1861509405528173, + -0.14637304183705546, + 1.241003832012449 + ], + "held_position": [ + 0.1904922743169846, + -0.1422680220078777, + 1.2368172279785548 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007295616491185736, + "max_held_gripper_dist": 0.007298588528358346, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004186604033894259, + "max_held_gripper_z_dist": 0.004300501666714807, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08569853852323862, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.1904922743169846, + -0.1669330080883182, + 1.2368172279785548 + ], + "held_grasp_finger_b": [ + 0.18162925682555398, + -0.1422680220078777, + 1.2368172279785548 + ], + "held_grasp_midpoint": [ + 0.18606076557126927, + -0.15460051504809796, + 1.2368172279785548 + ], + "held_grasp_object_position": [ + 0.1904922743169846, + -0.1422680220078777, + 1.2368172279785548 + ], + "held_grasp_finger_gap": 0.026209056018897923, + "held_grasp_max_gap": 0.1249661123752594, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024277329100929463, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.04056088321867986, + -0.9988580913046469, + -0.025245359727257943 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003940144889970287, + "held_grasp_line_xy_max_dist": 0.0474830561876297, + "held_grasp_object_top_z": 0.04520074278116226, + "held_grasp_top_clearance": 0.0327025864132625, + "held_grasp_min_top_clearance": 0.013560222834348679 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3380783627325361, + -0.34780371054122794, + 0.8470197893138465 + ], + "target_position": [ + 0.33158517662784226, + -0.3491980845407161, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00664121559962014, + "xy_threshold": 0.08, + "gripper_dist": 0.18567993251952294, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470197893138465, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07575465057136847, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08725493497646251, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1534362343192259, + "release_required_pad_clearance": 0.05362746748823126, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.2645748783711928, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008308351039886475, + "max_z_decrease": 0.008308351039886475, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500282015113404, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008308351039886475, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02117505090294291, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008308351039886475, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008308368033260608, + "max_button_displacement": 0.12, + "button_start": [ + 0.1872850954532623, + -0.40545955300331116, + 0.7768088579177856 + ], + "button_final": [ + 0.1872850954532623, + -0.40545955300331116, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18786018005645813, + -0.40512482911226255, + 0.8034970066255256 + ], + "closest_button": [ + 0.18727704882621762, + -0.4054448008537292, + 0.7685005068778992 + ], + "closest_ee_minus_button": [ + 0.0005831312302405078, + 0.0003199717414666403, + 0.03499649974762642 + ], + "button_min_z_position": [ + 0.18727704882621762, + -0.4054448008537292, + 0.7685005068778992 + ], + "min_active_finger_to_button": 0.14529504236017576, + "closest_active_finger": [ + 0.06126062572002411, + -0.4688282907009125, + 0.807867705821991 + ], + "closest_active_finger_button": [ + 0.18729710578918451, + -0.4054632782936096, + 0.7730779051780701 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1260364800691604, + -0.06336501240730286, + 0.0347898006439209 + ], + "min_contact_pad_to_button": 0.02117505090294291, + "closest_contact_pad": [ + 0.18727704882621762, + -0.4062402218092471, + 0.7896606128853308 + ], + "closest_contact_pad_button": [ + 0.18727704882621762, + -0.4054448008537292, + 0.7685005068778992 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0007954209555179337, + 0.021160106007431678 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 34, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a1f943e8774087b7b918e754ab81c5f8b2aa8d14104c0ebd902306264e1e8864", + "visual_seed": 8935637248709062701, + "episode_index": 34, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_35_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_35_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e5b702dd2b0f47b544f1abc6f44b92efddd4d2b7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_35_success.json @@ -0,0 +1,926 @@ +{ + "episode": 35, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.18811058628873106, + -0.14106254043885658, + 1.0439954417649178 + ], + "current_z": 1.0439954417649178, + "required_z": 0.8565865734164501, + "initial_z": 0.7565865734164501, + "lift_margin": 0.1874088683484677, + "gripper_z": 1.0482712836281165, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1839891664162678, + -0.1453938334909743, + 1.0482712836281165 + ], + "object_minus_gripper": [ + 0.004121419872463256, + 0.004331293052117713, + -0.004275841863198737 + ], + "object_to_gripper_xy": 0.005978812697221599, + "object_to_gripper_z": -0.004275841863198737, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.18811058628873106, + -0.1648503463008535, + 1.0439954417649178 + ], + "finger_b": [ + 0.1770669970885518, + -0.14106254043885658, + 1.0439954417649178 + ], + "finger_midpoint": [ + 0.18258879168864145, + -0.15295644336985503, + 1.0439954417649178 + ], + "object_minus_finger_midpoint": [ + 0.005521794600089613, + 0.011893902930998457, + 0.0 + ], + "finger_gap": 0.026226333524729886, + "fingertip_max_gap": 0.09323591278759624, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013113166762364936, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0439954417649178, + "object_top_z": 1.0899413878531852, + "finger_top_clearance": 0.04594594608826741, + "fingertip_min_top_clearance": 0.013783783826480222, + "object_projection_between_fingers": 0.8226850610244865, + "object_to_finger_line_xy": 0.010016754940823006, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04911795639379812, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.7998797822555335, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 204, + "max_stable_success_frames": 204, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1887861449567535, + -0.14422829272872245, + 1.2444415501343753 + ], + "held_position": [ + 0.1932250909790259, + -0.14013986655131833, + 1.2402456095249221 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0073501964596049746, + "max_held_gripper_dist": 0.007354010050445682, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004195940609453164, + "max_held_gripper_z_dist": 0.0042899703466448, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08564236888006735, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.1932250909790259, + -0.16498756651835184, + 1.2402456095249221 + ], + "held_grasp_finger_b": [ + 0.1843532940814673, + -0.14013986655131833, + 1.2402456095249221 + ], + "held_grasp_midpoint": [ + 0.18878919253024662, + -0.15256371653483508, + 1.2402456095249221 + ], + "held_grasp_object_position": [ + 0.1932250909790259, + -0.14013986655131833, + 1.2402456095249221 + ], + "held_grasp_finger_gap": 0.02638402876444853, + "held_grasp_max_gap": 0.12496591120958328, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024326808422544234, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.053983158512980384, + -0.9983111545000513, + -0.02146293078163297 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003768380205595857, + "held_grasp_line_xy_max_dist": 0.04748295560479164, + "held_grasp_object_top_z": 0.04520069807767868, + "held_grasp_top_clearance": 0.03255836624819069, + "held_grasp_min_top_clearance": 0.013560209423303604 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3303452132057756, + -0.35153513672253356, + 0.8470196897158946 + ], + "target_position": [ + 0.32359702265946033, + -0.35317935107029197, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006945611310083025, + "xy_threshold": 0.08, + "gripper_dist": 0.1860903172437401, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196897158946, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07562064183482113, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08619311696118147, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1541980581372555, + "release_required_pad_clearance": 0.053096558480590736, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.2201126925024854, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00814974308013916, + "max_z_decrease": 0.00814974308013916, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03503948245169286, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00814974308013916, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021323703667786197, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00814974308013916, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00814975576509286, + "max_button_displacement": 0.12, + "button_start": [ + 0.17929695546627042, + -0.40944081544876093, + 0.7768088579177856 + ], + "button_final": [ + 0.17929695546627042, + -0.40944081544876093, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17805614632810077, + -0.4109192974143511, + 0.8037188526905948 + ], + "closest_button": [ + 0.17928576469421387, + -0.40943628549575806, + 0.7687323689460754 + ], + "closest_ee_minus_button": [ + -0.0012296183661131, + -0.001483011918593069, + 0.0349864837445194 + ], + "button_min_z_position": [ + 0.1792849004268646, + -0.40943297743797297, + 0.7686591148376465 + ], + "min_active_finger_to_button": 0.14692032970633545, + "closest_active_finger": [ + 0.037541359663009644, + -0.39282289147377014, + 0.8079678416252136 + ], + "closest_active_finger_button": [ + 0.17930842936038965, + -0.4094462096691131, + 0.7731634378433228 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14176706969738, + 0.016623318195342962, + 0.03480440378189087 + ], + "min_contact_pad_to_button": 0.021323703667786197, + "closest_contact_pad": [ + 0.1792849004268646, + -0.41227914788808406, + 0.7897920193204778 + ], + "closest_contact_pad_button": [ + 0.1792849004268646, + -0.40943297743797297, + 0.7686591148376465 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0028461704501110963, + 0.02113290448283134 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 35, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "351d5125cffaad9a7af0bfa9b98823ed7d4cba09846ff6f1d8aca5ad30aa7a8b", + "visual_seed": 1865421737017810618, + "episode_index": 35, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_36_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_36_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ac4c6d9e4dfef57e149bc58d11e8c1f5699984b4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_36_success.json @@ -0,0 +1,926 @@ +{ + "episode": 36, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.1842394577310368, + -0.14791076976885079, + 1.0456079353700505 + ], + "current_z": 1.0456079353700505, + "required_z": 0.8565865766499793, + "initial_z": 0.7565865766499793, + "lift_margin": 0.1890213587200712, + "gripper_z": 1.0504559308265924, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.17983176059832287, + -0.15226518059057553, + 1.0504559308265924 + ], + "object_minus_gripper": [ + 0.004407697132713939, + 0.004354410821724747, + -0.004847995456541909 + ], + "object_to_gripper_xy": 0.00619586052280781, + "object_to_gripper_z": -0.004847995456541909, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1842394577310368, + -0.17220870458283885, + 1.0456079353700505 + ], + "finger_b": [ + 0.17357901645621845, + -0.14791076976885079, + 1.0456079353700505 + ], + "finger_midpoint": [ + 0.17890923709362763, + -0.16005973717584482, + 1.0456079353700505 + ], + "object_minus_finger_midpoint": [ + 0.005330220637409178, + 0.012148967406994032, + 0.0 + ], + "finger_gap": 0.026533651169762973, + "fingertip_max_gap": 0.09635555683540883, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013266825584881486, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0456079353700505, + "object_top_z": 1.0927542597667887, + "finger_top_clearance": 0.04714632439673827, + "fingertip_min_top_clearance": 0.014143897319021447, + "object_projection_between_fingers": 0.8385803751590688, + "object_to_finger_line_xy": 0.00976219614581591, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05067777841770442, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.7476721287076975, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 205, + "max_stable_success_frames": 205, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1838737560058076, + -0.1503356755620349, + 1.2431768278582958 + ], + "held_position": [ + 0.18843504260216953, + -0.14597889433272956, + 1.2383534953369424 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007940492094683001, + "max_held_gripper_dist": 0.007944654293795629, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004823332521353363, + "max_held_gripper_z_dist": 0.004937701711496656, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0857548637604826, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.18843504260216953, + -0.1705508158650717, + 1.2383534953369424 + ], + "held_grasp_finger_b": [ + 0.1787914379566825, + -0.14597889433272956, + 1.2383534953369424 + ], + "held_grasp_midpoint": [ + 0.18361324027942602, + -0.15826485509890065, + 1.2383534953369424 + ], + "held_grasp_object_position": [ + 0.18843504260216953, + -0.14597889433272956, + 1.2383534953369424 + ], + "held_grasp_finger_gap": 0.026396561108410283, + "held_grasp_max_gap": 0.12496592611074447, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024699421202618126, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.01347911430170826, + -0.9998987633499585, + -0.004558127780714516 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004987280901232728, + "held_grasp_line_xy_max_dist": 0.04748296305537224, + "held_grasp_object_top_z": 0.045200686901807785, + "held_grasp_top_clearance": 0.032980963549795725, + "held_grasp_min_top_clearance": 0.013560206070542336 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3327217453190334, + -0.3441663122775014, + 0.84701951475445 + ], + "target_position": [ + 0.3270004304532674, + -0.3456978728860008, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005922763011529554, + "xy_threshold": 0.08, + "gripper_dist": 0.18676315722032186, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.84701951475445, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07530260850273664, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08757759533894459, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15564457921128264, + "release_required_pad_clearance": 0.053788797669472296, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.5860237362031584, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008081614971160889, + "max_z_decrease": 0.008081614971160889, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03506196532281458, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008081614971160889, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02135976988043967, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 119, + "max_z_decrease_with_contact_point": 0.008081614971160889, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008081620574535498, + "max_button_displacement": 0.12, + "button_start": [ + 0.18270035088062286, + -0.4019593298435211, + 0.7768088579177856 + ], + "button_final": [ + 0.18270035088062286, + -0.4019593298435211, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1839237165862895, + -0.4036737647467424, + 0.8037253385014584 + ], + "closest_button": [ + 0.1826930046081543, + -0.4019532799720764, + 0.7687272429466248 + ], + "closest_ee_minus_button": [ + 0.0012307119781352072, + -0.0017204847746659646, + 0.034998095554833686 + ], + "button_min_z_position": [ + 0.1826930046081543, + -0.4019532799720764, + 0.7687272429466248 + ], + "min_active_finger_to_button": 0.14453663446301773, + "closest_active_finger": [ + 0.043195098638534546, + -0.3874303698539734, + 0.8080726265907288 + ], + "closest_active_finger_button": [ + 0.18271249532699585, + -0.4019643664360046, + 0.7732229828834534 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1395173966884613, + 0.014533996582031194, + 0.03484964370727539 + ], + "min_contact_pad_to_button": 0.02135976988043967, + "closest_contact_pad": [ + 0.1826930046081543, + -0.4048720999922513, + 0.7898866441440869 + ], + "closest_contact_pad_button": [ + 0.1826930046081543, + -0.4019532799720764, + 0.7687272429466248 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002918820020174906, + 0.02115940119746218 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 36, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "024d63ac14f88a3e5cd80db6134034f7d5cfbd1ee4518ce966231ea1bc98d04f", + "visual_seed": 3394419000939142520, + "episode_index": 36, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_37_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_37_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3bce3845a70c9c70747d2de545ac09b74b8b213d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_37_success.json @@ -0,0 +1,926 @@ +{ + "episode": 37, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.19110560592524894, + -0.14299311720596006, + 1.0465560760030903 + ], + "current_z": 1.0465560760030903, + "required_z": 0.8565865667924197, + "initial_z": 0.7565865667924198, + "lift_margin": 0.18996950921067057, + "gripper_z": 1.051003818155614, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18702013968346456, + -0.147215849654012, + 1.051003818155614 + ], + "object_minus_gripper": [ + 0.00408546624178438, + 0.004222732448051936, + -0.004447742152523748 + ], + "object_to_gripper_xy": 0.005875585395566171, + "object_to_gripper_z": -0.004447742152523748, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19110560592524894, + -0.16697013604448935, + 1.0465560760030903 + ], + "finger_b": [ + 0.18051789259321757, + -0.14299311720596006, + 1.0465560760030903 + ], + "finger_midpoint": [ + 0.18581174925923327, + -0.1549816266252247, + 1.0465560760030903 + ], + "object_minus_finger_midpoint": [ + 0.005293856666015673, + 0.011988509419264631, + 0.0 + ], + "finger_gap": 0.026210629637314388, + "fingertip_max_gap": 0.09384971638805514, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013105314818657175, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0465560760030903, + "object_top_z": 1.0925739192076918, + "finger_top_clearance": 0.04601784320460145, + "fingertip_min_top_clearance": 0.013805352961380435, + "object_projection_between_fingers": 0.8368265708475778, + "object_to_finger_line_xy": 0.009685452258562212, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049424858194027574, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.1995220471880406, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 205, + "max_stable_success_frames": 205, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19140872386180202, + -0.14531169935196647, + 1.244451422792355 + ], + "held_position": [ + 0.1956701910547038, + -0.1411631551726123, + 1.2400999086483884 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007369273830532692, + "max_held_gripper_dist": 0.007370472073449112, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004351514143966728, + "max_held_gripper_z_dist": 0.004457195452001628, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08571853276203566, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.1956701910547038, + -0.16567645943357434, + 1.2400999086483884 + ], + "held_grasp_finger_b": [ + 0.18656576588561302, + -0.1411631551726123, + 1.2400999086483884 + ], + "held_grasp_midpoint": [ + 0.1911179784701584, + -0.15341980730309332, + 1.2400999086483884 + ], + "held_grasp_object_position": [ + 0.1956701910547038, + -0.1411631551726123, + 1.2400999086483884 + ], + "held_grasp_finger_gap": 0.026149429122833127, + "held_grasp_max_gap": 0.12496588140726089, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024353143588130684, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.016212273319311504, + -0.9994877376203077, + -0.02759392216519796 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0043661042048235565, + "held_grasp_line_xy_max_dist": 0.04748294070363045, + "held_grasp_object_top_z": 0.04520068317651749, + "held_grasp_top_clearance": 0.032876507953195626, + "held_grasp_min_top_clearance": 0.013560204952955245 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3381651163851319, + -0.34965301885374056, + 0.8470194302974372 + ], + "target_position": [ + 0.33127056721903736, + -0.3517105186182578, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007195006149037236, + "xy_threshold": 0.08, + "gripper_dist": 0.18902530765207204, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470194302974372, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07566410946017942, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08762627589032916, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15705106859627566, + "release_required_pad_clearance": 0.05381313794516458, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.635196554494342, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 156, + "max_placed_release_frames": 156 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008326292037963867, + "max_z_decrease": 0.008326292037963867, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500924412318738, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008326292037963867, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021307818559878414, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008326292037963867, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008326354447676322, + "max_button_displacement": 0.12, + "button_start": [ + 0.18697048723697657, + -0.4079719781875611, + 0.7768088579177856 + ], + "button_final": [ + 0.18697048723697657, + -0.4079719781875611, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18774599712572318, + -0.40863940726246545, + 0.8034758979362684 + ], + "closest_button": [ + 0.1869459599256515, + -0.4079510569572449, + 0.7684825658798218 + ], + "closest_ee_minus_button": [ + 0.0008000372000716849, + -0.0006883503052205753, + 0.03499333205644661 + ], + "button_min_z_position": [ + 0.1869459599256515, + -0.4079510569572449, + 0.7684825658798218 + ], + "min_active_finger_to_button": 0.1451466026046814, + "closest_active_finger": [ + 0.04718281328678131, + -0.3911331295967102, + 0.8082941770553589 + ], + "closest_active_finger_button": [ + 0.18698211014270777, + -0.40797877311706543, + 0.7730817198753357 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13979929685592646, + 0.016845643520355225, + 0.03521245718002319 + ], + "min_contact_pad_to_button": 0.021307818559878414, + "closest_contact_pad": [ + 0.1869459599256515, + -0.4099549580015186, + 0.7896959463833025 + ], + "closest_contact_pad_button": [ + 0.1869459599256515, + -0.4079510569572449, + 0.7684825658798218 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002003901044273726, + 0.02121338050348076 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 37, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1cc1f26eadb9b4967306d4e8060964f1d2415f6e88cf47dd045f99176f028bab", + "visual_seed": 9123617754379447954, + "episode_index": 37, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_38_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_38_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7cefcd7b248d6e853709fb56f271375e7a6aad63 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_38_success.json @@ -0,0 +1,926 @@ +{ + "episode": 38, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.18421397068113726, + -0.1395898369898199, + 1.046515551142898 + ], + "current_z": 1.046515551142898, + "required_z": 0.8565865303469223, + "initial_z": 0.7565865303469224, + "lift_margin": 0.18992902079597573, + "gripper_z": 1.050854398004246, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18008031831879232, + -0.14388530061235022, + 1.050854398004246 + ], + "object_minus_gripper": [ + 0.004133652362344947, + 0.004295463622530332, + -0.004338846861347889 + ], + "object_to_gripper_xy": 0.005961383193957705, + "object_to_gripper_z": -0.004338846861347889, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.18421397068113726, + -0.1634782278442406, + 1.046515551142898 + ], + "finger_b": [ + 0.17334176062768966, + -0.1395898369898199, + 1.046515551142898 + ], + "finger_midpoint": [ + 0.17877786565441345, + -0.15153403241703023, + 1.046515551142898 + ], + "object_minus_finger_midpoint": [ + 0.005436105026723814, + 0.011944195427210341, + 0.0 + ], + "finger_gap": 0.026246145794380137, + "fingertip_max_gap": 0.09555094106448675, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013123072897190061, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.046515551142898, + "object_top_z": 1.0935825717724066, + "finger_top_clearance": 0.047067020629508516, + "fingertip_min_top_clearance": 0.014120106188852554, + "object_projection_between_fingers": 0.8284050134476337, + "object_to_finger_line_xy": 0.00989553305246555, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05027547053224338, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.2925239910716857, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 205, + "max_stable_success_frames": 205, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18457490299036383, + -0.14222470821783356, + 1.2427191656539414 + ], + "held_position": [ + 0.1889418421760216, + -0.1380610411484251, + 1.2384820050220393 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00737291065568073, + "max_held_gripper_dist": 0.007375108614710961, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004237160631902048, + "max_held_gripper_z_dist": 0.0043494475655174725, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08606308001556835, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.1889418421760216, + -0.16266061639830687, + 1.2384820050220393 + ], + "held_grasp_finger_b": [ + 0.17985058208626795, + -0.1380610411484251, + 1.2384820050220393 + ], + "held_grasp_midpoint": [ + 0.18439621213114477, + -0.15036082877336598, + 1.2384820050220393 + ], + "held_grasp_object_position": [ + 0.1889418421760216, + -0.1380610411484251, + 1.2384820050220393 + ], + "held_grasp_finger_gap": 0.02622575284894875, + "held_grasp_max_gap": 0.12496599316596985, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024295520884152308, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.03173833151489599, + -0.999369381830575, + -0.01592221631008028 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004157634418065321, + "held_grasp_line_xy_max_dist": 0.047482996582984924, + "held_grasp_object_top_z": 0.04520073160529137, + "held_grasp_top_clearance": 0.03276442973659846, + "held_grasp_min_top_clearance": 0.013560219481587409 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33016392581600135, + -0.3438181740328682, + 0.8470202121875448 + ], + "target_position": [ + 0.32432353291782273, + -0.34516725405963733, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0059941810219347426, + "xy_threshold": 0.08, + "gripper_dist": 0.1864217158284981, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470202121875448, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0754116394097241, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08633628135682013, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15507824769816778, + "release_required_pad_clearance": 0.05316814067841007, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.355057532859544, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008114814758300781, + "max_z_decrease": 0.008114814758300781, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035037209299812896, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008114814758300781, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021023452862598435, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008114814758300781, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00811482628353259, + "max_button_displacement": 0.12, + "button_start": [ + 0.18002346158027646, + -0.4014286994934082, + 0.7768088579177856 + ], + "button_final": [ + 0.18002346158027646, + -0.4014286994934082, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17811031155932217, + -0.40119837122304747, + 0.8036779788950231 + ], + "closest_button": [ + 0.18002936244010923, + -0.4014163613319397, + 0.7686940431594849 + ], + "closest_ee_minus_button": [ + -0.0019190508807870599, + 0.0002179901088922298, + 0.03498393573553826 + ], + "button_min_z_position": [ + 0.18002936244010923, + -0.4014163613319397, + 0.7686940431594849 + ], + "min_active_finger_to_button": 0.14737939449108164, + "closest_active_finger": [ + 0.0515417605638504, + -0.4648807644844055, + 0.8108434081077576 + ], + "closest_active_finger_button": [ + 0.1800264567136764, + -0.40143111348152155, + 0.7763976454734802 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.128484696149826, + -0.06344965100288397, + 0.034445762634277344 + ], + "min_contact_pad_to_button": 0.021023452862598435, + "closest_contact_pad": [ + 0.18002936244010923, + -0.40230447130097247, + 0.7896987290878391 + ], + "closest_contact_pad_button": [ + 0.18002936244010923, + -0.4014163613319397, + 0.7686940431594849 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0008881099690327687, + 0.02100468592835425 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 38, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a4897abece6c55c0d07d96de0528864109ce46d814b273e22553a51b36bbad74", + "visual_seed": 2331544984022747349, + "episode_index": 38, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_39_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_39_success.json new file mode 100644 index 0000000000000000000000000000000000000000..bed6a0b690784438187b18413bdbfb23d1968f64 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_39_success.json @@ -0,0 +1,926 @@ +{ + "episode": 39, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.18412517140803877, + -0.13851358521287235, + 1.047149024352269 + ], + "current_z": 1.047149024352269, + "required_z": 0.8565864910474515, + "initial_z": 0.7565864910474516, + "lift_margin": 0.19056253330481743, + "gripper_z": 1.051509057477177, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.17974051620760742, + -0.14293407614266043, + 1.051509057477177 + ], + "object_minus_gripper": [ + 0.004384655200431353, + 0.004420490929788079, + -0.004360033124908069 + ], + "object_to_gripper_xy": 0.006226230102317805, + "object_to_gripper_z": -0.004360033124908069, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.18412517140803877, + -0.16258294737564208, + 1.047149024352269 + ], + "finger_b": [ + 0.17307368218029975, + -0.13851358521287235, + 1.047149024352269 + ], + "finger_midpoint": [ + 0.17859942679416926, + -0.15054826629425722, + 1.047149024352269 + ], + "object_minus_finger_midpoint": [ + 0.00552574461386951, + 0.012034681081384863, + 0.0 + ], + "finger_gap": 0.026485271549927566, + "fingertip_max_gap": 0.09151996105707083, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013242635774963783, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.047149024352269, + "object_top_z": 1.092420034834407, + "finger_top_clearance": 0.04527101048213811, + "fingertip_min_top_clearance": 0.013581303144641399, + "object_projection_between_fingers": 0.8258863782963245, + "object_to_finger_line_xy": 0.010043404545011226, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04825998052853542, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.48307563407416, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 206, + "max_stable_success_frames": 206, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18446276654452323, + -0.14159332510936024, + 1.2455498442243198 + ], + "held_position": [ + 0.18910697288941286, + -0.13736126823649836, + 1.241284658244113 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007594127296457624, + "max_held_gripper_dist": 0.007603522351439968, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004265185980206754, + "max_held_gripper_z_dist": 0.004373032778003605, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08614218790527609, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.18910697288941286, + -0.16222214594283052, + 1.241284658244113 + ], + "held_grasp_finger_b": [ + 0.17994776851976668, + -0.13736126823649836, + 1.241284658244113 + ], + "held_grasp_midpoint": [ + 0.18452737070458977, + -0.14979170708966444, + 1.241284658244113 + ], + "held_grasp_object_position": [ + 0.18910697288941286, + -0.13736126823649836, + 1.241284658244113 + ], + "held_grasp_finger_gap": 0.026494419507023532, + "held_grasp_max_gap": 0.12496608257293701, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024395619058644676, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.04632704224163756, + -0.9983532439828273, + -0.03383201717466444 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004021248747178801, + "held_grasp_line_xy_max_dist": 0.047483041286468505, + "held_grasp_object_top_z": 0.04520075395703316, + "held_grasp_top_clearance": 0.032578625579978426, + "held_grasp_min_top_clearance": 0.013560226187109947 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3312670508146811, + -0.34315440053853413, + 0.847019636465155 + ], + "target_position": [ + 0.3232310275201278, + -0.3455122507276906, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008374791215613015, + "xy_threshold": 0.08, + "gripper_dist": 0.1894628375562582, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.847019636465155, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07560080356608366, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08637647581898077, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15764907990301738, + "release_required_pad_clearance": 0.053188237909490385, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.3993908395044896, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 156, + "max_placed_release_frames": 156 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008113443851470947, + "max_z_decrease": 0.008113443851470947, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0350480120674528, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008113443851470947, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02098755103180233, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008113443851470947, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008113471149526161, + "max_button_displacement": 0.12, + "button_start": [ + 0.17893095314502705, + -0.40177372097969055, + 0.7768088579177856 + ], + "button_final": [ + 0.17893095314502705, + -0.40177372097969055, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17710827981683835, + -0.4021979969590431, + 0.8036924795277354 + ], + "closest_button": [ + 0.17894551157951347, + -0.4017585217952728, + 0.7686954140663147 + ], + "closest_ee_minus_button": [ + -0.0018372317626751122, + -0.0004394751637702976, + 0.03499706546142067 + ], + "button_min_z_position": [ + 0.17894551157951347, + -0.4017585217952728, + 0.7686954140663147 + ], + "min_active_finger_to_button": 0.14750695733862088, + "closest_active_finger": [ + 0.036105938255786896, + -0.388480544090271, + 0.8101527690887451 + ], + "closest_active_finger_button": [ + 0.178934559226036, + -0.4017793834209442, + 0.7757808566093445 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1428286209702491, + 0.013298839330673218, + 0.034371912479400635 + ], + "min_contact_pad_to_button": 0.02098755103180233, + "closest_contact_pad": [ + 0.17894551157951347, + -0.4031574006792183, + 0.7896362936128036 + ], + "closest_contact_pad_button": [ + 0.17894551157951347, + -0.4017585217952728, + 0.7686954140663147 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0013988788839454647, + 0.020940879546488933 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 39, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "abd1451be936d0f08914d9504c5c3720627e601b9a4f46e85748e88fc5f5ee26", + "visual_seed": 2699079519159208181, + "episode_index": 39, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_3_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_3_success.json new file mode 100644 index 0000000000000000000000000000000000000000..076b84314911f11ebec2a87d4a842f02e32b2374 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_3_success.json @@ -0,0 +1,926 @@ +{ + "episode": 3, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.1887799784173566, + -0.13987904401821724, + 1.0457761719406806 + ], + "current_z": 1.0457761719406806, + "required_z": 0.8565865387345964, + "initial_z": 0.7565865387345965, + "lift_margin": 0.18918963320608417, + "gripper_z": 1.0500442133341483, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1846457482765358, + -0.14418145769690555, + 1.0500442133341483 + ], + "object_minus_gripper": [ + 0.004134230140820816, + 0.004302413678688305, + -0.004268041393467703 + ], + "object_to_gripper_xy": 0.005966793302925411, + "object_to_gripper_z": -0.004268041393467703, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1887799784173566, + -0.16374196091412768, + 1.0457761719406806 + ], + "finger_b": [ + 0.17787136918018026, + -0.13987904401821724, + 1.0457761719406806 + ], + "finger_midpoint": [ + 0.18332567379876843, + -0.15181050246617245, + 1.0457761719406806 + ], + "object_minus_finger_midpoint": [ + 0.005454304618588174, + 0.011931458447955207, + 0.0 + ], + "finger_gap": 0.026238074591527046, + "fingertip_max_gap": 0.09472357216576105, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01311903729576351, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0457761719406806, + "object_top_z": 1.092224626039084, + "finger_top_clearance": 0.04644845409840337, + "fingertip_min_top_clearance": 0.013934536229521044, + "object_projection_between_fingers": 0.8271478263903494, + "object_to_finger_line_xy": 0.0099211256820179, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04986178608288053, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.39333266196127, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 205, + "max_stable_success_frames": 205, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18935905808455894, + -0.14265372493073064, + 1.2450491604091356 + ], + "held_position": [ + 0.19376490708470415, + -0.1385357436447154, + 1.2408683477382596 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007338151665985754, + "max_held_gripper_dist": 0.007339735020181704, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004180812670876, + "max_held_gripper_z_dist": 0.004279037253011042, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08480972080780391, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.19376490708470415, + -0.16327044527004028, + 1.2408683477382596 + ], + "held_grasp_finger_b": [ + 0.18478561325911494, + -0.1385357436447154, + 1.2408683477382596 + ], + "held_grasp_midpoint": [ + 0.18927526017190954, + -0.15090309445737785, + 1.2408683477382596 + ], + "held_grasp_object_position": [ + 0.19376490708470415, + -0.1385357436447154, + 1.2408683477382596 + ], + "held_grasp_finger_gap": 0.026314125144114395, + "held_grasp_max_gap": 0.12496603041887283, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024410340062363856, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.034021958602134014, + -0.9992371688797287, + -0.019172549702618058 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004073279019599466, + "held_grasp_line_xy_max_dist": 0.047483015209436416, + "held_grasp_object_top_z": 0.04520075023174286, + "held_grasp_top_clearance": 0.03269008703775034, + "held_grasp_min_top_clearance": 0.013560225069522857 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33208956831016573, + -0.3465454903822731, + 0.8470195422245339 + ], + "target_position": [ + 0.32551443967905536, + -0.3482715394761628, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006797908648265637, + "xy_threshold": 0.08, + "gripper_dist": 0.18695069611980478, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195422245339, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07576543094043026, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08729781768934229, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15470006856234533, + "release_required_pad_clearance": 0.05364890884467115, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.3077149913196244, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008105456829071045, + "max_z_decrease": 0.008105456829071045, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502132278545407, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008105456829071045, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021108307660664488, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008105456829071045, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008105475201418107, + "max_button_displacement": 0.12, + "button_start": [ + 0.18121436238288874, + -0.4045329988002777, + 0.7768088579177856 + ], + "button_final": [ + 0.18121436238288874, + -0.4045329988002777, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18187316072656126, + -0.40511736298688417, + 0.8037135740134781 + ], + "closest_button": [ + 0.18122351169586176, + -0.40451836585998535, + 0.7687034010887146 + ], + "closest_ee_minus_button": [ + 0.0006496490306995006, + -0.0005989971268988148, + 0.035010172924763494 + ], + "button_min_z_position": [ + 0.18122351169586176, + -0.40451836585998535, + 0.7687034010887146 + ], + "min_active_finger_to_button": 0.14513316035482363, + "closest_active_finger": [ + 0.04096459597349167, + -0.3904895484447479, + 0.8082717657089233 + ], + "closest_active_finger_button": [ + 0.18122185766696924, + -0.40453869104385376, + 0.7737151980400085 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14025726169347758, + 0.014049142599105835, + 0.034556567668914795 + ], + "min_contact_pad_to_button": 0.021108307660664488, + "closest_contact_pad": [ + 0.18122351169586176, + -0.40616698365050646, + 0.7897472294399924 + ], + "closest_contact_pad_button": [ + 0.18122351169586176, + -0.40451836585998535, + 0.7687034010887146 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001648617790521112, + 0.021043828351277827 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 3, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "076a03e6b3217671c0be6284217290ae12d68199be7458d0d86b1a422109030e", + "visual_seed": 3821223741755632421, + "episode_index": 3, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_40_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_40_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d2ebf74ce0eefcce36bd7eb7c7bbe1603dd439c1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_40_success.json @@ -0,0 +1,926 @@ +{ + "episode": 40, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.1840252667534962, + -0.1440747265771996, + 1.0469375993880543 + ], + "current_z": 1.0469375993880543, + "required_z": 0.8565864994229576, + "initial_z": 0.7565864994229576, + "lift_margin": 0.1903510999650967, + "gripper_z": 1.051251952319192, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.17995063366500127, + -0.14840346820299838, + 1.051251952319192 + ], + "object_minus_gripper": [ + 0.004074633088494928, + 0.004328741625798771, + -0.004314352931137799 + ], + "object_to_gripper_xy": 0.005944799312742248, + "object_to_gripper_z": -0.004314352931137799, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1840252667534962, + -0.16778203411593323, + 1.0469375993880543 + ], + "finger_b": [ + 0.17291533640191717, + -0.1440747265771996, + 1.0469375993880543 + ], + "finger_midpoint": [ + 0.17847030157770669, + -0.15592838034656642, + 1.0469375993880543 + ], + "object_minus_finger_midpoint": [ + 0.005554965175789517, + 0.011853653769366812, + 0.0 + ], + "finger_gap": 0.026181424391217397, + "fingertip_max_gap": 0.09358820754926081, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013090712195608699, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0469375993880543, + "object_top_z": 1.0929633909487597, + "finger_top_clearance": 0.04602579156070541, + "fingertip_min_top_clearance": 0.01380773746821159, + "object_projection_between_fingers": 0.8199321696733266, + "object_to_finger_line_xy": 0.010060053709955856, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04929410377463041, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.0412687029087526, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 206, + "max_stable_success_frames": 206, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18465427407949314, + -0.14741286848910495, + 1.2443452431483604 + ], + "held_position": [ + 0.18904014842601047, + -0.1432943003683321, + 1.2401319321313495 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007345099514298638, + "max_held_gripper_dist": 0.007347859384671321, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0042133110170108345, + "max_held_gripper_z_dist": 0.004326432477567366, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08572855618402905, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.18904014842601047, + -0.16800513532812014, + 1.2401319321313495 + ], + "held_grasp_finger_b": [ + 0.18015326244807028, + -0.1432943003683321, + 1.2401319321313495 + ], + "held_grasp_midpoint": [ + 0.18459670543704038, + -0.15564971784822612, + 1.2401319321313495 + ], + "held_grasp_object_position": [ + 0.18904014842601047, + -0.1432943003683321, + 1.2401319321313495 + ], + "held_grasp_finger_gap": 0.026260276213223514, + "held_grasp_max_gap": 0.12496612727642059, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024220054131185074, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05061601470214129, + -0.9983423434556562, + -0.027396793957346066 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038276363142534186, + "held_grasp_line_xy_max_dist": 0.047483063638210296, + "held_grasp_object_top_z": 0.04520077630877495, + "held_grasp_top_clearance": 0.03264093049186674, + "held_grasp_min_top_clearance": 0.013560232892632484 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33286996696202853, + -0.3509020148709639, + 0.8470197028102127 + ], + "target_position": [ + 0.3262120954640479, + -0.3524083204399011, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006826141615190402, + "xy_threshold": 0.08, + "gripper_dist": 0.18764053776704848, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470197028102127, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07570208059143699, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08639283081676812, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15558800800190165, + "release_required_pad_clearance": 0.05319641540838406, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.4155180847616173, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008207857608795166, + "max_z_decrease": 0.008207857608795166, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035015825480232986, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008207857608795166, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021241641377026162, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008207857608795166, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00820787993817459, + "max_button_displacement": 0.12, + "button_start": [ + 0.1819120198488235, + -0.40866976976394653, + 0.7768088579177856 + ], + "button_final": [ + 0.1819120198488235, + -0.40866976976394653, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18170363620940225, + -0.4098917702913065, + 0.8035947310374627 + ], + "closest_button": [ + 0.18189421296119684, + -0.40866273641586304, + 0.7686010003089905 + ], + "closest_ee_minus_button": [ + -0.00019057675179459665, + -0.001229033875443486, + 0.03499373072847223 + ], + "button_min_z_position": [ + 0.18189421296119684, + -0.40866273641586304, + 0.7686010003089905 + ], + "min_active_finger_to_button": 0.14594630770347256, + "closest_active_finger": [ + 0.0409824401140213, + -0.39350757002830505, + 0.8078877925872803 + ], + "closest_active_finger_button": [ + 0.1819218546152114, + -0.40867605805397034, + 0.7731556296348572 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1409394145011901, + 0.015168488025665283, + 0.034732162952423096 + ], + "min_contact_pad_to_button": 0.021241641377026162, + "closest_contact_pad": [ + 0.18189421296119684, + -0.4110976460610895, + 0.7897026244978953 + ], + "closest_contact_pad_button": [ + 0.18189421296119684, + -0.40866273641586304, + 0.7686010003089905 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0024349096452264685, + 0.02110162418890482 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 40, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "adf3f602a2cf567c8635a370cd29a7ddcf4d88ec72e9242f856fab2a6e829bca", + "visual_seed": 1304760121971751709, + "episode_index": 40, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_41_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_41_success.json new file mode 100644 index 0000000000000000000000000000000000000000..abf6c868a53795d160e80bd2ba4702eaa4d4b440 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_41_success.json @@ -0,0 +1,926 @@ +{ + "episode": 41, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.19176807725093964, + -0.14138207792177798, + 1.0456450116672855 + ], + "current_z": 1.0456450116672855, + "required_z": 0.8565866150423033, + "initial_z": 0.7565866150423033, + "lift_margin": 0.18905839662498225, + "gripper_z": 1.0500652065039515, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18765887993854585, + -0.14569945787341282, + 1.0500652065039515 + ], + "object_minus_gripper": [ + 0.004109197312393786, + 0.0043173799516348366, + -0.004420194836666003 + ], + "object_to_gripper_xy": 0.005960308062421165, + "object_to_gripper_z": -0.004420194836666003, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19176807725093964, + -0.16516393309957672, + 1.0456450116672855 + ], + "finger_b": [ + 0.18075874800816988, + -0.14138207792177798, + 1.0456450116672855 + ], + "finger_midpoint": [ + 0.18626341262955476, + -0.15327300551067735, + 1.0456450116672855 + ], + "object_minus_finger_midpoint": [ + 0.0055046646213848804, + 0.01189092758889937, + 0.0 + ], + "finger_gap": 0.026206525257528857, + "fingertip_max_gap": 0.09473317747847051, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013103262628764429, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0456450116672855, + "object_top_z": 1.0918396213856087, + "finger_top_clearance": 0.04619460971832323, + "fingertip_min_top_clearance": 0.013858382915496969, + "object_projection_between_fingers": 0.8235170165159315, + "object_to_finger_line_xy": 0.009990728304624677, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04986658873923526, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.8278364924164103, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 205, + "max_stable_success_frames": 205, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19239339390427418, + -0.1441549418675569, + 1.2432093245872846 + ], + "held_position": [ + 0.19676988431670808, + -0.14000758885179052, + 1.2388849185187951 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0074198849864874, + "max_held_gripper_dist": 0.007420929711118151, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004324406068489495, + "max_held_gripper_z_dist": 0.004433008949051853, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08497518662531361, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.19676988431670808, + -0.16466050074107957, + 1.2388849185187951 + ], + "held_grasp_finger_b": [ + 0.18778812343262577, + -0.14000758885179052, + 1.2388849185187951 + ], + "held_grasp_midpoint": [ + 0.19227900387466693, + -0.15233404479643503, + 1.2388849185187951 + ], + "held_grasp_object_position": [ + 0.19676988431670808, + -0.14000758885179052, + 1.2388849185187951 + ], + "held_grasp_finger_gap": 0.026238103841548475, + "held_grasp_max_gap": 0.12496582925319671, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02438567850344051, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0277612240018891, + -0.9992743774003465, + -0.02607744452715388 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004159517088902327, + "held_grasp_line_xy_max_dist": 0.04748291462659836, + "held_grasp_object_top_z": 0.04520067200064659, + "held_grasp_top_clearance": 0.032758488073091924, + "held_grasp_min_top_clearance": 0.013560201600193977 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33405823695511094, + -0.3459323725460203, + 0.8470196015133893 + ], + "target_position": [ + 0.3271936335310548, + -0.3478345921664591, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00712328713824916, + "xy_threshold": 0.08, + "gripper_dist": 0.18552432801554217, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196015133893, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07568246272918945, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08749412732255323, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15352749974313387, + "release_required_pad_clearance": 0.053747063661276614, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.503278147375181, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008412301540374756, + "max_z_decrease": 0.008412301540374756, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035023035925749256, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008412301540374756, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02126538620643822, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008412301540374756, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008412462781619862, + "max_button_displacement": 0.12, + "button_start": [ + 0.18289355933666226, + -0.40409603714942927, + 0.7768088579177856 + ], + "button_final": [ + 0.18289355933666226, + -0.40409603714942927, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1840114894635814, + -0.40454038816931337, + 0.8037631727643118 + ], + "closest_button": [ + 0.18285813927650452, + -0.40407916903495783, + 0.7687621712684631 + ], + "closest_ee_minus_button": [ + 0.0011533501870768792, + -0.0004612191343555394, + 0.035001001495848616 + ], + "button_min_z_position": [ + 0.18284626305103302, + -0.4040742218494415, + 0.7683965563774109 + ], + "min_active_finger_to_button": 0.14479612978982664, + "closest_active_finger": [ + 0.04335439205169678, + -0.3876709043979645, + 0.8077008128166199 + ], + "closest_active_finger_button": [ + 0.18290720880031586, + -0.4041009843349457, + 0.7727582454681396 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13955281674861908, + 0.0164300799369812, + 0.034942567348480225 + ], + "min_contact_pad_to_button": 0.02126538620643822, + "closest_contact_pad": [ + 0.18284626305103302, + -0.4057852058990723, + 0.7895929990999736 + ], + "closest_contact_pad_button": [ + 0.18284626305103302, + -0.4040742218494415, + 0.7683965563774109 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001710984049630826, + 0.021196442722562714 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 41, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0956192090bdbc1c40de27cbccebd3c142286b8aaa807ae97e901456015bb821", + "visual_seed": 4654762960994409094, + "episode_index": 41, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_42_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_42_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3c5e8e11c43972b51a48818826cf923cff9bddf6 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_42_success.json @@ -0,0 +1,926 @@ +{ + "episode": 42, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.18517020523023828, + -0.13925789179712106, + 1.047451961687173 + ], + "current_z": 1.047451961687173, + "required_z": 0.8565865260987969, + "initial_z": 0.756586526098797, + "lift_margin": 0.190865435588376, + "gripper_z": 1.0519865031715254, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18104601005009593, + -0.14340677422797998, + 1.0519865031715254 + ], + "object_minus_gripper": [ + 0.004124195180142343, + 0.0041488824308589245, + -0.004534541484352506 + ], + "object_to_gripper_xy": 0.005849975325503449, + "object_to_gripper_z": -0.004534541484352506, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.18517020523023828, + -0.16333763792346645, + 1.047451961687173 + ], + "finger_b": [ + 0.1748022382031106, + -0.13925789179712106, + 1.047451961687173 + ], + "finger_midpoint": [ + 0.17998622171667444, + -0.15129776486029375, + 1.047451961687173 + ], + "object_minus_finger_midpoint": [ + 0.0051839835135638335, + 0.012039873063172696, + 0.0 + ], + "finger_gap": 0.026216958515145352, + "fingertip_max_gap": 0.10890509974538645, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013108479257572676, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.047451961687173, + "object_top_z": 1.099979700148298, + "finger_top_clearance": 0.05252773846112513, + "fingertip_min_top_clearance": 0.015758321538337554, + "object_projection_between_fingers": 0.8436050948538235, + "object_to_finger_line_xy": 0.009522768009696037, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05695254987269323, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 6.591473809610045, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 207, + "max_stable_success_frames": 207, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1847650522417986, + -0.14026021865955607, + 1.246587399226643 + ], + "held_position": [ + 0.18924808924912487, + -0.1359617517281038, + 1.2415417760397742 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00800204674528418, + "max_held_gripper_dist": 0.00800636114091221, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005045623186868742, + "max_held_gripper_z_dist": 0.005094263168857527, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08508427967125493, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.18924808924912487, + -0.1603604883881802, + 1.2415417760397742 + ], + "held_grasp_finger_b": [ + 0.17939511508665107, + -0.1359617517281038, + 1.2415417760397742 + ], + "held_grasp_midpoint": [ + 0.18432160216788795, + -0.148161120058142, + 1.2415417760397742 + ], + "held_grasp_object_position": [ + 0.18924808924912487, + -0.1359617517281038, + 1.2415417760397742 + ], + "held_grasp_finger_gap": 0.026313104158463194, + "held_grasp_max_gap": 0.12496597081422806, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024910389928459464, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.05975335422159475, + -0.9968402057878014, + 0.05233680143266749 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005681751940807462, + "held_grasp_line_xy_max_dist": 0.04748298540711403, + "held_grasp_object_top_z": 0.04520073160529137, + "held_grasp_top_clearance": 0.03333428489632815, + "held_grasp_min_top_clearance": 0.013560219481587409 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3243306263668625, + -0.3542496075438629, + 0.8470196529266155 + ], + "target_position": [ + 0.3235185440910919, + -0.35226867412035157, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0021409285020768925, + "xy_threshold": 0.08, + "gripper_dist": 0.18069851172558818, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196529266155, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07568497446194367, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09271534389055523, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1481613544486856, + "release_required_pad_clearance": 0.05635767194527762, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 8.038928809098097, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008437156677246094, + "max_z_decrease": 0.008437156677246094, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035021778517015316, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008437156677246094, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021238034929185527, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008437156677246094, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008437190069007724, + "max_button_displacement": 0.12, + "button_start": [ + 0.1792184710502625, + -0.4085301458835602, + 0.7768088579177856 + ], + "button_final": [ + 0.1792184710502625, + -0.4085301458835602, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17738996405150906, + -0.41029546475815654, + 0.803598894434026 + ], + "closest_button": [ + 0.17923730611801153, + -0.408513993024826, + 0.7686712741851807 + ], + "closest_ee_minus_button": [ + -0.001847342066502472, + -0.0017814717333305419, + 0.034927620248845326 + ], + "button_min_z_position": [ + 0.17921595275402075, + -0.40850654244422907, + 0.7683717012405396 + ], + "min_active_finger_to_button": 0.14747112583005406, + "closest_active_finger": [ + 0.036705054342746735, + -0.3932493329048157, + 0.8073943257331848 + ], + "closest_active_finger_button": [ + 0.17922708392143255, + -0.4085402190685272, + 0.772733211517334 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14252202957868582, + 0.015290886163711548, + 0.03466111421585083 + ], + "min_contact_pad_to_button": 0.021238034929185527, + "closest_contact_pad": [ + 0.17923730611801153, + -0.4115648319624026, + 0.789689040703778 + ], + "closest_contact_pad_button": [ + 0.17923730611801153, + -0.408513993024826, + 0.7686712741851807 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0030508389375766276, + 0.021017766518597325 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 42, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ab99847602291c1690654f02c7a5c59240ba22016dd2ab04bb34a423ea95f21b", + "visual_seed": 4302898079537396666, + "episode_index": 42, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_43_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_43_success.json new file mode 100644 index 0000000000000000000000000000000000000000..dd1a4d00633ffa4edfbdaf732ccf00ebb880c36b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_43_success.json @@ -0,0 +1,926 @@ +{ + "episode": 43, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.1897216518328178, + -0.14531986942560884, + 1.0471397189075737 + ], + "current_z": 1.0471397189075737, + "required_z": 0.8565865353151699, + "initial_z": 0.75658653531517, + "lift_margin": 0.1905531835924038, + "gripper_z": 1.0512689953260133, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18549568281177597, + -0.14962830488982704, + 1.0512689953260133 + ], + "object_minus_gripper": [ + 0.004225969021041831, + 0.004308435464218191, + -0.00412927641843952 + ], + "object_to_gripper_xy": 0.006035017010426588, + "object_to_gripper_z": -0.00412927641843952, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1897216518328178, + -0.16937751576074084, + 1.0471397189075737 + ], + "finger_b": [ + 0.1789752711222825, + -0.14531986942560884, + 1.0471397189075737 + ], + "finger_midpoint": [ + 0.18434846147755016, + -0.15734869259317485, + 1.0471397189075737 + ], + "object_minus_finger_midpoint": [ + 0.0053731903552676485, + 0.01202882316756601, + 0.0 + ], + "finger_gap": 0.02634871999855126, + "fingertip_max_gap": 0.09169001674198607, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013174359999275641, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0471397189075737, + "object_top_z": 1.0925395083089788, + "finger_top_clearance": 0.0453997894014051, + "fingertip_min_top_clearance": 0.013619936820421563, + "object_projection_between_fingers": 0.8336566667912784, + "object_to_finger_line_xy": 0.00981196151201871, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04834500837099304, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.5517703950727104, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 206, + "max_stable_success_frames": 206, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19010906281616125, + -0.14830017865974382, + 1.2468780874440253 + ], + "held_position": [ + 0.19457430969052636, + -0.14415096668704952, + 1.242834883892474 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007314498246814561, + "max_held_gripper_dist": 0.007315532371176484, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004043203551551189, + "max_held_gripper_z_dist": 0.004140606280456538, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0850979275901986, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.19457430969052636, + -0.168935597673957, + 1.242834883892474 + ], + "held_grasp_finger_b": [ + 0.18552376674897056, + -0.14415096668704952, + 1.242834883892474 + ], + "held_grasp_midpoint": [ + 0.19004903821974845, + -0.15654328218050326, + 1.242834883892474 + ], + "held_grasp_object_position": [ + 0.19457430969052636, + -0.14415096668704952, + 1.242834883892474 + ], + "held_grasp_finger_gap": 0.026385417576648654, + "held_grasp_max_gap": 0.12496601551771164, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024406637085786616, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0381652960491864, + -0.9986855866295642, + -0.034212705766152755 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004071462908198605, + "held_grasp_line_xy_max_dist": 0.04748300775885582, + "held_grasp_object_top_z": 0.04520072042942047, + "held_grasp_top_clearance": 0.03265198523575681, + "held_grasp_min_top_clearance": 0.01356021612882614 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33622001725737505, + -0.34228817205086526, + 0.8470193575604863 + ], + "target_position": [ + 0.3275919412081349, + -0.3451066297863869, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009076750537411134, + "xy_threshold": 0.08, + "gripper_dist": 0.18980901925452262, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470193575604863, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07559498751366585, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08652864816317378, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15808593019065798, + "release_required_pad_clearance": 0.05326432408158689, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.548098423644958, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 157, + "max_placed_release_frames": 157 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008382618427276611, + "max_z_decrease": 0.008382618427276611, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03504898204630257, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008382618427276611, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02119051890693114, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008382618427276611, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008382652857804884, + "max_button_displacement": 0.12, + "button_start": [ + 0.18329186737537387, + -0.40136808156967163, + 0.7768088579177856 + ], + "button_final": [ + 0.18329186737537387, + -0.40136808156967163, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1815120540266982, + -0.4031255991086175, + 0.803662361765867 + ], + "closest_button": [ + 0.18330167233943942, + -0.4013532698154449, + 0.7687039971351624 + ], + "closest_ee_minus_button": [ + -0.0017896183127412146, + -0.0017723292931726142, + 0.034958364630704675 + ], + "button_min_z_position": [ + 0.18329679965972903, + -0.40134456753730774, + 0.768426239490509 + ], + "min_active_finger_to_button": 0.14742604243868795, + "closest_active_finger": [ + 0.04055807739496231, + -0.3885215222835541, + 0.8073053359985352 + ], + "closest_active_finger_button": [ + 0.1832985281944275, + -0.4013786315917969, + 0.772746741771698 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14274045079946518, + 0.012857109308242798, + 0.03455859422683716 + ], + "min_contact_pad_to_button": 0.02119051890693114, + "closest_contact_pad": [ + 0.18329679965972903, + -0.4041704897413978, + 0.7894274836260701 + ], + "closest_contact_pad_button": [ + 0.18329679965972903, + -0.40134456753730774, + 0.768426239490509 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002825922204090059, + 0.021001244135561037 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 43, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d5cb12d8afe52cdbb96711bfa1b93b250f27a9fddd91a47b0a543bd812640d1e", + "visual_seed": 8281336938393151178, + "episode_index": 43, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_44_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_44_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1e9afc24b06c656c7c1a43fb0dae0b26d781c97f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_44_success.json @@ -0,0 +1,926 @@ +{ + "episode": 44, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.18301089894683084, + -0.13957540641804875, + 1.0442106821395505 + ], + "current_z": 1.0442106821395505, + "required_z": 0.856586554616254, + "initial_z": 0.756586554616254, + "lift_margin": 0.1876241275232965, + "gripper_z": 1.0484280252977174, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.17889375510955804, + -0.14392181799586518, + 1.0484280252977174 + ], + "object_minus_gripper": [ + 0.004117143837272796, + 0.004346411577816428, + -0.0042173431581669085 + ], + "object_to_gripper_xy": 0.005986832800452177, + "object_to_gripper_z": -0.0042173431581669085, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.18301089894683084, + -0.16338145338369212, + 1.0442106821395505 + ], + "finger_b": [ + 0.17197067570994212, + -0.13957540641804875, + 1.0442106821395505 + ], + "finger_midpoint": [ + 0.17749078732838647, + -0.15147842990087043, + 1.0442106821395505 + ], + "object_minus_finger_midpoint": [ + 0.005520111618444373, + 0.011903023482821684, + 0.0 + ], + "finger_gap": 0.026241463397660494, + "fingertip_max_gap": 0.09211562300470472, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013120731698830252, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0442106821395505, + "object_top_z": 1.089669881692208, + "finger_top_clearance": 0.045459199552657426, + "fingertip_min_top_clearance": 0.013637759865797194, + "object_projection_between_fingers": 0.822997414955379, + "object_to_finger_line_xy": 0.010015602746910518, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04855781150235236, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.8952489653873663, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 203, + "max_stable_success_frames": 203, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18350594348059449, + -0.142675481249526, + 1.242229429505608 + ], + "held_position": [ + 0.18791913096775367, + -0.13853931045297715, + 1.2381032994861128 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007321822286345237, + "max_held_gripper_dist": 0.007325720870957722, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004126130019495244, + "max_held_gripper_z_dist": 0.004231991160989379, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08490770769662874, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.18791913096775367, + -0.16329987922997213, + 1.2381032994861128 + ], + "held_grasp_finger_b": [ + 0.17893690872000928, + -0.13853931045297715, + 1.2381032994861128 + ], + "held_grasp_midpoint": [ + 0.18342801984388146, + -0.15091959484147466, + 1.2381032994861128 + ], + "held_grasp_object_position": [ + 0.18791913096775367, + -0.13853931045297715, + 1.2381032994861128 + ], + "held_grasp_finger_gap": 0.026339439680224272, + "held_grasp_max_gap": 0.1249661049246788, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024293995757967958, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.047067923387506656, + -0.9982311201808368, + -0.036321361352508845 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003929674513955592, + "held_grasp_line_xy_max_dist": 0.0474830524623394, + "held_grasp_object_top_z": 0.04520077258348465, + "held_grasp_top_clearance": 0.03263100015589428, + "held_grasp_min_top_clearance": 0.013560231775045395 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3313856599322721, + -0.34244489520305077, + 0.8470195549770831 + ], + "target_position": [ + 0.3222210018302919, + -0.34558338106224423, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009687159109591859, + "xy_threshold": 0.08, + "gripper_dist": 0.18795229742431951, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195549770831, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07546645944642902, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0855018862792095, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15671321519793216, + "release_required_pad_clearance": 0.05275094313960475, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5524912484526587, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008097410202026367, + "max_z_decrease": 0.008097410202026367, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03506530719504727, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008097410202026367, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021035003657465356, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008097410202026367, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008097422880101903, + "max_button_displacement": 0.12, + "button_start": [ + 0.1779209226369857, + -0.40184482932090754, + 0.7768088579177856 + ], + "button_final": [ + 0.1779209226369857, + -0.40184482932090754, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17764821931720987, + -0.4006630059885159, + 0.8037560896577587 + ], + "closest_button": [ + 0.17792950570583335, + -0.4018333554267883, + 0.7687114477157593 + ], + "closest_ee_minus_button": [ + -0.0002812863886234862, + 0.0011703494382723778, + 0.03504464194199941 + ], + "button_min_z_position": [ + 0.17792950570583335, + -0.4018333554267883, + 0.7687114477157593 + ], + "min_active_finger_to_button": 0.14552224738843703, + "closest_active_finger": [ + 0.051370538771152496, + -0.4649234414100647, + 0.8108341097831726 + ], + "closest_active_finger_button": [ + 0.17792385816574086, + -0.4018472433090209, + 0.7764484286308289 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12655331939458836, + -0.06307619810104381, + 0.03438568115234375 + ], + "min_contact_pad_to_button": 0.021035003657465356, + "closest_contact_pad": [ + 0.17792950570583335, + -0.4018333554267883, + 0.7897464513732246 + ], + "closest_contact_pad_button": [ + 0.17792950570583335, + -0.4018333554267883, + 0.7687114477157593 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021035003657465356 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 44, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5dde55377dff1a83969ea0c95fd5f53bd900f5803afd4dd85ca9a97ea7047838", + "visual_seed": 7632359497395663329, + "episode_index": 44, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_45_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_45_success.json new file mode 100644 index 0000000000000000000000000000000000000000..af3ef23b738c0054b7ca4763b32f4c500d5d083b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_45_success.json @@ -0,0 +1,926 @@ +{ + "episode": 45, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.186160106592267, + -0.13955569816997063, + 1.04519540249341 + ], + "current_z": 1.04519540249341, + "required_z": 0.8565865942926633, + "initial_z": 0.7565865942926633, + "lift_margin": 0.18860880820074677, + "gripper_z": 1.049431367943636, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.181957620825188, + -0.14376682431694984, + 1.049431367943636 + ], + "object_minus_gripper": [ + 0.004202485767079017, + 0.004211126146979216, + -0.004235965450225976 + ], + "object_to_gripper_xy": 0.005949325175872784, + "object_to_gripper_z": -0.004235965450225976, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.186160106592267, + -0.1637857328081213, + 1.04519540249341 + ], + "finger_b": [ + 0.17582526247436892, + -0.13955569816997063, + 1.04519540249341 + ], + "finger_midpoint": [ + 0.18099268453331796, + -0.15167071548904598, + 1.04519540249341 + ], + "object_minus_finger_midpoint": [ + 0.005167422058949045, + 0.012115017319075355, + 0.0 + ], + "finger_gap": 0.026342049683106186, + "fingertip_max_gap": 0.0942764878508304, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013171024841553105, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.04519540249341, + "object_top_z": 1.0917318586748452, + "finger_top_clearance": 0.046536456181435204, + "fingertip_min_top_clearance": 0.013960936854430594, + "object_projection_between_fingers": 0.8460751525316357, + "object_to_finger_line_xy": 0.009506231822087687, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0496382439254152, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.7982520566118465, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 205, + "max_stable_success_frames": 205, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18608734132127866, + -0.14140599180438815, + 1.2444549832709875 + ], + "held_position": [ + 0.19040070227819325, + -0.13722539628476302, + 1.240302672515686 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007302338409847681, + "max_held_gripper_dist": 0.0073073832094327, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004152310755301425, + "max_held_gripper_z_dist": 0.004243358073776404, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08578490893464723, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.19040070227819325, + -0.16173769863503315, + 1.240302672515686 + ], + "held_grasp_finger_b": [ + 0.18103046269055137, + -0.13722539628476302, + 1.240302672515686 + ], + "held_grasp_midpoint": [ + 0.1857155824843723, + -0.14948154745989808, + 1.240302672515686 + ], + "held_grasp_object_position": [ + 0.19040070227819325, + -0.13722539628476302, + 1.240302672515686 + ], + "held_grasp_finger_gap": 0.0262422246854353, + "held_grasp_max_gap": 0.12496600806713104, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024453839432173694, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.005889242360563275, + -0.9998662179447115, + -0.015259850502451041 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004616657551808585, + "held_grasp_line_xy_max_dist": 0.04748300403356552, + "held_grasp_object_top_z": 0.045200739055871964, + "held_grasp_top_clearance": 0.03291863572787695, + "held_grasp_min_top_clearance": 0.013560221716761588 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3348672937657441, + -0.35055231955837307, + 0.8470198288016182 + ], + "target_position": [ + 0.3286714507371619, + -0.3520337568561648, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006370488780471926, + "xy_threshold": 0.08, + "gripper_dist": 0.18473605676551655, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470198288016182, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07515037669822958, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08624084636474282, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1541870935087557, + "release_required_pad_clearance": 0.05312042318237141, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.2666942281019278, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008303284645080566, + "max_z_decrease": 0.008303284645080566, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03506711747591359, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008303284645080566, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02111644252627709, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008303284645080566, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008303315485996384, + "max_button_displacement": 0.12, + "button_start": [ + 0.18437138199806213, + -0.408295214176178, + 0.7768088579177856 + ], + "button_final": [ + 0.18437138199806213, + -0.408295214176178, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18562618870129796, + -0.4066044425520069, + 0.8035091755373361 + ], + "closest_button": [ + 0.1843511164188385, + -0.40828514099121094, + 0.7685055732727051 + ], + "closest_ee_minus_button": [ + 0.0012750722824594607, + 0.0016806984392040425, + 0.03500360226463106 + ], + "button_min_z_position": [ + 0.1843511164188385, + -0.40828514099121094, + 0.7685055732727051 + ], + "min_active_finger_to_button": 0.1440911067936601, + "closest_active_finger": [ + 0.05908174067735672, + -0.4704270362854004, + 0.8077360391616821 + ], + "closest_active_finger_button": [ + 0.1843828409910202, + -0.40830188989639277, + 0.7730611562728882 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12530110031366348, + -0.062125146389007624, + 0.034674882888793945 + ], + "min_contact_pad_to_button": 0.02111644252627709, + "closest_contact_pad": [ + 0.1843511164188385, + -0.40828514099121094, + 0.7896220157989822 + ], + "closest_contact_pad_button": [ + 0.1843511164188385, + -0.40828514099121094, + 0.7685055732727051 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02111644252627709 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 45, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ee0b3a9d1b9f1c65c075d5989878f06cec171d0b55e8d3f3759f734c376f227d", + "visual_seed": 5923496306176634092, + "episode_index": 45, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_46_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_46_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d3ed8e98e842751dcc6a187342e5f5a6778a8d3a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_46_success.json @@ -0,0 +1,926 @@ +{ + "episode": 46, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.1849216161496795, + -0.149614115132823, + 1.0460906809505464 + ], + "current_z": 1.0460906809505464, + "required_z": 0.8565866174390252, + "initial_z": 0.7565866174390252, + "lift_margin": 0.18950406351152116, + "gripper_z": 1.050484523799438, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18073664372774265, + -0.15383362450426688, + 1.050484523799438 + ], + "object_minus_gripper": [ + 0.004184972421936856, + 0.004219509371443886, + -0.00439384284889166 + ], + "object_to_gripper_xy": 0.0059429162460928895, + "object_to_gripper_z": -0.00439384284889166, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1849216161496795, + -0.17382743437464682, + 1.0460906809505464 + ], + "finger_b": [ + 0.17454817554032426, + -0.149614115132823, + 1.0460906809505464 + ], + "finger_midpoint": [ + 0.17973489584500188, + -0.16172077475373492, + 1.0460906809505464 + ], + "object_minus_finger_midpoint": [ + 0.005186720304677622, + 0.012106659620911925, + 0.0 + ], + "finger_gap": 0.026341850709133863, + "fingertip_max_gap": 0.0943025175586023, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013170925354566945, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0460906809505464, + "object_top_z": 1.0924388738767847, + "finger_top_clearance": 0.046348192926238374, + "fingertip_min_top_clearance": 0.013904457877871545, + "object_projection_between_fingers": 0.8449209679925325, + "object_to_finger_line_xy": 0.009535223317597976, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049651258779301155, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.0572923790043802, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 205, + "max_stable_success_frames": 205, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1849637244869176, + -0.1522983655227618, + 1.2456717536550819 + ], + "held_position": [ + 0.18932852035372844, + -0.14811855956185133, + 1.2413514100464005 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007428835018148246, + "max_held_gripper_dist": 0.007432866675803552, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004320343608681387, + "max_held_gripper_z_dist": 0.004414043526824951, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08604959713796025, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.18932852035372844, + -0.17278763200310482, + 1.2413514100464005 + ], + "held_grasp_finger_b": [ + 0.18012467517706726, + -0.14811855956185133, + 1.2413514100464005 + ], + "held_grasp_midpoint": [ + 0.18472659776539785, + -0.16045309578247807, + 1.2413514100464005 + ], + "held_grasp_object_position": [ + 0.18932852035372844, + -0.14811855956185133, + 1.2413514100464005 + ], + "held_grasp_finger_gap": 0.026330094970352113, + "held_grasp_max_gap": 0.12496611982584, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024583909365647697, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.008779706712602394, + -0.9998234220464963, + -0.01661449599820419 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004498137626907208, + "held_grasp_line_xy_max_dist": 0.04748305991292, + "held_grasp_object_top_z": 0.045200783759355545, + "held_grasp_top_clearance": 0.03282802201525241, + "held_grasp_min_top_clearance": 0.013560235127806663 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.32960052615365276, + -0.3423533193513557, + 0.8470195850725126 + ], + "target_position": [ + 0.322383235097829, + -0.3445671034801812, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007549180773667642, + "xy_threshold": 0.08, + "gripper_dist": 0.1874637078864027, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195850725126, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07533995061545584, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08723023054215677, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1564688714164733, + "release_required_pad_clearance": 0.05361511527107839, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.2402493029163657, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008142709732055664, + "max_z_decrease": 0.008142709732055664, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03503321652122439, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008142709732055664, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021278561835954175, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008142709732055664, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008142717826415478, + "max_button_displacement": 0.12, + "button_start": [ + 0.1780831664800643, + -0.4008285701274871, + 0.7768088579177856 + ], + "button_final": [ + 0.1780831664800643, + -0.4008285701274871, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17902624867589068, + -0.4020609338798556, + 0.8037360325809115 + ], + "closest_button": [ + 0.17807954549789418, + -0.40082135796546936, + 0.7687375545501709 + ], + "closest_ee_minus_button": [ + 0.0009467031779964996, + -0.0012395759143862262, + 0.03499847803074063 + ], + "button_min_z_position": [ + 0.1780768632888793, + -0.40081897377967834, + 0.76866614818573 + ], + "min_active_finger_to_button": 0.14483749993583026, + "closest_active_finger": [ + 0.03838086128234863, + -0.3850249648094177, + 0.8077637553215027 + ], + "closest_active_finger_button": [ + 0.17809429764747614, + -0.4008344709873199, + 0.7730057835578918 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1397134363651275, + 0.015809506177902166, + 0.03475797176361084 + ], + "min_contact_pad_to_button": 0.021278561835954175, + "closest_contact_pad": [ + 0.1780768632888793, + -0.4033314638419183, + 0.789795856832412 + ], + "closest_contact_pad_button": [ + 0.1780768632888793, + -0.40081897377967834, + 0.76866614818573 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0025124900622399693, + 0.021129708646682066 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 46, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "180fc9bde4ed77bc43e0e5ab892eeb96e8375800ff9b0b77b222a0b190fd3bdc", + "visual_seed": 8841643459875669409, + "episode_index": 46, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_47_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_47_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ea7573f9d3bcfefc8b1b126fae5d65142e220ea1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_47_success.json @@ -0,0 +1,926 @@ +{ + "episode": 47, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.19101980787185557, + -0.14745275139201644, + 1.0461784736983568 + ], + "current_z": 1.0461784736983568, + "required_z": 0.8565865309066919, + "initial_z": 0.7565865309066919, + "lift_margin": 0.1895919427916649, + "gripper_z": 1.0502708026737309, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18696840851840205, + -0.15172893504971363, + 1.0502708026737309 + ], + "object_minus_gripper": [ + 0.0040513993534535275, + 0.004276183657697191, + -0.004092328975374038 + ], + "object_to_gripper_xy": 0.005890635228523337, + "object_to_gripper_z": -0.004092328975374038, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19101980787185557, + -0.1712342401221854, + 1.0461784736983568 + ], + "finger_b": [ + 0.18011417491023574, + -0.14745275139201644, + 1.0461784736983568 + ], + "finger_midpoint": [ + 0.18556699139104565, + -0.15934349575710094, + 1.0461784736983568 + ], + "object_minus_finger_midpoint": [ + 0.005452816480809919, + 0.011890744365084499, + 0.0 + ], + "finger_gap": 0.026162798713377795, + "fingertip_max_gap": 0.09332355773747802, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013081399356688912, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0461784736983568, + "object_top_z": 1.092203460045896, + "finger_top_clearance": 0.046024986347539265, + "fingertip_min_top_clearance": 0.01380749590426178, + "object_projection_between_fingers": 0.8262465829422935, + "object_to_finger_line_xy": 0.009913013902427324, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049161778868739014, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.7217883431134575, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 205, + "max_stable_success_frames": 205, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19172249325334986, + -0.1506848117725778, + 1.2455278856032954 + ], + "held_position": [ + 0.19606607472874166, + -0.1466220909878707, + 1.2415214834227895 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007171029119995313, + "max_held_gripper_dist": 0.007173754484642444, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0040064021805059635, + "max_held_gripper_z_dist": 0.004105686418876431, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08550271123000786, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.19606607472874166, + -0.1713732593133492, + 1.2415214834227895 + ], + "held_grasp_finger_b": [ + 0.18725127772476935, + -0.1466220909878707, + 1.2415214834227895 + ], + "held_grasp_midpoint": [ + 0.1916586762267555, + -0.15899767515060997, + 1.2415214834227895 + ], + "held_grasp_object_position": [ + 0.19606607472874166, + -0.1466220909878707, + 1.2415214834227895 + ], + "held_grasp_finger_gap": 0.026273960106870248, + "held_grasp_max_gap": 0.12496599316596985, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024260475160122023, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.051222519271455734, + -0.9984171633665389, + -0.02322544756510547 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0037788515480018975, + "held_grasp_line_xy_max_dist": 0.047482996582984924, + "held_grasp_object_top_z": 0.045200757682323456, + "held_grasp_top_clearance": 0.0326190039928525, + "held_grasp_min_top_clearance": 0.013560227304697036 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33443608765881366, + -0.3481512138653485, + 0.8470193541858472 + ], + "target_position": [ + 0.3275802119124397, + -0.349977325009472, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007094907621696773, + "xy_threshold": 0.08, + "gripper_dist": 0.18676697251973692, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470193541858472, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07587241449890743, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08687893707900095, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15443051849905012, + "release_required_pad_clearance": 0.053439468539500476, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.8921069445322052, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00807410478591919, + "max_z_decrease": 0.00807410478591919, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501064114978881, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00807410478591919, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021204733675728858, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00807410478591919, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008074131434017097, + "max_button_displacement": 0.12, + "button_start": [ + 0.18328014016151423, + -0.4062387943267822, + 0.7768088579177856 + ], + "button_final": [ + 0.18328014016151423, + -0.4062387943267822, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18247787212876368, + -0.40561076893513875, + 0.8074966690835558 + ], + "closest_button": [ + 0.18326915800571436, + -0.4062403738498688, + 0.7725006341934204 + ], + "closest_ee_minus_button": [ + -0.0007912858769506814, + 0.0006296049147300198, + 0.034996034890135364 + ], + "button_min_z_position": [ + 0.1832593977451324, + -0.40623906254768366, + 0.7687347531318665 + ], + "min_active_finger_to_button": 0.14673221878417542, + "closest_active_finger": [ + 0.05447959154844284, + -0.46724963188171387, + 0.8080979585647583 + ], + "closest_active_finger_button": [ + 0.1832930296659469, + -0.4062439799308777, + 0.7732303142547607 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12881343811750406, + -0.06100565195083618, + 0.03486764430999756 + ], + "min_contact_pad_to_button": 0.021204733675728858, + "closest_contact_pad": [ + 0.1832593977451324, + -0.40693784624317864, + 0.7899279697731765 + ], + "closest_contact_pad_button": [ + 0.1832593977451324, + -0.40623906254768366, + 0.7687347531318665 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0006987836954949755, + 0.02119321664131002 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 47, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "2dcdf722e1e77fb90fc3401f6aca9532e27115f80fe32b638463369a8e47acdf", + "visual_seed": 5094412806187831548, + "episode_index": 47, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_48_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_48_success.json new file mode 100644 index 0000000000000000000000000000000000000000..27e13ac875d657ae939b1a4cb9ebd3933238c9a5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_48_success.json @@ -0,0 +1,926 @@ +{ + "episode": 48, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.18401844801971742, + -0.1491183774773712, + 1.0438054806116355 + ], + "current_z": 1.0438054806116355, + "required_z": 0.8565864913713456, + "initial_z": 0.7565864913713456, + "lift_margin": 0.1872189892402899, + "gripper_z": 1.0481781154931917, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.17972308785824892, + -0.15338480555957495, + 1.0481781154931917 + ], + "object_minus_gripper": [ + 0.004295360161468503, + 0.00426642808220376, + -0.004372634881556259 + ], + "object_to_gripper_xy": 0.006054133092140243, + "object_to_gripper_z": -0.004372634881556259, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.18401844801971742, + -0.1733324603023556, + 1.0438054806116355 + ], + "finger_b": [ + 0.17347194356893664, + -0.1491183774773712, + 1.0438054806116355 + ], + "finger_midpoint": [ + 0.17874519579432702, + -0.16122541888986341, + 1.0438054806116355 + ], + "object_minus_finger_midpoint": [ + 0.005273252225390407, + 0.01210704141249222, + 0.0 + ], + "finger_gap": 0.026411182540460848, + "fingertip_max_gap": 0.09528892285707313, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013205591270230443, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0438054806116355, + "object_top_z": 1.0907432299875368, + "finger_top_clearance": 0.04693774937590134, + "fingertip_min_top_clearance": 0.014081324812770368, + "object_projection_between_fingers": 0.840543808577282, + "object_to_finger_line_xy": 0.00966915933786948, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05014446142853657, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.1941381404638416, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 203, + "max_stable_success_frames": 203, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1839225116724539, + -0.15180440295694714, + 1.2442512448073995 + ], + "held_position": [ + 0.18837854609612995, + -0.14762438684856713, + 1.2399658946810153 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007462774494583316, + "max_held_gripper_dist": 0.007469407732337359, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004285350126384202, + "max_held_gripper_z_dist": 0.0043808781747565195, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08583659144619052, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.18837854609612995, + -0.17229614820085226, + 1.2399658946810153 + ], + "held_grasp_finger_b": [ + 0.17909412502883998, + -0.14762438684856713, + 1.2399658946810153 + ], + "held_grasp_midpoint": [ + 0.18373633556248498, + -0.1599602675247097, + 1.2399658946810153 + ], + "held_grasp_object_position": [ + 0.18837854609612995, + -0.14762438684856713, + 1.2399658946810153 + ], + "held_grasp_finger_gap": 0.026360885470310895, + "held_grasp_max_gap": 0.1249660900235176, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02454771520029591, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.01299392016512483, + -0.9998619828632082, + -0.01035245205716939 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004483355272333569, + "held_grasp_line_xy_max_dist": 0.047483045011758804, + "held_grasp_object_top_z": 0.04520074650645256, + "held_grasp_top_clearance": 0.03280624788017683, + "held_grasp_min_top_clearance": 0.013560223951935768 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3288900073075266, + -0.349235751275499, + 0.8470197228247636 + ], + "target_position": [ + 0.32240635628940567, + -0.35090429693440134, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006694906656602645, + "xy_threshold": 0.08, + "gripper_dist": 0.18591616482903123, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470197228247636, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07567401142428172, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08808345584366993, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15390472036003724, + "release_required_pad_clearance": 0.05404172792183497, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.0947502533659286, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008292138576507568, + "max_z_decrease": 0.008292138576507568, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501799849847825, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008292138576507568, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020920239823615572, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008292138576507568, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008292249575914208, + "max_button_displacement": 0.12, + "button_start": [ + 0.1781062781810761, + -0.407165765762329, + 0.7768088579177856 + ], + "button_final": [ + 0.1781062781810761, + -0.407165765762329, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17709455045712413, + -0.4059807091178656, + 0.8036330812144685 + ], + "closest_button": [ + 0.17813938856124883, + -0.40715071558952326, + 0.768650233745575 + ], + "closest_ee_minus_button": [ + -0.0010448381041247012, + 0.0011700064716576586, + 0.034982847468893574 + ], + "button_min_z_position": [ + 0.1781454682350159, + -0.40714830160140986, + 0.7685167193412781 + ], + "min_active_finger_to_button": 0.14613725631969243, + "closest_active_finger": [ + 0.05120236426591873, + -0.47101128101348877, + 0.8105063438415527 + ], + "closest_active_finger_button": [ + 0.1781086623668671, + -0.40716868638992304, + 0.7762278914451599 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12690629810094836, + -0.06384259462356573, + 0.03427845239639282 + ], + "min_contact_pad_to_button": 0.020920239823615572, + "closest_contact_pad": [ + 0.1781454682350159, + -0.40714830160140986, + 0.7894369591648936 + ], + "closest_contact_pad_button": [ + 0.1781454682350159, + -0.40714830160140986, + 0.7685167193412781 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.020920239823615572 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 48, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c6f33b5592e2cbdf60839aace9d8f2e7d816497c4f5dabf6631efd0f851bc6d2", + "visual_seed": 1552057735715883870, + "episode_index": 48, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_49_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_49_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f135e4579992767bd2362fbcd2678a0210d0b52e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_49_success.json @@ -0,0 +1,926 @@ +{ + "episode": 49, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.18997541394533637, + -0.14503368381891119, + 1.043758439571514 + ], + "current_z": 1.043758439571514, + "required_z": 0.8565865305206851, + "initial_z": 0.7565865305206851, + "lift_margin": 0.18717190905082892, + "gripper_z": 1.0480738852172191, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18597298037041812, + -0.14927263076877456, + 1.0480738852172191 + ], + "object_minus_gripper": [ + 0.004002433574918252, + 0.004238946949863376, + -0.004315445645705074 + ], + "object_to_gripper_xy": 0.005829935313996967, + "object_to_gripper_z": -0.004315445645705074, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.18997541394533637, + -0.16878607693811887, + 1.043758439571514 + ], + "finger_b": [ + 0.17913406047946348, + -0.14503368381891119, + 1.043758439571514 + ], + "finger_midpoint": [ + 0.18455473721239993, + -0.15690988037851503, + 1.043758439571514 + ], + "object_minus_finger_midpoint": [ + 0.005420676732936447, + 0.011876196559603841, + 0.0 + ], + "finger_gap": 0.02610959830907742, + "fingertip_max_gap": 0.09473498106991521, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01305479915453871, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.043758439571514, + "object_top_z": 1.0900683530791455, + "finger_top_clearance": 0.04630991350763147, + "fingertip_min_top_clearance": 0.013892974052289475, + "object_projection_between_fingers": 0.8275883422493571, + "object_to_finger_line_xy": 0.009862583346453508, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049867490534957606, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.636269949368086, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 203, + "max_stable_success_frames": 203, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19058935696856205, + -0.14797936052528948, + 1.2416066661496692 + ], + "held_position": [ + 0.1948531614817941, + -0.14390221869233588, + 1.237387120103384 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007253115419583499, + "max_held_gripper_dist": 0.00725523495955267, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004219546046285272, + "max_held_gripper_z_dist": 0.004326864676192477, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08628899216704752, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.1948531614817941, + -0.1685130655206821, + 1.237387120103384 + ], + "held_grasp_finger_b": [ + 0.18600325369786513, + -0.14390221869233588, + 1.237387120103384 + ], + "held_grasp_midpoint": [ + 0.19042820758982962, + -0.156207642106509, + 1.237387120103384 + ], + "held_grasp_object_position": [ + 0.1948531614817941, + -0.14390221869233588, + 1.237387120103384 + ], + "held_grasp_finger_gap": 0.026153673726502853, + "held_grasp_max_gap": 0.12496599316596985, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024324518103306048, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.03026076772778919, + -0.9992473350751586, + -0.02427033748670081 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004061670829091032, + "held_grasp_line_xy_max_dist": 0.047482996582984924, + "held_grasp_object_top_z": 0.045200712978839874, + "held_grasp_top_clearance": 0.03277064892332501, + "held_grasp_min_top_clearance": 0.013560213893651961 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3316000972933755, + -0.34287769259604706, + 0.8470195197314749 + ], + "target_position": [ + 0.3251458239584927, + -0.34451917191890963, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006659737130605418, + "xy_threshold": 0.08, + "gripper_dist": 0.18496403942372264, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195197314749, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07560650802729542, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08723624691137775, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15316730189511213, + "release_required_pad_clearance": 0.05361812345568888, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.246529621878227, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008283019065856934, + "max_z_decrease": 0.008283019065856934, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0350408696446196, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008283019065856934, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021027485894433817, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008283019065856934, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008283057968397472, + "max_button_displacement": 0.12, + "button_start": [ + 0.1808457523584366, + -0.4007806181907654, + 0.7768088579177856 + ], + "button_final": [ + 0.1808457523584366, + -0.4007806181907654, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1820332762556448, + -0.39966526893488863, + 0.8035299858644881 + ], + "closest_button": [ + 0.18086341023445135, + -0.4007623791694641, + 0.7685258388519287 + ], + "closest_ee_minus_button": [ + 0.0011698660211934553, + 0.0010971102345754824, + 0.03500414701255938 + ], + "button_min_z_position": [ + 0.18086341023445135, + -0.4007623791694641, + 0.7685258388519287 + ], + "min_active_finger_to_button": 0.14430845260567304, + "closest_active_finger": [ + 0.05602455884218216, + -0.46446847915649414, + 0.8107123970985413 + ], + "closest_active_finger_button": [ + 0.1808496415615082, + -0.4007830321788788, + 0.776248037815094 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12482508271932605, + -0.06368544697761536, + 0.034464359283447266 + ], + "min_contact_pad_to_button": 0.021027485894433817, + "closest_contact_pad": [ + 0.18086341023445135, + -0.4007623791694641, + 0.7895533247463625 + ], + "closest_contact_pad_button": [ + 0.18086341023445135, + -0.4007623791694641, + 0.7685258388519287 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021027485894433817 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 49, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "619bf5712edb5d7c7f8c3e0b379a8ae3ec853496c13a81ad1b05c257a7f3d1cb", + "visual_seed": 7215110247617084596, + "episode_index": 49, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_4_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_4_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ef52e619c4d3f1433e129f48d0a6bb05f492eeaa --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_4_success.json @@ -0,0 +1,926 @@ +{ + "episode": 4, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.19170671906302675, + -0.1446675636234237, + 1.047267971198475 + ], + "current_z": 1.047267971198475, + "required_z": 0.8565866041883033, + "initial_z": 0.7565866041883034, + "lift_margin": 0.19068136701017158, + "gripper_z": 1.0514188048079953, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1877094998015684, + -0.14895395981010595, + 1.0514188048079953 + ], + "object_minus_gripper": [ + 0.003997219261458351, + 0.004286396186682251, + -0.004150833609520399 + ], + "object_to_gripper_xy": 0.005860968699232047, + "object_to_gripper_z": -0.004150833609520399, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19170671906302675, + -0.16831972750056717, + 1.047267971198475 + ], + "finger_b": [ + 0.18066972533395328, + -0.1446675636234237, + 1.047267971198475 + ], + "finger_midpoint": [ + 0.18618822219849002, + -0.15649364556199544, + 1.047267971198475 + ], + "object_minus_finger_midpoint": [ + 0.005518496864536732, + 0.011826081938571736, + 0.0 + ], + "finger_gap": 0.026100576366181218, + "fingertip_max_gap": 0.09391050754175889, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013050288183090609, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.047267971198475, + "object_top_z": 1.0933458226654666, + "finger_top_clearance": 0.046077851466991726, + "fingertip_min_top_clearance": 0.013823355440097551, + "object_projection_between_fingers": 0.8211860503171567, + "object_to_finger_line_xy": 0.010001648267403547, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04945525377087945, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.246092910804628, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 206, + "max_stable_success_frames": 206, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1924557665223789, + -0.14763348263539505, + 1.2448507408025966 + ], + "held_position": [ + 0.19674601277336282, + -0.14355413061525793, + 1.240792986086068 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007177234783521325, + "max_held_gripper_dist": 0.007182670535320625, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004057754716528583, + "max_held_gripper_z_dist": 0.004165066778689441, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08617939711732919, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.19674601277336282, + -0.16819254861067717, + 1.240792986086068 + ], + "held_grasp_finger_b": [ + 0.18790861732640837, + -0.14355413061525793, + 1.240792986086068 + ], + "held_grasp_midpoint": [ + 0.1923273150498856, + -0.15587333961296757, + 1.240792986086068 + ], + "held_grasp_object_position": [ + 0.19674601277336282, + -0.14355413061525793, + 1.240792986086068 + ], + "held_grasp_finger_gap": 0.026175393017161173, + "held_grasp_max_gap": 0.12496605277061462, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02420792772374612, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.044978181523324105, + -0.9986606163158388, + -0.025572184234513566 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003873170771483847, + "held_grasp_line_xy_max_dist": 0.04748302638530731, + "held_grasp_object_top_z": 0.04520077630877495, + "held_grasp_top_clearance": 0.03269932247029537, + "held_grasp_min_top_clearance": 0.013560232892632484 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3386802983733037, + -0.34729138085665634, + 0.8470194081907685 + ], + "target_position": [ + 0.3315088787173649, + -0.3491681237525561, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007412922755492324, + "xy_threshold": 0.08, + "gripper_dist": 0.1892635314095281, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470194081907685, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07518591633054379, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08529251167723416, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15844054697173057, + "release_required_pad_clearance": 0.05264625583861708, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.3494224534200795, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 160, + "max_placed_release_frames": 160 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008205294609069824, + "max_z_decrease": 0.008205294609069824, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035056307403501234, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008205294609069824, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.020997618554427833, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008205294609069824, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00820531595665328, + "max_button_displacement": 0.12, + "button_start": [ + 0.18720880150794977, + -0.40542957186698914, + 0.7768088579177856 + ], + "button_final": [ + 0.18720880150794977, + -0.40542957186698914, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18513516444947412, + -0.40415916737725294, + 0.8035746642780188 + ], + "closest_button": [ + 0.18722599744796747, + -0.405422180891037, + 0.7686035633087158 + ], + "closest_ee_minus_button": [ + -0.0020908329984933582, + 0.0012630135137840504, + 0.034971100969303004 + ], + "button_min_z_position": [ + 0.18722599744796747, + -0.405422180891037, + 0.7686035633087158 + ], + "min_active_finger_to_button": 0.1470938607292656, + "closest_active_finger": [ + 0.059289708733558655, + -0.46932685375213623, + 0.8110529184341431 + ], + "closest_active_finger_button": [ + 0.18721231818199152, + -0.4054320156574249, + 0.7765585780143738 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12792260944843287, + -0.0638948380947113, + 0.03449434041976929 + ], + "min_contact_pad_to_button": 0.020997618554427833, + "closest_contact_pad": [ + 0.18722599744796747, + -0.405422180891037, + 0.7896011818631437 + ], + "closest_contact_pad_button": [ + 0.18722599744796747, + -0.405422180891037, + 0.7686035633087158 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.020997618554427833 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 4, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "4de979fa282d6605c82cbcb3bdc8ebd12b5acb89f35e701d7c8a6d028171278c", + "visual_seed": 8503768617210617077, + "episode_index": 4, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_50_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_50_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e66f78938167db2ef304deacdfcdd3eddc0eb8de --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_50_success.json @@ -0,0 +1,926 @@ +{ + "episode": 50, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.18305622736550423, + -0.14741958176664033, + 1.0473960937610087 + ], + "current_z": 1.0473960937610087, + "required_z": 0.8565865284906972, + "initial_z": 0.7565865284906972, + "lift_margin": 0.19080956527031157, + "gripper_z": 1.0515576117656207, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.17914965245417125, + -0.15165667673510164, + 1.0515576117656207 + ], + "object_minus_gripper": [ + 0.003906574911332977, + 0.004237094968461308, + -0.004161518004611953 + ], + "object_to_gripper_xy": 0.0057631849969974405, + "object_to_gripper_z": -0.004161518004611953, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.18305622736550423, + -0.17100979112939318, + 1.0473960937610087 + ], + "finger_b": [ + 0.1720766587906355, + -0.14741958176664033, + 1.0473960937610087 + ], + "finger_midpoint": [ + 0.17756644307806985, + -0.15921468644801676, + 1.0473960937610087 + ], + "object_minus_finger_midpoint": [ + 0.005489784287434379, + 0.011795104681376428, + 0.0 + ], + "finger_gap": 0.02602016340972434, + "fingertip_max_gap": 0.09299284455911658, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013010081704862177, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0473960937610087, + "object_top_z": 1.0932710247282074, + "finger_top_clearance": 0.045874930967198635, + "fingertip_min_top_clearance": 0.01376247929015959, + "object_projection_between_fingers": 0.8219465013510854, + "object_to_finger_line_xy": 0.00995421578701759, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04899642227955829, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.732516835197122, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 206, + "max_stable_success_frames": 206, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18386848724129448, + -0.15075558479451834, + 1.2443132399928698 + ], + "held_position": [ + 0.18808691009432038, + -0.1467233872319146, + 1.2402563390185233 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007107190307459931, + "max_held_gripper_dist": 0.007110726272022221, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004056900974346522, + "max_held_gripper_z_dist": 0.004173427084031456, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08558705709802333, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.18808691009432038, + -0.17134713294697992, + 1.2402563390185233 + ], + "held_grasp_finger_b": [ + 0.17938965073614643, + -0.1467233872319146, + 1.2402563390185233 + ], + "held_grasp_midpoint": [ + 0.1837382804152334, + -0.15903526008944727, + 1.2402563390185233 + ], + "held_grasp_object_position": [ + 0.18808691009432038, + -0.1467233872319146, + 1.2402563390185233 + ], + "held_grasp_finger_gap": 0.026114577794472224, + "held_grasp_max_gap": 0.12496597826480865, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024068284796238484, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.057859401848493516, + -0.9978783611865472, + -0.029850726848531288 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003647928449432162, + "held_grasp_line_xy_max_dist": 0.04748298913240433, + "held_grasp_object_top_z": 0.04520074278116226, + "held_grasp_top_clearance": 0.03266338215885786, + "held_grasp_min_top_clearance": 0.013560222834348679 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3331387704399196, + -0.3494267837601503, + 0.847019684996519 + ], + "target_position": [ + 0.32613885429298783, + -0.35112357342150485, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007202632936569474, + "xy_threshold": 0.08, + "gripper_dist": 0.18427977282041846, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.847019684996519, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07590297954859453, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0864008458501793, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15185449990047994, + "release_required_pad_clearance": 0.053200422925089655, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.4232382404399637, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008136272430419922, + "max_z_decrease": 0.008136272430419922, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03503159820190887, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008136272430419922, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02117666681071394, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008136272430419922, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008136295320738854, + "max_button_displacement": 0.12, + "button_start": [ + 0.18183878064155576, + -0.4073850214481354, + 0.7768088579177856 + ], + "button_final": [ + 0.18183878064155576, + -0.4073850214481354, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1829414402210114, + -0.40643002668775063, + 0.8036733065069741 + ], + "closest_button": [ + 0.181819885969162, + -0.4073810875415802, + 0.7686725854873657 + ], + "closest_ee_minus_button": [ + 0.0011215542518493993, + 0.0009510608538295662, + 0.03500072101960838 + ], + "button_min_z_position": [ + 0.181819885969162, + -0.4073810875415802, + 0.7686725854873657 + ], + "min_active_finger_to_button": 0.1445585222682047, + "closest_active_finger": [ + 0.05564618855714798, + -0.46870023012161255, + 0.8080020546913147 + ], + "closest_active_finger_button": [ + 0.18184919655323029, + -0.40738847851753235, + 0.7732049822807312 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1262030079960823, + -0.0613117516040802, + 0.034797072410583496 + ], + "min_contact_pad_to_button": 0.02117666681071394, + "closest_contact_pad": [ + 0.181819885969162, + -0.40768436811753, + 0.789847080477902 + ], + "closest_contact_pad_button": [ + 0.181819885969162, + -0.4073810875415802, + 0.7686725854873657 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00030328057594980473, + 0.021174494990536252 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 50, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b9e3a107a11ba91b84cf011676e3e6603531a85baf79bced598bab0017fabf03", + "visual_seed": 3504219336272597126, + "episode_index": 50, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_51_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_51_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6e2692b190f6bd486829aecbcbcb59edb97fb0c5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_51_success.json @@ -0,0 +1,926 @@ +{ + "episode": 51, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.18693690842729416, + -0.14334305855244703, + 1.0432472922081233 + ], + "current_z": 1.0432472922081233, + "required_z": 0.8565864836674149, + "initial_z": 0.7565864836674149, + "lift_margin": 0.18666080854070843, + "gripper_z": 1.0480787626606083, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18255007536861706, + -0.14764645285524086, + 1.0480787626606083 + ], + "object_minus_gripper": [ + 0.004386833058677098, + 0.004303394302793834, + -0.004831470452484998 + ], + "object_to_gripper_xy": 0.00614520193403119, + "object_to_gripper_z": -0.004831470452484998, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.18693690842729416, + -0.16767484126498514, + 1.0432472922081233 + ], + "finger_b": [ + 0.17642400190020335, + -0.14334305855244703, + 1.0432472922081233 + ], + "finger_midpoint": [ + 0.18168045516374876, + -0.15550894990871608, + 1.0432472922081233 + ], + "object_minus_finger_midpoint": [ + 0.005256453263545402, + 0.012165891356269054, + 0.0 + ], + "finger_gap": 0.02650578905857203, + "fingertip_max_gap": 0.09645949398015749, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013252894529286015, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0432472922081233, + "object_top_z": 1.0905133465716315, + "finger_top_clearance": 0.04726605436350817, + "fingertip_min_top_clearance": 0.014179816309052483, + "object_projection_between_fingers": 0.8426871745990854, + "object_to_finger_line_xy": 0.00965063732791126, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05072974699007875, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.687205162436966, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 203, + "max_stable_success_frames": 203, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18675958332917728, + -0.14544742987775938, + 1.2406050553396546 + ], + "held_position": [ + 0.19125950104332828, + -0.14115129444013927, + 1.2358753639044122 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007815114855529028, + "max_held_gripper_dist": 0.007818521192025035, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004729691435242378, + "max_held_gripper_z_dist": 0.004841064582399968, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08583951023531433, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.19125950104332828, + -0.16575295990719482, + 1.2358753639044122 + ], + "held_grasp_finger_b": [ + 0.18181520132559226, + -0.14115129444013927, + 1.2358753639044122 + ], + "held_grasp_midpoint": [ + 0.18653735118446027, + -0.15345212717366705, + 1.2358753639044122 + ], + "held_grasp_object_position": [ + 0.19125950104332828, + -0.14115129444013927, + 1.2358753639044122 + ], + "held_grasp_finger_gap": 0.026352167670067348, + "held_grasp_max_gap": 0.12496605277061462, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02464590499096211, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.004963830941735417, + -0.9998926746134768, + -0.013784035573436212 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004786149499770689, + "held_grasp_line_xy_max_dist": 0.04748302638530731, + "held_grasp_object_top_z": 0.04520071670413017, + "held_grasp_top_clearance": 0.03292464411581104, + "held_grasp_min_top_clearance": 0.013560215011239052 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33628810049352603, + -0.35081435136494366, + 0.8470196717104331 + ], + "target_position": [ + 0.3298770866239552, + -0.3525520061177516, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006642329627155339, + "xy_threshold": 0.08, + "gripper_dist": 0.1852934116602101, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196717104331, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07519228557871799, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08727422549176554, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1546603369679852, + "release_required_pad_clearance": 0.05363711274588277, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.2838488520552516, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008214354515075684, + "max_z_decrease": 0.008214354515075684, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03503920699480783, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008214354515075684, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021166569783827693, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008214354515075684, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008214357318220053, + "max_button_displacement": 0.12, + "button_start": [ + 0.18557702004909513, + -0.4088134765625, + 0.7768088579177856 + ], + "button_final": [ + 0.18557702004909513, + -0.4088134765625, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18480699166023562, + -0.4073044280870113, + 0.8074123569469395 + ], + "closest_button": [ + 0.1855651289224624, + -0.40881437063217163, + 0.7724139094352722 + ], + "closest_ee_minus_button": [ + -0.0007581372622267879, + 0.0015099425451603476, + 0.03499844751166725 + ], + "button_min_z_position": [ + 0.18557138741016385, + -0.4088096916675567, + 0.76859450340271 + ], + "min_active_finger_to_button": 0.14631871202620556, + "closest_active_finger": [ + 0.057206891477108, + -0.46976685523986816, + 0.8079764246940613 + ], + "closest_active_finger_button": [ + 0.1855877190828323, + -0.4088170826435089, + 0.7731532454490662 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1283808276057243, + -0.06094977259635925, + 0.03482317924499512 + ], + "min_contact_pad_to_button": 0.021166569783827693, + "closest_contact_pad": [ + 0.18557138741016385, + -0.4088096916675567, + 0.7897610731865377 + ], + "closest_contact_pad_button": [ + 0.18557138741016385, + -0.4088096916675567, + 0.76859450340271 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021166569783827693 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 51, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9fcf0b956ed7f018f27b724d338776be56e1faed40e28266964c088befdc1095", + "visual_seed": 1430508857832441417, + "episode_index": 51, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_52_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_52_success.json new file mode 100644 index 0000000000000000000000000000000000000000..24e644fe623cf0b33cda57a75c5904ae1a40e92b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_52_success.json @@ -0,0 +1,926 @@ +{ + "episode": 52, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.1904276290109533, + -0.14541286721421715, + 1.0445392655016739 + ], + "current_z": 1.0445392655016739, + "required_z": 0.8565865489564054, + "initial_z": 0.7565865489564054, + "lift_margin": 0.18795271654526846, + "gripper_z": 1.0488641273587191, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18636932258337952, + -0.14970632356914362, + 1.0488641273587191 + ], + "object_minus_gripper": [ + 0.0040583064275737935, + 0.004293456354926478, + -0.004324861857045281 + ], + "object_to_gripper_xy": 0.005907928446735398, + "object_to_gripper_z": -0.004324861857045281, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1904276290109533, + -0.1692141698782393, + 1.0445392655016739 + ], + "finger_b": [ + 0.17951901088045152, + -0.14541286721421715, + 1.0445392655016739 + ], + "finger_midpoint": [ + 0.18497331994570243, + -0.15731351854622821, + 1.0445392655016739 + ], + "object_minus_finger_midpoint": [ + 0.0054543090652508786, + 0.01190065133201107, + 0.0 + ], + "finger_gap": 0.026182054121506607, + "fingertip_max_gap": 0.09230856681867908, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013091027060753284, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0445392655016739, + "object_top_z": 1.0899473537374542, + "finger_top_clearance": 0.04540808823578035, + "fingertip_min_top_clearance": 0.013622426470734089, + "object_projection_between_fingers": 0.8264070652016292, + "object_to_finger_line_xy": 0.009916690285848826, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04865428340933954, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.1606989244383388, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 204, + "max_stable_success_frames": 204, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19105195170301126, + -0.1483064356706687, + 1.2414169549804315 + ], + "held_position": [ + 0.1953713473940798, + -0.1441703312890883, + 1.2371940669514916 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007321019184260749, + "max_held_gripper_dist": 0.0073232224388274, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004222888028939886, + "max_held_gripper_z_dist": 0.0043385077523474536, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0861173337271687, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.1953713473940798, + -0.16880350820610832, + 1.2371940669514916 + ], + "held_grasp_finger_b": [ + 0.18647013442064694, + -0.1441703312890883, + 1.2371940669514916 + ], + "held_grasp_midpoint": [ + 0.19092074090736338, + -0.15648691974759832, + 1.2371940669514916 + ], + "held_grasp_object_position": [ + 0.1953713473940798, + -0.1441703312890883, + 1.2371940669514916 + ], + "held_grasp_finger_gap": 0.02619207890610475, + "held_grasp_max_gap": 0.12496607512235641, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02425700297653267, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.03787615786895902, + -0.9984155436867984, + -0.04161488663544066 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004014217010111352, + "held_grasp_line_xy_max_dist": 0.04748303756117821, + "held_grasp_object_top_z": 0.04520076885819435, + "held_grasp_top_clearance": 0.03273512362212105, + "held_grasp_min_top_clearance": 0.013560230657458304 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3322644008923662, + -0.34972974176515015, + 0.8470197425803129 + ], + "target_position": [ + 0.32400669236471363, + -0.35224319397081577, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00863175486896096, + "xy_threshold": 0.08, + "gripper_dist": 0.18798791831542147, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470197425803129, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07540856606626008, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08593930022121886, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15664714564239693, + "release_required_pad_clearance": 0.05296965011060943, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.9731650266337294, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 156, + "max_placed_release_frames": 156 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008167028427124023, + "max_z_decrease": 0.008167028427124023, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035008864376024434, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008167028427124023, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02131595060592208, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008167028427124023, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008167044260707149, + "max_button_displacement": 0.12, + "button_start": [ + 0.17970661818981165, + -0.4085046648979187, + 0.7768088579177856 + ], + "button_final": [ + 0.17970661818981165, + -0.4085046648979187, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17964899259449013, + -0.40953127597307315, + 0.8036354529582908 + ], + "closest_button": [ + 0.1796914786100387, + -0.4084992408752441, + 0.7686418294906616 + ], + "closest_ee_minus_button": [ + -4.248601554857068e-05, + -0.0010320350978290649, + 0.03499362346762913 + ], + "button_min_z_position": [ + 0.1796914786100387, + -0.4084992408752441, + 0.7686418294906616 + ], + "min_active_finger_to_button": 0.14584462994373965, + "closest_active_finger": [ + 0.03915727138519287, + -0.39133256673812866, + 0.8080592751502991 + ], + "closest_active_finger_button": [ + 0.17971746623516077, + -0.4085083305835724, + 0.7731525301933289 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1405601948499679, + 0.017175763845443726, + 0.034906744956970215 + ], + "min_contact_pad_to_button": 0.02131595060592208, + "closest_contact_pad": [ + 0.1796914786100387, + -0.4109033323430206, + 0.7898217750630344 + ], + "closest_contact_pad_button": [ + 0.1796914786100387, + -0.4084992408752441, + 0.7686418294906616 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002404091467776537, + 0.021179945572372794 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 52, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8cb7de9946b867edccd48bd714d2b2c705667e43272f0f305af4facd840b7940", + "visual_seed": 5468842620997881519, + "episode_index": 52, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_53_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_53_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e8bb846307c88dd17638c26ecdadfc2da27a5c20 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_53_success.json @@ -0,0 +1,926 @@ +{ + "episode": 53, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.19162985497880888, + -0.14882734952144164, + 1.0451046872958614 + ], + "current_z": 1.0451046872958614, + "required_z": 0.8565865327724039, + "initial_z": 0.756586532772404, + "lift_margin": 0.18851815452345744, + "gripper_z": 1.049374919827088, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1873833028553019, + -0.15322042604244338, + 1.049374919827088 + ], + "object_minus_gripper": [ + 0.004246552123506997, + 0.0043930765210017375, + -0.004270232531226714 + ], + "object_to_gripper_xy": 0.00611001851527788, + "object_to_gripper_z": -0.004270232531226714, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19162985497880888, + -0.17271330294473508, + 1.0451046872958614 + ], + "finger_b": [ + 0.18050860573846614, + -0.14882734952144164, + 1.0451046872958614 + ], + "finger_midpoint": [ + 0.1860692303586375, + -0.16077032623308835, + 1.0451046872958614 + ], + "object_minus_finger_midpoint": [ + 0.005560624620171373, + 0.011942976711646708, + 0.0 + ], + "finger_gap": 0.026348073090940973, + "fingertip_max_gap": 0.09319854990670826, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013174036545470474, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0451046872958614, + "object_top_z": 1.0911169527162718, + "finger_top_clearance": 0.04601226542041048, + "fingertip_min_top_clearance": 0.013803679626123127, + "object_projection_between_fingers": 0.8218403180325545, + "object_to_finger_line_xy": 0.010082013984354621, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04909927495335413, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.6929385139855289, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 204, + "max_stable_success_frames": 204, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1921675330331012, + -0.15228491585402443, + 1.2416129971534382 + ], + "held_position": [ + 0.1966960615993308, + -0.14808487252427807, + 1.2374482335470718 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007449375198217551, + "max_held_gripper_dist": 0.0074552582911135866, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004164763606366417, + "max_held_gripper_z_dist": 0.004283383703037824, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08543732602469709, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.1966960615993308, + -0.1728418943657369, + 1.2374482335470718 + ], + "held_grasp_finger_b": [ + 0.18769555102271354, + -0.14808487252427807, + 1.2374482335470718 + ], + "held_grasp_midpoint": [ + 0.19219580631102218, + -0.1604633834450075, + 1.2374482335470718 + ], + "held_grasp_object_position": [ + 0.1966960615993308, + -0.14808487252427807, + 1.2374482335470718 + ], + "held_grasp_finger_gap": 0.026342348435518602, + "held_grasp_max_gap": 0.12496600061655044, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024253046232828094, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.051203962231441566, + -0.9982585221567425, + -0.029292954668959537 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038778307272552856, + "held_grasp_line_xy_max_dist": 0.04748300030827522, + "held_grasp_object_top_z": 0.04520071670413017, + "held_grasp_top_clearance": 0.032613331784087325, + "held_grasp_min_top_clearance": 0.013560215011239052 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33713064714037677, + -0.3470097458462055, + 0.8470194734440497 + ], + "target_position": [ + 0.33038949095543046, + -0.34870654483140356, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006951425285940223, + "xy_threshold": 0.08, + "gripper_dist": 0.1858321087032881, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470194734440497, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07572954802543608, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08641643093198247, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15364724485396106, + "release_required_pad_clearance": 0.053208215465991235, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.4374654613043991, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008173584938049316, + "max_z_decrease": 0.008173584938049316, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500227692102511, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008173584938049316, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02119848521533845, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008173584938049316, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00817362779700385, + "max_button_displacement": 0.12, + "button_start": [ + 0.1860894113779068, + -0.4049679934978485, + 0.7768088579177856 + ], + "button_final": [ + 0.1860894113779068, + -0.4049679934978485, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18612606536743975, + -0.40436927230512343, + 0.8036323806468773 + ], + "closest_button": [ + 0.18606294691562655, + -0.4049674868583679, + 0.7686352729797363 + ], + "closest_ee_minus_button": [ + 6.311845181319886e-05, + 0.0005982145532444916, + 0.034997107667140925 + ], + "button_min_z_position": [ + 0.18606294691562655, + -0.4049674868583679, + 0.7686352729797363 + ], + "min_active_finger_to_button": 0.14565736484032948, + "closest_active_finger": [ + 0.059129878878593445, + -0.4672599732875824, + 0.8080451488494873 + ], + "closest_active_finger_button": [ + 0.18610048294067383, + -0.4049707055091858, + 0.7731943130493164 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12697060406208038, + -0.062289267778396606, + 0.0348508358001709 + ], + "min_contact_pad_to_button": 0.02119848521533845, + "closest_contact_pad": [ + 0.18606294691562655, + -0.40556423585676915, + 0.7898253571243977 + ], + "closest_contact_pad_button": [ + 0.18606294691562655, + -0.4049674868583679, + 0.7686352729797363 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0005967489984012309, + 0.021190084144661392 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 53, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "55d63a36cfe45bcce55c4d28a1e0e0cade000bdea0f681360d070b25149d9635", + "visual_seed": 8498096978162600615, + "episode_index": 53, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_54_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_54_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2ed69f2635ce3f5706c6389a442819660cd38ec4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_54_success.json @@ -0,0 +1,926 @@ +{ + "episode": 54, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.18558530767965178, + -0.14939523955682785, + 1.0471244797549084 + ], + "current_z": 1.0471244797549084, + "required_z": 0.8565866245929249, + "initial_z": 0.7565866245929249, + "lift_margin": 0.19053785516198352, + "gripper_z": 1.0514486549218192, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18139094584276053, + -0.15363007657690014, + 1.0514486549218192 + ], + "object_minus_gripper": [ + 0.004194361836891258, + 0.004234837020072296, + -0.004324175166910749 + ], + "object_to_gripper_xy": 0.0059604123855103025, + "object_to_gripper_z": -0.004324175166910749, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.18558530767965178, + -0.17351477780969873, + 1.0471244797549084 + ], + "finger_b": [ + 0.17505154745989362, + -0.14939523955682785, + 1.0471244797549084 + ], + "finger_midpoint": [ + 0.1803184275697727, + -0.1614550086832633, + 1.0471244797549084 + ], + "object_minus_finger_midpoint": [ + 0.00526688010987908, + 0.012059769126435443, + 0.0 + ], + "finger_gap": 0.02631942685354416, + "fingertip_max_gap": 0.09189134159333151, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01315971342677208, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0471244797549084, + "object_top_z": 1.0923940331213589, + "finger_top_clearance": 0.045269553366450443, + "fingertip_min_top_clearance": 0.013580866009935133, + "object_projection_between_fingers": 0.8398178932346437, + "object_to_finger_line_xy": 0.009653304153650809, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04844567079666576, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.841772130376763, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 206, + "max_stable_success_frames": 206, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18582561940201028, + -0.15226241928624695, + 1.2446395889161495 + ], + "held_position": [ + 0.19020678143344447, + -0.14811468707730643, + 1.24042131473428 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007361528394035424, + "max_held_gripper_dist": 0.007363421187883376, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004218274181869486, + "max_held_gripper_z_dist": 0.004331729997449463, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08569550278335884, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.19020678143344447, + -0.17274434120437981, + 1.24042131473428 + ], + "held_grasp_finger_b": [ + 0.18116190579624852, + -0.14811468707730643, + 1.24042131473428 + ], + "held_grasp_midpoint": [ + 0.18568434361484648, + -0.1604295141408431, + 1.24042131473428 + ], + "held_grasp_object_position": [ + 0.19020678143344447, + -0.14811468707730643, + 1.24042131473428 + ], + "held_grasp_finger_gap": 0.026237942711112155, + "held_grasp_max_gap": 0.1249658739566803, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024399610093502378, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.022845159749068075, + -0.999049422106863, + -0.03712614798201618 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004264708482697525, + "held_grasp_line_xy_max_dist": 0.04748293697834015, + "held_grasp_object_top_z": 0.04520070552825928, + "held_grasp_top_clearance": 0.03279426885266589, + "held_grasp_min_top_clearance": 0.013560211658477784 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33560158992120126, + -0.3430080406926177, + 0.8470197402486308 + ], + "target_position": [ + 0.32732888028278395, + -0.34562601642805946, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008677068728143418, + "xy_threshold": 0.08, + "gripper_dist": 0.18637400520342562, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470197402486308, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07518639807369973, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08644165325756513, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15585401317979244, + "release_required_pad_clearance": 0.05322082662878257, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.462833406005846, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 157, + "max_placed_release_frames": 157 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008284509181976318, + "max_z_decrease": 0.008284509181976318, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035051829885559674, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008284509181976318, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021170779912423776, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008284509181976318, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008284513530018892, + "max_button_displacement": 0.12, + "button_start": [ + 0.1830288022756576, + -0.4018874764442444, + 0.7768088579177856 + ], + "button_final": [ + 0.1830288022756576, + -0.4018874764442444, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18285800267411897, + -0.39985885938832494, + 0.803517425842032 + ], + "closest_button": [ + 0.18302367627620694, + -0.4018807113170624, + 0.7685243487358093 + ], + "closest_ee_minus_button": [ + -0.00016567360208796789, + 0.0020218519287374392, + 0.03499307710622268 + ], + "button_min_z_position": [ + 0.18302367627620694, + -0.4018807113170624, + 0.7685243487358093 + ], + "min_active_finger_to_button": 0.14522379405609034, + "closest_active_finger": [ + 0.05567053705453873, + -0.4623483717441559, + 0.8076844811439514 + ], + "closest_active_finger_button": [ + 0.183042511343956, + -0.40189310908317566, + 0.7728779911994934 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12737197428941727, + -0.060455262660980225, + 0.03480648994445801 + ], + "min_contact_pad_to_button": 0.021170779912423776, + "closest_contact_pad": [ + 0.18302367627620694, + -0.4018807113170624, + 0.7896951286482331 + ], + "closest_contact_pad_button": [ + 0.18302367627620694, + -0.4018807113170624, + 0.7685243487358093 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021170779912423776 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 54, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "cb3fd13d9459ea37bf891b530764a8a8fe4f5cddaeaff3fde4a7584849d57d4d", + "visual_seed": 2149436113874170023, + "episode_index": 54, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_55_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_55_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5751c138c89dd3b2dd2a96f55d96d48a996e4036 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_55_success.json @@ -0,0 +1,926 @@ +{ + "episode": 55, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.18830344992359843, + -0.1424479177872874, + 1.0446000249925134 + ], + "current_z": 1.0446000249925134, + "required_z": 0.8565865114746862, + "initial_z": 0.7565865114746863, + "lift_margin": 0.18801351351782714, + "gripper_z": 1.049083153518642, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18434383933656534, + -0.146572900115172, + 1.049083153518642 + ], + "object_minus_gripper": [ + 0.003959610587033091, + 0.00412498232788458, + -0.0044831285261286435 + ], + "object_to_gripper_xy": 0.00571786631588258, + "object_to_gripper_z": -0.0044831285261286435, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.18830344992359843, + -0.1664000065009245, + 1.0446000249925134 + ], + "finger_b": [ + 0.17794127820800865, + -0.1424479177872874, + 1.0446000249925134 + ], + "finger_midpoint": [ + 0.18312236406580354, + -0.15442396214410598, + 1.0446000249925134 + ], + "object_minus_finger_midpoint": [ + 0.005181085857794893, + 0.011976044356818566, + 0.0 + ], + "finger_gap": 0.026097454979543713, + "fingertip_max_gap": 0.09860612032737495, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013048727489771868, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0446000249925134, + "object_top_z": 1.0927547132163002, + "finger_top_clearance": 0.04815468822378688, + "fingertip_min_top_clearance": 0.01444640646713608, + "object_projection_between_fingers": 0.8423459050815096, + "object_to_finger_line_xy": 0.009510339471503784, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05180306016368748, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.3977263850035233, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 204, + "max_stable_success_frames": 204, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.188623520252535, + -0.14457689289758147, + 1.2429880802158824 + ], + "held_position": [ + 0.19273767388079618, + -0.14051761114984518, + 1.2385901607130723 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007262625168466082, + "max_held_gripper_dist": 0.007266790410280292, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004397919502810099, + "max_held_gripper_z_dist": 0.004495116179446423, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08559698797321053, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.19273767388079618, + -0.16497568217810277, + 1.2385901607130723 + ], + "held_grasp_finger_b": [ + 0.1837298577881495, + -0.14051761114984518, + 1.2385901607130723 + ], + "held_grasp_midpoint": [ + 0.18823376583447282, + -0.15274664666397397, + 1.2385901607130723 + ], + "held_grasp_object_position": [ + 0.19273767388079618, + -0.14051761114984518, + 1.2385901607130723 + ], + "held_grasp_finger_gap": 0.026064113051900272, + "held_grasp_max_gap": 0.12496590375900268, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024473107964792, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.0016733413943935053, + -0.9999985193024234, + 0.00040164852604751544 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004524367756560145, + "held_grasp_line_xy_max_dist": 0.04748295187950134, + "held_grasp_object_top_z": 0.0452006533741951, + "held_grasp_top_clearance": 0.032979172543340006, + "held_grasp_min_top_clearance": 0.01356019601225853 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3360237198689495, + -0.3495588355624625, + 0.8470195775220091 + ], + "target_position": [ + 0.3312921869844249, + -0.35047518901864605, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.004819450912085036, + "xy_threshold": 0.08, + "gripper_dist": 0.18576832799360635, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195775220091, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07539300756198207, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08785992731964064, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15436508741328642, + "release_required_pad_clearance": 0.05392996365982032, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.870082967984554, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008415579795837402, + "max_z_decrease": 0.008415579795837402, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035023680537770746, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008415579795837402, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021251927802474778, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008415579795837402, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008415686394137043, + "max_button_displacement": 0.12, + "button_start": [ + 0.1869921088218689, + -0.4067366421222686, + 0.7768088579177856 + ], + "button_final": [ + 0.1869921088218689, + -0.4067366421222686, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18763521347018022, + -0.40787704935762015, + 0.8037573222004496 + ], + "closest_button": [ + 0.18696229159832, + -0.4067175090312957, + 0.7687593102455139 + ], + "closest_ee_minus_button": [ + 0.0006729218718602159, + -0.0011595403263244264, + 0.03499801195493568 + ], + "button_min_z_position": [ + 0.18695437908172607, + -0.4067173898220061, + 0.7683932781219482 + ], + "min_active_finger_to_button": 0.14515649301051017, + "closest_active_finger": [ + 0.046776190400123596, + -0.3927956819534302, + 0.8078033924102783 + ], + "closest_active_finger_button": [ + 0.18700332939624786, + -0.40674191713333124, + 0.7729858756065369 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14022713899612427, + 0.013946235179901068, + 0.034817516803741455 + ], + "min_contact_pad_to_button": 0.021251927802474778, + "closest_contact_pad": [ + 0.18695437908172607, + -0.40895948490180384, + 0.7895266035813914 + ], + "closest_contact_pad_button": [ + 0.18695437908172607, + -0.4067173898220061, + 0.7683932781219482 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0022420950797977235, + 0.02113332545944313 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 55, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ca618eed209048db211c769d2653b29420a229026903203600857d69d5530720", + "visual_seed": 8601015398686616144, + "episode_index": 55, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_56_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_56_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1816571393dd0be1a39c16f2f3fab3cd0334e78b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_56_success.json @@ -0,0 +1,926 @@ +{ + "episode": 56, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.18636795738951845, + -0.14172034243865364, + 1.0470844535932646 + ], + "current_z": 1.0470844535932646, + "required_z": 0.8565865537377504, + "initial_z": 0.7565865537377504, + "lift_margin": 0.19049789985551424, + "gripper_z": 1.0513680992479624, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1824105468002841, + -0.14591330308015085, + 1.0513680992479624 + ], + "object_minus_gripper": [ + 0.00395741058923435, + 0.004192960641497212, + -0.004283645654697743 + ], + "object_to_gripper_xy": 0.005765589086375205, + "object_to_gripper_z": -0.004283645654697743, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.18636795738951845, + -0.16549272453486835, + 1.0470844535932646 + ], + "finger_b": [ + 0.17565594706914556, + -0.14172034243865364, + 1.0470844535932646 + ], + "finger_midpoint": [ + 0.181011952229332, + -0.153606533486761, + 1.0470844535932646 + ], + "object_minus_finger_midpoint": [ + 0.0053560051601864445, + 0.01188619104810737, + 0.0 + ], + "finger_gap": 0.026074380445797844, + "fingertip_max_gap": 0.09658615290314629, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013037190222898936, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0470844535932646, + "object_top_z": 1.0944358723372258, + "finger_top_clearance": 0.047351418743961204, + "fingertip_min_top_clearance": 0.014205425623188377, + "object_projection_between_fingers": 0.8312227256675409, + "object_to_finger_line_xy": 0.009766291585867353, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.050793076451573146, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.832348153533276, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 206, + "max_stable_success_frames": 206, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18706417096217293, + -0.14454770602869443, + 1.2466332535451732 + ], + "held_position": [ + 0.19127533816845482, + -0.1405326630573912, + 1.2424335718947406 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007175780463869828, + "max_held_gripper_dist": 0.007184367744298448, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004199681650432607, + "max_held_gripper_z_dist": 0.004294388382459102, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08488357319010523, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.19127533816845482, + -0.16518040583117602, + 1.2424335718947406 + ], + "held_grasp_finger_b": [ + 0.18248757228752946, + -0.1405326630573912, + 1.2424335718947406 + ], + "held_grasp_midpoint": [ + 0.18688145522799215, + -0.1528565344442836, + 1.2424335718947406 + ], + "held_grasp_object_position": [ + 0.19127533816845482, + -0.1405326630573912, + 1.2424335718947406 + ], + "held_grasp_finger_gap": 0.02616746172292256, + "held_grasp_max_gap": 0.1249660974740982, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024378078465729737, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.029410533869967705, + -0.9995451339266369, + -0.00667425958926504 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004030378791615302, + "held_grasp_line_xy_max_dist": 0.0474830487370491, + "held_grasp_object_top_z": 0.045200761407613754, + "held_grasp_top_clearance": 0.03275326928866658, + "held_grasp_min_top_clearance": 0.013560228422284127 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3337678186856602, + -0.34949593443016175, + 0.8470196136895999 + ], + "target_position": [ + 0.32807977271207617, + -0.35067507854395474, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005808979930994604, + "xy_threshold": 0.08, + "gripper_dist": 0.1860976434071621, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196136895999, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07538964179612613, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08665409409010554, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15458311952770917, + "release_required_pad_clearance": 0.05332704704505277, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.6711250293522772, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008492231369018555, + "max_z_decrease": 0.008492231369018555, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035034139785778344, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008492231369018555, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020986002901985205, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008492231369018555, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008492321372335444, + "max_button_displacement": 0.12, + "button_start": [ + 0.18377970159053797, + -0.40693652629852295, + 0.7768088579177856 + ], + "button_final": [ + 0.18377970159053797, + -0.40693652629852295, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18179187561168914, + -0.40695400730730136, + 0.803674631472025 + ], + "closest_button": [ + 0.1837946474552154, + -0.4069224894046783, + 0.7686977982521057 + ], + "closest_ee_minus_button": [ + -0.002002771843526263, + -3.1517902623068306e-05, + 0.03497683321991929 + ], + "button_min_z_position": [ + 0.18380786478519434, + -0.4069094061851501, + 0.7683166265487671 + ], + "min_active_finger_to_button": 0.14758480023563691, + "closest_active_finger": [ + 0.05578884482383728, + -0.47186946868896484, + 0.810474693775177 + ], + "closest_active_finger_button": [ + 0.18378235399723047, + -0.40693947672843933, + 0.7760794758796692 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1279935091733932, + -0.06492999196052551, + 0.03439521789550781 + ], + "min_contact_pad_to_button": 0.020986002901985205, + "closest_contact_pad": [ + 0.18380786478519434, + -0.40791747035301357, + 0.7892784042509469 + ], + "closest_contact_pad_button": [ + 0.18380786478519434, + -0.4069094061851501, + 0.7683166265487671 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001008064167863476, + 0.020961777702179774 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 56, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "379f9ab2b83ed489d166552286fa28648a945c0dde2e1bf8d7fac47d9a3b5fd7", + "visual_seed": 1398351277506674378, + "episode_index": 56, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_57_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_57_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6a7d4a1f47b4ff80da4d5714af501a9f61d0e38a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_57_success.json @@ -0,0 +1,926 @@ +{ + "episode": 57, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.18702125716980067, + -0.14613131042653477, + 1.0456780740692944 + ], + "current_z": 1.0456780740692944, + "required_z": 0.8565865334621582, + "initial_z": 0.7565865334621582, + "lift_margin": 0.18909154060713618, + "gripper_z": 1.0498599848844692, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18302228158714962, + -0.1503772158176278, + 1.0498599848844692 + ], + "object_minus_gripper": [ + 0.003998975582651054, + 0.004245905391093041, + -0.0041819108151748274 + ], + "object_to_gripper_xy": 0.005832625335194461, + "object_to_gripper_z": -0.0041819108151748274, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.18702125716980067, + -0.16988588397155582, + 1.0456780740692944 + ], + "finger_b": [ + 0.17616866922284563, + -0.14613131042653477, + 1.0456780740692944 + ], + "finger_midpoint": [ + 0.18159496319632315, + -0.1580085971990453, + 1.0456780740692944 + ], + "object_minus_finger_midpoint": [ + 0.0054262939734775195, + 0.011877286772510542, + 0.0 + ], + "finger_gap": 0.026116248380121675, + "fingertip_max_gap": 0.09498510903226265, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013058124190060852, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0456780740692944, + "object_top_z": 1.0925333270715225, + "finger_top_clearance": 0.04685525300222815, + "fingertip_min_top_clearance": 0.01405657590066846, + "object_projection_between_fingers": 0.8273188042833997, + "object_to_finger_line_xy": 0.009871195693481584, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04999255451613133, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.0717071228632817, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 205, + "max_stable_success_frames": 205, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18753430565447785, + -0.14906567724816644, + 1.2428076020146268 + ], + "held_position": [ + 0.19178855762359043, + -0.1449730914434494, + 1.2387270130939696 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007176289035780277, + "max_held_gripper_dist": 0.007177662853088561, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004080588920657213, + "max_held_gripper_z_dist": 0.004193827016761853, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0862768742480179, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.19178855762359043, + -0.16953823270048513, + 1.2387270130939696 + ], + "held_grasp_finger_b": [ + 0.18288040812423978, + -0.1449730914434494, + 1.2387270130939696 + ], + "held_grasp_midpoint": [ + 0.1873344828739151, + -0.15725566207196726, + 1.2387270130939696 + ], + "held_grasp_object_position": [ + 0.19178855762359043, + -0.1449730914434494, + 1.2387270130939696 + ], + "held_grasp_finger_gap": 0.026130466748240464, + "held_grasp_max_gap": 0.12496600806713104, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02417271406959393, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.041221305980024533, + -0.9989732755472738, + -0.018793580703317714 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003950835596634642, + "held_grasp_line_xy_max_dist": 0.04748300403356552, + "held_grasp_object_top_z": 0.04520072415471077, + "held_grasp_top_clearance": 0.03274716156368527, + "held_grasp_min_top_clearance": 0.013560217246413231 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3313606836089539, + -0.3485094513515482, + 0.8470195487331971 + ], + "target_position": [ + 0.3251531561645355, + -0.35002001689617596, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006388677894355289, + "xy_threshold": 0.08, + "gripper_dist": 0.18648094968394868, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195487331971, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0756694351834506, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08657153876535266, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1544070386544025, + "release_required_pad_clearance": 0.05328576938267633, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.5904932922642252, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008372962474822998, + "max_z_decrease": 0.008372962474822998, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500798854494152, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008372962474822998, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021072787385625638, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008372962474822998, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008372990492884012, + "max_button_displacement": 0.12, + "button_start": [ + 0.18085308372974393, + -0.4062814712524414, + 0.7768088579177856 + ], + "button_final": [ + 0.18085308372974393, + -0.4062814712524414, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18032302608206677, + -0.40530644235635843, + 0.8034266287779203 + ], + "closest_button": [ + 0.18086428940296173, + -0.4062629342079162, + 0.7684358954429626 + ], + "closest_ee_minus_button": [ + -0.0005412633208949635, + 0.0009564918515577725, + 0.03499073333495761 + ], + "button_min_z_position": [ + 0.18086428940296173, + -0.4062629342079162, + 0.7684358954429626 + ], + "min_active_finger_to_button": 0.14592349623928877, + "closest_active_finger": [ + 0.05338258296251297, + -0.4683000445365906, + 0.8108057975769043 + ], + "closest_active_finger_button": [ + 0.18085783720016474, + -0.40628302097320557, + 0.776199221611023 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12747525423765177, + -0.06201702356338501, + 0.03460657596588135 + ], + "min_contact_pad_to_button": 0.021072787385625638, + "closest_contact_pad": [ + 0.18086428940296173, + -0.4064856737527468, + 0.7895075056162492 + ], + "closest_contact_pad_button": [ + 0.18086428940296173, + -0.4062629342079162, + 0.7684358954429626 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00022273954483059688, + 0.021071610173286515 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 57, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e2df5ea11ab8a7ae3d245bf410995016999551bfa96979d52198be162a630502", + "visual_seed": 9000009105460247740, + "episode_index": 57, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_58_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_58_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1d9394967297818d06ab7097775b214e309ed1c2 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_58_success.json @@ -0,0 +1,926 @@ +{ + "episode": 58, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.19232576948907945, + -0.14226205504557832, + 1.0442344813415174 + ], + "current_z": 1.0442344813415174, + "required_z": 0.8565865678458374, + "initial_z": 0.7565865678458374, + "lift_margin": 0.18764791349568, + "gripper_z": 1.0485700233062474, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18829217192738726, + -0.14645564777581113, + 1.0485700233062474 + ], + "object_minus_gripper": [ + 0.004033597561692193, + 0.004193592730232815, + -0.004335541964729961 + ], + "object_to_gripper_xy": 0.005818602003638908, + "object_to_gripper_z": -0.004335541964729961, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19232576948907945, + -0.16625301179591198, + 1.0442344813415174 + ], + "finger_b": [ + 0.1818637245612392, + -0.14226205504557832, + 1.0442344813415174 + ], + "finger_midpoint": [ + 0.18709474702515932, + -0.15425753342074516, + 1.0442344813415174 + ], + "object_minus_finger_midpoint": [ + 0.005231022463920126, + 0.011995478375166846, + 0.0 + ], + "finger_gap": 0.02617289418212148, + "fingertip_max_gap": 0.09506157462085962, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013086447091060752, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0442344813415174, + "object_top_z": 1.0908300518390819, + "finger_top_clearance": 0.046595570497564465, + "fingertip_min_top_clearance": 0.013978671149269373, + "object_projection_between_fingers": 0.840217334124675, + "object_to_finger_line_xy": 0.00958986291838201, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.050030787310429814, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.363122415259023, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 203, + "max_stable_success_frames": 203, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19249199073019246, + -0.14412813911809466, + 1.2413910625749645 + ], + "held_position": [ + 0.19665947018335583, + -0.13997122641803122, + 1.2371516273944358 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0072540070883885385, + "max_held_gripper_dist": 0.007258241911934911, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004239435180528606, + "max_held_gripper_z_dist": 0.004344675945400889, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08548102553046409, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.19665947018335583, + -0.16435012271159224, + 1.2371516273944358 + ], + "held_grasp_finger_b": [ + 0.1874466949550074, + -0.13997122641803122, + 1.2371516273944358 + ], + "held_grasp_midpoint": [ + 0.19205308256918163, + -0.15216067456481175, + 1.2371516273944358 + ], + "held_grasp_object_position": [ + 0.19665947018335583, + -0.13997122641803122, + 1.2371516273944358 + ], + "held_grasp_finger_gap": 0.02606157731029098, + "held_grasp_max_gap": 0.12496616452932358, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024328586957272705, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.004827096906943125, + -0.9997605151025343, + -0.0213450597883067 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004554944992646462, + "held_grasp_line_xy_max_dist": 0.04748308226466179, + "held_grasp_object_top_z": 0.04520076885819435, + "held_grasp_top_clearance": 0.03299200442074888, + "held_grasp_min_top_clearance": 0.013560230657458304 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33537280106910017, + -0.3444874004767752, + 0.8470196205187411 + ], + "target_position": [ + 0.3291567686219087, + -0.3462253990255694, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006454432456858491, + "xy_threshold": 0.08, + "gripper_dist": 0.18774882644673896, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196205187411, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07539464802833105, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08731936829187324, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15646105873549976, + "release_required_pad_clearance": 0.05365968414593662, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.3286492948839497, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 156, + "max_placed_release_frames": 156 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008354902267456055, + "max_z_decrease": 0.008354902267456055, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03505077635832725, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008354902267456055, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02124606999778651, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008354902267456055, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008355011221693397, + "max_button_displacement": 0.12, + "button_start": [ + 0.18485669791698453, + -0.40248686075210566, + 0.7768088579177856 + ], + "button_final": [ + 0.18485669791698453, + -0.40248686075210566, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18284517325387994, + -0.40294013170862863, + 0.8074275891450701 + ], + "closest_button": [ + 0.18484598398208613, + -0.40249028801918024, + 0.7724368572235107 + ], + "closest_ee_minus_button": [ + -0.0020008107282061816, + -0.0004498436894483926, + 0.034990731921559326 + ], + "button_min_z_position": [ + 0.18481624126434323, + -0.40247330069541926, + 0.7684539556503296 + ], + "min_active_finger_to_button": 0.14821769619560138, + "closest_active_finger": [ + 0.0418056920170784, + -0.38568276166915894, + 0.807762086391449 + ], + "closest_active_finger_button": [ + 0.18486724793910977, + -0.4024928808212279, + 0.7728436589241028 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14306155592203137, + 0.01681011915206898, + 0.03491842746734619 + ], + "min_contact_pad_to_button": 0.02124606999778651, + "closest_contact_pad": [ + 0.18481624126434323, + -0.4041792264550641, + 0.7896314273514894 + ], + "closest_contact_pad_button": [ + 0.18481624126434323, + -0.40247330069541926, + 0.7684539556503296 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001705925759644844, + 0.0211774717011598 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 58, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1faee68bc676b7e6f9730163da68e75165ad5f9b89a860776219002333724e6f", + "visual_seed": 660367051168958442, + "episode_index": 58, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_59_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_59_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0277cdb129be251ded1f05b274827cc2f99193c8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_59_success.json @@ -0,0 +1,926 @@ +{ + "episode": 59, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.18278935910493216, + -0.14562449748792478, + 1.0461653799831558 + ], + "current_z": 1.0461653799831558, + "required_z": 0.8565864838381761, + "initial_z": 0.7565864838381762, + "lift_margin": 0.1895788961449797, + "gripper_z": 1.0502459182572126, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.17895518298756855, + -0.14980508565310796, + 1.0502459182572126 + ], + "object_minus_gripper": [ + 0.0038341761173636135, + 0.0041805881651831855, + -0.004080538274056744 + ], + "object_to_gripper_xy": 0.005672585292953402, + "object_to_gripper_z": -0.004080538274056744, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.18278935910493216, + -0.16933938837362114, + 1.0461653799831558 + ], + "finger_b": [ + 0.172131044288517, + -0.14562449748792478, + 1.0461653799831558 + ], + "finger_midpoint": [ + 0.17746020169672458, + -0.15748194293077294, + 1.0461653799831558 + ], + "object_minus_finger_midpoint": [ + 0.00532915740820758, + 0.011857445442848169, + 0.0 + ], + "finger_gap": 0.025999917777683443, + "fingertip_max_gap": 0.09404333016521424, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012999958888841708, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0461653799831558, + "object_top_z": 1.0923315502075623, + "finger_top_clearance": 0.0461661702244065, + "fingertip_min_top_clearance": 0.013849851067321933, + "object_projection_between_fingers": 0.8319520810300047, + "object_to_finger_line_xy": 0.00972159893188735, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04952166508260712, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.0395353686901654, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 205, + "max_stable_success_frames": 205, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1834432707225145, + -0.14828018043755622, + 1.2459032748784815 + ], + "held_position": [ + 0.18753856783460163, + -0.1442687998957512, + 1.241908190174202 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006987369611077516, + "max_held_gripper_dist": 0.006989882045255508, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003995084704279561, + "max_held_gripper_z_dist": 0.0040913963845532475, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08474795937572521, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.18753856783460163, + -0.1688599905341192, + 1.241908190174202 + ], + "held_grasp_finger_b": [ + 0.17876048800387723, + -0.1442687998957512, + 1.241908190174202 + ], + "held_grasp_midpoint": [ + 0.18314952791923944, + -0.1565643952149352, + 1.241908190174202 + ], + "held_grasp_object_position": [ + 0.18753856783460163, + -0.1442687998957512, + 1.241908190174202 + ], + "held_grasp_finger_gap": 0.026110942965108117, + "held_grasp_max_gap": 0.12496605277061462, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02423731286218019, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0376540464551382, + -0.9990505725892594, + -0.021911782096106332 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0039323132143001885, + "held_grasp_line_xy_max_dist": 0.04748302638530731, + "held_grasp_object_top_z": 0.04520074650645256, + "held_grasp_top_clearance": 0.03275155984962946, + "held_grasp_min_top_clearance": 0.013560223951935768 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33501554133772393, + -0.34338426468700356, + 0.8470197200040853 + ], + "target_position": [ + 0.3282201905565006, + -0.345155139241712, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00702230652480981, + "xy_threshold": 0.08, + "gripper_dist": 0.18764075867522378, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470197200040853, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.075577155460336, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08710200216122053, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15583445985859493, + "release_required_pad_clearance": 0.05355100108061027, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.1129469199594, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008305191993713379, + "max_z_decrease": 0.008305191993713379, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0350660519688507, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008305191993713379, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021073935937469094, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008305191993713379, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008305212585596388, + "max_button_displacement": 0.12, + "button_start": [ + 0.1839201152324676, + -0.4014165997505188, + 0.7768088579177856 + ], + "button_final": [ + 0.1839201152324676, + -0.4014165997505188, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18164418591745252, + -0.40058780264121063, + 0.8034872405123943 + ], + "closest_button": [ + 0.18390275537967676, + -0.4014102220535278, + 0.7685036659240723 + ], + "closest_ee_minus_button": [ + -0.002258569462224247, + 0.0008224194123171435, + 0.03498357458832202 + ], + "button_min_z_position": [ + 0.18390275537967676, + -0.4014102220535278, + 0.7685036659240723 + ], + "min_active_finger_to_button": 0.14749677382553003, + "closest_active_finger": [ + 0.054944880306720734, + -0.46404874324798584, + 0.8108277320861816 + ], + "closest_active_finger_button": [ + 0.18392428755760187, + -0.40141865611076355, + 0.7762288451194763 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12897940725088114, + -0.06263008713722229, + 0.03459888696670532 + ], + "min_contact_pad_to_button": 0.021073935937469094, + "closest_contact_pad": [ + 0.18390275537967676, + -0.4017173878304419, + 0.7895753631761221 + ], + "closest_contact_pad_button": [ + 0.18390275537967676, + -0.4014102220535278, + 0.7685036659240723 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00030716577691414226, + 0.021071697252049826 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 59, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "da16eabb46b213fa2b754ef19feb20c7897562a61a8a4ebbae4029da9a45dc6f", + "visual_seed": 4419964068040752243, + "episode_index": 59, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_5_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_5_success.json new file mode 100644 index 0000000000000000000000000000000000000000..50ea4270522c92e1da6c2756d74e6f2f377582de --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_5_success.json @@ -0,0 +1,926 @@ +{ + "episode": 5, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.188668150397914, + -0.1429898307030956, + 1.0443194767397483 + ], + "current_z": 1.0443194767397483, + "required_z": 0.856586608881057, + "initial_z": 0.756586608881057, + "lift_margin": 0.18773286785869137, + "gripper_z": 1.0490152580716816, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1842454796380308, + -0.14735929808201356, + 1.0490152580716816 + ], + "object_minus_gripper": [ + 0.004422670759883174, + 0.004369467378917968, + -0.004695781331933269 + ], + "object_to_gripper_xy": 0.0062170943233759825, + "object_to_gripper_z": -0.004695781331933269, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.188668150397914, + -0.16729247439655598, + 1.0443194767397483 + ], + "finger_b": [ + 0.17798677548040395, + -0.1429898307030956, + 1.0443194767397483 + ], + "finger_midpoint": [ + 0.18332746293915897, + -0.1551411525498258, + 1.0443194767397483 + ], + "object_minus_finger_midpoint": [ + 0.005340687458755017, + 0.012151321846730206, + 0.0 + ], + "finger_gap": 0.02654637942582194, + "fingertip_max_gap": 0.09599030360445396, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013273189712910981, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0443194767397483, + "object_top_z": 1.0913290631850963, + "finger_top_clearance": 0.04700958644534792, + "fingertip_min_top_clearance": 0.01410287593360439, + "object_projection_between_fingers": 0.8381011651113418, + "object_to_finger_line_xy": 0.009778570727577618, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05049515180222698, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.629272865334575, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 204, + "max_stable_success_frames": 204, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18844328163508411, + -0.1453143458964061, + 1.2416431422482217 + ], + "held_position": [ + 0.19300972508886646, + -0.14096244095993749, + 1.2370476828884756 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007804468535379588, + "max_held_gripper_dist": 0.007807232104713018, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004595459359746146, + "max_held_gripper_z_dist": 0.004707581966922225, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08576618615082018, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.19300972508886646, + -0.1656079528709084, + 1.2370476828884756 + ], + "held_grasp_finger_b": [ + 0.18347215446011428, + -0.14096244095993749, + 1.2370476828884756 + ], + "held_grasp_midpoint": [ + 0.18824093977449036, + -0.15328519691542294, + 1.2370476828884756 + ], + "held_grasp_object_position": [ + 0.19300972508886646, + -0.14096244095993749, + 1.2370476828884756 + ], + "held_grasp_finger_gap": 0.026426625037114477, + "held_grasp_max_gap": 0.12496607512235641, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02465739603034957, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.0016226271200985884, + -0.999854261441337, + -0.0169947921089828 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004793348450376619, + "held_grasp_line_xy_max_dist": 0.04748303756117821, + "held_grasp_object_top_z": 0.04520079120993614, + "held_grasp_top_clearance": 0.03288756911552342, + "held_grasp_min_top_clearance": 0.013560237362980843 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.329900691304839, + -0.34700572220299764, + 0.8470197766412362 + ], + "target_position": [ + 0.32420498929278657, + -0.3483410007238108, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005850127360856616, + "xy_threshold": 0.08, + "gripper_dist": 0.18492827717380042, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470197766412362, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07582272321102357, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08898595072787928, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15264137502749334, + "release_required_pad_clearance": 0.05449297536393964, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 4.0159719543571155, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008050739765167236, + "max_z_decrease": 0.008050739765167236, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035031874447968236, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008050739765167236, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021325470578040392, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 119, + "max_z_decrease_with_contact_point": 0.008050739765167236, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008050745709856148, + "max_button_displacement": 0.12, + "button_start": [ + 0.1799049079418182, + -0.40460246801376337, + 0.7768088579177856 + ], + "button_final": [ + 0.1799049079418182, + -0.40460246801376337, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18082297089891308, + -0.4058248130019446, + 0.8037562406185673 + ], + "closest_button": [ + 0.17989610135555267, + -0.40459820628166193, + 0.7687581181526184 + ], + "closest_ee_minus_button": [ + 0.000926869543360409, + -0.0012266067202826858, + 0.03499812246594891 + ], + "button_min_z_position": [ + 0.17989610135555267, + -0.40459820628166193, + 0.7687581181526184 + ], + "min_active_finger_to_button": 0.14487929437568792, + "closest_active_finger": [ + 0.040240757167339325, + -0.3883496820926666, + 0.8081057071685791 + ], + "closest_active_finger_button": [ + 0.17991705238819122, + -0.4046069681644439, + 0.773231029510498 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1396762952208519, + 0.016257286071777288, + 0.034874677658081055 + ], + "min_contact_pad_to_button": 0.021325470578040392, + "closest_contact_pad": [ + 0.17989610135555267, + -0.40713199035956826, + 0.7899325280291986 + ], + "closest_contact_pad_button": [ + 0.17989610135555267, + -0.40459820628166193, + 0.7687581181526184 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0025337840779063314, + 0.021174409876580147 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 5, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "659ee006ef91e64f8919530b922b9e0cd21c4da3c7572793469ed5bf70dc9eda", + "visual_seed": 8236138896727435623, + "episode_index": 5, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_60_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_60_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7a64ba95fbec4f25b450fe42476c691593065898 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_60_success.json @@ -0,0 +1,926 @@ +{ + "episode": 60, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.19063153535611746, + -0.14298722357254148, + 1.04721365295763 + ], + "current_z": 1.04721365295763, + "required_z": 0.8565865622899821, + "initial_z": 0.7565865622899821, + "lift_margin": 0.19062709066764782, + "gripper_z": 1.0512722196263748, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18667716562909312, + -0.14725931388368058, + 1.0512722196263748 + ], + "object_minus_gripper": [ + 0.003954369727024343, + 0.004272090311139093, + -0.004058566668744934 + ], + "object_to_gripper_xy": 0.005821322492744676, + "object_to_gripper_z": -0.004058566668744934, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19063153535611746, + -0.1666015310533965, + 1.04721365295763 + ], + "finger_b": [ + 0.17959953299183934, + -0.14298722357254148, + 1.04721365295763 + ], + "finger_midpoint": [ + 0.1851155341739784, + -0.154794377312969, + 1.04721365295763 + ], + "object_minus_finger_midpoint": [ + 0.0055160011821390464, + 0.011807153740427512, + 0.0 + ], + "finger_gap": 0.026064163020626686, + "fingertip_max_gap": 0.093469062915119, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013032081510313336, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.04721365295763, + "object_top_z": 1.0933696928469299, + "finger_top_clearance": 0.04615603988929995, + "fingertip_min_top_clearance": 0.013846811966789984, + "object_projection_between_fingers": 0.8208482206915425, + "object_to_finger_line_xy": 0.009995068545014004, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0492345314575595, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.7382031302003316, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 206, + "max_stable_success_frames": 206, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19159282958987964, + -0.14646773275414485, + 1.2464182785359281 + ], + "held_position": [ + 0.19589020419579659, + -0.14245516294727428, + 1.2424438424371849 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007096780062928728, + "max_held_gripper_dist": 0.007098747640135735, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003974436098743261, + "max_held_gripper_z_dist": 0.004072776908965459, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08590681177422693, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.19589020419579659, + -0.16724465737301994, + 1.2424438424371849 + ], + "held_grasp_finger_b": [ + 0.18725498613189798, + -0.14245516294727428, + 1.2424438424371849 + ], + "held_grasp_midpoint": [ + 0.19157259516384728, + -0.1548499101601471, + 1.2424438424371849 + ], + "held_grasp_object_position": [ + 0.19589020419579659, + -0.14245516294727428, + 1.2424438424371849 + ], + "held_grasp_finger_gap": 0.026250448089416605, + "held_grasp_max_gap": 0.12496614217758178, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024178628525435696, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06418301556575166, + -0.9977155014165081, + -0.021078869658792687 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0035230931112584874, + "held_grasp_line_xy_max_dist": 0.04748307108879089, + "held_grasp_object_top_z": 0.045200806111097336, + "held_grasp_top_clearance": 0.032557257512970623, + "held_grasp_min_top_clearance": 0.0135602418333292 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33332096707705283, + -0.3522764244723834, + 0.8470195465316596 + ], + "target_position": [ + 0.32688173182709424, + -0.35352104485967084, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006558416768760653, + "xy_threshold": 0.08, + "gripper_dist": 0.1869782305541085, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195465316596, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07559807514634642, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08573439701243556, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15495071504515204, + "release_required_pad_clearance": 0.05286719850621778, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7763165979789338, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008363008499145508, + "max_z_decrease": 0.008363008499145508, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035049129277867914, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008363008499145508, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.0212394087666775, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008363008499145508, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008363051737390813, + "max_button_displacement": 0.12, + "button_start": [ + 0.18258166313171387, + -0.40978249907493586, + 0.7768088579177856 + ], + "button_final": [ + 0.18258166313171387, + -0.40978249907493586, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18405850856122088, + -0.41093603181611943, + 0.8034437155793431 + ], + "closest_button": [ + 0.18257558345794678, + -0.4097563028335571, + 0.7684458494186401 + ], + "closest_ee_minus_button": [ + 0.0014829251032741075, + -0.0011797289825623558, + 0.034997866160702995 + ], + "button_min_z_position": [ + 0.18257558345794678, + -0.4097563028335571, + 0.7684458494186401 + ], + "min_active_finger_to_button": 0.1443338681699127, + "closest_active_finger": [ + 0.04327645152807236, + -0.3951154351234436, + 0.8077856302261353 + ], + "closest_active_finger_button": [ + 0.18259333074092865, + -0.4097872674465179, + 0.7730320692062378 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1393168792128563, + 0.014671832323074285, + 0.03475356101989746 + ], + "min_contact_pad_to_button": 0.0212394087666775, + "closest_contact_pad": [ + 0.18257558345794678, + -0.4120946078018294, + 0.7895561505683957 + ], + "closest_contact_pad_button": [ + 0.18257558345794678, + -0.4097563028335571, + 0.7684458494186401 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002338304968272309, + 0.02111030114975554 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 60, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b87ca6e5104a9052c04233739617cfca56aabd5d7a17f8e55762c0f76bea46ac", + "visual_seed": 7980308157618305466, + "episode_index": 60, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_61_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_61_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8ddb1f02ee245751f14c61cb6da0dc3855665b88 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_61_success.json @@ -0,0 +1,926 @@ +{ + "episode": 61, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.18640265073384055, + -0.13819810772955168, + 1.045059361721398 + ], + "current_z": 1.045059361721398, + "required_z": 0.8565865498635467, + "initial_z": 0.7565865498635467, + "lift_margin": 0.18847281185785125, + "gripper_z": 1.0494663539992188, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18229501096138814, + -0.14254895458886785, + 1.0494663539992188 + ], + "object_minus_gripper": [ + 0.004107639772452404, + 0.004350846859316165, + -0.004406992277820931 + ], + "object_to_gripper_xy": 0.00598352512265589, + "object_to_gripper_z": -0.004406992277820931, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.18640265073384055, + -0.1619326390965605, + 1.045059361721398 + ], + "finger_b": [ + 0.1752770692353875, + -0.13819810772955168, + 1.045059361721398 + ], + "finger_midpoint": [ + 0.18083985998461402, + -0.1500653734130561, + 1.045059361721398 + ], + "object_minus_finger_midpoint": [ + 0.005562790749226526, + 0.011867265683504408, + 0.0 + ], + "finger_gap": 0.026212717197769603, + "fingertip_max_gap": 0.0949875576986085, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013106358598884801, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.045059361721398, + "object_top_z": 1.0919047115254448, + "finger_top_clearance": 0.046845349804046865, + "fingertip_min_top_clearance": 0.014053604941214076, + "object_projection_between_fingers": 0.8198553558258104, + "object_to_finger_line_xy": 0.010073753936265526, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049993778849304255, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.0871291480607135, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 204, + "max_stable_success_frames": 204, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18689747692965633, + -0.14096437560967653, + 1.2431394254101855 + ], + "held_position": [ + 0.19129920003809062, + -0.13681784028842872, + 1.2388200755622767 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007431399908651808, + "max_held_gripper_dist": 0.007432850506459816, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004319349847908827, + "max_held_gripper_z_dist": 0.004419276498112357, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0860434521674728, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.19129920003809062, + -0.16152478978793522, + 1.2388200755622767 + ], + "held_grasp_finger_b": [ + 0.18225026028697056, + -0.13681784028842872, + 1.2388200755622767 + ], + "held_grasp_midpoint": [ + 0.1867747301625306, + -0.14917131503818198, + 1.2388200755622767 + ], + "held_grasp_object_position": [ + 0.19129920003809062, + -0.13681784028842872, + 1.2388200755622767 + ], + "held_grasp_finger_gap": 0.026311911070664655, + "held_grasp_max_gap": 0.12496608257293701, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024244947141926272, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.04767963454268078, + -0.9987634160482379, + -0.014081591299662796 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003934229975308956, + "held_grasp_line_xy_max_dist": 0.047483041286468505, + "held_grasp_object_top_z": 0.04520079866051674, + "held_grasp_top_clearance": 0.03264687494922146, + "held_grasp_min_top_clearance": 0.013560239598155022 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3323349942882149, + -0.3519968929155991, + 0.8470196603883162 + ], + "target_position": [ + 0.32626716458957256, + -0.35330975084110317, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006208232694115513, + "xy_threshold": 0.08, + "gripper_dist": 0.18522665217026202, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196603883162, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0754598703257797, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08578198826460313, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15382505910524621, + "release_required_pad_clearance": 0.05289099413230157, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8213856524270049, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008192360401153564, + "max_z_decrease": 0.008192360401153564, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03495918336128852, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008192360401153564, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02105249301191508, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008192360401153564, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008192425874498548, + "max_button_displacement": 0.12, + "button_start": [ + 0.181967094540596, + -0.4095712006092071, + 0.7768088579177856 + ], + "button_final": [ + 0.181967094540596, + -0.4095712006092071, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18010184961427025, + -0.4104864340803259, + 0.8035119477210931 + ], + "closest_button": [ + 0.18199367821216583, + -0.40955206751823414, + 0.7686164975166321 + ], + "closest_ee_minus_button": [ + -0.0018918285978955784, + -0.0009343665620917818, + 0.034895450204461054 + ], + "button_min_z_position": [ + 0.18199367821216583, + -0.40955206751823414, + 0.7686164975166321 + ], + "min_active_finger_to_button": 0.147559250791584, + "closest_active_finger": [ + 0.0393269807100296, + -0.394543319940567, + 0.8076559901237488 + ], + "closest_active_finger_button": [ + 0.18197476863861084, + -0.40958145260810846, + 0.7730265855789185 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14264778792858124, + 0.015038132667541448, + 0.03462940454483032 + ], + "min_contact_pad_to_button": 0.02105249301191508, + "closest_contact_pad": [ + 0.18199367821216583, + -0.41165130892301594, + 0.7895640665293167 + ], + "closest_contact_pad_button": [ + 0.18199367821216583, + -0.40955206751823414, + 0.7686164975166321 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002099241404781793, + 0.020947569012684575 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 61, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9145b6f3d827625d1322ccf3e9aec655ec8c306ef255fccc3138a0ebb7b39783", + "visual_seed": 2867101821310864923, + "episode_index": 61, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_62_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_62_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d9c3bbd92159bfdaef27ea5547f05cf906662efb --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_62_success.json @@ -0,0 +1,926 @@ +{ + "episode": 62, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.18886352258666056, + -0.14636879009690254, + 1.044844630006155 + ], + "current_z": 1.044844630006155, + "required_z": 0.8565865080442484, + "initial_z": 0.7565865080442484, + "lift_margin": 0.1882581219619065, + "gripper_z": 1.0490699031624997, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18481033997286314, + -0.15063695415282302, + 1.0490699031624997 + ], + "object_minus_gripper": [ + 0.004053182613797418, + 0.004268164055920481, + -0.0042252731563448 + ], + "object_to_gripper_xy": 0.005886043977837852, + "object_to_gripper_z": -0.0042252731563448, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.18886352258666056, + -0.17015347473612144, + 1.044844630006155 + ], + "finger_b": [ + 0.1779635785354128, + -0.14636879009690254, + 1.044844630006155 + ], + "finger_midpoint": [ + 0.1834135505610367, + -0.158261132416512, + 1.044844630006155 + ], + "object_minus_finger_midpoint": [ + 0.0054499720256238615, + 0.01189234231960945, + 0.0 + ], + "finger_gap": 0.02616333319184363, + "fingertip_max_gap": 0.09275006039164269, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01308166659592181, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.044844630006155, + "object_top_z": 1.0904403216224874, + "finger_top_clearance": 0.04559569161633248, + "fingertip_min_top_clearance": 0.01367870748489976, + "object_projection_between_fingers": 0.8264349037619773, + "object_to_finger_line_xy": 0.009908971840211805, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048875030195821345, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.9783666390904622, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 204, + "max_stable_success_frames": 204, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18963274589888554, + -0.14980917106472852, + 1.2430871718202487 + ], + "held_position": [ + 0.19398399664409655, + -0.14574822849985844, + 1.2389562129988947 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00724496089337933, + "max_held_gripper_dist": 0.007247618729272216, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004130958821354058, + "max_held_gripper_z_dist": 0.004238474743244236, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08569890722234333, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.19398399664409655, + -0.17050799402787695, + 1.2389562129988947 + ], + "held_grasp_finger_b": [ + 0.18524918980152266, + -0.14574822849985844, + 1.2389562129988947 + ], + "held_grasp_midpoint": [ + 0.1896165932228096, + -0.1581281112638677, + 1.2389562129988947 + ], + "held_grasp_object_position": [ + 0.19398399664409655, + -0.14574822849985844, + 1.2389562129988947 + ], + "held_grasp_finger_gap": 0.02625533925851138, + "held_grasp_max_gap": 0.12496616452932358, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.0242954503602514, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.048520310239947705, + -0.9983642967121973, + -0.030240875393730215 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0037804859304345208, + "held_grasp_line_xy_max_dist": 0.04748308226466179, + "held_grasp_object_top_z": 0.045200787484645844, + "held_grasp_top_clearance": 0.03262924676663244, + "held_grasp_min_top_clearance": 0.013560236245393752 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33240144127200966, + -0.3452105854629681, + 0.8470199141359145 + ], + "target_position": [ + 0.3251613721279753, + -0.34703561010314193, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007466546467252442, + "xy_threshold": 0.08, + "gripper_dist": 0.18609136029730922, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470199141359145, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07560847836093369, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.086456066236402, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1541549862822378, + "release_required_pad_clearance": 0.053228033118201, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.476149088086495, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008149504661560059, + "max_z_decrease": 0.008149504661560059, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03507721898339385, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008149504661560059, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021073747055146308, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008149504661560059, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008149511973725699, + "max_button_displacement": 0.12, + "button_start": [ + 0.1808612942695617, + -0.4032970666885376, + 0.7768088579177856 + ], + "button_final": [ + 0.1808612942695617, + -0.4032970666885376, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17905729130959921, + -0.4015635625059816, + 0.8036479816541238 + ], + "closest_button": [ + 0.18085160851478568, + -0.4032920300960541, + 0.7686593532562256 + ], + "closest_ee_minus_button": [ + -0.0017943172051864686, + 0.0017284675900725022, + 0.03498862839789818 + ], + "button_min_z_position": [ + 0.18085160851478568, + -0.4032920300960541, + 0.7686593532562256 + ], + "min_active_finger_to_button": 0.1466928186530115, + "closest_active_finger": [ + 0.05207592993974686, + -0.4644218683242798, + 0.8109862804412842 + ], + "closest_active_finger_button": [ + 0.18086484074592585, + -0.4032989144325256, + 0.7764003872871399 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.128788910806179, + -0.061122953891754206, + 0.03458589315414429 + ], + "min_contact_pad_to_button": 0.021073747055146308, + "closest_contact_pad": [ + 0.18085160851478568, + -0.4032920300960541, + 0.7897331003113719 + ], + "closest_contact_pad_button": [ + 0.18085160851478568, + -0.4032920300960541, + 0.7686593532562256 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021073747055146308 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 62, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0f2df05faae83ae54ff40b0c3cf07333da89d621cc307def6b18abff10b03dc9", + "visual_seed": 7665014463275840673, + "episode_index": 62, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_63_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_63_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4ffce3f632bac9064d9bff40f3724cf5c96c1533 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_63_success.json @@ -0,0 +1,926 @@ +{ + "episode": 63, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.18803567557913997, + -0.1484964101289518, + 1.0448584097734632 + ], + "current_z": 1.0448584097734632, + "required_z": 0.856586582397405, + "initial_z": 0.7565865823974051, + "lift_margin": 0.1882718273760582, + "gripper_z": 1.049134369851963, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1840541451343746, + -0.15274119608924108, + 1.049134369851963 + ], + "object_minus_gripper": [ + 0.003981530444765374, + 0.0042447859602892934, + -0.004275960078499841 + ], + "object_to_gripper_xy": 0.005819861899672763, + "object_to_gripper_z": -0.004275960078499841, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.18803567557913997, + -0.17226428209996497, + 1.0448584097734632 + ], + "finger_b": [ + 0.17721982528871177, + -0.1484964101289518, + 1.0448584097734632 + ], + "finger_midpoint": [ + 0.18262775043392587, + -0.1603803461144584, + 1.0448584097734632 + ], + "object_minus_finger_midpoint": [ + 0.005407925145214099, + 0.011883935985506605, + 0.0 + ], + "finger_gap": 0.026113106968253124, + "fingertip_max_gap": 0.09220003936290733, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013056553484126574, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0448584097734632, + "object_top_z": 1.0902298962479997, + "finger_top_clearance": 0.04537148647453648, + "fingertip_min_top_clearance": 0.013611445942360927, + "object_projection_between_fingers": 0.8284446607376594, + "object_to_finger_line_xy": 0.009844471792386657, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048600019681453666, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.116855278160589, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 204, + "max_stable_success_frames": 204, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18862236874721086, + -0.1514654361603997, + 1.2452560219623419 + ], + "held_position": [ + 0.19288497816056904, + -0.14741216447583005, + 1.2410626787134544 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0072237786485172435, + "max_held_gripper_dist": 0.007226953293121892, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004193343248887427, + "max_held_gripper_z_dist": 0.004287053994565637, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08563678559311494, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.19288497816056904, + -0.17212101107752836, + 1.2410626787134544 + ], + "held_grasp_finger_b": [ + 0.1840416472709313, + -0.14741216447583005, + 1.2410626787134544 + ], + "held_grasp_midpoint": [ + 0.18846331271575018, + -0.1597665877766792, + 1.2410626787134544 + ], + "held_grasp_object_position": [ + 0.19288497816056904, + -0.14741216447583005, + 1.2410626787134544 + ], + "held_grasp_finger_gap": 0.026243696416661258, + "held_grasp_max_gap": 0.12496595591306686, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024323645225229014, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.03979450036023434, + -0.9986528937294205, + -0.03329858235622729 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003948322173101195, + "held_grasp_line_xy_max_dist": 0.04748297795653343, + "held_grasp_object_top_z": 0.045200735330581665, + "held_grasp_top_clearance": 0.0326869967836938, + "held_grasp_min_top_clearance": 0.0135602205991745 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3320023705554137, + -0.3468585738851865, + 0.8470196321489575 + ], + "target_position": [ + 0.324015111167844, + -0.34937401039034893, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008373991481714353, + "xy_threshold": 0.08, + "gripper_dist": 0.18683492202866983, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196321489575, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07579132956257127, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08696367087276767, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15467891933787914, + "release_required_pad_clearance": 0.05348183543638384, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.9762793542632797, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008368492126464844, + "max_z_decrease": 0.008368492126464844, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.034969649725623934, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008368492126464844, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02104989305723738, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008368492126464844, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008368518864626912, + "max_button_displacement": 0.12, + "button_start": [ + 0.17971503734588617, + -0.4056354761123657, + 0.7768088579177856 + ], + "button_final": [ + 0.17971503734588617, + -0.4056354761123657, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17813939215904984, + -0.40517782501787347, + 0.8036143027788071 + ], + "closest_button": [ + 0.17973612248897544, + -0.4056282341480255, + 0.7686840295791626 + ], + "closest_ee_minus_button": [ + -0.0015967303299256053, + 0.00045040913015204076, + 0.03493027319964448 + ], + "button_min_z_position": [ + 0.1796950548887252, + -0.4056285321712494, + 0.7684403657913208 + ], + "min_active_finger_to_button": 0.14705645406474738, + "closest_active_finger": [ + 0.05082164704799652, + -0.4673779010772705, + 0.8107728958129883 + ], + "closest_active_finger_button": [ + 0.17971853911876667, + -0.40563830733299255, + 0.7761403322219849 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12889689207077015, + -0.061739593744277954, + 0.03463256359100342 + ], + "min_contact_pad_to_button": 0.02104989305723738, + "closest_contact_pad": [ + 0.17973612248897544, + -0.4064342411630247, + 0.7897184858453203 + ], + "closest_contact_pad_button": [ + 0.17973612248897544, + -0.4056282341480255, + 0.7686840295791626 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.000806007014999166, + 0.02103445626615774 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 63, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6866786c608f32e6224ff6b809d20ffcec30a8a035bf7abd9348397849c954cf", + "visual_seed": 6522408379310755237, + "episode_index": 63, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_64_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_64_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2a8056fb69652869b4df22a19a45d34135ed5daa --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_64_success.json @@ -0,0 +1,926 @@ +{ + "episode": 64, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.1909877167372167, + -0.13804595227868316, + 1.046156939947214 + ], + "current_z": 1.046156939947214, + "required_z": 0.8565866206600162, + "initial_z": 0.7565866206600163, + "lift_margin": 0.1895703192871977, + "gripper_z": 1.0512018104232839, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18643258534932045, + -0.14249494518067823, + 1.0512018104232839 + ], + "object_minus_gripper": [ + 0.004555131387896261, + 0.004448992901995075, + -0.00504487047606994 + ], + "object_to_gripper_xy": 0.006367319671808561, + "object_to_gripper_z": -0.00504487047606994, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1909877167372167, + -0.16246123029655674, + 1.046156939947214 + ], + "finger_b": [ + 0.18023207373168473, + -0.13804595227868316, + 1.046156939947214 + ], + "finger_midpoint": [ + 0.1856098952344507, + -0.15025359128761995, + 1.046156939947214 + ], + "object_minus_finger_midpoint": [ + 0.005377821502766, + 0.012207639008936788, + 0.0 + ], + "finger_gap": 0.026679386371363745, + "fingertip_max_gap": 0.09678238783301976, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013339693185681878, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.046156939947214, + "object_top_z": 1.093397065190328, + "finger_top_clearance": 0.04724012524311405, + "fingertip_min_top_clearance": 0.014172037572934214, + "object_projection_between_fingers": 0.8374746594025569, + "object_to_finger_line_xy": 0.009842880588997491, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05089119391650988, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.916694904497995, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 206, + "max_stable_success_frames": 206, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1906618163929957, + -0.14011202031698028, + 1.2435351698837485 + ], + "held_position": [ + 0.19532806814931308, + -0.13566458918473556, + 1.2385910563317937 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008123903491796142, + "max_held_gripper_dist": 0.00812623136686273, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004944113551954787, + "max_held_gripper_z_dist": 0.0050559990286676015, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0857630253502352, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.19532806814931308, + -0.16035854411324782, + 1.2385910563317937 + ], + "held_grasp_finger_b": [ + 0.18564117095724708, + -0.13566458918473556, + 1.2385910563317937 + ], + "held_grasp_midpoint": [ + 0.19048461955328008, + -0.14801156664899168, + 1.2385910563317937 + ], + "held_grasp_object_position": [ + 0.19532806814931308, + -0.13566458918473556, + 1.2385910563317937 + ], + "held_grasp_finger_gap": 0.02652597570723933, + "held_grasp_max_gap": 0.1249658516049385, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02478946670295989, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.010285642280397878, + -0.9998329880778966, + -0.015106340195572217 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004973673383192456, + "held_grasp_line_xy_max_dist": 0.04748292580246925, + "held_grasp_object_top_z": 0.04520068317651749, + "held_grasp_top_clearance": 0.03290558578436212, + "held_grasp_min_top_clearance": 0.013560204952955245 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33239099530966953, + -0.3449467478864502, + 0.8470195848075595 + ], + "target_position": [ + 0.32543544381023615, + -0.34733981803032793, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007355710800105526, + "xy_threshold": 0.08, + "gripper_dist": 0.1843664771083623, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195848075595, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07549122721832541, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08833054300865971, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15305069211734554, + "release_required_pad_clearance": 0.05416527150432986, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.345850206539552, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00833803415298462, + "max_z_decrease": 0.00833803415298462, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0349578528238741, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00833803415298462, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021035654365320802, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00833803415298462, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008338055097713223, + "max_button_displacement": 0.12, + "button_start": [ + 0.1811353713274002, + -0.40360128879547114, + 0.7768088579177856 + ], + "button_final": [ + 0.1811353713274002, + -0.40360128879547114, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1793853104297184, + -0.4036154606298091, + 0.8035788318820221 + ], + "closest_button": [ + 0.1811639815568924, + -0.40359008312225336, + 0.7686662673950195 + ], + "closest_ee_minus_button": [ + -0.001778671127174003, + -2.5377507555712775e-05, + 0.03491256448700253 + ], + "button_min_z_position": [ + 0.18111799657344818, + -0.4035944044589996, + 0.768470823764801 + ], + "min_active_finger_to_button": 0.14739421018113924, + "closest_active_finger": [ + 0.05235566943883896, + -0.46638578176498413, + 0.8114292025566101 + ], + "closest_active_finger_button": [ + 0.18113744258880615, + -0.40360352396965027, + 0.7768070101737976 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1287817731499672, + -0.06278225779533386, + 0.0346221923828125 + ], + "min_contact_pad_to_button": 0.021035654365320802, + "closest_contact_pad": [ + 0.1811639815568924, + -0.40481330729106463, + 0.789666326376129 + ], + "closest_contact_pad_button": [ + 0.1811639815568924, + -0.40359008312225336, + 0.7686662673950195 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0012232241688112655, + 0.02100005898110946 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 64, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "95eb12f31f4586156601f192a0223c1e5e912dedded07ec52f1d3776a13014c7", + "visual_seed": 7834228973228333898, + "episode_index": 64, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_65_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_65_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1f5c7cdc6369012947040721ba74a75793cc19e3 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_65_success.json @@ -0,0 +1,926 @@ +{ + "episode": 65, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.1827930430041284, + -0.14156068380542713, + 1.0457946792976085 + ], + "current_z": 1.0457946792976085, + "required_z": 0.8565865576416652, + "initial_z": 0.7565865576416653, + "lift_margin": 0.18920812165594325, + "gripper_z": 1.0501832551740524, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1786485672044885, + -0.14594759406463018, + 1.0501832551740524 + ], + "object_minus_gripper": [ + 0.004144475799639918, + 0.004386910259203042, + -0.004388575876443923 + ], + "object_to_gripper_xy": 0.006035036145384867, + "object_to_gripper_z": -0.004388575876443923, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1827930430041284, + -0.1652783191881035, + 1.0457946792976085 + ], + "finger_b": [ + 0.1715513160438925, + -0.14156068380542713, + 1.0457946792976085 + ], + "finger_midpoint": [ + 0.17717217952401046, + -0.1534195014967653, + 1.0457946792976085 + ], + "object_minus_finger_midpoint": [ + 0.005620863480117949, + 0.011858817691338175, + 0.0 + ], + "finger_gap": 0.026246955122338992, + "fingertip_max_gap": 0.09339720687400241, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013123477561169484, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0457946792976085, + "object_top_z": 1.0918721410045635, + "finger_top_clearance": 0.046077461706955036, + "fingertip_min_top_clearance": 0.01382323851208651, + "object_projection_between_fingers": 0.8165540160680844, + "object_to_finger_line_xy": 0.010158404274770496, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049198603437001207, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.7782502711903663, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 204, + "max_stable_success_frames": 204, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18326542015881217, + -0.14455351241904446, + 1.2439689989959954 + ], + "held_position": [ + 0.1877332689842967, + -0.14039368993421444, + 1.2396715719978528 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007465498981116133, + "max_held_gripper_dist": 0.00746669659988877, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004297426998142617, + "max_held_gripper_z_dist": 0.004400420282659079, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08478438151905482, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.1877332689842967, + -0.16515276128050774, + 1.2396715719978528 + ], + "held_grasp_finger_b": [ + 0.1786578359908686, + -0.14039368993421444, + 1.2396715719978528 + ], + "held_grasp_midpoint": [ + 0.18319555248758265, + -0.1527732256073611, + 1.2396715719978528 + ], + "held_grasp_object_position": [ + 0.1877332689842967, + -0.14039368993421444, + 1.2396715719978528 + ], + "held_grasp_finger_gap": 0.026369965831397, + "held_grasp_max_gap": 0.12496611982584, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024217443052310085, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.054854192388892865, + -0.9982308404892676, + -0.02293919513524334 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003862479173878424, + "held_grasp_line_xy_max_dist": 0.04748305991292, + "held_grasp_object_top_z": 0.04520077258348465, + "held_grasp_top_clearance": 0.032594225509895595, + "held_grasp_min_top_clearance": 0.013560231775045395 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33858442771442543, + -0.3466116534719057, + 0.8470195586696179 + ], + "target_position": [ + 0.33135954939198314, + -0.34863274839263764, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007502245760617609, + "xy_threshold": 0.08, + "gripper_dist": 0.18642592370081176, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195586696179, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07591418660439793, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08628948917682903, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15391406242817188, + "release_required_pad_clearance": 0.05314474458841452, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.3146029225829856, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00834953784942627, + "max_z_decrease": 0.00834953784942627, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502216741728264, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00834953784942627, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021180755614920253, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00834953784942627, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008349618800672797, + "max_button_displacement": 0.12, + "button_start": [ + 0.18705947697162625, + -0.4048942029476165, + 0.7768088579177856 + ], + "button_final": [ + 0.18705947697162625, + -0.4048942029476165, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18801021242181226, + -0.405672511591261, + 0.8038200344916077 + ], + "closest_button": [ + 0.18704035878181452, + -0.4048845767974853, + 0.7688201665878296 + ], + "closest_ee_minus_button": [ + 0.000969853639997742, + -0.000787934793775702, + 0.03499986790377807 + ], + "button_min_z_position": [ + 0.18702590465545652, + -0.4048792123794555, + 0.7684593200683594 + ], + "min_active_finger_to_button": 0.1448860502876977, + "closest_active_finger": [ + 0.04706387221813202, + -0.3913610577583313, + 0.8077740669250488 + ], + "closest_active_finger_button": [ + 0.18707112967967982, + -0.4048999547958373, + 0.7730374336242676 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1400072574615478, + 0.013538897037505992, + 0.03473663330078125 + ], + "min_contact_pad_to_button": 0.021180755614920253, + "closest_contact_pad": [ + 0.18702590465545652, + -0.406685401976363, + 0.7895629237312175 + ], + "closest_contact_pad_button": [ + 0.18702590465545652, + -0.4048792123794555, + 0.7684593200683594 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0018061895969074815, + 0.021103603662858128 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 65, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f2913ebb9889ef0f5e90543cc4f100850f3c8cb8bacf222fbb52c8facee83b0a", + "visual_seed": 3353195855985620822, + "episode_index": 65, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_66_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_66_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1d88f00c29b086ebfcab832eeb79975029cceafa --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_66_success.json @@ -0,0 +1,926 @@ +{ + "episode": 66, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.18881100899264752, + -0.14386193298579222, + 1.0458895722389785 + ], + "current_z": 1.0458895722389785, + "required_z": 0.8565865504796812, + "initial_z": 0.7565865504796813, + "lift_margin": 0.18930302175929725, + "gripper_z": 1.0500816600929845, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18475591251725462, + -0.14817283552189903, + 1.0500816600929845 + ], + "object_minus_gripper": [ + 0.0040550964753929, + 0.004310902536106803, + -0.0041920878540060436 + ], + "object_to_gripper_xy": 0.005918419392080624, + "object_to_gripper_z": -0.0041920878540060436, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.18881100899264752, + -0.16757216779911327, + 1.0458895722389785 + ], + "finger_b": [ + 0.17775477756820124, + -0.14386193298579222, + 1.0458895722389785 + ], + "finger_midpoint": [ + 0.18328289328042438, + -0.15571705039245276, + 1.0458895722389785 + ], + "object_minus_finger_midpoint": [ + 0.005528115712223142, + 0.011855117406660537, + 0.0 + ], + "finger_gap": 0.026161335749799453, + "fingertip_max_gap": 0.09411065456374532, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013080667874899738, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0458895722389785, + "object_top_z": 1.0923338118636523, + "finger_top_clearance": 0.04644423962467381, + "fingertip_min_top_clearance": 0.01393327188740216, + "object_projection_between_fingers": 0.8213946711960742, + "object_to_finger_line_xy": 0.010020353919659851, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04955532728187266, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.9233491737778043, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 205, + "max_stable_success_frames": 205, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1894895959605646, + -0.14704004448264252, + 1.2432800409217457 + ], + "held_position": [ + 0.19384606967244322, + -0.1429318648716833, + 1.239186331624073 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007253582475717947, + "max_held_gripper_dist": 0.007258681703651283, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004093709297672721, + "max_held_gripper_z_dist": 0.0042050660925836425, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08567789567349712, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.19384606967244322, + -0.1676158181081095, + 1.239186331624073 + ], + "held_grasp_finger_b": [ + 0.1849712882296747, + -0.1429318648716833, + 1.239186331624073 + ], + "held_grasp_midpoint": [ + 0.18940867895105895, + -0.1552738414898964, + 1.239186331624073 + ], + "held_grasp_object_position": [ + 0.19384606967244322, + -0.1429318648716833, + 1.239186331624073 + ], + "held_grasp_finger_gap": 0.026230884335740254, + "held_grasp_max_gap": 0.12496608257293701, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024180753497819268, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05221968662236816, + -0.9983891788951833, + -0.022184494451385817 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0037969133294439234, + "held_grasp_line_xy_max_dist": 0.047483041286468505, + "held_grasp_object_top_z": 0.045200787484645844, + "held_grasp_top_clearance": 0.03264697242995283, + "held_grasp_min_top_clearance": 0.013560236245393752 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33672767070060616, + -0.3419850383673314, + 0.8470197688833797 + ], + "target_position": [ + 0.3297211210239248, + -0.34385573188527246, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0072519812885769525, + "xy_threshold": 0.08, + "gripper_dist": 0.18500805416585514, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470197688833797, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07539378579215616, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08530280744619072, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15383955028170695, + "release_required_pad_clearance": 0.05265140372309536, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.36045070146837194, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00839376449584961, + "max_z_decrease": 0.00839376449584961, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501618741365497, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00839376449584961, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.0210945445596525, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00839376449584961, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008393793766101023, + "max_button_displacement": 0.12, + "button_start": [ + 0.18542104959487912, + -0.40011718869209284, + 0.7768088579177856 + ], + "button_final": [ + 0.18542104959487912, + -0.40011718869209284, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18634319663746066, + -0.39946080016238, + 0.8034135012817213 + ], + "closest_button": [ + 0.18542559444904327, + -0.4000954926013946, + 0.768415093421936 + ], + "closest_ee_minus_button": [ + 0.0009176021884173824, + 0.0006346924390145947, + 0.03499840785978525 + ], + "button_min_z_position": [ + 0.18542559444904327, + -0.4000954926013946, + 0.768415093421936 + ], + "min_active_finger_to_button": 0.14479704887295425, + "closest_active_finger": [ + 0.060244955122470856, + -0.46412160992622375, + 0.8108354210853577 + ], + "closest_active_finger_button": [ + 0.1854254752397537, + -0.40011885762214655, + 0.7761991620063782 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12518052011728284, + -0.0640027523040772, + 0.03463625907897949 + ], + "min_contact_pad_to_button": 0.0210945445596525, + "closest_contact_pad": [ + 0.18542559444904327, + -0.4004754097754321, + 0.7895062165100989 + ], + "closest_contact_pad_button": [ + 0.18542559444904327, + -0.4000954926013946, + 0.768415093421936 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.000379917174037514, + 0.021091123088162855 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 66, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b000cf546100574218744de009fd7508583960e5b285005c5fe2034bde18c0c6", + "visual_seed": 3807030725959879241, + "episode_index": 66, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_67_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_67_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3a08d7202fd70a27806fb2894b110f9b28d61be4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_67_success.json @@ -0,0 +1,926 @@ +{ + "episode": 67, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.18505993393388662, + -0.14377654383565097, + 1.0476419992368486 + ], + "current_z": 1.0476419992368486, + "required_z": 0.8565865436920527, + "initial_z": 0.7565865436920527, + "lift_margin": 0.19105545554479597, + "gripper_z": 1.0519804094118912, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18103363159834637, + -0.1480689433149315, + 1.0519804094118912 + ], + "object_minus_gripper": [ + 0.004026302335540244, + 0.004292399479280534, + -0.004338410175042551 + ], + "object_to_gripper_xy": 0.005885219094214304, + "object_to_gripper_z": -0.004338410175042551, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.18505993393388662, + -0.16761803889589366, + 1.0476419992368486 + ], + "finger_b": [ + 0.17423414674623017, + -0.14377654383565097, + 1.0476419992368486 + ], + "finger_midpoint": [ + 0.1796470403400584, + -0.15569729136577232, + 1.0476419992368486 + ], + "object_minus_finger_midpoint": [ + 0.005412893593828211, + 0.011920747530121345, + 0.0 + ], + "finger_gap": 0.02618424249314849, + "fingertip_max_gap": 0.0966381901141424, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01309212124657424, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0476419992368486, + "object_top_z": 1.0951437834268898, + "finger_top_clearance": 0.04750178419004114, + "fingertip_min_top_clearance": 0.014250535257012342, + "object_projection_between_fingers": 0.8290618724646499, + "object_to_finger_line_xy": 0.009857186123497227, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.050819095057071204, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.4478160831248905, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 207, + "max_stable_success_frames": 207, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18547750887436992, + -0.14652479121818246, + 1.2472256575142422 + ], + "held_position": [ + 0.1897676282057413, + -0.14238796572652965, + 1.2429748951054098 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007320343576782268, + "max_held_gripper_dist": 0.007324571034728193, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004250762408832376, + "max_held_gripper_z_dist": 0.0043493899845732376, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08593473272212118, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.1897676282057413, + -0.16706236632884544, + 1.2429748951054098 + ], + "held_grasp_finger_b": [ + 0.1807602062896427, + -0.14238796572652965, + 1.2429748951054098 + ], + "held_grasp_midpoint": [ + 0.185263917247692, + -0.15472516602768754, + 1.2429748951054098 + ], + "held_grasp_object_position": [ + 0.1897676282057413, + -0.14238796572652965, + 1.2429748951054098 + ], + "held_grasp_finger_gap": 0.026267083862853435, + "held_grasp_max_gap": 0.12496605277061462, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024361263266780835, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.033176217055840986, + -0.9994202432244053, + -0.007649578755359876 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00409303145357586, + "held_grasp_line_xy_max_dist": 0.04748302638530731, + "held_grasp_object_top_z": 0.04520072042942047, + "held_grasp_top_clearance": 0.03272125661142802, + "held_grasp_min_top_clearance": 0.01356021612882614 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3333672864314826, + -0.344487622086461, + 0.8470196265834684 + ], + "target_position": [ + 0.3281980228474903, + -0.34538953408423795, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005247354690939357, + "xy_threshold": 0.08, + "gripper_dist": 0.18581760099140118, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196265834684, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07520982113368131, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08622755035095529, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15481575933677735, + "release_required_pad_clearance": 0.05311377517547765, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.2536510276890958, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00836879014968872, + "max_z_decrease": 0.00836879014968872, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03499761132786816, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00836879014968872, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02124699984924345, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00836879014968872, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008368935342723014, + "max_button_displacement": 0.12, + "button_start": [ + 0.1838979423046112, + -0.401650995016098, + 0.7768088579177856 + ], + "button_final": [ + 0.1838979423046112, + -0.401650995016098, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1841226766059058, + -0.40182952463221927, + 0.8038013458485985 + ], + "closest_button": [ + 0.18386156857013702, + -0.40163210034370417, + 0.7688052654266357 + ], + "closest_ee_minus_button": [ + 0.0002611080357687867, + -0.0001974242885151023, + 0.03499608042196278 + ], + "button_min_z_position": [ + 0.18385259807109833, + -0.4016316533088684, + 0.7684400677680969 + ], + "min_active_finger_to_button": 0.1456822665209959, + "closest_active_finger": [ + 0.04345684498548508, + -0.38507384061813354, + 0.8077080249786377 + ], + "closest_active_finger_button": [ + 0.1839098334312439, + -0.40165564417839045, + 0.7727605700492859 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14045298844575882, + 0.016581803560256902, + 0.03494745492935181 + ], + "min_contact_pad_to_button": 0.02124699984924345, + "closest_contact_pad": [ + 0.18385259807109833, + -0.4030637800480125, + 0.7896387473401075 + ], + "closest_contact_pad_button": [ + 0.18385259807109833, + -0.4016316533088684, + 0.7684400677680969 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0014321267391441128, + 0.021198679572010604 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 67, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "2d1e63d738377ee9921779cd71bad80a6303dcf7499ae16f0ec5c3783a0d0fdc", + "visual_seed": 1831015999299015025, + "episode_index": 67, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_68_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_68_success.json new file mode 100644 index 0000000000000000000000000000000000000000..822e68d1a5af8d45590a27ab99faa6043c538fd0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_68_success.json @@ -0,0 +1,926 @@ +{ + "episode": 68, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.18829564245699543, + -0.14710928070946772, + 1.0472735696225377 + ], + "current_z": 1.0472735696225377, + "required_z": 0.8565865227823163, + "initial_z": 0.7565865227823163, + "lift_margin": 0.19068704684022142, + "gripper_z": 1.0514014723512042, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18406426944342336, + -0.15140704115811493, + 1.0514014723512042 + ], + "object_minus_gripper": [ + 0.004231373013572071, + 0.004297760448647214, + -0.004127902728666477 + ], + "object_to_gripper_xy": 0.006031190799000003, + "object_to_gripper_z": -0.004127902728666477, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.18829564245699543, + -0.17118943180554433, + 1.0472735696225377 + ], + "finger_b": [ + 0.17758584258057056, + -0.14710928070946772, + 1.0472735696225377 + ], + "finger_midpoint": [ + 0.182940742518783, + -0.15914935625750604, + 1.0472735696225377 + ], + "object_minus_finger_midpoint": [ + 0.005354899938212421, + 0.01204007554803832, + 0.0 + ], + "finger_gap": 0.02635438275131766, + "fingertip_max_gap": 0.09159817265988784, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013177191375658837, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0472735696225377, + "object_top_z": 1.0926601797987812, + "finger_top_clearance": 0.04538661017624346, + "fingertip_min_top_clearance": 0.013615983052873037, + "object_projection_between_fingers": 0.8348582002524317, + "object_to_finger_line_xy": 0.009785605744082894, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048299086329943924, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.4682336717461992, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 206, + "max_stable_success_frames": 206, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18861627086069058, + -0.1500461283317331, + 1.246938005753714 + ], + "held_position": [ + 0.1930758232905321, + -0.14589981157258722, + 1.2428975705559178 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007307849692575137, + "max_held_gripper_dist": 0.007309696914858432, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004040435197796288, + "max_held_gripper_z_dist": 0.00413713432565932, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08566692066318407, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.1930758232905321, + -0.17066843981667587, + 1.2428975705559178 + ], + "held_grasp_finger_b": [ + 0.18401472460527823, + -0.14589981157258722, + 1.2428975705559178 + ], + "held_grasp_midpoint": [ + 0.18854527394790516, + -0.15828412569463154, + 1.2428975705559178 + ], + "held_grasp_object_position": [ + 0.1930758232905321, + -0.14589981157258722, + 1.2428975705559178 + ], + "held_grasp_finger_gap": 0.026374010966816852, + "held_grasp_max_gap": 0.12496623158454895, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024396377472842446, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.03758347644372413, + -0.998720026723229, + -0.033849527623837077 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004083773375350229, + "held_grasp_line_xy_max_dist": 0.047483115792274475, + "held_grasp_object_top_z": 0.04520081356167793, + "held_grasp_top_clearance": 0.032662077236265206, + "held_grasp_min_top_clearance": 0.013560244068503379 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3378565176589453, + -0.34714570764614594, + 0.8470197639979217 + ], + "target_position": [ + 0.329416877199414, + -0.3499110457726458, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008881138780586191, + "xy_threshold": 0.08, + "gripper_dist": 0.1873233167340541, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470197639979217, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0754148004911149, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08621143946082109, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15619271350137418, + "release_required_pad_clearance": 0.05310571973041055, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.2354108210661006, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 156, + "max_placed_release_frames": 156 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008274972438812256, + "max_z_decrease": 0.008274972438812256, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035003230949850514, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008274972438812256, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021186692040364802, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008274972438812256, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008275047511372105, + "max_button_displacement": 0.12, + "button_start": [ + 0.1851167976856232, + -0.406172513961792, + 0.7768088579177856 + ], + "button_final": [ + 0.1851167976856232, + -0.406172513961792, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18534991614635954, + -0.40551880350666486, + 0.803530185559494 + ], + "closest_button": [ + 0.18508309125900269, + -0.4061622023582458, + 0.7685338854789734 + ], + "closest_ee_minus_button": [ + 0.0002668248873568535, + 0.0006433988515809341, + 0.03499630008052057 + ], + "button_min_z_position": [ + 0.18508309125900269, + -0.4061622023582458, + 0.7685338854789734 + ], + "min_active_finger_to_button": 0.1454694896901219, + "closest_active_finger": [ + 0.05827850103378296, + -0.4682832658290863, + 0.8079051971435547 + ], + "closest_active_finger_button": [ + 0.18512766063213348, + -0.40617623925209045, + 0.7730715870857239 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12684915959835052, + -0.06210702657699585, + 0.03483361005783081 + ], + "min_contact_pad_to_button": 0.021186692040364802, + "closest_contact_pad": [ + 0.18508309125900269, + -0.40672423312907413, + 0.7897131215611813 + ], + "closest_contact_pad_button": [ + 0.18508309125900269, + -0.4061622023582458, + 0.7685338854789734 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0005620307708283367, + 0.021179236082207953 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 68, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "63bdd7c57aa3cc6eeefce391d349f4d93ffd57ad0cc0dc328efa317a26c197eb", + "visual_seed": 5417589275050381062, + "episode_index": 68, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_69_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_69_success.json new file mode 100644 index 0000000000000000000000000000000000000000..29f71d40427808dc20c7cd787710f8c7231ad8aa --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_69_success.json @@ -0,0 +1,926 @@ +{ + "episode": 69, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.1927008271137905, + -0.13770355551458666, + 1.0456014183334166 + ], + "current_z": 1.0456014183334166, + "required_z": 0.8565865918635414, + "initial_z": 0.7565865918635414, + "lift_margin": 0.18901482646987522, + "gripper_z": 1.049809234408346, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1886095298301838, + -0.14195987379373914, + 1.049809234408346 + ], + "object_minus_gripper": [ + 0.004091297283606687, + 0.004256318279152488, + -0.004207816074929482 + ], + "object_to_gripper_xy": 0.0059038088346672485, + "object_to_gripper_z": -0.004207816074929482, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1927008271137905, + -0.16158059690417514, + 1.0456014183334166 + ], + "finger_b": [ + 0.18191808401929013, + -0.13770355551458666, + 1.0456014183334166 + ], + "finger_midpoint": [ + 0.18730945556654033, + -0.14964207620938091, + 1.0456014183334166 + ], + "object_minus_finger_midpoint": [ + 0.005391371547250168, + 0.011938520694794258, + 0.0 + ], + "finger_gap": 0.026198867421362265, + "fingertip_max_gap": 0.09442512388190635, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01309943371068114, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0456014183334166, + "object_top_z": 1.0921765026094987, + "finger_top_clearance": 0.046575084276082146, + "fingertip_min_top_clearance": 0.013972525282824676, + "object_projection_between_fingers": 0.830607771450193, + "object_to_finger_line_xy": 0.009827142487493744, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04971256194095318, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.0237296976529824, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 205, + "max_stable_success_frames": 205, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1936205068771879, + -0.14079566733563803, + 1.2427806544300306 + ], + "held_position": [ + 0.19798216181748537, + -0.13671780506998868, + 1.2386699878926735 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007249177460731388, + "max_held_gripper_dist": 0.007252480932458142, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004110666537357144, + "max_held_gripper_z_dist": 0.004220009436230132, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08581289772610036, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.19798216181748537, + -0.16146504117453284, + 1.2386699878926735 + ], + "held_grasp_finger_b": [ + 0.18927090703965627, + -0.13671780506998868, + 1.2386699878926735 + ], + "held_grasp_midpoint": [ + 0.1936265344285708, + -0.14909142312226076, + 1.2386699878926735 + ], + "held_grasp_object_position": [ + 0.19798216181748537, + -0.13671780506998868, + 1.2386699878926735 + ], + "held_grasp_finger_gap": 0.026235694285044263, + "held_grasp_max_gap": 0.12496600061655044, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024319815198811316, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.04547292689517854, + -0.9987354283151808, + -0.021441948318154932 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0037978846197626926, + "held_grasp_line_xy_max_dist": 0.04748300030827522, + "held_grasp_object_top_z": 0.04520075395703316, + "held_grasp_top_clearance": 0.03264472010595, + "held_grasp_min_top_clearance": 0.013560226187109947 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3302531617954575, + -0.345315259893924, + 0.8470195371121187 + ], + "target_position": [ + 0.32406140038687875, + -0.3465605669744312, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006315750079406761, + "xy_threshold": 0.08, + "gripper_dist": 0.18767530331578788, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195371121187, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07575199431858627, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08700952340978373, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1553377373438311, + "release_required_pad_clearance": 0.053504761704891865, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.021700161907191, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008189201354980469, + "max_z_decrease": 0.008189201354980469, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03504273969363729, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008189201354980469, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021082079336449122, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008189201354980469, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00818920413497029, + "max_button_displacement": 0.12, + "button_start": [ + 0.1797613203525542, + -0.4028220176696777, + 0.7768088579177856 + ], + "button_final": [ + 0.1797613203525542, + -0.4028220176696777, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17862969104208165, + -0.40132886200893114, + 0.8036126251448591 + ], + "closest_button": [ + 0.17975597083568562, + -0.4028179049491882, + 0.7686196565628052 + ], + "closest_ee_minus_button": [ + -0.0011262797936039681, + 0.0014890429402570349, + 0.03499296858205392 + ], + "button_min_z_position": [ + 0.17975597083568562, + -0.4028179049491882, + 0.7686196565628052 + ], + "min_active_finger_to_button": 0.146212229763395, + "closest_active_finger": [ + 0.05154869705438614, + -0.4639904499053955, + 0.8109250068664551 + ], + "closest_active_finger_button": [ + 0.17976538836956016, + -0.4028236269950866, + 0.7763256430625916 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12821669131517402, + -0.06116682291030889, + 0.034599363803863525 + ], + "min_contact_pad_to_button": 0.021082079336449122, + "closest_contact_pad": [ + 0.17975597083568562, + -0.4028179049491882, + 0.7897017358992543 + ], + "closest_contact_pad_button": [ + 0.17975597083568562, + -0.4028179049491882, + 0.7686196565628052 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021082079336449122 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 69, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a7a2ae948bbf7a63153b783395531d9ddb144e5aa99444685329016b2db6e39a", + "visual_seed": 4070770387887858158, + "episode_index": 69, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_6_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_6_success.json new file mode 100644 index 0000000000000000000000000000000000000000..05f636ce9cfab1804f2321e1d541f154aa971b95 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_6_success.json @@ -0,0 +1,926 @@ +{ + "episode": 6, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.19258513638985184, + -0.14286230928201246, + 1.045796956638324 + ], + "current_z": 1.045796956638324, + "required_z": 0.8565866306516207, + "initial_z": 0.7565866306516207, + "lift_margin": 0.1892103259867034, + "gripper_z": 1.0505970984472373, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1882300443852996, + -0.14720433605280803, + 1.0505970984472373 + ], + "object_minus_gripper": [ + 0.0043550920045522246, + 0.004342026770795565, + -0.004800141808913194 + ], + "object_to_gripper_xy": 0.006149798602102355, + "object_to_gripper_z": -0.004800141808913194, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19258513638985184, + -0.16718890244925283, + 1.045796956638324 + ], + "finger_b": [ + 0.18205652399672453, + -0.14286230928201246, + 1.045796956638324 + ], + "finger_midpoint": [ + 0.18732083019328818, + -0.15502560586563263, + 1.045796956638324 + ], + "object_minus_finger_midpoint": [ + 0.005264306196563651, + 0.01216329658362017, + 0.0 + ], + "finger_gap": 0.026507259648049994, + "fingertip_max_gap": 0.09710123823271394, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013253629824024985, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.045796956638324, + "object_top_z": 1.093162563150843, + "finger_top_clearance": 0.047365606512518976, + "fingertip_min_top_clearance": 0.014209681953755675, + "object_projection_between_fingers": 0.842234291970393, + "object_to_finger_line_xy": 0.009662457519331478, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05105061911635697, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.9732803438910755, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 205, + "max_stable_success_frames": 205, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19237775500098428, + -0.14477636412442307, + 1.2447180544083154 + ], + "held_position": [ + 0.19684228128648595, + -0.14044394229724153, + 1.2400096280947812 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0078019966798605865, + "max_held_gripper_dist": 0.007804907223832724, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004708426313534186, + "max_held_gripper_z_dist": 0.004809851398148268, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08569906429329764, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.19684228128648595, + -0.16505564446775367, + 1.2400096280947812 + ], + "held_grasp_finger_b": [ + 0.18732257340545155, + -0.14044394229724153, + 1.2400096280947812 + ], + "held_grasp_midpoint": [ + 0.19208242734596875, + -0.1527497933824976, + 1.2400096280947812 + ], + "held_grasp_object_position": [ + 0.19684228128648595, + -0.14044394229724153, + 1.2400096280947812 + ], + "held_grasp_finger_gap": 0.02638864759456651, + "held_grasp_max_gap": 0.12496589630842209, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024727973732445056, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.012575271105546595, + -0.9998601744205718, + -0.011022439125973005 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004916089471324816, + "held_grasp_line_xy_max_dist": 0.047482948154211044, + "held_grasp_object_top_z": 0.04520072415471077, + "held_grasp_top_clearance": 0.03295645019593786, + "held_grasp_min_top_clearance": 0.013560217246413231 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3287688771933097, + -0.3428501306376166, + 0.8470196706712769 + ], + "target_position": [ + 0.3222705108069169, + -0.34489003850652494, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0068110197331555655, + "xy_threshold": 0.08, + "gripper_dist": 0.18656329576020192, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196706712769, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07528766906666538, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08776114940345413, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1556842664486246, + "release_required_pad_clearance": 0.053880574701727066, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.7704428776528567, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00807100534439087, + "max_z_decrease": 0.00807100534439087, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035113092969974335, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00807100534439087, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.0211219612800847, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00807100534439087, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00807100697957165, + "max_button_displacement": 0.12, + "button_start": [ + 0.17797043919563288, + -0.4011515080928802, + 0.7768088579177856 + ], + "button_final": [ + 0.17797043919563288, + -0.4011515080928802, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17874147864393025, + -0.3989643459779056, + 0.8037745561161534 + ], + "closest_button": [ + 0.17796905338764185, + -0.40114656090736384, + 0.7687378525733948 + ], + "closest_ee_minus_button": [ + 0.0007724252562884004, + 0.0021822149294582482, + 0.035036703542758674 + ], + "button_min_z_position": [ + 0.17796905338764185, + -0.40114656090736384, + 0.7687378525733948 + ], + "min_active_finger_to_button": 0.14425584664566365, + "closest_active_finger": [ + 0.05177021771669388, + -0.4618603587150574, + 0.8110616207122803 + ], + "closest_active_finger_button": [ + 0.17797505855560297, + -0.40115374326705927, + 0.7764669060707092 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1262048408389091, + -0.0607066154479981, + 0.034594714641571045 + ], + "min_contact_pad_to_button": 0.0211219612800847, + "closest_contact_pad": [ + 0.17796905338764185, + -0.40114656090736384, + 0.7898598138534795 + ], + "closest_contact_pad_button": [ + 0.17796905338764185, + -0.40114656090736384, + 0.7687378525733948 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.0211219612800847 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 6, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "17502bfb183f497999fea762056184114f3f056f32c264fad6aaacde49e051da", + "visual_seed": 5800228152520956753, + "episode_index": 6, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_70_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_70_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2a06fac6cc54fa22de348ffb0b5c651978e0ba27 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_70_success.json @@ -0,0 +1,926 @@ +{ + "episode": 70, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.1902479992513605, + -0.14442871591242254, + 1.044088870058096 + ], + "current_z": 1.044088870058096, + "required_z": 0.8565865354807222, + "initial_z": 0.7565865354807222, + "lift_margin": 0.18750233457737375, + "gripper_z": 1.0483520495558, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18614825567873985, + -0.14868626977891017, + 1.0483520495558 + ], + "object_minus_gripper": [ + 0.004099743572620634, + 0.004257553866487629, + -0.0042631794977041615 + ], + "object_to_gripper_xy": 0.005910555158975167, + "object_to_gripper_z": -0.0042631794977041615, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1902479992513605, + -0.16841965204192993, + 1.044088870058096 + ], + "finger_b": [ + 0.17961687136675547, + -0.14442871591242254, + 1.044088870058096 + ], + "finger_midpoint": [ + 0.18493243530905798, + -0.15642418397717622, + 1.044088870058096 + ], + "object_minus_finger_midpoint": [ + 0.005315563942302509, + 0.011995468064753684, + 0.0 + ], + "finger_gap": 0.026240920267188224, + "fingertip_max_gap": 0.09218880450351166, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013120460133594098, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.044088870058096, + "object_top_z": 1.0895479463891706, + "finger_top_clearance": 0.04545907633107471, + "fingertip_min_top_clearance": 0.013637722899322446, + "object_projection_between_fingers": 0.8358652411000606, + "object_to_finger_line_xy": 0.00971957947614744, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04859440225175583, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.7702723845216526, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 203, + "max_stable_success_frames": 203, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1904545694965975, + -0.14667852055493763, + 1.2425416813516348 + ], + "held_position": [ + 0.19473451738033676, + -0.1425080858990004, + 1.2383715850446917 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0072869871906122334, + "max_held_gripper_dist": 0.0072884760064370405, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004170096306943094, + "max_held_gripper_z_dist": 0.004273532328920915, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08604898630840034, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.19473451738033676, + -0.16703459864912948, + 1.2383715850446917 + ], + "held_grasp_finger_b": [ + 0.18555745387238226, + -0.1425080858990004, + 1.2383715850446917 + ], + "held_grasp_midpoint": [ + 0.1901459856263595, + -0.15477134227406494, + 1.2383715850446917 + ], + "held_grasp_object_position": [ + 0.19473451738033676, + -0.1425080858990004, + 1.2383715850446917 + ], + "held_grasp_finger_gap": 0.026187178586309635, + "held_grasp_max_gap": 0.12496601551771164, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024294802197475922, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.022811580423390942, + -0.9990880387024951, + -0.03609325034114906 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0043304673987802, + "held_grasp_line_xy_max_dist": 0.04748300775885582, + "held_grasp_object_top_z": 0.04520072788000107, + "held_grasp_top_clearance": 0.03284398345900083, + "held_grasp_min_top_clearance": 0.01356021836400032 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3363586138311562, + -0.34683114300947826, + 0.8470195468809754 + ], + "target_position": [ + 0.3287472597678639, + -0.34929009239523906, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007998696316183608, + "xy_threshold": 0.08, + "gripper_dist": 0.1851752963657361, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195468809754, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07519230428003412, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08639310847710484, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15452829758464506, + "release_required_pad_clearance": 0.05319655423855242, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.415518060234346, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008395612239837646, + "max_z_decrease": 0.008395612239837646, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502057994624962, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008395612239837646, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021210300838900187, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008395612239837646, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008395693564470922, + "max_button_displacement": 0.12, + "button_start": [ + 0.18444718420505524, + -0.405551552772522, + 0.7768088579177856 + ], + "button_final": [ + 0.18444718420505524, + -0.405551552772522, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18406966473808242, + -0.40408381261051707, + 0.80340191041377 + ], + "closest_button": [ + 0.18441252410411835, + -0.4055387377738953, + 0.768413245677948 + ], + "closest_ee_minus_button": [ + -0.0003428593660359247, + 0.0014549251633782512, + 0.03498866473582196 + ], + "button_min_z_position": [ + 0.18441252410411835, + -0.4055387377738953, + 0.768413245677948 + ], + "min_active_finger_to_button": 0.14574179172177618, + "closest_active_finger": [ + 0.05624140053987503, + -0.46530795097351074, + 0.8078904747962952 + ], + "closest_active_finger_button": [ + 0.1844593733549118, + -0.4055580496788025, + 0.7728081345558167 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12821797281503677, + -0.05974990129470825, + 0.035082340240478516 + ], + "min_contact_pad_to_button": 0.021210300838900187, + "closest_contact_pad": [ + 0.18441252410411835, + -0.4055387377738953, + 0.7896235465168482 + ], + "closest_contact_pad_button": [ + 0.18441252410411835, + -0.4055387377738953, + 0.768413245677948 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021210300838900187 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 70, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "42e131ab3c174272f9c0d1523ab37f3dd51f53144d2396548cabe464773f8852", + "visual_seed": 8071308202280496921, + "episode_index": 70, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_71_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_71_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ba577c730c93ac23361afe4fec4a51e90e2cbc99 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_71_success.json @@ -0,0 +1,926 @@ +{ + "episode": 71, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.18738121448603612, + -0.14900604764332248, + 1.0437889135665792 + ], + "current_z": 1.0437889135665792, + "required_z": 0.8565865876850315, + "initial_z": 0.7565865876850315, + "lift_margin": 0.18720232588154773, + "gripper_z": 1.0479942859410882, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18316673678268452, + -0.15335508190521743, + 1.0479942859410882 + ], + "object_minus_gripper": [ + 0.0042144777033515934, + 0.004349034261894952, + -0.00420537237450902 + ], + "object_to_gripper_xy": 0.006056064838092793, + "object_to_gripper_z": -0.00420537237450902, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.18738121448603612, + -0.17293294106559892, + 1.0437889135665792 + ], + "finger_b": [ + 0.1764053869579688, + -0.14900604764332248, + 1.0437889135665792 + ], + "finger_midpoint": [ + 0.18189330072200247, + -0.1609694943544607, + 1.0437889135665792 + ], + "object_minus_finger_midpoint": [ + 0.005487913764033653, + 0.01196344671113822, + 0.0 + ], + "finger_gap": 0.02632422874020919, + "fingertip_max_gap": 0.09295873338117108, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013162114370104595, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0437889135665792, + "object_top_z": 1.089700476334381, + "finger_top_clearance": 0.04591156276780173, + "fingertip_min_top_clearance": 0.013773468830340535, + "object_projection_between_fingers": 0.8261545869367887, + "object_to_finger_line_xy": 0.009976263999112603, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048979366690585543, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.5524639683181483, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 203, + "max_stable_success_frames": 203, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1877868499642234, + -0.15222798660552248, + 1.242379505023403 + ], + "held_position": [ + 0.1922751244537765, + -0.14806695220627664, + 1.2382697538994318 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007372168572832733, + "max_held_gripper_dist": 0.007374564089767389, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0041097511239711615, + "max_held_gripper_z_dist": 0.004218276727655956, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08562963524633961, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.1922751244537765, + -0.1728400338568367, + 1.2382697538994318 + ], + "held_grasp_finger_b": [ + 0.1832545612753689, + -0.14806695220627664, + 1.2382697538994318 + ], + "held_grasp_midpoint": [ + 0.1877648428645727, + -0.16045349303155665, + 1.2382697538994318 + ], + "held_grasp_object_position": [ + 0.1922751244537765, + -0.14806695220627664, + 1.2382697538994318 + ], + "held_grasp_finger_gap": 0.02636429658687973, + "held_grasp_max_gap": 0.12496597826480865, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02429870005316466, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.04837816126722419, + -0.9984667496048741, + -0.02690173685620212 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003920200720989474, + "held_grasp_line_xy_max_dist": 0.04748298913240433, + "held_grasp_object_top_z": 0.04520078003406525, + "held_grasp_top_clearance": 0.032615031747316725, + "held_grasp_min_top_clearance": 0.013560234010219574 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33916168409009606, + -0.34433868868013084, + 0.8470196821730935 + ], + "target_position": [ + 0.3319083162012702, + -0.3463171132225152, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007518344857783444, + "xy_threshold": 0.08, + "gripper_dist": 0.18692074389274851, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196821730935, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07527607717794035, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08571230472208789, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15604946506719425, + "release_required_pad_clearance": 0.05285615236104395, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7548473671278095, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 157, + "max_placed_release_frames": 157 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008082389831542969, + "max_z_decrease": 0.008082389831542969, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502640201798378, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008082389831542969, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021234076914273, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008082389831542969, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008082403296052327, + "max_button_displacement": 0.12, + "button_start": [ + 0.18760824203491205, + -0.40257856249809254, + 0.7768088579177856 + ], + "button_final": [ + 0.18760824203491205, + -0.40257856249809254, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18608381787257153, + -0.402424206000293, + 0.8077363127042291 + ], + "closest_button": [ + 0.187597706913948, + -0.40257948637008656, + 0.7727429866790771 + ], + "closest_ee_minus_button": [ + -0.001513889041376476, + 0.00015528036979356452, + 0.03499332602515193 + ], + "button_min_z_position": [ + 0.1875935941934585, + -0.40257680416107167, + 0.7687264680862427 + ], + "min_active_finger_to_button": 0.14758399959656052, + "closest_active_finger": [ + 0.05851118266582489, + -0.4649927318096161, + 0.8081303834915161 + ], + "closest_active_finger_button": [ + 0.18761849403381342, + -0.4025837779045104, + 0.7732382416725159 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12910731136798853, + -0.0624089539051057, + 0.034892141819000244 + ], + "min_contact_pad_to_button": 0.021234076914273, + "closest_contact_pad": [ + 0.1875935941934585, + -0.4036517825498302, + 0.7899333170710627 + ], + "closest_contact_pad_button": [ + 0.1875935941934585, + -0.40257680416107167, + 0.7687264680862427 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0010749783887585296, + 0.02120684898482006 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 71, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5a728ce891492914c40581527ab56e65de291aaa936467c57867a66f49baab15", + "visual_seed": 5046917396325215745, + "episode_index": 71, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_72_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_72_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b1c010eec01f96e2388ae0399e2424076dbffff7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_72_success.json @@ -0,0 +1,926 @@ +{ + "episode": 72, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.18444646702883433, + -0.14820908606414196, + 1.0445857080641587 + ], + "current_z": 1.0445857080641587, + "required_z": 0.8565865480786752, + "initial_z": 0.7565865480786752, + "lift_margin": 0.18799915998548355, + "gripper_z": 1.0490229521178138, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18053343699051358, + -0.1524028682105562, + 1.0490229521178138 + ], + "object_minus_gripper": [ + 0.003913030038320747, + 0.004193782146414249, + -0.004437244053655087 + ], + "object_to_gripper_xy": 0.005735818404759984, + "object_to_gripper_z": -0.004437244053655087, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.18444646702883433, + -0.17202964273891047, + 1.0445857080641587 + ], + "finger_b": [ + 0.17384040851893406, + -0.14820908606414196, + 1.0445857080641587 + ], + "finger_midpoint": [ + 0.1791434377738842, + -0.16011936440152622, + 1.0445857080641587 + ], + "object_minus_finger_midpoint": [ + 0.005303029254950131, + 0.011910278337384256, + 0.0 + ], + "finger_gap": 0.026075033986771454, + "fingertip_max_gap": 0.09426788092321783, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013037516993385727, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0445857080641587, + "object_top_z": 1.0906228736129164, + "finger_top_clearance": 0.0460371655487577, + "fingertip_min_top_clearance": 0.013811149664627343, + "object_projection_between_fingers": 0.8345532383619857, + "object_to_finger_line_xy": 0.009689046540041399, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04963394046160892, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.48312648186712, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 203, + "max_stable_success_frames": 203, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18489675913451661, + -0.1508802575089408, + 1.2411276806800076 + ], + "held_position": [ + 0.189021847899497, + -0.14678676228030008, + 1.2367937492407841 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007249553243184104, + "max_held_gripper_dist": 0.007254596227933744, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0043339314392234485, + "max_held_gripper_z_dist": 0.004447423717667043, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0859429490370187, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.189021847899497, + -0.17128047496388976, + 1.2367937492407841 + ], + "held_grasp_finger_b": [ + 0.18011961860801323, + -0.14678676228030008, + 1.2367937492407841 + ], + "held_grasp_midpoint": [ + 0.18457073325375511, + -0.15903361862209492, + 1.2367937492407841 + ], + "held_grasp_object_position": [ + 0.189021847899497, + -0.14678676228030008, + 1.2367937492407841 + ], + "held_grasp_finger_gap": 0.026061305557941526, + "held_grasp_max_gap": 0.12496607512235641, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024296171025248933, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.020421446030641503, + -0.9993571712252969, + -0.029465384141229126 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004215675982500574, + "held_grasp_line_xy_max_dist": 0.04748303756117821, + "held_grasp_object_top_z": 0.045200806111097336, + "held_grasp_top_clearance": 0.03287092420344444, + "held_grasp_min_top_clearance": 0.0135602418333292 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33759717501673125, + -0.3512326988813673, + 0.8470199679833057 + ], + "target_position": [ + 0.3310095134447522, + -0.35295891605708557, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006810074208455739, + "xy_threshold": 0.08, + "gripper_dist": 0.1865127459476723, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470199679833057, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07562031742520911, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08751013649711957, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15452563166062133, + "release_required_pad_clearance": 0.05375506824855979, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.518553195959828, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008388102054595947, + "max_z_decrease": 0.008388102054595947, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035026362029573065, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008388102054595947, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021022193287961843, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008388102054595947, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00838812250995635, + "max_button_displacement": 0.12, + "button_start": [ + 0.18670943379402166, + -0.4092203676700592, + 0.7768088579177856 + ], + "button_final": [ + 0.18670943379402166, + -0.4092203676700592, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18594784522940008, + -0.4078682867652711, + 0.8034135407613715 + ], + "closest_button": [ + 0.18669965863227847, + -0.4092046320438385, + 0.7684207558631897 + ], + "closest_ee_minus_button": [ + -0.0007518134028783874, + 0.001336345278567408, + 0.034992784898181806 + ], + "button_min_z_position": [ + 0.18669965863227847, + -0.4092046320438385, + 0.7684207558631897 + ], + "min_active_finger_to_button": 0.14593849720732685, + "closest_active_finger": [ + 0.060087695717811584, + -0.4730393886566162, + 0.8109374046325684 + ], + "closest_active_finger_button": [ + 0.1867137998342514, + -0.4092223644256592, + 0.7764227390289307 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12662610411643982, + -0.06381702423095703, + 0.034514665603637695 + ], + "min_contact_pad_to_button": 0.021022193287961843, + "closest_contact_pad": [ + 0.18669965863227847, + -0.4092046320438385, + 0.7894429491511515 + ], + "closest_contact_pad_button": [ + 0.18669965863227847, + -0.4092046320438385, + 0.7684207558631897 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021022193287961843 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 72, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3bc5d5aaa5a78133e69c594bcd60315f963af64545789ac3f5b419c4b1f87c9f", + "visual_seed": 3136794698313392767, + "episode_index": 72, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_73_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_73_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5506935caac01ef480b9edf69c42dee0e39f46db --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_73_success.json @@ -0,0 +1,926 @@ +{ + "episode": 73, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.18584134806743213, + -0.14606821564952094, + 1.0440597313838278 + ], + "current_z": 1.0440597313838278, + "required_z": 0.8565865382288816, + "initial_z": 0.7565865382288817, + "lift_margin": 0.18747319315494615, + "gripper_z": 1.0483897188649898, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18171327834033194, + -0.15032525035906003, + 1.0483897188649898 + ], + "object_minus_gripper": [ + 0.004128069727100198, + 0.004257034709539087, + -0.004329987481161979 + ], + "object_to_gripper_xy": 0.005929865444512349, + "object_to_gripper_z": -0.004329987481161979, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.18584134806743213, + -0.1700184959572272, + 1.0440597313838278 + ], + "finger_b": [ + 0.17510792811637432, + -0.14606821564952094, + 1.0440597313838278 + ], + "finger_midpoint": [ + 0.18047463809190323, + -0.15804335580337409, + 1.0440597313838278 + ], + "object_minus_finger_midpoint": [ + 0.005366709975528905, + 0.011975140153853148, + 0.0 + ], + "finger_gap": 0.026245423042189058, + "fingertip_max_gap": 0.0933097500352974, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013122711521094543, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0440597313838278, + "object_top_z": 1.0900998579130208, + "finger_top_clearance": 0.04604012652919298, + "fingertip_min_top_clearance": 0.01381203795875791, + "object_projection_between_fingers": 0.8327488592596671, + "object_to_finger_line_xy": 0.009794790355443247, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0491548750176487, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.7287809523680888, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 203, + "max_stable_success_frames": 203, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18623470729937708, + -0.1491668546298281, + 1.2413242830168103 + ], + "held_position": [ + 0.19058661144040018, + -0.14503778663774175, + 1.237097893083179 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00733829980356658, + "max_held_gripper_dist": 0.007343262106916359, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004226389933631225, + "max_held_gripper_z_dist": 0.004340442640693887, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08608533016058405, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.19058661144040018, + -0.16967289544742017, + 1.237097893083179 + ], + "held_grasp_finger_b": [ + 0.181627869155697, + -0.14503778663774175, + 1.237097893083179 + ], + "held_grasp_midpoint": [ + 0.1861072402980486, + -0.15735534104258098, + 1.237097893083179 + ], + "held_grasp_object_position": [ + 0.19058661144040018, + -0.14503778663774175, + 1.237097893083179 + ], + "held_grasp_finger_gap": 0.02621350128060775, + "held_grasp_max_gap": 0.12496603041887283, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02427854862789325, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.03687951955479059, + -0.9989378544778394, + -0.027623611795325468 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004036617607866261, + "held_grasp_line_xy_max_dist": 0.047483015209436416, + "held_grasp_object_top_z": 0.04520072415471077, + "held_grasp_top_clearance": 0.03273105572948911, + "held_grasp_min_top_clearance": 0.013560217246413231 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.329994884563818, + -0.3447972789136965, + 0.84701961080655 + ], + "target_position": [ + 0.3226185010235049, + -0.34677833841747335, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007637776567254768, + "xy_threshold": 0.08, + "gripper_dist": 0.1872856801302562, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.84701961080655, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07516682390922448, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08544046712061452, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15672089914582588, + "release_required_pad_clearance": 0.052720233560307264, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.49257624922620236, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 156, + "max_placed_release_frames": 156 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008309662342071533, + "max_z_decrease": 0.008309662342071533, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035042827138202386, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008309662342071533, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021293009613998118, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008309662342071533, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008309693384683145, + "max_button_displacement": 0.12, + "button_start": [ + 0.17831842601299286, + -0.4030397832393645, + 0.7768088579177856 + ], + "button_final": [ + 0.17831842601299286, + -0.4030397832393645, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17946050824128426, + -0.40441875556339857, + 0.8034951723782517 + ], + "closest_button": [ + 0.17831189930438995, + -0.40301802754402155, + 0.7684991955757141 + ], + "closest_ee_minus_button": [ + 0.0011486089368943075, + -0.0014007280193770177, + 0.03499597680253763 + ], + "button_min_z_position": [ + 0.17831189930438995, + -0.40301802754402155, + 0.7684991955757141 + ], + "min_active_finger_to_button": 0.14462264718735332, + "closest_active_finger": [ + 0.038823217153549194, + -0.38738811016082764, + 0.8076237440109253 + ], + "closest_active_finger_button": [ + 0.1783294826745987, + -0.40304610133171076, + 0.7728596925735474 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1395062655210495, + 0.015657991170883123, + 0.03476405143737793 + ], + "min_contact_pad_to_button": 0.021293009613998118, + "closest_contact_pad": [ + 0.17831189930438995, + -0.4056859805899818, + 0.7896244005443379 + ], + "closest_contact_pad_button": [ + 0.17831189930438995, + -0.40301802754402155, + 0.7684991955757141 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0026679530459602363, + 0.0211252049686238 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 73, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d3ba4cee8ab26876447e8165ec2508d533cd168d8efe23cef8580912e3b369c2", + "visual_seed": 3272961756847042453, + "episode_index": 73, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_74_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_74_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3c648f1748fb11ce3c181fbd2748df650c5e05d2 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_74_success.json @@ -0,0 +1,926 @@ +{ + "episode": 74, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.18890811162110316, + -0.1471682868683497, + 1.0467986442902282 + ], + "current_z": 1.0467986442902282, + "required_z": 0.8565865487563443, + "initial_z": 0.7565865487563443, + "lift_margin": 0.19021209553388385, + "gripper_z": 1.0511582079030235, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18492594929810155, + -0.15134037296895528, + 1.0511582079030235 + ], + "object_minus_gripper": [ + 0.003982162323001609, + 0.004172086100605571, + -0.004359563612795325 + ], + "object_to_gripper_xy": 0.005767488118548643, + "object_to_gripper_z": -0.004359563612795325, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.18890811162110316, + -0.17103864729267793, + 1.0467986442902282 + ], + "finger_b": [ + 0.17834124738504453, + -0.1471682868683497, + 1.0467986442902282 + ], + "finger_midpoint": [ + 0.18362467950307385, + -0.15910346708051382, + 1.0467986442902282 + ], + "object_minus_finger_midpoint": [ + 0.005283432118029313, + 0.01193518021216411, + 0.0 + ], + "finger_gap": 0.026104649520164596, + "fingertip_max_gap": 0.09419550953569064, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013052324760082298, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0467986442902282, + "object_top_z": 1.0925589177331576, + "finger_top_clearance": 0.04576027344292943, + "fingertip_min_top_clearance": 0.013728082032878829, + "object_projection_between_fingers": 0.836146198511509, + "object_to_finger_line_xy": 0.009662449506354186, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04959775476784532, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.038250941969179, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 206, + "max_stable_success_frames": 206, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1893425878853546, + -0.14967316965031363, + 1.243419416705781 + ], + "held_position": [ + 0.1935264108525093, + -0.14557718337114775, + 1.2391606200214942 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007240084765919457, + "max_held_gripper_dist": 0.007244170581117414, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0042587966842868585, + "max_held_gripper_z_dist": 0.004374973314544173, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08596873893070643, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.1935264108525093, + -0.17003362797192234, + 1.2391606200214942 + ], + "held_grasp_finger_b": [ + 0.18457308914755605, + -0.14557718337114775, + 1.2391606200214942 + ], + "held_grasp_midpoint": [ + 0.18904975000003266, + -0.15780540567153506, + 1.2391606200214942 + ], + "held_grasp_object_position": [ + 0.1935264108525093, + -0.14557718337114775, + 1.2391606200214942 + ], + "held_grasp_finger_gap": 0.026043802565354077, + "held_grasp_max_gap": 0.12496607512235641, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02439593532452682, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.005308996154065786, + -0.999469418962491, + -0.0321355740359035 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004429178576265883, + "held_grasp_line_xy_max_dist": 0.04748303756117821, + "held_grasp_object_top_z": 0.04520077630877495, + "held_grasp_top_clearance": 0.032955275496013826, + "held_grasp_min_top_clearance": 0.013560232892632484 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33276672118534756, + -0.3417425137435077, + 0.8470195027249205 + ], + "target_position": [ + 0.32451618091501533, + -0.34429287413070625, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00863572538105313, + "xy_threshold": 0.08, + "gripper_dist": 0.1880703104179325, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195027249205, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07536523941036524, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0874091768823053, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1569289903681975, + "release_required_pad_clearance": 0.053704588441152654, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.418350081288831, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 156, + "max_placed_release_frames": 156 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008046388626098633, + "max_z_decrease": 0.008046388626098633, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03509611877925913, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008046388626098633, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021145161963035286, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008046388626098633, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008046394409919088, + "max_button_displacement": 0.12, + "button_start": [ + 0.18021610379219052, + -0.4005543291568756, + 0.7768088579177856 + ], + "button_final": [ + 0.18021610379219052, + -0.4005543291568756, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17865878568668192, + -0.39846181066441766, + 0.8037619281253416 + ], + "closest_button": [ + 0.18020646274089813, + -0.4005546867847442, + 0.768762469291687 + ], + "closest_ee_minus_button": [ + -0.0015476770542162122, + 0.002092876120326548, + 0.03499945883365463 + ], + "button_min_z_position": [ + 0.18020646274089813, + -0.4005546867847442, + 0.768762469291687 + ], + "min_active_finger_to_button": 0.14637433330545285, + "closest_active_finger": [ + 0.05125231295824051, + -0.46045583486557007, + 0.8077375292778015 + ], + "closest_active_finger_button": [ + 0.18022473156452173, + -0.40055942535400385, + 0.7730391025543213 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12897241860628123, + -0.05989640951156622, + 0.034698426723480225 + ], + "min_contact_pad_to_button": 0.021145161963035286, + "closest_contact_pad": [ + 0.18020646274089813, + -0.4005546867847442, + 0.7899076312547223 + ], + "closest_contact_pad_button": [ + 0.18020646274089813, + -0.4005546867847442, + 0.768762469291687 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021145161963035286 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 74, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "11b722f1699609ed54f2c04c81cf10b09a73458184f4e66b6aa8f3c0ebe7025b", + "visual_seed": 5808649235429683119, + "episode_index": 74, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_75_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_75_success.json new file mode 100644 index 0000000000000000000000000000000000000000..29c47760a02a7c82d39297fd729fd16ebac6f9a3 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_75_success.json @@ -0,0 +1,926 @@ +{ + "episode": 75, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.19229689675370512, + -0.14777758025705048, + 1.0455252163766307 + ], + "current_z": 1.0455252163766307, + "required_z": 0.8565865270281446, + "initial_z": 0.7565865270281447, + "lift_margin": 0.188938689348486, + "gripper_z": 1.0497564263573043, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1882693551880419, + -0.15195850390133148, + 1.0497564263573043 + ], + "object_minus_gripper": [ + 0.004027541565663234, + 0.004180923644280993, + -0.004231209980673611 + ], + "object_to_gripper_xy": 0.005805274634541669, + "object_to_gripper_z": -0.004231209980673611, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19229689675370512, + -0.1717886794942529, + 1.0455252163766307 + ], + "finger_b": [ + 0.18187814763560584, + -0.14777758025705048, + 1.0455252163766307 + ], + "finger_midpoint": [ + 0.18708752219465546, + -0.15978312987565169, + 1.0455252163766307 + ], + "object_minus_finger_midpoint": [ + 0.0052093745590496565, + 0.012005549618601202, + 0.0 + ], + "finger_gap": 0.02617409444020321, + "fingertip_max_gap": 0.0938799845074669, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01308704722010161, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0455252163766307, + "object_top_z": 1.0917674699928912, + "finger_top_clearance": 0.046242253616260554, + "fingertip_min_top_clearance": 0.013872676084878166, + "object_projection_between_fingers": 0.8415516100026778, + "object_to_finger_line_xy": 0.00955775641345378, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04943999225373345, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.8610704372420912, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 205, + "max_stable_success_frames": 205, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1925298233932514, + -0.14987445589046716, + 1.24334658801347 + ], + "held_position": [ + 0.19670612045819735, + -0.1457431142720682, + 1.2392114197149116 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007183944431855949, + "max_held_gripper_dist": 0.007186438424129927, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004135168298558423, + "max_held_gripper_z_dist": 0.004241668481514971, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08582322552499737, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.19670612045819735, + -0.17017241551144985, + 1.2392114197149116 + ], + "held_grasp_finger_b": [ + 0.18758844255192392, + -0.1457431142720682, + 1.2392114197149116 + ], + "held_grasp_midpoint": [ + 0.19214728150506064, + -0.15795776489175903, + 1.2392114197149116 + ], + "held_grasp_object_position": [ + 0.19670612045819735, + -0.1457431142720682, + 1.2392114197149116 + ], + "held_grasp_finger_gap": 0.026075329517515212, + "held_grasp_max_gap": 0.12496597826480865, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024276894639334974, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.015560052237587786, + -0.9995687533001326, + -0.02490365837346875 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004378866400787704, + "held_grasp_line_xy_max_dist": 0.04748298913240433, + "held_grasp_object_top_z": 0.04520069807767868, + "held_grasp_top_clearance": 0.032920379213504075, + "held_grasp_min_top_clearance": 0.013560209423303604 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3337266726142073, + -0.3460781857340147, + 0.8470196972970132 + ], + "target_position": [ + 0.3270891917421481, + -0.34764710900143314, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006820386539339126, + "xy_threshold": 0.08, + "gripper_dist": 0.18546872005342394, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196972970132, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07540270764215057, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0865587199646015, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15400787948651595, + "release_required_pad_clearance": 0.05327935998230075, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.5771500940812775, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008351802825927734, + "max_z_decrease": 0.008351802825927734, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03507399405924436, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008351802825927734, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.0212230352799405, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008351802825927734, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008351826326701882, + "max_button_displacement": 0.12, + "button_start": [ + 0.18278911709785456, + -0.40390858054161066, + 0.7768088579177856 + ], + "button_final": [ + 0.18278911709785456, + -0.40390858054161066, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18054784688393313, + -0.4052663897527098, + 0.8037965199775882 + ], + "closest_button": [ + 0.18276250362396235, + -0.4039056301116943, + 0.7688189744949341 + ], + "closest_ee_minus_button": [ + -0.002214656740029214, + -0.0013607596410155076, + 0.03497754548265408 + ], + "button_min_z_position": [ + 0.18278765678405756, + -0.4038888216018676, + 0.7684570550918579 + ], + "min_active_finger_to_button": 0.1478790999322589, + "closest_active_finger": [ + 0.039804115891456604, + -0.38910776376724243, + 0.8075144290924072 + ], + "closest_active_finger_button": [ + 0.18279859423637385, + -0.4039142727851867, + 0.7728506922721863 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14299447834491724, + 0.01480650901794428, + 0.03466373682022095 + ], + "min_contact_pad_to_button": 0.0212230352799405, + "closest_contact_pad": [ + 0.18278765678405756, + -0.40644777814141336, + 0.789525253114525 + ], + "closest_contact_pad_button": [ + 0.18278765678405756, + -0.4038888216018676, + 0.7684570550918579 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0025589565395457425, + 0.02106819802266713 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 75, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3ca4468a0b209fe596dc98f25f1ff30682dfca333e75528c9285826ec5d067dc", + "visual_seed": 3691072230107313936, + "episode_index": 75, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_77_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_77_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5df90b82f707216c1c856ede3fe3de8e217415ae --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_77_success.json @@ -0,0 +1,926 @@ +{ + "episode": 77, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.18594715321229915, + -0.14779082966268672, + 1.0446932359576262 + ], + "current_z": 1.0446932359576262, + "required_z": 0.8565866210921067, + "initial_z": 0.7565866210921067, + "lift_margin": 0.1881066148655195, + "gripper_z": 1.0489504818249928, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18187581749072257, + -0.152041506799994, + 1.0489504818249928 + ], + "object_minus_gripper": [ + 0.0040713357215765855, + 0.004250677137307285, + -0.0042572458673666436 + ], + "object_to_gripper_xy": 0.005885917998359507, + "object_to_gripper_z": -0.0042572458673666436, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.18594715321229915, + -0.17173165190863932, + 1.0446932359576262 + ], + "finger_b": [ + 0.1752672131596621, + -0.14779082966268672, + 1.0446932359576262 + ], + "finger_midpoint": [ + 0.18060718318598062, + -0.159761240785663, + 1.0446932359576262 + ], + "object_minus_finger_midpoint": [ + 0.00533997002631853, + 0.011970411122976282, + 0.0 + ], + "finger_gap": 0.026214959266423053, + "fingertip_max_gap": 0.09177320655302315, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013107479633211513, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0446932359576262, + "object_top_z": 1.0900479033396298, + "finger_top_clearance": 0.045354667382003555, + "fingertip_min_top_clearance": 0.013606400214601083, + "object_projection_between_fingers": 0.8340263077252902, + "object_to_finger_line_xy": 0.009753459610563075, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04838660327651158, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.739805707586441, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 204, + "max_stable_success_frames": 204, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18633304543666615, + -0.15075525676142515, + 1.2426100381644036 + ], + "held_position": [ + 0.1906281494570345, + -0.14662993447485484, + 1.2384527213205716 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007262884127801258, + "max_held_gripper_dist": 0.007267602895327295, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004157316843832026, + "max_held_gripper_z_dist": 0.004267742291079957, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0860539826001156, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.1906281494570345, + -0.1712523907027868, + 1.2384527213205716 + ], + "held_grasp_finger_b": [ + 0.18166789442221273, + -0.14662993447485484, + 1.2384527213205716 + ], + "held_grasp_midpoint": [ + 0.1861480219396236, + -0.15894116258882082, + 1.2384527213205716 + ], + "held_grasp_object_position": [ + 0.1906281494570345, + -0.14662993447485484, + 1.2384527213205716 + ], + "held_grasp_finger_gap": 0.02620212817664768, + "held_grasp_max_gap": 0.1249658516049385, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024280583466647798, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.03447361059330274, + -0.9986605553039981, + -0.0385832276069733 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00408113906685161, + "held_grasp_line_xy_max_dist": 0.04748292580246925, + "held_grasp_object_top_z": 0.04520068317651749, + "held_grasp_top_clearance": 0.03275149910030646, + "held_grasp_min_top_clearance": 0.013560204952955245 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3403850917539235, + -0.34926439479906546, + 0.8470201909280459 + ], + "target_position": [ + 0.331959235038913, + -0.35196240901844195, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008847278796886947, + "xy_threshold": 0.08, + "gripper_dist": 0.18801848913864902, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470201909280459, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0753782594486204, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08602164407441802, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15680077661439754, + "release_required_pad_clearance": 0.05301082203720901, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.0527509371762647, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 157, + "max_placed_release_frames": 157 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008512735366821289, + "max_z_decrease": 0.008512735366821289, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035009617497862716, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008512735366821289, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02114131769485724, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008512735366821289, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008512876136727372, + "max_button_displacement": 0.12, + "button_start": [ + 0.18765915930271143, + -0.40822386741638184, + 0.7768088579177856 + ], + "button_final": [ + 0.18765915930271143, + -0.40822386741638184, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18805811083276983, + -0.4090210634806094, + 0.8036613296399052 + ], + "closest_button": [ + 0.18762905895709986, + -0.4082012176513672, + 0.7686639428138733 + ], + "closest_ee_minus_button": [ + 0.00042905187566996683, + -0.0008198458292422162, + 0.03499738682603193 + ], + "button_min_z_position": [ + 0.18761754035949701, + -0.4081980884075165, + 0.7682961225509644 + ], + "min_active_finger_to_button": 0.14539813807276616, + "closest_active_finger": [ + 0.0470743253827095, + -0.3951413631439209, + 0.8075429201126099 + ], + "closest_active_finger_button": [ + 0.18766984343528742, + -0.4082304537296295, + 0.7728702425956726 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14059551805257792, + 0.013089090585708618, + 0.034672677516937256 + ], + "min_contact_pad_to_button": 0.02114131769485724, + "closest_contact_pad": [ + 0.18761754035949701, + -0.4099965566089359, + 0.7893608045092415 + ], + "closest_contact_pad_button": [ + 0.18761754035949701, + -0.4081980884075165, + 0.7682961225509644 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0017984682014194342, + 0.021064681958277154 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 77, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "01ea1d6954d10e0a5fe1ed61f047230156941e3102a5bf94763e67bd1df87d1b", + "visual_seed": 1099953006082615785, + "episode_index": 77, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_78_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_78_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d4799e220c18978024a50aeac01572466f94f001 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_78_success.json @@ -0,0 +1,926 @@ +{ + "episode": 78, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.18942070395534727, + -0.14481105884099088, + 1.0446461625737788 + ], + "current_z": 1.0446461625737788, + "required_z": 0.8565865317273388, + "initial_z": 0.7565865317273388, + "lift_margin": 0.18805963084644006, + "gripper_z": 1.049453515907408, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18513350445546517, + -0.1491187160199996, + 1.049453515907408 + ], + "object_minus_gripper": [ + 0.0042871994998820995, + 0.004307657179008717, + -0.0048073533336292495 + ], + "object_to_gripper_xy": 0.006077498656820474, + "object_to_gripper_z": -0.0048073533336292495, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.18942070395534727, + -0.16904193198253656, + 1.0446461625737788 + ], + "finger_b": [ + 0.17885920985334858, + -0.14481105884099088, + 1.0446461625737788 + ], + "finger_midpoint": [ + 0.18413995690434792, + -0.15692649541176373, + 1.0446461625737788 + ], + "object_minus_finger_midpoint": [ + 0.005280747050999346, + 0.012115436570772853, + 0.0 + ], + "finger_gap": 0.02643256269959901, + "fingertip_max_gap": 0.09684141439078445, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013216281349799517, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0446461625737788, + "object_top_z": 1.0921483094607447, + "finger_top_clearance": 0.04750214688696586, + "fingertip_min_top_clearance": 0.014250644066089772, + "object_projection_between_fingers": 0.8403488028038648, + "object_to_finger_line_xy": 0.00968177874688615, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.050920707195392226, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.6737033813165985, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 204, + "max_stable_success_frames": 204, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18941021045410836, + -0.14710797160947847, + 1.2429255619758213 + ], + "held_position": [ + 0.19384155226673205, + -0.14284358183692122, + 1.2382116111815105 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0077487510273450775, + "max_held_gripper_dist": 0.007750825905100627, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004713950794310806, + "max_held_gripper_z_dist": 0.004819701408920629, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.086168153091246, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.19384155226673205, + -0.16748848746344655, + 1.2382116111815105 + ], + "held_grasp_finger_b": [ + 0.1845156160216508, + -0.14284358183692122, + 1.2382116111815105 + ], + "held_grasp_midpoint": [ + 0.18917858414419142, + -0.1551660346501839, + 1.2382116111815105 + ], + "held_grasp_object_position": [ + 0.19384155226673205, + -0.14284358183692122, + 1.2382116111815105 + ], + "held_grasp_finger_gap": 0.026350416698558293, + "held_grasp_max_gap": 0.12496599316596985, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02460759801097809, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0038744241899983023, + -0.999952323511288, + -0.008963232763484317 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0046165140750103004, + "held_grasp_line_xy_max_dist": 0.047482996582984924, + "held_grasp_object_top_z": 0.045200735330581665, + "held_grasp_top_clearance": 0.032860803692110294, + "held_grasp_min_top_clearance": 0.0135602205991745 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.331587613724285, + -0.34968066916531093, + 0.8470196899488013 + ], + "target_position": [ + 0.3259553897908428, + -0.35072757155444206, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00572869540548349, + "xy_threshold": 0.08, + "gripper_dist": 0.1867758434649204, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196899488013, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07519539202946394, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0888024588508207, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15592370384754298, + "release_required_pad_clearance": 0.054401229425410355, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.8275368899759026, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008113503456115723, + "max_z_decrease": 0.008113503456115723, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03499798269275723, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008113503456115723, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021150194640593253, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008113503456115723, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008113508446662738, + "max_button_displacement": 0.12, + "button_start": [ + 0.18165531754493708, + -0.40698903799057, + 0.7768088579177856 + ], + "button_final": [ + 0.18165531754493708, + -0.40698903799057, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1811496100334062, + -0.40677508558397646, + 0.8036889967425714 + ], + "closest_button": [ + 0.1816605776548385, + -0.4069817364215851, + 0.7686953544616699 + ], + "closest_ee_minus_button": [ + -0.0005109676214322956, + 0.00020665083760862402, + 0.034993642280901516 + ], + "button_min_z_position": [ + 0.1816605776548385, + -0.4069817364215851, + 0.7686953544616699 + ], + "min_active_finger_to_button": 0.1462527173747232, + "closest_active_finger": [ + 0.05392470210790634, + -0.4691918194293976, + 0.8084171414375305 + ], + "closest_active_finger_button": [ + 0.18166361749172205, + -0.4069934785366058, + 0.773718535900116 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1277389153838157, + -0.062198340892791804, + 0.03469860553741455 + ], + "min_contact_pad_to_button": 0.021150194640593253, + "closest_contact_pad": [ + 0.1816605776548385, + -0.4080142380651834, + 0.7898203319454673 + ], + "closest_contact_pad_button": [ + 0.1816605776548385, + -0.4069817364215851, + 0.7686953544616699 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0010325016435983048, + 0.02112497748379738 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 78, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "623bc168cc4f33bf02054a71a2a103236a5658f0ff670bf19b2d2ad447466ebb", + "visual_seed": 7608536056915607768, + "episode_index": 78, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_79_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_79_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0f21784fe3ac372609476b79395739c93e4d8fdd --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_79_success.json @@ -0,0 +1,926 @@ +{ + "episode": 79, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.19027212511085814, + -0.1394745601480669, + 1.0468899922776855 + ], + "current_z": 1.0468899922776855, + "required_z": 0.8565865220510829, + "initial_z": 0.7565865220510829, + "lift_margin": 0.19030347022660266, + "gripper_z": 1.0511294798641369, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18633914375741645, + -0.14372854547392055, + 1.0511294798641369 + ], + "object_minus_gripper": [ + 0.003932981353441695, + 0.004253985325853665, + -0.004239487586451318 + ], + "object_to_gripper_xy": 0.005793507873395736, + "object_to_gripper_z": -0.004239487586451318, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19027212511085814, + -0.16308150512162486, + 1.0468899922776855 + ], + "finger_b": [ + 0.1792759573756661, + -0.1394745601480669, + 1.0468899922776855 + ], + "finger_midpoint": [ + 0.18477404124326213, + -0.15127803263484588, + 1.0468899922776855 + ], + "object_minus_finger_midpoint": [ + 0.00549808386759601, + 0.011803472486778988, + 0.0 + ], + "finger_gap": 0.02604234159681254, + "fingertip_max_gap": 0.09459140668942487, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013021170798406265, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0468899922776855, + "object_top_z": 1.0935692933532122, + "finger_top_clearance": 0.04667930107552665, + "fingertip_min_top_clearance": 0.014003790322657994, + "object_projection_between_fingers": 0.8217117798655419, + "object_to_finger_line_xy": 0.009967841243448875, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049795703344712436, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.045931663582769, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 206, + "max_stable_success_frames": 206, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19135807754548387, + -0.1427992462063194, + 1.2433632560002432 + ], + "held_position": [ + 0.1956109434468533, + -0.13876074928036977, + 1.239223518983163 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007178701022226734, + "max_held_gripper_dist": 0.007182033513918466, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004139737017080147, + "max_held_gripper_z_dist": 0.004252932011693522, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08540869515606427, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.1956109434468533, + -0.16345046482529402, + 1.239223518983163 + ], + "held_grasp_finger_b": [ + 0.18701513108643844, + -0.13876074928036977, + 1.239223518983163 + ], + "held_grasp_midpoint": [ + 0.1913130372666459, + -0.15110560705283188, + 1.239223518983163 + ], + "held_grasp_object_position": [ + 0.1956109434468533, + -0.13876074928036977, + 1.239223518983163 + ], + "held_grasp_finger_gap": 0.02614326000759536, + "held_grasp_max_gap": 0.12496594846248626, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024134502163879357, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05894394888535205, + -0.9980339078205988, + -0.021305626725015347 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003572672851674547, + "held_grasp_line_xy_max_dist": 0.04748297423124313, + "held_grasp_object_top_z": 0.04520071670413017, + "held_grasp_top_clearance": 0.03262679449779012, + "held_grasp_min_top_clearance": 0.013560215011239052 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33288012369827213, + -0.35070111572788437, + 0.8470195042259663 + ], + "target_position": [ + 0.3273686915121211, + -0.3516256630117521, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005588440965300482, + "xy_threshold": 0.08, + "gripper_dist": 0.18385910579468548, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195042259663, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07578876211322315, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0865297860607712, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1514308583998811, + "release_required_pad_clearance": 0.053264893030385604, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.5491092597568963, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008112192153930664, + "max_z_decrease": 0.008112192153930664, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035078726019227284, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008112192153930664, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021045237254431193, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008112192153930664, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008112205293834582, + "max_button_displacement": 0.12, + "button_start": [ + 0.18306861817836753, + -0.40788713097572327, + 0.7768088579177856 + ], + "button_final": [ + 0.18306861817836753, + -0.40788713097572327, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18168646718385187, + -0.4058901708812963, + 0.8036912326062747 + ], + "closest_button": [ + 0.18308049440383903, + -0.4078786373138428, + 0.768696665763855 + ], + "closest_ee_minus_button": [ + -0.0013940272199871595, + 0.001988466432546465, + 0.03499456684241975 + ], + "button_min_z_position": [ + 0.18308049440383903, + -0.4078786373138428, + 0.768696665763855 + ], + "min_active_finger_to_button": 0.14620451879555496, + "closest_active_finger": [ + 0.05518168956041336, + -0.4697524607181549, + 0.8105567097663879 + ], + "closest_active_finger_button": [ + 0.18307386338710777, + -0.4078907370567322, + 0.7760244011878967 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1278921738266944, + -0.06186172366142273, + 0.03453230857849121 + ], + "min_contact_pad_to_button": 0.021045237254431193, + "closest_contact_pad": [ + 0.18308049440383903, + -0.4078786373138428, + 0.7897419030182862 + ], + "closest_contact_pad_button": [ + 0.18308049440383903, + -0.4078786373138428, + 0.768696665763855 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021045237254431193 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 79, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8d2248a1cd4d80b6d014a9c1ccae7d9558a53df664ffb27464e2c46742eb94ae", + "visual_seed": 7869405558612834519, + "episode_index": 79, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_7_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_7_success.json new file mode 100644 index 0000000000000000000000000000000000000000..385f26748c8c73391e035ebcff78a88566a2155d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_7_success.json @@ -0,0 +1,926 @@ +{ + "episode": 7, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.18776388365598914, + -0.1369371216215686, + 1.0465034373023963 + ], + "current_z": 1.0465034373023963, + "required_z": 0.8565865604893038, + "initial_z": 0.7565865604893038, + "lift_margin": 0.18991687681309244, + "gripper_z": 1.0506625688139795, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18355152842469286, + -0.14131846048914243, + 1.0506625688139795 + ], + "object_minus_gripper": [ + 0.004212355231296289, + 0.004381338867573831, + -0.004159131511583203 + ], + "object_to_gripper_xy": 0.006077834060513856, + "object_to_gripper_z": -0.004159131511583203, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.18776388365598914, + -0.1608392489698646, + 1.0465034373023963 + ], + "finger_b": [ + 0.17671813543538994, + -0.1369371216215686, + 1.0465034373023963 + ], + "finger_midpoint": [ + 0.18224100954568956, + -0.1488881852957166, + 1.0465034373023963 + ], + "object_minus_finger_midpoint": [ + 0.005522874110299586, + 0.011951063674148, + 0.0 + ], + "finger_gap": 0.0263309750204399, + "fingertip_max_gap": 0.09163708388552114, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013165487510219943, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0465034373023963, + "object_top_z": 1.0918239612337577, + "finger_top_clearance": 0.045320523931361434, + "fingertip_min_top_clearance": 0.013596157179408397, + "object_projection_between_fingers": 0.8240228025360413, + "object_to_finger_line_xy": 0.010026855459056431, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04831854194276057, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.6621844113503461, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 206, + "max_stable_success_frames": 206, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18832428113726912, + -0.13981221670543176, + 1.2453894258180234 + ], + "held_position": [ + 0.19282046891225393, + -0.13564097722034887, + 1.2413177100231523 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007361644711886067, + "max_held_gripper_dist": 0.007365228212080838, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004071715794871089, + "max_held_gripper_z_dist": 0.004174592723639181, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0848220337788307, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.19282046891225393, + -0.16044757604331245, + 1.2413177100231523 + ], + "held_grasp_finger_b": [ + 0.18378724506408928, + -0.13564097722034887, + 1.2413177100231523 + ], + "held_grasp_midpoint": [ + 0.1883038569881716, + -0.14804427663183067, + 1.2413177100231523 + ], + "held_grasp_object_position": [ + 0.19282046891225393, + -0.13564097722034887, + 1.2413177100231523 + ], + "held_grasp_finger_gap": 0.02640012269392906, + "held_grasp_max_gap": 0.1249658516049385, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024324818248351497, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.04847019109422477, + -0.9982287580490901, + -0.03449619079058719 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003933864385198338, + "held_grasp_line_xy_max_dist": 0.04748292580246925, + "held_grasp_object_top_z": 0.0452006496489048, + "held_grasp_top_clearance": 0.0326003984386116, + "held_grasp_min_top_clearance": 0.01356019489467144 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33290848750729174, + -0.34462424551803916, + 0.8470208202290002 + ], + "target_position": [ + 0.3236900231602082, + -0.3476451310605221, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00970081617077827, + "xy_threshold": 0.08, + "gripper_dist": 0.18864190580626056, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470208202290002, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07530281565936002, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08492371967336886, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15785522316994338, + "release_required_pad_clearance": 0.05246185983668443, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.0, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 156, + "max_placed_release_frames": 156 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008240699768066406, + "max_z_decrease": 0.008240699768066406, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501364443282287, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008240699768066406, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021039032421677612, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008240699768066406, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008240709802007494, + "max_button_displacement": 0.12, + "button_start": [ + 0.17938995361328125, + -0.40390658378601074, + 0.7768088579177856 + ], + "button_final": [ + 0.17938995361328125, + -0.40390658378601074, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1781200468745147, + -0.4048411406984405, + 0.8035460872931832 + ], + "closest_button": [ + 0.1793862283229828, + -0.4038942754268646, + 0.7685681581497192 + ], + "closest_ee_minus_button": [ + -0.001266181448468101, + -0.0009468652715758918, + 0.03497792914346398 + ], + "button_min_z_position": [ + 0.1793862283229828, + -0.4038942754268646, + 0.7685681581497192 + ], + "min_active_finger_to_button": 0.14691443538180632, + "closest_active_finger": [ + 0.037201859056949615, + -0.3904711604118347, + 0.8107402324676514 + ], + "closest_active_finger_button": [ + 0.1793919950723648, + -0.40390926599502563, + 0.7763130068778992 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1421901360154152, + 0.013438105583190918, + 0.0344272255897522 + ], + "min_contact_pad_to_button": 0.021039032421677612, + "closest_contact_pad": [ + 0.1793862283229828, + -0.4058582473654111, + 0.7895153226228646 + ], + "closest_contact_pad_button": [ + 0.1793862283229828, + -0.4038942754268646, + 0.7685681581497192 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0019639719385464716, + 0.020947164473145374 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 7, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ce88f6e2f268d6ae01484e12ad0f6a6f12157e53ebccd2b54a4d79e8073d4bcd", + "visual_seed": 7358939857028203829, + "episode_index": 7, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_80_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_80_success.json new file mode 100644 index 0000000000000000000000000000000000000000..604f219f032eff38b7fa079fa59198765a13734d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_80_success.json @@ -0,0 +1,926 @@ +{ + "episode": 80, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.18520574085801722, + -0.14832210439295715, + 1.0452939272520012 + ], + "current_z": 1.0452939272520012, + "required_z": 0.8565865370433507, + "initial_z": 0.7565865370433508, + "lift_margin": 0.18870739020865046, + "gripper_z": 1.050626432344675, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18060891501575216, + -0.1527530766490487, + 1.050626432344675 + ], + "object_minus_gripper": [ + 0.004596825842265062, + 0.004430972256091542, + -0.0053325050926738005 + ], + "object_to_gripper_xy": 0.00638469442952197, + "object_to_gripper_z": -0.0053325050926738005, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.18520574085801722, + -0.17270585457824006, + 1.0452939272520012 + ], + "finger_b": [ + 0.17437479417124485, + -0.14832210439295715, + 1.0452939272520012 + ], + "finger_midpoint": [ + 0.17979026751463104, + -0.1605139794855986, + 1.0452939272520012 + ], + "object_minus_finger_midpoint": [ + 0.005415473343386185, + 0.012191875092641441, + 0.0 + ], + "finger_gap": 0.02668101720755769, + "fingertip_max_gap": 0.0988586017667917, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013340508603778833, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0452939272520012, + "object_top_z": 1.0933410632307319, + "finger_top_clearance": 0.04804713597873067, + "fingertip_min_top_clearance": 0.014414140793619218, + "object_projection_between_fingers": 0.8352110561360228, + "object_to_finger_line_xy": 0.009898389413937569, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.051929300883395854, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.750767676440217, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 205, + "max_stable_success_frames": 205, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18447787241331118, + -0.15048096812560602, + 1.2432239505956444 + ], + "held_position": [ + 0.18916727478291392, + -0.14602441814468142, + 1.2379944431633418 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00831859845773448, + "max_held_gripper_dist": 0.008321595036363635, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005229507432302549, + "max_held_gripper_z_dist": 0.0053438357555779525, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08552516829793821, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.18916727478291392, + -0.17062458298436656, + 1.2379944431633418 + ], + "held_grasp_finger_b": [ + 0.17928655178505631, + -0.14602441814468142, + 1.2379944431633418 + ], + "held_grasp_midpoint": [ + 0.1842269132839851, + -0.158324500564524, + 1.2379944431633418 + ], + "held_grasp_object_position": [ + 0.18916727478291392, + -0.14602441814468142, + 1.2379944431633418 + ], + "held_grasp_finger_gap": 0.026510314918915485, + "held_grasp_max_gap": 0.12496602296829223, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02485079430154945, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.026251159066014516, + -0.9996442719267655, + -0.004712350973533398 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00526186625178846, + "held_grasp_line_xy_max_dist": 0.04748301148414612, + "held_grasp_object_top_z": 0.045200757682323456, + "held_grasp_top_clearance": 0.03303474096265272, + "held_grasp_min_top_clearance": 0.013560227304697036 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33429411597643277, + -0.35181124210226344, + 0.8470194673896569 + ], + "target_position": [ + 0.32794869954600875, + -0.3535104776776508, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006568996210697429, + "xy_threshold": 0.08, + "gripper_dist": 0.1861766590098545, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470194673896569, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07556616045154255, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08864846838648414, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15433081151876654, + "release_required_pad_clearance": 0.054324234193242074, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.6700876856602034, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008406639099121094, + "max_z_decrease": 0.008406639099121094, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035022286467941185, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008406639099121094, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021160440944758524, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008406639099121094, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008406690029633405, + "max_button_displacement": 0.12, + "button_start": [ + 0.18364863097667694, + -0.40977194905281067, + 0.7768088579177856 + ], + "button_final": [ + 0.18364863097667694, + -0.40977194905281067, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18465305281220393, + -0.4106516769962978, + 0.8033983496542199 + ], + "closest_button": [ + 0.18365044891834256, + -0.4097427427768707, + 0.7684022188186646 + ], + "closest_ee_minus_button": [ + 0.0010026038938613646, + -0.00090893421942706, + 0.034996130835555306 + ], + "button_min_z_position": [ + 0.18365044891834256, + -0.4097427427768707, + 0.7684022188186646 + ], + "min_active_finger_to_button": 0.1448005997226119, + "closest_active_finger": [ + 0.04376988112926483, + -0.3957492709159851, + 0.8076359033584595 + ], + "closest_active_finger_button": [ + 0.1836593598127365, + -0.40977737307548523, + 0.7729752659797668 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13988947868347168, + 0.014028102159500122, + 0.03466063737869263 + ], + "min_contact_pad_to_button": 0.021160440944758524, + "closest_contact_pad": [ + 0.18365044891834256, + -0.41172715476152616, + 0.7894694058651539 + ], + "closest_contact_pad_button": [ + 0.18365044891834256, + -0.4097427427768707, + 0.7684022188186646 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001984411984655432, + 0.021067187046489355 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 80, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8e1424d4e4b74f0cdc268e98bb8c2bd195f4f2da9009031379ec41799b9bc045", + "visual_seed": 7809318072728288201, + "episode_index": 80, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_81_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_81_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b923cb315cf70b737d4665062cfa6e1802c52184 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_81_success.json @@ -0,0 +1,926 @@ +{ + "episode": 81, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.18886252108914364, + -0.14436768008327205, + 1.047070172686438 + ], + "current_z": 1.047070172686438, + "required_z": 0.8565864387700719, + "initial_z": 0.7565864387700719, + "lift_margin": 0.19048373391636608, + "gripper_z": 1.0511947251407943, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1847825182422005, + -0.14866984041158757, + 1.0511947251407943 + ], + "object_minus_gripper": [ + 0.004080002846943154, + 0.004302160328315513, + -0.004124552454356278 + ], + "object_to_gripper_xy": 0.005929165769448185, + "object_to_gripper_z": -0.004124552454356278, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.18886252108914364, + -0.16814060840196957, + 1.047070172686438 + ], + "finger_b": [ + 0.1778782476854323, + -0.14436768008327205, + 1.047070172686438 + ], + "finger_midpoint": [ + 0.18337038438728798, + -0.1562541442426208, + 1.047070172686438 + ], + "object_minus_finger_midpoint": [ + 0.0054921367018556655, + 0.011886464159348742, + 0.0 + ], + "finger_gap": 0.026187905281893208, + "fingertip_max_gap": 0.09322899274864058, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013093952640946592, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.047070172686438, + "object_top_z": 1.0929805168208904, + "finger_top_clearance": 0.045910344134452385, + "fingertip_min_top_clearance": 0.013773103240335748, + "object_projection_between_fingers": 0.8240694965971415, + "object_to_finger_line_xy": 0.009971333768338997, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04911449637432029, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.8569417124107195, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 206, + "max_stable_success_frames": 206, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18954509825495344, + -0.147680636498453, + 1.2440741553826553 + ], + "held_position": [ + 0.193916684575348, + -0.143575036320508, + 1.2400494101595576 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007222554526526654, + "max_held_gripper_dist": 0.007225225792239382, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004024745223097703, + "max_held_gripper_z_dist": 0.004137221598993879, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08567094630451647, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.193916684575348, + -0.168273295974948, + 1.2400494101595576 + ], + "held_grasp_finger_b": [ + 0.18507230060852675, + -0.143575036320508, + 1.2400494101595576 + ], + "held_grasp_midpoint": [ + 0.18949449259193737, + -0.155924166147728, + 1.2400494101595576 + ], + "held_grasp_object_position": [ + 0.193916684575348, + -0.143575036320508, + 1.2400494101595576 + ], + "held_grasp_finger_gap": 0.02623408389310943, + "held_grasp_max_gap": 0.12496611982584, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024219496251586255, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0494908508105614, + -0.9983380482667694, + -0.029526209864192847 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038233403256812746, + "held_grasp_line_xy_max_dist": 0.04748305991292, + "held_grasp_object_top_z": 0.04520077258348465, + "held_grasp_top_clearance": 0.032653308370278245, + "held_grasp_min_top_clearance": 0.013560231775045395 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.32929769037489875, + -0.3429249101140531, + 0.8470196514310033 + ], + "target_position": [ + 0.32265804736287795, + -0.3445341418782067, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0068318728177445935, + "xy_threshold": 0.08, + "gripper_dist": 0.18500465321270054, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196514310033, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07591256127692425, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0870091399256072, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15250724850983108, + "release_required_pad_clearance": 0.0535045699628036, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.020538258362544, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008175492286682129, + "max_z_decrease": 0.008175492286682129, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502209222644219, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008175492286682129, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021035995184065293, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008175492286682129, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008175519508616754, + "max_button_displacement": 0.12, + "button_start": [ + 0.17835797369480125, + -0.4007956087589264, + 0.7768088579177856 + ], + "button_final": [ + 0.17835797369480125, + -0.4007956087589264, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17926924796286706, + -0.39997962124722314, + 0.8036348201518118 + ], + "closest_button": [ + 0.1783731430768966, + -0.40078094601631165, + 0.7686333656311035 + ], + "closest_ee_minus_button": [ + 0.0008961048859704446, + 0.0008013247690885072, + 0.03500145452070824 + ], + "button_min_z_position": [ + 0.1783731430768966, + -0.40078094601631165, + 0.7686333656311035 + ], + "min_active_finger_to_button": 0.14467534859383105, + "closest_active_finger": [ + 0.05280724912881851, + -0.4638727009296417, + 0.8107967376708984 + ], + "closest_active_finger_button": [ + 0.1783617734909057, + -0.40079778432846075, + 0.7763210535049438 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1255545243620872, + -0.06307491660118097, + 0.03447568416595459 + ], + "min_contact_pad_to_button": 0.021035995184065293, + "closest_contact_pad": [ + 0.1783731430768966, + -0.401067752727702, + 0.7896674055496337 + ], + "closest_contact_pad_button": [ + 0.1783731430768966, + -0.40078094601631165, + 0.7686333656311035 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00028680671139036384, + 0.021034039918530145 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 81, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "dd99eb783117e2c73f623e95ec675e7ed49f9170631831b381e39eb445b8d9d9", + "visual_seed": 1732832664000533601, + "episode_index": 81, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_82_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_82_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9df012338cacd727ee61949b974d022c6cfa3e13 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_82_success.json @@ -0,0 +1,926 @@ +{ + "episode": 82, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.18723747286114314, + -0.14218586066002897, + 1.0443841755877412 + ], + "current_z": 1.0443841755877412, + "required_z": 0.856586588682196, + "initial_z": 0.756586588682196, + "lift_margin": 0.18779758690554527, + "gripper_z": 1.0489862677584423, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1827424244691886, + -0.1466086607758534, + 1.0489862677584423 + ], + "object_minus_gripper": [ + 0.004495048391954554, + 0.004422800115824438, + -0.0046020921707010665 + ], + "object_to_gripper_xy": 0.006306078092646005, + "object_to_gripper_z": -0.0046020921707010665, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.18723747286114314, + -0.1664790006605684, + 1.0443841755877412 + ], + "finger_b": [ + 0.17639207994475542, + -0.14218586066002897, + 1.0443841755877412 + ], + "finger_midpoint": [ + 0.1818147764029493, + -0.15433243066029867, + 1.0443841755877412 + ], + "object_minus_finger_midpoint": [ + 0.005422696458193849, + 0.012146570000269696, + 0.0 + ], + "finger_gap": 0.026604119955312214, + "fingertip_max_gap": 0.09492757659148121, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013302059977656088, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0443841755877412, + "object_top_z": 1.0908875784432133, + "finger_top_clearance": 0.046503402855472054, + "fingertip_min_top_clearance": 0.013951020856641582, + "object_projection_between_fingers": 0.8338146306870127, + "object_to_finger_line_xy": 0.00990330253063144, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04996378829574061, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.4513971546130486, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 204, + "max_stable_success_frames": 204, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1870661439921509, + -0.1447167184142594, + 1.2435151403634168 + ], + "held_position": [ + 0.19176068725417802, + -0.1403937030512384, + 1.2389941901345876 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007820881615234372, + "max_held_gripper_dist": 0.007824136119201719, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004520950228829257, + "max_held_gripper_z_dist": 0.004619043947807988, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08624301765082262, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.19176068725417802, + -0.16519046145464683, + 1.2389941901345876 + ], + "held_grasp_finger_b": [ + 0.1822421838436576, + -0.1403937030512384, + 1.2389941901345876 + ], + "held_grasp_midpoint": [ + 0.1870014355489178, + -0.1527920822529426, + 1.2389941901345876 + ], + "held_grasp_object_position": [ + 0.19176068725417802, + -0.1403937030512384, + 1.2389941901345876 + ], + "held_grasp_finger_gap": 0.026560894836076123, + "held_grasp_max_gap": 0.12496598571538925, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02471843490809437, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.007809525265131997, + -0.9998391522642414, + -0.01614561595780062 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004666589458374926, + "held_grasp_line_xy_max_dist": 0.047482992857694625, + "held_grasp_object_top_z": 0.04520075395703316, + "held_grasp_top_clearance": 0.032767201510115265, + "held_grasp_min_top_clearance": 0.013560226187109947 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33580698721293833, + -0.34796442837933017, + 0.8470196254303253 + ], + "target_position": [ + 0.32896656369552163, + -0.349831992043204, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007090781898792917, + "xy_threshold": 0.08, + "gripper_dist": 0.18693029545975873, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196254303253, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07555343973457707, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08742007276698537, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1551501969955489, + "release_required_pad_clearance": 0.053710036383492685, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.429007596586976, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008118391036987305, + "max_z_decrease": 0.008118391036987305, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03503336049435145, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008118391036987305, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02129013428136545, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008118391036987305, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008118439288056311, + "max_button_displacement": 0.12, + "button_start": [ + 0.18466648459434504, + -0.40609344840049744, + 0.7768088579177856 + ], + "button_final": [ + 0.18466648459434504, + -0.40609344840049744, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18311098498699155, + -0.4064181967365124, + 0.8080865823823553 + ], + "closest_button": [ + 0.1846705079078674, + -0.40609869360923767, + 0.7730894088745117 + ], + "closest_ee_minus_button": [ + -0.0015595229208758554, + -0.00031950312727474506, + 0.03499717350784359 + ], + "button_min_z_position": [ + 0.18463870882987976, + -0.40608999133110046, + 0.7686904668807983 + ], + "min_active_finger_to_button": 0.14786386753236647, + "closest_active_finger": [ + 0.0421677827835083, + -0.3881201148033142, + 0.8082752823829651 + ], + "closest_active_finger_button": [ + 0.18467719852924344, + -0.40610030293464666, + 0.7731825113296509 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14250941574573514, + 0.017980188131332453, + 0.03509277105331421 + ], + "min_contact_pad_to_button": 0.02129013428136545, + "closest_contact_pad": [ + 0.18463870882987976, + -0.4077728714950309, + 0.7899139852524638 + ], + "closest_contact_pad_button": [ + 0.18463870882987976, + -0.40608999133110046, + 0.7686904668807983 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0016828801639304225, + 0.021223518371665473 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 82, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f67b0af97891ec34fa339c0ebc2d15304e86ad2fd3535e2416ebb3e192dd1cbe", + "visual_seed": 767068346356944050, + "episode_index": 82, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_83_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_83_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2ea48dd37c3103a941753a9d99a01c2e0b063200 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_83_success.json @@ -0,0 +1,926 @@ +{ + "episode": 83, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.1859473548880272, + -0.1455007953655669, + 1.0447535459698951 + ], + "current_z": 1.0447535459698951, + "required_z": 0.8565865797041666, + "initial_z": 0.7565865797041667, + "lift_margin": 0.18816696626572849, + "gripper_z": 1.0489185888445565, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1819010798515138, + -0.14975148161653778, + 1.0489185888445565 + ], + "object_minus_gripper": [ + 0.0040462750365133915, + 0.0042506862509708865, + -0.004165042874661351 + ], + "object_to_gripper_xy": 0.005868617833468489, + "object_to_gripper_z": -0.004165042874661351, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1859473548880272, + -0.16936004202797586, + 1.0447535459698951 + ], + "finger_b": [ + 0.17518104439083615, + -0.1455007953655669, + 1.0447535459698951 + ], + "finger_midpoint": [ + 0.18056419963943166, + -0.15743041869677138, + 1.0447535459698951 + ], + "object_minus_finger_midpoint": [ + 0.005383155248595534, + 0.01192962333120448, + 0.0 + ], + "finger_gap": 0.02617588762620284, + "fingertip_max_gap": 0.09197097433987989, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013087943813101428, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0447535459698951, + "object_top_z": 1.090178301276672, + "finger_top_clearance": 0.04542475530677681, + "fingertip_min_top_clearance": 0.01362742659203306, + "object_projection_between_fingers": 0.8308270330359537, + "object_to_finger_line_xy": 0.00981346120768883, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048485487169939945, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.7799978077483334, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 204, + "max_stable_success_frames": 204, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18646658891730167, + -0.14853817117190532, + 1.2437059096163308 + ], + "held_position": [ + 0.19077289131246902, + -0.14445644685590334, + 1.2396317986532013 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0071974366166266315, + "max_held_gripper_dist": 0.007198331445678671, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004074110963129485, + "max_held_gripper_z_dist": 0.004177205651530347, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08613412886705585, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.19077289131246902, + -0.1691441223127543, + 1.2396317986532013 + ], + "held_grasp_finger_b": [ + 0.1818898308878842, + -0.14445644685590334, + 1.2396317986532013 + ], + "held_grasp_midpoint": [ + 0.18633136110017662, + -0.15680028458432882, + 1.2396317986532013 + ], + "held_grasp_object_position": [ + 0.19077289131246902, + -0.14445644685590334, + 1.2396317986532013 + ], + "held_grasp_finger_gap": 0.026237188911345407, + "held_grasp_max_gap": 0.12496594101190567, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02428209632992283, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.04141309208271491, + -0.9984727550532498, + -0.0365665587733035 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0039527663429576474, + "held_grasp_line_xy_max_dist": 0.047482970505952835, + "held_grasp_object_top_z": 0.04520070552825928, + "held_grasp_top_clearance": 0.032691782363958206, + "held_grasp_min_top_clearance": 0.013560211658477784 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3357444236301863, + -0.3431469749520436, + 0.8470194187319974 + ], + "target_position": [ + 0.32737429200880824, + -0.34578707499683475, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00877662985465943, + "xy_threshold": 0.08, + "gripper_dist": 0.1879939677911883, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470194187319974, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07534684950931453, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08564385870740208, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15691007230354592, + "release_required_pad_clearance": 0.052821929353701044, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6886992508601432, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 157, + "max_placed_release_frames": 157 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008433520793914795, + "max_z_decrease": 0.008433520793914795, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03499886160435156, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008433520793914795, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021015320964159315, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008433520793914795, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008433586268749037, + "max_button_displacement": 0.12, + "button_start": [ + 0.1830742210149765, + -0.40204852819442743, + 0.7768088579177856 + ], + "button_final": [ + 0.1830742210149765, + -0.40204852819442743, + 0.7768088579177856 + ], + "closest_ee": [ + 0.183503606286865, + -0.40171222025692727, + 0.8033704188153478 + ], + "closest_button": [ + 0.1830916702747345, + -0.40202024579048157, + 0.7683753371238708 + ], + "closest_ee_minus_button": [ + 0.0004119360121304927, + 0.0003080255335543014, + 0.034995081691476915 + ], + "button_min_z_position": [ + 0.1830916702747345, + -0.40202024579048157, + 0.7683753371238708 + ], + "min_active_finger_to_button": 0.14530929702364537, + "closest_active_finger": [ + 0.05774150788784027, + -0.46700406074523926, + 0.8105418086051941 + ], + "closest_active_finger_button": [ + 0.18307872116565704, + -0.4020516872406006, + 0.7760952711105347 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12533721327781677, + -0.06495237350463867, + 0.034446537494659424 + ], + "min_contact_pad_to_button": 0.021015320964159315, + "closest_contact_pad": [ + 0.1830916702747345, + -0.4026611884859724, + 0.7893808818130174 + ], + "closest_contact_pad_button": [ + 0.1830916702747345, + -0.40202024579048157, + 0.7683753371238708 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0006409426954908093, + 0.021005544689146505 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 83, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5f2fb804a5fdfad0447c387c11335e5786a625163bb3219f6e1a07d8874de6d6", + "visual_seed": 6341729618906837832, + "episode_index": 83, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_84_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_84_success.json new file mode 100644 index 0000000000000000000000000000000000000000..fecf13e2790b2647f4a6ba3bfeb47f569d36abcb --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_84_success.json @@ -0,0 +1,926 @@ +{ + "episode": 84, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.19033713347657077, + -0.14445771797048693, + 1.0456420901987822 + ], + "current_z": 1.0456420901987822, + "required_z": 0.8565865478377425, + "initial_z": 0.7565865478377425, + "lift_margin": 0.18905554236103972, + "gripper_z": 1.0498818364982327, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1862629309760737, + -0.148725153679285, + 1.0498818364982327 + ], + "object_minus_gripper": [ + 0.004074202500497087, + 0.004267435708798062, + -0.004239746299450564 + ], + "object_to_gripper_xy": 0.005900011317258767, + "object_to_gripper_z": -0.004239746299450564, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19033713347657077, + -0.16837721820892876, + 1.0456420901987822 + ], + "finger_b": [ + 0.17962319470621896, + -0.14445771797048693, + 1.0456420901987822 + ], + "finger_midpoint": [ + 0.18498016409139487, + -0.15641746808970786, + 1.0456420901987822 + ], + "object_minus_finger_midpoint": [ + 0.005356969385175908, + 0.01195975011922093, + 0.0 + ], + "finger_gap": 0.026209368089133066, + "fingertip_max_gap": 0.09450101289804783, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013104684044566545, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0456420901987822, + "object_top_z": 1.0920035978011122, + "finger_top_clearance": 0.04636150760233004, + "fingertip_min_top_clearance": 0.01390845228069903, + "object_projection_between_fingers": 0.8328966256481677, + "object_to_finger_line_xy": 0.00977788018774618, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049750506449023915, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.260018603622781, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 205, + "max_stable_success_frames": 205, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1905604607053855, + -0.14665992354709323, + 1.244631292119118 + ], + "held_position": [ + 0.19483119919702646, + -0.1425017236979976, + 1.2404812368289737 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00726311174086271, + "max_held_gripper_dist": 0.007266010837476001, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004150055290144339, + "max_held_gripper_z_dist": 0.004250301929158429, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08613051478039205, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.19483119919702646, + -0.16703156013567147, + 1.2404812368289737 + ], + "held_grasp_finger_b": [ + 0.1856494832185892, + -0.1425017236979976, + 1.2404812368289737 + ], + "held_grasp_midpoint": [ + 0.19024034120780783, + -0.15476664191683454, + 1.2404812368289737 + ], + "held_grasp_object_position": [ + 0.19483119919702646, + -0.1425017236979976, + 1.2404812368289737 + ], + "held_grasp_finger_gap": 0.026191922112890505, + "held_grasp_max_gap": 0.12496607512235641, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02434630535414031, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.018948946598766864, + -0.9996107908099034, + -0.020474479705147708 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0043649072932323745, + "held_grasp_line_xy_max_dist": 0.04748303756117821, + "held_grasp_object_top_z": 0.04520077630877495, + "held_grasp_top_clearance": 0.03285363978594434, + "held_grasp_min_top_clearance": 0.013560232892632484 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3294680748377099, + -0.35213535390476325, + 0.847019445914277 + ], + "target_position": [ + 0.3230040729209823, + -0.35349923787761944, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006606322749523506, + "xy_threshold": 0.08, + "gripper_dist": 0.1869999942908772, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.847019445914277, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07528485271203761, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08615480647066763, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15575321343434936, + "release_required_pad_clearance": 0.05307740323533382, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.1836440689090997, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008458971977233887, + "max_z_decrease": 0.008458971977233887, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03499729887910487, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008458971977233887, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021161296498174737, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008458971977233887, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008459070206855225, + "max_button_displacement": 0.12, + "button_start": [ + 0.17870399355888367, + -0.4097606837749481, + 0.7768088579177856 + ], + "button_final": [ + 0.17870399355888367, + -0.4097606837749481, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17877901029768484, + -0.4095972478138362, + 0.8037143307605077 + ], + "closest_button": [ + 0.17867489159107208, + -0.4097374975681305, + 0.7687174677848816 + ], + "closest_ee_minus_button": [ + 0.00010411870661275469, + 0.0001402497542942749, + 0.0349968629756261 + ], + "button_min_z_position": [ + 0.1786690056324005, + -0.40973976254463196, + 0.7683498859405518 + ], + "min_active_finger_to_button": 0.1457907030746909, + "closest_active_finger": [ + 0.05112358182668686, + -0.47116819024086, + 0.8074662685394287 + ], + "closest_active_finger_button": [ + 0.17871378362178802, + -0.4097653329372406, + 0.7727479934692383 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12759020179510117, + -0.061402857303619385, + 0.03471827507019043 + ], + "min_contact_pad_to_button": 0.021161296498174737, + "closest_contact_pad": [ + 0.1786690056324005, + -0.4109105454630358, + 0.7894787698874534 + ], + "closest_contact_pad_button": [ + 0.1786690056324005, + -0.40973976254463196, + 0.7683498859405518 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0011707829184038343, + 0.0211288839469016 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 84, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "06f697d357cc1cbaf5054adf8b556b80673d5986cb86123e018ad5113f396ae8", + "visual_seed": 6709056487046574669, + "episode_index": 84, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_86_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_86_success.json new file mode 100644 index 0000000000000000000000000000000000000000..62742bdf83b3c1e401c5e9c0e48b94eaa4e9d330 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_86_success.json @@ -0,0 +1,926 @@ +{ + "episode": 86, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.1872096056051805, + -0.1458925009911605, + 1.0447761804372377 + ], + "current_z": 1.0447761804372377, + "required_z": 0.8565865985678447, + "initial_z": 0.7565865985678447, + "lift_margin": 0.18818958186939305, + "gripper_z": 1.0497549165924878, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18275735599907508, + -0.15024075911774393, + 1.0497549165924878 + ], + "object_minus_gripper": [ + 0.004452249606105407, + 0.004348258126583432, + -0.004978736155250019 + ], + "object_to_gripper_xy": 0.006223333133495637, + "object_to_gripper_z": -0.004978736155250019, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1872096056051805, + -0.1702143494872172, + 1.0447761804372377 + ], + "finger_b": [ + 0.17655523018605518, + -0.1458925009911605, + 1.0447761804372377 + ], + "finger_midpoint": [ + 0.18188241789561782, + -0.15805342523918886, + 1.0447761804372377 + ], + "object_minus_finger_midpoint": [ + 0.00532718770956267, + 0.012160924248028365, + 0.0 + ], + "finger_gap": 0.026553117139740814, + "fingertip_max_gap": 0.09574193714534102, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013276558569870424, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0447761804372377, + "object_top_z": 1.0915035634608365, + "finger_top_clearance": 0.0467273830235988, + "fingertip_min_top_clearance": 0.014018214907079657, + "object_projection_between_fingers": 0.839000336466912, + "object_to_finger_line_xy": 0.00975908415574465, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05037096857267051, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.897342707574247, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 204, + "max_stable_success_frames": 204, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1868811243405963, + -0.1481104648933984, + 1.2448121205959788 + ], + "held_position": [ + 0.19146609091691183, + -0.14380595103462812, + 1.2399183352458802 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00796868201894862, + "max_held_gripper_dist": 0.007970722845619463, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004893785350098545, + "max_held_gripper_z_dist": 0.004989010459450549, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08551753778617216, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.19146609091691183, + -0.16850185429475367, + 1.2399183352458802 + ], + "held_grasp_finger_b": [ + 0.18190066428355126, + -0.14380595103462812, + 1.2399183352458802 + ], + "held_grasp_midpoint": [ + 0.18668337760023154, + -0.1561539026646909, + 1.2399183352458802 + ], + "held_grasp_object_position": [ + 0.19146609091691183, + -0.14380595103462812, + 1.2399183352458802 + ], + "held_grasp_finger_gap": 0.026483674679161948, + "held_grasp_max_gap": 0.12496603041887283, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02477405249582743, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.00848130435710798, + -0.9998794108136126, + -0.013008893397404186 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0048898984732137175, + "held_grasp_line_xy_max_dist": 0.047483015209436416, + "held_grasp_object_top_z": 0.045200787484645844, + "held_grasp_top_clearance": 0.032894888531315246, + "held_grasp_min_top_clearance": 0.013560236245393752 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33912604219616527, + -0.34860196703509505, + 0.8470196332608166 + ], + "target_position": [ + 0.33160012803980765, + -0.35106840574332415, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007919766649991325, + "xy_threshold": 0.08, + "gripper_dist": 0.18755738513712192, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196332608166, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07570369818924495, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08848715716182286, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15568585876161203, + "release_required_pad_clearance": 0.05424357858091143, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.504906449350378, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008269429206848145, + "max_z_decrease": 0.008269429206848145, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035029630331559126, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008269429206848145, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021225633365415164, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008269429206848145, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008269494015510163, + "max_button_displacement": 0.12, + "button_start": [ + 0.18730005621910098, + -0.40732985734939575, + 0.7768088579177856 + ], + "button_final": [ + 0.18730005621910098, + -0.40732985734939575, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18731600169770207, + -0.4057301297892625, + 0.8035327767295889 + ], + "closest_button": [ + 0.1872679740190506, + -0.40732333064079285, + 0.7685394287109375 + ], + "closest_ee_minus_button": [ + 4.802767865147439e-05, + 0.001593200851530363, + 0.03499334801865139 + ], + "button_min_z_position": [ + 0.1872679740190506, + -0.40732333064079285, + 0.7685394287109375 + ], + "min_active_finger_to_button": 0.14530224470238348, + "closest_active_finger": [ + 0.06014058738946915, + -0.4683071970939636, + 0.8080826997756958 + ], + "closest_active_finger_button": [ + 0.18731194734573364, + -0.4073346257209778, + 0.7731179594993591 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1271713599562645, + -0.06097257137298584, + 0.03496474027633667 + ], + "min_contact_pad_to_button": 0.021225633365415164, + "closest_contact_pad": [ + 0.1872679740190506, + -0.40732333064079285, + 0.7897650620763527 + ], + "closest_contact_pad_button": [ + 0.1872679740190506, + -0.40732333064079285, + 0.7685394287109375 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021225633365415164 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 86, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8b19727152173970010ab3ec7f7575cf96772ebfc9c840f319fb03edeefafda9", + "visual_seed": 3269582156288437022, + "episode_index": 86, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_87_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_87_success.json new file mode 100644 index 0000000000000000000000000000000000000000..80244640dec49752b739faf643a16a2d94d85ab2 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_87_success.json @@ -0,0 +1,926 @@ +{ + "episode": 87, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.1897699294441801, + -0.14042521616775858, + 1.0443205695047644 + ], + "current_z": 1.0443205695047644, + "required_z": 0.8565865609428319, + "initial_z": 0.7565865609428319, + "lift_margin": 0.18773400856193245, + "gripper_z": 1.0489885603953142, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18514767381110936, + -0.14491676574675505, + 1.0489885603953142 + ], + "object_minus_gripper": [ + 0.004622255633070754, + 0.004491549578996473, + -0.004667990890549811 + ], + "object_to_gripper_xy": 0.006445096179114608, + "object_to_gripper_z": -0.004667990890549811, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1897699294441801, + -0.1648110695685729, + 1.0443205695047644 + ], + "finger_b": [ + 0.1788372971286008, + -0.14042521616775858, + 1.0443205695047644 + ], + "finger_midpoint": [ + 0.18430361328639044, + -0.15261814286816572, + 1.0443205695047644 + ], + "object_minus_finger_midpoint": [ + 0.005466316157789669, + 0.012192926700407142, + 0.0 + ], + "finger_gap": 0.026724376427405296, + "fingertip_max_gap": 0.09491617470180463, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013362188213702641, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0443205695047644, + "object_top_z": 1.0907878553714103, + "finger_top_clearance": 0.046467285866645947, + "fingertip_min_top_clearance": 0.013940185759993751, + "object_projection_between_fingers": 0.8326466833766735, + "object_to_finger_line_xy": 0.009975969679102702, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04995808735090232, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.494887617640266, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 204, + "max_stable_success_frames": 204, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18943253849680927, + -0.1428360287292408, + 1.241126797377968 + ], + "held_position": [ + 0.1942110837148869, + -0.13838645411947811, + 1.236558698611672 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007968734839840886, + "max_held_gripper_dist": 0.007977760557237378, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004568098766296158, + "max_held_gripper_z_dist": 0.0046811135055511155, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08577442292797022, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.1942110837148869, + -0.1631245858082131, + 1.236558698611672 + ], + "held_grasp_finger_b": [ + 0.1844882983169282, + -0.13838645411947811, + 1.236558698611672 + ], + "held_grasp_midpoint": [ + 0.18934969101590754, + -0.15075551996384562, + 1.236558698611672 + ], + "held_grasp_object_position": [ + 0.1942110837148869, + -0.13838645411947811, + 1.236558698611672 + ], + "held_grasp_finger_gap": 0.026580212853623896, + "held_grasp_max_gap": 0.12496613472700119, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02472549982821034, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0006548843677756448, + -0.9997467650170552, + -0.02249393172386838 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004861261994127708, + "held_grasp_line_xy_max_dist": 0.047483067363500595, + "held_grasp_object_top_z": 0.045200783759355545, + "held_grasp_top_clearance": 0.03283166654508202, + "held_grasp_min_top_clearance": 0.013560235127806663 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33026169670638494, + -0.3489917965070094, + 0.8470192063187801 + ], + "target_position": [ + 0.32223992773538634, + -0.3515910336058867, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00843236686347648, + "xy_threshold": 0.08, + "gripper_dist": 0.18630936179971833, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470192063187801, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07532646954585641, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08713226779852411, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15533371270250737, + "release_required_pad_clearance": 0.053566133899262056, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.1423773313552985, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00837022066116333, + "max_z_decrease": 0.00837022066116333, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035000176111610465, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00837022066116333, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021190446257017145, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00837022066116333, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008370244689913136, + "max_button_displacement": 0.12, + "button_start": [ + 0.17793984711170197, + -0.40785250067710876, + 0.7768088579177856 + ], + "button_final": [ + 0.17793984711170197, + -0.40785250067710876, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17724984969991853, + -0.40844959931781855, + 0.8034264582702128 + ], + "closest_button": [ + 0.17794640362262726, + -0.4078335464000702, + 0.7684386372566223 + ], + "closest_ee_minus_button": [ + -0.0006965539227087314, + -0.0006160529177483554, + 0.03498782101359044 + ], + "button_min_z_position": [ + 0.17794640362262726, + -0.4078335464000702, + 0.7684386372566223 + ], + "min_active_finger_to_button": 0.14647199791518123, + "closest_active_finger": [ + 0.03668484091758728, + -0.3907895088195801, + 0.8074631690979004 + ], + "closest_active_finger_button": [ + 0.17795084416866302, + -0.40785956382751465, + 0.772727370262146 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14126600325107574, + 0.01707005500793457, + 0.034735798835754395 + ], + "min_contact_pad_to_button": 0.021190446257017145, + "closest_contact_pad": [ + 0.17794640362262726, + -0.40977169578195444, + 0.7895402625386956 + ], + "closest_contact_pad_button": [ + 0.17794640362262726, + -0.4078335464000702, + 0.7684386372566223 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0019381493818842466, + 0.021101625282073266 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 87, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "17baac2abd5b523f391f342f5bd2173bec2d7111a0039f5214d3150d8369efd7", + "visual_seed": 1486625146325818343, + "episode_index": 87, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_88_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_88_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ecfaf06d32501382fe79d9c1456bf7036faba3dc --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_88_success.json @@ -0,0 +1,926 @@ +{ + "episode": 88, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.18745524817605977, + -0.14769783000110018, + 1.0468320098140693 + ], + "current_z": 1.0468320098140693, + "required_z": 0.8565866178249553, + "initial_z": 0.7565866178249553, + "lift_margin": 0.19024539198911405, + "gripper_z": 1.0517481191535103, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18325979333679002, + -0.15196682991841526, + 1.0517481191535103 + ], + "object_minus_gripper": [ + 0.004195454839269752, + 0.0042689999173150806, + -0.004916109339440977 + ], + "object_to_gripper_xy": 0.005985499277619883, + "object_to_gripper_z": -0.004916109339440977, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.18745524817605977, + -0.1718874968734267, + 1.0468320098140693 + ], + "finger_b": [ + 0.1769754460317613, + -0.14769783000110018, + 1.0468320098140693 + ], + "finger_midpoint": [ + 0.18221534710391052, + -0.15979266343726345, + 1.0468320098140693 + ], + "object_minus_finger_midpoint": [ + 0.00523990107214925, + 0.012094833436163271, + 0.0 + ], + "finger_gap": 0.026362212281555084, + "fingertip_max_gap": 0.09663895618028626, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01318110614077756, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0468320098140693, + "object_top_z": 1.0941679241483115, + "finger_top_clearance": 0.047335914334242224, + "fingertip_min_top_clearance": 0.014200774300272667, + "object_projection_between_fingers": 0.8419689371442458, + "object_to_finger_line_xy": 0.009616147539174549, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05081947809014313, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.6746410104056926, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 206, + "max_stable_success_frames": 206, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1874994991235386, + -0.1500785043938401, + 1.2461708988290217 + ], + "held_position": [ + 0.19183861577898198, + -0.1458608729771229, + 1.2413408884987331 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007742438111313494, + "max_held_gripper_dist": 0.007748215185492957, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0048300103302885145, + "max_held_gripper_z_dist": 0.004927031080288913, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08574853604511862, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.19183861577898198, + -0.170476953426809, + 1.2413408884987331 + ], + "held_grasp_finger_b": [ + 0.18257557353272225, + -0.1458608729771229, + 1.2413408884987331 + ], + "held_grasp_midpoint": [ + 0.1872070946558521, + -0.15816891320196597, + 1.2413408884987331 + ], + "held_grasp_object_position": [ + 0.19183861577898198, + -0.1458608729771229, + 1.2413408884987331 + ], + "held_grasp_finger_gap": 0.0263012427151534, + "held_grasp_max_gap": 0.12496583670377731, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02459355884807115, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0023349140489215717, + -0.9999637150138418, + -0.008192486319803736 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004603875605062902, + "held_grasp_line_xy_max_dist": 0.047482918351888656, + "held_grasp_object_top_z": 0.045200709253549576, + "held_grasp_top_clearance": 0.032882301422037456, + "held_grasp_min_top_clearance": 0.013560212776064872 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3305021453638899, + -0.34823037889414055, + 0.8470196705173969 + ], + "target_position": [ + 0.324197235929607, + -0.34989013697207383, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0065197147063176366, + "xy_threshold": 0.08, + "gripper_dist": 0.1863568012998668, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196705173969, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07519387098112276, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08749723630773336, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1557087115581638, + "release_required_pad_clearance": 0.05374861815386668, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.5057783557195994, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008384764194488525, + "max_z_decrease": 0.008384764194488525, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03506492555388958, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008384764194488525, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021086469026290855, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008384764194488525, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008384796022828786, + "max_button_displacement": 0.12, + "button_start": [ + 0.17989715933799738, + -0.40615159273147583, + 0.7768088579177856 + ], + "button_final": [ + 0.17989715933799738, + -0.40615159273147583, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18016735565000094, + -0.40397167136956325, + 0.8034207419174968 + ], + "closest_button": [ + 0.17987746000289911, + -0.4061395227909088, + 0.7684240937232971 + ], + "closest_ee_minus_button": [ + 0.0002898956471018288, + 0.002167851421345568, + 0.034996648194199675 + ], + "button_min_z_position": [ + 0.17987746000289911, + -0.4061395227909088, + 0.7684240937232971 + ], + "min_active_finger_to_button": 0.1447376700507222, + "closest_active_finger": [ + 0.05313044786453247, + -0.46680784225463867, + 0.8107778429985046 + ], + "closest_active_finger_button": [ + 0.17990088462829587, + -0.40615501999855036, + 0.77614426612854 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1267704367637634, + -0.06065282225608831, + 0.0346335768699646 + ], + "min_contact_pad_to_button": 0.021086469026290855, + "closest_contact_pad": [ + 0.17987746000289911, + -0.4061395227909088, + 0.789510562749588 + ], + "closest_contact_pad_button": [ + 0.17987746000289911, + -0.4061395227909088, + 0.7684240937232971 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021086469026290855 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 88, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "de9af68c82271a79b94f416975c1401a9ef4152a525f4e884d26b80dc0f79fc5", + "visual_seed": 7953368946347865054, + "episode_index": 88, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_89_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_89_success.json new file mode 100644 index 0000000000000000000000000000000000000000..189eab6b3dd95d76c3b4dcab587dd8804dfdc875 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_89_success.json @@ -0,0 +1,926 @@ +{ + "episode": 89, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.18849375769956989, + -0.14343873020808584, + 1.0438545482796566 + ], + "current_z": 1.0438545482796566, + "required_z": 0.856586585588687, + "initial_z": 0.7565865855886871, + "lift_margin": 0.18726796269096957, + "gripper_z": 1.0483550762580505, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18400166092283557, + -0.14785640134498262, + 1.0483550762580505 + ], + "object_minus_gripper": [ + 0.004492096776734317, + 0.004417671136896784, + -0.004500527978393842 + ], + "object_to_gripper_xy": 0.006300377109770316, + "object_to_gripper_z": -0.004500527978393842, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.18849375769956989, + -0.16773727285989712, + 1.0438545482796566 + ], + "finger_b": [ + 0.1776681314989795, + -0.14343873020808584, + 1.0438545482796566 + ], + "finger_midpoint": [ + 0.1830809445992747, + -0.1555880015339915, + 1.0438545482796566 + ], + "object_minus_finger_midpoint": [ + 0.005412813100295177, + 0.012149271325905653, + 0.0 + ], + "finger_gap": 0.02660100294418992, + "fingertip_max_gap": 0.09494162173744142, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013300501472094967, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0438545482796566, + "object_top_z": 1.0903718257796362, + "finger_top_clearance": 0.04651727749997958, + "fingertip_min_top_clearance": 0.013955183249993874, + "object_projection_between_fingers": 0.83438104811037, + "object_to_finger_line_xy": 0.00988860985878974, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04997081086872071, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.447812058331553, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 203, + "max_stable_success_frames": 203, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18832304435064054, + -0.14592950342580646, + 1.240458508248073 + ], + "held_position": [ + 0.192969011051835, + -0.14157577326648935, + 1.2360602591761787 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007738511987919556, + "max_held_gripper_dist": 0.007755899870863827, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0043982490718943446, + "max_held_gripper_z_dist": 0.00450882388972107, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08592414221319813, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.192969011051835, + -0.16627201546433498, + 1.2360602591761787 + ], + "held_grasp_finger_b": [ + 0.1834616974712065, + -0.14157577326648935, + 1.2360602591761787 + ], + "held_grasp_midpoint": [ + 0.18821535426152075, + -0.15392389436541215, + 1.2360602591761787 + ], + "held_grasp_object_position": [ + 0.192969011051835, + -0.14157577326648935, + 1.2360602591761787 + ], + "held_grasp_finger_gap": 0.02646305708369792, + "held_grasp_max_gap": 0.12496597081422806, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024629196273848738, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0063496458995696715, + -0.9997296005906389, + -0.02236979436275077 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004683327750124707, + "held_grasp_line_xy_max_dist": 0.04748298540711403, + "held_grasp_object_top_z": 0.04520071670413017, + "held_grasp_top_clearance": 0.03282575049251264, + "held_grasp_min_top_clearance": 0.013560215011239052 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33928095516753787, + -0.3461506124458573, + 0.8470195849881945 + ], + "target_position": [ + 0.33134387842991303, + -0.34875428797017555, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008353221736245192, + "xy_threshold": 0.08, + "gripper_dist": 0.1871947775610901, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195849881945, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0754496964992493, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08747120646410166, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15582598470808184, + "release_required_pad_clearance": 0.05373560323205083, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.4803469301985883, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 156, + "max_placed_release_frames": 156 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008313536643981934, + "max_z_decrease": 0.008313536643981934, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03507014640010009, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008313536643981934, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021086865284060896, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008313536643981934, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008313554341282137, + "max_button_displacement": 0.12, + "button_start": [ + 0.18704380095005035, + -0.4050157368183135, + 0.7768088579177856 + ], + "button_final": [ + 0.18704380095005035, + -0.4050157368183135, + 0.7768088579177856 + ], + "closest_ee": [ + 0.188212839520469, + -0.4031899578452276, + 0.8034984946177431 + ], + "closest_button": [ + 0.1870303452014923, + -0.40500509738922114, + 0.7684953212738037 + ], + "closest_ee_minus_button": [ + 0.0011824943189766846, + 0.001815139543993538, + 0.03500317334393943 + ], + "button_min_z_position": [ + 0.1870303452014923, + -0.40500509738922114, + 0.7684953212738037 + ], + "min_active_finger_to_button": 0.1440821005465353, + "closest_active_finger": [ + 0.06232929974794388, + -0.468309611082077, + 0.808178186416626 + ], + "closest_active_finger_button": [ + 0.18705423176288605, + -0.4050217568874358, + 0.7735661864280701 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12472493201494217, + -0.06328785419464122, + 0.03461199998855591 + ], + "min_contact_pad_to_button": 0.021086865284060896, + "closest_contact_pad": [ + 0.1870303452014923, + -0.40500509738922114, + 0.7895821865578646 + ], + "closest_contact_pad_button": [ + 0.1870303452014923, + -0.40500509738922114, + 0.7684953212738037 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021086865284060896 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 89, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c808d6c8692f064927f4a7d871aab697d4b413d879461b0803dab7f09517298f", + "visual_seed": 7616331746998630646, + "episode_index": 89, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_8_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_8_success.json new file mode 100644 index 0000000000000000000000000000000000000000..45eb1105737810fa8246f3a68f7b241db360eed9 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_8_success.json @@ -0,0 +1,926 @@ +{ + "episode": 8, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.18448718595139246, + -0.1491258096179629, + 1.0463527277317464 + ], + "current_z": 1.0463527277317464, + "required_z": 0.8565865344595185, + "initial_z": 0.7565865344595185, + "lift_margin": 0.18976619327222788, + "gripper_z": 1.0507262430266915, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18009642859662192, + -0.15349146269895536, + 1.0507262430266915 + ], + "object_minus_gripper": [ + 0.004390757354770541, + 0.00436565308099246, + -0.004373515294945118 + ], + "object_to_gripper_xy": 0.006191742644203695, + "object_to_gripper_z": -0.004373515294945118, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.18448718595139246, + -0.17333145130981384, + 1.0463527277317464 + ], + "finger_b": [ + 0.1736912441491768, + -0.1491258096179629, + 1.0463527277317464 + ], + "finger_midpoint": [ + 0.17908921505028463, + -0.16122863046388836, + 1.0463527277317464 + ], + "object_minus_finger_midpoint": [ + 0.005397970901107829, + 0.012102820845925455, + 0.0 + ], + "finger_gap": 0.02650406476582601, + "fingertip_max_gap": 0.09297288925939118, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013252032382912993, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0463527277317464, + "object_top_z": 1.0921199820870005, + "finger_top_clearance": 0.04576725435525408, + "fingertip_min_top_clearance": 0.013730176306576225, + "object_projection_between_fingers": 0.8340810077644205, + "object_to_finger_line_xy": 0.009859721567216123, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04898644462969559, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.8185412235359393, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 206, + "max_stable_success_frames": 206, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18443948915657113, + -0.15220502214517417, + 1.2467346356569622 + ], + "held_position": [ + 0.18903943397006434, + -0.14797111767808646, + 1.242448785272885 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007579838576005659, + "max_held_gripper_dist": 0.007581164245250779, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.00428585038407725, + "max_held_gripper_z_dist": 0.004383029410167882, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08492791727760848, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.18903943397006434, + -0.17277885246917943, + 1.242448785272885 + ], + "held_grasp_finger_b": [ + 0.17972845929853754, + -0.14797111767808646, + 1.242448785272885 + ], + "held_grasp_midpoint": [ + 0.18438394663430094, + -0.16037498507363296, + 1.242448785272885 + ], + "held_grasp_object_position": [ + 0.18903943397006434, + -0.14797111767808646, + 1.242448785272885 + ], + "held_grasp_finger_gap": 0.026497508463986158, + "held_grasp_max_gap": 0.12496600806713104, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024556421384339715, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.025353185045017185, + -0.9993852504839724, + -0.024214399087335352 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004349993800707188, + "held_grasp_line_xy_max_dist": 0.04748300403356552, + "held_grasp_object_top_z": 0.045200739055871964, + "held_grasp_top_clearance": 0.03268646549990542, + "held_grasp_min_top_clearance": 0.013560221716761588 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3312518012349114, + -0.34825151315657865, + 0.8470199615609573 + ], + "target_position": [ + 0.32355422737136613, + -0.35055452501388773, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008034706404072344, + "xy_threshold": 0.08, + "gripper_dist": 0.1861843857645168, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470199615609573, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07568334291502923, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08759502480175456, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15434003899744636, + "release_required_pad_clearance": 0.05379751240087728, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.6029187587497162, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008087635040283203, + "max_z_decrease": 0.008087635040283203, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501620979679275, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008087635040283203, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021179827870943965, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008087635040283203, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008087643299678728, + "max_button_displacement": 0.12, + "button_start": [ + 0.17925415933132166, + -0.4068159759044647, + 0.7768088579177856 + ], + "button_final": [ + 0.17925415933132166, + -0.4068159759044647, + 0.7768088579177856 + ], + "closest_ee": [ + 0.179032109117652, + -0.4076860930360291, + 0.8037256418288137 + ], + "closest_button": [ + 0.17926122248172757, + -0.4068068265914917, + 0.7687212228775024 + ], + "closest_ee_minus_button": [ + -0.00022911336407557825, + -0.0008792664445373966, + 0.035004418951311234 + ], + "button_min_z_position": [ + 0.17926122248172757, + -0.4068068265914917, + 0.7687212228775024 + ], + "min_active_finger_to_button": 0.1459687135756617, + "closest_active_finger": [ + 0.03831318020820618, + -0.39132243394851685, + 0.8083651661872864 + ], + "closest_active_finger_button": [ + 0.17926196753978726, + -0.40682217478752136, + 0.7737232446670532 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1409487873315811, + 0.015499740839004517, + 0.034641921520233154 + ], + "min_contact_pad_to_button": 0.021179827870943965, + "closest_contact_pad": [ + 0.17926122248172757, + -0.40889022715127576, + 0.7897983325168791 + ], + "closest_contact_pad_button": [ + 0.17926122248172757, + -0.4068068265914917, + 0.7687212228775024 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0020834005597840655, + 0.0210771096393767 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 8, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8290858f69867ce178b7e0b23ce6dc46ab0f5d5dd23b4895e3ecfe9f49f97d43", + "visual_seed": 7032251361262120070, + "episode_index": 8, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_90_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_90_success.json new file mode 100644 index 0000000000000000000000000000000000000000..43b810be2d0c42e5a1eeb7c3ceb20342271ba78c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_90_success.json @@ -0,0 +1,926 @@ +{ + "episode": 90, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.18756870749715993, + -0.143852651529291, + 1.0439581691577082 + ], + "current_z": 1.0439581691577082, + "required_z": 0.8565865434322961, + "initial_z": 0.7565865434322961, + "lift_margin": 0.1873716257254121, + "gripper_z": 1.048130436741771, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1833304287415705, + -0.14816291415946797, + 1.048130436741771 + ], + "object_minus_gripper": [ + 0.004238278755589436, + 0.004310262630176975, + -0.00417226758406275 + ], + "object_to_gripper_xy": 0.006044945884884403, + "object_to_gripper_z": -0.00417226758406275, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.18756870749715993, + -0.16792795173398856, + 1.0439581691577082 + ], + "finger_b": [ + 0.17682870267992173, + -0.143852651529291, + 1.0439581691577082 + ], + "finger_midpoint": [ + 0.18219870508854083, + -0.15589030163163978, + 1.0439581691577082 + ], + "object_minus_finger_midpoint": [ + 0.005370002408619096, + 0.01203765010234878, + 0.0 + ], + "finger_gap": 0.026362241623591305, + "fingertip_max_gap": 0.09161259081128315, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013181120811795653, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0439581691577082, + "object_top_z": 1.0893336480104725, + "finger_top_clearance": 0.04537547885276427, + "fingertip_min_top_clearance": 0.013612643655829282, + "object_projection_between_fingers": 0.8340243875672024, + "object_to_finger_line_xy": 0.009808302490616599, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048306295405641575, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.5147911410178885, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 203, + "max_stable_success_frames": 203, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18789151514851316, + -0.14684966525758036, + 1.24075647695453 + ], + "held_position": [ + 0.19235077454795227, + -0.14265229333332044, + 1.2366913563718454 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007350383038578223, + "max_held_gripper_dist": 0.00735134706050025, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0040651205826847114, + "max_held_gripper_z_dist": 0.004183067815416441, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08603375387460013, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.19235077454795227, + -0.1673345931615429, + 1.2366913563718454 + ], + "held_grasp_finger_b": [ + 0.18327713036726062, + -0.14265229333332044, + 1.2366913563718454 + ], + "held_grasp_midpoint": [ + 0.18781395245760646, + -0.15499344324743167, + 1.2366913563718454 + ], + "held_grasp_object_position": [ + 0.19235077454795227, + -0.14265229333332044, + 1.2366913563718454 + ], + "held_grasp_finger_gap": 0.02629728015457244, + "held_grasp_max_gap": 0.12496605277061462, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024319362143872834, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.03588994696381251, + -0.998489400250561, + -0.04160323658334563 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004123491090367078, + "held_grasp_line_xy_max_dist": 0.04748302638530731, + "held_grasp_object_top_z": 0.045200761407613754, + "held_grasp_top_clearance": 0.0327154277272638, + "held_grasp_min_top_clearance": 0.013560228422284127 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3329695326925731, + -0.3439946658407457, + 0.8470197121988069 + ], + "target_position": [ + 0.32473029625186356, + -0.3467508720284893, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008688019893811978, + "xy_threshold": 0.08, + "gripper_dist": 0.18618424328949915, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470197121988069, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07580088389785615, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08702967746721128, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15408964068278674, + "release_required_pad_clearance": 0.053514838733605644, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.0405827038474493, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008386075496673584, + "max_z_decrease": 0.008386075496673584, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0350088562528577, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008386075496673584, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021218738795315776, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008386075496673584, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008386103334365192, + "max_button_displacement": 0.12, + "button_start": [ + 0.18043021857738495, + -0.4030123353004455, + 0.7768088579177856 + ], + "button_final": [ + 0.18043021857738495, + -0.4030123353004455, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18132698413248424, + -0.4033139771118015, + 0.8034184593713714 + ], + "closest_button": [ + 0.1804218888282776, + -0.40299239754676813, + 0.7684227824211121 + ], + "closest_ee_minus_button": [ + 0.0009050953042066545, + -0.0003215795650333697, + 0.03499567695025929 + ], + "button_min_z_position": [ + 0.1804218888282776, + -0.40299239754676813, + 0.7684227824211121 + ], + "min_active_finger_to_button": 0.14499586976053153, + "closest_active_finger": [ + 0.04069754481315613, + -0.38627102971076965, + 0.8076311349868774 + ], + "closest_active_finger_button": [ + 0.18044228851795197, + -0.40301728248596186, + 0.7727775573730469 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13974474370479584, + 0.016746252775192205, + 0.034853577613830566 + ], + "min_contact_pad_to_button": 0.021218738795315776, + "closest_contact_pad": [ + 0.1804218888282776, + -0.40458254155063084, + 0.7895818541897606 + ], + "closest_contact_pad_button": [ + 0.1804218888282776, + -0.40299239754676813, + 0.7684227824211121 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0015901440038627035, + 0.021159071768648507 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 90, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9346405294e10c3ab4441c5aee10753e7bdb43ab24836c086e53f97bdc06bba7", + "visual_seed": 7516753642836974754, + "episode_index": 90, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_91_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_91_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c5843530946e1823c44f7aac43c6b5379c7a324f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_91_success.json @@ -0,0 +1,926 @@ +{ + "episode": 91, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.19122234165754529, + -0.14413712830728187, + 1.0454826643351602 + ], + "current_z": 1.0454826643351602, + "required_z": 0.8565865358734733, + "initial_z": 0.7565865358734734, + "lift_margin": 0.1888961284616869, + "gripper_z": 1.049587297975336, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18719227130951244, + -0.14834078195041528, + 1.049587297975336 + ], + "object_minus_gripper": [ + 0.004030070348032849, + 0.004203653643133409, + -0.00410463364017577 + ], + "object_to_gripper_xy": 0.0058234157469239985, + "object_to_gripper_z": -0.00410463364017577, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19122234165754529, + -0.16801674987160506, + 1.0454826643351602 + ], + "finger_b": [ + 0.18058436446469744, + -0.14413712830728187, + 1.0454826643351602 + ], + "finger_midpoint": [ + 0.18590335306112138, + -0.15607693908944348, + 1.0454826643351602 + ], + "object_minus_finger_midpoint": [ + 0.005318988596423907, + 0.011939810782161608, + 0.0 + ], + "finger_gap": 0.02614197553381993, + "fingertip_max_gap": 0.09691750455479067, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013070987766909972, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0454826643351602, + "object_top_z": 1.0927677472921613, + "finger_top_clearance": 0.04728508295700107, + "fingertip_min_top_clearance": 0.014185524887100353, + "object_projection_between_fingers": 0.8344072562894225, + "object_to_finger_line_xy": 0.009717355493905469, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05095875227739534, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.188343438941406, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 205, + "max_stable_success_frames": 205, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19149739057326415, + -0.14645904963962186, + 1.2454289875586144 + ], + "held_position": [ + 0.19572972569990577, + -0.14237885377723622, + 1.2414042373648877 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00712455423318096, + "max_held_gripper_dist": 0.007125530776468705, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004024750193726723, + "max_held_gripper_z_dist": 0.004115392302992182, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08595412257297633, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.19572972569990577, + -0.16690765181042894, + 1.2414042373648877 + ], + "held_grasp_finger_b": [ + 0.18663167061328845, + -0.14237885377723622, + 1.2414042373648877 + ], + "held_grasp_midpoint": [ + 0.1911806981565971, + -0.15464325279383256, + 1.2414042373648877 + ], + "held_grasp_object_position": [ + 0.19572972569990577, + -0.14237885377723622, + 1.2414042373648877 + ], + "held_grasp_finger_gap": 0.026161738078963374, + "held_grasp_max_gap": 0.12496601551771164, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024468392645623768, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.006510620379371246, + -0.9999522436970703, + -0.007288494184051196 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004469978316241495, + "held_grasp_line_xy_max_dist": 0.04748300775885582, + "held_grasp_object_top_z": 0.045200739055871964, + "held_grasp_top_clearance": 0.0329073087502005, + "held_grasp_min_top_clearance": 0.013560221716761588 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33694014286024676, + -0.34321812950554664, + 0.8470195223100153 + ], + "target_position": [ + 0.3310296639417588, + -0.3447573874728384, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006107624426547662, + "xy_threshold": 0.08, + "gripper_dist": 0.18387611793576084, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195223100153, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07514769034483082, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08678632984856587, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1533061090637164, + "release_required_pad_clearance": 0.053393164924282935, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.8014068074569998, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00833362340927124, + "max_z_decrease": 0.00833362340927124, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502493950452396, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00833362340927124, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021206300194438144, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00833362340927124, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008333648602349768, + "max_button_displacement": 0.12, + "button_start": [ + 0.18672959506511683, + -0.4010188579559326, + 0.7768088579177856 + ], + "button_final": [ + 0.18672959506511683, + -0.4010188579559326, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1874166812210379, + -0.39960731971098995, + 0.8034652132071007 + ], + "closest_button": [ + 0.18671423196792594, + -0.4010052978992462, + 0.7684752345085144 + ], + "closest_ee_minus_button": [ + 0.0007024492531119697, + 0.0013979781882562659, + 0.03498997869858633 + ], + "button_min_z_position": [ + 0.18671423196792594, + -0.4010052978992462, + 0.7684752345085144 + ], + "min_active_finger_to_button": 0.14483165377867377, + "closest_active_finger": [ + 0.05982440710067749, + -0.4612618684768677, + 0.8080710768699646 + ], + "closest_active_finger_button": [ + 0.18674311041831962, + -0.4010263681411743, + 0.772864043712616 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12691870331764213, + -0.06023550033569336, + 0.03520703315734863 + ], + "min_contact_pad_to_button": 0.021206300194438144, + "closest_contact_pad": [ + 0.18671423196792594, + -0.4010052978992462, + 0.7896815347029525 + ], + "closest_contact_pad_button": [ + 0.18671423196792594, + -0.4010052978992462, + 0.7684752345085144 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021206300194438144 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 91, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e685fe40e2e7ae8b14a6a43734889c67318b2773f359624f0ebb33fbead25f9c", + "visual_seed": 3862340469101615578, + "episode_index": 91, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_92_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_92_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e7017a0b5d1cd2a44e1eaafbf0796e8c60d2cfce --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_92_success.json @@ -0,0 +1,926 @@ +{ + "episode": 92, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.18257157969214177, + -0.13924245181789222, + 1.0442305009426935 + ], + "current_z": 1.0442305009426935, + "required_z": 0.8565865498501858, + "initial_z": 0.7565865498501858, + "lift_margin": 0.18764395109250775, + "gripper_z": 1.0488816501286102, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.178463928642859, + -0.14353953114744666, + 1.0488816501286102 + ], + "object_minus_gripper": [ + 0.004107651049282762, + 0.0042970793295544485, + -0.004651149185916692 + ], + "object_to_gripper_xy": 0.005944551110652333, + "object_to_gripper_z": -0.004651149185916692, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.18257157969214177, + -0.16315415767055766, + 1.0442305009426935 + ], + "finger_b": [ + 0.1717634223911856, + -0.13924245181789222, + 1.0442305009426935 + ], + "finger_midpoint": [ + 0.17716750104166368, + -0.15119830474422494, + 1.0442305009426935 + ], + "object_minus_finger_midpoint": [ + 0.005404078650478095, + 0.011955852926332722, + 0.0 + ], + "finger_gap": 0.026240921116199536, + "fingertip_max_gap": 0.09289139847366978, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013120460558099775, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0442305009426935, + "object_top_z": 1.0896607794579554, + "finger_top_clearance": 0.045430278515261824, + "fingertip_min_top_clearance": 0.01362908355457858, + "object_projection_between_fingers": 0.8303533992168769, + "object_to_finger_line_xy": 0.009848795971962152, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048945699236834894, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.29353439296922, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 204, + "max_stable_success_frames": 204, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1827100102900458, + -0.1414463400537868, + 1.2411069971478417 + ], + "held_position": [ + 0.18701760815495166, + -0.13724173736530124, + 1.236549921159372 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007549902297278319, + "max_held_gripper_dist": 0.007550694592050941, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004557075988469661, + "max_held_gripper_z_dist": 0.00466343264472302, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08554999998459059, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.18701760815495166, + -0.16176399930301846, + 1.236549921159372 + ], + "held_grasp_finger_b": [ + 0.1777359186443962, + -0.13724173736530124, + 1.236549921159372 + ], + "held_grasp_midpoint": [ + 0.18237676339967393, + -0.14950286833415985, + 1.236549921159372 + ], + "held_grasp_object_position": [ + 0.18701760815495166, + -0.13724173736530124, + 1.236549921159372 + ], + "held_grasp_finger_gap": 0.026220051310254344, + "held_grasp_max_gap": 0.12496579945087433, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024345730582068452, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.017262221348614857, + -0.9993349399468177, + -0.0321199862329049 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004446089998250056, + "held_grasp_line_xy_max_dist": 0.047482899725437164, + "held_grasp_object_top_z": 0.045200664550065994, + "held_grasp_top_clearance": 0.03286757668021144, + "held_grasp_min_top_clearance": 0.013560199365019798 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33396825123992036, + -0.3428637134031419, + 0.8470194601050931 + ], + "target_position": [ + 0.3263698009509374, + -0.3448394467935256, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007851112610580847, + "xy_threshold": 0.08, + "gripper_dist": 0.1850070634679741, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470194601050931, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07516914958335638, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08581608262434719, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15434944667100908, + "release_required_pad_clearance": 0.052908041312173595, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8550019664206503, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008329927921295166, + "max_z_decrease": 0.008329927921295166, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500629584367036, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008329927921295166, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.0212118365234596, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008329927921295166, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008329990707179552, + "max_button_displacement": 0.12, + "button_start": [ + 0.1820697337388992, + -0.40110090374946594, + 0.7768088579177856 + ], + "button_final": [ + 0.1820697337388992, + -0.40110090374946594, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18148176803489752, + -0.4018926600310624, + 0.8038361046967727 + ], + "closest_button": [ + 0.18204298615455622, + -0.40108656883239746, + 0.7688435912132263 + ], + "closest_ee_minus_button": [ + -0.0005612181196587018, + -0.0008060911986649266, + 0.03499251348354637 + ], + "button_min_z_position": [ + 0.18203939497470853, + -0.40108969807624817, + 0.7684789299964905 + ], + "min_active_finger_to_button": 0.14636066846281434, + "closest_active_finger": [ + 0.040751196444034576, + -0.38562700152397156, + 0.8075900673866272 + ], + "closest_active_finger_button": [ + 0.18207971751689908, + -0.4011067748069763, + 0.7728327512741089 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1413285210728645, + 0.01547977328300476, + 0.03475731611251831 + ], + "min_contact_pad_to_button": 0.0212118365234596, + "closest_contact_pad": [ + 0.18203939497470853, + -0.40308023652549524, + 0.7895971630044872 + ], + "closest_contact_pad_button": [ + 0.18203939497470853, + -0.40108969807624817, + 0.7684789299964905 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00199053844924707, + 0.021118233007996756 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 92, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9566549c305586b2afb2a207b43fee2f8e819294cfc4cf4fe10ecca7ecd97052", + "visual_seed": 2014438356370170368, + "episode_index": 92, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_93_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_93_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ad224ed74d7735690329bd694046340827d005e5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_93_success.json @@ -0,0 +1,926 @@ +{ + "episode": 93, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.1846390899266278, + -0.14683087875216402, + 1.0463251495050596 + ], + "current_z": 1.0463251495050596, + "required_z": 0.8565865575083733, + "initial_z": 0.7565865575083733, + "lift_margin": 0.1897385919966863, + "gripper_z": 1.050852351287046, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18011326553622523, + -0.15125992897181573, + 1.050852351287046 + ], + "object_minus_gripper": [ + 0.004525824390402583, + 0.004429050219651703, + -0.004527201781986401 + ], + "object_to_gripper_xy": 0.006332422305955258, + "object_to_gripper_z": -0.004527201781986401, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1846390899266278, + -0.17112269443285524, + 1.0463251495050596 + ], + "finger_b": [ + 0.17374313648820172, + -0.14683087875216402, + 1.0463251495050596 + ], + "finger_midpoint": [ + 0.17919111320741477, + -0.15897678659250963, + 1.0463251495050596 + ], + "object_minus_finger_midpoint": [ + 0.0054479767192130435, + 0.01214590784034561, + 0.0 + ], + "finger_gap": 0.026623563067272288, + "fingertip_max_gap": 0.09355032873702362, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013311781533636144, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0463251495050596, + "object_top_z": 1.092483173885756, + "finger_top_clearance": 0.046158024380696494, + "fingertip_min_top_clearance": 0.01384740731420898, + "object_projection_between_fingers": 0.8325064363266554, + "object_to_finger_line_xy": 0.009941663026952544, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049275164368511815, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.7139046573371768, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 205, + "max_stable_success_frames": 205, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18453602279234535, + -0.14968907941029475, + 1.245025641990661 + ], + "held_position": [ + 0.18925454310441525, + -0.14536263126646673, + 1.2405982912406037 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0077835738668481196, + "max_held_gripper_dist": 0.007785686836921087, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.00442735075005718, + "max_held_gripper_z_dist": 0.004537981429057147, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08485444635371558, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.18925454310441525, + -0.17016956717758244, + 1.2405982912406037 + ], + "held_grasp_finger_b": [ + 0.17980378278085932, + -0.14536263126646673, + 1.2405982912406037 + ], + "held_grasp_midpoint": [ + 0.18452916294263727, + -0.1577660992220246, + 1.2405982912406037 + ], + "held_grasp_object_position": [ + 0.18925454310441525, + -0.14536263126646673, + 1.2405982912406037 + ], + "held_grasp_finger_gap": 0.026546203871580236, + "held_grasp_max_gap": 0.12496611982584, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024552087320608113, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.025353620610930105, + -0.9993857524833406, + -0.02419321506588834 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004419685919716132, + "held_grasp_line_xy_max_dist": 0.04748305991292, + "held_grasp_object_top_z": 0.04520079866051674, + "held_grasp_top_clearance": 0.032685144008484414, + "held_grasp_min_top_clearance": 0.013560239598155022 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33365740440896474, + -0.3514189129036963, + 0.8470195529579203 + ], + "target_position": [ + 0.3263036356547265, + -0.35357100496189414, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007662206935196229, + "xy_threshold": 0.08, + "gripper_dist": 0.1849141589477629, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195529579203, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07546522970208856, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08691608207781003, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1535616223761668, + "release_required_pad_clearance": 0.053458041038905016, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.9293842664001932, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008265495300292969, + "max_z_decrease": 0.008265495300292969, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035003869922503726, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008265495300292969, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02102882657789578, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008265495300292969, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008265538155043335, + "max_button_displacement": 0.12, + "button_start": [ + 0.18200355768203735, + -0.40983247756957997, + 0.7768088579177856 + ], + "button_final": [ + 0.18200355768203735, + -0.40983247756957997, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1824454174037842, + -0.40922484934726644, + 0.8036827534069275 + ], + "closest_button": [ + 0.18202027678489685, + -0.40981692075729365, + 0.7686864733695984 + ], + "closest_ee_minus_button": [ + 0.00042514061888734855, + 0.0005920714100272062, + 0.03499628003732913 + ], + "button_min_z_position": [ + 0.18202224373817444, + -0.40981352329254145, + 0.7685433626174927 + ], + "min_active_finger_to_button": 0.14521369464439837, + "closest_active_finger": [ + 0.05617228150367737, + -0.4735761880874634, + 0.8110395073890686 + ], + "closest_active_finger_button": [ + 0.18200740218162537, + -0.4098343551158904, + 0.7765501141548157 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.125835120677948, + -0.06374183297157299, + 0.03448939323425293 + ], + "min_contact_pad_to_button": 0.02102882657789578, + "closest_contact_pad": [ + 0.18202224373817444, + -0.4102694035564409, + 0.7895672471402968 + ], + "closest_contact_pad_button": [ + 0.18202224373817444, + -0.40981352329254145, + 0.7685433626174927 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00045588026389947744, + 0.021023884522804126 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 93, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c5ad9acfcb668cd6246a39b9b00ee474efd76d1e522a22b4d7b4446f58bcd050", + "visual_seed": 2739834726257654635, + "episode_index": 93, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_94_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_94_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4966729aa0cd51b2881c2707f205bee137a476a4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_94_success.json @@ -0,0 +1,926 @@ +{ + "episode": 94, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.18634053779563103, + -0.1499467774832065, + 1.044310363271734 + ], + "current_z": 1.044310363271734, + "required_z": 0.8565865677078637, + "initial_z": 0.7565865677078637, + "lift_margin": 0.18772379556387042, + "gripper_z": 1.0485341503931285, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18210658859158885, + -0.15420428711261647, + 1.0485341503931285 + ], + "object_minus_gripper": [ + 0.004233949204042187, + 0.004257509629409961, + -0.004223787121394373 + ], + "object_to_gripper_xy": 0.0060043912353316894, + "object_to_gripper_z": -0.004223787121394373, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.18634053779563103, + -0.17413476270360045, + 1.044310363271734 + ], + "finger_b": [ + 0.175829580474474, + -0.1499467774832065, + 1.044310363271734 + ], + "finger_midpoint": [ + 0.18108505913505252, + -0.16204077009340348, + 1.044310363271734 + ], + "object_minus_finger_midpoint": [ + 0.005255478660578516, + 0.012093992610196974, + 0.0 + ], + "finger_gap": 0.026373070599177123, + "fingertip_max_gap": 0.09297949128555935, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013186535299588562, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.044310363271734, + "object_top_z": 1.0900134557129728, + "finger_top_clearance": 0.04570309244123871, + "fingertip_min_top_clearance": 0.013710927732371614, + "object_projection_between_fingers": 0.8411588031958327, + "object_to_finger_line_xy": 0.009640094026225027, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04898974564277968, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.9354649151056567, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 203, + "max_stable_success_frames": 203, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1863765518487569, + -0.1525502907031117, + 1.2426290107400506 + ], + "held_position": [ + 0.1907761781301495, + -0.14835677750796697, + 1.2384952205151685 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007350543242312409, + "max_held_gripper_dist": 0.007357504362451192, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004133790224882139, + "max_held_gripper_z_dist": 0.004244353279944102, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08600688953497267, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.1907761781301495, + -0.17294780368777357, + 1.2384952205151685 + ], + "held_grasp_finger_b": [ + 0.1815369482056019, + -0.14835677750796697, + 1.2384952205151685 + ], + "held_grasp_midpoint": [ + 0.1861565631678757, + -0.16065229059787028, + 1.2384952205151685 + ], + "held_grasp_object_position": [ + 0.1907761781301495, + -0.14835677750796697, + 1.2384952205151685 + ], + "held_grasp_finger_gap": 0.02626941069332522, + "held_grasp_max_gap": 0.12496588140726089, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024464383953478528, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.012437247113708888, + -0.9995229300099019, + -0.02827060785786916 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0044799043355810055, + "held_grasp_line_xy_max_dist": 0.04748294070363045, + "held_grasp_object_top_z": 0.04520069435238838, + "held_grasp_top_clearance": 0.032853591789937145, + "held_grasp_min_top_clearance": 0.013560208305716514 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3355968994860492, + -0.34855701373859027, + 0.8470195601791473 + ], + "target_position": [ + 0.327138424062308, + -0.35134428045738175, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008905877960971451, + "xy_threshold": 0.08, + "gripper_dist": 0.1894137205240539, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195601791473, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07542423099514875, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08747867878571934, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15809312247571833, + "release_required_pad_clearance": 0.05373933939285967, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.4850754142405265, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 157, + "max_placed_release_frames": 157 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008177638053894043, + "max_z_decrease": 0.008177638053894043, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502864449614689, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008177638053894043, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021024255095282274, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008177638053894043, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008177663517073514, + "max_button_displacement": 0.12, + "button_start": [ + 0.18283835053443906, + -0.40760573744773865, + 0.7768088579177856 + ], + "button_final": [ + 0.18283835053443906, + -0.40760573744773865, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18240694418785627, + -0.4061030739080499, + 0.803625338378226 + ], + "closest_button": [ + 0.18285375833511353, + -0.4075923562049866, + 0.7686312198638916 + ], + "closest_ee_minus_button": [ + -0.00044681414725725177, + 0.0014892822969366781, + 0.03499411851433443 + ], + "button_min_z_position": [ + 0.18285375833511353, + -0.4075923562049866, + 0.7686312198638916 + ], + "min_active_finger_to_button": 0.14556896235228056, + "closest_active_finger": [ + 0.05618693679571152, + -0.4705268144607544, + 0.8110756278038025 + ], + "closest_active_finger_button": [ + 0.18284274637699124, + -0.40760770440101624, + 0.7765819430351257 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12665580958127973, + -0.06291911005973816, + 0.03449368476867676 + ], + "min_contact_pad_to_button": 0.021024255095282274, + "closest_contact_pad": [ + 0.18285375833511353, + -0.4075923562049866, + 0.7896554749591739 + ], + "closest_contact_pad_button": [ + 0.18285375833511353, + -0.4075923562049866, + 0.7686312198638916 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021024255095282274 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 94, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "97252e6d16a9256ae9bed398867ffd2edec4a12e14158071da6a8cbd0d9d8109", + "visual_seed": 5410065399431265612, + "episode_index": 94, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_95_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_95_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7a3053d511afd87257e56b55ce71b63e6fd53fed --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_95_success.json @@ -0,0 +1,926 @@ +{ + "episode": 95, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.1860606992368691, + -0.14818187751830833, + 1.0454538494704337 + ], + "current_z": 1.0454538494704337, + "required_z": 0.8565865495769348, + "initial_z": 0.7565865495769348, + "lift_margin": 0.18886729989349893, + "gripper_z": 1.049709256226265, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1820409685458916, + -0.1523482198967101, + 1.049709256226265 + ], + "object_minus_gripper": [ + 0.004019730690977497, + 0.004166342378401772, + -0.004255406755831359 + ], + "object_to_gripper_xy": 0.005789356064542321, + "object_to_gripper_z": -0.004255406755831359, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1860606992368691, + -0.17211804730871144, + 1.0454538494704337 + ], + "finger_b": [ + 0.1755405744834974, + -0.14818187751830833, + 1.0454538494704337 + ], + "finger_midpoint": [ + 0.18080063686018327, + -0.16014996241350987, + 1.0454538494704337 + ], + "object_minus_finger_midpoint": [ + 0.005260062376685831, + 0.011968084895201542, + 0.0 + ], + "finger_gap": 0.02614599871990952, + "fingertip_max_gap": 0.0926383708906228, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013072999359954743, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0454538494704337, + "object_top_z": 1.0909235446128274, + "finger_top_clearance": 0.04546969514239363, + "fingertip_min_top_clearance": 0.013640908542718072, + "object_projection_between_fingers": 0.8381057930365747, + "object_to_finger_line_xy": 0.009630976235043527, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0488191854453114, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.09149530850721, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 205, + "max_stable_success_frames": 205, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1865398364613175, + -0.15100342915152964, + 1.2447182653415372 + ], + "held_position": [ + 0.1907764977996303, + -0.1469654381190515, + 1.2405527637678204 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007183736787672911, + "max_held_gripper_dist": 0.007185966171369479, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004165501573716757, + "max_held_gripper_z_dist": 0.004264923315500546, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08564593521675486, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.1907764977996303, + -0.17158872920303855, + 1.2405527637678204 + ], + "held_grasp_finger_b": [ + 0.18191604631430805, + -0.1469654381190515, + 1.2405527637678204 + ], + "held_grasp_midpoint": [ + 0.1863462720569692, + -0.15927708366104504, + 1.2405527637678204 + ], + "held_grasp_object_position": [ + 0.1907764977996303, + -0.1469654381190515, + 1.2405527637678204 + ], + "held_grasp_finger_gap": 0.026168952297149876, + "held_grasp_max_gap": 0.12496608257293701, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02437192589034489, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.026269203800705663, + -0.9992442851061418, + -0.028649391169668584 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004120547398234378, + "held_grasp_line_xy_max_dist": 0.047483041286468505, + "held_grasp_object_top_z": 0.045200783759355545, + "held_grasp_top_clearance": 0.03278206380834891, + "held_grasp_min_top_clearance": 0.013560235127806663 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33301522802566474, + -0.3447744630620079, + 0.8470198699787379 + ], + "target_position": [ + 0.32511566471902276, + -0.3471016753242985, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008235230254789495, + "xy_threshold": 0.08, + "gripper_dist": 0.18617897190324026, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470198699787379, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07553147691601284, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08714323275631529, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15465997602611609, + "release_required_pad_clearance": 0.05357161637815765, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.1522190260385035, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008397936820983887, + "max_z_decrease": 0.008397936820983887, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.034999517725364575, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008397936820983887, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02101805816307796, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008397936820983887, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008397984255148393, + "max_button_displacement": 0.12, + "button_start": [ + 0.1808155924081802, + -0.4033631384372711, + 0.7768088579177856 + ], + "button_final": [ + 0.1808155924081802, + -0.4033631384372711, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18106658968975442, + -0.40342243045574555, + 0.8034092976077281 + ], + "closest_button": [ + 0.18079514801502225, + -0.4033436775207519, + 0.7684109210968018 + ], + "closest_ee_minus_button": [ + 0.0002714416747321702, + -7.875293499365332e-05, + 0.0349983765109263 + ], + "button_min_z_position": [ + 0.18079514801502225, + -0.4033436775207519, + 0.7684109210968018 + ], + "min_active_finger_to_button": 0.14554285373949705, + "closest_active_finger": [ + 0.04010605067014694, + -0.38946664333343506, + 0.8100085258483887 + ], + "closest_active_finger_button": [ + 0.18081994354724884, + -0.4033677279949187, + 0.7755254507064819 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1407138928771019, + 0.013901084661483654, + 0.03448307514190674 + ], + "min_contact_pad_to_button": 0.02101805816307796, + "closest_contact_pad": [ + 0.18079514801502225, + -0.40440656692020166, + 0.7894020867402591 + ], + "closest_contact_pad_button": [ + 0.18079514801502225, + -0.4033436775207519, + 0.7684109210968018 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0010628893994497624, + 0.020991165643457377 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 95, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c0454c8c58ffd501b68c2ae1dd6211d6cc6dca863ad0ca1ea24e7ea2f2c46434", + "visual_seed": 3342705092086271801, + "episode_index": 95, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_96_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_96_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ee3ade1031324f5404937ee906881634d6242614 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_96_success.json @@ -0,0 +1,926 @@ +{ + "episode": 96, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.18962767357673432, + -0.14711695483144718, + 1.0469283279963189 + ], + "current_z": 1.0469283279963189, + "required_z": 0.8565865446903161, + "initial_z": 0.7565865446903162, + "lift_margin": 0.1903417833060027, + "gripper_z": 1.0510147481641992, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18553447638817325, + -0.15137479770373624, + 1.0510147481641992 + ], + "object_minus_gripper": [ + 0.004093197188561076, + 0.004257842872289058, + -0.0040864201678803 + ], + "object_to_gripper_xy": 0.005906224610489093, + "object_to_gripper_z": -0.0040864201678803, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.18962767357673432, + -0.17104372939990473, + 1.0469283279963189 + ], + "finger_b": [ + 0.17890078392024739, + -0.14711695483144718, + 1.0469283279963189 + ], + "finger_midpoint": [ + 0.18426422874849085, + -0.15908034211567595, + 1.0469283279963189 + ], + "object_minus_finger_midpoint": [ + 0.005363444828243469, + 0.011963387284228771, + 0.0 + ], + "finger_gap": 0.02622130246483254, + "fingertip_max_gap": 0.09174477195595593, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01311065123241627, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0469283279963189, + "object_top_z": 1.09233429363444, + "finger_top_clearance": 0.04540596563812116, + "fingertip_min_top_clearance": 0.013621789691436348, + "object_projection_between_fingers": 0.8326448404787926, + "object_to_finger_line_xy": 0.009788219749026907, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048372385977977966, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.5862442889716375, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 206, + "max_stable_success_frames": 206, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19016116678871806, + -0.15011027065666313, + 1.2445189782430963 + ], + "held_position": [ + 0.19449347900653402, + -0.14599960694408523, + 1.240530191510217 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007181706267380812, + "max_held_gripper_dist": 0.007182676470464985, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.00398878673287939, + "max_held_gripper_z_dist": 0.004097631943889013, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08619183154124674, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.19449347900653402, + -0.17065643117939933, + 1.240530191510217 + ], + "held_grasp_finger_b": [ + 0.1855819335811232, + -0.14599960694408523, + 1.240530191510217 + ], + "held_grasp_midpoint": [ + 0.1900377062938286, + -0.15832801906174226, + 1.240530191510217 + ], + "held_grasp_object_position": [ + 0.19449347900653402, + -0.14599960694408523, + 1.240530191510217 + ], + "held_grasp_finger_gap": 0.026217830254243634, + "held_grasp_max_gap": 0.12496606022119522, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024252991105742822, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.040894044838657925, + -0.9984019032221371, + -0.039004060546926844 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003977493704816364, + "held_grasp_line_xy_max_dist": 0.04748303011059761, + "held_grasp_object_top_z": 0.045200761407613754, + "held_grasp_top_clearance": 0.03270983671653386, + "held_grasp_min_top_clearance": 0.013560228422284127 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33871144949491583, + -0.34590708437908324, + 0.8470196086597503 + ], + "target_position": [ + 0.3305966801401503, + -0.34851268232898824, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008522829480729431, + "xy_threshold": 0.08, + "gripper_dist": 0.18770627149666738, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196086597503, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07564592217645615, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08649883382137628, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1559089689059365, + "release_required_pad_clearance": 0.053249416910688144, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.5190063668733578, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 156, + "max_placed_release_frames": 156 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008442580699920654, + "max_z_decrease": 0.008442580699920654, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035030170367326696, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008442580699920654, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021015726177464833, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008442580699920654, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008442605171044502, + "max_button_displacement": 0.12, + "button_start": [ + 0.18629661202430725, + -0.40477412939071655, + 0.7768088579177856 + ], + "button_final": [ + 0.18629661202430725, + -0.40477412939071655, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18505034438939727, + -0.40317004265541684, + 0.8036649232142501 + ], + "closest_button": [ + 0.1863141059875488, + -0.4047640264034271, + 0.7686938643455505 + ], + "closest_ee_minus_button": [ + -0.0012637615981515304, + 0.0015939837480102859, + 0.034971058868699556 + ], + "button_min_z_position": [ + 0.18628244102001187, + -0.40475955605506897, + 0.768366277217865 + ], + "min_active_finger_to_button": 0.1462594238257434, + "closest_active_finger": [ + 0.05903787165880203, + -0.46804437041282654, + 0.8105879426002502 + ], + "closest_active_finger_button": [ + 0.18630179762840268, + -0.40477815270423884, + 0.7760466933250427 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12726392596960065, + -0.0632662177085877, + 0.03454124927520752 + ], + "min_contact_pad_to_button": 0.021015726177464833, + "closest_contact_pad": [ + 0.18628244102001187, + -0.40475955605506897, + 0.7893820033953298 + ], + "closest_contact_pad_button": [ + 0.18628244102001187, + -0.40475955605506897, + 0.768366277217865 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021015726177464833 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 96, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "90a9685fe5b7419a7455e4ef5eaf4f1b9d683b0c87605137b8787cbaa7d73e98", + "visual_seed": 7346069637810040651, + "episode_index": 96, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_97_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_97_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1e60ec0b2ee3bc1cc806a14bf4cc4b6c0513ade7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_97_success.json @@ -0,0 +1,926 @@ +{ + "episode": 97, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.1885626030398043, + -0.13715454795190157, + 1.046368700237035 + ], + "current_z": 1.046368700237035, + "required_z": 0.8565866009705351, + "initial_z": 0.7565866009705351, + "lift_margin": 0.18978209926649992, + "gripper_z": 1.0507996748197703, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1843098691986386, + -0.14141348101941142, + 1.0507996748197703 + ], + "object_minus_gripper": [ + 0.004252733841165701, + 0.004258933067509851, + -0.004430974582735336 + ], + "object_to_gripper_xy": 0.00601865898662857, + "object_to_gripper_z": -0.004430974582735336, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1885626030398043, + -0.1613583504959113, + 1.046368700237035 + ], + "finger_b": [ + 0.17806515973271952, + -0.13715454795190157, + 1.046368700237035 + ], + "finger_midpoint": [ + 0.18331388138626192, + -0.14925644922390643, + 1.046368700237035 + ], + "object_minus_finger_midpoint": [ + 0.005248721653542371, + 0.012101901272004861, + 0.0 + ], + "finger_gap": 0.026382198042901397, + "fingertip_max_gap": 0.09130848233522118, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013191099021450693, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.046368700237035, + "object_top_z": 1.0916754177202561, + "finger_top_clearance": 0.045306717483221126, + "fingertip_min_top_clearance": 0.013592015244966305, + "object_projection_between_fingers": 0.841676594293536, + "object_to_finger_line_xy": 0.009630662487198644, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04815424116761059, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.327559506818719, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 206, + "max_stable_success_frames": 206, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18894361038087612, + -0.13971727361761338, + 1.2470543701804488 + ], + "held_position": [ + 0.19339175329335942, + -0.13558026835585163, + 1.2427049509491062 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007471160254986734, + "max_held_gripper_dist": 0.007477258018581748, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004349419231342688, + "max_held_gripper_z_dist": 0.004439164900448045, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08610351937353618, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.19339175329335942, + -0.16038953489788546, + 1.2427049509491062 + ], + "held_grasp_finger_b": [ + 0.18436908833217147, + -0.13558026835585163, + 1.2427049509491062 + ], + "held_grasp_midpoint": [ + 0.18888042081276546, + -0.14798490162686856, + 1.2427049509491062 + ], + "held_grasp_object_position": [ + 0.19339175329335942, + -0.13558026835585163, + 1.2427049509491062 + ], + "held_grasp_finger_gap": 0.026399018719557136, + "held_grasp_max_gap": 0.12496603786945343, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02448830913293959, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.03278115724740112, + -0.9989848950121821, + -0.030896201498251223 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004120346340131725, + "held_grasp_line_xy_max_dist": 0.047483018934726715, + "held_grasp_object_top_z": 0.04520076885819435, + "held_grasp_top_clearance": 0.032660840892841235, + "held_grasp_min_top_clearance": 0.013560230657458304 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3392543792661742, + -0.34116135380296375, + 0.8470196249260876 + ], + "target_position": [ + 0.330974097226781, + -0.34400102781018665, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008753674606654894, + "xy_threshold": 0.08, + "gripper_dist": 0.18584793985041798, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196249260876, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07584748616791394, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08755998739498204, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15369588574751641, + "release_required_pad_clearance": 0.05377999369749102, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.568408063102876, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008355200290679932, + "max_z_decrease": 0.008355200290679932, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03504125433204203, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008355200290679932, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021099047221196043, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008355200290679932, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008355230230982431, + "max_button_displacement": 0.12, + "button_start": [ + 0.18667402863502497, + -0.40026247501373297, + 0.7768088579177856 + ], + "button_final": [ + 0.18667402863502497, + -0.40026247501373297, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18585527879544714, + -0.3985654191497282, + 0.8034451489757066 + ], + "closest_button": [ + 0.1866538524627685, + -0.4002528190612793, + 0.7684536576271057 + ], + "closest_ee_minus_button": [ + -0.0007985736673213617, + 0.0016873999115510907, + 0.03499149134860091 + ], + "button_min_z_position": [ + 0.1866538524627685, + -0.4002528190612793, + 0.7684536576271057 + ], + "min_active_finger_to_button": 0.14587962657460962, + "closest_active_finger": [ + 0.059578150510787964, + -0.462911993265152, + 0.8079960346221924 + ], + "closest_active_finger_button": [ + 0.18668308854103088, + -0.40026727318763733, + 0.7733429074287415 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12710493803024292, + -0.06264472007751465, + 0.03465312719345093 + ], + "min_contact_pad_to_button": 0.021099047221196043, + "closest_contact_pad": [ + 0.1866538524627685, + -0.4002528190612793, + 0.7895527048483018 + ], + "closest_contact_pad_button": [ + 0.1866538524627685, + -0.4002528190612793, + 0.7684536576271057 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021099047221196043 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 97, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b390b4b8b1e96434bc19e64e54b8815405e2d3a13d9457fdc00522b764f69a2d", + "visual_seed": 6295256758542893590, + "episode_index": 97, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_98_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_98_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3115fc4ffd7d549e1b26011846759ddc7c9e44be --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_98_success.json @@ -0,0 +1,926 @@ +{ + "episode": 98, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.18994691146814538, + -0.14276725497808293, + 1.0458336531192292 + ], + "current_z": 1.0458336531192292, + "required_z": 0.8565865344354345, + "initial_z": 0.7565865344354346, + "lift_margin": 0.18924711868379462, + "gripper_z": 1.0500810083485064, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18587884168328586, + -0.1470296303092074, + 1.0500810083485064 + ], + "object_minus_gripper": [ + 0.004068069784859518, + 0.004262375331124474, + -0.0042473552292772165 + ], + "object_to_gripper_xy": 0.005892116363231927, + "object_to_gripper_z": -0.0042473552292772165, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.18994691146814538, + -0.1666482985059196, + 1.0458336531192292 + ], + "finger_b": [ + 0.1791846891627751, + -0.14276725497808293, + 1.0458336531192292 + ], + "finger_midpoint": [ + 0.18456580031546024, + -0.15470777674200126, + 1.0458336531192292 + ], + "object_minus_finger_midpoint": [ + 0.005381111152685136, + 0.011940521763918327, + 0.0 + ], + "finger_gap": 0.02619407698180334, + "fingertip_max_gap": 0.09476364316915806, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013097038490901658, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0458336531192292, + "object_top_z": 1.0923219491005303, + "finger_top_clearance": 0.04648829598130111, + "fingertip_min_top_clearance": 0.013946488794390298, + "object_projection_between_fingers": 0.831190175566864, + "object_to_finger_line_xy": 0.009811878445243396, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04988182158457903, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.320893061030199, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 205, + "max_stable_success_frames": 205, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1904050956054211, + -0.14532259637307357, + 1.2443446342992397 + ], + "held_position": [ + 0.1947033031652182, + -0.14119915324824803, + 1.2401886014155659 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007262918198695768, + "max_held_gripper_dist": 0.007264346655525154, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0041560328836738325, + "max_held_gripper_z_dist": 0.0042581018859715325, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08599653189018451, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.1947033031652182, + -0.16581065084398602, + 1.2401886014155659 + ], + "held_grasp_finger_b": [ + 0.1856931029222204, + -0.14119915324824803, + 1.2401886014155659 + ], + "held_grasp_midpoint": [ + 0.19019820304371932, + -0.15350490204611703, + 1.2401886014155659 + ], + "held_grasp_object_position": [ + 0.1947033031652182, + -0.14119915324824803, + 1.2401886014155659 + ], + "held_grasp_finger_gap": 0.026208958818006, + "held_grasp_max_gap": 0.12496600806713104, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024353113318936345, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.027099745359034227, + -0.9994226217024289, + -0.02049456100821256 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004177658097716244, + "held_grasp_line_xy_max_dist": 0.04748300403356552, + "held_grasp_object_top_z": 0.04520073160529137, + "held_grasp_top_clearance": 0.03278000081360404, + "held_grasp_min_top_clearance": 0.013560219481587409 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33243216730622926, + -0.34301344594430505, + 0.8470196088826356 + ], + "target_position": [ + 0.32546101980640174, + -0.34500369689939453, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007249689395317989, + "xy_threshold": 0.08, + "gripper_dist": 0.18551562408931843, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196088826356, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07521968976473031, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08618839150848999, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15485363746737077, + "release_required_pad_clearance": 0.053094195754245, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.2162577490102573, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008213162422180176, + "max_z_decrease": 0.008213162422180176, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03508419423557028, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008213162422180176, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021239929934869006, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008213162422180176, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008213177450122776, + "max_button_displacement": 0.12, + "button_start": [ + 0.18116094172000882, + -0.4012651443481445, + 0.7768088579177856 + ], + "button_final": [ + 0.18116094172000882, + -0.4012651443481445, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18239638672735442, + -0.3991078773652259, + 0.803591493616685 + ], + "closest_button": [ + 0.18114610016345972, + -0.4012599885463714, + 0.7685956954956055 + ], + "closest_ee_minus_button": [ + 0.001250286563894698, + 0.0021521111811454996, + 0.03499579812107956 + ], + "button_min_z_position": [ + 0.18114610016345972, + -0.4012599885463714, + 0.7685956954956055 + ], + "min_active_finger_to_button": 0.1439803758842207, + "closest_active_finger": [ + 0.05467592924833298, + -0.46046918630599976, + 0.8079282641410828 + ], + "closest_active_finger_button": [ + 0.18117329478263852, + -0.40127038955688465, + 0.7729387283325195 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12649736553430554, + -0.0591987967491151, + 0.03498953580856323 + ], + "min_contact_pad_to_button": 0.021239929934869006, + "closest_contact_pad": [ + 0.18114610016345972, + -0.4012599885463714, + 0.7898356254304745 + ], + "closest_contact_pad_button": [ + 0.18114610016345972, + -0.4012599885463714, + 0.7685956954956055 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021239929934869006 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 98, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "268b286b94ab12393e33988c7eb79642ff264112ecb104b07c42c90f1f31d981", + "visual_seed": 181545998528049475, + "episode_index": 98, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_99_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_99_success.json new file mode 100644 index 0000000000000000000000000000000000000000..79d6f9f998c5c62d83a021dd5d8d93c7293d7c66 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_99_success.json @@ -0,0 +1,926 @@ +{ + "episode": 99, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.1916981636557299, + -0.14468108640845867, + 1.0461477632917815 + ], + "current_z": 1.0461477632917815, + "required_z": 0.8565865570642252, + "initial_z": 0.7565865570642252, + "lift_margin": 0.18956120622755634, + "gripper_z": 1.050255860742024, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18775570664446598, + -0.14888645846308296, + 1.050255860742024 + ], + "object_minus_gripper": [ + 0.003942457011263917, + 0.00420537205462429, + -0.004108097450242543 + ], + "object_to_gripper_xy": 0.00576438387023964, + "object_to_gripper_z": -0.004108097450242543, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1916981636557299, + -0.1684694574756891, + 1.0461477632917815 + ], + "finger_b": [ + 0.18101189983826113, + -0.14468108640845867, + 1.0461477632917815 + ], + "finger_midpoint": [ + 0.18635503174699553, + -0.15657527194207388, + 1.0461477632917815 + ], + "object_minus_finger_midpoint": [ + 0.0053431319087343665, + 0.01189418553361521, + 0.0 + ], + "finger_gap": 0.026078397811383797, + "fingertip_max_gap": 0.09430473819276394, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013039198905691893, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0461477632917815, + "object_top_z": 1.0924957788102243, + "finger_top_clearance": 0.04634801551844281, + "fingertip_min_top_clearance": 0.013904404655532826, + "object_projection_between_fingers": 0.8320848153568735, + "object_to_finger_line_xy": 0.009747869131028354, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049652369096381974, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.0737697244280606, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 205, + "max_stable_success_frames": 205, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19246873248003404, + -0.14758598063818765, + 1.2456060124590236 + ], + "held_position": [ + 0.1966771119653252, + -0.14356689575827636, + 1.2415812445181846 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00707546875774008, + "max_held_gripper_dist": 0.007078025556135192, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004024767940838947, + "max_held_gripper_z_dist": 0.004121027668800181, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08506426212640522, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.1966771119653252, + -0.16822614422108886, + 1.2415812445181846 + ], + "held_grasp_finger_b": [ + 0.18792205525705633, + -0.14356689575827636, + 1.2415812445181846 + ], + "held_grasp_midpoint": [ + 0.19229958361119076, + -0.15589651998968262, + 1.2415812445181846 + ], + "held_grasp_object_position": [ + 0.1966771119653252, + -0.14356689575827636, + 1.2415812445181846 + ], + "held_grasp_finger_gap": 0.026167337516754062, + "held_grasp_max_gap": 0.1249661123752594, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024294275997079052, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.03897988944797749, + -0.9990388464932295, + -0.02004872604683916 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0039015414008384615, + "held_grasp_line_xy_max_dist": 0.0474830561876297, + "held_grasp_object_top_z": 0.04520080238580704, + "held_grasp_top_clearance": 0.03271239324466842, + "held_grasp_min_top_clearance": 0.01356024071574211 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33167222904367694, + -0.3485218141355689, + 0.8470192170534109 + ], + "target_position": [ + 0.3251762169871268, + -0.35009848019825285, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0066846128169149996, + "xy_threshold": 0.08, + "gripper_dist": 0.18636658954449217, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470192170534109, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07541881185133584, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08640086655384792, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15509901881575786, + "release_required_pad_clearance": 0.05320043327692396, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.421586907092534, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008052289485931396, + "max_z_decrease": 0.008052289485931396, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501404889772039, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008052289485931396, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021183990608637092, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008052289485931396, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008052291331603713, + "max_button_displacement": 0.12, + "button_start": [ + 0.18087613582611084, + -0.40635994076728815, + 0.7768088579177856 + ], + "button_final": [ + 0.18087613582611084, + -0.40635994076728815, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17974110637537138, + -0.40703871956550164, + 0.80374575957499 + ], + "closest_button": [ + 0.18087103962898254, + -0.406358003616333, + 0.7687565684318542 + ], + "closest_ee_minus_button": [ + -0.0011299332536111595, + -0.000680715949168631, + 0.0349891911431357 + ], + "button_min_z_position": [ + 0.18087103962898254, + -0.406358003616333, + 0.7687565684318542 + ], + "min_active_finger_to_button": 0.14690488226738604, + "closest_active_finger": [ + 0.03906795382499695, + -0.3902081847190857, + 0.8079541325569153 + ], + "closest_active_finger_button": [ + 0.18088555335998535, + -0.4063682556152343, + 0.773202657699585 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1418175995349884, + 0.016160070896148626, + 0.03475147485733032 + ], + "min_contact_pad_to_button": 0.021183990608637092, + "closest_contact_pad": [ + 0.18087103962898254, + -0.40828251213002, + 0.7898529597130087 + ], + "closest_contact_pad_button": [ + 0.18087103962898254, + -0.406358003616333, + 0.7687565684318542 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0019245085136869733, + 0.02109639128115448 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 99, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d36d82dd3411797dd72eff2cecc0a40dbcdb00f0fd481f30a7a5814830ae1ea4", + "visual_seed": 3783867735950779404, + "episode_index": 99, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_9_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_9_success.json new file mode 100644 index 0000000000000000000000000000000000000000..36ef491e95f93e1d13451195c023826419603037 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/episode_9_success.json @@ -0,0 +1,926 @@ +{ + "episode": 9, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.19212384489442572, + -0.1446517146792168, + 1.0444559135685318 + ], + "current_z": 1.0444559135685318, + "required_z": 0.8565864880918919, + "initial_z": 0.7565864880918919, + "lift_margin": 0.18786942547663998, + "gripper_z": 1.0486429102490271, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.18793523028279435, + -0.14893479456048653, + 1.0486429102490271 + ], + "object_minus_gripper": [ + 0.004188614611631364, + 0.004283079881269719, + -0.00418699668049527 + ], + "object_to_gripper_xy": 0.0059907650291185005, + "object_to_gripper_z": -0.00418699668049527, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19212384489442572, + -0.16865073100084169, + 1.0444559135685318 + ], + "finger_b": [ + 0.18136947688531083, + -0.1446517146792168, + 1.0444559135685318 + ], + "finger_midpoint": [ + 0.18674666088986827, + -0.15665122284002925, + 1.0444559135685318 + ], + "object_minus_finger_midpoint": [ + 0.005377184004557445, + 0.011999508160812439, + 0.0 + ], + "finger_gap": 0.026298464131600745, + "fingertip_max_gap": 0.09332051277891676, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013149232065800372, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0444559135685318, + "object_top_z": 1.0905338214368119, + "finger_top_clearance": 0.04607790786828003, + "fingertip_min_top_clearance": 0.01382337236048401, + "object_projection_between_fingers": 0.832771992256384, + "object_to_finger_line_xy": 0.009814042831093592, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04916025638945838, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.7228887450093748, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 204, + "max_stable_success_frames": 204, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19277334064800894, + -0.14774203395495789, + 1.2416403864835694 + ], + "held_position": [ + 0.19720782731634, + -0.143613259099066, + 1.2375541436173034 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007308134822535845, + "max_held_gripper_dist": 0.00731124502954652, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004086242866266021, + "max_held_gripper_z_dist": 0.004198692052480357, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08632582039427344, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.19720782731634, + -0.16835767429108403, + 1.2375541436173034 + ], + "held_grasp_finger_b": [ + 0.18834267201915322, + -0.143613259099066, + 1.2375541436173034 + ], + "held_grasp_midpoint": [ + 0.19277524966774662, + -0.15598546669507501, + 1.2375541436173034 + ], + "held_grasp_object_position": [ + 0.19720782731634, + -0.143613259099066, + 1.2375541436173034 + ], + "held_grasp_finger_gap": 0.026284540354326376, + "held_grasp_max_gap": 0.12496607512235641, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024342980651102932, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.04179232124367922, + -0.9987496522904309, + -0.02743235197369631 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003926558164184223, + "held_grasp_line_xy_max_dist": 0.04748303756117821, + "held_grasp_object_top_z": 0.04520075023174286, + "held_grasp_top_clearance": 0.03265876448813626, + "held_grasp_min_top_clearance": 0.013560225069522857 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3301919625784345, + -0.3427340950140557, + 0.8470197969048818 + ], + "target_position": [ + 0.3233031508526931, + -0.344449501158493, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0070991791943213175, + "xy_threshold": 0.08, + "gripper_dist": 0.18478224446327413, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470197969048818, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07562443640628358, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08679515648694168, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15298398065429822, + "release_required_pad_clearance": 0.05339757824347084, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.8100759816522347, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008105039596557617, + "max_z_decrease": 0.008105039596557617, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03506405769109653, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008105039596557617, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021003968561665087, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008105039596557617, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00810505557863447, + "max_button_displacement": 0.12, + "button_start": [ + 0.17900307476520533, + -0.40071097016334534, + 0.7768088579177856 + ], + "button_final": [ + 0.17900307476520533, + -0.40071097016334534, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17824243523034394, + -0.39931663551673047, + 0.8037321550658705 + ], + "closest_button": [ + 0.17901326715946195, + -0.4006985127925873, + 0.768703818321228 + ], + "closest_ee_minus_button": [ + -0.0007708319291180044, + 0.0013818772758568132, + 0.03502833674464245 + ], + "button_min_z_position": [ + 0.17901326715946195, + -0.4006985127925873, + 0.768703818321228 + ], + "min_active_finger_to_button": 0.1458339327382081, + "closest_active_finger": [ + 0.05224330723285675, + -0.4641079902648926, + 0.8107519149780273 + ], + "closest_active_finger_button": [ + 0.17900557816028592, + -0.4007137715816498, + 0.7764002680778503 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12676227092742917, + -0.0633942186832428, + 0.034351646900177 + ], + "min_contact_pad_to_button": 0.021003968561665087, + "closest_contact_pad": [ + 0.17901326715946195, + -0.4006985127925873, + 0.7897077868828931 + ], + "closest_contact_pad_button": [ + 0.17901326715946195, + -0.4006985127925873, + 0.768703818321228 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021003968561665087 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 9, + "reproducibility": { + "enabled": true, + "action_seed": 3467342997343789152, + "physical_seed": 2387525450782902766, + "layout_id": "layout_00036", + "step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "workflow_spec_digest": "ef429c975845ca098ffebdda54cea95e42944144a2c2077b463ff87fdb90857e", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "91ca15eed1a04fcf95b3ad7ab1c2d9008088416775e4fbc137234dbe818c3550", + "visual_seed": 7842599513071626507, + "episode_index": 9, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 8364271853804967550, + 2286606184381782736, + 3756280071158417180, + 1809886146491636545 + ], + "runtime_workflow_digest": "dd179ccbf83838b7330378a92a68a25f969e7e6ad1cd01df583811a5dbd9f8f9" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/summary.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..2ae28c9ab45e559c2e1975b4fa0c01277c1c91ea --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00036/results/summary.json @@ -0,0 +1,9 @@ +{ + "scope": "published_success_subset", + "case": "lab3_heat_2beaker_s04_pslr_hte_00036", + "family": "lab3_v1", + "published_episodes": 100, + "published_successes": 100, + "published_failures": 0, + "matched_success_results": 100 +} diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0000.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0000.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1ab35350a3ae4c9657722dcf331ebb4d37e6f483 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0000.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b5c75813ad8e166ab45de2f446654d327211e5b4d902a42672bd30197a5aa864 +size 7576757 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0001.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0001.h5 new file mode 100644 index 0000000000000000000000000000000000000000..803fc3d05904187a4418e00f1851a302078fd480 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0001.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d11576b1d1dfced986d536464616e963a0807f0ef2fc76a2126ae0130638f647 +size 6921964 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0002.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0002.h5 new file mode 100644 index 0000000000000000000000000000000000000000..66b49ed9228b16569a38ef3cd90f3a7305d0a67b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0002.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fefc8862de13e2faac9390ee710dc306db5031b2ba4e284964899dc508e9293f +size 6012618 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0003.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0003.h5 new file mode 100644 index 0000000000000000000000000000000000000000..bd9f7492d80bebf00605487bd53735405c43191f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0003.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:09c14262f8dcd16c3c311c29393a1b8971bbb0a06094c8f31ff9440dbf075672 +size 6562074 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0004.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0004.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e4b0d3e370578b5490ffc5d6b1030a58346ac4eb --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0004.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a0837bd048c29458488735534900b3a5669240660c3060212a837a6ec03eb7ac +size 5286254 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0005.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0005.h5 new file mode 100644 index 0000000000000000000000000000000000000000..7ad91321bccbf6d98be61c4285354c6a072ca9c2 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0005.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e44f256ea0f2fdabcbc953f73469208513d5c63f3a2ef1c9b7315e9d19930eaf +size 5510525 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0006.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0006.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1b9be61d331f5a0affc3969087b8a97bd10e4c76 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0006.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:14854f89f1fee71fd6db7dc89ef66877e012bb3c677b1632e5bb675191a791bb +size 6938099 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0007.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0007.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6dfe0b7df8ec7ffb1912cceb6cfc03fcce615045 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0007.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e74b384168062ab8ff039084887d760df30fcb7e8475a69a91cfe69e614f7284 +size 6392454 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0008.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0008.h5 new file mode 100644 index 0000000000000000000000000000000000000000..147eed4e81f9ac23813a25684f3f93c4b008a577 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0008.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6f18bf4c95a436cb56548097660d902f9b685608a764e5d5f1a01dde7d85d000 +size 5781400 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0009.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0009.h5 new file mode 100644 index 0000000000000000000000000000000000000000..7ca890299766f40ebf7f091a0434805cd7d87852 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0009.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b8b8d3ea3403f305e185a79b02d412f50273020b01b966b9f27ed2f6d8ad29d0 +size 7116256 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0010.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0010.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6736b422f23a847729a6a671c0b9c945eb35b7a1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0010.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d4811988546ab1335adb8e4b00f36f444ce0f3d38c2203232bf2535b6b85277e +size 6194391 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0011.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0011.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c77192beb49e98df65b7e2227729f30146ba0182 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0011.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:70ea41190c15b4ba51fe0d796dc243888172cfbc582d559e512a87c527395ae0 +size 5604695 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0012.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0012.h5 new file mode 100644 index 0000000000000000000000000000000000000000..dc730abbfc28599f200bd65345bbd66e427ddf7b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0012.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4dc9b2eb5bd1ef6dc3ad10990d9ce679fbc09606b72ab0a4fdf9330c74b3bce8 +size 6037852 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0013.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0013.h5 new file mode 100644 index 0000000000000000000000000000000000000000..957db1ba7a291dd8d05e13ce6707c185b644dac2 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0013.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:abd7dd296f79710df7b0f28376254c6023b2a14095a30ef62efd27719f1c0029 +size 6981700 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0014.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0014.h5 new file mode 100644 index 0000000000000000000000000000000000000000..75a4756df0a6f7b5ae3ebf00bc310aec4423435b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0014.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d0729126462a45e3065520b77520535c7333b1bb64a6861a54891f1589245ef1 +size 6001886 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0015.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0015.h5 new file mode 100644 index 0000000000000000000000000000000000000000..bd2b798896180c47cd2a772bbaaa52ddd2a9b138 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0015.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f32c6356da1087b2057efba600fbd9f7ab95768815d28538b34874bc9fec4ccd +size 6298589 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0016.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0016.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9001d1b85f1c012be2fe54c207e0cf130c8dbc66 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0016.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:add434419a99d3e353cb2df9b3ba72cea39f48365d01f54e646a9324cf789bbd +size 6995394 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0017.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0017.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6068442b36bf3d485c041e73aaedf18f8f6e4301 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0017.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e40122aab916bd7748cef73a638ac82e8919c0a86e0d09bfb7f0f68ba64dc705 +size 4327663 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0018.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0018.h5 new file mode 100644 index 0000000000000000000000000000000000000000..61fec55a28e7422a50f31a96883d3f5a122c9595 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0018.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cf7df6dfedd86a42bff05c34489ef885f6a41f5415b57ee1f8621c8d78b935f4 +size 6341326 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0019.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0019.h5 new file mode 100644 index 0000000000000000000000000000000000000000..85bc44dd17e284bb12d3075ad37ef639ea5a8f2c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0019.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e8e2efcc150e3b3f80fb4fbc54b70d791f8cbaac4a5485881b8538a828e7264b +size 6823770 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0020.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0020.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9937ce5795b9ccb44c348b712456bfb6d4d1cfc0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0020.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a914aee9f0627fbb185b4c69c00a809c47e9323cefc3392757e61c2da4a69af1 +size 5738764 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0021.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0021.h5 new file mode 100644 index 0000000000000000000000000000000000000000..de43229bd611f8608a0f34f135e15aa81bb235f2 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0021.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:541ca9b1f84d915df8b2f2b742e3ecd50867864351eee6cd9722e90a290549f5 +size 5974567 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0022.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0022.h5 new file mode 100644 index 0000000000000000000000000000000000000000..fcd4aa1a646786159aa4f727d1b55c7c0ff339d9 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0022.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:026867032ee86aca7278103a5b5e6c5f51119dc8d8a12fa55c9b7da0a267ca32 +size 5997230 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0023.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0023.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b637c86b626e62a5eb7c29377e8492ee7dfd9c4c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0023.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:22ab187719947cc4c200aa0592babf830a355e23884589a0f49247d4cf01ac36 +size 7164764 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0024.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0024.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5fe6826fd5b45c7946df3b7bbcb178e5ce172fc3 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0024.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f67f70e864726b651f2295dea16d8b4589c2bb897d4399a480136c67c966988c +size 6257713 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0025.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0025.h5 new file mode 100644 index 0000000000000000000000000000000000000000..085e33ec7b7d0dabf46d015603c523134864cd90 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0025.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2dc03a809a8c3ff915d027c0564a19d1d4def57802ff231919b74171bcf24e8b +size 5922215 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0026.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0026.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4bcbf9a6c1b949ad3d39787b72cbff9b143b4d4b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0026.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b64e8cbf0859a6121ed697a4fa9dec20e31945d2e7c7a56272f64402332e65ab +size 6039847 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0027.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0027.h5 new file mode 100644 index 0000000000000000000000000000000000000000..19301c7f2f0091a9dcaa512777871be6ec28a0ec --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0027.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f4416e71818f793567fcaa9eaed4a4f92cc0c0fbd00f27d4eb16f9ad61da84c1 +size 5425078 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0028.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0028.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ce8c3b7ca8aa34a22fb451919b1b5dce96f22033 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0028.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:368f05f64128efcb1cf9d76de7b966d95cbee83a32d8ff42b53978351cb4aafc +size 6641237 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0029.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0029.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5b328e871eef03491bbcde2da119da9008bae522 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0029.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:62342012cc0641b5e82814f221dcbdbbfdcf7bf567c1d0a91e38b8836779f667 +size 6243928 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0030.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0030.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9a60fa9139b6f1f176aa41e444eec9aebdc76e33 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0030.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3317b54412310e7b0e8470f515c4287519627c47ebb2405daed0c450905d11ce +size 5162828 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0031.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0031.h5 new file mode 100644 index 0000000000000000000000000000000000000000..414a6a5b7186711730c1276362a24570ed6a939d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0031.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ac760283411f50b69c1fa4fcf283d12bd316ac8778993d3d7505ac8b4587e3db +size 5621905 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0032.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0032.h5 new file mode 100644 index 0000000000000000000000000000000000000000..80369d2e492ed6776c7240a2a6887579ce051a6a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0032.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:78d9305631878f55f9d5f867ac8e920618b6677ab7f0cb6a210d5a8859dd8c16 +size 5735210 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0033.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0033.h5 new file mode 100644 index 0000000000000000000000000000000000000000..20b57407d0c13ae126be9de13204322d61254da3 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0033.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:daed1ea46a58c0ba555b37f1514a686b68d33e2966bfe9814c9219c47b5b8342 +size 5038204 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0034.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0034.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b13016d030f8544625fa36242d343afc7848011a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0034.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8c70e2a7bf50825f2259773bdfa57080879626d629854c867783ad39057dbeda +size 6859906 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0035.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0035.h5 new file mode 100644 index 0000000000000000000000000000000000000000..61befc7ec6ebd491e74f14eace4d1afb0feb1068 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0035.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:537705b53fa6731f3ddf0a139a5571bd34ae915bb9e100f730e68549d0d28a9e +size 6288994 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0036.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0036.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d8b34f3b9ba521da9d7427d2552643eb3a1aff1e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0036.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dbd5d69817714382bdd29a5eacf345e2467658dd2deb097a1316363d8b958064 +size 5740589 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0037.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0037.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9523d9dc3562b8d488b37a22acafecb6fe62c628 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0037.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6811e1946fc47825a32c4e2123809ca1e8f72fcb49bb3392adaa4809ca4b46c7 +size 5749180 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0038.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0038.h5 new file mode 100644 index 0000000000000000000000000000000000000000..412bf697450f0175c5349fc70ae556f6971f6fbd --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0038.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:01cef6267024d2c4f0b1f959e6026adf37b99d1e55e2f634f7a736545dd457ae +size 5532193 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0039.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0039.h5 new file mode 100644 index 0000000000000000000000000000000000000000..38772231186f8f0bde6200d480e1ddc0f8e6fd54 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0039.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:402d41bf522d9e55529f2a0ec4196feab186993efed1c5f9b0d7e712f41be6f6 +size 5799281 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0040.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0040.h5 new file mode 100644 index 0000000000000000000000000000000000000000..846f14ee059f1f64a43f96efd43af2f44dd98243 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0040.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:02bacc95f9067b97d94220725df47f805efa33d39c23d454d17d438bed84bb5f +size 5404783 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0041.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0041.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2559f581240abc04c13eb71520434fc9341a1316 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0041.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d8c0606dba063d6a75ee45ed29fcff99c294a0afc5ed00c21536cc640abaae18 +size 5766451 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0042.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0042.h5 new file mode 100644 index 0000000000000000000000000000000000000000..282c1c891c395f32211e220113417f578b0eb3e6 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0042.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2dc4a69a426ac8929b1e2d5ed15e2ce3188ea04ddd727f336034ab4405d33c64 +size 7897864 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0043.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0043.h5 new file mode 100644 index 0000000000000000000000000000000000000000..437641670c011666ce5e5ae5228696ed0336cfec --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0043.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7dc417f51f0aa07adde2384e6ce1253f5294a8f5a0f7a0cf7fe7c20ad589aba8 +size 4924527 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0044.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0044.h5 new file mode 100644 index 0000000000000000000000000000000000000000..704649d8368085912b5e06576072e80fbd25054a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0044.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7ee6ff201891684e5298e3b57e509b2aa7161841b79dbdee4930d02f3727b9b1 +size 6252274 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0045.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0045.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a106ca6bad799cd937b008a80ad3a80dea3a0393 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0045.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:22984cbf6c82854c71b311a612d039e367b86356189253744c62cb9ffb4331a2 +size 5082874 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0046.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0046.h5 new file mode 100644 index 0000000000000000000000000000000000000000..cce69c826d7857b5ab223db3f7a52e1ef2c7a3bc --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0046.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ca6e0e0113fb640b78578ba16446a7a1bbffdf3d16c7540f99bbb2c562066bdd +size 4537765 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0047.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0047.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5ab01fd57c9244bee4f4831b80c04146181c6af2 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0047.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5d94d213c2331599926308faf318da3be20620fd6d07aa6135201fb9f1470419 +size 4790589 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0048.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0048.h5 new file mode 100644 index 0000000000000000000000000000000000000000..730172c8a2e8b306511a2c36e9567c40bcf2f0a5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0048.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c6db52cae58ee634070c6a3340075f2383eebe134e4f0856c0800494b69fefbe +size 5223345 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0049.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0049.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6030db71834b4adf092ba06b2ec79715c5150e25 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0049.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3ee61cc90eb5f586f2cef0004d06f91009a977326d9975c92fb2b2ad614c2d24 +size 5637881 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0050.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0050.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ba7f0c0cb1f5601662a75fdf42b00d65fed571d3 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0050.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bbe039ad7710bc5cd47fc6eba7ef659c8d5688d9e6ef7de6c39dcf903930b12e +size 4928307 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0051.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0051.h5 new file mode 100644 index 0000000000000000000000000000000000000000..eb5c23f9ee53135f4930235f136b66fccede3bd2 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0051.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c71dea670cc3e5259a9f567fa7ca95cc975902a575e352478eb78546adc4efff +size 5834465 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0052.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0052.h5 new file mode 100644 index 0000000000000000000000000000000000000000..06fd77044564c3357714c9058b6fee86ddfa3ae3 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0052.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e87ea599e2331809053186898d13a5071dcb85d4d40ccdfe1f3ccca07b47f339 +size 6423859 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0053.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0053.h5 new file mode 100644 index 0000000000000000000000000000000000000000..56bd851b27296397fa31dd89d5ded935fb4a7ed1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0053.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ad8cf667ca265c37885d40797e99cde0da768b6c63ca66d9f4a9feee7f4c5a30 +size 6105980 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0054.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0054.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1d9ddf687f59328f16631301064dd0f08fbf5be8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0054.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:089ee94f5660099b9702e8be0690151515ec87d096e89a84ce52479c40e8570d +size 6118174 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0055.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0055.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d371daab65defaed7ebf1bb6de4b811d5afd98ed --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0055.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b9720ee9f847e7fd08a7ea75840d1f104eac1e85fab51127ef8e6d5780fa654f +size 5609567 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0056.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0056.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d0df7035b194f52fc8f9a6533f172f911acf010b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0056.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:61ef2ea8ec0c51db3ecee9b674367fd233ded061924aa2f69bc8b9d779a9807b +size 5550571 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0057.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0057.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0e3499566d9511aa3a6e2b1b166e603b948ba228 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0057.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2b1eb846a0e4429020e5a2f551601afd6aee47c95d49a87bab61154d89d1e48e +size 4696601 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0058.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0058.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6857f075573ec7af79b23614627a2688b3b74888 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0058.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7fd4207692b3d3d67b97eab7775352d696c17ad32ea272fec2851fd5806dd056 +size 8224059 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0059.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0059.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f86163506662608863a56cba9b8900872daea321 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0059.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c4b518e6e215c47a01e6cb0df98ad8ced08494bd2d78a51d6aac94a6d6021aac +size 6904655 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0060.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0060.h5 new file mode 100644 index 0000000000000000000000000000000000000000..75a35ff8494020dceed33ab74c84d9e1a766de39 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0060.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:66bf17b0dd48d2c6f00a7b4507253b41e15209806bb7c8ee16f0a99502d21f44 +size 6183345 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0061.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0061.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9081761995cbfbe7f631495d5c9acc2b737f9743 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0061.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:afb359cdcda0f747c9f8c57392caf8d0881feccbc3cbe64d155d245beaf83774 +size 5704110 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0062.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0062.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4c31b88edd370e26a006ed6e8768ab54beeb1461 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0062.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f55a57c156bf74fe9732fa0a38fbef9eba84b084d6c434dd8f32fa462065481b +size 5195324 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0063.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0063.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0b0cf5e9a289185aec6883f24cac5dc1ff905342 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0063.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e5aab409a379921b1fa280e6e942def03722f7835d81e3f3aaab6dd366294830 +size 6553690 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0064.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0064.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4c9c26dbfb0f7cff5e7b4d573d72017ac2e36da3 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0064.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9956551916d0ebfc0276a36d948553eed3049e5e66c3f1612aa91d82fee73127 +size 6213195 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0065.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0065.h5 new file mode 100644 index 0000000000000000000000000000000000000000..bba26aa0c3b2e48be8bd58ca83c6edac93f59368 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0065.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:49ff7b23b58ab8ece850a4839ca338bc8bc1acee9e32e443cf4f3178c3916135 +size 4967612 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0067.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0067.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1f049999bc1922434f9ded85f00a2be9fd52d570 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0067.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0cf7f8b302dacf7a325d9f07dc62ba04db3b376bc596519fa0221d15ff4a9ae9 +size 5879624 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0068.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0068.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d92f4303f2ab572d921d1549c84f36b272b33b3e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0068.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3708e17b775696661c9184801d9a1a06b0167467eb45481d5b14ca190ba3b105 +size 5378401 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0069.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0069.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1d8cffba47b11c049a08bf1f2113e7acab47a84c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0069.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7e810cd823ae1ccc4f7fcef9dba2c6a49e9e918c078616318d1f85e8ec9cd067 +size 5420421 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0070.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0070.h5 new file mode 100644 index 0000000000000000000000000000000000000000..112ebfb529de5419d73176fd58ed04270f08ffbd --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0070.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:93328346182fee5ec88f0d8363f6cdce1ba966506c8a05d5128f9774de6b9e53 +size 7465476 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0071.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0071.h5 new file mode 100644 index 0000000000000000000000000000000000000000..475889981a0219cbd4866e7a34e00b286cbb4923 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0071.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1e60e0e173fe9a1f4457771f5de7aa1e283ed6dbe9c8ca3a3a2a63dc2774b765 +size 4841970 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0072.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0072.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b390c2eeadbccf6df5a1b5a30bf22c6fa8b2bb02 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0072.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:60276e7508ea11218b17856a6391c3ceb40d48cc109f17b67e26dd4faa1bc8ff +size 6590587 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0073.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0073.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e4548b938571c360348164e519b962a5200a6ef6 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0073.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ed7074945612561214effcd8038fa3236f395441cf360cfef9194bf147021e6e +size 6760655 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0074.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0074.h5 new file mode 100644 index 0000000000000000000000000000000000000000..59056acef47c65d878eccfb6ab2bed6480267dfc --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0074.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:43e484513ad9a485ddeb4650acc1a159445d25e987d32801ea6705c4ac3d55a4 +size 6832047 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0075.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0075.h5 new file mode 100644 index 0000000000000000000000000000000000000000..bf00bc35abe2178683eb1a5844a1c652ac1de384 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0075.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b159942a01c438d1486c03debaca6fc64f166ab6b3ecc63d0e73a1cb491514cb +size 6054733 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0076.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0076.h5 new file mode 100644 index 0000000000000000000000000000000000000000..cf241d1ec6a9b2f2c57945e1722f7c98067365f7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0076.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b0158db5f0c0b5a699581a1e093d33f73f4e74595bcb686c6145f380267b2580 +size 6609129 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0077.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0077.h5 new file mode 100644 index 0000000000000000000000000000000000000000..748765abc1436f9401458a36ddb97e7c8279d7d0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0077.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e4d59a48ee02f0cb0fa086244db13ac3f101473504717270f22714924873e132 +size 6621752 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0078.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0078.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d64f866790cf79f4a429b6b3b2cded589ff62c03 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0078.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1f9323e3f0b960a8d3cc0ed34604f6ab7d02c3bbed146e3f075b28ae5c0d0262 +size 5569701 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0079.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0079.h5 new file mode 100644 index 0000000000000000000000000000000000000000..bdb0bb6ebba55692ec5276b049ba673def5faeab --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0079.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:96e9462994b9dccefb1524adfb3171e3bef69e97ade1f7d647725e2ff63c08f4 +size 7726945 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0080.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0080.h5 new file mode 100644 index 0000000000000000000000000000000000000000..043b8920f821641faf3e2696d7140c3cbdca9b71 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0080.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c20485057eb4978c061952fe5f5a3b636689ff5c2551dda66b94564b21034fc6 +size 5741501 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0081.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0081.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9b52b240b16280b6c8585b51f9f23f594728e5fa --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0081.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ac0a72a896bf335934df64d32717e26c02d6b2d0a1104e3f518bacc3afeb5a6c +size 5810361 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0082.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0082.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1a266eb88d2222e9effbccd0278254ae9e5315d7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0082.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:85ccf0bdf5cbd460dc87adf9e976391ed923d1b4f36cab50ffb39ee9aeacb98e +size 6796145 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0083.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0083.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e5f2eade7f5c10fff459db0377e1854557caa1f8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0083.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:877e6a22b7ef20482a5412f06006c640013264c7b5cb5d2132bf7fd84a9e7eb5 +size 7237223 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0084.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0084.h5 new file mode 100644 index 0000000000000000000000000000000000000000..34498147f308337db92e9fbe93ddff48bca09a40 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0084.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b1e9d560d5a5ec0200dfa2d89b9fe4e386e2a6432b362094df6c2210fb502108 +size 5069015 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0085.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0085.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9c744aa54a557c66d5823463354cdbaa000359f8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0085.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:22c6bec7d38c3de728ad0534229ad987180d33768a32256c7f4b4304cafd3895 +size 7349715 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0086.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0086.h5 new file mode 100644 index 0000000000000000000000000000000000000000..08fdf25ba5fbe822cd76e9209ef44900b6d3b635 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0086.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:569120f36dd0dc2cbcc859dcc7f4a8302625a5a08affe8ec430bad8fc970d920 +size 7564298 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0087.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0087.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0b6cc5157079e169836eb29a064189d96cf6de84 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0087.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d6a097ec7d50b98206847e4537544fc16d97171062282e10d8280baa16cd69f9 +size 5257546 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0088.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0088.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b048b133cb6b79c1f7acb911ae3a8e6a2f6853d1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0088.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3342f5cbe64cb3248f01229897d97b53ec503be2ecb2103629b98eab8053ca9e +size 5831156 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0089.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0089.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9c5dd4294ece44ae90356d59b2946b012361cd78 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0089.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:062982a9da08cf1fcec5b2cee1235abf11a5e64bc0e0d663dee3441f3896e0eb +size 5687525 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0090.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0090.h5 new file mode 100644 index 0000000000000000000000000000000000000000..de0a6d200b4e8c1f6de217ed7431c4fdd362656c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0090.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:40fd4286f570e46ad832f4b3ccfabe72ae6551145360999f5df8dd91fac5a293 +size 7335439 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0091.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0091.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ccdec7dab6ac42b7b63acdff938014e0a463a1fa --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0091.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a1f0d541108e20f40bf4b1e88617441ccb8d7fe2e1830b5c3f280f272db70729 +size 6610067 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0092.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0092.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f5b19ce2d67986b8c3dc396a7f4543a096ed8e87 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0092.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1807ee04b0ae9f519bceff4cd5dfb4c656370f7b6daae4efd371fe1529a39097 +size 6703679 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0093.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0093.h5 new file mode 100644 index 0000000000000000000000000000000000000000..7f6d33045fbe0d0c5a8b79f4ec92b4c1468be4a6 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0093.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cf85154aba69dc109beb818f79383a347fa142d46fa95713225172b83e3bad73 +size 6990597 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0094.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0094.h5 new file mode 100644 index 0000000000000000000000000000000000000000..214fcce54cff5eb4af02f8eb7f7e9ba12dba997e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0094.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8032de3c8540ca54d8e0e6d6d83a2562ce214234e2688ff64d4a67ac2e12d807 +size 5564349 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0095.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0095.h5 new file mode 100644 index 0000000000000000000000000000000000000000..dbe93986059039a0a7d4675aab3c2aaf03fb27e5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0095.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5029da71595f9b83d796063d539b2b9052d04dae205bb7aef0f75bd4472c5799 +size 5950613 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0096.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0096.h5 new file mode 100644 index 0000000000000000000000000000000000000000..15f844aa0a09e31588d4036dd1916cadc4d5f717 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0096.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ba25044e89811cefe0c4463c8a2a59f098f93287055d71c8bf9101bc9a9bc813 +size 7050416 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0097.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0097.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b8691ec71f7e6af7d8ae81e3d0a68546922afa8c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0097.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2f69c2ccb895eac8dd19e4e88104fcdd852302c84500e05c61e5800c2ebbb6e0 +size 6050514 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0098.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0098.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8372c3f73846b9bce66ea38ed78139c4afc1cc96 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0098.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:09b5f90cf24210caa00fc8bc53913d218f2f12d7c0b3e539ec7b858379c5f192 +size 6440675 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0099.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0099.h5 new file mode 100644 index 0000000000000000000000000000000000000000..02a45f3ccaa6599e0f64a68accdf0f7c7b243cf2 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0099.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7c92eb672a75aae1598ef9a4f0d20d6ddbea2f0beda49b4cd8ccbfed9e23f1a6 +size 5871784 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0100.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0100.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a7ac9ff651970e662ba476baa790908dc32dbcca --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0100.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eed0974b81b6bb52403609d41033136c922d4c9524692c63e048bd5663ccd6d8 +size 7299987 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/meta/episode.jsonl b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/meta/episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f3c708fcf3fd120e15a84adcb325630c7f0dde1a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/meta/episode.jsonl @@ -0,0 +1,100 @@ +{"episode_index":0,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1121,"success":true,"robot_type":"ur5e"} +{"episode_index":1,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1119,"success":true,"robot_type":"ur5e"} +{"episode_index":2,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1123,"success":true,"robot_type":"ur5e"} +{"episode_index":3,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1118,"success":true,"robot_type":"ur5e"} +{"episode_index":4,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1121,"success":true,"robot_type":"ur5e"} +{"episode_index":5,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1121,"success":true,"robot_type":"ur5e"} +{"episode_index":6,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1120,"success":true,"robot_type":"ur5e"} +{"episode_index":7,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1116,"success":true,"robot_type":"ur5e"} +{"episode_index":8,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1119,"success":true,"robot_type":"ur5e"} +{"episode_index":9,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1122,"success":true,"robot_type":"ur5e"} +{"episode_index":10,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1116,"success":true,"robot_type":"ur5e"} +{"episode_index":11,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1121,"success":true,"robot_type":"ur5e"} +{"episode_index":12,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1116,"success":true,"robot_type":"ur5e"} +{"episode_index":13,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1120,"success":true,"robot_type":"ur5e"} +{"episode_index":14,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1118,"success":true,"robot_type":"ur5e"} +{"episode_index":15,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1116,"success":true,"robot_type":"ur5e"} +{"episode_index":16,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1119,"success":true,"robot_type":"ur5e"} +{"episode_index":17,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1119,"success":true,"robot_type":"ur5e"} +{"episode_index":18,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1120,"success":true,"robot_type":"ur5e"} +{"episode_index":19,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1117,"success":true,"robot_type":"ur5e"} +{"episode_index":20,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1119,"success":true,"robot_type":"ur5e"} +{"episode_index":21,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1118,"success":true,"robot_type":"ur5e"} +{"episode_index":22,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1115,"success":true,"robot_type":"ur5e"} +{"episode_index":23,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1114,"success":true,"robot_type":"ur5e"} +{"episode_index":24,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1118,"success":true,"robot_type":"ur5e"} +{"episode_index":25,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1118,"success":true,"robot_type":"ur5e"} +{"episode_index":26,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1120,"success":true,"robot_type":"ur5e"} +{"episode_index":27,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1118,"success":true,"robot_type":"ur5e"} +{"episode_index":28,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1125,"success":true,"robot_type":"ur5e"} +{"episode_index":29,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1118,"success":true,"robot_type":"ur5e"} +{"episode_index":30,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1119,"success":true,"robot_type":"ur5e"} +{"episode_index":31,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1115,"success":true,"robot_type":"ur5e"} +{"episode_index":32,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1118,"success":true,"robot_type":"ur5e"} +{"episode_index":33,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1118,"success":true,"robot_type":"ur5e"} +{"episode_index":34,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1119,"success":true,"robot_type":"ur5e"} +{"episode_index":35,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1121,"success":true,"robot_type":"ur5e"} +{"episode_index":36,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1120,"success":true,"robot_type":"ur5e"} +{"episode_index":37,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1115,"success":true,"robot_type":"ur5e"} +{"episode_index":38,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1121,"success":true,"robot_type":"ur5e"} +{"episode_index":39,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1117,"success":true,"robot_type":"ur5e"} +{"episode_index":40,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1114,"success":true,"robot_type":"ur5e"} +{"episode_index":41,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1120,"success":true,"robot_type":"ur5e"} +{"episode_index":42,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1117,"success":true,"robot_type":"ur5e"} +{"episode_index":43,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1120,"success":true,"robot_type":"ur5e"} +{"episode_index":44,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1120,"success":true,"robot_type":"ur5e"} +{"episode_index":45,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1117,"success":true,"robot_type":"ur5e"} +{"episode_index":46,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1119,"success":true,"robot_type":"ur5e"} +{"episode_index":47,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1117,"success":true,"robot_type":"ur5e"} +{"episode_index":48,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1120,"success":true,"robot_type":"ur5e"} +{"episode_index":49,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1118,"success":true,"robot_type":"ur5e"} +{"episode_index":50,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1121,"success":true,"robot_type":"ur5e"} +{"episode_index":51,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1122,"success":true,"robot_type":"ur5e"} +{"episode_index":52,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1118,"success":true,"robot_type":"ur5e"} +{"episode_index":53,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1122,"success":true,"robot_type":"ur5e"} +{"episode_index":54,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1117,"success":true,"robot_type":"ur5e"} +{"episode_index":55,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1120,"success":true,"robot_type":"ur5e"} +{"episode_index":56,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1121,"success":true,"robot_type":"ur5e"} +{"episode_index":57,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1119,"success":true,"robot_type":"ur5e"} +{"episode_index":58,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1122,"success":true,"robot_type":"ur5e"} +{"episode_index":59,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1116,"success":true,"robot_type":"ur5e"} +{"episode_index":60,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1123,"success":true,"robot_type":"ur5e"} +{"episode_index":61,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1118,"success":true,"robot_type":"ur5e"} +{"episode_index":62,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1125,"success":true,"robot_type":"ur5e"} +{"episode_index":63,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1117,"success":true,"robot_type":"ur5e"} +{"episode_index":64,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1124,"success":true,"robot_type":"ur5e"} +{"episode_index":65,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1120,"success":true,"robot_type":"ur5e"} +{"episode_index":67,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1122,"success":true,"robot_type":"ur5e"} +{"episode_index":68,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1120,"success":true,"robot_type":"ur5e"} +{"episode_index":69,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1115,"success":true,"robot_type":"ur5e"} +{"episode_index":70,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1124,"success":true,"robot_type":"ur5e"} +{"episode_index":71,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1121,"success":true,"robot_type":"ur5e"} +{"episode_index":72,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1121,"success":true,"robot_type":"ur5e"} +{"episode_index":73,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1119,"success":true,"robot_type":"ur5e"} +{"episode_index":74,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1116,"success":true,"robot_type":"ur5e"} +{"episode_index":75,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1118,"success":true,"robot_type":"ur5e"} +{"episode_index":76,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1119,"success":true,"robot_type":"ur5e"} +{"episode_index":77,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1118,"success":true,"robot_type":"ur5e"} +{"episode_index":78,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1118,"success":true,"robot_type":"ur5e"} +{"episode_index":79,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1119,"success":true,"robot_type":"ur5e"} +{"episode_index":80,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1122,"success":true,"robot_type":"ur5e"} +{"episode_index":81,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1122,"success":true,"robot_type":"ur5e"} +{"episode_index":82,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1122,"success":true,"robot_type":"ur5e"} +{"episode_index":83,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1120,"success":true,"robot_type":"ur5e"} +{"episode_index":84,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1121,"success":true,"robot_type":"ur5e"} +{"episode_index":85,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1118,"success":true,"robot_type":"ur5e"} +{"episode_index":86,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1118,"success":true,"robot_type":"ur5e"} +{"episode_index":87,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1121,"success":true,"robot_type":"ur5e"} +{"episode_index":88,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1119,"success":true,"robot_type":"ur5e"} +{"episode_index":89,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1117,"success":true,"robot_type":"ur5e"} +{"episode_index":90,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1116,"success":true,"robot_type":"ur5e"} +{"episode_index":91,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1117,"success":true,"robot_type":"ur5e"} +{"episode_index":92,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1118,"success":true,"robot_type":"ur5e"} +{"episode_index":93,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1120,"success":true,"robot_type":"ur5e"} +{"episode_index":94,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1118,"success":true,"robot_type":"ur5e"} +{"episode_index":95,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1122,"success":true,"robot_type":"ur5e"} +{"episode_index":96,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1118,"success":true,"robot_type":"ur5e"} +{"episode_index":97,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1120,"success":true,"robot_type":"ur5e"} +{"episode_index":98,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1119,"success":true,"robot_type":"ur5e"} +{"episode_index":99,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1122,"success":true,"robot_type":"ur5e"} +{"episode_index":100,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1121,"success":true,"robot_type":"ur5e"} diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/meta/randomization_episodes.jsonl b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/meta/randomization_episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b040578c68a9f659569a8dd509964c97aef779b8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/meta/randomization_episodes.jsonl @@ -0,0 +1,100 @@ +{"episode_id":"ep_000000","started_at":"2026-09-05T19:57:55","dimensions":{"distractor":{"count":27,"items":[{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_0","position":[0.5719754350247959,1.09563545422616,0.71338606911949],"aabb_xy":[[0.5640521547860475,1.0731354539881566],[0.5798987152635442,1.1181354544641633]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_1","position":[-0.33045821653592,0.2822491588549827,0.71338606911949],"aabb_xy":[[-0.39445821887872157,0.23730830761085017],[-0.26645821419311844,0.32719001009911514]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_2","position":[-0.4293338516848566,-0.7664018596738575,0.71338606911949],"aabb_xy":[[-0.45932551441872693,-0.7964018590106581],[-0.3993421889509863,-0.736401860337057]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_3","position":[0.13652036483076557,1.0095971833874442,0.71338606911949],"aabb_xy":[[0.09152036336453671,0.9645973265259635],[0.18152036629699442,1.0545970402489249]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_4","position":[0.35978961430092027,0.7801826573986128,0.71338606911949],"aabb_xy":[[0.30978961472458555,0.730202078446507],[0.409789613877255,0.8301632363507189]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_5","position":[0.3965643426050882,0.40943537658890206,0.71338606911949],"aabb_xy":[[0.37898604041614137,0.39186088701479715],[0.41414264479403506,0.42700986616300696]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_6","position":[-0.21405877497938897,-0.6775034652969141,0.71338606911949],"aabb_xy":[[-0.23155870841337234,-0.6950034652171486],[-0.1965588415454056,-0.6600034653766795]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_7","position":[0.1901888174870926,-2.216411238605423,0.71338606911949],"aabb_xy":[[0.14800440332626189,-2.280411238882634],[0.23237323164792337,-2.1524112383282117]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_8","position":[0.22435791401349825,1.5882135863260083,0.71338606911949],"aabb_xy":[[0.18989556661535648,1.5537197039281854],[0.25882026141164005,1.6227074687238308]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_9","position":[-0.23307015727823283,-0.3816412730072125,0.71338606911949],"aabb_xy":[[-0.23840773294423745,-0.4066412739363523],[-0.2277325816122283,-0.3566412720780727]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_10","position":[0.4874306857397337,-2.4985554690641654,0.71338606911949],"aabb_xy":[[0.4652581587630828,-2.5207311362202884],[0.5096032127163845,-2.4763798019080423]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_11","position":[0.3791193671491331,1.6778290232076443,0.71338606911949],"aabb_xy":[[0.35661936713898473,1.663732803568041],[0.4016193671592813,1.6919252428472475]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_12","position":[0.206771447440961,0.621749404715199,0.71338606911949],"aabb_xy":[[0.14277144827119104,0.5749827175962365],[0.27077144661073094,0.6685160918341615]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_13","position":[-0.6255094768821371,-2.470927616558856,0.71338606911949],"aabb_xy":[[-0.6755094782430243,-2.5209055211342717],[-0.5755094755212499,-2.4209497119834404]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_14","position":[-0.5165186941432237,-0.5252527505290261,0.71338606911949],"aabb_xy":[[-0.5394344070282736,-0.5481570476654497],[-0.4936029812581738,-0.5023484533926027]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_15","position":[0.6574904139230027,-0.21654989402959135,0.71338606911949],"aabb_xy":[[0.6023652082934119,-0.2765498954708785],[0.7126156195525934,-0.1565498925883042]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_16","position":[-0.1603666248150446,1.1081138409102436,0.71338606911949],"aabb_xy":[[-0.1738131514490879,1.094643989257152],[-0.14692009818100124,1.1215836925633347]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_17","position":[-0.11311417318821981,-1.4375945050953651,0.71338606911949],"aabb_xy":[[-0.1291761006467374,-1.522594506907957],[-0.09705224572970214,-1.3525945032827733]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_18","position":[0.12242836967014725,1.6930558872983723,0.71338606911949],"aabb_xy":[[0.10732606820912914,1.67795436566731],[0.13753067113116532,1.7081574089294338]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_19","position":[-0.554941569367302,-1.1612133856012694,0.71338606911949],"aabb_xy":[[-0.609933820002813,-1.2162133873445822],[-0.49994931873179116,-1.1062133838579566]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_20","position":[0.6770798185558988,1.4927100413498366,0.71338606911949],"aabb_xy":[[0.6546150485844937,1.4702100404709761],[0.699544588527304,1.5152100422286972]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_21","position":[-0.14577432822546588,0.3281876436775817,0.71338606911949],"aabb_xy":[[-0.22577432538504116,0.31664004271976465],[-0.06577433106589059,0.3397352446353987]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_22","position":[0.3137749671841752,-1.7430879779588344,0.71338606911949],"aabb_xy":[[0.30653120113792987,-1.8230879761624368],[0.3210187332304205,-1.663087979755232]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_23","position":[0.410643500151999,1.3989432403817328,0.71338606911949],"aabb_xy":[[0.32692127465191656,1.3089432368470366],[0.4943657256520815,1.4889432439164285]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_24","position":[0.47833305851222807,0.3287387141163136,0.71338606911949],"aabb_xy":[[0.4558330589885206,0.3062427666656928],[0.5008330580359354,0.35123466156693434]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_25","position":[-0.468549842023821,-1.8191856186582118,0.71338606911949],"aabb_xy":[[-0.5385498384337826,-1.8396235543098929],[-0.3985498456138591,-1.7987476830065294]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_26","position":[-0.23902754776548013,-1.573173996520813,0.71338606911949],"aabb_xy":[[-0.2518994512664202,-1.653173996934649],[-0.22615564426454,-1.4931739961069768]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6636540295120179,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7021.png","name":"7021"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7021.png","name":"7021"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3902.png","name":"3902"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7821.png","name":"7821"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1496.png","name":"1496"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5341.png","name":"5341"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":649.8429043683823,"rotation_z_degrees":40.82280477413802,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006199637636219068,0.012406449965037394,-0.017194075274739186]},{"name":"camera_2","offset_m":[0.00855642356618147,-0.00026890121544742226,0.013967705216585188]},{"name":"camera_3","offset_m":[-0.01852908356068134,-0.0006503595622356501,-0.010133787318663066]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0011783623373212287,-0.0010222444360414777,0.0010228172304170345],"end_effector_yaw_offset_degrees":-0.6199118349816253},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0012341020581921728,-0.0019605261458418384,0.0010235662451554134],"end_effector_yaw_offset_degrees":-0.31504711291869003},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0007481051370228655,-0.00028783817446683584,-0.0002770506193722974],"end_effector_yaw_offset_degrees":0.09487571346653612},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00017127661261798818,-0.0018086104295752339,-0.0010337893423821751],"end_effector_yaw_offset_degrees":-0.9932233901817029}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.00394149692444786,0.0012800277407343042],"position_m":[0.20905850307555213,-0.13721997225926572,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00034791285456430617,0.00014402475850521478],"position_m":[0.2317520871454357,-0.3641559752414948,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.002560101687511107,0.00442362371782794],"position_m":[0.28863989831248893,-0.035176376282172066,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0037428596831573426,-0.0023961777769102442],"position_m":[0.3402571403168426,0.17250382222308974,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"aab59a7793b1af481daa7c87811bcae4ae340ceb98d5e3cd060ccca1f31d451b","episode_index":0,"episode_name":"episode_0000"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0000.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_7021/tex_ceiling_textures_5341/tex_floor_textures_1496/tex_table_textures_3902/tex_wall_textures_7821","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":7397811094550520226,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":7397811094550520226,"visual_seed":7397811094550520226,"scene_id":"lab_003","finished_at":"2026-09-05T20:01:22"} +{"episode_id":"ep_000001","started_at":"2026-09-05T20:01:27","dimensions":{"distractor":{"count":32,"items":[{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_0","position":[-0.5740199449564332,-0.564084047206904,0.71338606911949],"aabb_xy":[[-0.615037888342804,-0.6140840478378613],[-0.5330020015700623,-0.5140840465759466]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_1","position":[0.2654005303345097,1.7448295067588018,0.71338606911949],"aabb_xy":[[0.17540053174003983,1.728578920445381],[0.3554005289289797,1.761080093072223]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_2","position":[0.6554983278868243,-0.7797178407672962,0.71338606911949],"aabb_xy":[[0.5954983262439025,-0.8317179900592404],[0.7154983295297462,-0.727717691475352]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_3","position":[0.6767118421928877,-1.6230668065602272,0.71338606911949],"aabb_xy":[[0.6575995348349088,-1.6422015854374692],[0.6958241495508666,-1.6039320276829852]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_4","position":[0.3802272752584246,-1.6805484417065064,0.71338606911949],"aabb_xy":[[0.3251020696288338,-1.7405484431477933],[0.43535248088801537,-1.620548440265219]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_5","position":[-0.6759706254101786,-0.18878300128280268,0.71338606911949],"aabb_xy":[[-0.683231872980586,-0.20157001154631218],[-0.6687093778397712,-0.17599599101929322]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_6","position":[0.5077628646811805,-1.0292738585761139,0.71338606911949],"aabb_xy":[[0.4989608093722077,-1.037085184731043],[0.5165649199901531,-1.0214625324211848]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_7","position":[-0.24252151631433683,-2.2118498123554065,0.71338606911949],"aabb_xy":[[-0.24736511107556683,-2.2167014648343906],[-0.23767792155310688,-2.2069981598764223]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_8","position":[-0.32386499947234276,0.44444114225505027,0.71338606911949],"aabb_xy":[[-0.3347166057212183,0.4335818515273992],[-0.3130133932234671,0.45530043298270123]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_9","position":[0.009903304075842279,-1.0364055290344338,0.71338606911949],"aabb_xy":[[0.005942820306107904,-1.0440733936199544],[0.013863787845576653,-1.0287376644489132]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_10","position":[-0.28637825916749243,0.6820677664161816,0.71338606911949],"aabb_xy":[[-0.31422329594809956,0.6512832676778699],[-0.2585332223868853,0.7128522651544933]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_11","position":[-0.6138193929821651,0.19826110500598304,0.71338606911949],"aabb_xy":[[-0.621522583656242,0.190551734307245],[-0.606116202308088,0.20597047570472102]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_12","position":[-0.28532761742677665,-1.636775804525401,0.71338606911949],"aabb_xy":[[-0.3353276187876639,-1.6867537091008165],[-0.23532761606588945,-1.5867978999499852]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_13","position":[-0.4270927251316703,1.1750225139865984,0.71338606911949],"aabb_xy":[[-0.461555072529812,1.1405286315887755],[-0.3926303777335284,1.2095163963844209]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_14","position":[0.491745604689652,-1.138336658945946,0.71338606911949],"aabb_xy":[[0.483719334059026,-1.1470881539232989],[0.499771875320278,-1.1295851639685937]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_15","position":[0.231392735568271,-2.3304777376808197,0.71338606911949],"aabb_xy":[[0.16739273227856288,-2.373812656684737],[0.2953927388579791,-2.2871428186769016]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_16","position":[-0.5868094361748111,1.2515662829779766,0.71338606911949],"aabb_xy":[[-0.6243094369668065,1.2451984420197861],[-0.5493094353828156,1.2579341239361665]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_17","position":[-0.44073408414339077,-0.9526987974761316,0.71338606911949],"aabb_xy":[[-0.465734083415353,-0.9690441610722941],[-0.41573408487142843,-0.9363534338799694]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_18","position":[-0.1262503321637316,-1.2120106395246568,0.71338606911949],"aabb_xy":[[-0.1714216500119006,-1.2760106366691955],[-0.08107901431556265,-1.1480106423801186]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_19","position":[0.6140319393232982,0.9252347960063987,0.71338606911949],"aabb_xy":[[0.5765319407476773,0.9124985003428407],[0.651531937898919,0.9379710916699566]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_20","position":[-0.02585516707373614,-1.6489898318516745,0.71338606911949],"aabb_xy":[[-0.04835516708388443,-1.6630860514912778],[-0.0033551670635878494,-1.6348936122120712]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_21","position":[-0.5212629464753991,0.8182118149180413,0.71338606911949],"aabb_xy":[[-0.5291862267141474,0.7957118146800382],[-0.5133396662366507,0.8407118151560449]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_22","position":[-0.6814962233434275,-0.5124473902091884,0.71338606911949],"aabb_xy":[[-0.6928579579967136,-0.5238158566154765],[-0.6701344886901413,-0.5010789238029003]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_23","position":[-0.4100912266467768,1.437258115449351,0.71338606911949],"aabb_xy":[[-0.44759122783156957,1.4328398927532902],[-0.372591225461984,1.4416763381454112]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_24","position":[-0.5645797385204212,-0.3609034641063187,0.71338606911949],"aabb_xy":[[-0.5726933931937983,-0.36900928056034776],[-0.5564660838470441,-0.3527976476522896]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_25","position":[0.35009374397482884,0.755336390745649,0.71338606911949],"aabb_xy":[[0.34601558606777916,0.7512554104973856],[0.35417190188187864,0.7594173709939123]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_26","position":[0.34085436415887505,-1.036323827098664,0.71338606911949],"aabb_xy":[[0.29085953123093344,-1.0863238259939076],[0.39084919708681665,-0.9863238282034206]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_27","position":[-0.2314334376972333,1.5300512325332023,0.71338606911949],"aabb_xy":[[-0.24233921378479603,1.450051236134373],[-0.2205276616096706,1.6100512289320312]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_28","position":[0.22202901113423168,-2.4831649264818667,0.71338606911949],"aabb_xy":[[0.1520290077426697,-2.518480700185297],[0.29202901452579366,-2.4478491527784354]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_29","position":[0.16228445189142893,-1.6825729178529092,0.71338606911949],"aabb_xy":[[0.11729186517297849,-1.7275729171273577],[0.2072770386098793,-1.6375729185784602]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_30","position":[-0.2128033565835349,-1.8021137448005211,0.71338606911949],"aabb_xy":[[-0.21770264889009835,-1.8297906641030897],[-0.20790406427697136,-1.7744368254979521]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_31","position":[0.015596354875225704,-2.410488458200743,0.71338606911949],"aabb_xy":[[-0.05440364776136064,-2.430593323196608],[0.08559635751181205,-2.390383593204877]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6669772777877856,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5873.png","name":"5873"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5873.png","name":"5873"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2675.png","name":"2675"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3594.png","name":"3594"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5734.png","name":"5734"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1021.png","name":"1021"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":663.0051819388032,"rotation_z_degrees":350.745586928596,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014911589719227656,-0.01121410478917905,-0.0057005092310783035]},{"name":"camera_2","offset_m":[-0.015205145246206109,0.019814093864119624,-0.016216449894901737]},{"name":"camera_3","offset_m":[0.017440318838470612,0.01996377834590894,0.0007480676255384767]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0017250217066515719,-0.001348788185043329,-0.001985905159437856],"end_effector_yaw_offset_degrees":0.6918243077607467},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00027855014474125264,-0.0014772990749040648,0.0004996257539528711],"end_effector_yaw_offset_degrees":0.32423611041979816},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.000790116106631327,0.0009890561371172783,0.00144220754551945],"end_effector_yaw_offset_degrees":-0.45940049145178596},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001702748092584117,0.0017361896253269456,0.0017641757899434993],"end_effector_yaw_offset_degrees":0.7530899555574322}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003734763072697953,0.0025078247874389817],"position_m":[0.21673476307269796,-0.13599217521256102,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00043807313901051727,-0.004696941713484431],"position_m":[0.2325380731390105,-0.36899694171348446,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004748685385501038,-0.003338900370739465],"position_m":[0.28645131461449896,-0.04293890037073947,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00028836053826985803,0.0018820404562512614],"position_m":[0.3437116394617301,0.17678204045625126,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0c69aecbadfef561c7ebfc0959076ee04cd68483e2a3e0b43c52c56f28a32971","episode_index":1,"episode_name":"episode_0001"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0001.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_5873/tex_ceiling_textures_1021/tex_floor_textures_5734/tex_table_textures_2675/tex_wall_textures_3594","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":455434647000317655,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":455434647000317655,"visual_seed":455434647000317655,"scene_id":"lab_003","finished_at":"2026-09-05T20:05:17"} +{"episode_id":"ep_000002","started_at":"2026-09-05T20:05:21","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_0","position":[-0.3930164487154904,1.5823043635802416,0.71338606911949],"aabb_xy":[[-0.45801644727256324,1.5525518301663592],[-0.32801645015841757,1.6120568969941245]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_1","position":[0.3282090772453712,-1.3710271507504428,0.71338606911949],"aabb_xy":[[0.32116762629462364,-1.3780539024882374],[0.33525052819611884,-1.3640003990126481]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_2","position":[-0.02978325882658117,-1.8138149391460594,0.71338606911949],"aabb_xy":[[-0.058432591186997396,-1.8424604984231352],[-0.0011339264661649438,-1.7851693798689836]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_3","position":[0.18476974960586934,-0.8681244204600442,0.71338606911949],"aabb_xy":[[0.12476974975930255,-0.9249430426530828],[0.24476974945243613,-0.8113057982670054]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_4","position":[-0.5251709362268412,-0.7045016725987046,0.71338606911949],"aabb_xy":[[-0.5398143417808741,-0.7191603922554889],[-0.5105275306728081,-0.6898429529419204]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_5","position":[-0.05662945129510499,-0.9890167843911009,0.71338606911949],"aabb_xy":[[-0.0733065872882005,-1.0057167083650311],[-0.03995231530200949,-0.9723168604171706]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_6","position":[0.5552557525473556,-1.2099542155038785,0.71338606911949],"aabb_xy":[[0.545962134310205,-1.2474542139920124],[0.5645493707845062,-1.1724542170157446]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_7","position":[-0.6732448584668379,-1.467153865146588,0.71338606911949],"aabb_xy":[[-0.6806573140082264,-1.4730050755682158],[-0.6658324029254494,-1.46130265472496]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_8","position":[0.22392202109273585,-1.6414917587761988,0.71338606911949],"aabb_xy":[[0.18712738796782957,-1.6783976338727808],[0.2607166542176421,-1.6045858836796163]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_9","position":[-0.13818775421937446,1.7176862504729749,0.71338606911949],"aabb_xy":[[-0.1508145415065708,1.7081401767714017],[-0.1255609669321781,1.7272323241745475]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_10","position":[0.6884941269698024,-0.938230011504952,0.71338606911949],"aabb_xy":[[0.6783411114156529,-0.974299553077692],[0.6986471425239517,-0.9021604699322113]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_11","position":[-0.4779208369562026,0.8381608474491253,0.71338606911949],"aabb_xy":[[-0.5679208392902216,0.7606784928640127],[-0.3879208346221835,0.915643202034238]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_12","position":[0.6256179551298409,-1.3046580735945175,0.71338606911949],"aabb_xy":[[0.5456179540567205,-1.3144361199319017],[0.7056179562029612,-1.2948800272571328]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_13","position":[0.6331826497694404,1.4841716895015558,0.71338606911949],"aabb_xy":[[0.6160805718110722,1.4670648839702858],[0.6502847277278085,1.5012784950328253]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_14","position":[0.41368713788379163,-0.1847338124651703,0.71338606911949],"aabb_xy":[[0.37868713790729586,-0.1941984285127869],[0.4486871378602875,-0.17526919641755367]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_15","position":[0.6149444382678335,-1.9337981874843517,0.71338606911949],"aabb_xy":[[0.5549444376718173,-1.988610660029575],[0.6749444388638497,-1.878985714939128]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_16","position":[0.12270403638757443,-1.950540352848059,0.71338606911949],"aabb_xy":[[0.06773031435124155,-2.0055403524122926],[0.17767775842390732,-1.8955403532838262]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_17","position":[0.327714560109982,-0.7858544898925839,0.71338606911949],"aabb_xy":[[0.31578182574815394,-0.7982366427004433],[0.3396472944718101,-0.7734723370847245]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_18","position":[0.510919459125744,0.7834062042120085,0.71338606911949],"aabb_xy":[[0.44091945731699844,0.7620524354478212],[0.5809194609344893,0.804759972976196]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_19","position":[-0.3162927704867295,0.6140668160782603,0.71338606911949],"aabb_xy":[[-0.3862927668966912,0.5936288804265784],[-0.2462927740767676,0.6345047517299418]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_20","position":[0.13953773114845658,-2.5041830669121956,0.71338606911949],"aabb_xy":[[0.1070760302665291,-2.5343158990270975],[0.171999432030384,-2.474050234797292]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_21","position":[-0.5586581009939731,-0.3914783799310877,0.71338606911949],"aabb_xy":[[-0.5639956766599776,-0.4164783808602275],[-0.5533205253279685,-0.3664783790019479]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6687461959846008,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8135.png","name":"8135"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8135.png","name":"8135"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9305.png","name":"9305"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6704.png","name":"6704"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3448.png","name":"3448"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8976.png","name":"8976"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":537.8766896888021,"rotation_z_degrees":163.30061265193345,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0014592080624873695,0.011607159950518833,0.007406294309203171]},{"name":"camera_2","offset_m":[-0.010982083271706435,-0.0035131028903451975,-0.018902772635874032]},{"name":"camera_3","offset_m":[0.010139612492833534,-0.009448916990534816,0.010711106844417607]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0018670227440697454,5.6971200929093954e-05,0.0008606751350291905],"end_effector_yaw_offset_degrees":-0.9150319727017855},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.001933357475117574,0.0005643305276878795,0.0019097086417571947],"end_effector_yaw_offset_degrees":0.4242554934643503},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0014992115488839225,0.0010089178088685618,0.0018383715153069487],"end_effector_yaw_offset_degrees":-0.19697521022004416},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0009126792307588244,-0.0002514733628180088,-0.0006069460994129448],"end_effector_yaw_offset_degrees":0.38639530007877343}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00368392729772627,0.0006390936527839808],"position_m":[0.21668392729772626,-0.13786090634721604,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0037091552175091526,-0.002954697451857756],"position_m":[0.23580915521750914,-0.3672546974518578,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0029038404900793503,-0.0033652031256752035],"position_m":[0.28829615950992066,-0.04296520312567521,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004190575437826854,0.004875547969686137],"position_m":[0.34819057543782683,0.17977554796968614,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"de28e912115c243987fcaf6e5e0e67f730bbb1af5bee168998b01c66a60e7179","episode_index":2,"episode_name":"episode_0002"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0002.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_8135/tex_ceiling_textures_8976/tex_floor_textures_3448/tex_table_textures_9305/tex_wall_textures_6704","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":3432864162239659663,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":3432864162239659663,"visual_seed":3432864162239659663,"scene_id":"lab_003","finished_at":"2026-09-05T20:09:02"} +{"episode_id":"ep_000003","started_at":"2026-09-05T20:09:07","dimensions":{"distractor":{"count":26,"items":[{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_0","position":[0.64889326417706,0.46901597592800304,0.71338606911949],"aabb_xy":[[0.6269845820377089,0.4471153091079123],[0.670801946316411,0.49091664274809377]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_1","position":[0.4568277664628102,-1.5166220315151093,0.71338606911949],"aabb_xy":[[0.3928277645504679,-1.5725331807731198],[0.5208277683751525,-1.4607108822570989]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_2","position":[0.3866728278570364,1.2133689784754438,0.71338606911949],"aabb_xy":[[0.3580234954966201,1.184723419198368],[0.41532216021745255,1.2420145377525196]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_3","position":[-0.5103675908582859,1.6413142163430545,0.71338606911949],"aabb_xy":[[-0.5603675918088187,1.6097650693395331],[-0.46036758990775306,1.672863363346576]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_4","position":[0.23423315343405837,-1.1812344237650418,0.71338606911949],"aabb_xy":[[0.1692331552781393,-1.207530668314954],[0.29923315158997743,-1.1549381792151296]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_5","position":[0.02080604061394853,1.1369491387445887,0.71338606911949],"aabb_xy":[[-0.0016939593961997623,1.1228529191049854],[0.04330604062409682,1.151045358384192]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_6","position":[0.5510064973581337,0.17821951593787144,0.71338606911949],"aabb_xy":[[0.5430130075628518,0.1702213839973958],[0.5589999871534158,0.18621764787834713]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_7","position":[0.4159279750286602,-0.2370033735387187,0.71338606911949],"aabb_xy":[[0.3934279752147578,-0.24147798990919936],[0.4384279748425626,-0.23252875716823798]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_8","position":[0.31502931346802754,-0.7914041379571806,0.71338606911949],"aabb_xy":[[0.29752931322297815,-0.8089039257967473],[0.3325293137130769,-0.7739043501176136]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_9","position":[-0.5495652488832607,0.8149570031745825,0.71338606911949],"aabb_xy":[[-0.6135652491437316,0.7699482038216544],[-0.48556524862279,0.8599658025275104]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_10","position":[0.27399553298532187,0.9194729738174603,0.71338606911949],"aabb_xy":[[0.25649553370723505,0.9021348737511142],[0.2914955322634088,0.9368110738838061]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_11","position":[0.09980911343050536,-1.1404623112307506,0.71338606911949],"aabb_xy":[[0.08734175532076972,-1.152927635864074],[0.11227647154024102,-1.127996986597427]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_12","position":[-0.2746900476912147,-2.1466365679607033,0.71338606911949],"aabb_xy":[[-0.33869004796519286,-2.1967026681579913],[-0.2106900474172364,-2.0965704677634154]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_13","position":[0.08709810589080025,1.2107721484283003,0.71338606911949],"aabb_xy":[[0.08318423269537772,1.2020231330217435],[0.09101197908622277,1.219521163834857]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_14","position":[-0.041600395993866335,-2.43487249145111,0.71338606911949],"aabb_xy":[[-0.050402451302839046,-2.4426838176060386],[-0.03279834068489362,-2.4270611652961804]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_15","position":[-0.24393140685682985,1.1012354183008446,0.71338606911949],"aabb_xy":[[-0.323931408286957,1.021718263288235],[-0.1639314054267026,1.1807525733134538]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_16","position":[0.12115087038258177,1.8037858707846683,0.71338606911949],"aabb_xy":[[0.04115087240179673,1.7961843298228164],[0.20115086836336682,1.8113874117465203]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_17","position":[0.5430278084669895,-0.06022380378679548,0.71338606911949],"aabb_xy":[[0.5008433943061588,-0.12422380406400668],[0.5852122226278202,0.0037761964904157105]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_18","position":[-0.6356640166268813,1.5551115673634297,0.71338606911949],"aabb_xy":[[-0.6538698402881291,1.544086166781438],[-0.6174581929656338,1.5661369679454213]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_19","position":[-0.1888988201202062,0.6330188383282951,0.71338606911949],"aabb_xy":[[-0.21341244421721206,0.6087542450262585],[-0.16438519602320034,0.6572834316303314]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_20","position":[-0.264533809045581,-2.4636897708137524,0.71338606911949],"aabb_xy":[[-0.319526059681092,-2.518689772557065],[-0.2095415584100701,-2.4086897690704396]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_21","position":[0.5999241370946695,-1.7868403694448798,0.71338606911949],"aabb_xy":[[0.5624241369227976,-1.8195411048277867],[0.6374241372665415,-1.7541396340619724]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_22","position":[-0.15327923049024328,-2.2579733345082036,0.71338606911949],"aabb_xy":[[-0.17077922962461042,-2.2678529615457914],[-0.13577923135587608,-2.2480937074706158]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_23","position":[0.4626510873590235,-1.2761243266023872,0.71338606911949],"aabb_xy":[[0.4547278071202752,-1.2986243268403905],[0.4705743675977719,-1.2536243263643838]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_24","position":[0.23237786781265202,-1.8047021897039413,0.71338606911949],"aabb_xy":[[0.1948778692370312,-1.8174384853674987],[0.2698778663882728,-1.7919658940403829]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_25","position":[-0.3314348884960656,0.6341040031068537,0.71338606911949],"aabb_xy":[[-0.38143488977990553,0.5841251487162314],[-0.2814348872122256,0.6840828574974757]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6589206254367169,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1635.png","name":"1635"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1635.png","name":"1635"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4846.png","name":"4846"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7793.png","name":"7793"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/476.png","name":"476"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6534.png","name":"6534"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":745.5884681067656,"rotation_z_degrees":44.90424950757585,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.000197303529672746,-0.015339200096526482,0.017001545183518856]},{"name":"camera_2","offset_m":[0.01586312801787035,0.01870973827123189,0.008016326280890551]},{"name":"camera_3","offset_m":[-0.005289075398573439,0.0065656501776816985,-0.018210249750734417]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0008291434664237248,-0.0002981667567843215,0.0009403476768436729],"end_effector_yaw_offset_degrees":-0.08751101552283491},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0010236117020737917,0.0002850545875786757,-0.0002508123369943634],"end_effector_yaw_offset_degrees":-0.13968415272121582},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-6.656417791023632e-05,-0.0011890798753632352,-0.0012140424470364355],"end_effector_yaw_offset_degrees":-0.8058778954287},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.000659700310188934,0.0010353529349451155,0.0011896462353006704],"end_effector_yaw_offset_degrees":-0.4070492416555671}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004645001760560127,-0.0023896432734817276],"position_m":[0.21764500176056012,-0.14088964327348175,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003289493366292311,0.004293359640423699],"position_m":[0.2288105066337077,-0.3600066403595763,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003181983676531326,-0.0035469085968081737],"position_m":[0.29438198367653134,-0.04314690859680818,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0009002256741043636,-0.0025222042659795206],"position_m":[0.3430997743258956,0.17237779573402048,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"450bccbfd9b83f4e6fcf25c4ec402a2f9f0bdce121d4916224c610d272477fb1","episode_index":3,"episode_name":"episode_0003"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0003.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_1635/tex_ceiling_textures_6534/tex_floor_textures_476/tex_table_textures_4846/tex_wall_textures_7793","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":233333776935005625,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":233333776935005625,"visual_seed":233333776935005625,"scene_id":"lab_003","finished_at":"2026-09-05T20:12:38"} +{"episode_id":"ep_000004","started_at":"2026-09-05T20:12:42","dimensions":{"distractor":{"count":25,"items":[{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_0","position":[0.6195253548991309,-1.8093083765725497,0.71338606911949],"aabb_xy":[[0.5395253569183457,-1.8169099175344017],[0.6995253528799158,-1.8017068356106978]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_1","position":[-0.5979031180296467,-0.592220873720755,0.71338606911949],"aabb_xy":[[-0.6013437942697039,-0.5960823066951195],[-0.5944624417895895,-0.5883594407463906]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_2","position":[0.19768937330768643,0.6979152655136218,0.71338606911949],"aabb_xy":[[0.14005890442041555,0.6379152665869111],[0.25531984219495724,0.7579152644403322]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_3","position":[-0.19984827496651109,1.462387404858283,0.71338606911949],"aabb_xy":[[-0.26484827592363824,1.4104391929245772],[-0.13484827400938387,1.5143356167919884]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_4","position":[0.5695484931068864,-0.8109236545269267,0.71338606911949],"aabb_xy":[[0.5195484914453915,-0.8609220967826294],[0.619548494768381,-0.760925212271224]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_5","position":[-0.09440165487782415,0.31817302178386964,0.71338606911949],"aabb_xy":[[-0.11429269475816442,0.30551721049917285],[-0.07451061499748392,0.33082883306856653]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_6","position":[-0.4189013013764477,-1.0602650809911538,0.71338606911949],"aabb_xy":[[-0.42768252852368405,-1.069044828279684],[-0.4101200742292116,-1.051485333702624]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_7","position":[-0.5318323387339579,-1.090383583575102,0.71338606911949],"aabb_xy":[[-0.5366759334951879,-1.0952352360540862],[-0.526988743972728,-1.085531931096118]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_8","position":[0.12423131384443764,-1.84719057578931,0.71338606911949],"aabb_xy":[[0.10834682057911249,-1.8615435160881337],[0.1401158071097628,-1.8328376354904856]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_9","position":[-0.32900372641301856,-2.277194096625494,0.71338606911949],"aabb_xy":[[-0.35028173455649075,-2.3421940989515666],[-0.30772571826954626,-2.2121940942994205]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_10","position":[-0.4525188876721715,-0.5721726107033964,0.71338606911949],"aabb_xy":[[-0.48698123507031327,-0.6066664931012189],[-0.41805654027402966,-0.5376787283055735]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_11","position":[0.6472668298809408,0.3669892469379694,0.71338606911949],"aabb_xy":[[0.597266828930408,0.33544009993444796],[0.6972668308314736,0.39853839394149077]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_12","position":[0.5802044602142213,-0.2081157478510427,0.71338606911949],"aabb_xy":[[0.5307240390002627,-0.2721157457638945],[0.6296848814281802,-0.14411574993819087]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_13","position":[-0.14999486129347106,-1.9000005777999407,0.71338606911949],"aabb_xy":[[-0.1874948619580497,-1.9156876358001627],[-0.11249486062889232,-1.8843135197997183]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_14","position":[0.39990065598255,-0.9279422722716819,0.71338606911949],"aabb_xy":[[0.391686110866866,-0.9366188625693231],[0.40811520109823396,-0.9192656819740405]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_15","position":[-0.30857444096215275,-1.5444613971701304,0.71338606911949],"aabb_xy":[[-0.37857443737211444,-1.5648993328218117],[-0.23857444455219087,-1.5240234615184483]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_16","position":[0.45647473874148603,1.0730381293647735,0.71338606911949],"aabb_xy":[[0.4189747383932582,1.0612467337836897],[0.49397473908971373,1.0848295249458568]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_17","position":[0.4755332001818595,-0.5798182676692947,0.71338606911949],"aabb_xy":[[0.46623958194470894,-0.6173182661574285],[0.4848268184190101,-0.5423182691811607]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_18","position":[0.01940408373637137,0.6596156704421907,0.71338606911949],"aabb_xy":[[0.012990270093186427,0.6532058501945223],[0.025817897379556306,0.666025490689859]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_19","position":[-0.24892134160790436,0.4572857510955157,0.71338606911949],"aabb_xy":[[-0.2813830424898317,0.42715291898061303],[-0.21645964072597684,0.4874185832104183]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_20","position":[-0.511093700013866,1.2627200600487294,0.71338606911949],"aabb_xy":[[-0.5726844592378589,1.1987200619396825],[-0.4495029407898733,1.3267200581577763]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_21","position":[-0.4408128339737442,0.40715452041062905,0.71338606911949],"aabb_xy":[[-0.5208128325610637,0.3278389184724682],[-0.3608128353864248,0.48647012234879]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_22","position":[-0.30337739243525624,-0.6719538940469734,0.71338606911949],"aabb_xy":[[-0.3683773903169041,-0.7230775577535142],[-0.2383773945536085,-0.6208302303404325]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_23","position":[-0.3182531835542056,1.135645376572544,0.71338606911949],"aabb_xy":[[-0.38224888094930215,1.0716453782718351],[-0.254257486159109,1.1996453748732525]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_24","position":[-0.28927892839783276,0.3383535582359891,0.71338606911949],"aabb_xy":[[-0.2953735562859511,0.3297841636843204],[-0.28318430050971444,0.34692295278765783]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.667675168165158,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6819.png","name":"6819"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6819.png","name":"6819"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2093.png","name":"2093"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3374.png","name":"3374"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4933.png","name":"4933"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/777.png","name":"777"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":761.3768251256813,"rotation_z_degrees":231.44694026013246,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01476042607293172,-0.010999334662894392,0.0073098825104275685]},{"name":"camera_2","offset_m":[-0.017285934931420065,0.005405163496963173,-0.0030257192116507486]},{"name":"camera_3","offset_m":[0.005694735050089293,-0.017497630915032928,0.011170356913509469]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0018458288656188135,0.00029935320439002924,0.0019491669273687734],"end_effector_yaw_offset_degrees":-0.5998210560210477},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0005681051050750361,0.00019252396408911843,-0.0006671557526774562],"end_effector_yaw_offset_degrees":-0.5185532445301329},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001895684467409696,0.0006150416796781464,0.00022638631713526366],"end_effector_yaw_offset_degrees":-0.08949347412003106},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001500564392436329,0.00025280326460067537,0.001315074374921221],"end_effector_yaw_offset_degrees":0.8289044303227144}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.001643305175161749,-0.0031585254345936984],"position_m":[0.21135669482483824,-0.1416585254345937,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0016298602261832825,-0.00416228061262415],"position_m":[0.23372986022618328,-0.36846228061262415,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0003628678979171072,0.003064700954689948],"position_m":[0.2908371321020829,-0.036535299045310055,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002790668578616883,-0.003418116242214825],"position_m":[0.34679066857861685,0.17148188375778517,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1ed92b220d459ecccee2870602cdb14a75a39d00d11e60e14959915ecdd55ab8","episode_index":4,"episode_name":"episode_0004"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0004.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_6819/tex_ceiling_textures_777/tex_floor_textures_4933/tex_table_textures_2093/tex_wall_textures_3374","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":8333722650316760132,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":8333722650316760132,"visual_seed":8333722650316760132,"scene_id":"lab_003","finished_at":"2026-09-05T20:16:18"} +{"episode_id":"ep_000005","started_at":"2026-09-05T20:16:22","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_0","position":[0.6039030899474245,-0.8822873675683183,0.71338606911949],"aabb_xy":[[0.5919703555855964,-0.8946695203761779],[0.6158358243092525,-0.8699052147604591]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_1","position":[-0.48348686356076465,1.8046082857118768,0.71338606911949],"aabb_xy":[[-0.489581491448883,1.796038891160208],[-0.4773922356726464,1.8131776802635455]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_2","position":[-0.4508669227405414,-1.6408348817515022,0.71338606911949],"aabb_xy":[[-0.4873627433678202,-1.6773188241782597],[-0.4143711021132627,-1.6043509393247446]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_3","position":[0.5297641100337305,-0.5434055292028459,0.71338606911949],"aabb_xy":[[0.4798814131560343,-0.5934055284491208],[0.5796468069114267,-0.4934055299565713]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_4","position":[0.45144282735220775,-2.2526947663595207,0.71338606911949],"aabb_xy":[[0.40144282599132053,-2.302672670934936],[0.501442828713095,-2.2027168617841046]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_5","position":[0.28386696897842345,-0.9778731779542529,0.71338606911949],"aabb_xy":[[0.26607346204350696,-0.9956729235500505],[0.30166047591333983,-0.9600734323584552]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_6","position":[0.587041931717851,-0.3260084458208632,0.71338606911949],"aabb_xy":[[0.5791186514791027,-0.34850844605886655],[0.5949652119565993,-0.30350844558285983]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_7","position":[0.486036001538271,1.1199537156823682,0.71338606911949],"aabb_xy":[[0.4492413684133647,1.083047840585786],[0.5228306346631773,1.1568595907789505]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_8","position":[-0.38651148948696457,1.5026159989358434,0.71338606911949],"aabb_xy":[[-0.4365114898475306,1.4526360117262402],[-0.33651148912639844,1.5525959861454461]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_9","position":[0.4635343063877382,-2.0030582725729364,0.71338606911949],"aabb_xy":[[0.45649399645420136,-2.0830582719726083],[0.47057461632127534,-1.9230582731732655]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_10","position":[0.4110274225504382,-1.3403627390141266,0.71338606911949],"aabb_xy":[[0.3410274207416928,-1.361716507778314],[0.48102742435918366,-1.3190089702499392]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_11","position":[0.36199882803230765,-2.5457580666256416,0.71338606911949],"aabb_xy":[[0.28199883101805967,-2.5658926182990527],[0.44199882504655563,-2.5256235149522306]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_12","position":[0.43505286249365227,0.6210908945192357,0.71338606911949],"aabb_xy":[[0.4025911616117248,0.5909580624043329],[0.46751456337557973,0.6512237266341381]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_13","position":[-0.6410435723234812,-1.0591587934767557,0.71338606911949],"aabb_xy":[[-0.6760435714534367,-1.0649040145524198],[-0.6060435731935254,-1.0534135724010916]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_14","position":[-0.10055980490098682,-1.2816161403997461,0.71338606911949],"aabb_xy":[[-0.1309579160001304,-1.3120230424014154],[-0.07016169380184323,-1.2512092383980764]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_15","position":[0.42321555350885687,-1.0720788000791779,0.71338606911949],"aabb_xy":[[0.4139219352717063,-1.1095787985673116],[0.43250917174600745,-1.0345788015910438]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_16","position":[-0.42504475180245055,1.2251916516531418,0.71338606911949],"aabb_xy":[[-0.49004475444024403,1.1737120529536949],[-0.36004474916465706,1.2766712503525888]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_17","position":[-0.07049952507106594,0.750729504735705,0.71338606911949],"aabb_xy":[[-0.08394605170510928,0.7372596530826139],[-0.05705299843702262,0.7641993563887963]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_18","position":[-0.22866130650755945,0.3692956429092753,0.71338606911949],"aabb_xy":[[-0.29025206573155227,0.3052956448002284],[-0.16707054728356663,0.4332956410183222]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_19","position":[0.5183676410947944,0.054732271713213265,0.71338606911949],"aabb_xy":[[0.4958676410846461,0.040636052073609985],[0.5408676411049427,0.06882849135281655]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_20","position":[-0.3995005986487992,-0.9744631788085492,0.71338606911949],"aabb_xy":[[-0.4473067662625678,-1.0394631815156081],[-0.35169443103503056,-0.9094631761014902]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_21","position":[0.41379808415331887,0.25771990044940996,0.71338606911949],"aabb_xy":[[0.37629808398144693,0.2250191650665027],[0.4512980843251908,0.2904206358323171]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_22","position":[-0.6145528828450293,1.5918498153841418,0.71338606911949],"aabb_xy":[[-0.6395528823967678,1.5817073315190069],[-0.5895528832932908,1.6019922992492763]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_23","position":[0.6058578369716909,0.8744128645886344,0.71338606911949],"aabb_xy":[[0.5957048214175413,0.8383433230158939],[0.6160108525258401,0.9104824061613745]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_24","position":[0.5166127901164765,0.7565098295037163,0.71338606911949],"aabb_xy":[[0.4816127918057812,0.7487948145801706],[0.5516127884271721,0.7642248444272619]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_25","position":[-0.46346612192594405,-1.3755468134232043,0.71338606911949],"aabb_xy":[[-0.48167194558719184,-1.3865722140051961],[-0.4452602982646965,-1.3645214128412129]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_26","position":[-0.4660575115557705,0.4725831008076118,0.71338606911949],"aabb_xy":[[-0.5210575111775164,0.4175994080201391],[-0.4110575119340247,0.5275667935950845]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6653840245829744,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6216.png","name":"6216"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6216.png","name":"6216"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8439.png","name":"8439"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4431.png","name":"4431"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5915.png","name":"5915"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4387.png","name":"4387"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":671.7438679190893,"rotation_z_degrees":56.91720099182727,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01134350295497422,-0.003810185605609865,-0.00141695963592732]},{"name":"camera_2","offset_m":[0.018441640955855713,0.005247883856883028,0.016006618252570905]},{"name":"camera_3","offset_m":[-0.016459915725635658,0.0033826417032016727,0.010122903987829186]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0001996856881283592,0.0011722229731969459,-0.00013052842425301443],"end_effector_yaw_offset_degrees":-0.22709749794035505},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0010585448567879139,0.0010630692484563625,-0.00013238427411837333],"end_effector_yaw_offset_degrees":0.8066964343585226},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0006395013750984837,0.0012569929206065378,0.0016024626626092212],"end_effector_yaw_offset_degrees":0.028036006562118354},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0014858463030532603,0.0003949767839586324,0.001742304984435822],"end_effector_yaw_offset_degrees":0.6602815558709214}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[6.535407417645935e-05,0.004957511785398273],"position_m":[0.21306535407417646,-0.13354248821460174,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0010976826968032063,-0.0008063109724858273],"position_m":[0.23319768269680322,-0.36510631097248586,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0007077853250082745,-0.0018147396457397413],"position_m":[0.29049221467499176,-0.041414739645739745,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0003511798402040609,0.004865580826914667],"position_m":[0.344351179840204,0.17976558082691466,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3f4ea7d108f60b20e013ae27f03123d92ff1e94ae83b27a5e514adafc219e085","episode_index":5,"episode_name":"episode_0005"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0005.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_6216/tex_ceiling_textures_4387/tex_floor_textures_5915/tex_table_textures_8439/tex_wall_textures_4431","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":4398132067094493289,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":4398132067094493289,"visual_seed":4398132067094493289,"scene_id":"lab_003","finished_at":"2026-09-05T20:19:47"} +{"episode_id":"ep_000006","started_at":"2026-09-05T20:19:50","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_0","position":[0.5797916622064923,-1.2752430832846722,0.71338606911949],"aabb_xy":[[0.5654572370803288,-1.287303298839211],[0.5941260873326557,-1.2631828677301333]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_1","position":[0.6407044577827901,-1.445111892943417,0.71338606911949],"aabb_xy":[[0.6182053220565631,-1.46761189372168],[0.663203593509017,-1.422611892165154]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_2","position":[-0.6858023569283936,1.1053269076001682,0.71338606911949],"aabb_xy":[[-0.6899183070404662,1.1012113525673224],[-0.6816864068163209,1.1094424626330135]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_3","position":[-0.5106661007508799,0.0565031390225732,0.71338606911949],"aabb_xy":[[-0.5906599243294381,-0.02349686357026836],[-0.4306722771723217,0.13650314161541477]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_4","position":[-0.09835924328438617,-1.3485367891180438,0.71338606911949],"aabb_xy":[[-0.13213480247507914,-1.362575284331209],[-0.0645836840936932,-1.3344982939048786]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_5","position":[0.6147293170089345,1.1104283441976004,0.71338606911949],"aabb_xy":[[0.5847376542750642,1.0804283448607999],[0.6447209797428048,1.140428343534401]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_6","position":[0.6120909331641029,-0.26314317125222475,0.71338606911949],"aabb_xy":[[0.6011851570765401,-0.3431431676510539],[0.6229967092516655,-0.1831431748533956]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_7","position":[0.17321812956068972,-1.694394029471742,0.71338606911949],"aabb_xy":[[0.15977160292664636,-1.7078638811248332],[0.18666465619473302,-1.6809241778186506]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_8","position":[0.28693317688319253,-1.935170596038292,0.71338606911949],"aabb_xy":[[0.23193317726144674,-1.9901542888257646],[0.34193317650493843,-1.8801869032508192]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_9","position":[-0.16664683441221395,-1.5841665989767546,0.71338606911949],"aabb_xy":[[-0.18181900369384732,-1.599335455904958],[-0.15147466513058064,-1.5689977420485512]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_10","position":[-0.4268299505680707,-2.528239620443476,0.71338606911949],"aabb_xy":[[-0.4818299497446602,-2.583229295218433],[-0.37182995139148123,-2.4732499456685177]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_11","position":[-0.45935047401475904,-1.9242379262860143,0.71338606911949],"aabb_xy":[[-0.5233504763575605,-1.9691787775301468],[-0.39535047167195747,-1.8792970750418818]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_12","position":[0.44741070264522076,-2.4977676487565192,0.71338606911949],"aabb_xy":[[0.409910701980642,-2.5134547067567414],[0.4849107033097994,-2.482080590756297]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_13","position":[-0.6118662012554045,0.5228468523986454,0.71338606911949],"aabb_xy":[[-0.6758662005495728,0.4588607120297912],[-0.5478662019612364,0.5868329927674996]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_14","position":[0.6103576638597488,-1.0592925736183507,0.71338606911949],"aabb_xy":[[0.5453576612219554,-1.1107721723177975],[0.6753576664975424,-1.0078129749189035]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_15","position":[-0.10352001423662638,0.826348650003975,0.71338606911949],"aabb_xy":[[-0.16752001282319884,0.7793416866044662],[-0.03952001565005392,0.8733556134034837]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_16","position":[0.29271745631033386,-0.8854906638646853,0.71338606911949],"aabb_xy":[[0.22871745714056393,-0.9322573509836478],[0.3567174554801038,-0.8387239767457229]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_17","position":[-0.22019740903829638,-1.8313803368293637,0.71338606911949],"aabb_xy":[[-0.23769740831638322,-1.84871843689571],[-0.20269740976020947,-1.814042236763018]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_18","position":[0.026278828637856577,1.444456256878278,0.71338606911949],"aabb_xy":[[0.009368096201514796,1.430984051285663],[0.04318956107419835,1.4579284624708924]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_19","position":[-0.3053236949088683,0.2816556925394562,0.71338606911949],"aabb_xy":[[-0.30975432426370847,0.27620732080477367],[-0.3008930655540281,0.28710406427413887]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_20","position":[-0.4804350187000276,1.498268489276947,0.71338606911949],"aabb_xy":[[-0.4979350189450769,1.4807687014373798],[-0.46293501845497814,1.5157682771165135]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_21","position":[0.6652701786547246,-1.7940333802481634,0.71338606911949],"aabb_xy":[[0.6533980956432234,-1.8790333799418135],[0.6771422616662256,-1.7090333805545128]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_22","position":[0.5890868762393404,-0.730245302559364,0.71338606911949],"aabb_xy":[[0.5841875839327768,-0.7579222218619327],[0.5939861685459038,-0.7025683832567952]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_23","position":[-0.13643118349471461,0.6755368476430634,0.71338606911949],"aabb_xy":[[-0.16272000781515525,0.6492654139884122],[-0.11014235917427394,0.7018082812977147]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_24","position":[0.42205241074768773,1.626907224343292,0.71338606911949],"aabb_xy":[[0.36706016011217685,1.5719072225999797],[0.4770446613831988,1.6819072260866053]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_25","position":[-0.4455793001320771,-2.2109027603996623,0.71338606911949],"aabb_xy":[[-0.5095793008355465,-2.2569211428725837],[-0.3815792994286078,-2.1648843779267417]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_26","position":[0.610211578388324,-0.46150322588072035,0.71338606911949],"aabb_xy":[[0.5877151569544597,-0.48400322568746773],[0.632707999822188,-0.43900322607397285]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_27","position":[-0.6292147746615623,-2.1759589041511163,0.71338606911949],"aabb_xy":[[-0.6942147728174812,-2.202255148701029],[-0.5642147765056431,-2.1496626596012045]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_28","position":[0.004621844542315845,-0.9735947229536783,0.71338606911949],"aabb_xy":[[-0.045355572322937736,-1.0235947244429267],[0.054599261407569426,-0.9235947214644297]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_29","position":[0.4301948760313825,-2.141870637049328,0.71338606911949],"aabb_xy":[[0.3830654970295468,-2.205870638093729],[0.4773242550332181,-2.077870636004925]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_30","position":[-0.36217378550361756,1.037631590015108,0.71338606911949],"aabb_xy":[[-0.4121580212117948,0.9876315912016123],[-0.31218954979544034,1.0876315888286034]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6621635690971374,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4617.png","name":"4617"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4617.png","name":"4617"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/452.png","name":"452"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7301.png","name":"7301"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9922.png","name":"9922"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2723.png","name":"2723"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":603.6200583772462,"rotation_z_degrees":145.8708462379495,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015870573106785805,0.018738151810902794,0.0014198279358823285]},{"name":"camera_2","offset_m":[-0.012094041388531753,0.0026697783914327727,0.013327182927153899]},{"name":"camera_3","offset_m":[-0.01622784525165017,0.013430588174307524,0.009509030278987005]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0016182360128132412,0.0011514786435693636,0.0018089338874216088],"end_effector_yaw_offset_degrees":0.8898200871648743},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0016543859339710255,-0.001559694772424098,0.0014327135959549772],"end_effector_yaw_offset_degrees":-0.1193076302632945},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0017150115565467035,0.00012717315300145174,-0.0015659247452139478],"end_effector_yaw_offset_degrees":0.3830866791103167},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00024937364919338546,0.0007494898809755029,-0.0005904274186147762],"end_effector_yaw_offset_degrees":-0.9112196976386078}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0031752133478675218,0.002793564992782229],"position_m":[0.20982478665213247,-0.1357064350072178,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00421275336055706,-0.0029969704936319785],"position_m":[0.22788724663944293,-0.36729697049363197,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.001134508452277957,-0.0020378528147659116],"position_m":[0.29006549154772204,-0.04163785281476592,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0021760064628037314,-0.004013391503442693],"position_m":[0.3461760064628037,0.17088660849655732,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4951f84499e6880e02a9c99af147b55bc86c8a397acc58eadbc7c0939b5f8cc5","episode_index":6,"episode_name":"episode_0006"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0006.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_4617/tex_ceiling_textures_2723/tex_floor_textures_9922/tex_table_textures_452/tex_wall_textures_7301","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":2834678678410947340,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":2834678678410947340,"visual_seed":2834678678410947340,"scene_id":"lab_003","finished_at":"2026-09-05T20:23:30"} +{"episode_id":"ep_000007","started_at":"2026-09-05T20:23:34","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_0","position":[-0.4801844391104659,-0.4038800445562556,0.71338606911949],"aabb_xy":[[-0.5301686748186432,-0.45388004336975113],[-0.43020020340228865,-0.35388004574275994]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_1","position":[0.028481456139180517,1.749380716473778,0.71338606911949],"aabb_xy":[[0.009597072370670309,1.7304947916934252],[0.04736583990769072,1.7682666412541308]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_2","position":[-0.14846928868660447,0.6101010837900267,0.71338606911949],"aabb_xy":[[-0.18531983662359208,0.572601082966993],[-0.11161874074961686,0.6476010846130604]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_3","position":[-0.2132778176733957,-0.7309344411824148,0.71338606911949],"aabb_xy":[[-0.2632778193348904,-0.7809328834381174],[-0.16327781601190092,-0.680935998926712]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_4","position":[-0.11375283888062038,-1.4238246470154183,0.71338606911949],"aabb_xy":[[-0.13162194663507587,-1.4376575549926294],[-0.09588373112616487,-1.4099917390382073]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_5","position":[-0.5579605038762766,-0.16684187635516956,0.71338606911949],"aabb_xy":[[-0.6229605048767771,-0.2176282415098445],[-0.4929605028757761,-0.11605551120049462]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_6","position":[-0.6433931128368306,0.8790642743997994,0.71338606911949],"aabb_xy":[[-0.6610259484303582,0.8614413283841763],[-0.6257602772433031,0.8966872204154223]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_7","position":[-0.15013362773117478,1.1857353388421767,0.71338606911949],"aabb_xy":[[-0.16833945139242246,1.174709938260185],[-0.1319278040699271,1.1967607394241684]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_8","position":[0.03591782174184821,-1.649028157581554,0.71338606911949],"aabb_xy":[[-0.04408217623893683,-1.6566296985434057],[0.11591781972263326,-1.6414266166197018]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_9","position":[-0.2933829551414908,1.6430883296910284,0.71338606911949],"aabb_xy":[[-0.3015106433348041,1.6341747212803206],[-0.28525526694817765,1.6520019381017361]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_10","position":[0.49904922518963013,0.9111793422615619,0.71338606911949],"aabb_xy":[[0.44405601385249344,0.8561793419227685],[0.5540424365267669,0.9661793426003557]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_11","position":[0.19714278661767992,-2.4644977874221494,0.71338606911949],"aabb_xy":[[0.15612484323130904,-2.5144977880531068],[0.2381607300040508,-2.414497786791192]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_12","position":[-0.327078684727753,-2.1043222172735008,0.71338606911949],"aabb_xy":[[-0.417078688404671,-2.1657546238506042],[-0.23707868105083468,-2.0428898106963955]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_13","position":[-0.40466411675416125,-0.7171577954180728,0.71338606911949],"aabb_xy":[[-0.45465894968210285,-0.7671577943133163],[-0.35466928382621965,-0.6671577965228292]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_14","position":[-0.07398613245608754,1.5321030539666665,0.71338606911949],"aabb_xy":[[-0.12397924456527945,1.482103053292471],[-0.023993020346895662,1.5821030546408625]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_15","position":[-0.04713824365310337,0.19474330875374246,0.71338606911949],"aabb_xy":[[-0.06963824346700576,0.19026869238326174],[-0.02463824383920099,0.19921792512422312]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_16","position":[-0.2734541487641651,0.7822824881400692,0.71338606911949],"aabb_xy":[[-0.3284541469659099,0.7417605215136316],[-0.21845415056242026,0.8228044547665068]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_17","position":[0.5997651035588583,-2.2969750185997855,0.71338606911949],"aabb_xy":[[0.5872977454491226,-2.309440343233109],[0.6122324616685939,-2.284509693966462]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_18","position":[-0.5944787239241527,1.5100156224337566,0.71338606911949],"aabb_xy":[[-0.6794787226162273,1.4780297590388778],[-0.509478725232078,1.5420014858286355]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_19","position":[0.26959638307714084,-1.4309667807609676,0.71338606911949],"aabb_xy":[[0.25699368394006444,-1.4435621769858331],[0.28219908221421736,-1.4183713845361021]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_20","position":[-0.00515718587526115,-1.580018914216298,0.71338606911949],"aabb_xy":[[-0.01491317538443504,-1.5897814482755324],[0.004598803633912741,-1.5702563801570635]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_21","position":[-0.05593436415950781,-1.3476305500483376,0.71338606911949],"aabb_xy":[[-0.06473641946848051,-1.3554418762032665],[-0.04713230885053509,-1.3398192238934084]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_22","position":[0.4943827754257262,1.0272125057201782,0.71338606911949],"aabb_xy":[[0.48807067588938763,1.0214455664669593],[0.5006948749620644,1.032979444973397]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_23","position":[0.2349264981958843,-0.7439900929851135,0.71338606911949],"aabb_xy":[[0.19367768716596956,-0.7989900924973309],[0.276175309225799,-0.688990093472896]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_24","position":[0.34627127785005185,1.4635510178800124,0.71338606911949],"aabb_xy":[[0.2812712767441086,1.4385856448118841],[0.4112712789559952,1.4885163909481407]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_25","position":[0.42926182308115646,0.3464262765719499,0.71338606911949],"aabb_xy":[[0.41801676751053857,0.33518447884785463],[0.44050687865177424,0.3576680742960452]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_26","position":[-0.3118115693106947,-1.0703542206599725,0.71338606911949],"aabb_xy":[[-0.3955337948107771,-1.1603542241946685],[-0.2280893438106122,-0.9803542171252766]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_27","position":[-0.6714179321410347,-0.4386617426652375,0.71338606911949],"aabb_xy":[[-0.68011589443175,-0.4507867169727123],[-0.6627199698503194,-0.42653676835776283]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_28","position":[0.14228140830821123,-0.5997922566155189,0.71338606911949],"aabb_xy":[[0.13457821763413416,-0.6075016273142568],[0.14998459898228825,-0.5920828859167808]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_29","position":[0.11294940498086137,-1.2970938023348624,0.71338606911949],"aabb_xy":[[0.07835832212681615,-1.3620938026198934],[0.1475404878349066,-1.2320938020498313]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_30","position":[0.07708610023595985,1.209338246362642,0.71338606911949],"aabb_xy":[[-0.0029138967782881275,1.1892036946892308],[0.15708609725020783,1.2294727980360534]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_31","position":[-0.22940048138189995,-1.5583927309191958,0.71338606911949],"aabb_xy":[[-0.24096946212883652,-1.5833927310361278],[-0.21783150063496337,-1.5333927308022643]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_32","position":[0.08330762917198997,-1.9527169563800468,0.71338606911949],"aabb_xy":[[0.01930762879445634,-2.002462223230859],[0.1473076295495236,-1.9029716895292346]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_33","position":[-0.47877843872559234,1.769451748918359,0.71338606911949],"aabb_xy":[[-0.5162784386693587,1.7611586588835224],[-0.44127843878182593,1.7777448389531956]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6593490555667083,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/69.png","name":"69"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/69.png","name":"69"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/599.png","name":"599"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8060.png","name":"8060"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5229.png","name":"5229"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8623.png","name":"8623"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":657.8096253389959,"rotation_z_degrees":310.3259549141396,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01243293472785376,0.0013765148794934214,-0.014939744854111515]},{"name":"camera_2","offset_m":[0.005848107053055485,-0.01740490499599358,-0.0037530086344663427]},{"name":"camera_3","offset_m":[-0.00972026396245671,0.005022255374906991,0.01042001039596336]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00030736674398234264,0.001257974792479645,0.0007296824407685711],"end_effector_yaw_offset_degrees":0.4635276385992315},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0018527357379693452,-0.0016231267192232989,-0.001343881075702185],"end_effector_yaw_offset_degrees":0.3770797615086705},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0005306286677691364,0.0006164284108911211,0.00021256386020681054],"end_effector_yaw_offset_degrees":-0.3139158427957818},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0014959290963101903,-0.0007803353251710568,0.0001485914005883355],"end_effector_yaw_offset_degrees":-0.9377767661175245}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0009591884799802965,-0.0046454843521222065],"position_m":[0.2120408115200197,-0.1431454843521222,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0034237182620906834,0.003304591711769036],"position_m":[0.22867628173790933,-0.36099540828823096,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0039753116945266545,-0.003435814207603215],"position_m":[0.2872246883054734,-0.04303581420760322,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003648891985443637,-0.004497617138975131],"position_m":[0.34764889198544363,0.17040238286102488,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"931c0ed07d2f75715d86a0028ab5ce678091a6976efd77b8b3696cf097adb83e","episode_index":7,"episode_name":"episode_0007"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0007.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_69/tex_ceiling_textures_8623/tex_floor_textures_5229/tex_table_textures_599/tex_wall_textures_8060","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":3555443559641924985,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":3555443559641924985,"visual_seed":3555443559641924985,"scene_id":"lab_003","finished_at":"2026-09-05T20:27:02"} +{"episode_id":"ep_000008","started_at":"2026-09-05T20:27:06","dimensions":{"distractor":{"count":25,"items":[{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_0","position":[0.28747395116388774,1.3934664966660617,0.71338606911949],"aabb_xy":[[0.2655842035749469,1.3034664993768128],[0.3093636987528285,1.483466493955311]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_1","position":[0.4099466107534011,-1.3337403067938975,0.71338606911949],"aabb_xy":[[0.4007867318095245,-1.3402715248374348],[0.4191064896972777,-1.3272090887503607]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_2","position":[-0.42849548672207716,-1.3843894590215398,0.71338606911949],"aabb_xy":[[-0.4571448190824933,-1.413035018298615],[-0.3998461543616609,-1.3557438997444635]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_3","position":[0.2901843036682742,-1.3136375634566557,0.71338606911949],"aabb_xy":[[0.27695335813359284,-1.3268649824786547],[0.30341524920295543,-1.3004101444346559]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_4","position":[0.5840201899133173,-1.966413068492702,0.71338606911949],"aabb_xy":[[0.5515584890313897,-1.9965459006076043],[0.6164818907952446,-1.9362802363777991]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_5","position":[0.2585818019306637,-1.6481727009175722,0.71338606911949],"aabb_xy":[[0.24108186849668028,-1.6656727008378065],[0.27608173536464703,-1.6306727009973374]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_6","position":[0.050906079459026365,-1.6251379836332382,0.71338606911949],"aabb_xy":[[-0.013093922218970988,-1.6736553751125525],[0.11490608113702372,-1.576620592153924]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_7","position":[0.6161999503572959,-2.161674586258396,0.71338606911949],"aabb_xy":[[0.6089561843110505,-2.2416745844619985],[0.6234437164035411,-2.0816745880547938]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_8","position":[-0.6274389824967409,-0.8798036735804518,0.71338606911949],"aabb_xy":[[-0.6378505411772245,-0.8851494069163501],[-0.6170274238162571,-0.8744579402445531]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_9","position":[0.2925603452079525,-0.8516980555386291,0.71338606911949],"aabb_xy":[[0.24246288122687887,-0.915698056048441],[0.3426578091890261,-0.7876980550288174]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_10","position":[0.020592106064991178,0.9923559661973309,0.71338606911949],"aabb_xy":[[-0.029381187938269274,0.9423559656427836],[0.07056540006825163,1.0423559667518782]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_11","position":[-0.09170830164258803,-1.435687875608009,0.71338606911949],"aabb_xy":[[-0.14670830126433387,-1.4906715683954819],[-0.0367083020208422,-1.3807041828205364]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_12","position":[0.6279764718499292,0.40475576839128946,0.71338606911949],"aabb_xy":[[0.5929764735798092,0.39768164069630124],[0.662976470120049,0.41182989608627757]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_13","position":[0.4665127886261835,-0.5824120320302857,0.71338606911949],"aabb_xy":[[0.3815127899341088,-0.6143978954251644],[0.5515127873182581,-0.5504261686354067]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_14","position":[-0.5963719785658257,0.4826984770215539,0.71338606911949],"aabb_xy":[[-0.6463719798496655,0.43271962263093183],[-0.5463719772819856,0.532677331412176]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_15","position":[0.49913899734259193,1.1726402277436865,0.71338606911949],"aabb_xy":[[0.41913899591246473,1.0931230727310768],[0.5791389987727191,1.2521573827562957]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_16","position":[-0.36009989382888624,-2.331487279529727,0.71338606911949],"aabb_xy":[[-0.4240998929986562,-2.378253966648689],[-0.2960998946591163,-2.284720592410764]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_17","position":[0.6175918890410772,0.6002735387460993,0.71338606911949],"aabb_xy":[[0.5676089388535976,0.5502735391035388],[0.6675748392285563,0.6502735383886596]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_18","position":[-0.4631248141785809,-1.813932948000736,0.71338606911949],"aabb_xy":[[-0.5431248111928288,-1.834067499674147],[-0.383124817164333,-1.7937983963273245]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_19","position":[-0.4978805962057594,-0.47577186740296185,0.71338606911949],"aabb_xy":[[-0.5473610174197183,-0.5397718653158137],[-0.4484001749918007,-0.4117718694901101]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_20","position":[0.386319073657585,-1.190581843937684,0.71338606911949],"aabb_xy":[[0.3681132499963373,-1.2016072445196757],[0.4045248973188327,-1.1795564433556924]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_21","position":[-0.35943630630433626,0.6737534912805532,0.71338606911949],"aabb_xy":[[-0.38572513062477687,0.6474820576259019],[-0.33314748198389554,0.7000249249352044]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_22","position":[0.7016302511052126,-1.1874811341174756,0.71338606911949],"aabb_xy":[[0.6928490239579764,-1.1962608814060058],[0.710411478252449,-1.1787013868289458]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_23","position":[0.5785815707599162,0.758708144694793,0.71338606911949],"aabb_xy":[[0.5135815728782686,0.707584480988252],[0.6435815686415641,0.8098318084013338]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_24","position":[0.6765128444872113,0.011570692946282879,0.71338606911949],"aabb_xy":[[0.6716135521806477,-0.01610622635628589],[0.6814121367937747,0.03924761224885165]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6652150403694599,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2815.png","name":"2815"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2815.png","name":"2815"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1571.png","name":"1571"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3624.png","name":"3624"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6120.png","name":"6120"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3639.png","name":"3639"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":711.8687857668085,"rotation_z_degrees":70.14487157440738,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0092621479470642,-0.01895424141099657,0.01859139490395492]},{"name":"camera_2","offset_m":[0.0015726457871648725,-0.007435403450572897,0.01094764502618506]},{"name":"camera_3","offset_m":[-0.014499695863510555,-0.012614055023155667,-0.0023752211363036457]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0018198497844178028,0.0003038997311222728,0.0013969137139402269],"end_effector_yaw_offset_degrees":0.19887262479139411},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00036460779578513644,0.001725510772635885,0.0014950488604979443],"end_effector_yaw_offset_degrees":0.13119152782034482},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0004700916138230078,0.0008948822850084505,-0.001654459051404353],"end_effector_yaw_offset_degrees":0.3942703251486759},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001388694535305286,-0.0007898157159535546,-0.0016770693730682384],"end_effector_yaw_offset_degrees":-0.6909932472222164}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0011283768191673671,0.0018565948058118596],"position_m":[0.21187162318083264,-0.13664340519418816,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004097839886344166,0.004117967778041688],"position_m":[0.23619783988634416,-0.3601820322219583,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0035257631225094925,-0.0001012786783617407],"position_m":[0.2876742368774905,-0.03970127867836174,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0022024773019627777,-0.0038062135850904875],"position_m":[0.3417975226980372,0.17109378641490952,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"237a1790f6fc4849af0c5009cce8b351f2d205d8c2acafca58617864e483bafe","episode_index":8,"episode_name":"episode_0008"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0008.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_2815/tex_ceiling_textures_3639/tex_floor_textures_6120/tex_table_textures_1571/tex_wall_textures_3624","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":1024170187981638367,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":1024170187981638367,"visual_seed":1024170187981638367,"scene_id":"lab_003","finished_at":"2026-09-05T20:30:36"} +{"episode_id":"ep_000009","started_at":"2026-09-05T20:30:41","dimensions":{"distractor":{"count":25,"items":[{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_0","position":[0.16214659922148666,-2.204549353876193,0.71338606911949],"aabb_xy":[[0.08214660124070162,-2.212150894838045],[0.24214659720227172,-2.196947812914341]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_1","position":[-0.014271037162120637,1.2837727575036402,0.71338606911949],"aabb_xy":[[-0.06427103852300785,1.2337948529282243],[0.03572896419876658,1.3337506620790556]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_2","position":[0.08995417893148261,-1.7624356382479867,0.71338606911949],"aabb_xy":[[0.01995417712273717,-1.783789407012174],[0.15995418074022805,-1.7410818694837993]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_3","position":[0.34962926265223637,1.6559449294391988,0.71338606911949],"aabb_xy":[[0.32462926348660326,1.648992683733842],[0.3746292618178695,1.6628971751445552]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_4","position":[-0.5315433680008244,-0.2059550038645397,0.71338606911949],"aabb_xy":[[-0.5665433671936425,-0.21692204986220232],[-0.496543368808006,-0.19498795786687706]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_5","position":[0.5874074166736503,-1.1864463084380386,0.71338606911949],"aabb_xy":[[0.5234117192785538,-1.250446306738747],[0.651403114068747,-1.1224463101373297]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_6","position":[0.6942276551938515,-0.31269486409840486,0.71338606911949],"aabb_xy":[[0.6655783228334352,-0.3413404233754806],[0.7228769875542677,-0.284049304821329]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_7","position":[-0.6445583916334913,0.9961289452424325,0.71338606911949],"aabb_xy":[[-0.6601141610437566,0.9805785119980254],[-0.6290026222232261,1.0116793784868396]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_8","position":[-0.2517149853614217,-1.7700810547432995,0.71338606911949],"aabb_xy":[[-0.3157149817569947,-1.834044343162033],[-0.18771498896584854,-1.706117766324566]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_9","position":[-0.011549556411872275,-1.3128253108230117,0.71338606911949],"aabb_xy":[[-0.07154955666327345,-1.3671066358594763],[0.0484504438395289,-1.258543985786547]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_10","position":[0.6242597947190884,0.4813648143812581,0.71338606911949],"aabb_xy":[[0.6043687548387483,0.4687090030965613],[0.6441508345994288,0.494020625665955]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_11","position":[0.16287385434278212,-2.012989342785499,0.71338606911949],"aabb_xy":[[0.1527208387886327,-2.0490588843582387],[0.17302686989693147,-1.976919801212758]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_12","position":[0.25244607076536973,1.5522703080841391,0.71338606911949],"aabb_xy":[[0.23734376930435155,1.5371687864530768],[0.2675483722263877,1.5673718297152006]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_13","position":[-0.24890418651965046,-0.435458718908571,0.71338606911949],"aabb_xy":[[-0.2604731672665871,-0.4604587190255028],[-0.23733520577271391,-0.41045871879163937]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_14","position":[0.10547448391736436,-1.210529289015004,0.71338606911949],"aabb_xy":[[0.0894125564588467,-1.2955292908275955],[0.12153641137588199,-1.1255292872024119]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_15","position":[-0.4640237667532483,0.12259092923673487,0.71338606911949],"aabb_xy":[[-0.4752688223238661,0.11134913151263957],[-0.4527787111826304,0.13383272696083015]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_16","position":[-0.3088099369855535,0.9934024160129082,0.71338606911949],"aabb_xy":[[-0.3728099376890229,0.9473840335399872],[-0.2448099362820842,1.0394207984858292]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_17","position":[0.4886914010622825,-0.8131395794647327,0.71338606911949],"aabb_xy":[[0.4246914037599361,-0.8575060064325893],[0.5526913983646289,-0.7687731524968758]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_18","position":[0.5548064288171177,-1.0269864575550691,0.71338606911949],"aabb_xy":[[0.5048221931089405,-1.0769864563685647],[0.604790664525295,-0.9769864587415735]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_19","position":[-0.20150053151013902,-0.967535423274033,0.71338606911949],"aabb_xy":[[-0.2565005306867285,-1.0225250980489906],[-0.14650053233354954,-0.9125457484990752]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_20","position":[-0.5353668204566474,-2.036031341559364,0.71338606911949],"aabb_xy":[[-0.5472995548184755,-2.048413494367223],[-0.5234340860948193,-2.0236491887515045]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_21","position":[-0.3991822900974233,-0.564542435506532,0.71338606911949],"aabb_xy":[[-0.4056839266054279,-0.5743102575328419],[-0.39268065358941867,-0.5547746134802224]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_22","position":[-0.46256315551226024,-0.8859757765331737,0.71338606911949],"aabb_xy":[[-0.4838411636557325,-0.9509757788592467],[-0.441285147368788,-0.8209757742071006]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_23","position":[0.22936226943702764,-0.7633536006138828,0.71338606911949],"aabb_xy":[[0.14936227247398848,-0.8404292422576563],[0.3093622664000668,-0.6862779589701093]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_24","position":[-0.6827271619885464,1.5471945696564293,0.71338606911949],"aabb_xy":[[-0.6935001359099142,1.5121945714373903],[-0.6719541880671787,1.5821945678754683]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.663205069126954,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2866.png","name":"2866"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2866.png","name":"2866"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7585.png","name":"7585"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2761.png","name":"2761"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1333.png","name":"1333"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6224.png","name":"6224"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":649.8266166058702,"rotation_z_degrees":173.65253893630688,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01021256115146676,0.01812271160219499,-0.006795081125683878]},{"name":"camera_2","offset_m":[0.014890622762908711,0.002489715264355312,-0.004831569690745602]},{"name":"camera_3","offset_m":[-0.005682282408132781,-0.010550912652243496,-0.005162935765830042]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0010646515009126425,-0.00016461740512187847,0.0006698388290163307],"end_effector_yaw_offset_degrees":-0.881013606706355},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00014404789580991996,-0.0017397641207299594,-0.0006958107466446481],"end_effector_yaw_offset_degrees":-0.12733451269336427},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0010498005777327003,-0.0006555741382334062,0.0018787726284813528],"end_effector_yaw_offset_degrees":-0.21051163816674934},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001984252466703762,-0.0006567282093160568,-0.0006449106078495728],"end_effector_yaw_offset_degrees":0.8537206951195646}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0015639747226796133,0.0011343436553725994],"position_m":[0.2145639747226796,-0.1373656563446274,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0011875917500603498,0.003318404580653086],"position_m":[0.23328759175006036,-0.36098159541934693,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0022611725439847276,0.0038471456210489923],"position_m":[0.2889388274560153,-0.03575285437895101,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0032683394791167266,-0.0017921740322471235],"position_m":[0.34726833947911667,0.17310782596775287,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0d4050be0f5f8c6757750c6f76370e7e1d4dad76f43d1c0d902203f6f5d7fa58","episode_index":9,"episode_name":"episode_0009"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0009.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_2866/tex_ceiling_textures_6224/tex_floor_textures_1333/tex_table_textures_7585/tex_wall_textures_2761","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":6182460830153617059,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":6182460830153617059,"visual_seed":6182460830153617059,"scene_id":"lab_003","finished_at":"2026-09-05T20:34:28"} +{"episode_id":"ep_000010","started_at":"2026-09-05T20:34:31","dimensions":{"distractor":{"count":22,"items":[{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_0","position":[-0.32639692476870447,1.713925541163548,0.71338606911949],"aabb_xy":[[-0.4163969215043147,1.6607420778462534],[-0.23639692803309426,1.7671090044808424]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_1","position":[0.5053144799504419,-0.2480775551912151,0.71338606911949],"aabb_xy":[[0.4944628737015663,-0.2589368459188661],[0.5161660861993175,-0.23721826446356406]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_2","position":[-0.6846091483469045,-0.7684442247495946,0.71338606911949],"aabb_xy":[[-0.6916494582804416,-0.8484442241492662],[-0.6775688384133676,-0.6884442253499233]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_3","position":[0.6639829168431539,0.6900997865840854,0.71338606911949],"aabb_xy":[[0.6264829166712819,0.6573990512011783],[0.7014829170150257,0.7228005219669926]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_4","position":[-0.23677037973417903,-1.629830096009992,0.71338606911949],"aabb_xy":[[-0.30077038195458605,-1.6742031801352806],[-0.172770377513772,-1.585457011884704]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_5","position":[-0.24999581096083784,-1.1564335823937824,0.71338606911949],"aabb_xy":[[-0.2541316672935381,-1.1939335818381396],[-0.24585995462813767,-1.1189335829494256]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_6","position":[-0.3564125956197807,-0.48209620344130455,0.71338606911949],"aabb_xy":[[-0.393207228744687,-0.5190020785378868],[-0.31961796249487445,-0.4451903283447223]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_7","position":[-0.592407028401521,-1.0955382550643789,0.71338606911949],"aabb_xy":[[-0.6149070284116693,-1.1096344747039821],[-0.5699070283913727,-1.0814420354247756]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_8","position":[0.09132789114485784,-2.1513404359801607,0.71338606911949],"aabb_xy":[[0.056865543746716034,-2.1858343183779825],[0.12579023854299962,-2.116846553582337]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_9","position":[0.6766858272137037,1.2113738038497726,0.71338606911949],"aabb_xy":[[0.6665328116595542,1.1753042622770318],[0.686838842767853,1.2474433454225125]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_10","position":[-0.29734111464269003,-2.057950914246987,0.71338606911949],"aabb_xy":[[-0.32188733026544075,-2.088199810796024],[-0.2727948990199393,-2.02770201769795]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_11","position":[-0.4142953366763596,0.10559694247801943,0.71338606911949],"aabb_xy":[[-0.4252011127639223,0.02559694607919029],[-0.4033895605887969,0.18559693887684858]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_12","position":[-0.09801448135827884,1.327402832190927,0.71338606911949],"aabb_xy":[[-0.10764611757870844,1.3177655194112181],[-0.0883828451378492,1.337040144970636]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_13","position":[0.2983998939678457,0.965989684923934,0.71338606911949],"aabb_xy":[[0.28082159177889887,0.9484151953498292],[0.31597819615679257,0.983564174498039]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_14","position":[-0.2999750412703283,-0.38231838479291813,0.71338606911949],"aabb_xy":[[-0.3055567129044571,-0.39481838461069363],[-0.29439336963619955,-0.36981838497514263]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_15","position":[0.04411375449734911,1.6707179981802143,0.71338606911949],"aabb_xy":[[0.007263206560361508,1.6332179973571808],[0.08096430243433672,1.7082179990032482]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_16","position":[0.31789150201731453,-2.173780628989928,0.71338606911949],"aabb_xy":[[0.26779403803624097,-2.2377806294997398],[0.3679889659983882,-2.109780628480116]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_17","position":[-0.41151379294418644,0.8046734543244214,0.71338606911949],"aabb_xy":[[-0.4246650389154758,0.7796734545677352],[-0.3983625469728971,0.8296734540811083]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_18","position":[0.2638134922483307,1.0428794054212194,0.71338606911949],"aabb_xy":[[0.25340193356784696,1.037533672085321],[0.2742250509288144,1.0482251387571178]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_19","position":[0.05056489163424405,1.154231090175705,0.71338606911949],"aabb_xy":[[0.04185092258430955,1.1317310895165162],[0.05927886068417853,1.1767310908348927]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_20","position":[0.20174235410704677,-1.9943492586352773,0.71338606911949],"aabb_xy":[[0.15174235453071203,-2.0443298375873833],[0.2517423536833815,-1.9443686796831714]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_21","position":[-0.3936088543823836,-1.8105267189721144,0.71338606911949],"aabb_xy":[[-0.457608856294726,-1.8664378682301248],[-0.3296088524700413,-1.754615569714104]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6636921125751226,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3586.png","name":"3586"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3586.png","name":"3586"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1465.png","name":"1465"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7388.png","name":"7388"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7895.png","name":"7895"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1101.png","name":"1101"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":834.8242436624578,"rotation_z_degrees":107.1168744333812,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005664887931609592,-0.010674625830498169,0.015132526904287163]},{"name":"camera_2","offset_m":[-0.0045461140818366715,-0.002807903733143144,0.008689817823162568]},{"name":"camera_3","offset_m":[-0.007607597863804596,-0.0038692787850103105,-0.0016096947434854243]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00014155958402201118,-0.0008461242241282019,0.00012238260103180796],"end_effector_yaw_offset_degrees":0.883425026701268},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0019582334065053946,0.0013468978689578593,0.001377978429715175],"end_effector_yaw_offset_degrees":0.03321612899491022},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00011380025269982358,0.0016777549101282085,-0.00033241984698620234],"end_effector_yaw_offset_degrees":0.03313835174933244},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00026331937260457494,0.001139418126704561,9.287549782416651e-05],"end_effector_yaw_offset_degrees":0.7793450700971265}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004660029716685375,-0.00013282610677320134],"position_m":[0.2083399702833146,-0.13863282610677322,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001810175138476565,0.0033833460212057383],"position_m":[0.23391017513847656,-0.3609166539787943,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0049070182675535305,0.003305130507972146],"position_m":[0.2862929817324465,-0.036294869492027856,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-2.8473473702455947e-05,-0.00379275908269925],"position_m":[0.34397152652629753,0.17110724091730076,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1ca1871ac276f32f418709a3f64e0baea92c802171fff5a9d9564021a1eade8f","episode_index":10,"episode_name":"episode_0010"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0010.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_3586/tex_ceiling_textures_1101/tex_floor_textures_7895/tex_table_textures_1465/tex_wall_textures_7388","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":2617664368084942868,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":2617664368084942868,"visual_seed":2617664368084942868,"scene_id":"lab_003","finished_at":"2026-09-05T20:38:28"} +{"episode_id":"ep_000011","started_at":"2026-09-05T20:38:32","dimensions":{"distractor":{"count":20,"items":[{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_0","position":[0.483461872301161,0.569889976201766,0.71338606911949],"aabb_xy":[[0.46566836536624456,0.5520902306059683],[0.5012553792360774,0.5876897217975636]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_1","position":[-0.6439809979631226,-1.5714174107080308,0.71338606911949],"aabb_xy":[[-0.6559137323249505,-1.5837995635158901],[-0.6320482636012944,-1.5590352579001714]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_2","position":[0.6887921894705127,0.5870076822062296,0.71338606911949],"aabb_xy":[[0.6711593538769851,0.5693847361906065],[0.7064250250640403,0.6046306282218524]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_3","position":[-0.36197739661190464,1.286856766021208,0.71338606911949],"aabb_xy":[[-0.40978356422567325,1.2218567633141488],[-0.314171228998136,1.3518567687282668]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_4","position":[-0.5616699020307954,-2.168496753220732,0.71338606911949],"aabb_xy":[[-0.61166990369229,-2.218495195476435],[-0.5116699003693005,-2.1184983109650295]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_5","position":[0.2958328434400852,-0.5734154700825944,0.71338606911949],"aabb_xy":[[0.27882274615003455,-0.5895499585808683],[0.31284294073013585,-0.5572809815843205]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_6","position":[-0.6715098798917992,-1.145874091098218,0.71338606911949],"aabb_xy":[[-0.6940098804038398,-1.1683659494636163],[-0.6490098793797586,-1.1233822327328196]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_7","position":[-0.6784959633272575,-0.5154784965835528,0.71338606911949],"aabb_xy":[[-0.6839539089642774,-0.5954784998912119],[-0.6730380176902373,-0.4354784932758937]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_8","position":[0.29323220833632135,-2.3747794181394513,0.71338606911949],"aabb_xy":[[0.2776764389260561,-2.3903298513838585],[0.3087879777465866,-2.359228984895044]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_9","position":[0.4603407562767612,1.60113783732232,0.71338606911949],"aabb_xy":[[0.4384320741374101,1.579237170502229],[0.4822494384161122,1.6230385041424105]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_10","position":[-0.10581516903712973,-1.6715691392130982,0.71338606911949],"aabb_xy":[[-0.11589687611570319,-1.7515691371052127],[-0.09573346195855624,-1.5915691413209834]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_11","position":[0.5858993808625241,1.458421487940964,0.71338606911949],"aabb_xy":[[0.580943360677643,1.4359214877388427],[0.5908554010474053,1.4809214881430859]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_12","position":[0.5603962105929519,-0.33430208393694905,0.71338606911949],"aabb_xy":[[0.522896209408159,-0.3387203066330095],[0.5978962117777445,-0.3298838612408885]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_13","position":[0.3824740291852873,1.1832403310553423,0.71338606911949],"aabb_xy":[[0.31847402891130905,1.1331742308580544],[0.4464740294592655,1.2333064312526303]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_14","position":[-0.4688308417052146,0.4861017817501625,0.71338606911949],"aabb_xy":[[-0.5038308400159099,0.47838676682661685],[-0.4338308433945191,0.49381679667370815]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_15","position":[-0.31755493818070046,-0.8812402702214046,0.71338606911949],"aabb_xy":[[-0.38255493606234836,-0.9323639339279456],[-0.25255494029905273,-0.8301166065148639]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_16","position":[0.600917696860902,0.5004644291504565,0.71338606911949],"aabb_xy":[[0.5659176968844062,0.4909998131028399],[0.6359176968373979,0.5099290451980731]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_17","position":[-0.6110348933565629,0.6849720837841566,0.71338606911949],"aabb_xy":[[-0.6159341856631263,0.6572951644815878],[-0.6061356010499993,0.7126490030867253]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_18","position":[-0.2955996979904459,1.437082933560887,0.71338606911949],"aabb_xy":[[-0.3030121535318343,1.4312317231392588],[-0.28818724244905736,1.4429341439825147]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_19","position":[-0.24093123745076683,-2.1079678391134946,0.71338606911949],"aabb_xy":[[-0.2784312377989946,-2.1197592346945777],[-0.20343123710253908,-2.0961764435324106]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6695209753840135,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3755.png","name":"3755"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3755.png","name":"3755"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9508.png","name":"9508"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2152.png","name":"2152"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4826.png","name":"4826"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4106.png","name":"4106"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":624.1800757822953,"rotation_z_degrees":36.556026007367215,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0022816953475501348,-0.012061348433430834,-0.0014945679055418937]},{"name":"camera_2","offset_m":[0.006440160235173492,0.006105096544568478,-0.0006846824797700456]},{"name":"camera_3","offset_m":[0.00998027787038155,-0.0016568019390352656,0.01529186545078726]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0012203217897199556,-0.0011088511321231064,-0.0016338576012476353],"end_effector_yaw_offset_degrees":-0.3120321675515112},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0005118111571464994,0.0008706441053646786,0.0010618915899853207],"end_effector_yaw_offset_degrees":0.20783523075010168},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0010807522383790842,0.0010712185473921534,0.001252235353672553],"end_effector_yaw_offset_degrees":0.16488208942178795},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0017739107541514731,0.0009946892046977592,0.001753720997461231],"end_effector_yaw_offset_degrees":0.2900309575419282}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.002298678445431638,0.0024372143791105295],"position_m":[0.21070132155456836,-0.13606278562088947,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003436561028993223,-0.004776500548607603],"position_m":[0.23553656102899323,-0.36907650054860763,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004968940514043801,0.004386071392081948],"position_m":[0.2961689405140438,-0.035213928607918055,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0032213663806903016,-0.0012225242651575196],"position_m":[0.34077863361930966,0.1736774757348425,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"2b4c7f133ceb510734b0700f4478d9a3cb0573396bb219abf057f8e8a9283ebf","episode_index":11,"episode_name":"episode_0011"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0011.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_3755/tex_ceiling_textures_4106/tex_floor_textures_4826/tex_table_textures_9508/tex_wall_textures_2152","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":3260280287371614772,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":3260280287371614772,"visual_seed":3260280287371614772,"scene_id":"lab_003","finished_at":"2026-09-05T20:42:01"} +{"episode_id":"ep_000012","started_at":"2026-09-05T20:42:05","dimensions":{"distractor":{"count":21,"items":[{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_0","position":[0.6913951580266848,-0.5042684757553046,0.71338606911949],"aabb_xy":[[0.6795230750151837,-0.589268475448955],[0.7032672410381859,-0.4192684760616543]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_1","position":[-0.5534640763566718,1.3525606325360116,0.71338606911949],"aabb_xy":[[-0.5635457834352451,1.2725606346438967],[-0.5433823692780981,1.432560630428126]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_2","position":[0.5442064589946087,1.0184750537831224,0.71338606911949],"aabb_xy":[[0.49420718382617257,0.9684750525071755],[0.5942057341630449,1.0684750550590698]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_3","position":[0.06606000354292252,0.7199458159120247,0.71338606911949],"aabb_xy":[[0.0020600028394531654,0.6739274334391038],[0.13006000424639186,0.7659641983849459]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_4","position":[0.5308076317960262,1.244002951678163,0.71338606911949],"aabb_xy":[[0.4608076301937467,1.2305701584765054],[0.6008076333983057,1.2574357448798206]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_5","position":[-0.2713234956591392,0.38505787327524965,0.71338606911949],"aabb_xy":[[-0.3083576050871989,0.3506806659415402],[-0.23428938623107945,0.4194350806089591]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_6","position":[-0.5366740177662109,1.6952282795802822,0.71338606911949],"aabb_xy":[[-0.5861544389801697,1.6312282816674304],[-0.48719359655225214,1.759228277493134]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_7","position":[0.2639807661279939,-1.8917422202689038,0.71338606911949],"aabb_xy":[[0.17398076379397487,-1.9692245748540163],[0.353980768462013,-1.814259865683791]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_8","position":[0.5795085667449689,0.04309554694482021,0.71338606911949],"aabb_xy":[[0.5755946935495464,0.03434653153826345],[0.5834224399403913,0.051844562351376966]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_9","position":[0.21847434118048203,1.7099670865493128,0.71338606911949],"aabb_xy":[[0.19347434124796414,1.7030844183283893],[0.24347434111299993,1.716849754770236]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_10","position":[-0.17814102372327667,-2.2596827777460136,0.71338606911949],"aabb_xy":[[-0.2281410240838427,-2.3096627649556165],[-0.12814102336271058,-2.2097027905364106]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_11","position":[-0.03978760286346372,0.002040837289569275,0.71338606911949],"aabb_xy":[[-0.049205077433326465,-0.007375339848149753],[-0.030370128293600966,0.011457014427288303]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_12","position":[0.2897644664651299,0.6612552692047546,0.71338606911949],"aabb_xy":[[0.25476446727231156,0.6502882232070918],[0.3247644656579481,0.672222315202417]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_13","position":[-0.429391679907933,0.23421713713743042,0.71338606911949],"aabb_xy":[[-0.48939167975449976,0.17739851494439174],[-0.3693916800613662,0.2910357593304691]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_14","position":[-0.12309749447419005,-2.514332022746726,0.71338606911949],"aabb_xy":[[-0.17309749405052477,-2.564312601698832],[-0.07309749489785534,-2.46435144379462]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_15","position":[-0.33768462191411097,-0.5236730108182197,0.71338606911949],"aabb_xy":[[-0.3681688720411411,-0.5736730105997156],[-0.3072003717870808,-0.47367301103672377]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_16","position":[0.18204117256038754,-1.699472836805297,0.71338606911949],"aabb_xy":[[0.13205822237290818,-1.7494728364478571],[0.23202412274786685,-1.6494728371627363]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_17","position":[-0.02875602094907781,-1.738197865080637,0.71338606911949],"aabb_xy":[[-0.09275602120954861,-1.7832066644335647],[0.03524397931139299,-1.6931890657277087]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_18","position":[-0.42816070678601115,-2.1821697466612378,0.71338606911949],"aabb_xy":[[-0.4459542137209276,-2.1999694922570354],[-0.4103671998510947,-2.16437000106544]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_19","position":[0.6989100980478702,-1.4713496528520291,0.71338606911949],"aabb_xy":[[0.6812772624543425,-1.4889725988676519],[0.7165429336413977,-1.453726706836406]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_20","position":[-0.424944759091277,-0.18635491165109652,0.71338606911949],"aabb_xy":[[-0.48006996472086777,-0.24635491309238366],[-0.3698195534616862,-0.12635491020980938]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6638652568013524,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9958.png","name":"9958"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9958.png","name":"9958"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/927.png","name":"927"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6788.png","name":"6788"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1128.png","name":"1128"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/820.png","name":"820"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":841.8077153950924,"rotation_z_degrees":78.41296839492551,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011269733978781105,-0.014824006945543285,0.002202648631525427]},{"name":"camera_2","offset_m":[0.01865597652838003,0.0030783690306871413,-0.018747298171740697]},{"name":"camera_3","offset_m":[0.00953388979095901,-0.006975643249096946,0.0024915855551794243]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0010282892068654024,-0.0010429036584297471,-0.001679571022935861],"end_effector_yaw_offset_degrees":0.8471271761988906},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0005258981909176778,0.001989568972472886,-0.0018521634981101586],"end_effector_yaw_offset_degrees":-0.36593571383940526},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001415380703235494,0.00030698731437141594,0.0008533839497651742],"end_effector_yaw_offset_degrees":0.04173177488829127},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010112614252203362,-0.00019493982660739244,-0.0015383586677607123],"end_effector_yaw_offset_degrees":-0.8930135038005094}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.000986785719978009,0.0045395781628594515],"position_m":[0.213986785719978,-0.13396042183714055,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0017513692526680462,0.002974403152180981],"position_m":[0.23385136925266806,-0.361325596847819,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0021203408262404234,-0.002710624778549131],"position_m":[0.2933203408262404,-0.04231062477854913,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0013396820501113383,0.0013719055672584942],"position_m":[0.34266031794988866,0.1762719055672585,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"06a0f7e6c6933d519feb842182f7f73fd21064b8ba7dfc7509f23118c88a2677","episode_index":12,"episode_name":"episode_0012"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0012.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_9958/tex_ceiling_textures_820/tex_floor_textures_1128/tex_table_textures_927/tex_wall_textures_6788","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":3347392759324827466,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":3347392759324827466,"visual_seed":3347392759324827466,"scene_id":"lab_003","finished_at":"2026-09-05T20:45:44"} +{"episode_id":"ep_000013","started_at":"2026-09-05T20:45:48","dimensions":{"distractor":{"count":28,"items":[{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_0","position":[0.6100870038804178,0.11129163512245688,0.71338606911949],"aabb_xy":[[0.5982149208689167,0.026291635428806512],[0.6219590868919189,0.19629163481610723]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_1","position":[-0.3205733109366526,-0.7767942319336216,0.71338606911949],"aabb_xy":[[-0.33344521443759273,-0.8567942323474578],[-0.30770140743571245,-0.6967942315197855]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_2","position":[-0.07048353443860511,-1.7623696374691742,0.71338606911949],"aabb_xy":[[-0.15048353140164428,-1.8394452791129476],[0.009516462524434055,-1.6852939958254007]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_3","position":[0.13100675452257038,1.2169479400480996,0.71338606911949],"aabb_xy":[[0.12092504744399687,1.1369479421559847],[0.14108846160114383,1.296947937940214]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_4","position":[0.4187757381057555,-1.3916857753243423,0.71338606911949],"aabb_xy":[[0.3962766023795285,-1.414185776102605],[0.44127487383198244,-1.3691857745460791]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_5","position":[-0.434766864841469,-0.39129535144934513,0.71338606911949],"aabb_xy":[[-0.43972288502635026,-0.41379535165146686],[-0.4298108446565879,-0.36879535124722357]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_6","position":[0.23108815247895165,-1.9775394871456204,0.71338606911949],"aabb_xy":[[0.17108815197109872,-2.034386220831542],[0.29108815298680457,-1.9206927534596991]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_7","position":[-0.16609848649757886,-1.0235483210496736,0.71338606911949],"aabb_xy":[[-0.23609848862900837,-1.046310286675369],[-0.09609848436614929,-1.0007863554239778]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_8","position":[0.547854240181459,-1.4931149347939154,0.71338606911949],"aabb_xy":[[0.5103542396841008,-1.4970836183420337],[0.5853542406788173,-1.4891462512457967]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_9","position":[0.20399861757776971,1.791655827807681,0.71338606911949],"aabb_xy":[[0.19988266746569705,1.7875402727748353],[0.20811456768984238,1.7957713828405264]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_10","position":[0.5307470942687227,-1.357866713317227,0.71338606911949],"aabb_xy":[[0.5151913248584575,-1.3734171465616345],[0.5463028636789881,-1.3423162800728201]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_11","position":[0.4542950973993143,0.90493970206535,0.71338606911949],"aabb_xy":[[0.44832855845857844,0.8989785574059859],[0.46026163634005,0.9109008467247139]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_12","position":[-0.39621330779740127,-2.405397476989811,0.71338606911949],"aabb_xy":[[-0.4025254073337397,-2.4111644162430297],[-0.38990120826106284,-2.3996305377365923]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_13","position":[0.16693121946710798,-1.2108915857334555,0.71338606911949],"aabb_xy":[[0.1487253958058603,-1.221916986315447],[0.18513704312835566,-1.1998661851514638]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_14","position":[0.2860857035864234,-0.9223586721321153,0.71338606911949],"aabb_xy":[[0.2807481279204188,-0.9473586730612553],[0.29142327925242795,-0.8973586712029757]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_15","position":[-0.6752705135148865,-1.491541930006787,0.71338606911949],"aabb_xy":[[-0.6834850586305703,-1.500218520304428],[-0.6670559683992023,-1.4828653397091454]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_16","position":[0.22551673295513108,1.4900460462478136,0.71338606911949],"aabb_xy":[[0.1760363117411723,1.4260460483349617],[0.2749971541690899,1.5540460441606654]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_17","position":[-0.46316175650083263,1.0526997565882676,0.71338606911949],"aabb_xy":[[-0.471155745078536,1.0446996764931773],[-0.45516776792312924,1.060699836683358]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_18","position":[-0.3433890326355834,-2.515535482673334,0.71338606911949],"aabb_xy":[[-0.3608890319136702,-2.53287358273968],[-0.32588903335749647,-2.498197382606988]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_19","position":[-0.12421494472664896,-1.1736769021519546,0.71338606911949],"aabb_xy":[[-0.2142149433211189,-1.1899274884653757],[-0.034214946132179,-1.1574263158385336]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_20","position":[0.4220678114115455,1.3877693474387844,0.71338606911949],"aabb_xy":[[0.3995678108995049,1.3652774890733859],[0.4445678119235861,1.4102612058041826]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_21","position":[-0.6181882750665186,-0.25855006495780275,0.71338606911949],"aabb_xy":[[-0.6556882757310972,-0.2742371229580249],[-0.5806882744019398,-0.24286300695758054]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_22","position":[-0.46601651525835097,0.9210145936175036,0.71338606911949],"aabb_xy":[[-0.5004788626564927,0.8865207112196808],[-0.4315541678602091,0.9555084760153262]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_23","position":[0.018175744391196957,-1.5627172111916967,0.71338606911949],"aabb_xy":[[-0.012971174452386162,-1.6327172098785037],[0.04932266323478007,-1.4927172125048893]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_24","position":[0.4024914721112687,1.0547319043198082,0.71338606911949],"aabb_xy":[[0.3944979823159867,1.0467337723793328],[0.41048496190655076,1.062730036260284]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_25","position":[0.16005540159582,-1.808540007250027,0.71338606911949],"aabb_xy":[[0.09505540343990093,-1.8348362517999393],[0.22505539975173905,-1.7822437627001149]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_26","position":[-0.11731877018559389,1.675414822690573,0.71338606911949],"aabb_xy":[[-0.20231876860301712,1.5905405272282882],[-0.03231877176817066,1.7602891181528582]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_27","position":[-0.3180897083662397,-1.568298935981389,0.71338606911949],"aabb_xy":[[-0.3399794559551805,-1.6582989332706382],[-0.2961999607772989,-1.47829893869214]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6669997636978123,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7213.png","name":"7213"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7213.png","name":"7213"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7706.png","name":"7706"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4969.png","name":"4969"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3861.png","name":"3861"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4160.png","name":"4160"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":604.2928576396839,"rotation_z_degrees":185.47272966596182,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0054468843453917525,-0.008443447525838286,0.01426277838908865]},{"name":"camera_2","offset_m":[0.014378797078613361,0.010405088425991079,-0.011551685238794539]},{"name":"camera_3","offset_m":[-0.00721979603250357,-0.005323811443664228,-0.016781166819198667]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0008856724075908661,-0.0010247687496057454,-0.0004829647757930804],"end_effector_yaw_offset_degrees":-0.6350285597415328},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00034957250762278434,-0.001170535751342717,-0.0017696515703651149],"end_effector_yaw_offset_degrees":-0.2938022525164812},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007093003283041152,-0.0003873662463176463,-0.0008361654137913211],"end_effector_yaw_offset_degrees":-0.9442528909494057},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001881184100689139,-0.0008890398314631023,0.0002904134528066457],"end_effector_yaw_offset_degrees":-0.1723892536483842}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0012320931878609452,2.2403317318430913e-05],"position_m":[0.21176790681213906,-0.1384775966826816,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0025737174001537735,-0.0015019804469260678],"position_m":[0.23467371740015378,-0.3658019804469261,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.001390988676931376,-0.0039351271249413716],"position_m":[0.28980901132306863,-0.04353512712494138,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0018574513429575326,0.0038635116306144973],"position_m":[0.34214254865704247,0.1787635116306145,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"342ac259ca1639d8d8de04a634c1721cb393755feee2765b058c5fd6cf1ff4be","episode_index":13,"episode_name":"episode_0013"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0013.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_7213/tex_ceiling_textures_4160/tex_floor_textures_3861/tex_table_textures_7706/tex_wall_textures_4969","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":609748731524081072,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":609748731524081072,"visual_seed":609748731524081072,"scene_id":"lab_003","finished_at":"2026-09-05T20:49:17"} +{"episode_id":"ep_000014","started_at":"2026-09-05T20:49:20","dimensions":{"distractor":{"count":27,"items":[{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_0","position":[-0.14911973171963588,0.9540370490405081,0.71338606911949],"aabb_xy":[[-0.1991197333811306,0.9040386067848052],[-0.09911973005814108,1.0040354912962104]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_1","position":[-0.005765470515143312,1.3809337959620431,0.71338606911949],"aabb_xy":[[-0.03573302742496898,1.3509337956641574],[0.024202086394682354,1.4109337962599289]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_2","position":[0.17252580496070669,1.3481033479909357,0.71338606911949],"aabb_xy":[[0.16128074939008882,1.3368615502668404],[0.1837708605313245,1.359345145715031]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_3","position":[-0.13947689535430174,0.2113058131296719,0.71338606911949],"aabb_xy":[[-0.20447689646024503,0.1863404400615436],[-0.07447689424835846,0.2362711861978002]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_4","position":[0.6547938235232971,0.912270837231127,0.71338606911949],"aabb_xy":[[0.6468705432845488,0.8897708369931236],[0.6627171037620455,0.9347708374691304]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_5","position":[-0.2755094847433006,-2.3631922321401304,0.71338606911949],"aabb_xy":[[-0.28838138824424076,-2.4431922325539666],[-0.2626375812423605,-2.2831922317262943]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_6","position":[-0.4731179421381948,-1.1075407022314052,0.71338606911949],"aabb_xy":[[-0.5074148531559354,-1.1418375884413463],[-0.4388210311204542,-1.0732438160214637]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_7","position":[0.4564141319164914,-0.6026205620961107,0.71338606911949],"aabb_xy":[[0.4311932950566517,-0.6278443129489972],[0.48163496877633105,-0.5773968112432237]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_8","position":[-0.31372863145502033,-1.9715303784793892,0.71338606911949],"aabb_xy":[[-0.3362286309787277,-1.9940263259300097],[-0.2912286319313129,-1.9490344310287682]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_9","position":[0.19636490772972492,1.1865069148009648,0.71338606911949],"aabb_xy":[[0.18910366015931748,1.1737199045374553],[0.2036261553001323,1.1992939250644743]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_10","position":[0.45509206356846943,-1.8523234922764038,0.71338606911949],"aabb_xy":[[0.4050920649225483,-1.9022430359358662],[0.5050920622143906,-1.8024039486169414]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_11","position":[-0.07421770094293623,0.05839579458548094,0.71338606911949],"aabb_xy":[[-0.09176439585905516,0.020895793021229674],[-0.056671006026817294,0.0958957961497322]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_12","position":[-0.5185537697097897,-0.569690101795632,0.71338606911949],"aabb_xy":[[-0.5825537729284276,-0.6164132136946403],[-0.45455376649115187,-0.5229669898966236]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_13","position":[-0.6667292061879,1.7911779406354058,0.71338606911949],"aabb_xy":[[-0.6775808124367756,1.7803186499077548],[-0.6558775999390244,1.8020372313630568]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_14","position":[0.2755919052610364,0.7005695593863734,0.71338606911949],"aabb_xy":[[0.19559190498742937,0.6276200115606567],[0.3555919055346433,0.7735191072120902]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_15","position":[0.4183590592712445,0.2810949373351046,0.71338606911949],"aabb_xy":[[0.3683640483117925,0.2310949382995129],[0.4683540702306966,0.3310949363706963]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_16","position":[0.1621286899590949,-1.7521566800555592,0.71338606911949],"aabb_xy":[[0.13962955423286794,-1.7746566808338222],[0.18462782568532188,-1.7296566792772963]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_17","position":[0.6154306463387642,1.6717032405570706,0.71338606911949],"aabb_xy":[[0.5254306477442943,1.6554526542436496],[0.7054306449332342,1.6879538268704917]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_18","position":[-0.5549180844549958,1.2855608661630757,0.71338606911949],"aabb_xy":[[-0.6349180814692438,1.2654263144896643],[-0.4749180874407478,1.3056954178364868]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_19","position":[0.34661008461786924,1.6642430841451907,0.71338606911949],"aabb_xy":[[0.3241136631840052,1.6417430843384433],[0.3691065060517334,1.6867430839519382]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_20","position":[-0.43866395358325194,0.27059995763472156,0.71338606911949],"aabb_xy":[[-0.5236639522753266,0.2386140942398427],[-0.35366395489117725,0.3025858210296004]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_21","position":[0.6438457340809476,0.46721899776147024,0.71338606911949],"aabb_xy":[[0.579845736795299,0.4257122788086263],[0.7078457313665963,0.5087257167143142]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_22","position":[0.2709601172496594,0.9766148101708838,0.71338606911949],"aabb_xy":[[0.23751994205363972,0.9431711843399536],[0.3044002924456789,1.0100584360018137]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_23","position":[0.44676919915231217,-0.27111276051865474,0.71338606911949],"aabb_xy":[[0.43906600847823507,-0.2788221312173927],[0.45447238982638916,-0.2634033898199167]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_24","position":[0.6581432009360506,0.763853386522221,0.71338606911949],"aabb_xy":[[0.6031499895989139,0.7088533861834274],[0.7131364122731874,0.8188533868610147]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_25","position":[0.38374683718842917,1.321483231114705,0.71338606911949],"aabb_xy":[[0.3773330235452441,1.3150734108670366],[0.390160650831614,1.3278930513623732]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_26","position":[0.4049417043136956,-1.1618405056592294,0.71338606911949],"aabb_xy":[[0.3599417028474668,-1.20684036252071],[0.44994170577992454,-1.1168406487977487]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6705569237452847,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7470.png","name":"7470"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7470.png","name":"7470"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8878.png","name":"8878"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4139.png","name":"4139"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5244.png","name":"5244"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7647.png","name":"7647"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":756.4622698660136,"rotation_z_degrees":308.8172054421798,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0037821636045330814,-0.016721770280539422,-0.0022661348750729234]},{"name":"camera_2","offset_m":[-0.009476875807184943,0.008587197711527314,-0.001311499508441137]},{"name":"camera_3","offset_m":[-0.00949517096026591,-0.010715710428485873,-0.016372245140227056]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0013474159410337585,0.0019438863116007553,-0.0017545228595135264],"end_effector_yaw_offset_degrees":0.7399569446436549},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00012056876406247251,0.0006832827549419045,0.00025541119628957236],"end_effector_yaw_offset_degrees":-0.36902274764266685},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0007495741286799194,-0.0015407646838072986,-0.0012859571105754758],"end_effector_yaw_offset_degrees":-0.039569645526217334},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0015131565942522532,-0.0014771595950950952,-0.0014726925419761326],"end_effector_yaw_offset_degrees":-0.563961297913788}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00012153912395837605,0.003135619255685112],"position_m":[0.21312153912395837,-0.1353643807443149,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0048634536641282205,-0.004494733917192392],"position_m":[0.23696345366412822,-0.3687947339171924,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0006822377504898912,0.0005944229736899462],"position_m":[0.29051776224951015,-0.03900557702631006,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0024428868526161973,-0.0004867059740568027],"position_m":[0.3415571131473838,0.1744132940259432,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"bdd8c409181a6d4a607c500662ee7505c5ebc8a4e6fa3b248e7df5eb047913ff","episode_index":14,"episode_name":"episode_0014"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0014.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_7470/tex_ceiling_textures_7647/tex_floor_textures_5244/tex_table_textures_8878/tex_wall_textures_4139","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":15349178581210963,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":15349178581210963,"visual_seed":15349178581210963,"scene_id":"lab_003","finished_at":"2026-09-05T20:53:03"} +{"episode_id":"ep_000015","started_at":"2026-09-05T20:53:07","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_0","position":[-0.47250710810995555,-1.0439072439119297,0.71338606911949],"aabb_xy":[[-0.4822630976191294,-1.0536697779711641],[-0.4627511186007816,-1.0341447098526952]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_1","position":[-0.646263989080631,-1.496600764319944,0.71338606911949],"aabb_xy":[[-0.671263989013149,-1.5034834325408675],[-0.6212639891481132,-1.4897180960990208]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_2","position":[-0.46433017362121176,-1.3555955648266396,0.71338606911949],"aabb_xy":[[-0.4818301070551951,-1.3730955647468739],[-0.44683024018722833,-1.3380955649064048]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_3","position":[0.4507582643532497,-0.39204285789104354,0.71338606911949],"aabb_xy":[[0.4352024949429846,-0.4075932911354508],[0.4663140337635151,-0.3764924246466364]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_4","position":[0.09047430930995548,-1.9124953474698785,0.71338606911949],"aabb_xy":[[0.02647430739761314,-1.9684064967278891],[0.15447431122229782,-1.8565841982118683]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_5","position":[0.5417893302815657,-0.717992584110313,0.71338606911949],"aabb_xy":[[0.505875825856576,-0.7539060923270675],[0.5777028347065553,-0.6820790758935582]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_6","position":[0.1655655530491571,-0.8507193635182926,0.71338606911949],"aabb_xy":[[0.14264984016410723,-0.8736236606547162],[0.18848126593420705,-0.8278150663818692]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_7","position":[0.2804186522362597,0.8272570517350415,0.71338606911949],"aabb_xy":[[0.2204186513754469,0.775830621728555],[0.3404186530970725,0.8786834817415278]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_8","position":[-0.5379782849769243,0.268021407161009,0.71338606911949],"aabb_xy":[[-0.6019782835634968,0.2210144437615002],[-0.4739782863903519,0.31502837056051763]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_9","position":[0.38703287776423334,-2.4063592009073687,0.71338606911949],"aabb_xy":[[0.32203287512643985,-2.4578387996068156],[0.4520328804020268,-2.3548796022079217]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_10","position":[-0.11420190625804116,0.0005965578629960611,0.71338606911949],"aabb_xy":[[-0.12853633138420462,-0.011463657691542783],[-0.09986748113187771,0.012656773417534906]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_11","position":[-0.3426532763267236,0.538835641714857,0.71338606911949],"aabb_xy":[[-0.4026532761732903,0.4820170195218183],[-0.2826532764801567,0.5956542639078957]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_12","position":[0.5116618623202671,0.6200595635660417,0.71338606911949],"aabb_xy":[[0.46184508285543235,0.5700595650817383],[0.5614786417851019,0.670059562050345]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_13","position":[-0.5356046004531496,-0.6978792137901291,0.71338606911949],"aabb_xy":[[-0.5475373348149777,-0.7102613665979883],[-0.5236718660913215,-0.6854970609822696]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_14","position":[-0.4773124817929477,-0.46449637614298656,0.71338606911949],"aabb_xy":[[-0.5084594006365308,-0.5344963748297937],[-0.4461655629493646,-0.3944963774561793]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_15","position":[0.3645417997338525,-0.5414797234082238,0.71338606911949],"aabb_xy":[[0.35277361293919496,-0.6264797233134455],[0.37630998652851005,-0.45647972350300237]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_16","position":[-0.05843602070340126,-1.2936711002783237,0.71338606911949],"aabb_xy":[[-0.09273293172114189,-1.3279679864882648],[-0.02413910968566063,-1.2593742140683821]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_17","position":[0.5734130947179759,1.2722204065833553,0.71338606911949],"aabb_xy":[[0.5608103955808995,1.25962501035849],[0.5860157938550524,1.284815802808221]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_18","position":[0.007783170634958814,1.3538754902528947,0.71338606911949],"aabb_xy":[[-0.062216831496470726,1.3311135246271988],[0.07778317276638835,1.37663745587859]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_19","position":[0.6332333953348852,-1.1708433109965475,0.71338606911949],"aabb_xy":[[0.6107333955209828,-1.1753179273670282],[0.6557333951487876,-1.1663686946260667]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_20","position":[0.02518479763892334,0.691400957726739,0.71338606911949],"aabb_xy":[[-0.054815204523839145,0.6114457741005952],[0.10518479980168582,0.7713561413528824]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_21","position":[0.06487586160277647,1.6259212653589068,0.71338606911949],"aabb_xy":[[0.014875862162580841,1.5759533408745903],[0.11487586104297208,1.6758891898432229]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_22","position":[-0.5071973311143418,-1.9835151550731804,0.71338606911949],"aabb_xy":[[-0.5136989676223465,-1.9932829770994906],[-0.5006956946063372,-1.973747333046871]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_23","position":[0.29910417281836377,0.9609182287083722,0.71338606911949],"aabb_xy":[[0.261604171302732,0.9496914556922271],[0.3366041743339954,0.9721450017245172]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_24","position":[0.28711691607065837,1.1039889881981817,0.71338606911949],"aabb_xy":[[0.2231169156931247,1.0542437213473692],[0.35111691644819193,1.1537342550489937]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_25","position":[-0.351808488275314,-0.6091999352426267,0.71338606911949],"aabb_xy":[[-0.44180848769368486,-0.6425754320868163],[-0.2618084888569431,-0.5758244383984369]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_26","position":[-0.20832332691968752,1.35415303761829,0.71338606911949],"aabb_xy":[[-0.2583233282805747,1.3041751330428744],[-0.1583233255588003,1.4041309421937056]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_27","position":[0.08421056916452152,-2.3130280658642826,0.71338606911949],"aabb_xy":[[0.07779675552133657,-2.3194378861119502],[0.09062438280770645,-2.306618245616614]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_28","position":[-0.07576644592631254,-2.000534438373169,0.71338606911949],"aabb_xy":[[-0.0928685238846807,-2.0176412439044387],[-0.058664367967944386,-1.9834276328418992]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_29","position":[-0.47419927819990093,-1.4881456256476335,0.71338606911949],"aabb_xy":[[-0.5381992753120066,-1.5371779954420441],[-0.41019928108779524,-1.439113255853223]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_30","position":[0.5524493297078896,-1.8468719601871755,0.71338606911949],"aabb_xy":[[0.5485354565124672,-1.8556209755937323],[0.5563632029033121,-1.8381229447806187]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_31","position":[0.5483636451209144,-1.6410075005960598,0.71338606911949],"aabb_xy":[[0.4683636471401294,-1.6486090415579118],[0.6283636431016995,-1.6334059596342079]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_32","position":[0.2182955712171366,-2.159841331802597,0.71338606911949],"aabb_xy":[[0.1837044883630914,-2.224841332087628],[0.2528866540711818,-2.094841331517566]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_33","position":[-0.11899578436873481,-0.4188351344918635,0.71338606911949],"aabb_xy":[[-0.14350940846574067,-0.44309972779389994],[-0.09448216027172894,-0.39457054118982704]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.662866402078251,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/281.png","name":"281"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/281.png","name":"281"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/79.png","name":"79"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4936.png","name":"4936"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1330.png","name":"1330"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6734.png","name":"6734"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":714.9637876194271,"rotation_z_degrees":23.352264552232587,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007966452813299642,0.0022802494760565117,-0.0068844061214459636]},{"name":"camera_2","offset_m":[-0.009326502515480884,0.011838383603344823,-0.01834084994064239]},{"name":"camera_3","offset_m":[-0.0027529328247249372,-0.011973035525259945,0.015475542347723057]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0011752344489172895,-0.00019229511677563245,-0.001742437152749914],"end_effector_yaw_offset_degrees":0.3803190369235874},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0003981438781938832,-0.0002992314775849328,0.001270603400483915],"end_effector_yaw_offset_degrees":0.21189068201711914},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0010213821830911195,-0.0005383872268722206,-0.00015700762841005752],"end_effector_yaw_offset_degrees":-0.7476489031930724},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0014480068108989768,-0.0005958820930594194,0.0008045679811015767],"end_effector_yaw_offset_degrees":0.40692625391466075}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0042675011426994225,-0.0011373125031048249],"position_m":[0.2172675011426994,-0.13963731250310485,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001428330578186452,0.0043129140874190825],"position_m":[0.23352833057818645,-0.35998708591258094,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004463367687105114,0.0027016173942334973],"position_m":[0.2956633676871051,-0.03689838260576651,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0023961407303250684,-0.0046045375681575944],"position_m":[0.34639614073032504,0.1702954624318424,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0585c38b03ec6593b241f7fb9f7e1a44bbab36f9a1c4af8d68bee69f79544464","episode_index":15,"episode_name":"episode_0015"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0015.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_281/tex_ceiling_textures_6734/tex_floor_textures_1330/tex_table_textures_79/tex_wall_textures_4936","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":6974081469591140722,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":6974081469591140722,"visual_seed":6974081469591140722,"scene_id":"lab_003","finished_at":"2026-09-05T20:56:39"} +{"episode_id":"ep_000016","started_at":"2026-09-05T20:56:44","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_0","position":[0.25009217352006785,1.7245746640894457,0.71338606911949],"aabb_xy":[[0.18609217621772145,1.680208237121589],[0.31409217082241425,1.7689410910573025]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_1","position":[0.37417520813005245,-0.49672568028559905,0.71338606911949],"aabb_xy":[[0.3241977912647988,-0.5467256817748476],[0.424152624995306,-0.4467256787963505]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_2","position":[-0.4723859509826718,1.4146017049751278,0.71338606911949],"aabb_xy":[[-0.5223859519332045,1.3830525579716062],[-0.42238595003213886,1.446150851978649]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_3","position":[0.15574220632549052,-2.1590734320330993,0.71338606911949],"aabb_xy":[[0.1358511664451503,-2.171729243317796],[0.1756332462058308,-2.1464176207484025]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_4","position":[-0.6473165681247076,0.3451343363613524,0.71338606911949],"aabb_xy":[[-0.6553428387553337,0.33638284138399976],[-0.6392902974940817,0.353885831338705]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_5","position":[-0.12785834759641757,-0.16923061149870922,0.71338606911949],"aabb_xy":[[-0.15077406048146746,-0.19213490863513272],[-0.10494263471136767,-0.1463263143622857]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_6","position":[0.2640172307648685,0.568019169406575,0.71338606911949],"aabb_xy":[[0.24937382521083545,0.5533604497497907],[0.2786606363189014,0.5826778890633592]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_7","position":[-0.3920984390455124,1.1570414218794878,0.71338606911949],"aabb_xy":[[-0.44209844006464777,1.1205752061416598],[-0.3420984380263772,1.1935076376173157]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_8","position":[0.02568821242422359,-0.9711834087926094,0.71338606911949],"aabb_xy":[[0.021552356091523395,-1.0086834082369665],[0.029824068756923783,-0.9336834093482526]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_9","position":[0.36732043546459914,-1.17769243966623,0.71338606911949],"aabb_xy":[[0.3073204356180323,-1.2345110618592687],[0.42732043531116587,-1.1208738174731914]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_10","position":[0.5722731875435871,-1.5689206297157572,0.71338606911949],"aabb_xy":[[0.564229827617632,-1.6539206308111234],[0.5803165474695423,-1.4839206286203905]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_11","position":[0.2221675568532483,1.3230558615204702,0.71338606911949],"aabb_xy":[[0.21345358780331378,1.3005558608612815],[0.23088152590318275,1.345555862179658]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_12","position":[0.6318052957442852,0.37821417307142147,0.71338606911949],"aabb_xy":[[0.6185743502096038,0.364986754049422],[0.6450362412789664,0.39144159209342083]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_13","position":[-0.015563610111550163,-0.6719730736348013,0.71338606911949],"aabb_xy":[[-0.0530636102834221,-0.7046738090177084],[0.021936390060321775,-0.639272338251894]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_14","position":[0.31585981387312434,1.5581433077340443,0.71338606911949],"aabb_xy":[[0.29335981405922196,1.5536686913635636],[0.3383598136870267,1.562617924104525]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_15","position":[-0.30292093129820313,-1.345443231139959,0.71338606911949],"aabb_xy":[[-0.366920934516841,-1.3921663430389672],[-0.23892092807956528,-1.2987201192409505]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_16","position":[0.5473238987108346,0.7620843400046184,0.71338606911949],"aabb_xy":[[0.45732389929246364,0.7287088431604286],[0.6373238981292054,0.795459836848808]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_17","position":[0.3892236293331113,0.3549359207602434,0.71338606911949],"aabb_xy":[[0.3392236306871901,0.305016377100781],[0.43922362797903247,0.40485546441970577]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_18","position":[-0.5316217530114365,-1.5970522285409543,0.71338606911949],"aabb_xy":[[-0.5811021742253953,-1.6610522264538061],[-0.48214133179747776,-1.5330522306281025]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_19","position":[0.6671644116278281,1.2355244579550826,0.71338606911949],"aabb_xy":[[0.6446652759016012,1.2130244571768196],[0.6896635473540551,1.2580244587333456]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_20","position":[-0.5726489556728178,-0.3781060432950123,0.71338606911949],"aabb_xy":[[-0.6426489574815633,-0.39945981205919967],[-0.5026489538640724,-0.3567522745308249]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_21","position":[-0.31856365155716604,-0.08569920780863605,0.71338606911949],"aabb_xy":[[-0.3293366254785338,-0.12069920602767503],[-0.30779067763579826,-0.05069920958959706]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_22","position":[-0.1374792097794768,1.4378540657870436,0.71338606911949],"aabb_xy":[[-0.17247920809017225,1.430139050863498],[-0.10247921146878136,1.4455690807105892]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_23","position":[0.1016292438617109,1.337899634811901,0.71338606911949],"aabb_xy":[[0.0945877929109633,1.3308728830741068],[0.10867069481245849,1.3449263865496957]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_24","position":[0.5657444744568625,0.18786356668851756,0.71338606911949],"aabb_xy":[[0.535752811722992,0.157863567351717],[0.5957361371907327,0.21786356602531806]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_25","position":[-0.6321375638130583,0.5508078055264072,0.71338606911949],"aabb_xy":[[-0.6425491224935419,0.5454620721905086],[-0.6217260051325745,0.5561535388623056]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_26","position":[-0.5690185068717502,0.05883586598940571,0.71338606911949],"aabb_xy":[[-0.6014802077536774,0.028703033874503084],[-0.5365568059898225,0.0889686981043083]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6666839483894097,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7582.png","name":"7582"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7582.png","name":"7582"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8206.png","name":"8206"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1726.png","name":"1726"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7803.png","name":"7803"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2989.png","name":"2989"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":768.6216033413259,"rotation_z_degrees":224.14626190051024,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005137443707443401,0.008255311372168457,-0.016527741009284058]},{"name":"camera_2","offset_m":[-0.0015653377379631697,-0.010492287617031444,-0.015087418232437089]},{"name":"camera_3","offset_m":[-0.015201527215488727,-0.012908085000469215,-0.010457729060527594]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001678398593673025,-0.001080994665732396,0.0003348239461510539],"end_effector_yaw_offset_degrees":-0.5459372581513842},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0004983965389810637,0.0011994094809948145,-0.00017522534252668062],"end_effector_yaw_offset_degrees":0.5558649163965175},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0009353971429263129,0.0012369071618568515,0.0014018139694950177],"end_effector_yaw_offset_degrees":-0.7344549388523314},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006213639047294927,-0.00032332847461082363,-0.0006878471582164804],"end_effector_yaw_offset_degrees":0.0736570703462156}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.003385881099263215,-0.000739747470236812],"position_m":[0.20961411890073678,-0.13923974747023682,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0025085684190299584,-0.0010252886403914249],"position_m":[0.23460856841902997,-0.36532528864039143,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0003547615269233499,0.00238292143790009],"position_m":[0.2915547615269234,-0.037217078562099916,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004130178293879186,-0.001698254823197568],"position_m":[0.34813017829387916,0.17320174517680242,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"465ca5b1e567f991c473793f5b08a774d3e2a133367e14ddd21d56ff93343b34","episode_index":16,"episode_name":"episode_0016"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0016.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_7582/tex_ceiling_textures_2989/tex_floor_textures_7803/tex_table_textures_8206/tex_wall_textures_1726","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":4815966496987403447,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":4815966496987403447,"visual_seed":4815966496987403447,"scene_id":"lab_003","finished_at":"2026-09-05T21:00:09"} +{"episode_id":"ep_000017","started_at":"2026-09-05T21:00:13","dimensions":{"distractor":{"count":32,"items":[{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_0","position":[0.6737851928714929,-0.4535211538430599,0.71338606911949],"aabb_xy":[[0.6561095622828945,-0.47120137012246266],[0.6914608234600912,-0.43584093756365716]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_1","position":[0.5068766293410683,0.4145683533191291,0.71338606911949],"aabb_xy":[[0.4996328632948229,0.33456835511552674],[0.5141203953873136,0.4945683515227315]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_2","position":[-0.42451780094838815,0.9305883279233194,0.71338606911949],"aabb_xy":[[-0.4885178001181581,0.8838216408043569],[-0.3605178017786182,0.9773550150422818]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_3","position":[0.6325599311467882,-2.272745317567867,0.71338606911949],"aabb_xy":[[0.5979688482927428,-2.3377453178528977],[0.6671510140008332,-2.2077453172828356]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_4","position":[-0.2877654879136706,-1.6612905568151584,0.71338606911949],"aabb_xy":[[-0.31775715064754095,-1.6912905561519587],[-0.2577738251798003,-1.6312905574783576]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_5","position":[0.4386983066625689,-2.3275231244324077,0.71338606911949],"aabb_xy":[[0.3974494956326541,-2.3825231239446247],[0.47994711769248355,-2.27252312492019]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_6","position":[0.6191592144756435,0.6253171344997837,0.71338606911949],"aabb_xy":[[0.5641669638401325,0.570317132756471],[0.6741514651111544,0.6803171362430965]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_7","position":[-0.18970594154634235,0.3273380078427883,0.71338606911949],"aabb_xy":[[-0.2023086406834188,0.31474261161792283],[-0.1771032424092659,0.3399334040676538]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_8","position":[0.5260699656059384,-0.32779090070104067,0.71338606911949],"aabb_xy":[[0.5223667042767995,-0.3314929190097585],[0.5297732269350773,-0.3240888823923228]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_9","position":[0.07030618213847173,1.2637925715417624,0.71338606911949],"aabb_xy":[[0.02033311660595626,1.2137925717292297],[0.1202792476709872,1.3137925713542955]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_10","position":[0.22465965131096421,1.8065517773112139,0.71338606911949],"aabb_xy":[[0.21142870577628292,1.7933243582892142],[0.2378905968456455,1.819779196333213]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_11","position":[-0.035292924895503286,-1.9412230998698807,0.71338606911949],"aabb_xy":[[-0.07279292500109623,-1.9480452617228616],[0.0022070752100896702,-1.9344009380168994]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_12","position":[-0.43321860827314806,1.2035828804425215,0.71338606911949],"aabb_xy":[[-0.5132124318517063,1.12358287784968],[-0.35322478469458984,1.283582883035363]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_13","position":[0.12972465975848924,-1.6895388659212975,0.71338606911949],"aabb_xy":[[0.06472466187684146,-1.7406625296278389],[0.19472465764013708,-1.6384152022147571]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_14","position":[0.5264503848211566,1.5853535951107411,0.71338606911949],"aabb_xy":[[0.5208687131870278,1.5728535952929656],[0.5320320564552854,1.5978535949285166]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_15","position":[-0.5429643652675309,1.3613462995593086,0.71338606911949],"aabb_xy":[[-0.5535318449256299,1.3508012694462999],[-0.5323968856094319,1.371891329672317]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_16","position":[-0.22591429553272102,-0.9208793413093352,0.71338606911949],"aabb_xy":[[-0.2899142919282941,-0.9848426297280688],[-0.16191429913714794,-0.8569160528906017]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_17","position":[0.2890910139963385,-2.0862841356717423,0.71338606911949],"aabb_xy":[[0.28419172168977497,-2.1139610549743106],[0.29399030630290196,-2.058607216369173]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_18","position":[-0.5915022499141254,-1.9270019976202717,0.71338606911949],"aabb_xy":[[-0.6252778091048183,-1.9410404928334366],[-0.5577266907234324,-1.9129635024071063]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_19","position":[0.6510139334741594,-1.3952950817559544,0.71338606911949],"aabb_xy":[[0.6141633855371718,-1.4327950825789884],[0.687864481411147,-1.357795080932921]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_20","position":[0.01458709969223937,1.0862033848101178,0.71338606911949],"aabb_xy":[[0.002119741582503722,1.0737380601767945],[0.027054457801975018,1.0986687094434415]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_21","position":[0.3399458159220792,1.4287981520703465,0.71338606911949],"aabb_xy":[[0.2904653947081204,1.364798154157495],[0.38942623713603797,1.4927981499831986]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_22","position":[0.5940154067521621,-2.035107320099315,0.71338606911949],"aabb_xy":[[0.5440311710439849,-2.0851073189128106],[0.6439996424603394,-1.9851073212858195]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_23","position":[0.32784376099189627,0.8956439653368005,0.71338606911949],"aabb_xy":[[0.2728700389555634,0.8406439657725673],[0.38281748302822916,0.9506439649010336]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_24","position":[0.012941556860021963,0.9583849061814322,0.71338606911949],"aabb_xy":[[0.002529998179538249,0.9530391728455335],[0.023353115540505676,0.9637306395173305]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_25","position":[-0.613563546270179,-0.9624519561299352,0.71338606911949],"aabb_xy":[[-0.6381097618929296,-0.9927008526789721],[-0.5890173306474281,-0.932203059580898]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_26","position":[-0.5766549922289939,-0.451253923093764,0.71338606911949],"aabb_xy":[[-0.6566549943917562,-0.5312091067199076],[-0.49665499006623126,-0.3712987394676204]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_27","position":[-0.06746574992473497,1.2575382809764668,0.71338606911949],"aabb_xy":[[-0.07568029504041893,1.248861690678825],[-0.059251204809050974,1.2662148712741077]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_28","position":[-0.5388274224961169,-1.7070629069813426,0.71338606911949],"aabb_xy":[[-0.5481210407332674,-1.7445629054694765],[-0.5295338042589662,-1.6695629084932087]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_29","position":[-0.2622061672659866,-1.9585857799573934,0.71338606911949],"aabb_xy":[[-0.3422061642802346,-1.9787203316308046],[-0.18220617025173863,-1.938451228283982]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_30","position":[-0.4638577919972859,-2.090211367853517,0.71338606911949],"aabb_xy":[[-0.5116639596110546,-2.1552113705605755],[-0.41605162438351717,-2.0252113651464576]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_31","position":[0.7052642284137249,-0.08517534411339822,0.71338606911949],"aabb_xy":[[0.7011860705066753,-0.08925632436166153],[0.7093423863207746,-0.08109436386513491]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6654393787095113,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6378.png","name":"6378"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6378.png","name":"6378"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8047.png","name":"8047"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9989.png","name":"9989"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6089.png","name":"6089"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6666.png","name":"6666"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":743.6754431088542,"rotation_z_degrees":141.4386636538866,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00381972072588712,-0.004497430446499884,0.008762486186452177]},{"name":"camera_2","offset_m":[0.018150241646048854,-0.009290485831060775,0.007152923793239004]},{"name":"camera_3","offset_m":[0.011569641999903294,-0.01677556307414087,-0.01632394791924547]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00021225443102946542,-0.0012494844444123675,-0.00043228755422037896],"end_effector_yaw_offset_degrees":0.4846090173748041},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0004281498302127016,-0.00017869819392193702,0.001824629078096811],"end_effector_yaw_offset_degrees":0.8059883082620196},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0014308750763150733,-0.0019271253935018572,-0.0009301392699381612],"end_effector_yaw_offset_degrees":-0.2816174117700663},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0014587504908963602,0.0014388187652490223,0.00018485162834323528],"end_effector_yaw_offset_degrees":-0.20878785387541043}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0003921981972525414,0.0018913461098837457],"position_m":[0.21260780180274746,-0.13660865389011626,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0011296000823761755,-0.004277232129323941],"position_m":[0.23097039991762383,-0.368577232129324,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0003544162593077018,-0.003662904516437644],"position_m":[0.2915544162593077,-0.04326290451643765,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004248232121179426,0.002466477773760558],"position_m":[0.3482482321211794,0.17736647777376055,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"31b830c7fd921c5fef0c16d8cbc674f7e835915c352fa5d0d696321b5c943afc","episode_index":17,"episode_name":"episode_0017"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0017.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_6378/tex_ceiling_textures_6666/tex_floor_textures_6089/tex_table_textures_8047/tex_wall_textures_9989","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":3953305334440937037,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":3953305334440937037,"visual_seed":3953305334440937037,"scene_id":"lab_003","finished_at":"2026-09-05T21:03:47"} +{"episode_id":"ep_000018","started_at":"2026-09-05T21:03:51","dimensions":{"distractor":{"count":25,"items":[{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_0","position":[0.2138802407884175,1.0893758301310785,0.71338606911949],"aabb_xy":[[0.13388024051481048,1.0164262823053618],[0.2938802410620244,1.1623253779567952]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_1","position":[0.461425943941735,0.13234272473806818,0.71338606911949],"aabb_xy":[[0.4520084693718723,0.12292654760034913],[0.4708434185115978,0.14175890187578719]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_2","position":[-0.37246970787736194,0.09986701620029104,0.71338606911949],"aabb_xy":[[-0.3842378946720196,0.014867016295069469],[-0.3607015210827045,0.1848670161055126]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_3","position":[0.4054744991020809,-2.3740262529133087,0.71338606911949],"aabb_xy":[[0.3604744976358521,-2.4190261097747894],[0.45047450056830984,-2.329026396051828]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_4","position":[0.2531016490758543,-1.3040091607229123,0.71338606911949],"aabb_xy":[[0.24440368678513907,-1.3161341350303872],[0.26179961136656965,-1.2918841864154378]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_5","position":[0.49737808576098286,-1.5645818430528837,0.71338606911949],"aabb_xy":[[0.44737808481045,-1.596130990056405],[0.5473780867115157,-1.533032696049362]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_6","position":[-0.43235915059735014,1.5759197808608874,0.71338606911949],"aabb_xy":[[-0.48234338630552737,1.525919782047392],[-0.3823749148891729,1.6259197796743832]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_7","position":[-0.46806599012918565,0.04141023945881539,0.71338606911949],"aabb_xy":[[-0.5102504042900164,-0.02258976081839581],[-0.4258815759683549,0.10541023973602659]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_8","position":[0.18259512339071815,-2.4377158615357817,0.71338606911949],"aabb_xy":[[0.1491159561296772,-2.4711949749068887],[0.2160742906517591,-2.4042367481646747]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_9","position":[-0.10711819834906422,-1.4215361944756753,0.71338606911949],"aabb_xy":[[-0.1481361417354351,-1.4715361951066326],[-0.06610025496269335,-1.371536193844718]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_10","position":[-0.3982900450888453,0.7201798331266231,0.71338606911949],"aabb_xy":[[-0.4332900442816635,0.7092127871289604],[-0.363290045896027,0.7311468791242857]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_11","position":[-0.37480424078097213,-0.3968460320616174,0.71338606911949],"aabb_xy":[[-0.37892019089304474,-0.40096158709446283],[-0.3706882906688994,-0.39273047702877184]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_12","position":[0.5719018515046566,1.1516153751399187,0.71338606911949],"aabb_xy":[[0.5269092647862061,1.10661537586547],[0.616894438223107,1.1966153744143675]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_13","position":[0.28416752688503943,-1.0714828877847702,0.71338606911949],"aabb_xy":[[0.23416752652447334,-1.121462874994373],[0.33416752724560544,-1.021502900575167]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_14","position":[0.010120506464782464,1.1031832934793635,0.71338606911949],"aabb_xy":[[-0.01487949270085065,1.0962310477740072],[0.03512050563041558,1.1101355391847203]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_15","position":[0.014772826577989395,-1.599318408098123,0.71338606911949],"aabb_xy":[[-0.04022265124266999,-1.6543184095320298],[0.06976830439864878,-1.544318406664216]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_16","position":[0.05290617724409141,-0.7026358868989779,0.71338606911949],"aabb_xy":[[-0.0020675447922414575,-0.7576358864632112],[0.10787989928042431,-0.6476358873347449]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_17","position":[-0.4519943017661392,-2.3527467440224927,0.71338606911949],"aabb_xy":[[-0.511994303409061,-2.4047468933144365],[-0.3919943001232174,-2.300746594730548]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_18","position":[0.5450900497729876,0.8619759909342024,0.71338606911949],"aabb_xy":[[0.4810900533774144,0.7980127025154689],[0.6090900461685606,0.925939279352936]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_19","position":[0.2068439667596894,1.397969202817333,0.71338606911949],"aabb_xy":[[0.1722528839056442,1.3329692025323017],[0.24143504961373463,1.4629692031023638]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_20","position":[-0.09738656699930537,-2.2736809970099237,0.71338606911949],"aabb_xy":[[-0.15738656725070654,-2.327962322046388],[-0.03738656674790418,-2.219399671973459]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_21","position":[0.23341668859852727,-2.546134106218309,0.71338606911949],"aabb_xy":[[0.22710458906218886,-2.551901045471528],[0.23972878813486573,-2.5403671669650905]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_22","position":[-0.048011680186513805,-2.4724636029251807,0.71338606911949],"aabb_xy":[[-0.07915859903009692,-2.5424636016119875],[-0.01686476134293069,-2.402463604238373]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_23","position":[0.30411853737134764,0.8595208695627732,0.71338606911949],"aabb_xy":[[0.2874414013782521,0.842820945588843],[0.3207956733644431,0.8762207935367036]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_24","position":[0.6616091289296637,0.07993726990321415,0.71338606911949],"aabb_xy":[[0.627312217911923,0.045640383693272765],[0.6959060399474042,0.1142341561131555]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6624054782592648,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6254.png","name":"6254"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6254.png","name":"6254"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2299.png","name":"2299"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9105.png","name":"9105"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5041.png","name":"5041"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4832.png","name":"4832"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":790.4362181831851,"rotation_z_degrees":192.79447884645816,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.002743975870642429,-0.01813490308944242,-0.01734065613237676]},{"name":"camera_2","offset_m":[0.0038819338127571955,0.018701622822022656,0.005731186722984477]},{"name":"camera_3","offset_m":[0.012142857538790342,0.0077926707665063495,-0.01960113788441425]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0009527832252651974,-0.0006931364950882842,-0.0014133262176926637],"end_effector_yaw_offset_degrees":0.792611805325758},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0008178514254925367,-6.144621565672809e-05,0.001409588562610619],"end_effector_yaw_offset_degrees":-0.7347862767450255},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0012127565024302217,0.00048354756647450963,0.0011278308872155062],"end_effector_yaw_offset_degrees":0.8794154985809024},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0017246770888957501,0.0013249461237166407,-0.0012370140163498738],"end_effector_yaw_offset_degrees":0.042667164917675526}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0020645218880761054,0.0016370611862488779],"position_m":[0.2150645218880761,-0.13686293881375114,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00399188853868314,-0.00310177979989662],"position_m":[0.22810811146131685,-0.36740177979989663,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.001705042681503355,0.004313917704204134],"position_m":[0.28949495731849667,-0.03528608229579587,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003857731695106752,-0.004862608722857795],"position_m":[0.3478577316951067,0.1700373912771422,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"052bb97ab7df7a8691ae32bb276135c8876cd28ee9f5be1fcb087f90937db0c4","episode_index":18,"episode_name":"episode_0018"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0018.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_6254/tex_ceiling_textures_4832/tex_floor_textures_5041/tex_table_textures_2299/tex_wall_textures_9105","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":2658312370531486046,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":2658312370531486046,"visual_seed":2658312370531486046,"scene_id":"lab_003","finished_at":"2026-09-05T21:07:16"} +{"episode_id":"ep_000019","started_at":"2026-09-05T21:07:19","dimensions":{"distractor":{"count":24,"items":[{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_0","position":[-0.29613374444957774,-1.4609098436394452,0.71338606911949],"aabb_xy":[[-0.3461068099820932,-1.5109098434519783],[-0.24616067891706228,-1.4109098438269123]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_1","position":[0.2444256336678563,-2.1127978677733292,0.71338606911949],"aabb_xy":[[0.16442563650828096,-2.1243454687311463],[0.32442563082743153,-2.101250266815512]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_2","position":[0.41751280230679,1.2059634165292183,0.71338606911949],"aabb_xy":[[0.39251280275505146,1.1958209326640836],[0.4425128018585284,1.216105900394353]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_3","position":[0.22318824448300623,1.5821424673646196,0.71338606911949],"aabb_xy":[[0.15918824257066388,1.5262313181066094],[0.28718824639534857,1.6380536166226303]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_4","position":[0.06573383589194082,1.2795150834444602,0.71338606911949],"aabb_xy":[[0.04815553370299397,1.2619405938703552],[0.08331213808088767,1.2970895730185652]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_5","position":[-0.13873364198413285,-1.6017882985137897,0.71338606911949],"aabb_xy":[[-0.2037336429412601,-1.6537365104474953],[-0.07373364102700568,-1.549840086580084]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_6","position":[-0.05620519230493881,-0.8971309957355946,0.71338606911949],"aabb_xy":[[-0.13620519556278177,-0.9771275035275785],[0.02379481095290415,-0.8171344879436105]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_7","position":[-0.5933677113153983,0.3307440797057253,0.71338606911949],"aabb_xy":[[-0.6212127480960056,0.2999595809674136],[-0.5655226745347913,0.36152857844403696]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_8","position":[-0.2749632276157384,-0.9528961204042656,0.71338606911949],"aabb_xy":[[-0.36465030392385384,-1.0428961206587162],[-0.18527615130762293,-0.8628961201498151]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_9","position":[0.2676340501443748,-0.7349484256061865,0.71338606911949],"aabb_xy":[[0.18263405172695157,-0.8198227210684714],[0.35263404856179803,-0.6500741301439015]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_10","position":[-0.37502568958868787,-2.099543505182347,0.71338606911949],"aabb_xy":[[-0.3917028255817834,-2.116243429156277],[-0.35834855359559237,-2.0828435812084165]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_11","position":[-0.4741367959526405,-1.0389280332525654,0.71338606911949],"aabb_xy":[[-0.5116367974682723,-1.0501548062687105],[-0.4366367944370088,-1.0277012602364204]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_12","position":[0.41361173149637587,1.3001818312258497,0.71338606911949],"aabb_xy":[[0.3911117319726684,1.277685883775229],[0.4361117310200832,1.3226777786764705]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_13","position":[-0.17346815961058792,1.570681777839439,0.71338606911949],"aabb_xy":[[-0.18139143984933626,1.5481817776014357],[-0.1655448793718396,1.5931817780774424]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_14","position":[-0.3274920077182447,-2.219361975080459,0.71338606911949],"aabb_xy":[[-0.3924920055998926,-2.2704856387870005],[-0.262492009836597,-2.1682383113739188]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_15","position":[-0.25228768501529886,1.1171914579253612,0.71338606911949],"aabb_xy":[[-0.3022651018805524,1.0671914564361122],[-0.20231026815004524,1.1671914594146093]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_16","position":[0.01696720602934887,0.957107531534203,0.71338606911949],"aabb_xy":[[0.008269243738633579,0.9449825572267284],[0.02566516832006416,0.9692325058416779]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_17","position":[0.6054307078664452,-0.41877239366260843,0.71338606911949],"aabb_xy":[[0.5504307082446993,-0.47375608645008116],[0.660430707488191,-0.3637887008751357]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_18","position":[0.5036276984534636,-0.0073805774465429685,0.71338606911949],"aabb_xy":[[0.42362770047267856,-0.014982118408394918],[0.5836276964342486,0.00022096351530897886]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_19","position":[-0.5670074680720929,-1.9234762899053082,0.71338606911949],"aabb_xy":[[-0.5752220131877767,-1.9321528802029493],[-0.5587929229564087,-1.9147996996076666]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_20","position":[0.57021842906146,0.5350432847686375,0.71338606911949],"aabb_xy":[[0.4802184293382859,0.5119699322334575],[0.6602184287846342,0.5581166373038172]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_21","position":[-0.3253680141212078,0.28794635632632337,0.71338606911949],"aabb_xy":[[-0.34864985631933915,0.20294635502909533],[-0.30208617192307646,0.37294635762355144]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_22","position":[-0.5856714663674978,-0.6032574445113579,0.71338606911949],"aabb_xy":[[-0.6119602906879383,-0.6295288781660091],[-0.559382642047057,-0.5769860108567066]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_23","position":[-0.5293401440996859,-1.3566312994939353,0.71338606911949],"aabb_xy":[[-0.5715245582605166,-1.4206312997711463],[-0.48715572993885514,-1.292631299216724]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6627528368423553,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2010.png","name":"2010"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2010.png","name":"2010"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4696.png","name":"4696"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5399.png","name":"5399"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2687.png","name":"2687"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2975.png","name":"2975"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":627.7337536776911,"rotation_z_degrees":163.79565902361247,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0058820058659893384,-0.007822233087956274,0.014602665696511693]},{"name":"camera_2","offset_m":[-0.007894533410682301,-0.014818417236036274,0.009592762320406165]},{"name":"camera_3","offset_m":[-0.0024903104536556538,0.011229351119110605,-0.005168545185003426]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00019605120965591333,-0.000770996455747503,-0.0017464721948060608],"end_effector_yaw_offset_degrees":-0.67460001210632},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0007762967086948978,0.0016783992468876528,-0.0012142814265423657],"end_effector_yaw_offset_degrees":0.42260447882750585},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0004901454819186842,1.2913683478196596e-05,0.0008379169809041701],"end_effector_yaw_offset_degrees":-0.6689611504532831},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0006856016137630982,-0.000535144887830556,-0.0011124092063372858],"end_effector_yaw_offset_degrees":-0.13985162724138234}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0026043742539947987,-0.004194209471694982],"position_m":[0.21560437425399478,-0.142694209471695,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00191677528497898,-0.000600828820703155],"position_m":[0.23018322471502103,-0.3649008288207032,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0008568553630410106,-0.00010057722594608576],"position_m":[0.29205685536304105,-0.03970057722594609,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0010295885397882867,0.003180554362204679],"position_m":[0.3429704114602117,0.17808055436220468,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4494d8c4ad3d02651800db2b89dd7ecc84c50b4998c9a5f0aa333061ac62d4ae","episode_index":19,"episode_name":"episode_0019"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0019.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_2010/tex_ceiling_textures_2975/tex_floor_textures_2687/tex_table_textures_4696/tex_wall_textures_5399","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":546491481372728124,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":546491481372728124,"visual_seed":546491481372728124,"scene_id":"lab_003","finished_at":"2026-09-05T21:10:50"} +{"episode_id":"ep_000020","started_at":"2026-09-05T21:10:55","dimensions":{"distractor":{"count":29,"items":[{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_0","position":[0.49858009549145277,-2.492832762466032,0.71338606911949],"aabb_xy":[[0.4485800942076128,-2.5428116168566537],[0.5485800967752927,-2.4428539080754095]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_1","position":[-0.6630683977725118,-0.8206883305766925,0.71338606911949],"aabb_xy":[[-0.6805683969068788,-0.8305679576142803],[-0.6455683986381444,-0.8108087035391046]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_2","position":[-0.22778173094945542,-1.3441104919243123,0.71338606911949],"aabb_xy":[[-0.23419554459264036,-1.3505203121719804],[-0.22136791730627048,-1.3377006716766437]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_3","position":[-0.5769205008643976,0.6346835729459261,0.71338606911949],"aabb_xy":[[-0.6055698332248137,0.6060380136688504],[-0.5482711685039813,0.6633291322230019]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_4","position":[0.2900214489990537,-0.5789266984200627,0.71338606911949],"aabb_xy":[[0.23002144735613184,-0.6309268477120068],[0.35002145064197554,-0.5269265491281184]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_5","position":[-0.4993734119515588,-0.5625784933044295,0.71338606911949],"aabb_xy":[[-0.5543734115733048,-0.6175621860919024],[-0.44437341232981303,-0.5075948005169569]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_6","position":[0.04727219391080961,0.921175827354983,0.71338606911949],"aabb_xy":[[-0.012727806340591563,0.8668945023185182],[0.10727219416221079,0.9754571523914475]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_7","position":[-0.13559035757198334,-0.6093369874975167,0.71338606911949],"aabb_xy":[[-0.17309035786415813,-0.6133784628981205],[-0.0980903572798085,-0.6052955120969132]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_8","position":[-0.3491812877347043,1.2694672389686312,0.71338606911949],"aabb_xy":[[-0.36907232761504455,1.2568114276839344],[-0.32929024785436406,1.282123050253328]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_9","position":[0.5160865298478514,-2.2549108002053515,0.71338606911949],"aabb_xy":[[0.47080791496670216,-2.318910799553535],[0.5613651447290007,-2.190910800857168]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_10","position":[0.15917915662306303,1.1988041304439259,0.71338606911949],"aabb_xy":[[0.14131004886860754,1.1849712224667146],[0.17704826437751853,1.2126370384211367]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_11","position":[-0.2446974749979673,-1.974697494517807,0.71338606911949],"aabb_xy":[[-0.294697476659462,-2.02469593677351],[-0.19469747333647253,-1.9246990522621044]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_12","position":[-0.18459756128370342,0.872624420836352,0.71338606911949],"aabb_xy":[[-0.2070975610976058,0.8681498044658713],[-0.16209756146980103,0.8770990372068328]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_13","position":[0.01767441341630749,-2.1096120260532865,0.71338606911949],"aabb_xy":[[0.011707874475571697,-2.1155731707126506],[0.023640952357043273,-2.1036508813939223]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_14","position":[-0.5820745706875466,1.7702312030117677,0.71338606911949],"aabb_xy":[[-0.6460745720955372,1.7184422514878432],[-0.5180745692795559,1.8220201545356927]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_15","position":[0.46925012063813476,0.5773817328583055,0.71338606911949],"aabb_xy":[[0.4347877732399929,0.5428878504604826],[0.5037124680362765,0.611875615256128]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_16","position":[-0.4001368819181903,0.9998955458551122,0.71338606911949],"aabb_xy":[[-0.42535771877802997,0.9746717950022252],[-0.37491604505835063,1.0251192967079987]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_17","position":[0.2386268581836951,-0.7589716364230603,0.71338606911949],"aabb_xy":[[0.20159274875563538,-0.7933488437567696],[0.27566096761175485,-0.7245944290893508]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_18","position":[0.5599191682928684,0.2812262484895305,0.71338606911949],"aabb_xy":[[0.5224191681209963,0.2485255131066233],[0.5974191684647402,0.31392698387243767]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_19","position":[-0.4490938704389755,-0.4315930257963827,0.71338606911949],"aabb_xy":[[-0.4565063259803639,-0.43744423621801065],[-0.44168141489758694,-0.42574181537475475]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_20","position":[-0.5382003153457625,-1.1898498457826556,0.71338606911949],"aabb_xy":[[-0.5632003146177247,-1.206195209378818],[-0.5132003160738001,-1.1735044821864933]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_21","position":[0.014027144498151456,-1.7360681382570884,0.71338606911949],"aabb_xy":[[0.006765896927744042,-1.748855148520598],[0.02128839206855887,-1.7232811279935791]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_22","position":[-0.6079578081671313,0.8111163116049638,0.71338606911949],"aabb_xy":[[-0.6254578084121807,0.7936165237653969],[-0.5904578079220819,0.8286160994445306]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_23","position":[0.1495118979178428,-1.2039768213960045,0.71338606911949],"aabb_xy":[[0.1407306707706066,-1.212756568684535],[0.15829312506507906,-1.1951970741074744]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_24","position":[-0.3497282066038169,-1.0691317643870488,0.71338606911949],"aabb_xy":[[-0.3722282068473324,-1.081336399046821],[-0.3272282063603016,-1.056927129727277]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_25","position":[0.24202268410582084,1.1397392442486098,0.71338606911949],"aabb_xy":[[0.23474036772915713,1.0497392406391004],[0.24930500048248444,1.2297392478581184]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_26","position":[0.4202468689764982,1.5835293307059053,0.71338606911949],"aabb_xy":[[0.39641065133589326,1.4935293298974188],[0.4440830866171034,1.673529331514392]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_27","position":[0.47735076183970526,0.8403601030338117,0.71338606911949],"aabb_xy":[[0.46034066454965455,0.8242256145355378],[0.49436085912975586,0.8564945915320856]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_28","position":[0.12913448618096224,-1.4723147126708505,0.71338606911949],"aabb_xy":[[0.11736629938630475,-1.5573147125760722],[0.14090267297561979,-1.387314712765629]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6674975729930238,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6672.png","name":"6672"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6672.png","name":"6672"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1605.png","name":"1605"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4889.png","name":"4889"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4971.png","name":"4971"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6403.png","name":"6403"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":832.0659075503787,"rotation_z_degrees":103.32336245843962,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015199694559808075,-0.007039972727530826,-0.018962321502626844]},{"name":"camera_2","offset_m":[0.010157154809873878,0.009161438021828606,0.016121947163740973]},{"name":"camera_3","offset_m":[-0.0038978018928293966,-0.0160016265195964,0.013435697297346939]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0018929077971175552,-0.0007031532660749891,0.00020719166726365255],"end_effector_yaw_offset_degrees":0.21508929748086425},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0011781727264195546,-0.0014650561543944093,-2.4019221489789307e-05],"end_effector_yaw_offset_degrees":-0.6260085901727197},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0003645395855559606,-0.001710816453984422,0.0016589908473981399],"end_effector_yaw_offset_degrees":-0.34950138385937457},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0007701928380081772,-0.001511769891560267,-0.0005243725590565193],"end_effector_yaw_offset_degrees":-0.5453372219052286}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.002398695577061911,-0.0012557742704195707],"position_m":[0.2106013044229381,-0.13975577427041957,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0012175484582897965,-0.004463207223313946],"position_m":[0.2333175484582898,-0.36876320722331396,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0022194197432015552,-0.0037404417646367595],"position_m":[0.28898058025679846,-0.043340441764636764,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00013178937248150419,-0.0022979182663446962],"position_m":[0.3438682106275185,0.1726020817336553,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c5808b9bc1e35822663faa2515e27999a071cdb8eea775dfdcc35c8aa583823c","episode_index":20,"episode_name":"episode_0020"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0020.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_6672/tex_ceiling_textures_6403/tex_floor_textures_4971/tex_table_textures_1605/tex_wall_textures_4889","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":5716895967849785709,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":5716895967849785709,"visual_seed":5716895967849785709,"scene_id":"lab_003","finished_at":"2026-09-05T21:14:17"} +{"episode_id":"ep_000021","started_at":"2026-09-05T21:14:20","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_0","position":[-0.4908305694682417,-2.3817072496382288,0.71338606911949],"aabb_xy":[[-0.5548262668633382,-2.4457072479389375],[-0.426834872073145,-2.31770725133752]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_1","position":[-0.2521390433896909,-1.0174633236911563,0.71338606911949],"aabb_xy":[[-0.2743115703663417,-1.0396389908472794],[-0.22996651641304,-0.9952876565350331]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_2","position":[0.4474816606520582,-1.9694576103398678,0.71338606911949],"aabb_xy":[[0.38348166135788997,-2.033443750708722],[0.5114816599462264,-1.9054714699710138]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_3","position":[0.11621233576036738,-0.8771345208804804,0.71338606911949],"aabb_xy":[[0.07121974904191695,-0.9221345201549291],[0.1612049224788178,-0.8321345216060316]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_4","position":[-0.39009083001952904,-1.8541339107189074,0.71338606911949],"aabb_xy":[[-0.41014924163276933,-1.8741989976280649],[-0.37003241840628875,-1.83406882380975]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_5","position":[-0.2912493947087967,-0.7114232782605665,0.71338606911949],"aabb_xy":[[-0.3020898729353116,-0.7286095595512153],[-0.2804089164822818,-0.6942369969699177]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_6","position":[-0.19034176212618248,0.8294468017814882,0.71338606911949],"aabb_xy":[[-0.22534176210267828,0.8199821857338716],[-0.15534176214968662,0.8389114178291048]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_7","position":[-0.6643221272310839,0.9033635981015466,0.71338606911949],"aabb_xy":[[-0.6699037988652126,0.8908635982837712],[-0.6587404555969552,0.9158635979193221]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_8","position":[0.13438714232772475,-2.3011582619119757,0.71338606911949],"aabb_xy":[[0.07938714315113524,-2.3561479366869333],[0.1893871415043142,-2.246168587137018]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_9","position":[-0.07301559269704605,-1.4865447604252164,0.71338606911949],"aabb_xy":[[-0.15801559111446928,-1.5714190558875014],[0.011984405720377178,-1.4016704649629315]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_10","position":[-0.32749333243459566,-2.131678455394963,0.71338606911949],"aabb_xy":[[-0.36499333254018856,-2.1385006172479435],[-0.28999333232900265,-2.1248562935419817]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_11","position":[-0.50436000196521,-0.8310571580149697,0.71338606911949],"aabb_xy":[[-0.5117724575065985,-0.8369083684365977],[-0.49694754642382155,-0.8252059475933418]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_12","position":[-0.3873239864998684,0.5257921057902353,0.71338606911949],"aabb_xy":[[-0.44732398634643517,0.4689734835971966],[-0.3273239866533016,0.582610727983274]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_13","position":[0.026372587382096357,0.871001472071324,0.71338606911949],"aabb_xy":[[0.012038162255932908,0.8589412565167852],[0.04070701250825981,0.8830616876258629]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_14","position":[-0.2786535723321922,-0.5533932436987112,0.71338606911949],"aabb_xy":[[-0.29058630669402025,-0.5657753965065706],[-0.2667208379703641,-0.5410110908908519]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_15","position":[-0.5329063619584661,-1.0917843514706094,0.71338606911949],"aabb_xy":[[-0.5499164592485166,-1.1079188399688833],[-0.5158962646684153,-1.0756498629723354]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_16","position":[-0.44310349961138396,0.6804452795962255,0.71338606911949],"aabb_xy":[[-0.4660192124964339,0.6575409824598021],[-0.4201877867263341,0.7033495767326491]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_17","position":[0.39994957888232596,-0.8629903160049395,0.71338606911949],"aabb_xy":[[0.31994958147873254,-0.9429828872031222],[0.4799495762859194,-0.7829977448067565]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_18","position":[0.305988863440827,-2.4745931810231414,0.71338606911949],"aabb_xy":[[0.30114526867959707,-2.4794448335021255],[0.310832458202057,-2.4697415285441573]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_19","position":[0.6513589539347009,-1.3578309957032766,0.71338606911949],"aabb_xy":[[0.6472807960276511,-1.3619119759515401],[0.6554371118417505,-1.3537500154550135]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_20","position":[-0.27020612719687087,-0.3873123361703201,0.71338606911949],"aabb_xy":[[-0.32020612584279207,-0.4372318798297825],[-0.22020612855094968,-0.33739279251085774]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_21","position":[0.402344060731729,-0.38115600494970625,0.71338606911949],"aabb_xy":[[0.33834406156195906,-0.4279226920686687],[0.46634405990149896,-0.3343893178307437]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_22","position":[0.7034889808960745,-0.7729689538442726,0.71338606911949],"aabb_xy":[[0.6927160069747067,-0.8079689520633115],[0.7142619548174423,-0.7379689556252336]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_23","position":[-0.3859910437757758,1.6998567565272658,0.71338606911949],"aabb_xy":[[-0.40848746520963997,1.6773567567205185],[-0.36349462234191177,1.7223567563340134]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_24","position":[-0.22429187170832038,-1.63965412623108,0.71338606911949],"aabb_xy":[[-0.24679100743454735,-1.6621541270093432],[-0.2017927359820934,-1.6171541254528172]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_25","position":[0.4421255562101163,-1.5668301606149693,0.71338606911949],"aabb_xy":[[0.39212628104168007,-1.6168301618909167],[0.4921248313785524,-1.5168301593390223]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_26","position":[-0.07387949782183345,1.0883952915915094,0.71338606911949],"aabb_xy":[[-0.1378795010404713,1.0416721796925008],[-0.009879494603195607,1.1351184034905175]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6599390201661105,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8201.png","name":"8201"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8201.png","name":"8201"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8921.png","name":"8921"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5084.png","name":"5084"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2696.png","name":"2696"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3671.png","name":"3671"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":678.5620697748495,"rotation_z_degrees":234.21075543372476,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01137714754109957,0.01470750571641528,-0.014713898517639185]},{"name":"camera_2","offset_m":[0.0025932410311512583,0.005557985734095321,-0.006388782110494278]},{"name":"camera_3","offset_m":[0.0031547662246707367,-0.008915477629196134,-0.01402928968726017]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0007818723209932713,-0.0002514997243666284,-0.00020122010911952245],"end_effector_yaw_offset_degrees":0.4804240911940727},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0015680671567370424,-0.00011916141962579375,0.000796480955220761],"end_effector_yaw_offset_degrees":0.28359368044712174},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007124673897358962,-0.001932339703058913,-0.0010726556435191733],"end_effector_yaw_offset_degrees":-0.30507362350653366},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00047798653389220466,5.589746632701526e-05,-0.0017880907445407268],"end_effector_yaw_offset_degrees":-0.28700117912454304}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0034861619795601055,0.0028223762694875804],"position_m":[0.2164861619795601,-0.13567762373051243,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0019800304181435456,0.00443770866355172],"position_m":[0.23011996958185646,-0.3598622913364483,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.002617376362382906,-0.0014047034306544702],"position_m":[0.2885826236376171,-0.041004703430654474,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0033334079239237127,0.0014493573102721006],"position_m":[0.34066659207607625,0.1763493573102721,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"bab4771d7dfd9f6ce17fa1e05041be89fa95704a8a298255f842caac9e3dc57f","episode_index":21,"episode_name":"episode_0021"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0021.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_8201/tex_ceiling_textures_3671/tex_floor_textures_2696/tex_table_textures_8921/tex_wall_textures_5084","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":5329538932756574580,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":5329538932756574580,"visual_seed":5329538932756574580,"scene_id":"lab_003","finished_at":"2026-09-05T21:17:44"} +{"episode_id":"ep_000022","started_at":"2026-09-05T21:17:48","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_0","position":[-0.04658694532024954,1.3408761092130268,0.71338606911949],"aabb_xy":[[-0.11058694243235523,1.2918437394186162],[0.017413051791856156,1.3899084790074374]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_1","position":[-0.3345078586749695,-2.2789937561292306,0.71338606911949],"aabb_xy":[[-0.3845028696344216,-2.3289937551648228],[-0.2845128477155175,-2.2289937570936393]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_2","position":[0.63740471604228,1.1605391347053189,0.71338606911949],"aabb_xy":[[0.6223024145812618,1.1454376130742565],[0.652507017503298,1.1756406563363804]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_3","position":[0.5351112561150921,-1.9116515025708363,0.71338606911949],"aabb_xy":[[0.5138332479716198,-1.976651504896909],[0.5563892642585643,-1.846651500244763]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_4","position":[-0.4267389523040087,0.4185827871862169,0.71338606911949],"aabb_xy":[[-0.5067389555618516,0.33858627939423297],[-0.3467389490461657,0.4985792949782009]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_5","position":[-0.401930548576453,-0.6570362208567959,0.71338606911949],"aabb_xy":[[-0.4472091634576022,-0.7210362202049796],[-0.3566519336953037,-0.5930362215086122]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_6","position":[0.6361516553981112,-0.09956193737620511,0.71338606911949],"aabb_xy":[[0.6320357052860385,-0.1036774924090506],[0.6402676055101838,-0.0954463823433596]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_7","position":[-0.4252007377959122,-1.4074385943388916,0.71338606911949],"aabb_xy":[[-0.49520073960465766,-1.4287923631030792],[-0.3552007359871668,-1.3860848255747045]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_8","position":[-0.08495200818715243,-1.5918409534870126,0.71338606911949],"aabb_xy":[[-0.1549520097894319,-1.6052737466886704],[-0.014952006584872946,-1.5784081602853552]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_9","position":[-0.2883583050724888,1.591079359372396,0.71338606911949],"aabb_xy":[[-0.34333202710882166,1.536079359808163],[-0.2333845830361559,1.6460793589366294]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_10","position":[0.32415788951986446,-1.0685886411083798,0.71338606911949],"aabb_xy":[[0.2831399461334935,-1.118588641739337],[0.3651758329062353,-1.0185886404774223]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_11","position":[0.5550232818485832,-0.4119972751511476,0.71338606911949],"aabb_xy":[[0.5137744708186683,-0.466997274663365],[0.5962720928784978,-0.3569972756389301]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_12","position":[-0.6517169503010711,1.7889112327290984,0.71338606911949],"aabb_xy":[[-0.6570545259670757,1.763911231799959],[-0.6463793746350666,1.8139112336582386]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_13","position":[-0.06311609619908698,0.035851155245788746,0.71338606911949],"aabb_xy":[[-0.06869776783321573,0.023351155428013252],[-0.05753442456495821,0.048351155063564244]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_14","position":[-0.4640178531388863,-2.3704292552957362,0.71338606911949],"aabb_xy":[[-0.48760297660278124,-2.4354292575411676],[-0.44043272967499153,-2.305429253050304]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_15","position":[-0.480314507205368,1.5708969373033832,0.71338606911949],"aabb_xy":[[-0.4868161437133727,1.5611291152770739],[-0.47381287069736344,1.5806647593296934]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_16","position":[0.5506378127343801,1.7628832759080884,0.71338606911949],"aabb_xy":[[0.5161754653362381,1.7283893935102654],[0.5851001601325218,1.7973771583059108]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_17","position":[0.5616172063067275,0.8441730589031811,0.71338606911949],"aabb_xy":[[0.5391180705805005,0.8216730581249182],[0.5841163420329545,0.8666730596814441]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_18","position":[-0.1986835892282499,-0.5989950462604785,0.71338606911949],"aabb_xy":[[-0.24648975684201854,-0.6639950489675375],[-0.15087742161448126,-0.5339950435534195]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_19","position":[-0.24775858112428306,1.3580135480403133,0.71338606911949],"aabb_xy":[[-0.2978560451053567,1.2940135475305015],[-0.19766111714320947,1.422013548550125]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_20","position":[0.7110981881008847,0.688383093590136,0.71338606911949],"aabb_xy":[[0.7023169609536485,0.679603346301606],[0.719879415248121,0.6971628408786663]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_21","position":[0.06084623838541314,1.455483501798803,0.71338606911949],"aabb_xy":[[-0.029153761337761038,1.4324101492636232],[0.1508462381085873,1.4785568543339829]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_22","position":[0.1967070498622242,0.7079301490134666,0.71338606911949],"aabb_xy":[[0.10701997355410878,0.6179301487590162],[0.28639412617033966,0.7979301492679173]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_23","position":[-0.07203497410016879,1.655523065409414,0.71338606911949],"aabb_xy":[[-0.10318189294375191,1.5855230667226066],[-0.040888055256585676,1.725523064096221]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6631010224239317,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4946.png","name":"4946"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4946.png","name":"4946"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2097.png","name":"2097"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8862.png","name":"8862"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4899.png","name":"4899"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2823.png","name":"2823"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":510.3474736969581,"rotation_z_degrees":248.41411669262587,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005689010110754875,0.01880292315970734,-0.01930540422192603]},{"name":"camera_2","offset_m":[-0.01252503755787764,0.0163212431130285,-0.010417235398360529]},{"name":"camera_3","offset_m":[-0.01328462061247929,-0.005028074973267347,-0.010390139028373442]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001994960402842758,-0.00019571208025706923,-0.0013979959078989192],"end_effector_yaw_offset_degrees":-0.0526051074138556},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0014361783249248893,-0.0008435307801233321,0.001462233973034429],"end_effector_yaw_offset_degrees":0.9858961508503479},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0004221491471678028,0.0009205235995717676,0.0010163032103049016],"end_effector_yaw_offset_degrees":-0.8959853947912686},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006258552968596595,-0.001834189081894039,4.147259568395515e-05],"end_effector_yaw_offset_degrees":-0.13785197650788694}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004956877599370227,-0.003315542072013178],"position_m":[0.20804312240062978,-0.1418155420720132,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0017404164911358488,0.004363485026477417],"position_m":[0.23384041649113585,-0.3599365149735226,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0012803354640648747,-0.0028297375444754913],"position_m":[0.28991966453593515,-0.042429737544475495,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004537929555575875,0.0006702785122768198],"position_m":[0.3394620704444241,0.17557027851227683,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"fd567b796f9ed184b7d8a78c02c8f07e1fa905e788d2975dbf0935bd0ced9e29","episode_index":22,"episode_name":"episode_0022"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0022.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_4946/tex_ceiling_textures_2823/tex_floor_textures_4899/tex_table_textures_2097/tex_wall_textures_8862","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":8476378896102449794,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":8476378896102449794,"visual_seed":8476378896102449794,"scene_id":"lab_003","finished_at":"2026-09-05T21:21:06"} +{"episode_id":"ep_000023","started_at":"2026-09-05T21:21:10","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_0","position":[0.23637839617863665,0.7145864520385126,0.71338606911949],"aabb_xy":[[0.17237839426629434,0.6586753027805021],[0.300378398090979,0.770497601296523]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_1","position":[0.1636155461172798,-2.4034971571863317,0.71338606911949],"aabb_xy":[[0.11861554465105098,-2.448497014047813],[0.2086155475835087,-2.3584973003248515]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_2","position":[0.1599851255322926,1.006954375338276,0.71338606911949],"aabb_xy":[[0.14392319807377493,0.9219543735256842],[0.17604705299081022,1.0919543771508677]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_3","position":[-0.2792437770694828,-1.5559975443421505,0.71338606911949],"aabb_xy":[[-0.3160943250064704,-1.5934975451651845],[-0.24239322913249517,-1.518497543519117]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_4","position":[0.41613876717256737,-1.7670576955748107,0.71338606911949],"aabb_xy":[[0.3461387655702879,-1.7804904887764683],[0.48613876877484685,-1.7536249023731532]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_5","position":[-0.1013791216129708,-1.3447325739104692,0.71338606911949],"aabb_xy":[[-0.15900959050024163,-1.4047325728371796],[-0.04374865272569994,-1.2847325749837584]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_6","position":[-0.4910805811322365,-0.4058395925789604,0.71338606911949],"aabb_xy":[[-0.49603660131711774,-0.428339592781082],[-0.4861245609473554,-0.3833395923768388]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_7","position":[-0.668188136595793,-1.3304077738776026,0.71338606911949],"aabb_xy":[[-0.690652906567198,-1.3529077747564628],[-0.6457233666243878,-1.3079077729987418]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_8","position":[0.11961504667079492,-1.6472846426874872,0.71338606911949],"aabb_xy":[[0.0822837701455523,-1.6819376974823395],[0.15694632319603755,-1.612631587892635]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_9","position":[0.08037771710868491,-1.0803384270698417,0.71338606911949],"aabb_xy":[[0.030393481400507683,-1.1303384258833373],[0.13036195281686214,-1.0303384282563461]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_10","position":[0.5621825721105649,1.427448776127242,0.71338606911949],"aabb_xy":[[0.512187561151113,1.3774487770916506],[0.612177583070017,1.477448775162834]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_11","position":[0.5068932249226927,0.7764342802740725,0.71338606911949],"aabb_xy":[[0.44689322406187987,0.7250078502675861],[0.5668932257835054,0.8278607102805589]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_12","position":[-0.4984770252960185,1.4702691702045416,0.71338606911949],"aabb_xy":[[-0.5484599754834976,1.4202691705619808],[-0.44849407510853906,1.5202691698471016]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_13","position":[0.039684996079336954,-2.1718990863352845,0.71338606911949],"aabb_xy":[[0.01183995929872983,-2.2026835850735966],[0.06753003285994408,-2.1411145875969733]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_14","position":[0.5564945413537952,-0.8689307403185809,0.71338606911949],"aabb_xy":[[0.545927061695696,-0.8794757704315893],[0.5670620210118941,-0.8583857102055722]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_15","position":[-0.07481357832313229,-2.2189441733063107,0.71338606911949],"aabb_xy":[[-0.09809542052126362,-2.3039441746035383],[-0.05153173612500094,-2.133944172009082]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_16","position":[-0.09404833003670021,0.7498389401412537,0.71338606911949],"aabb_xy":[[-0.12403999277057054,0.7198389408044532],[-0.06405666730282988,0.7798389394780543]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_17","position":[-0.48007984290890454,1.0234252182681267,0.71338606911949],"aabb_xy":[[-0.5175798435734832,1.0077381602679043],[-0.4425798422443258,1.0391122762683487]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_18","position":[-0.29056963713825257,-0.18090593243651076,0.71338606911949],"aabb_xy":[[-0.2982728278123296,-0.18861530313524877],[-0.2828664464641755,-0.17319656173777276]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_19","position":[-0.41217676881597454,-0.682588481978408,0.71338606911949],"aabb_xy":[[-0.47617676610162313,-0.724095200931252],[-0.34817677153032583,-0.6410817630255641]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_20","position":[0.4164029073541753,-1.2736748407002243,0.71338606911949],"aabb_xy":[[0.41150361504761174,-1.301351760002793],[0.42130219966073873,-1.2459979213976555]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_21","position":[-0.32980035984517453,0.7044606652479404,0.71338606911949],"aabb_xy":[[-0.36411663701979247,0.6544606652747628],[-0.2954840826705566,0.7544606652211182]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_22","position":[0.4238248928910122,0.9635178868497678,0.71338606911949],"aabb_xy":[[0.4197089427789395,0.9594023318169221],[0.4279408430030848,0.9676334418826132]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_23","position":[0.603305517764104,-1.8968825257173059,0.71338606911949],"aabb_xy":[[0.5533324522315887,-1.9468825255298392],[0.6532785832966196,-1.8468825259047734]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_24","position":[0.4603923554362661,-0.23037250362399764,0.71338606911949],"aabb_xy":[[0.4176256485568459,-0.2943725070458001],[0.5031590623156863,-0.16637250020219518]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_25","position":[0.28813803333862886,1.1338941003382441,0.71338606911949],"aabb_xy":[[0.21813803152988342,1.112540331574057],[0.3581380351473743,1.1552478691024317]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_26","position":[0.32559746563487146,-1.1796743011329418,0.71338606911949],"aabb_xy":[[0.3179731975446932,-1.1873075246694855],[0.3332217337250497,-1.172041077596398]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_27","position":[-0.5307636921173408,-0.9074009884986862,0.71338606911949],"aabb_xy":[[-0.5425318789119984,-0.9924009884039081],[-0.5189955053226833,-0.822400988593465]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_28","position":[0.08692813327691917,-0.8638839783742898,0.71338606911949],"aabb_xy":[[0.00692813184679196,-0.9434011333868992],[0.16692813470704637,-0.7843668233616803]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6656840871436698,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4771.png","name":"4771"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4771.png","name":"4771"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2755.png","name":"2755"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4506.png","name":"4506"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1475.png","name":"1475"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9861.png","name":"9861"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":649.8005493824435,"rotation_z_degrees":39.66741763394954,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0020981787376969686,0.011561711527936062,0.008824903959599804]},{"name":"camera_2","offset_m":[0.0060135249148652176,0.019708048607231545,0.011433781455657158]},{"name":"camera_3","offset_m":[-0.0025745939031829035,-0.01833191570250958,-0.016289261198840353]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0012082313407318938,-0.0014153945666628696,0.00044470413539247087],"end_effector_yaw_offset_degrees":0.6655597026772813},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0018470157921555504,-0.0015857034740445247,-0.001030611553803159],"end_effector_yaw_offset_degrees":0.27297510556638094},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0015703784717830565,-0.0011233273396752449,0.0013059941592052289],"end_effector_yaw_offset_degrees":-0.551718311025359},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010859864982971485,0.0019027547518961955,0.0008788871444308276],"end_effector_yaw_offset_degrees":-0.5432018086455841}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0033143916841720166,-0.003843992673855202],"position_m":[0.20968560831582797,-0.14234399267385522,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004985485891375443,0.004631101590796956],"position_m":[0.23708548589137543,-0.3596688984092031,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0028075555766956697,-0.0021811364495956023],"position_m":[0.28839244442330436,-0.04178113644959561,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0016745580858144472,-0.004195871485727114],"position_m":[0.34567455808581443,0.17070412851427288,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c5258cef08bcab2e261e340058f03f8dda408f5e05a2e9729a39115306b16903","episode_index":23,"episode_name":"episode_0023"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0023.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_4771/tex_ceiling_textures_9861/tex_floor_textures_1475/tex_table_textures_2755/tex_wall_textures_4506","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":8185981747971434729,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":8185981747971434729,"visual_seed":8185981747971434729,"scene_id":"lab_003","finished_at":"2026-09-05T21:24:37"} +{"episode_id":"ep_000024","started_at":"2026-09-05T21:24:41","dimensions":{"distractor":{"count":22,"items":[{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_0","position":[-0.3760665928748846,1.108623160829775,0.71338606911949],"aabb_xy":[[-0.3936132877910036,1.071123159265524],[-0.3585198979587657,1.1461231623940265]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_1","position":[0.3089476376023186,-2.425363342168759,0.71338606911949],"aabb_xy":[[0.3015351820609301,-2.431214552590387],[0.31636009314370706,-2.419512131747131]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_2","position":[0.5756159373495142,-0.9892237097473431,0.71338606911949],"aabb_xy":[[0.4906159386574396,-1.021209573142222],[0.6606159360415889,-0.9572378463524641]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_3","position":[0.10913103844781202,1.6271161961843572,0.71338606911949],"aabb_xy":[[0.019131036113792965,1.5496338415992446],[0.19913104078183108,1.7045985507694699]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_4","position":[0.16808661851460538,-0.7145393688474413,0.71338606911949],"aabb_xy":[[0.1381190616047797,-0.7445393691453269],[0.19805417542443104,-0.6845393685495554]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_5","position":[0.5359593792570525,-1.7071167745339504,0.71338606911949],"aabb_xy":[[0.5250536031694898,-1.7871167709327795],[0.5468651553446152,-1.6271167781351212]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_6","position":[0.06566335334973805,-1.2792152334803533,0.71338606911949],"aabb_xy":[[0.001667655954641467,-1.343215231781062],[0.12965905074483464,-1.2152152351796446]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_7","position":[-0.23206224299256095,-0.6212400014811821,0.71338606911949],"aabb_xy":[[-0.24399497735438902,-0.6336221542890415],[-0.22012950863073288,-0.6088578486733227]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_8","position":[0.37666328541599725,0.5629985046611474,0.71338606911949],"aabb_xy":[[0.29666328398587,0.48348134964853784],[0.4566632868461244,0.6425156596737568]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_9","position":[0.48880025990206133,-0.0024498973926125878,0.71338606911949],"aabb_xy":[[0.4759283564011212,-0.08244989780644872],[0.5016721634030015,0.07755010302122355]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_10","position":[0.28683416680195517,-1.1331638681049223,0.71338606911949],"aabb_xy":[[0.24074907554722366,-1.1971638653574772],[0.3329192580566866,-1.069163870852367]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_11","position":[0.5070294471948324,-2.08010925563134,0.71338606911949],"aabb_xy":[[0.44302944790066423,-2.1440953960001945],[0.5710294464890007,-2.016123115262486]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_12","position":[0.17099625766710957,-1.0042138918771,0.71338606911949],"aabb_xy":[[0.14234692530669335,-1.0328594511541755],[0.1996455900275258,-0.975568332600024]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_13","position":[-0.22293913484044142,-1.1044670242976897,0.71338606911949],"aabb_xy":[[-0.2404391341185283,-1.1218051243640357],[-0.20543913556235455,-1.0871289242313438]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_14","position":[-0.6187792941159391,-2.1533834592775856,0.71338606911949],"aabb_xy":[[-0.6737530161522719,-2.2083834588418187],[-0.5638055720796061,-2.0983834597133524]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_15","position":[-0.29096326518753207,-1.8585540617624063,0.71338606911949],"aabb_xy":[[-0.310075572545511,-1.8776888406396484],[-0.27185095782955326,-1.8394192828851643]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_16","position":[-0.5510859810738021,0.7631566870447193,0.71338606911949],"aabb_xy":[[-0.5875818017010809,0.7266727446179616],[-0.5145901604465234,0.7996406294714767]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_17","position":[0.4495363472147986,-0.3361040522268741,0.71338606911949],"aabb_xy":[[0.44073429190582586,-0.34391537838180314],[0.4583384025237713,-0.328292726071945]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_18","position":[0.1887184835407666,1.433910146230486,0.71338606911949],"aabb_xy":[[0.15121848235597377,1.4294919235344252],[0.22621848472555936,1.4383283689265463]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_19","position":[-0.3834124331462117,-2.08611809873306,0.71338606911949],"aabb_xy":[[-0.4053021807351525,-2.1761180960223085],[-0.3615226855572709,-1.9961181014438105]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_20","position":[0.483867880690628,-0.20862371441520633,0.71338606911949],"aabb_xy":[[0.41886788213355525,-0.23837624782908895],[0.5488678792477009,-0.1788711810013237]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_21","position":[0.2651241808353453,-1.3328124191699942,0.71338606911949],"aabb_xy":[[0.22762418101831172,-1.3374506304811362],[0.30262418065237884,-1.3281742078588525]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6638802408495558,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6802.png","name":"6802"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6802.png","name":"6802"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6784.png","name":"6784"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5373.png","name":"5373"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1686.png","name":"1686"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2488.png","name":"2488"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":512.9056997211102,"rotation_z_degrees":353.1942271129127,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011915766516194592,0.013334998401648878,0.007356357213431277]},{"name":"camera_2","offset_m":[0.017275567150051668,0.012354715044622471,0.006689743354461753]},{"name":"camera_3","offset_m":[0.013383395324518464,-0.002500644023909652,0.008227513081412185]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0014608858313818452,0.0015228174245530196,-0.00011186234634883623],"end_effector_yaw_offset_degrees":0.3123428664239509},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0008947087931118975,0.001504430139435826,-0.00010097842867884399],"end_effector_yaw_offset_degrees":0.04203820213423226},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0010404871243570864,0.0012355331677806987,-0.0011325502363792382],"end_effector_yaw_offset_degrees":-0.5889498031034213},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0014795449877311666,-0.0008941719404605517,-0.0017075932445045163],"end_effector_yaw_offset_degrees":0.032398689450342744}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.001447802637599689,0.001697665324293253],"position_m":[0.2115521973624003,-0.13680233467570677,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0010123294784586566,0.0018104367404700363],"position_m":[0.23311232947845867,-0.36248956325952997,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0032037258823365165,-0.0034316144337960364],"position_m":[0.2879962741176635,-0.04303161443379604,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0022398233444801264,-0.0003787305961707576],"position_m":[0.34176017665551983,0.17452126940382925,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"77420ee40aeab9ef531c6ab56d3a93996c0c407a9ba9d84c898f18219c0f4e5a","episode_index":24,"episode_name":"episode_0024"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0024.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_6802/tex_ceiling_textures_2488/tex_floor_textures_1686/tex_table_textures_6784/tex_wall_textures_5373","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":8057934373072731721,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":8057934373072731721,"visual_seed":8057934373072731721,"scene_id":"lab_003","finished_at":"2026-09-05T21:28:02"} +{"episode_id":"ep_000025","started_at":"2026-09-05T21:28:06","dimensions":{"distractor":{"count":25,"items":[{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_0","position":[-0.416523902531636,-1.1629757775325213,0.71338606911949],"aabb_xy":[[-0.47652390237820275,-1.2197943997255598],[-0.35652390268506917,-1.1061571553394824]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_1","position":[-0.20071072551693875,0.9813234597231215,0.71338606911949],"aabb_xy":[[-0.2382107253339723,0.9766852484119796],[-0.1632107256999052,0.9859616710342632]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_2","position":[0.17546401469514084,1.4717116905748653,0.71338606911949],"aabb_xy":[[0.13018539981399155,1.4077116912266816],[0.22074262957629007,1.535711689923049]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_3","position":[0.4691374524068086,0.5548950265400348,0.71338606911949],"aabb_xy":[[0.40514175501171196,0.49089502823932607],[0.5331331498019052,0.6188950248407434]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_4","position":[-0.2188653314460589,-0.4602695011112896,0.71338606911949],"aabb_xy":[[-0.25477883587104855,-0.49618300932804416],[-0.18295182702106919,-0.42435599289453496]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_5","position":[-0.6437370640629824,0.7584962911530679,0.71338606911949],"aabb_xy":[[-0.660747161353033,0.7423618026547939],[-0.6267269667729317,0.7746307796513417]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_6","position":[0.5776495255716632,1.7049031797443157,0.71338606911949],"aabb_xy":[[0.5625472241106448,1.6898016581132533],[0.592751827032681,1.7200047013753772]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_7","position":[0.28449573473631706,-0.591570366092727,0.71338606911949],"aabb_xy":[[0.27392825507821805,-0.6021153962057355],[0.2950632143944161,-0.5810253359797184]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_8","position":[-0.154687105238985,0.3412036830982146,0.71338606911949],"aabb_xy":[[-0.2246871070477304,0.31984991433402726],[-0.08468710343023952,0.362557451862402]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_9","position":[-0.3866921774084825,1.581594609440542,0.71338606911949],"aabb_xy":[[-0.3975326556349974,1.564408328149893],[-0.3758516991819676,1.5987808907311905]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_10","position":[0.42968094830215753,-2.343495501498197,0.71338606911949],"aabb_xy":[[0.3797078827696422,-2.3934955013107304],[0.4796540138346731,-2.2934955016856646]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_11","position":[0.01729998057532034,-0.9486619443341708,0.71338606911949],"aabb_xy":[[0.010038733004912925,-0.9614489545976802],[0.024561228145727754,-0.9358749340706612]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_12","position":[0.6263263300498865,-2.2780006019261387,0.71338606911949],"aabb_xy":[[0.5713526080135537,-2.333000601490372],[0.6813000520862195,-2.2230006023619056]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_13","position":[-0.21382197021062954,-1.673913177277404,0.71338606911949],"aabb_xy":[[-0.22298184915450614,-1.6804443953209411],[-0.20466209126675294,-1.667381959233867]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_14","position":[0.42105181489802646,1.6949190929653484,0.71338606911949],"aabb_xy":[[0.3710730063877105,1.6449190929596296],[0.4710306234083423,1.7449190929710672]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_15","position":[0.5149814529417684,-0.31869485982894297,0.71338606911949],"aabb_xy":[[0.4980707205054266,-0.33216706542155744],[0.5318921853781101,-0.3052226542363284]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_16","position":[-0.4533538738196784,0.9019240908615354,0.71338606911949],"aabb_xy":[[-0.5033368240071576,0.8519240912189748],[-0.40337092363219895,0.9519240905040957]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_17","position":[-0.44738386155934173,0.01159898546449245,0.71338606911949],"aabb_xy":[[-0.45530714179809006,-0.010901014773510909],[-0.4394605813205934,0.03409898570249581]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_18","position":[-0.5136827809106486,-2.030270777105821,0.71338606911949],"aabb_xy":[[-0.5786827819111491,-2.0810571422604958],[-0.44868277991014804,-1.9794844119511459]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_19","position":[-0.04688422544102022,-1.7929444232375862,0.71338606911949],"aabb_xy":[[-0.06905675241767106,-1.815120090393709],[-0.02471169846436938,-1.770768756081463]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_20","position":[-0.4201667624894037,1.1750964938924846,0.71338606911949],"aabb_xy":[[-0.4539423216800967,1.1610579986793195],[-0.38639120329871074,1.1891349891056493]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_21","position":[0.5051693851298515,-1.9957450108845494,0.71338606911949],"aabb_xy":[[0.4411693878442029,-2.0372517298373936],[0.5691693824155002,-1.9542382919317052]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_22","position":[-0.3495401861078282,-0.3583781156949031,0.71338606911949],"aabb_xy":[[-0.35563481399594654,-0.36694751024657185],[-0.3434455582197099,-0.3498087211432344]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_23","position":[-0.5730536191023315,-1.8131665163463602,0.71338606911949],"aabb_xy":[[-0.6140715624887024,-1.8631665169773175],[-0.5320356757159607,-1.7631665157154028]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_24","position":[-0.07085919172740718,-2.3977198600261502,0.71338606911949],"aabb_xy":[[-0.08273127473890829,-2.4827198597198006],[-0.05898710871590607,-2.3127198603325]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6620487898342191,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3800.png","name":"3800"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3800.png","name":"3800"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3082.png","name":"3082"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8483.png","name":"8483"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3825.png","name":"3825"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6043.png","name":"6043"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":561.3269958783042,"rotation_z_degrees":109.73617067028067,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004025942915096999,0.006099695636552979,-0.012453112240505342]},{"name":"camera_2","offset_m":[0.004628522821233272,0.005069322385708938,0.003612744360584192]},{"name":"camera_3","offset_m":[0.00011465268098414735,-0.008672861170071324,-0.0027044208232337406]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0018207826945233552,0.0005852887030682948,-0.001570138575887281],"end_effector_yaw_offset_degrees":0.3342020288651226},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0019618178629277655,0.0016190693553993977,0.000490565010506378],"end_effector_yaw_offset_degrees":0.1559085256166579},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0016375621052008792,0.0010657738606178078,-0.0018834626623909867],"end_effector_yaw_offset_degrees":-0.5846881323233228},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0006541071808851941,-0.0003329314955671516,-0.0016110092573661792],"end_effector_yaw_offset_degrees":0.45360403298967733}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004410291320534526,0.004245632795365737],"position_m":[0.20858970867946547,-0.13425436720463427,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0018983368545287603,0.0007074941343417915],"position_m":[0.23020166314547125,-0.3635925058656582,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0024225236764113013,0.0038637380156635254],"position_m":[0.2887774763235887,-0.03573626198433648,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0023589272266198455,-4.466526204180421e-05],"position_m":[0.3463589272266198,0.1748553347379582,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"92db355181e18c706a6322302507f8473b7ae7877d707bb09b0edb9eb5d27908","episode_index":25,"episode_name":"episode_0025"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0025.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_3800/tex_ceiling_textures_6043/tex_floor_textures_3825/tex_table_textures_3082/tex_wall_textures_8483","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":6050952447121397483,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":6050952447121397483,"visual_seed":6050952447121397483,"scene_id":"lab_003","finished_at":"2026-09-05T21:31:41"} +{"episode_id":"ep_000026","started_at":"2026-09-05T21:31:46","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_0","position":[-0.6159369710128306,1.5865429167302776,0.71338606911949],"aabb_xy":[[-0.6239733057141155,1.5785047974258608],[-0.6079006363115458,1.5945810360346944]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_1","position":[0.35327462096743467,0.49558423812788144,0.71338606911949],"aabb_xy":[[0.2882746200103074,0.4436360261941758],[0.41827462192456183,0.5475324500615869]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_2","position":[-0.46512679730037787,-2.5197488739940166,0.71338606911949],"aabb_xy":[[-0.5301267951820258,-2.5708725377005575],[-0.4001267994187302,-2.4686252102874757]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_3","position":[-0.05141125000267932,-0.9209114134773284,0.71338606911949],"aabb_xy":[[-0.14141124859714926,-0.9371619997907495],[0.038588748591790616,-0.9046608271639075]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_4","position":[-0.550851781369939,-0.44549547801710876,0.71338606911949],"aabb_xy":[[-0.6308517783841869,-0.46563002969052003],[-0.47085178435569097,-0.4253609263436975]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_5","position":[0.19364406736926765,1.2681921847724809,0.71338606911949],"aabb_xy":[[0.1580149114693079,1.232559518015628],[0.2292732232692274,1.3038248515293338]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_6","position":[-0.4331046839596717,-0.7647877526639748,0.71338606911949],"aabb_xy":[[-0.4576508995824224,-0.7950366492130118],[-0.40855846833692094,-0.7345388561149376]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_7","position":[0.06557141781958453,-2.492910166905351,0.71338606911949],"aabb_xy":[[0.05679019067234832,-2.501689914193882],[0.07435264496682077,-2.4841304196168217]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_8","position":[-0.315540608380842,1.2269378145843914,0.71338606911949],"aabb_xy":[[-0.32569362393499135,1.1908682730116507],[-0.3053875928266926,1.2630073561571313]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_9","position":[-0.07298507771228646,-1.5715166194013188,0.71338606911949],"aabb_xy":[[-0.15298507636917247,-1.5860214783255815],[0.007014920944599545,-1.5570117604770561]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_10","position":[-0.031159269358874475,-1.1733413371815993,0.71338606911949],"aabb_xy":[[-0.06865927054366726,-1.1777595598776596],[0.006340731825918321,-1.1689231144855385]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_11","position":[-0.5705277282155737,1.0717048511336547,0.71338606911949],"aabb_xy":[[-0.5761093998497024,1.059204851315879],[-0.564946056581445,1.08420485095143]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_12","position":[0.6874025737250429,1.0528801441768727,0.71338606911949],"aabb_xy":[[0.6699025745906757,1.0430005171392847],[0.70490257285941,1.0627597712144603]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_13","position":[0.6282677908381404,0.21819125859096333,0.71338606911949],"aabb_xy":[[0.5642720934430437,0.15419126029025462],[0.6922634882332369,0.282191256891672]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_14","position":[0.38752867860417406,0.7909872064678694,0.71338606911949],"aabb_xy":[[0.3532317675864334,0.7566903202579279],[0.42182558962191463,0.8252840926778106]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_15","position":[0.5872572006641636,0.9142952228484957,0.71338606911949],"aabb_xy":[[0.5799959530937562,0.9015082125849863],[0.5945184482345711,0.9270822331120052]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_16","position":[-0.4375030052859878,-1.775984479111799,0.71338606911949],"aabb_xy":[[-0.46747056219581345,-1.8059844794096847],[-0.4075354483761621,-1.7459844788139132]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_17","position":[-0.2726645597957433,-0.6103594596124564,0.71338606911949],"aabb_xy":[[-0.3366645601732769,-0.6601047264632687],[-0.20866455941820966,-0.5606141927616441]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_18","position":[-0.17157344710562805,-2.3864640226958094,0.71338606911949],"aabb_xy":[[-0.2215522556159439,-2.436464022701528],[-0.12159463859531214,-2.3364640226900906]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_19","position":[0.30723504619477704,-0.5885083079613169,0.71338606911949],"aabb_xy":[[0.2522350479930322,-0.6290302745877545],[0.3622350443965219,-0.5479863413348793]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_20","position":[-0.2848514585514782,-2.0024575511174443,0.71338606911949],"aabb_xy":[[-0.3548514601537577,-2.015890344319102],[-0.21485145694919872,-1.9890247579157867]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6671954561076754,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1292.png","name":"1292"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1292.png","name":"1292"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7361.png","name":"7361"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5540.png","name":"5540"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1225.png","name":"1225"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8322.png","name":"8322"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":682.6213558986915,"rotation_z_degrees":16.089105043111257,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006923871085477082,-0.019229135160162034,-0.011303748988657136]},{"name":"camera_2","offset_m":[-0.005428742660916339,0.005239925807883926,-0.012088529885611137]},{"name":"camera_3","offset_m":[0.0039833952958011655,0.009602234491575264,6.316594287014698e-05]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001348363085425029,0.0010040436785356045,0.0018510950687315422],"end_effector_yaw_offset_degrees":0.33567084400843683},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00019087152056023208,0.0008439049364865753,0.0013403344784721299],"end_effector_yaw_offset_degrees":-0.9645686683717778},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008898136032832551,0.0008864920473017823,0.001274078201995401],"end_effector_yaw_offset_degrees":0.18697390148503357},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001774737015168751,-0.0014444467695025939,0.0004173110056005717],"end_effector_yaw_offset_degrees":-0.7972939119340043}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0022099903886882623,0.0015927148726383655],"position_m":[0.21520999038868827,-0.13690728512736164,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004369205324054733,0.0008909053710209561],"position_m":[0.23646920532405474,-0.3634090946289791,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0013299090644274666,-0.0012914931494204672],"position_m":[0.2925299090644275,-0.04089149314942047,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004953004178476518,0.0024511032928155665],"position_m":[0.34895300417847647,0.17735110329281556,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ad6c9a583cc53cb97822a6d23d49cf41e105d74c471a39516779ec7ed327f129","episode_index":26,"episode_name":"episode_0026"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0026.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_1292/tex_ceiling_textures_8322/tex_floor_textures_1225/tex_table_textures_7361/tex_wall_textures_5540","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":6379023229566861719,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":6379023229566861719,"visual_seed":6379023229566861719,"scene_id":"lab_003","finished_at":"2026-09-05T21:35:10"} +{"episode_id":"ep_000027","started_at":"2026-09-05T21:35:14","dimensions":{"distractor":{"count":30,"items":[{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_0","position":[0.639963493260153,-0.1740677782978186,0.71338606911949],"aabb_xy":[[0.5849634950584081,-0.21458974492425617],[0.6949634914618977,-0.133545811671381]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_1","position":[-0.17817527626990837,-0.761522982046146,0.71338606911949],"aabb_xy":[[-0.2421752754396783,-0.8082896691651085],[-0.1141752771001384,-0.7147562949271835]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_2","position":[-0.5075609401095964,1.5965091931660491,0.71338606911949],"aabb_xy":[[-0.5325609400421143,1.5896265249451258],[-0.4825609401770785,1.6033918613869724]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_3","position":[0.08299691091671846,1.4594136968146532,0.71338606911949],"aabb_xy":[[0.054347578556302234,1.4307681375375771],[0.11164624327713468,1.4880592560917287]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_4","position":[-0.08026260784698236,-2.4752139243701006,0.71338606911949],"aabb_xy":[[-0.13525808566764175,-2.530213925804007],[-0.02526713002632297,-2.420213922936193]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_5","position":[0.6674020950659749,-2.1873742484583527,0.71338606911949],"aabb_xy":[[0.6324020937144932,-2.2077339844151735],[0.7024020964174567,-2.167014512501532]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_6","position":[-0.6012606511424701,1.0467882492701972,0.71338606911949],"aabb_xy":[[-0.6387606514906978,1.0349968536891136],[-0.5637606507942423,1.0585796448512808]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_7","position":[0.5341675409466498,-2.4062927252739046,0.71338606911949],"aabb_xy":[[0.44416754421103954,-2.459476188591199],[0.62416753768226,-2.35310926195661]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_8","position":[0.08301688790609374,1.0375819781933084,0.71338606911949],"aabb_xy":[[0.04801688959539828,1.0298669632697628],[0.11801688621678917,1.045296993116854]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_9","position":[0.0024595375405247477,-1.8615628453844448,0.71338606911949],"aabb_xy":[[-0.0875404610539452,-1.8778134316978659],[0.09245953613499469,-1.8453122590710238]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_10","position":[0.33684246722668254,-2.277846683389469,0.71338606911949],"aabb_xy":[[0.26684246509525295,-2.3006086490151643],[0.406842469358112,-2.2550847177637725]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_11","position":[-0.40628907161182876,-1.8582393847614913,0.71338606911949],"aabb_xy":[[-0.4762890734205742,-1.8795931535256787],[-0.3362890698030833,-1.836885615997304]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_12","position":[-0.44098332662099643,0.6089770903582155,0.71338606911949],"aabb_xy":[[-0.5209833236352444,0.5888425386848042],[-0.3609833296067484,0.6291116420316267]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_13","position":[-0.46368224040642636,-0.09203826605462773,0.71338606911949],"aabb_xy":[[-0.4812289353225453,-0.129538267618879],[-0.44613554549030743,-0.054538264490376465]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_14","position":[0.4595295231944343,-0.6527027173988593,0.71338606911949],"aabb_xy":[[0.3955295215164369,-0.7012201088781735],[0.5235295248724317,-0.6041853259195451]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_15","position":[0.30695971267344846,-2.4300279231529274,0.71338606911949],"aabb_xy":[[0.29185741121243025,-2.445129444783988],[0.32206201413446645,-2.414926401521864]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_16","position":[-0.2470791476553812,-2.448663386259993,0.71338606911949],"aabb_xy":[[-0.2558812029643539,-2.456474712414922],[-0.2382770923464085,-2.440852060105064]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_17","position":[-0.2066135627184894,1.0562556261886882,0.71338606911949],"aabb_xy":[[-0.2566135622948241,1.0062750472365825],[-0.15661356314215466,1.1062362051407943]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_18","position":[-0.10602129390548176,0.30095596191788765,0.71338606911949],"aabb_xy":[[-0.12490567767399197,0.28207003713753487],[-0.08713691013697156,0.31984188669824043]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_19","position":[-0.13254126039170266,1.5135190765873188,0.71338606911949],"aabb_xy":[[-0.18753447172883947,1.4585190762485252],[-0.07754804905456593,1.5685190769261126]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_20","position":[0.6086042006288352,1.3574808302134778,0.71338606911949],"aabb_xy":[[0.5711041991132035,1.3462540571973325],[0.646104202144467,1.3687076032296226]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_21","position":[0.12371398160862601,-2.183062368691626,0.71338606911949],"aabb_xy":[[0.08925163421048418,-2.217556251089448],[0.15817632900676776,-2.1485684862938026]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_22","position":[-0.26516969134632423,-0.3180428327995708,0.71338606911949],"aabb_xy":[[-0.27832093731761365,-0.3430428325562574],[-0.2520184453750349,-0.2930428330428843]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_23","position":[0.1390656794418048,-1.3159373702163877,0.71338606911949],"aabb_xy":[[0.07506568232969912,-1.3649697400107985],[0.2030656765539105,-1.2669050004219773]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_24","position":[-0.6431225448170507,-2.3243742716905404,0.71338606911949],"aabb_xy":[[-0.6470364180124731,-2.3331232870970973],[-0.639208671621628,-2.3156252562839836]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_25","position":[-0.08182437605794424,-2.260063109739855,0.71338606911949],"aabb_xy":[[-0.10310238420141647,-2.325063112065928],[-0.060546367914471974,-2.195063107413782]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_26","position":[-0.30962048701974976,-1.0662603453579695,0.71338606911949],"aabb_xy":[[-0.32967889863299005,-1.086325432267127],[-0.28956207540650947,-1.0461952584488121]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_27","position":[0.17222206655785866,-2.024001312272751,0.71338606911949],"aabb_xy":[[0.16688955190324567,-2.0293256405179867],[0.17755458121247164,-2.018676984027515]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_28","position":[0.4496508960890455,0.5287745349529485,0.71338606911949],"aabb_xy":[[0.4321508969546783,0.5188949079153606],[0.46715089522341263,0.5386541619905363]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_29","position":[-0.4137412900007444,0.5017682144865976,0.71338606911949],"aabb_xy":[[-0.49374129326475746,0.48820818217768414],[-0.3337412867367312,0.5153282467955108]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6587517795984469,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1978.png","name":"1978"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1978.png","name":"1978"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4693.png","name":"4693"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7163.png","name":"7163"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6138.png","name":"6138"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6663.png","name":"6663"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":670.2900223409059,"rotation_z_degrees":151.2338617555435,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00424694766377284,0.007606600117645787,-0.010551630756542555]},{"name":"camera_2","offset_m":[0.013107186901772153,-0.019813717358033122,-0.009649575532758097]},{"name":"camera_3","offset_m":[-0.0052744192350637625,-0.01663760013266455,0.01732387888460289]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0006819948709771318,-0.0007304285401921976,-0.0009573882541747318],"end_effector_yaw_offset_degrees":-0.6958370368803646},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0010039750074857462,-0.00021270274785681223,0.0007969186917991668],"end_effector_yaw_offset_degrees":0.8836699739766187},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0019271483884516524,-0.0006072178741477465,0.001403441825187154],"end_effector_yaw_offset_degrees":-0.3941975771078048},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0012403357686437797,-0.0016173454255407637,0.0012428802829278288],"end_effector_yaw_offset_degrees":0.41065222058968587}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0006523015933734312,-0.004465326036488935],"position_m":[0.21234769840662657,-0.14296532603648895,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004354421084539054,0.0029738913186288024],"position_m":[0.22774557891546093,-0.3613261086813712,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004721635394003787,-0.0034102201677230826],"position_m":[0.2959216353940038,-0.04301022016772309,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0029877342538139782,-0.0011429047368497459],"position_m":[0.34698773425381396,0.17375709526315025,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"10c5a7072ad3fe2f35bbe4b961c5d692d9427a5d9576369ee6371bda01612501","episode_index":27,"episode_name":"episode_0027"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0027.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_1978/tex_ceiling_textures_6663/tex_floor_textures_6138/tex_table_textures_4693/tex_wall_textures_7163","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":2823433185077994205,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":2823433185077994205,"visual_seed":2823433185077994205,"scene_id":"lab_003","finished_at":"2026-09-05T21:38:42"} +{"episode_id":"ep_000028","started_at":"2026-09-05T21:38:46","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_0","position":[-0.2284228186786973,-1.0578158675852258,0.71338606911949],"aabb_xy":[[-0.29842282207025916,-1.0931316412886567],[-0.15842281528713525,-1.022500093881795]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_1","position":[0.3093676362110338,-1.917516772057313,0.71338606911949],"aabb_xy":[[0.22936763593742684,-1.9904663198830295],[0.3893676364846408,-1.844567224231596]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_2","position":[0.6531303217878617,-1.427853442935751,0.71338606911949],"aabb_xy":[[0.6078517069067124,-1.4918534422839347],[0.6984089366690109,-1.3638534435875673]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_3","position":[-0.11318108934933513,-2.4465838843978838,0.71338606911949],"aabb_xy":[[-0.13206547311784533,-2.4654698091782365],[-0.09429670558082494,-2.427697959617531]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_4","position":[0.5557251361786568,1.0634914233130068,0.71338606911949],"aabb_xy":[[0.5332114443551996,0.9934914227119991],[0.578238828002114,1.1334914239140141]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_5","position":[-0.5184930596316015,-2.100380160496449,0.71338606911949],"aabb_xy":[[-0.5489773097586317,-2.150380160277945],[-0.4880088095045714,-2.050380160714953]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_6","position":[0.5693433029355048,-2.031291774754272,0.71338606911949],"aabb_xy":[[0.5518433695015214,-2.0487917746745063],[0.5868432363694881,-2.0137917748340373]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_7","position":[0.5120200271835877,-2.3577183939833635,0.71338606911949],"aabb_xy":[[0.4775576797854458,-2.3922122763811853],[0.5464823745817293,-2.32322451158554]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_8","position":[0.435862139592585,-0.3253765148204546,0.71338606911949],"aabb_xy":[[0.41557783686918626,-0.3456591399631634],[0.4561464423159838,-0.3050938896777457]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_9","position":[-0.4840009753208828,1.2017526065094453,0.71338606911949],"aabb_xy":[[-0.5480009717482047,1.1545829826873488],[-0.4200009788935609,1.2489222303315417]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_10","position":[0.45538010861841816,1.6710887866980824,0.71338606911949],"aabb_xy":[[0.44027780715739995,1.6559872650670198],[0.47048241007943614,1.6861903083291436]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_11","position":[0.01992766524435785,0.6599323847770684,0.71338606911949],"aabb_xy":[[-0.025072336221871005,0.6149325279155877],[0.06492766671058671,0.7049322416385491]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_12","position":[-0.11177163929794198,1.7306996145793243,0.71338606911949],"aabb_xy":[[-0.17177163989395816,1.6758871420341006],[-0.05177163870192582,1.7855120871245476]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_13","position":[0.655666305066849,0.6349640515583355,0.71338606911949],"aabb_xy":[[0.6006708272461895,0.5799640501244284],[0.7106617828875083,0.6899640529922423]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_14","position":[0.7155110859596878,-2.310050339084231,0.71338606911949],"aabb_xy":[[0.7115972127642654,-2.3187993544907877],[0.7194249591551103,-2.301301323677674]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_15","position":[-0.3627540838728758,1.6960906403325837,0.71338606911949],"aabb_xy":[[-0.40377202725924666,1.6460906397016262],[-0.3217361404865049,1.7460906409635408]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_16","position":[0.25445884311847655,0.9181241192239264,0.71338606911949],"aabb_xy":[[0.1904588458328279,0.8766174002710824],[0.3184588404041252,0.9596308381767703]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_17","position":[0.5045723138531384,1.4123840455824666,0.71338606911949],"aabb_xy":[[0.49853530085247366,1.4063573445135187],[0.5106093268538031,1.4184107466514149]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_18","position":[-0.6237574103826329,0.5894206124260002,0.71338606911949],"aabb_xy":[[-0.6317513989603362,0.5814205323309097],[-0.6157634218049294,0.5974206925210904]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_19","position":[-0.12428996894638467,-0.8976224632754111,0.71338606911949],"aabb_xy":[[-0.13675732705612031,-0.9100877879087347],[-0.11182261083664902,-0.8851571386420877]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_20","position":[-0.4132406171842469,0.6533160306900783,0.71338606911949],"aabb_xy":[[-0.44755689435886475,0.6033160307169005],[-0.3789243400096289,0.703316030663256]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_21","position":[-0.2865947553928361,-0.8284600012422416,0.71338606911949],"aabb_xy":[[-0.3165864181267064,-0.8584600005790421],[-0.25660309265896575,-0.7984600019054411]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_22","position":[0.24047020771111272,-1.6327674044384164,0.71338606911949],"aabb_xy":[[0.20297020691911724,-1.6391352453966064],[0.27797020850310816,-1.626399563480226]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_23","position":[-0.37780320446436505,0.9774946619945504,0.71338606911949],"aabb_xy":[[-0.4276859013420613,0.9274946627482757],[-0.32792050758666885,1.0274946612408251]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_24","position":[-0.5501799745245399,-0.6844395860277963,0.71338606911949],"aabb_xy":[[-0.5561465134652755,-0.6904007306871603],[-0.5442134355838041,-0.6784784413684323]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_25","position":[0.6835294288227292,-0.38471496527344096,0.71338606911949],"aabb_xy":[[0.6747482016754929,-0.3934947125619712],[0.6923106559699654,-0.3759352179849109]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6638127047040427,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9572.png","name":"9572"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9572.png","name":"9572"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5468.png","name":"5468"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5812.png","name":"5812"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5686.png","name":"5686"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5969.png","name":"5969"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":806.6414415530954,"rotation_z_degrees":183.0877964405985,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01563647525197977,-0.004413368211205224,-0.01891881333086972]},{"name":"camera_2","offset_m":[0.009361601062027637,-0.009552667023741504,0.0019888338111507115]},{"name":"camera_3","offset_m":[-0.01149148564007215,0.015361147513924329,-0.008994679873054459]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-7.786536637517292e-05,0.0007246669099348676,8.451383585547732e-05],"end_effector_yaw_offset_degrees":-0.6132268032920145},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0007401287010548527,-0.0015128684781023601,0.0019314386282700694],"end_effector_yaw_offset_degrees":0.6952819196560853},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001673663947115342,-0.0007762733550527661,0.000745786521591572],"end_effector_yaw_offset_degrees":-0.9503796457124605},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0012165261554458536,-0.00024170718011019918,0.00023286678014278932],"end_effector_yaw_offset_degrees":-0.3155366654553753}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0024403132824906216,0.0036685506795617892],"position_m":[0.2154403132824906,-0.13483144932043822,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0022395213987984565,-0.0030085546871406778],"position_m":[0.22986047860120154,-0.3673085546871407,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0006557076216906991,-0.004001415162313728],"position_m":[0.2918557076216907,-0.04360141516231373,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0036324526548828515,0.004889796784419782],"position_m":[0.34763245265488285,0.17978979678441978,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3f07c63be24d0530a4e43e51b67b4ec8a6ee6f0d1f9e12a60b428fd237bc9086","episode_index":28,"episode_name":"episode_0028"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0028.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_9572/tex_ceiling_textures_5969/tex_floor_textures_5686/tex_table_textures_5468/tex_wall_textures_5812","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":2052782619287583831,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":2052782619287583831,"visual_seed":2052782619287583831,"scene_id":"lab_003","finished_at":"2026-09-05T21:42:15"} +{"episode_id":"ep_000029","started_at":"2026-09-05T21:42:20","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_0","position":[-0.0112209550411132,0.6884103927891081,0.71338606911949],"aabb_xy":[[-0.025864360595146185,0.6737516731323238],[0.0034224505129197853,0.7030691124458922]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_1","position":[-0.5835145899344816,-0.326512928461955,0.71338606911949],"aabb_xy":[[-0.6169547651305011,-0.359956554292885],[-0.5500744147384619,-0.2930693026310248]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_2","position":[-0.3819038207844731,-1.5475480466669842,0.71338606911949],"aabb_xy":[[-0.39070587609344576,-1.5553593728219133],[-0.37310176547550034,-1.5397367205120551]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_3","position":[-0.11013375079686616,-0.08242583333715459,0.71338606911949],"aabb_xy":[[-0.14053186189600972,-0.11283273533882408],[-0.07973563969772256,-0.05201893133548507]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_4","position":[0.38073865709422994,-0.8973681987828894,0.71338606911949],"aabb_xy":[[0.3495917382506468,-0.9673681974696966],[0.41188557593781305,-0.8273682000960823]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_5","position":[-0.5025749316754041,-0.7706047129466149,0.71338606911949],"aabb_xy":[[-0.5144470146869052,-0.8556047126402652],[-0.490702848663903,-0.6856047132529645]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_6","position":[-0.5027966797990145,0.5891600195302238,0.71338606911949],"aabb_xy":[[-0.5527959549674507,0.5391600182542766],[-0.4527974046305784,0.639160020806171]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_7","position":[0.3672065797626556,-2.021511007746938,0.71338606911949],"aabb_xy":[[0.349706579503319,-2.0356025499357107],[0.3847065800219923,-2.0074194655581654]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_8","position":[-0.328963563425869,-2.168546179495765,0.71338606911949],"aabb_xy":[[-0.39896356523461446,-2.189899948259952],[-0.2589635616171236,-2.147192410731577]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_9","position":[0.45459493186201505,1.2660988905662545,0.71338606911949],"aabb_xy":[[0.42013258446387325,1.2316050081684313],[0.48905727926015685,1.3005927729640767]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_10","position":[0.44185795505915926,-0.09226769558510073,0.71338606911949],"aabb_xy":[[0.41685795512664137,-0.09915036380602404],[0.46685795499167715,-0.08538502736417741]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_11","position":[-0.02809562189653103,-1.139047098294245,0.71338606911949],"aabb_xy":[[-0.032730737048764405,-1.1429144333713936],[-0.023460506744297633,-1.1351797632170966]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_12","position":[0.6829875466605375,-1.6660990420423774,0.71338606911949],"aabb_xy":[[0.6749612760299116,-1.67485053701973],[0.6910138172911636,-1.6573475470650247]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_13","position":[-0.17961883635472986,-2.5574814474564156,0.71338606911949],"aabb_xy":[[-0.21461883633122572,-2.5669460635040324],[-0.14461883637823406,-2.5480168314087996]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_14","position":[-0.25372476367687274,-0.3224670871434334,0.71338606911949],"aabb_xy":[[-0.267171290310916,-0.33593693879652464],[-0.24027823704282936,-0.3089972354903422]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_15","position":[-0.4338809164111554,1.725847453378622,0.71338606911949],"aabb_xy":[[-0.45679662929620535,1.702943156242199],[-0.41096520352610555,1.748751750515046]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_16","position":[-0.27573778788383585,1.2350136920762793,0.71338606911949],"aabb_xy":[[-0.28378114780979097,1.1500136909809129],[-0.2676944279578806,1.3200136931716457]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_17","position":[0.0494691345076369,1.13632412792533,0.71338606911949],"aabb_xy":[[-0.020530861902324896,1.1158861922736478],[0.11946913091759867,1.1567620635770113]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_18","position":[0.24744029576800186,0.8670057208758379,0.71338606911949],"aabb_xy":[[0.189809826880731,0.8070057219491271],[0.3050707646552727,0.9270057198025483]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_19","position":[-0.36170634352057823,1.0136004689185558,0.71338606911949],"aabb_xy":[[-0.41170117644851983,0.9636004700233123],[-0.31171151059263663,1.0636004678137994]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_20","position":[0.6024609964384906,-2.3224280960314467,0.71338606911949],"aabb_xy":[[0.57996099592645,-2.344919954396845],[0.6249609969505312,-2.2999362376660484]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_21","position":[-0.5904354567032858,1.2957941216929445,0.71338606911949],"aabb_xy":[[-0.6405329206843594,1.2317941211831325],[-0.5403379927222122,1.359794122202756]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_22","position":[0.6495971685070863,1.3818886966765263,0.71338606911949],"aabb_xy":[[0.6325870712170356,1.3657542081782523],[0.6666072657971369,1.3980231851748002]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_23","position":[0.5594645733915165,-2.4607525480396677,0.71338606911949],"aabb_xy":[[0.5557613120623776,-2.464454566348385],[0.5631678347206553,-2.4570505297309495]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_24","position":[0.16941061194496265,-0.6204395784617902,0.71338606911949],"aabb_xy":[[0.134410612815007,-0.6261847995374543],[0.2044106110749183,-0.6146943573861261]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_25","position":[0.34236543527848884,1.7809407541242588,0.71338606911949],"aabb_xy":[[0.26236543826424086,1.7608062024508473],[0.4223654322927368,1.8010753057976698]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_26","position":[0.41299578578036833,-0.6823256256631529,0.71338606911949],"aabb_xy":[[0.3971112925150431,-0.6966785659619769],[0.4288802790456934,-0.6679726853643287]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_27","position":[-0.597288865242207,-2.195331513096373,0.71338606911949],"aabb_xy":[[-0.6147195803212134,-2.2126036277602235],[-0.5798581501632004,-2.1780593984325214]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_28","position":[-0.12054178703736795,0.0588279282814983,0.71338606911949],"aabb_xy":[[-0.14554178658910644,0.04868544441636358],[-0.09554178748562947,0.06897041214663302]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_29","position":[0.6478550396228782,-0.08446241773977947,0.71338606911949],"aabb_xy":[[0.5838550403287099,-0.14844855810863367],[0.7118550389170464,-0.020476277370925278]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_30","position":[0.2516665175764845,1.5386534843497546,0.71338606911949],"aabb_xy":[[0.22118226744945435,1.4886534845682584],[0.28215076770351466,1.5886534841312503]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_31","position":[-0.30892361412913855,-2.0550731797925064,0.71338606911949],"aabb_xy":[[-0.3166268048032156,-2.0627825504912445],[-0.3012204234550615,-2.0473638090937682]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_32","position":[-0.03379143345772995,1.7455969121101664,0.71338606911949],"aabb_xy":[[-0.04178492325301198,1.737598780169691],[-0.025797943662447927,1.7535950440506423]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_33","position":[0.46957369181910624,1.057103001649487,0.71338606911949],"aabb_xy":[[0.40457369326203335,1.0273504682356043],[0.5345736903761791,1.0868555350633695]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_34","position":[-0.5749792776704336,-0.1617456909314856,0.71338606911949],"aabb_xy":[[-0.6124792780186612,-0.17353708651256916],[-0.5374792773222057,-0.14995429535040206]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6642802275622416,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6926.png","name":"6926"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6926.png","name":"6926"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3306.png","name":"3306"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7742.png","name":"7742"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3439.png","name":"3439"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3059.png","name":"3059"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":732.6463206386807,"rotation_z_degrees":14.801736388707933,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014382614158150387,0.013314091410815684,-0.00406175717259042]},{"name":"camera_2","offset_m":[0.0031168494199728287,-0.015174413500297627,-0.017812181635387885]},{"name":"camera_3","offset_m":[-0.0048445934905538435,0.009862899513468283,-0.012024527629917726]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0014385705959627836,0.0002331283841387052,-0.000918707006840743],"end_effector_yaw_offset_degrees":-0.6201155647741832},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0009160763877450776,0.0018620947989820094,0.0011396314021598739],"end_effector_yaw_offset_degrees":0.16306759577386942},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0012929073421652903,-0.0011233144635320181,2.821863712937833e-05],"end_effector_yaw_offset_degrees":-0.21769965008216707},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0006571561780287943,0.0014914077312157873,0.0016599507803960536],"end_effector_yaw_offset_degrees":-0.20684567791807806}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0030725406545976117,-0.002959992730714267],"position_m":[0.2160725406545976,-0.14145999273071427,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002734237454254592,0.003728752515459702],"position_m":[0.23483423745425458,-0.36057124748454034,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004566304165300179,0.0013927038260581467],"position_m":[0.28663369583469983,-0.038207296173941856,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003526677782142179,0.0020238274520367897],"position_m":[0.34752667778214213,0.1769238274520368,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"fdfb91d36277f9e18e079a1bdd6a2e390203fb87b9a889f077857234cea25dec","episode_index":29,"episode_name":"episode_0029"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0029.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_6926/tex_ceiling_textures_3059/tex_floor_textures_3439/tex_table_textures_3306/tex_wall_textures_7742","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":1512478184168450007,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":1512478184168450007,"visual_seed":1512478184168450007,"scene_id":"lab_003","finished_at":"2026-09-05T21:45:54"} +{"episode_id":"ep_000030","started_at":"2026-09-05T21:45:57","dimensions":{"distractor":{"count":26,"items":[{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_0","position":[-0.06715925446464366,-0.7367361314123793,0.71338606911949],"aabb_xy":[[-0.10215925273476355,-0.7438102591073673],[-0.03215925619452374,-0.729662003717391]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_1","position":[0.4564863156059349,0.5477613907524379,0.71338606911949],"aabb_xy":[[0.4339726237824776,0.4777613901514304],[0.47900000742939197,0.6177613913534454]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_2","position":[0.3671305007714927,0.8296962307593683,0.71338606911949],"aabb_xy":[[0.30313049755285487,0.7829731188603599],[0.4311305039901306,0.8764193426583766]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_3","position":[0.48847163016836803,-1.5792229692809725,0.71338606911949],"aabb_xy":[[0.438472354999932,-1.62922297055692],[0.5384709053368043,-1.5292229680050256]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_4","position":[-0.6809899230673949,-2.1696671355706103,0.71338606911949],"aabb_xy":[[-0.6903369306496902,-2.1839707577882543],[-0.6716429154850997,-2.1553635133529663]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_5","position":[-0.11196017761000965,0.9051984519362875,0.71338606911949],"aabb_xy":[[-0.1619334716132701,0.85519845138174],[-0.0619868836067492,0.9551984524908347]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_6","position":[-0.592813975384277,0.004504595802658606,0.71338606911949],"aabb_xy":[[-0.6211436853328173,4.385360894154644e-05],[-0.5644842654357368,0.008965337996375666]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_7","position":[-0.39291631311535496,-2.5506937059280594,0.71338606911949],"aabb_xy":[[-0.4099264104054057,-2.5668281944263334],[-0.37590621582530437,-2.5345592174297855]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_8","position":[-0.2211778690544866,0.6619087215770629,0.71338606911949],"aabb_xy":[[-0.2291713588497687,0.6539105896365873],[-0.21318437925920464,0.6699068535175385]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_9","position":[-0.07021431993156468,0.5601377434511874,0.71338606911949],"aabb_xy":[[-0.07365499617162186,0.5562763104768229],[-0.06677364369150751,0.5639991764255519]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_10","position":[0.4898426294937872,1.0459997830875696,0.71338606911949],"aabb_xy":[[0.46199759271318014,1.015215284349258],[0.5176876662743943,1.0767842818258813]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_11","position":[-0.5778833274355115,0.8363003447517854,0.71338606911949],"aabb_xy":[[-0.667570403743627,0.7463003444973348],[-0.48819625112739606,0.9263003450062359]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_12","position":[0.40358527647667075,-1.1816307915943856,0.71338606911949],"aabb_xy":[[0.39868598417010714,-1.209307710896954],[0.40848456878323414,-1.1539538722918166]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_13","position":[0.0025970678362822186,1.7087311200678301,0.71338606911949],"aabb_xy":[[-0.04740293252428384,1.658751132858227],[0.05259706819684828,1.7587111072774329]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_14","position":[-0.13307197499403023,1.4521716506622853,0.71338606911949],"aabb_xy":[[-0.2230719744124011,1.4187961538180955],[-0.04307197557565931,1.485547147506475]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_15","position":[-0.5207148315214284,0.42188923614937357,0.71338606911949],"aabb_xy":[[-0.6007148319916444,0.4135785285350252],[-0.44071483105121256,0.43019994376372195]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_16","position":[-0.6604336680654541,1.6449495281668152,0.71338606911949],"aabb_xy":[[-0.6829336685774946,1.6224576698014168],[-0.6379336675534134,1.6674413865322135]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_17","position":[-0.5878285738142742,-1.1760386857466467,0.71338606911949],"aabb_xy":[[-0.6578285702242359,-1.196476621398328],[-0.5178285774043123,-1.1556007500949645]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_18","position":[-0.5895645264466818,-1.260122532061248,0.71338606911949],"aabb_xy":[[-0.6145645257186441,-1.27646789565741],[-0.5645645271747195,-1.2437771684650853]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_19","position":[-0.12367090789362878,0.34190711390567863,0.71338606911949],"aabb_xy":[[-0.14372931950686907,0.32184202699652104],[-0.1036124962803885,0.3619722008148361]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_20","position":[0.39783258340200733,-2.0790143784962094,0.71338606911949],"aabb_xy":[[0.3739963657614023,-2.169014379304696],[0.4216688010426125,-1.989014377687723]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_21","position":[-0.2926016412099241,1.2937079273748249,0.71338606911949],"aabb_xy":[[-0.31047074896437965,1.2798750193976138],[-0.27473253345546866,1.307540835352036]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_22","position":[0.40975242906705267,1.1799354851038082,0.71338606911949],"aabb_xy":[[0.32975243108626767,1.172333944141956],[0.4897524270478378,1.18753702606566]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_23","position":[0.652647833528089,1.715561028899081,0.71338606911949],"aabb_xy":[[0.598632237246189,1.6515610260068236],[0.706663429809989,1.779561031791338]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_24","position":[-0.37419811750961235,1.4639138316149647,0.71338606911949],"aabb_xy":[[-0.40468236763664245,1.4139138318334687],[-0.34371386738258214,1.5139138313964606]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_25","position":[0.26054857529198727,-1.7216320036230197,0.71338606911949],"aabb_xy":[[0.20291810640471636,-1.7816320025497299],[0.3181790441792581,-1.6616320046963087]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6643219665637154,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/645.png","name":"645"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/645.png","name":"645"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7391.png","name":"7391"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7861.png","name":"7861"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5473.png","name":"5473"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6957.png","name":"6957"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":827.4204593378778,"rotation_z_degrees":141.2863785710062,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015314739657957018,-0.006732538163906843,-0.013829326202019345]},{"name":"camera_2","offset_m":[-0.016227867914782305,0.01025808364763877,-0.019297434795431685]},{"name":"camera_3","offset_m":[0.0023977978232377004,-0.014219955164464521,-0.01632255599448971]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001235383146128679,0.0015300712285317131,0.0013270902283688468],"end_effector_yaw_offset_degrees":0.4920474902883365},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0002721512071391422,-0.0008837198263297555,-0.0019600550426338457],"end_effector_yaw_offset_degrees":0.13215506593723614},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0013769275020121597,0.00014686677095660525,-0.0019196649561485292],"end_effector_yaw_offset_degrees":-0.8590849326119134},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0007649879309527645,0.0018489049571801049,6.252701340656681e-05],"end_effector_yaw_offset_degrees":0.9253427579526987}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0019246536876014763,0.0016752464409312785],"position_m":[0.21107534631239852,-0.13682475355906873,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00119837416476675,-0.0023599463799013542],"position_m":[0.23090162583523324,-0.36665994637990135,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0003901598648589225,-0.0036619048530433743],"position_m":[0.2915901598648589,-0.043261904853043376,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0031175060257446806,-0.004468842367191193],"position_m":[0.3408824939742553,0.1704311576328088,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"89a77b64148c94fc8db9d37e54c3d0ec455ef0a880a94cbbc1c45dff98ee7165","episode_index":30,"episode_name":"episode_0030"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0030.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_645/tex_ceiling_textures_6957/tex_floor_textures_5473/tex_table_textures_7391/tex_wall_textures_7861","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":7706848945304671169,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":7706848945304671169,"visual_seed":7706848945304671169,"scene_id":"lab_003","finished_at":"2026-09-05T21:49:14"} +{"episode_id":"ep_000031","started_at":"2026-09-05T21:49:18","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_0","position":[0.21021611135101437,-0.8042153584087754,0.71338606911949],"aabb_xy":[[0.17562502849696912,-0.8692153586938064],[0.24480719420505956,-0.7392153581237443]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_1","position":[-0.5992219993111411,0.31420418029795893,0.71338606911949],"aabb_xy":[[-0.6167219985892278,0.296866080231613],[-0.5817220000330541,0.3315422803643049]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_2","position":[0.20948746005241825,-1.3463164659706435,0.71338606911949],"aabb_xy":[[0.12948745678840512,-1.359876498279557],[0.2894874633164314,-1.3327564336617304]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_3","position":[-0.6579406441501525,-1.7243169539821952,0.71338606911949],"aabb_xy":[[-0.6879323068840227,-1.7543169533189957],[-0.6279489814162821,-1.6943169546453947]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_4","position":[0.5103046736063754,-0.4688366656712257,0.71338606911949],"aabb_xy":[[0.48780467379247305,-0.4733112820417064],[0.5328046734202778,-0.46436204930074504]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_5","position":[0.6656690539538737,-1.424675955497953,0.71338606911949],"aabb_xy":[[0.6156902454435578,-1.4746759555036717],[0.7156478624641895,-1.374675955492234]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_6","position":[-0.2571485328156024,1.39758594159908,0.71338606911949],"aabb_xy":[[-0.3211485351584039,1.3526450903549472],[-0.1931485304728008,1.4425267928432122]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_7","position":[-0.1469497820740875,-1.3771980372613246,0.71338606911949],"aabb_xy":[[-0.19683247895178374,-1.4271980365075996],[-0.09706708519639132,-1.32719803801505]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_8","position":[0.581370097854004,-0.47791444254834925,0.71338606911949],"aabb_xy":[[0.5750579983176656,-0.4836813818015681],[0.5876821973903423,-0.4721475032951305]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_9","position":[0.10471313279881667,0.5890505190894846,0.71338606911949],"aabb_xy":[[0.09668686216819068,0.580299024112132],[0.11273940342944268,0.5978020140668372]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_10","position":[0.16215253632636817,-1.7137355604422226,0.71338606911949],"aabb_xy":[[0.10215253468344634,-1.7657357097341666],[0.22215253796929005,-1.6617354111502782]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_11","position":[0.3434831288717404,-1.7676034086106727,0.71338606911949],"aabb_xy":[[0.30644901944368064,-1.8019806159443819],[0.3805172382998001,-1.733226201276963]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_12","position":[-0.3700026901960885,-0.71464952822423,0.71338606911949],"aabb_xy":[[-0.46000269253010756,-0.7921318828093425],[-0.28000268786206944,-0.6371671736391172]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_13","position":[-0.36322425641963363,-1.9795857808123674,0.71338606911949],"aabb_xy":[[-0.41322425599596835,-2.0295663597644733],[-0.3132242568432989,-1.9296052018602616]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_14","position":[-0.045481962491205175,-1.5218468011943043,0.71338606911949],"aabb_xy":[[-0.08048196080190062,-1.5295618161178497],[-0.010481964180509735,-1.5141317862707584]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_15","position":[0.2682214740367831,-0.9993053526025684,0.71338606911949],"aabb_xy":[[0.2588039994669203,-1.0087215297402872],[0.2776389486066458,-0.9898891754648491]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_16","position":[0.6428032534653558,0.7680444036694496,0.71338606911949],"aabb_xy":[[0.5728032516566104,0.7466906349052621],[0.7128032552741013,0.7893981724336369]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_17","position":[0.4000308924760647,-0.48944133077550633,0.71338606911949],"aabb_xy":[[0.35878208144615,-0.5444413302877237],[0.44127970350597945,-0.4344413312632888]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_18","position":[0.6469980655694663,0.3017878045070801,0.71338606911949],"aabb_xy":[[0.6094980669938453,0.2890515088435221],[0.684498064145087,0.314524100170638]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_19","position":[-0.5801688740986514,-0.23547197359694705,0.71338606911949],"aabb_xy":[[-0.6254474889798006,-0.2994719729451307],[-0.5348902592175021,-0.17147197424876334]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_20","position":[0.5662653346046249,1.3958239151348413,0.71338606911949],"aabb_xy":[[0.5399765102841841,1.3695524814801898],[0.5925541589250655,1.4220953487894923]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_21","position":[-0.38519712532585476,-2.448387285262694,0.71338606911949],"aabb_xy":[[-0.4323265043276904,-2.5123872863070953],[-0.33806774632401904,-2.3843872842182914]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_22","position":[-0.49400134482049707,-1.5604031701116412,0.71338606911949],"aabb_xy":[[-0.5031612237643737,-1.5669343881551783],[-0.48484146587662047,-1.5538719520681041]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6580767078791868,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8492.png","name":"8492"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8492.png","name":"8492"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3504.png","name":"3504"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7291.png","name":"7291"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7162.png","name":"7162"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5059.png","name":"5059"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":788.7115965149098,"rotation_z_degrees":279.4663060072387,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.002963991556067396,-0.018516923065567643,0.01267024676646097]},{"name":"camera_2","offset_m":[0.00687124053273919,0.013685653270795333,0.010072538743754099]},{"name":"camera_3","offset_m":[0.01729072730215413,0.015479361108177565,0.01438508549521535]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0014448670759362706,-0.0010656471676568718,-0.0016150366507033504],"end_effector_yaw_offset_degrees":0.9046978658794893},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0002606316192002281,0.000873215619042569,-0.001373843496140322],"end_effector_yaw_offset_degrees":0.29456514952718127},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0011361571734949875,0.0018296413115092354,0.0016411788713919357],"end_effector_yaw_offset_degrees":0.15025388460786493},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0009760178873578274,-0.0010225871477555738,-0.0010561351292347463],"end_effector_yaw_offset_degrees":-0.8456633975731567}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004829133730451946,0.0009132039208961237],"position_m":[0.21782913373045193,-0.1375867960791039,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003876447020497221,0.00493826086281918],"position_m":[0.22822355297950278,-0.35936173913718084,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004398112601260217,0.004599283644470286],"position_m":[0.2868018873987398,-0.03500071635552972,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004288261448115627,-0.0037708607729566345],"position_m":[0.33971173855188436,0.17112913922704337,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f2aeac8a801389e82ad0120abd696f06261526de7a96077e76863f465c220d88","episode_index":31,"episode_name":"episode_0031"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0031.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_8492/tex_ceiling_textures_5059/tex_floor_textures_7162/tex_table_textures_3504/tex_wall_textures_7291","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":2711905762908136953,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":2711905762908136953,"visual_seed":2711905762908136953,"scene_id":"lab_003","finished_at":"2026-09-05T21:52:39"} +{"episode_id":"ep_000032","started_at":"2026-09-05T21:52:43","dimensions":{"distractor":{"count":35,"items":[{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_0","position":[-0.015511871857478265,1.2850355720658033,0.71338606911949],"aabb_xy":[[-0.07051187103406775,1.2300458972908457],[0.03948812731911122,1.340025246840761]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_1","position":[0.3012226650583538,0.3813723947296963,0.71338606911949],"aabb_xy":[[0.28372266592398665,0.3714927676921084],[0.318722664192721,0.3912520217672841]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_2","position":[-0.6718861373317998,-0.3583246729473921,0.71338606911949],"aabb_xy":[[-0.6768421575166811,-0.38082467314951385],[-0.6669301171469187,-0.33582467274527056]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_3","position":[0.6077191598214255,-0.21187855564243074,0.71338606911949],"aabb_xy":[[0.5902884447424189,-0.22915067030628156],[0.625149874900432,-0.19460644097857993]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_4","position":[-0.4751915419874577,-0.28891357014575325,0.71338606911949],"aabb_xy":[[-0.507653242869385,-0.3190464022606558],[-0.44272984110553015,-0.2587807380308505]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_5","position":[-0.2990857374545084,1.4153893123073602,0.71338606911949],"aabb_xy":[[-0.3887728137626238,1.3253893120529094],[-0.20939866114639288,1.5053893125618105]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_6","position":[0.16349226732624178,-0.8051919414595115,0.71338606911949],"aabb_xy":[[0.1547943050355265,-0.8173169157669863],[0.17219022961695707,-0.7930669671520368]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_7","position":[-0.3618124695919775,0.5827733059947389,0.71338606911949],"aabb_xy":[[-0.3730575251625953,0.5715315082706436],[-0.35056741402135966,0.5940151037188341]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_8","position":[-0.3009473762065297,-1.8566731496415785,0.71338606911949],"aabb_xy":[[-0.3113589348870134,-1.8620188829774766],[-0.29053581752604596,-1.8513274163056799]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_9","position":[0.21829540041305595,1.6906932604519125,0.71338606911949],"aabb_xy":[[0.2024109071477308,1.6763403201530884],[0.2341798936783811,1.7050462007507365]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_10","position":[-0.16390128923207348,-2.147252149203134,0.71338606911949],"aabb_xy":[[-0.21887501126840636,-2.202252148767367],[-0.1089275671957406,-2.0922521496389006]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_11","position":[-0.35285710231666867,0.9244118913876083,0.71338606911949],"aabb_xy":[[-0.36088337294729467,0.9156603964102558],[-0.34483083168604267,0.933163386364961]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_12","position":[0.35700234293207056,-0.9765246846826188,0.71338606911949],"aabb_xy":[[0.30690487895099694,-1.0405246851924304],[0.4070998069131442,-0.9125246841728067]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_13","position":[-0.21934386955911145,-1.794905516416354,0.71338606911949],"aabb_xy":[[-0.2568438702236901,-1.8105925744165758],[-0.18184386889453272,-1.7792184584161315]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_14","position":[0.5638566120528781,-0.4212384149148769,0.71338606911949],"aabb_xy":[[0.5338890551430524,-0.4512384152127627],[0.5938241689627037,-0.3912384146169912]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_15","position":[-0.29877968877267463,1.1658322069086697,0.71338606911949],"aabb_xy":[[-0.32992660761625775,1.0958322082218623],[-0.2676327699290915,1.2358322055954767]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_16","position":[-0.5429447997647397,0.7050927277202463,0.71338606911949],"aabb_xy":[[-0.6069448030544479,0.6617578087163286],[-0.4789447964750317,0.7484276467241638]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_17","position":[-0.5405493261819421,0.6028483435116452,0.71338606911949],"aabb_xy":[[-0.6205493266521581,0.5945376358972969],[-0.46054932571172624,0.6111590511259937]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_18","position":[0.17500851616326107,-1.0060011851268553,0.71338606911949],"aabb_xy":[[0.1679682062297241,-1.086001184526527],[0.1820488260967981,-0.9260011857271842]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_19","position":[0.20037410151668966,-1.8878184956901247,0.71338606911949],"aabb_xy":[[0.19022108596254025,-1.9238880372628646],[0.21052711707083901,-1.851748954117384]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_20","position":[0.48018268690305543,-1.794885467635237,0.71338606911949],"aabb_xy":[[0.4655392813490224,-1.8095441872920213],[0.49482609245708836,-1.7802267479784528]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_21","position":[-0.023836417415472266,-1.4025709920063376,0.71338606911949],"aabb_xy":[[-0.04133635084945564,-1.4200709919265722],[-0.0063364839814888906,-1.385070992086103]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_22","position":[0.6675974063358043,1.462417712861177,0.71338606911949],"aabb_xy":[[0.6595610716345194,1.4543795935567603],[0.6756337410370891,1.4704558321655938]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_23","position":[-0.4114881160203367,1.2419447425594172,0.71338606911949],"aabb_xy":[[-0.4418862271194802,1.2115378405577477],[-0.38109000492119305,1.2723516445610867]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_24","position":[0.44843787817012415,1.7161487693829716,0.71338606911949],"aabb_xy":[[0.3784378765678447,1.702715976181314],[0.5184378797724036,1.7295815625846291]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_25","position":[-0.10533663852228858,0.8591346441959256,0.71338606911949],"aabb_xy":[[-0.12722638611122936,0.7691346469066763],[-0.08344689093334777,0.9491346414851746]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_26","position":[0.44723948783294976,-1.2761643667715448,0.71338606911949],"aabb_xy":[[0.39723948747238363,-1.3261443539811477],[0.49723948819351577,-1.2261843795619418]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_27","position":[-0.021776774431837453,1.7213746392693978,0.71338606911949],"aabb_xy":[[-0.08677677446614018,1.6746739625890703],[0.043223225602465276,1.768075315949725]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_28","position":[-0.008562465412715548,-2.1967210728298423,0.71338606911949],"aabb_xy":[[-0.03356246534523344,-2.203603741050766],[0.016437534519802344,-2.1898384046089188]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_29","position":[0.26253414457753477,0.7827874772558729,0.71338606911949],"aabb_xy":[[0.21253414500120005,0.7328068983037671],[0.3125341441538695,0.832768056207979]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_30","position":[0.5233544644592953,-0.8054501829616427,0.71338606911949],"aabb_xy":[[0.5135984749501215,-0.8152127170208772],[0.5331104539684692,-0.7956876489024083]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_31","position":[-0.45442287146862126,-2.0494032722362663,0.71338606911949],"aabb_xy":[[-0.46322492677759397,-2.057214598391195],[-0.44562081615964855,-2.0415919460813368]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_32","position":[-0.5126180397060254,1.6190525927133224,0.71338606911949],"aabb_xy":[[-0.5170486690608657,1.61360422097864],[-0.5081874103511853,1.624500964448005]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_33","position":[-0.5154414902982278,0.08091807893434,0.71338606911949],"aabb_xy":[[-0.5854414867081894,0.06048014328265825],[-0.44544149388826587,0.1013560145860217]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_34","position":[0.10648808173777391,-2.290442496559169,0.71338606911949],"aabb_xy":[[0.05700766052381512,-2.3544424944720213],[0.1559685029517327,-2.2264424986463176]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6662239860953204,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5963.png","name":"5963"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5963.png","name":"5963"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1228.png","name":"1228"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2337.png","name":"2337"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2866.png","name":"2866"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5574.png","name":"5574"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":548.6203409511351,"rotation_z_degrees":109.87816324123578,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0007846261959628328,-0.015875523903466086,-0.012937515403613983]},{"name":"camera_2","offset_m":[-0.014640019934396405,-0.005552886140707685,0.010501303054591227]},{"name":"camera_3","offset_m":[-0.012136114082538648,0.010577575529797864,0.01896631916828868]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0016614155758081627,-0.0008467716185622117,-0.0017331757988360117],"end_effector_yaw_offset_degrees":-0.14541135882215261},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0004070460231324633,0.000669231805530105,2.957252609098269e-05],"end_effector_yaw_offset_degrees":-0.38703025987170836},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0010225576978585478,0.00025876095998660044,0.00015970545550328874],"end_effector_yaw_offset_degrees":0.15519674511974646},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0009084283200523412,-0.0015621227651195478,-0.0015757118228107848],"end_effector_yaw_offset_degrees":0.2932803966838835}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00245179457383329,-0.0007767486919107447],"position_m":[0.2154517945738333,-0.13927674869191076,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004385627376415094,0.0027029262779316165],"position_m":[0.2364856273764151,-0.3615970737220684,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002851737153641923,0.0007304608421839108],"position_m":[0.2940517371536419,-0.038869539157816095,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002148427965712616,0.003999967351081096],"position_m":[0.34185157203428734,0.1788999673510811,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b85123f8ab5051636c889f4e11e8e1edbb47e97678665866ba0c390c5f71862a","episode_index":32,"episode_name":"episode_0032"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0032.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_5963/tex_ceiling_textures_5574/tex_floor_textures_2866/tex_table_textures_1228/tex_wall_textures_2337","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":5788684145433311827,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":5788684145433311827,"visual_seed":5788684145433311827,"scene_id":"lab_003","finished_at":"2026-09-05T21:56:13"} +{"episode_id":"ep_000033","started_at":"2026-09-05T21:56:17","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_0","position":[0.5085742798582944,0.32098630743093315,0.71338606911949],"aabb_xy":[[0.4435742819766467,0.2698626437243923],[0.5735742777399423,0.372109971137474]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_1","position":[0.5485112195675106,0.6063242062121801,0.71338606911949],"aabb_xy":[[0.4585112230666388,0.5604125637937218],[0.6385112160683822,0.6522358486306383]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_2","position":[-0.5574141029070734,-1.8478715766072327,0.71338606911949],"aabb_xy":[[-0.5924141012177688,-1.8555865915307783],[-0.5224141045963779,-1.840156561683687]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_3","position":[0.06756588221619286,-2.5114983371303157,0.71338606911949],"aabb_xy":[[0.058763826907220144,-2.5193096632852447],[0.07636793752516556,-2.5036870109753866]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_4","position":[0.5049614427559865,1.0610876304357175,0.71338606911949],"aabb_xy":[[0.4874614425109372,1.0435878425961505],[0.5224614430010359,1.0785874182752841]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_5","position":[0.5487436897843019,1.1522355414149583,0.71338606911949],"aabb_xy":[[0.5355127442496205,1.139008122392959],[0.5619746353189831,1.1654629604369577]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_6","position":[-0.0687749883088925,-2.1778631948065414,0.71338606911949],"aabb_xy":[[-0.13877499094547885,-2.1979680598024065],[0.0012250143276938408,-2.1577583298106755]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_7","position":[0.4703427486205394,1.668276936445023,0.71338606911949],"aabb_xy":[[0.4153472707998799,1.6132769350111158],[0.5253382264411987,1.7232769378789297]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_8","position":[-0.4383225723052339,-0.938157499851344,0.71338606911949],"aabb_xy":[[-0.5183225692682731,-1.0152331414951172],[-0.35832257534219475,-0.8610818582075704]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_9","position":[0.4579303973754625,-1.7475497252647028,0.71338606911949],"aabb_xy":[[0.38793039524403283,-1.770311690890398],[0.5279303995068919,-1.7247877596390067]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_10","position":[0.6393858427365251,0.08431712497729205,0.71338606911949],"aabb_xy":[[0.6169210727651199,0.06181712409843154],[0.6618506127079301,0.10681712585615255]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_11","position":[-0.566830526815617,-2.162567835776388,0.71338606911949],"aabb_xy":[[-0.6468305242192104,-2.24256040697457],[-0.4868305294120236,-2.0825752645782045]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_12","position":[0.4846739416096508,-1.5258808951171368,0.71338606911949],"aabb_xy":[[0.44336939854591484,-1.5898808946852538],[0.5259784846733868,-1.4618808955490197]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_13","position":[-0.5934586229043259,-1.0900049103046463,0.71338606911949],"aabb_xy":[[-0.6123430066728361,-1.108890835084999],[-0.5745742391358157,-1.0711189855242935]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_14","position":[0.14363503297810953,1.016102552932797,0.71338606911949],"aabb_xy":[[0.12662493568805885,0.999968064434523],[0.16064513026816016,1.0322370414310709]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_15","position":[-0.33846113731980915,-1.2081786851130805,0.71338606911949],"aabb_xy":[[-0.3485428443983826,-1.2881786830051947],[-0.32837943024123567,-1.1281786872209654]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_16","position":[0.2561759351405485,-2.133416775935903,0.71338606911949],"aabb_xy":[[0.16617593146363027,-2.194849182513007],[0.3461759388174666,-2.0719843693587983]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_17","position":[-0.20839275411937574,1.6827383831271212,0.71338606911949],"aabb_xy":[[-0.24339275238949565,1.6756642554321328],[-0.17339275584925584,1.6898125108221091]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_18","position":[0.09649504042551427,-1.6198516502113118,0.71338606911949],"aabb_xy":[[0.03249504113134606,-1.6838377905801662],[0.1604950397196825,-1.5558655098424579]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_19","position":[-0.10976958279185778,1.3088546983508538,0.71338606911949],"aabb_xy":[[-0.12237228192893423,1.2962593021259883],[-0.09716688365478132,1.3214500945757193]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_20","position":[0.059945269615266916,-1.9786533016041714,0.71338606911949],"aabb_xy":[[0.004945269993521073,-2.033636994391644],[0.11494526923701276,-1.923669608816699]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_21","position":[-0.47664288801938326,0.6004665133228198,0.71338606911949],"aabb_xy":[[-0.498532635608324,0.5104665160335706],[-0.4547531404304424,0.6904665106120689]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_22","position":[-0.3514082609031068,-1.7595025310323673,0.71338606911949],"aabb_xy":[[-0.3622487391296217,-1.7766888123230158],[-0.3405677826765919,-1.7423162497417184]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_23","position":[0.3547042220642058,0.33496219707268127,0.71338606911949],"aabb_xy":[[0.3172042208794129,0.3305439743766207],[0.3922042232489985,0.3393804197687417]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_24","position":[0.1679048719366376,0.7939038555535958,0.71338606911949],"aabb_xy":[[0.161403235428633,0.7841360335272861],[0.17440650844464223,0.8036716775799057]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_25","position":[0.06563967399808035,-0.90092936225626,0.71338606911949],"aabb_xy":[[0.047433850336832686,-0.9119547628382518],[0.08384549765932804,-0.8899039616742686]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_26","position":[-0.3186911835746207,0.3121933633316991,0.71338606911949],"aabb_xy":[[-0.38269118562435267,0.27209888024239115],[-0.2546911815248887,0.3522878464210071]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_27","position":[0.6150044761641962,-2.454061981771016,0.71338606911949],"aabb_xy":[[0.5650044751450609,-2.490528197508844],[0.6650044771833314,-2.417595766033188]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_28","position":[-0.5968997069466362,-0.36132115738842563,0.71338606911949],"aabb_xy":[[-0.630675266137329,-0.37535965260159065],[-0.5631241477559431,-0.3472826621752606]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_29","position":[0.4373551186013265,-2.1917419276461976,0.71338606911949],"aabb_xy":[[0.4336518572721876,-2.195443945954915],[0.44105837993046537,-2.1880399093374794]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_30","position":[0.5428950543906241,-0.10675746068437864,0.71338606911949],"aabb_xy":[[0.5178950548388856,-0.11689994454951334],[0.5678950539423626,-0.0966149768192439]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_31","position":[-0.4321291209351735,0.10261386772583192,0.71338606911949],"aabb_xy":[[-0.497129123572967,0.05113426902638496],[-0.36712911829738004,0.15409346642527888]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_32","position":[-0.13303867622664933,0.6920693599655277,0.71338606911949],"aabb_xy":[[-0.18292137310434556,0.6420693607192529],[-0.08315597934895315,0.7420693592118024]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_33","position":[-0.32650391208873025,0.7848290215502787,0.71338606911949],"aabb_xy":[[-0.3369154707692139,0.7794832882143801],[-0.3160923534082465,0.790174754886177]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_34","position":[-0.1739680007423695,1.2173567513779249,0.71338606911949],"aabb_xy":[[-0.24396799715233128,1.1969188157262427],[-0.1039680043324077,1.2377946870296062]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6613734256012778,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2494.png","name":"2494"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2494.png","name":"2494"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2902.png","name":"2902"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8296.png","name":"8296"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9728.png","name":"9728"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8411.png","name":"8411"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":819.638715336248,"rotation_z_degrees":152.5003285408176,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018115614054339296,-0.011886439025073817,0.012908655608974497]},{"name":"camera_2","offset_m":[0.0036738143021950095,-0.0038067693119396735,0.012987243759802713]},{"name":"camera_3","offset_m":[-0.011327066448271875,-0.019403654468569474,-0.01637618070298829]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0015313286181396788,0.0003545870386861419,-0.0019419739300722317],"end_effector_yaw_offset_degrees":0.16305871369920388},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0016547757429945906,-0.0019302491185227658,-0.0016942882642861248],"end_effector_yaw_offset_degrees":0.4409224735344135},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-5.6114143769807594e-05,-0.00038090782598378505,-0.0017261946845638337],"end_effector_yaw_offset_degrees":0.043633850922705},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0013828546146404004,0.00044391837305966797,-0.0019680157067918517],"end_effector_yaw_offset_degrees":-0.7146969335442672}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0022479155927666115,0.0004862514168201045],"position_m":[0.2152479155927666,-0.1380137485831799,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00499550394614347,-0.0027465735418716075],"position_m":[0.22710449605385652,-0.36704657354187165,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00019871316011090163,-0.0038810453629271723],"position_m":[0.29100128683988913,-0.04348104536292718,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002763029011794198,-0.001598307785368307],"position_m":[0.34123697098820577,0.17330169221463168,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"230022893e025ea92ed7219e73f1f6127fd199f023b844a666f63fcf9927aef9","episode_index":33,"episode_name":"episode_0033"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0033.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_2494/tex_ceiling_textures_8411/tex_floor_textures_9728/tex_table_textures_2902/tex_wall_textures_8296","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":11029055490806010,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":11029055490806010,"visual_seed":11029055490806010,"scene_id":"lab_003","finished_at":"2026-09-05T21:59:39"} +{"episode_id":"ep_000034","started_at":"2026-09-05T21:59:42","dimensions":{"distractor":{"count":29,"items":[{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_0","position":[0.6675553580013505,-1.3725272178788888,0.71338606911949],"aabb_xy":[[0.6559863772544139,-1.3975272179958207],[0.679124338748287,-1.3475272177619573]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_1","position":[0.34322387968572166,-1.6289433692861586,0.71338606911949],"aabb_xy":[[0.29324646282046807,-1.678943370775407],[0.39320129655097524,-1.5789433677969098]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_2","position":[-0.24624804273569145,1.1342676986308589,0.71338606911949],"aabb_xy":[[-0.279688217931711,1.1008240727999283],[-0.21280786753967182,1.1677113244617885]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_3","position":[-0.3331703057932922,0.5361473109439867,0.71338606911949],"aabb_xy":[[-0.4031703022032539,0.5157093752923048],[-0.2631703093833303,0.5565852465956682]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_4","position":[-0.48504713775986297,-1.0935144819538478,0.71338606911949],"aabb_xy":[[-0.5024778528388694,-1.1107865966176984],[-0.46761642268085646,-1.0762423672899968]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_5","position":[-0.31239850364010946,1.6108425740013277,0.71338606911949],"aabb_xy":[[-0.324166690434767,1.5258425740961068],[-0.30063031684545194,1.69584257390655]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_6","position":[-0.23453076798740874,-2.2241154397585348,0.71338606911949],"aabb_xy":[[-0.2419432235287972,-2.2299666501801623],[-0.22711831244602027,-2.2182642293369064]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_7","position":[-0.5580582479123315,0.7894208321282701,0.71338606911949],"aabb_xy":[[-0.6380582449265795,0.7692862804548588],[-0.4780582508980835,0.8095553838016813]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_8","position":[0.024940339135247735,-1.7639789580558172,0.71338606911949],"aabb_xy":[[-5.966013671454203e-05,-1.7803243216519793],[0.049940338407210016,-1.7476335944596546]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_9","position":[0.5009873173039714,1.72819752245884,0.71338606911949],"aabb_xy":[[0.4597385062740567,1.6731975229466223],[0.5422361283338861,1.7831975219710572]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_10","position":[0.28204921649657777,-1.216669358571284,0.71338606911949],"aabb_xy":[[0.27163765781609406,-1.2220150919071822],[0.2924607751770615,-1.2113236252353854]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_11","position":[-0.4783747914408837,-0.5707285822430856,0.71338606911949],"aabb_xy":[[-0.5433747914751864,-0.6174292589234129],[-0.41337479140658095,-0.5240279055627584]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_12","position":[0.46497302985290134,-0.48802030190129475,0.71338606911949],"aabb_xy":[[0.3799730311608267,-0.5200061652961736],[0.549973028544976,-0.4560344385064159]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_13","position":[-0.5446934400792188,-1.600153673408721,0.71338606911949],"aabb_xy":[[-0.5758403589228018,-1.670153672095528],[-0.5135465212356356,-1.5301536747219135]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_14","position":[-0.6129080194560285,-2.3409186756150646,0.71338606911949],"aabb_xy":[[-0.6769080208640191,-2.392707627138989],[-0.5489080180480378,-2.2891297240911395]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_15","position":[-0.22348244029264303,-1.0271411178182395,0.71338606911949],"aabb_xy":[[-0.24802865591539372,-1.0573900143672763],[-0.19893622466989228,-0.9968922212692023]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_16","position":[-0.5611242488399744,1.495198669622852,0.71338606911949],"aabb_xy":[[-0.6072093400947058,1.4311986723702972],[-0.5150391575852429,1.5591986668754074]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_17","position":[-0.5225945448579052,-1.9031752901748555,0.71338606911949],"aabb_xy":[[-0.5326762519364786,-1.98317528806697],[-0.5125128377793317,-1.8231752922827407]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_18","position":[0.4809875644532855,-0.8148420543891783,0.71338606911949],"aabb_xy":[[0.4700817883657228,-0.8948420507880075],[0.4918933405408482,-0.7348420579903492]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_19","position":[0.14492038288359133,1.099693370285026,0.71338606911949],"aabb_xy":[[0.06492037962574837,1.019696862493042],[0.22492038614143428,1.17968987807701]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_20","position":[-0.6299025295536446,1.2278364782586166,0.71338606911949],"aabb_xy":[[-0.6849025291753904,1.172852785471144],[-0.5749025299318987,1.2828201710460894]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_21","position":[-0.0241554712045442,1.3491738415373202,0.71338606911949],"aabb_xy":[[-0.04915547075628268,1.3390313576721855],[0.0008445283471942844,1.359316325402455]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_22","position":[-0.05552773722828719,-1.65388583822185,0.71338606911949],"aabb_xy":[[-0.11952773890628454,-1.702403229701164],[0.008472264449710172,-1.6053684467425355]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_23","position":[-0.22309245851165388,-1.7629202887628124,0.71338606911949],"aabb_xy":[[-0.2780661805479868,-1.8179202883270458],[-0.16811873647532102,-1.7079202891985794]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_24","position":[0.5833018254915747,-2.0949969047008423,0.71338606911949],"aabb_xy":[[0.5333069925636331,-2.144996903596086],[0.6332966584195163,-2.044996905805599]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_25","position":[-0.28841322868165287,0.9038782498487299,0.71338606911949],"aabb_xy":[[-0.2924913865887026,0.8997972696004667],[-0.2843350707746031,0.9079592300969933]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_26","position":[-0.3841062994187427,-1.669026061060654,0.71338606911949],"aabb_xy":[[-0.44410630027955544,-1.72045249106714],[-0.32410629855792983,-1.6175996310541672]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_27","position":[-0.4120886986180682,-0.13867284577151295,0.71338606911949],"aabb_xy":[[-0.46708869779465767,-0.1936625205464706],[-0.3570886994414787,-0.08368317099655531]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_28","position":[-0.18881243766062938,-0.11335147274773183,0.71338606911949],"aabb_xy":[[-0.19376845784551064,-0.1358514729498535],[-0.1838564174757482,-0.09085147254561024]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6591535102019461,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/467.png","name":"467"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/467.png","name":"467"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7168.png","name":"7168"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/595.png","name":"595"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8482.png","name":"8482"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4466.png","name":"4466"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":637.8672682154878,"rotation_z_degrees":312.7587586340765,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0008482160863874412,-0.015066455619893851,0.0003229454273377501]},{"name":"camera_2","offset_m":[0.004179500620875548,0.005247564149042025,-0.00800307709564585]},{"name":"camera_3","offset_m":[0.006130052740716683,-0.008612911383447054,-0.004869212772688395]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0008610378758386501,0.0017702583494069563,-0.0015381848786317663],"end_effector_yaw_offset_degrees":-0.13288595998717123},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0011292529966288388,0.0017856377042937675,-0.0001766282928467452],"end_effector_yaw_offset_degrees":-0.713492140561369},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00122209518934705,-0.00031732837914708284,0.00015981585530477774],"end_effector_yaw_offset_degrees":-0.0034714876155104157},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0003331951639064376,7.008547361484927e-05,0.0012534764554700353],"end_effector_yaw_offset_degrees":-0.3053457498131875}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0003462498361668509,0.0036176705997494037],"position_m":[0.21334624983616685,-0.1348823294002506,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003062918907851879,0.004214445757413375],"position_m":[0.22903708109214813,-0.36008555424258665,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0029176429787595272,0.0009354747555772366],"position_m":[0.2882823570212405,-0.038664525244422765,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004430594967443933,0.0029744389701392886],"position_m":[0.3484305949674439,0.1778744389701393,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"98d61a4e76d048ab574052069eb1ec50d469cb3c9a4a68632bd5c66b96e464e2","episode_index":34,"episode_name":"episode_0034"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0034.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_467/tex_ceiling_textures_4466/tex_floor_textures_8482/tex_table_textures_7168/tex_wall_textures_595","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":3543626550412867463,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":3543626550412867463,"visual_seed":3543626550412867463,"scene_id":"lab_003","finished_at":"2026-09-05T22:03:35"} +{"episode_id":"ep_000035","started_at":"2026-09-05T22:03:40","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_0","position":[0.18209402300627786,1.7897491442301576,0.71338606911949],"aabb_xy":[[0.15424898622567076,1.7589646454918457],[0.209939059786885,1.820533642968469]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_1","position":[0.28463660370574795,-0.7849240801069695,0.71338606911949],"aabb_xy":[[0.2471366052823476,-0.7980882940748001],[0.3221366021291483,-0.7717598661391388]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_2","position":[-0.6654086934995207,1.7144501898142859,0.71338606911949],"aabb_xy":[[-0.6718225071427056,1.7080403695666173],[-0.6589948798563358,1.720860010061954]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_3","position":[-0.4716917754086362,1.5639061339133158,0.71338606911949],"aabb_xy":[[-0.47910423095002463,1.5580549234916878],[-0.4642793198672477,1.5697573443349437]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_4","position":[-0.25903235617579556,-1.3629696029943414,0.71338606911949],"aabb_xy":[[-0.3140255675129323,-1.4179696033331353],[-0.20403914483865881,-1.307969602655548]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_5","position":[0.5148487092085514,-0.20150561063003813,0.71338606911949],"aabb_xy":[[0.45484870861253524,-0.2563180831752616],[0.5748487098045676,-0.14669313808481468]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_6","position":[0.4360473780937517,-1.3771206428336622,0.71338606911949],"aabb_xy":[[0.4017311009191338,-1.4271206428068397],[0.47036365526836965,-1.3271206428604843]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_7","position":[0.6522661652817252,-1.8023060189263855,0.71338606911949],"aabb_xy":[[0.629752473458268,-1.872306019527393],[0.6747798571051824,-1.732306018325378]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_8","position":[0.5892731314429795,1.0330263910033688,0.71338606911949],"aabb_xy":[[0.5394563519781448,0.9830263925190654],[0.6390899109078143,1.0830263894876722]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_9","position":[0.03087978478562603,-1.135049697082277,0.71338606911949],"aabb_xy":[[-0.026750684101644818,-1.1950496960089874],[0.08851025367289687,-1.0750496981555662]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_10","position":[0.37523253437902904,1.202192926304528,0.71338606911949],"aabb_xy":[[0.29523253572214303,1.187688067380265],[0.45523253303591504,1.2166977852287908]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_11","position":[0.6555673910746778,-1.2358916294303395,0.71338606911949],"aabb_xy":[[0.6055885825643619,-1.2858916294360583],[0.7055461995849936,-1.1858916294246207]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_12","position":[-0.4753132298687687,-1.940723728929782,0.71338606911949],"aabb_xy":[[-0.4904155313297867,-1.9558252505608436],[-0.4602109284077505,-1.9256222072987197]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_13","position":[-0.5759300686409792,0.35982878420302367,0.71338606911949],"aabb_xy":[[-0.5822421681773176,0.3540618449498049],[-0.5696179691046408,0.3655957234562425]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_14","position":[0.5164611550420408,0.5733818194116211,0.71338606911949],"aabb_xy":[[0.4939611547985254,0.5611771847518492],[0.5389611552855562,0.5855864540713931]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_15","position":[-0.4907975696002437,0.47118588653054694,0.71338606911949],"aabb_xy":[[-0.5320463806301583,0.4161858870183295],[-0.44954875857032894,0.5261858860427644]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_16","position":[0.21663984541874115,-0.6192247573491398,0.71338606911949],"aabb_xy":[[0.1796057359906814,-0.6536019646828491],[0.25367395484680083,-0.5848475500154303]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_17","position":[0.30115552751760866,1.3274101599067376,0.71338606911949],"aabb_xy":[[0.25985098445387267,1.2634101603386203],[0.34246007058134464,1.3914101594748545]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_18","position":[0.011823790357321284,-2.110792410846719,0.71338606911949],"aabb_xy":[[0.005786777356656556,-2.116819111915667],[0.01786080335798601,-2.1047657097777708]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_19","position":[0.07016691597528679,1.5885420478840957,0.71338606911949],"aabb_xy":[[0.006166918672940377,1.544175620916239],[0.1341669132776332,1.6329084748519525]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_20","position":[-0.11216719129476393,-1.4157598916845644,0.71338606911949],"aabb_xy":[[-0.11941095734100926,-1.4957598898881665],[-0.10492342524851861,-1.3357598934809618]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_21","position":[0.17469984212949408,1.1788436241018436,0.71338606911949],"aabb_xy":[[0.15719984299512688,1.1689639970642556],[0.19219984126386122,1.1887232511394312]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_22","position":[-0.3137242695789129,0.21633980153149945,0.71338606911949],"aabb_xy":[[-0.33756048721951804,0.126339800723013],[-0.2898880519383079,0.306339802339986]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_23","position":[0.5943264311232492,0.36893374349392705,0.71338606911949],"aabb_xy":[[0.5568264313062157,0.3642955321827852],[0.6318264309402828,0.3735719548050689]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_24","position":[-0.5137453375185547,1.3965061852261171,0.71338606911949],"aabb_xy":[[-0.5737453377699557,1.3422248601896523],[-0.4537453372671534,1.4507875102625816]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_25","position":[0.6429021673007811,-0.5073733245507572,0.71338606911949],"aabb_xy":[[0.628258761746748,-0.5220320442075415],[0.657545572854814,-0.49271460489397295]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_26","position":[-0.1860165184931497,0.7805199590564587,0.71338606911949],"aabb_xy":[[-0.25101651945027686,0.7285717471227531],[-0.12101651753602248,0.8324681709901642]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_27","position":[0.42716605166038657,-0.969005330479437,0.71338606911949],"aabb_xy":[[0.36316604998238916,-1.017522721958751],[0.49116605333838387,-0.9204879390001227]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_28","position":[0.4359413203671618,1.0270050503657662,0.71338606911949],"aabb_xy":[[0.4322380590380229,1.0233030320570482],[0.4396445816963007,1.0307070686744837]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_29","position":[-0.3880870085717232,1.2102647187619153,0.71338606911949],"aabb_xy":[[-0.4223839195894638,1.1759678325519738],[-0.35379009755398255,1.2445616049718564]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_30","position":[0.4300362901847925,0.2715386631418695,0.71338606911949],"aabb_xy":[[0.3950362910548369,0.2657934420662053],[0.4650362893147482,0.2772838842175335]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_31","position":[0.6226770735782512,-0.7357596416704542,0.71338606911949],"aabb_xy":[[0.5851770734726582,-0.7425818035234353],[0.6601770736838442,-0.728937479817473]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_32","position":[0.04513996426569433,1.692665553763773,0.71338606911949],"aabb_xy":[[0.01013996599557443,1.6855914260687845],[0.08013996253581424,1.6997396814587609]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.660081476276353,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6256.png","name":"6256"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6256.png","name":"6256"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4827.png","name":"4827"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7469.png","name":"7469"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1835.png","name":"1835"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5995.png","name":"5995"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":566.3126093021993,"rotation_z_degrees":26.51299974710105,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009815744156366088,-0.002887210299494812,-0.01031865868770924]},{"name":"camera_2","offset_m":[0.0049445716702111835,0.01970369009019886,-0.016044706501252073]},{"name":"camera_3","offset_m":[0.007017096632558638,0.007706736613444579,-0.0194962026705382]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0015179433322658514,-0.0018593291748045969,-0.001862498173605375],"end_effector_yaw_offset_degrees":-0.5708103488547553},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0010695993427192315,0.0018165128733717418,-0.0008705100670876442],"end_effector_yaw_offset_degrees":-0.7321179822766251},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0019766487760189523,0.000682463934559255,-0.00023983671424640117],"end_effector_yaw_offset_degrees":-0.1264952640478565},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008592998604251005,-0.0015236031129242057,-0.000740888197016783],"end_effector_yaw_offset_degrees":-0.824736138886055}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003749795656238776,0.003927842226966801],"position_m":[0.21674979565623878,-0.13457215777303322,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00459996692396335,0.00018381065297863423],"position_m":[0.22750003307603664,-0.3641161893470214,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0007822271558377333,0.0015516788778949676],"position_m":[0.29041777284416226,-0.03804832112210504,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0036500341082580656,-0.00011301450350951689],"position_m":[0.34034996589174193,0.1747869854964905,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9c991d5420013f8e90de2c9dd0fae642c03016d04760e55a672180592a4602c5","episode_index":35,"episode_name":"episode_0035"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0035.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_6256/tex_ceiling_textures_5995/tex_floor_textures_1835/tex_table_textures_4827/tex_wall_textures_7469","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":7308179804349909006,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":7308179804349909006,"visual_seed":7308179804349909006,"scene_id":"lab_003","finished_at":"2026-09-05T22:07:14"} +{"episode_id":"ep_000036","started_at":"2026-09-05T22:07:19","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_0","position":[0.6244379442452463,1.7831145241694384,0.71338606911949],"aabb_xy":[[0.6085534509799212,1.7687615838706143],[0.6403224375105715,1.7974674644682624]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_1","position":[-0.2580294601635439,1.1812855465738963,0.71338606911949],"aabb_xy":[[-0.28052946067558443,1.1587936882084977],[-0.23552945965150324,1.2037774049392944]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_2","position":[-0.39518459807333156,-1.932859810263877,0.71338606911949],"aabb_xy":[[-0.40339914318901543,-1.9415364005615179],[-0.38697005295764747,-1.9241832199662352]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_3","position":[-0.1786775780715415,-1.8614064214261892,0.71338606911949],"aabb_xy":[[-0.1890891367520252,-1.8667521547620873],[-0.1682660193910578,-1.8560606880902906]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_4","position":[0.15418357332428023,-2.1896949250071813,0.71338606911949],"aabb_xy":[[0.11316562993790935,-2.2396949256381387],[0.1952015167106511,-2.139694924376224]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_5","position":[-0.36543950602750563,-0.3158437861323522,0.71338606911949],"aabb_xy":[[-0.45543950836152464,-0.39332614071746486],[-0.2754395036934865,-0.23836143154723954]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_6","position":[0.04916280573656984,-0.7217532449981581,0.71338606911949],"aabb_xy":[[0.03986918749941925,-0.7592532434862919],[0.05845642397372041,-0.6842532465100241]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_7","position":[0.3320210493356235,-1.2846719436681702,0.71338606911949],"aabb_xy":[[0.3200883149737954,-1.2970540964760295],[0.34395378369745155,-1.2722897908603108]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_8","position":[0.0787721657951227,-1.67005669750954,0.71338606911949],"aabb_xy":[[0.021141696907851847,-1.73005669643625],[0.13640263468239355,-1.6100566985828288]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_9","position":[-0.40021301865371434,1.4350801034388732,0.71338606911949],"aabb_xy":[[-0.41111879474127705,1.3550801070400438],[-0.3893072425661516,1.515080099837702]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_10","position":[-0.02799524012258381,-1.0681190630056203,0.71338606911949],"aabb_xy":[[-0.03976342691724133,-1.153119062910842],[-0.01622705332792629,-0.983119063100399]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_11","position":[-0.31776294206674266,-1.217561083482691,0.71338606911949],"aabb_xy":[[-0.3552629423589175,-1.2216025588832944],[-0.28026294177456784,-1.2135196080820874]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_12","position":[-0.5500601498144618,1.3317103178672216,0.71338606911949],"aabb_xy":[[-0.6400601534913799,1.270277911290117],[-0.46006014613754354,1.3931427244443257]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_13","position":[-0.3704455777440025,-0.8700317127264388,0.71338606911949],"aabb_xy":[[-0.42446117402590244,-0.9340317156186959],[-0.31642998146210244,-0.8060317098341816]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_14","position":[-0.1435522456595315,-0.743026033344558,0.71338606911949],"aabb_xy":[[-0.15491398031281764,-0.7543944997508459],[-0.13219051100624532,-0.7316575669382698]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_15","position":[-0.2865638959471186,0.571714696565091,0.71338606911949],"aabb_xy":[[-0.30406389620645535,0.5576231543763184],[-0.2690638956877821,0.5858062387538636]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_16","position":[0.4850380630654072,-0.21748948380885125,0.71338606911949],"aabb_xy":[[0.4475380615497755,-0.2287162568249963],[0.5225380645810389,-0.2062627107927062]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_17","position":[-0.05883559636244695,-0.04001294179209358,0.71338606911949],"aabb_xy":[[-0.0912972972443744,-0.07014577390699618],[-0.02637389548051949,-0.009880109677190963]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_18","position":[-0.26403468643120187,-1.6652794692603625,0.71338606911949],"aabb_xy":[[-0.3490346848486251,-1.7501537647226475],[-0.17903468801377864,-1.5804051737980775]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_19","position":[0.47977064005916814,1.213383382339575,0.71338606911949],"aabb_xy":[[0.4412249472339671,1.174837611283386],[0.5183163328843692,1.2519291533957635]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_20","position":[0.18466585586767037,-1.7367150769405244,0.71338606911949],"aabb_xy":[[0.17667186728996692,-1.7447151570356145],[0.1926598444453737,-1.7287149968454338]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_21","position":[0.5457135706531933,-1.5932242525375353,0.71338606911949],"aabb_xy":[[0.4958967911883585,-1.6432242510218384],[0.595530350118028,-1.5432242540532317]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_22","position":[-0.39484075113452716,-0.4886409746583231,0.71338606911949],"aabb_xy":[[-0.44484075149509317,-0.538620961867926],[-0.34484075077396104,-0.4386609874487201]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_23","position":[0.16533933922160293,1.2532790009341879,0.71338606911949],"aabb_xy":[[0.10033933822110241,1.202492635779513],[0.23033934022210345,1.3040653660888628]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_24","position":[-0.44455325332154555,0.14563186323116906,0.71338606911949],"aabb_xy":[[-0.5045532538293983,0.08878512954524771],[-0.38455325281369257,0.2024785969170903]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_25","position":[-0.008147561475435827,-2.256913333756823,0.71338606911949],"aabb_xy":[[-0.08814755848968381,-2.2770478854302345],[0.07185243553881215,-2.2367787820834115]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_26","position":[-0.4701732253307348,-2.306610797898963,0.71338606911949],"aabb_xy":[[-0.5251654759662459,-2.361610799642276],[-0.4151809746952239,-2.2516107961556506]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_27","position":[0.32269050873485305,1.5010011260962366,0.71338606911949],"aabb_xy":[[0.27259304475377943,1.4370011255864248],[0.3727879727159267,1.5650011266060484]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_28","position":[-0.046413591804366106,0.5032144183255189,0.71338606911949],"aabb_xy":[[-0.06891272753059308,0.48071441754725597],[-0.023914456078139135,0.5257144191037819]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_29","position":[0.4746353635108198,0.3248237372353362,0.71338606911949],"aabb_xy":[[0.4652883559285246,0.31052011501769217],[0.48398237109311504,0.3391273594529802]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_30","position":[-0.5398773307960792,-1.9459683606890832,0.71338606911949],"aabb_xy":[[-0.6295644071041947,-2.0359683609435333],[-0.4501902544879638,-1.8559683604346322]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_31","position":[-0.11435487194136196,1.0406021184628451,0.71338606911949],"aabb_xy":[[-0.1278013985754053,1.0271322668097538],[-0.10090834530731861,1.0540719701159365]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_32","position":[0.646221378950973,-1.8243899892461701,0.71338606911949],"aabb_xy":[[0.5984152113372043,-1.8893899919532289],[0.6940275465647416,-1.759389986539111]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_33","position":[0.36810616862513856,1.3685727729052322,0.71338606911949],"aabb_xy":[[0.3610647176743909,1.3615460211674377],[0.3751476195758861,1.3755995246430266]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_34","position":[-0.4501814709462175,1.1357673327173532,0.71338606911949],"aabb_xy":[[-0.46205355395771863,1.0507673330237028],[-0.4383093879347164,1.2207673324110035]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6643908070806359,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1210.png","name":"1210"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1210.png","name":"1210"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5254.png","name":"5254"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5629.png","name":"5629"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3820.png","name":"3820"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4993.png","name":"4993"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":849.5756183849317,"rotation_z_degrees":202.15769925614507,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016946549069900764,-0.013831309232108943,-0.0076840933219254025]},{"name":"camera_2","offset_m":[0.009786037470760539,0.0193407139210789,0.004960300868985738]},{"name":"camera_3","offset_m":[0.01686316338019243,-0.01912368845237475,0.01758297671575974]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00014176886034560684,-0.0015360302149220843,-0.0014585714958056423],"end_effector_yaw_offset_degrees":-0.1560414279003821},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0003117320866877784,-0.00018835543241908586,0.001436351470516278],"end_effector_yaw_offset_degrees":0.2874959424995924},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0011636237363841164,0.00017510466360580717,0.0016711445990486569],"end_effector_yaw_offset_degrees":-0.46705793593489253},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0015040027629982535,0.0011042385159396022,-0.000834233120355476],"end_effector_yaw_offset_degrees":0.5299765006898953}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0032491316387096626,0.004981233882032748],"position_m":[0.20975086836129034,-0.13351876611796726,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00016939786532912861,-0.0004104969344803566],"position_m":[0.23226939786532913,-0.3647104969344804,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004521050401936541,-0.0008487095813953472],"position_m":[0.28667894959806345,-0.04044870958139535,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001134978627495932,0.004866866613366757],"position_m":[0.3451349786274959,0.17976686661336674,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f520ebb7c305f58e4e0c1caa1bf1689031534162e8378386e30c54678f40fd2b","episode_index":36,"episode_name":"episode_0036"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0036.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_1210/tex_ceiling_textures_4993/tex_floor_textures_3820/tex_table_textures_5254/tex_wall_textures_5629","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":4040657305157758408,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":4040657305157758408,"visual_seed":4040657305157758408,"scene_id":"lab_003","finished_at":"2026-09-05T22:10:50"} +{"episode_id":"ep_000037","started_at":"2026-09-05T22:10:54","dimensions":{"distractor":{"count":35,"items":[{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_0","position":[-0.6239869506220682,0.2946542801918346,0.71338606911949],"aabb_xy":[[-0.6478231682626734,0.20465427938334818],[-0.6001507329814633,0.3846542810003212]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_1","position":[0.5297292611738276,-2.436713315014247,0.71338606911949],"aabb_xy":[[0.4887113177874568,-2.486713315645204],[0.5707472045601986,-2.3867133143832895]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_2","position":[0.5454004606835234,0.6428396644884673,0.71338606911949],"aabb_xy":[[0.481400462096951,0.5958327010889586],[0.6094004592700959,0.689846627887976]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_3","position":[0.6059060269867593,-2.0098459636902803,0.71338606911949],"aabb_xy":[[0.5946609714161415,-2.0210877614143756],[0.6171510825573772,-1.998604165966185]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_4","position":[0.6907185657094954,-1.584620168592904,0.71338606911949],"aabb_xy":[[0.6798127896219327,-1.6646201649917334],[0.7016243417970581,-1.504620172194075]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_5","position":[0.25273480715101526,-0.6804784407592002,0.71338606911949],"aabb_xy":[[0.23084505956207443,-0.7704784380484493],[0.274624554739956,-0.590478443469951]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_6","position":[0.6304582575866011,0.11130209968189542,0.71338606911949],"aabb_xy":[[0.6113459502286221,0.09216732080465338],[0.6495705649445799,0.13043687855913744]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_7","position":[-0.6688023297516146,-1.9313442578542148,0.71338606911949],"aabb_xy":[[-0.6805705165462721,-2.016344257759436],[-0.6570341429569571,-1.8463442579489935]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_8","position":[-0.47259204453253867,-2.3099451463637233,0.71338606911949],"aabb_xy":[[-0.5365920418348851,-2.3543115733315796],[-0.4085920472301922,-2.265578719395866]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_9","position":[0.11553959697636385,0.6389537588201546,0.71338606911949],"aabb_xy":[[0.05053959433857036,0.5874741601207076],[0.18053959961415733,0.6904333575196016]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_10","position":[0.031776969742935424,-1.0363645856204828,0.71338606911949],"aabb_xy":[[-0.032223029551232796,-1.1003507259893368],[0.09577696903710364,-0.9723784452516284]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_11","position":[-0.5597894380546695,-2.1028133946236895,0.71338606911949],"aabb_xy":[[-0.5668308890054172,-2.109840146361484],[-0.552747987103922,-2.095786642885895]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_12","position":[-0.26727154780842766,0.8025996466864331,0.71338606911949],"aabb_xy":[[-0.28976796924229176,0.7800996468796858],[-0.24477512637456356,0.8250996464931807]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_13","position":[0.13735875380261597,-1.6915582574360304,0.71338606911949],"aabb_xy":[[0.08787833258865718,-1.7555582553488824],[0.18683917501657477,-1.6275582595231788]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_14","position":[0.15595344813962297,0.9532177687343455,0.71338606911949],"aabb_xy":[[0.14079057516268592,0.9380523114392268],[0.17111632111656008,0.9683832260294644]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_15","position":[-0.3135704193092652,-0.1483725074696376,0.71338606911949],"aabb_xy":[[-0.37757041956973597,-0.1933813068225656],[-0.24957041904879437,-0.1033637081167096]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_16","position":[0.630971843934329,1.6774152993956588,0.71338606911949],"aabb_xy":[[0.6010042870245033,1.647415299097773],[0.6609394008441546,1.7074152996935446]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_17","position":[0.46422978190202446,-1.7618477202071727,0.71338606911949],"aabb_xy":[[0.4607891056619674,-1.7657091531815374],[0.46767045814208175,-1.7579862872328085]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_18","position":[-0.3210382056276783,1.4709835164419336,0.71338606911949],"aabb_xy":[[-0.3585382057995502,1.4382827810590262],[-0.2835382054558063,1.5036842518248406]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_19","position":[-0.23055261269107624,-0.9520578631500278,0.71338606911949],"aabb_xy":[[-0.3105526159550893,-0.9656178954589412],[-0.15055260942706308,-0.9384978308411145]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_20","position":[-0.3656145956820959,-2.1649054895242816,0.71338606911949],"aabb_xy":[[-0.4156145952584307,-2.2148860684763876],[-0.31561459610576126,-2.1149249105721757]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_21","position":[0.5611659566895322,-1.120582685866332,0.71338606911949],"aabb_xy":[[0.5539047091191247,-1.1333696961298416],[0.5684272042599396,-1.1077956756028227]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_22","position":[0.4936834424214416,1.2965613014993904,0.71338606911949],"aabb_xy":[[0.46583840564083456,1.2657768027610787],[0.5215284792020488,1.327345800237702]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_23","position":[-0.19147152073989548,1.466767623875659,0.71338606911949],"aabb_xy":[[-0.20897145417387883,1.4492676239554245],[-0.17397158730591208,1.4842676237958936]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_24","position":[0.22766636340826074,-1.9329327678963084,0.71338606911949],"aabb_xy":[[0.21689338948689296,-1.9679327661153474],[0.23843933732962852,-1.8979327696772694]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_25","position":[-0.3631747995923338,-0.32931123558843023,0.71338606911949],"aabb_xy":[[-0.443174801022461,-0.40882839060103965],[-0.2831747981622066,-0.2497940805758207]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_26","position":[0.3494127292559839,-0.6912551678198484,0.71338606911949],"aabb_xy":[[0.33191272997789695,-0.7085932678861943],[0.3669127285340707,-0.6739170677535024]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_27","position":[0.2707990064403917,-2.4050681569093313,0.71338606911949],"aabb_xy":[[0.20679900616641345,-2.4551342571066193],[0.3347990067143699,-2.3550020567120433]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_28","position":[0.301746782106186,0.9981968532749215,0.71338606911949],"aabb_xy":[[0.26674678383606604,0.9911227255799333],[0.33674678037630584,1.0052709809699096]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_29","position":[0.46205032120610445,-0.17521845964526106,0.71338606911949],"aabb_xy":[[0.4547680048294407,-0.26521846325476994],[0.469332637582768,-0.08521845603575202]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_30","position":[-0.11341410314763645,-1.9096380370840558,0.71338606911949],"aabb_xy":[[-0.14787658116072422,-1.9163017142669785],[-0.07895162513454868,-1.9029743599011326]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_31","position":[-0.661476011298278,0.9076460080829163,0.71338606911949],"aabb_xy":[[-0.6770317807085433,0.8920955748385092],[-0.6459202418880128,0.9231964413273236]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_32","position":[-0.524511489230876,1.4090254608629036,0.71338606911949],"aabb_xy":[[-0.6045114903039963,1.3992474145255194],[-0.44451148815775565,1.4188035072002882]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_33","position":[0.5025497659741436,-0.6827164825681387,0.71338606911949],"aabb_xy":[[0.4572711510929943,-0.7467164819163222],[0.5478283808552928,-0.6187164832199549]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_34","position":[0.43928229125133633,-1.5884295823121357,0.71338606911949],"aabb_xy":[[0.43516634113926367,-1.592545137344981],[0.443398241363409,-1.58431402727929]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6613131337042396,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6907.png","name":"6907"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6907.png","name":"6907"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8461.png","name":"8461"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1500.png","name":"1500"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7367.png","name":"7367"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9732.png","name":"9732"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":579.1692518536029,"rotation_z_degrees":2.3218691707503503,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0050129744453639435,-0.008228346773007527,0.019104880544475237]},{"name":"camera_2","offset_m":[0.007950434024127064,-0.011135875337681247,-0.01941076998983966]},{"name":"camera_3","offset_m":[-0.00835406370912663,0.00576679648362359,0.011127950960639711]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0004094728938611506,-0.0015866764295263086,0.0016852970189089427],"end_effector_yaw_offset_degrees":0.9563324367711066},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0017265361761604914,0.0018237770045317079,0.00026760904017476134],"end_effector_yaw_offset_degrees":0.7479692335202655},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0006391895829922789,-0.0011211453073987233,0.0008894952264228576],"end_effector_yaw_offset_degrees":0.9697056364022156},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00035767515762747293,0.0006370560737753174,0.0018507107051601015],"end_effector_yaw_offset_degrees":0.4664059624291752}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0013991239973879612,-0.0012241315376908058],"position_m":[0.21160087600261204,-0.1397241315376908,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001086938622865418,0.0032909769749823467],"position_m":[0.2310130613771346,-0.36100902302501764,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0018928757584583409,-0.002122517487502548],"position_m":[0.2930928757584584,-0.04172251748750255,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0019161003799917,0.0030946777829340506],"position_m":[0.3420838996200083,0.17799467778293404,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7b6a3d4839818d3b6446959c092d0d40889f0aeda9951a8d99b618136fd5d045","episode_index":37,"episode_name":"episode_0037"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0037.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_6907/tex_ceiling_textures_9732/tex_floor_textures_7367/tex_table_textures_8461/tex_wall_textures_1500","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":7038660780578899421,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":7038660780578899421,"visual_seed":7038660780578899421,"scene_id":"lab_003","finished_at":"2026-09-05T22:14:31"} +{"episode_id":"ep_000038","started_at":"2026-09-05T22:14:35","dimensions":{"distractor":{"count":35,"items":[{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_0","position":[-0.6504717248174148,0.27266628698904993,0.71338606911949],"aabb_xy":[[-0.6577540411940782,0.18266628337954086],[-0.6431894084407509,0.3626662905985588]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_1","position":[-0.4136801178857667,-2.3591052042462635,0.71338606911949],"aabb_xy":[[-0.4836801212773286,-2.394420977949694],[-0.34368011449420466,-2.323789430542832]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_2","position":[0.25194051296967823,-1.1572675238418955,0.71338606911949],"aabb_xy":[[0.22810429532907323,-1.2472675246503822],[0.27577673061028335,-1.0672675230334092]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_3","position":[-0.14088336883146013,1.444007947136956,0.71338606911949],"aabb_xy":[[-0.1692130787800004,1.4395472049432394],[-0.11255365888291993,1.4484686893306735]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_4","position":[0.2980102338431214,1.2531159113305685,0.71338606911949],"aabb_xy":[[0.2636939566685035,1.2031159113573908],[0.33232651101773936,1.3031159113037463]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_5","position":[-0.32306933920483144,-0.22313699522742736,0.71338606911949],"aabb_xy":[[-0.34093844695928693,-0.2369699032046383],[-0.30520023145037595,-0.20930408725021643]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_6","position":[0.3107265893183051,1.4853718114734273,0.71338606911949],"aabb_xy":[[0.28822658930815676,1.4712755918338238],[0.33322658932845334,1.4994680311130304]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_7","position":[-0.47980690823430333,-0.25671040755885555,0.71338606911949],"aabb_xy":[[-0.5598069114921462,-0.3367069153508395],[-0.3998069049764604,-0.17671389976687157]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_8","position":[0.5988548014497577,1.029801063298554,0.71338606911949],"aabb_xy":[[0.5088548028552877,1.013550476985133],[0.6888548000442276,1.046051649611975]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_9","position":[-0.33898035524756753,-1.8279077701688835,0.71338606911949],"aabb_xy":[[-0.3548648485128927,-1.8422607104677073],[-0.3230958619822424,-1.8135548298700592]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_10","position":[0.3964030642807772,-2.1177409032641004,0.71338606911949],"aabb_xy":[[0.38998925063759216,-2.1241507235117685],[0.40281687792396204,-2.1113310830164314]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_11","position":[-0.3433072921969196,-1.9098798710642764,0.71338606911949],"aabb_xy":[[-0.35847016517385666,-1.9250453283593953],[-0.3281444192199825,-1.8947144137691578]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_12","position":[0.5476262683044057,-1.9885432524360307,0.71338606911949],"aabb_xy":[[0.46762627129015777,-2.0086778041094417],[0.6276262653186537,-1.9684087007626194]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_13","position":[0.6146322311739183,0.49788742705829314,0.71338606911949],"aabb_xy":[[0.5921322313600159,0.49341281068781245],[0.6371322309878207,0.5023620434287739]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_14","position":[-0.5542835213319143,0.6549243893004086,0.71338606911949],"aabb_xy":[[-0.604100300796749,0.6049243908161053],[-0.5044667418670795,0.704924387784712]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_15","position":[-0.14036904406167872,1.6305600025936031,0.71338606911949],"aabb_xy":[[-0.15127482014924143,1.5505600061947737],[-0.129463267974116,1.710559998992432]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_16","position":[0.3264988165063545,-1.748714481405608,0.71338606911949],"aabb_xy":[[0.30870530957143805,-1.7665142270014056],[0.3442923234412709,-1.7309147358098103]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_17","position":[-0.3437744715736644,0.4191923552204546,0.71338606911949],"aabb_xy":[[-0.38127447207102266,0.4152236716723362],[-0.3062744710763062,0.42316103876857303]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_18","position":[0.1247721701164628,-2.2691914538468803,0.71338606911949],"aabb_xy":[[0.10921640070619754,-2.284741887091288],[0.14032793952672806,-2.2536410206024735]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_19","position":[-0.511611604380809,-2.0487270418452814,0.71338606911949],"aabb_xy":[[-0.5304959881493192,-2.067612966625634],[-0.4927272206122988,-2.0298411170649286]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_20","position":[-0.11433306203704174,0.02164797665835927,0.71338606911949],"aabb_xy":[[-0.16433306339792897,-0.02832992791705635],[-0.06433306067615452,0.07162588123377488]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_21","position":[0.7039707753849278,-0.09486408003136182,0.71338606911949],"aabb_xy":[[0.6857649517236802,-0.10588948061335347],[0.7221765990461756,-0.0838386794493702]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_22","position":[0.5250507739570915,-1.4590741492313415,0.71338606911949],"aabb_xy":[[0.4610507735795578,-1.508819416082154],[0.589050774334625,-1.4093288823805294]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_23","position":[-0.059615813650901295,-2.1950661454502787,0.71338606911949],"aabb_xy":[[-0.13961581392450825,-2.2680156932759954],[0.020384186622705688,-2.122116597624562]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_24","position":[0.3469695222509086,1.7842899898982636,0.71338606911949],"aabb_xy":[[0.3408748943627903,1.7757205953465949],[0.3530641501390269,1.7928593844499323]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_25","position":[-0.43666245676172943,1.7916680762307746,0.71338606911949],"aabb_xy":[[-0.47043801595242235,1.7776295810176095],[-0.4028868975710364,1.8057065714439393]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_26","position":[0.6384498274511976,-2.4301414345569388,0.71338606911949],"aabb_xy":[[0.6014157180231378,-2.4645186418906477],[0.6754839368792572,-2.395764227223229]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_27","position":[0.11087806992373195,-1.5579682274563456,0.71338606911949],"aabb_xy":[[0.10153106234143672,-1.5722718496739896],[0.12022507750602718,-1.5436646052387015]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_28","position":[0.02626194275962268,-1.8287834668214225,0.71338606911949],"aabb_xy":[[0.015016887189004843,-1.8400252645455177],[0.037506998330240515,-1.8175416690973272]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_29","position":[-0.6398295712527637,-2.143116919683751,0.71338606911949],"aabb_xy":[[-0.6899270352338374,-2.2071169201935628],[-0.5897321072716901,-2.079116919173939]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_30","position":[0.24989227228530664,0.8682861081687521,0.71338606911949],"aabb_xy":[[0.18589227369873418,0.8212791447692434],[0.3138922708718791,0.9152930715682608]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_31","position":[-0.22639043588251245,-0.6304702031072824,0.71338606911949],"aabb_xy":[[-0.2509040599795183,-0.654734796409319],[-0.2018768117855066,-0.6062056098052461]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_32","position":[-0.3127099257881923,-1.598654992414778,0.71338606911949],"aabb_xy":[[-0.31734504094042565,-1.6025223274919262],[-0.3080748106359588,-1.5947876573376292]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_33","position":[0.056673784458500465,1.444774930156147,0.71338606911949],"aabb_xy":[[0.0016737848367546215,1.3897912373686745],[0.11167378408024631,1.49975862294362]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_34","position":[0.3922982131492825,-0.4305674423418866,0.71338606911949],"aabb_xy":[[0.3547982129774105,-0.4632681777247938],[0.42979821332115437,-0.3978667069589794]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.661015459681396,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6596.png","name":"6596"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6596.png","name":"6596"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1346.png","name":"1346"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5727.png","name":"5727"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1138.png","name":"1138"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5144.png","name":"5144"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":621.6758949121707,"rotation_z_degrees":196.87066364454125,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009652241977298765,-0.015415069241595171,-0.00730791621163434]},{"name":"camera_2","offset_m":[-0.015809903602919336,-0.003911779660589695,0.015094210838604915]},{"name":"camera_3","offset_m":[-0.011608067154654567,-4.0933644906534367e-05,-0.0030935842169612753]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0008526672275845804,3.40526786868898e-05,-0.0008422983014362054],"end_effector_yaw_offset_degrees":-0.025680076766231963},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0015228280191457101,0.0016281595532433076,0.0015333749543896295],"end_effector_yaw_offset_degrees":-0.5312820814368462},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0017239297659907152,-0.0017249475705868203,0.0007419690570451532],"end_effector_yaw_offset_degrees":0.4368645365003483},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[3.463818957971047e-05,-0.0010234304753939751,-0.0005901344823092312],"end_effector_yaw_offset_degrees":0.8216303776988758}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004499201681236309,0.0032904225414676054],"position_m":[0.2085007983187637,-0.1352095774585324,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004198916593214728,-0.0009022672393604377],"position_m":[0.22790108340678528,-0.36520226723936045,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0004976856519469264,0.0017908979269973214],"position_m":[0.2916976856519469,-0.037809102073002684,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0010705794533865786,0.0023920338545141175],"position_m":[0.34507057945338654,0.17729203385451411,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1e1909250234dde4f03a71e19a81150bedb5c20516de82b35ed0c9183a9cf3ef","episode_index":38,"episode_name":"episode_0038"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0038.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_6596/tex_ceiling_textures_5144/tex_floor_textures_1138/tex_table_textures_1346/tex_wall_textures_5727","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":4723328871508291646,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":4723328871508291646,"visual_seed":4723328871508291646,"scene_id":"lab_003","finished_at":"2026-09-05T22:18:00"} +{"episode_id":"ep_000039","started_at":"2026-09-05T22:18:03","dimensions":{"distractor":{"count":32,"items":[{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_0","position":[0.27519806763116184,1.4305600936337606,0.71338606911949],"aabb_xy":[[0.24073572023301995,1.3960662112359374],[0.3096604150293035,1.4650539760315828]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_1","position":[0.14917486025465387,-2.315211134343883,0.71338606911949],"aabb_xy":[[0.1241748609826916,-2.3315564979400447],[0.17417485952661615,-2.29886577074772]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_2","position":[0.4765350716289647,-1.3465050061991042,0.71338606911949],"aabb_xy":[[0.4574227642709858,-1.3656397850763462],[0.49564737898694355,-1.3273702273218622]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_3","position":[0.4928211344040292,1.7349329531075335,0.71338606911949],"aabb_xy":[[0.4753211341589797,1.7174331652679664],[0.5103211346490784,1.7524327409471]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_4","position":[-0.497948889736428,1.7165105837786734,0.71338606911949],"aabb_xy":[[-0.5229488892881664,1.7063680999135387],[-0.47294889018468944,1.726653067643808]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_5","position":[0.44048074182696406,1.4097932958022739,0.71338606911949],"aabb_xy":[[0.38048074157556283,1.355511970765809],[0.5004807420783652,1.4640746208387383]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_6","position":[0.07838094756675917,-1.7952067380818901,0.71338606911949],"aabb_xy":[[0.05479582410286432,-1.8602067403273221],[0.10196607103065403,-1.7302067358364586]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_7","position":[0.21226821144496988,0.8610745286994868,0.71338606911949],"aabb_xy":[[0.20251222193579596,0.8513119946402522],[0.22202420095414374,0.8708370627587211]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_8","position":[-0.38508562808734126,-1.877290020255086,0.71338606911949],"aabb_xy":[[-0.4261035714737122,-1.9272900208860433],[-0.34406768470097043,-1.8272900196241286]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_9","position":[-0.4348748959819669,-0.990835023344733,0.71338606911949],"aabb_xy":[[-0.51987489439939,-1.075709318807018],[-0.34987489756454365,-0.905960727882448]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_10","position":[-0.6018682253234682,0.12130968020028199,0.71338606911949],"aabb_xy":[[-0.6855904508235506,0.03130967666558604],[-0.5181459998233857,0.21130968373497794]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_11","position":[-0.31530237637314174,-0.6525021777143254,0.71338606911949],"aabb_xy":[[-0.33780237589684914,-0.6749981251649461],[-0.29280237684943433,-0.6300062302637045]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_12","position":[-0.05367746652204353,1.6125692836635568,0.71338606911949],"aabb_xy":[[-0.11767746689957714,1.5628240168127445],[0.010322533855490097,1.662314550514369]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_13","position":[-0.24461847365731693,0.8938491331141982,0.71338606911949],"aabb_xy":[[-0.2570858317670526,0.8813838084808746],[-0.23215111554758125,0.9063144577475216]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_14","position":[0.04531758536021491,0.6197482506129988,0.71338606911949],"aabb_xy":[[-0.03468241790379823,0.6061882183040854],[0.12531758862422804,0.6333082829219121]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_15","position":[-0.04519384182286734,0.30155188369847785,0.71338606911949],"aabb_xy":[[-0.08252511834810997,0.2668988289036256],[-0.007862565297624725,0.3362049384933302]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_16","position":[0.4548771894555532,0.15271795862746718,0.71338606911949],"aabb_xy":[[0.4192480335555935,0.11708529187061423],[0.49050634535551296,0.18835062538432013]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_17","position":[-0.08030552535794822,1.3895813548630254,0.71338606911949],"aabb_xy":[[-0.13529777599345916,1.3345813531197126],[-0.025313274722437266,1.4445813566063381]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_18","position":[-0.204767155421541,0.5592495732901761,0.71338606911949],"aabb_xy":[[-0.2182136820555843,0.545779721637085],[-0.19132062878749764,0.5727194249432674]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_19","position":[-0.27569815620572174,-2.05322834383717,0.71338606911949],"aabb_xy":[[-0.31319815462912204,-2.0663925578050004],[-0.23819815778232134,-2.040064129869339]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_20","position":[-0.5419341387062167,-1.2999475518615613,0.71338606911949],"aabb_xy":[[-0.6059341419248546,-1.3466706637605699],[-0.4779341354875789,-1.2532244399625532]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_21","position":[0.5961336535530377,-0.25498961750351734,0.71338606911949],"aabb_xy":[[0.5843654667583803,-0.33998961740873895],[0.6079018403476953,-0.1699896175982958]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_22","position":[-0.1526846875323733,-2.3238875201920486,0.71338606911949],"aabb_xy":[[-0.1813340198927895,-2.352533079469124],[-0.12403535517195705,-2.2952419609149723]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_23","position":[-0.36906933525451585,0.6316296690046967,0.71338606911949],"aabb_xy":[[-0.3730298190242502,0.623961804419176],[-0.3651088514847814,0.6392975335902172]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_24","position":[0.15994832179620033,1.6416242215099222,0.71338606911949],"aabb_xy":[[0.1421548148612839,1.6238244759141243],[0.17774182873111677,1.6594239671057196]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_25","position":[-0.2764295778839577,-0.2838053150393036,0.71338606911949],"aabb_xy":[[-0.30026579552456284,-0.3738053158477901],[-0.2525933602433527,-0.19380531423081715]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_26","position":[0.14170421919918996,-1.446077990535221,0.71338606911949],"aabb_xy":[[0.12883231569824982,-1.526077990949057],[0.1545761227001301,-1.3660779901213846]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_27","position":[-0.36381361431706843,0.4566821648565167,0.71338606911949],"aabb_xy":[[-0.427809311712165,0.392682166555808],[-0.29981791692197185,0.5206821631572254]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_28","position":[0.4344626399489828,-0.27737894154222653,0.71338606911949],"aabb_xy":[[0.41736056199061466,-0.2944857470734963],[0.451564717907351,-0.2602721360109568]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_29","position":[0.32633849339874277,-1.3304043865166797,0.71338606911949],"aabb_xy":[[0.32002639386240433,-1.3361713257698986],[0.3326505929350812,-1.3246374472634608]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_30","position":[0.5672400193741145,-2.310670262957889,0.71338606911949],"aabb_xy":[[0.4772400156971961,-2.3721026695349927],[0.6572400230510325,-2.249237856380784]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_31","position":[0.2648302791224477,0.6853458323581183,0.71338606911949],"aabb_xy":[[0.22733027930541416,0.6807076210469766],[0.3023302789394813,0.6899840436692602]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6586199079781101,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4219.png","name":"4219"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4219.png","name":"4219"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4294.png","name":"4294"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5448.png","name":"5448"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8919.png","name":"8919"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7755.png","name":"7755"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":502.75186719220386,"rotation_z_degrees":119.35187469530007,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018806139596206885,0.011423709748758084,-0.013137268231491861]},{"name":"camera_2","offset_m":[-0.002505096589733715,-0.011676820927583865,-0.019654591881885706]},{"name":"camera_3","offset_m":[-0.0035209206629772845,-0.005633146246053258,0.006651635953366094]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00014309871300783867,-0.0003132330869071028,-0.0005751728326006368],"end_effector_yaw_offset_degrees":0.752134683414206},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0005325306510193433,-0.00017928335683339868,0.0017537757523911762],"end_effector_yaw_offset_degrees":0.07246583354203051},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0018650848673990041,-0.00016757473528899742,0.0007962519741877595],"end_effector_yaw_offset_degrees":-0.18599839979869714},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.000792600485674862,0.0013651926932160274,0.0015579546632656588],"end_effector_yaw_offset_degrees":0.683346913553287}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0019037599935439308,-0.0002898129490039713],"position_m":[0.21109624000645608,-0.13878981294900397,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0037727871906701148,0.004103147367136086],"position_m":[0.22832721280932988,-0.36019685263286394,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004985335279847471,-0.0035643313996422546],"position_m":[0.28621466472015256,-0.04316433139964226,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00037995800639009734,-0.0008223912210160896],"position_m":[0.3443799580063901,0.1740776087789839,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"db8af2a4c4de39cd3fc5e5f889252ffcaa7c6ae3abb8f7779aa8ee747235db44","episode_index":39,"episode_name":"episode_0039"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0039.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_4219/tex_ceiling_textures_7755/tex_floor_textures_8919/tex_table_textures_4294/tex_wall_textures_5448","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":2709533727686572541,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":2709533727686572541,"visual_seed":2709533727686572541,"scene_id":"lab_003","finished_at":"2026-09-05T22:21:29"} +{"episode_id":"ep_000040","started_at":"2026-09-05T22:21:33","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_0","position":[-0.04333306954353122,1.0518932232791607,0.71338606911949],"aabb_xy":[[-0.05095733763370948,1.0442599997426172],[-0.035708801453352985,1.0595264468157046]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_1","position":[0.08777427110907943,1.6042697295001296,0.71338606911949],"aabb_xy":[[0.02777427085767825,1.549988404463665],[0.1477742713604806,1.6585510545365942]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_2","position":[0.07522520155043555,-1.9742471739109855,0.71338606911949],"aabb_xy":[[0.05230948866538565,-1.997151471047409],[0.09814091443548546,-1.951342876774562]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_3","position":[0.07975555754685848,1.143559227258942,0.71338606911949],"aabb_xy":[[0.07249430997645108,1.1307722169954326],[0.08701680511726591,1.1563462375224516]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_4","position":[-0.18242167061036818,-0.23169763663158616,0.71338606911949],"aabb_xy":[[-0.18838820955110397,-0.23765878129095017],[-0.1764551316696324,-0.2257364919722221]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_5","position":[-0.5590940742390517,-1.818990705567328,0.71338606911949],"aabb_xy":[[-0.5651310872397164,-1.8250174066362765],[-0.5530570612383869,-1.8129640044983804]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_6","position":[0.3692518877691884,-1.4375454059323933,0.71338606911949],"aabb_xy":[[0.3192785937659279,-1.4875454064869402],[0.4192251817724488,-1.3875454053778455]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_7","position":[0.35702626030484197,-1.2151716828341748,0.71338606911949],"aabb_xy":[[0.31952626001266715,-1.2192131582347783],[0.3945262605970168,-1.2111302074335712]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_8","position":[-0.4544629810460181,-0.5947431515977599,0.71338606911949],"aabb_xy":[[-0.5194629836838116,-0.6462227502972069],[-0.38946297840822464,-0.543263552898313]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_9","position":[-0.112962304751546,0.7922995369571235,0.71338606911949],"aabb_xy":[[-0.1170981610842462,0.7547995375127666],[-0.10882644841884581,0.8297995364014806]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_10","position":[0.2583373920011034,-0.7556997372621346,0.71338606911949],"aabb_xy":[[0.2227082361011436,-0.7913324040189875],[0.2939665479010631,-0.7200670705052816]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_11","position":[0.5831697847090913,0.7227604203612525,0.71338606911949],"aabb_xy":[[0.5336893634951326,0.6587604224484007],[0.6326502059230502,0.7867604182741044]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_12","position":[-0.6000184815776298,-2.049250312825786,0.71338606911949],"aabb_xy":[[-0.6800184818512368,-2.1221998606515022],[-0.5200184813040228,-1.976300765000069]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_13","position":[-0.12437169519153757,-2.482554601093491,0.71338606911949],"aabb_xy":[[-0.21437169460990846,-2.5159300979376806],[-0.03437169577316668,-2.449179104249301]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_14","position":[-0.40245862754774875,1.5103141122876909,0.71338606911949],"aabb_xy":[[-0.44745862901397765,1.4653142554262104],[-0.3574586260815199,1.555313969149172]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_15","position":[-0.45589413190068495,0.0483500134206758,0.71338606911949],"aabb_xy":[[-0.4629355828514326,0.04132326168288125],[-0.4488526809499374,0.05537676515847034]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_16","position":[0.2166943502407871,-2.284454640060699,0.71338606911949],"aabb_xy":[[0.19890084330587066,-2.3022543856564965],[0.23448785717570353,-2.266654894464901]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_17","position":[-0.34081468468553755,-1.2127160892467896,0.71338606911949],"aabb_xy":[[-0.36465090232614267,-1.3027160900552763],[-0.31697846704493254,-1.1227160884383034]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_18","position":[0.24386494578958984,1.336124927001305,0.71338606911949],"aabb_xy":[[0.23745113214640487,1.3297151067536366],[0.2502787594327747,1.3425347472489733]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_19","position":[-0.5187066894757293,-0.9037764458084707,0.71338606911949],"aabb_xy":[[-0.5412203812991865,-0.9737764464094781],[-0.4961929976522721,-0.8337764452074631]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_20","position":[0.68175092902592,-1.2576871689787925,0.71338606911949],"aabb_xy":[[0.6442509275102882,-1.2689139419949373],[0.7192509305415516,-1.2464603959626472]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_21","position":[0.4611858432198592,-2.506379830320739,0.71338606911949],"aabb_xy":[[0.411185842200724,-2.542846046058567],[0.5111858442389945,-2.4699136145829113]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_22","position":[-0.13191082690004574,1.0253878754212553,0.71338606911949],"aabb_xy":[[-0.14858796289314125,1.0086879514473248],[-0.11523369090695024,1.0420877993951854]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_23","position":[0.5118182394214121,-0.532881590191209,0.71338606911949],"aabb_xy":[[0.5044057838800238,-0.5387328006128369],[0.5192306949628007,-0.527030379769581]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_24","position":[-0.640092112369776,1.026817913280183,0.71338606911949],"aabb_xy":[[-0.662591248096003,1.0043179125019197],[-0.6175929766435491,1.0493179140584457]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_25","position":[0.22568680309155675,-2.418202212957019,0.71338606911949],"aabb_xy":[[0.22198354176241789,-2.4219042312657364],[0.22939006442069562,-2.414500194648301]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_26","position":[-0.44459645628245686,-2.4017325364344955,0.71338606911949],"aabb_xy":[[-0.4670964567944974,-2.424224394799894],[-0.4220964557704162,-2.379240678069097]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_27","position":[-0.46142056823683164,-0.05604697713106299,0.71338606911949],"aabb_xy":[[-0.5254205705796331,-0.10098782837519549],[-0.3974205658940301,-0.011106125886930501]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_28","position":[-0.43481490853474414,-1.628857557257641,0.71338606911949],"aabb_xy":[[-0.43977092871962536,-1.6513575574597628],[-0.429858888349863,-1.6063575570555195]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_29","position":[-0.5984779076992228,0.3651734802734157,0.71338606911949],"aabb_xy":[[-0.6072591348464592,0.3563937329848855],[-0.5896966805519867,0.3739532275619458]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_30","position":[0.6260504366816033,1.389850080359806,0.71338606911949],"aabb_xy":[[0.5460504352514761,1.3103329253471965],[0.7060504381117305,1.4693672353724154]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_31","position":[-0.06651315011398795,-1.6798281345617931,0.71338606911949],"aabb_xy":[[-0.12651315062184085,-1.7366748682477142],[-0.006513149606135026,-1.6229814008758716]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_32","position":[0.4627145292070889,0.9830178079242109,0.71338606911949],"aabb_xy":[[0.4562128926990843,0.9732499858979015],[0.46921616571509356,0.992785629950521]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_33","position":[0.13497477483551235,-2.2984256279041357,0.71338606911949],"aabb_xy":[[0.1240689987479496,-2.378425624302965],[0.14588055092307503,-2.2184256315053066]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_34","position":[0.18344516698513313,-0.9310200157723199,0.71338606911949],"aabb_xy":[[0.16594516672579654,-0.9451115579610928],[0.2009451672444698,-0.9169284735835476]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6609549260347314,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9945.png","name":"9945"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9945.png","name":"9945"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4938.png","name":"4938"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/936.png","name":"936"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7868.png","name":"7868"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/455.png","name":"455"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":557.6768211677612,"rotation_z_degrees":296.6920312839641,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013090715035961872,-0.0005686936215651799,0.013945271570136576]},{"name":"camera_2","offset_m":[0.019183965812400647,-0.008039637914587812,0.0021827323186930647]},{"name":"camera_3","offset_m":[-0.01150894626728372,-0.00738784282365859,-0.0004601902479183344]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0008088438784672523,-0.0011120905460274902,-0.0016428365784805856],"end_effector_yaw_offset_degrees":0.7578496192555193},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0007826936123269072,-0.0015523764474258037,0.000877200115970856],"end_effector_yaw_offset_degrees":-0.5786001918508206},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-2.2061047968422072e-05,0.0013611504563102905,-0.0008641419560667259],"end_effector_yaw_offset_degrees":-0.03903629955767429},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0013421175180352845,0.00010742213246411978,-0.0014411907177104522],"end_effector_yaw_offset_degrees":-0.30112173332217385}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.003998326492105114,-0.0018818948825268444],"position_m":[0.2090016735078949,-0.14038189488252686,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0037038974216596033,-4.4567204888225007e-05],"position_m":[0.2283961025783404,-0.3643445672048882,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.00293420254388757,0.00032420329456730665],"position_m":[0.29413420254388756,-0.0392757967054327,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0021392539365446164,-0.003914154283738171],"position_m":[0.34186074606345535,0.17098584571626183,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d746509734e53fe5ba344ae76f0bc5d5dabecfc76b997f13cae6b8ff852febc3","episode_index":40,"episode_name":"episode_0040"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0040.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_9945/tex_ceiling_textures_455/tex_floor_textures_7868/tex_table_textures_4938/tex_wall_textures_936","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":1821626318126215848,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":1821626318126215848,"visual_seed":1821626318126215848,"scene_id":"lab_003","finished_at":"2026-09-05T22:24:57"} +{"episode_id":"ep_000041","started_at":"2026-09-05T22:25:00","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_0","position":[0.4898735284132849,-2.138627605979377,0.71338606911949],"aabb_xy":[[0.44005674894845015,-2.1886276044636803],[0.5396903078781197,-2.0886276074950736]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_1","position":[0.37296641102793604,0.4001420882947624,0.71338606911949],"aabb_xy":[[0.3479664114761975,0.3899996044296276],[0.39796641057967447,0.41028457215989705]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_2","position":[0.26808699379069234,-1.2788700681190739,0.71338606911949],"aabb_xy":[[0.23058699384692594,-1.2871631581539105],[0.30558699373445875,-1.2705769780842373]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_3","position":[-0.09477786336912031,-1.5583075340874295,0.71338606911949],"aabb_xy":[[-0.1297778616392402,-1.5653816617824174],[-0.059777865099000405,-1.5512334063924411]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_4","position":[0.06392428517709114,0.7058858555262049,0.71338606911949],"aabb_xy":[[0.0562210945030141,0.6981764848274667],[0.07162747585116819,0.7135952262249428]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_5","position":[-0.15203110545018284,-2.4708778970156215,0.71338606911949],"aabb_xy":[[-0.16144858002004556,-2.4802940741533406],[-0.14261363088032006,-2.4614617198779025]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_6","position":[-0.19327897363635138,0.5840705577212844,0.71338606911949],"aabb_xy":[[-0.20883474304661667,0.5685201244768772],[-0.17772320422608612,0.5996209909656915]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_7","position":[0.6376887843599972,-1.5454839603688286,0.71338606911949],"aabb_xy":[[0.6328451895987672,-1.5503356128478127],[0.6425323791212272,-1.5406323078898445]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_8","position":[-0.25159920101546085,-0.09677385625972512,0.71338606911949],"aabb_xy":[[-0.3215992026177404,-0.11020664946138271],[-0.18159919941318142,-0.08334106305806756]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_9","position":[-0.275681153243337,0.3004612259937449,0.71338606911949],"aabb_xy":[[-0.29032455879736996,0.2858025063369605],[-0.261037747689304,0.3151199456505291]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_10","position":[0.6341630624460233,0.21443416455026787,0.71338606911949],"aabb_xy":[[0.5888844475648741,0.15043416520208422],[0.6794416773271726,0.27843416389845155]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_11","position":[-0.4784172286102445,0.39542087437292084,0.71338606911949],"aabb_xy":[[-0.5154513380383041,0.3610436670392113],[-0.4413831191821847,0.42979808170663025]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_12","position":[-0.22928498878654868,1.3577974259097783,0.71338606911949],"aabb_xy":[[-0.2787654100005075,1.2937974279969264],[-0.17980456757258992,1.42179742382263]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_13","position":[-0.08086190856758801,-2.5193309339069647,0.71338606911949],"aabb_xy":[[-0.09853753915618635,-2.537011150186367],[-0.06318627797898968,-2.5016507176275615]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_14","position":[-0.3612020590422129,-1.364489407848418,0.71338606911949],"aabb_xy":[[-0.4412020604723401,-1.4440065628610272],[-0.2812020576120857,-1.2849722528358083]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_15","position":[0.20121087713065366,1.677213597099653,0.71338606911949],"aabb_xy":[[0.175990040270814,1.6519898462467661],[0.22643171399049333,1.7024373479525396]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_16","position":[-0.12518115169291266,1.0372687909385205,0.71338606911949],"aabb_xy":[[-0.14901736933351775,0.9472687901300341],[-0.10134493405230763,1.127268791747007]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_17","position":[0.38189706117652267,-1.3078981685137974,0.71338606911949],"aabb_xy":[[0.37112408725515483,-1.3428981667328364],[0.3926700350978904,-1.2728981702947584]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_18","position":[0.6999941042726616,-1.3739743842296919,0.71338606911949],"aabb_xy":[[0.6936820047363231,-1.3797413234829108],[0.7063062038089999,-1.368207444976473]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_19","position":[-0.21395699389883138,-1.2564838332663584,0.71338606911949],"aabb_xy":[[-0.2200516217869497,-1.2650532278180273],[-0.20786236601071306,-1.2479144387146899]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_20","position":[-0.393688685542776,0.16142049182166174,0.71338606911949],"aabb_xy":[[-0.4118945092040237,0.1503950912396701],[-0.37548286188152835,0.17244589240365338]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_21","position":[0.6551420526393805,-0.8014489681723076,0.71338606911949],"aabb_xy":[[0.6329695256627297,-0.8236246353284306],[0.6773145796160314,-0.7792733010161842]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_22","position":[0.4047425445961703,0.6115864853238691,0.71338606911949],"aabb_xy":[[0.36724254477913676,0.6069482740127272],[0.4422425444132039,0.6162246966350109]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_23","position":[-0.18712529494884977,-2.2415217972292245,0.71338606911949],"aabb_xy":[[-0.2671252936057358,-2.2560266561534874],[-0.1071252962919638,-2.2270169383049616]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_24","position":[-0.14888486743734208,-1.8863373871214675,0.71338606911949],"aabb_xy":[[-0.1863848679347003,-1.8903060706695858],[-0.11138486693998381,-1.8823687035733487]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_25","position":[-0.03874271444893862,0.2632952333578662,0.71338606911949],"aabb_xy":[[-0.061242714262840996,0.2588206169873855],[-0.01624271463503623,0.2677698497283469]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_26","position":[-0.5407814512374662,-2.25245371201306,0.71338606911949],"aabb_xy":[[-0.5586505589919217,-2.266286619990271],[-0.5229123434830107,-2.238620804035849]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6691030318065255,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1668.png","name":"1668"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1668.png","name":"1668"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7521.png","name":"7521"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1096.png","name":"1096"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2397.png","name":"2397"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3886.png","name":"3886"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":729.3718288610924,"rotation_z_degrees":306.3584919267676,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010485127897091197,-0.010687480930580775,0.018632587789294174]},{"name":"camera_2","offset_m":[0.008260492066249635,0.0011429762169985931,-0.013957186278038934]},{"name":"camera_3","offset_m":[-0.013552365764858899,0.001712601522344568,0.006229446506671184]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0005957599824838269,-0.00039427662312988693,0.0014068881810042123],"end_effector_yaw_offset_degrees":-0.15899858265368239},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.001442497342327923,-0.00042316986168414064,-0.001672436838017895],"end_effector_yaw_offset_degrees":0.5336072821990219},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0009176108334823427,-0.001488448438778314,3.106520987067882e-05],"end_effector_yaw_offset_degrees":0.7827798251319804},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00022157615218104665,0.001813502584119585,0.0003487945311173987],"end_effector_yaw_offset_degrees":-0.2093765545963362}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004950007826640967,0.0034073068266726398],"position_m":[0.20804999217335904,-0.13509269317332737,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00434054478533409,-0.002643153090316891],"position_m":[0.23644054478533408,-0.3669431530903169,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0003533785729690009,-0.004146807252418193],"position_m":[0.290846621427031,-0.043746807252418196,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0029479917054634564,-0.0005029685536245389],"position_m":[0.3410520082945365,0.17439703144637547,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"582336c2e2c4c7515e2bbb5b049493632653cee4c9ec5ca642dcc7b0bfe14df6","episode_index":41,"episode_name":"episode_0041"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0041.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_1668/tex_ceiling_textures_3886/tex_floor_textures_2397/tex_table_textures_7521/tex_wall_textures_1096","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":2771033563971955220,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":2771033563971955220,"visual_seed":2771033563971955220,"scene_id":"lab_003","finished_at":"2026-09-05T22:28:25"} +{"episode_id":"ep_000042","started_at":"2026-09-05T22:28:28","dimensions":{"distractor":{"count":26,"items":[{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_0","position":[0.45132931380678154,-2.052561845476404,0.71338606911949],"aabb_xy":[[0.41632931549608604,-2.0602768603999495],[0.48632931211747693,-2.044846830552858]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_1","position":[0.392779230783429,1.7617180926785605,0.71338606911949],"aabb_xy":[[0.34760791293526005,1.6977180955340223],[0.43795054863159805,1.8257180898230991]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_2","position":[-0.4787034564608682,-1.863500374237674,0.71338606911949],"aabb_xy":[[-0.5258328354627038,-1.9275003752820754],[-0.4315740774590325,-1.7995003731932715]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_3","position":[0.050240780104861105,0.8148536586188158,0.71338606911949],"aabb_xy":[[0.04094716186771052,0.7773536601306819],[0.05953439834201168,0.8523536571069497]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_4","position":[-0.25341303105704127,-0.4293878905649957,0.71338606911949],"aabb_xy":[[-0.31841303216298456,-0.454353263633124],[-0.188413029951098,-0.4044225174968674]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_5","position":[-0.6299485261360919,-0.1857148057869238,0.71338606911949],"aabb_xy":[[-0.6939485234217405,-0.22722152473976776],[-0.5659485288504432,-0.14420808683407982]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_6","position":[-0.5018867578011104,-1.577167723037058,0.71338606911949],"aabb_xy":[[-0.539386758465689,-1.59285478103728],[-0.4643867571365316,-1.5614806650368356]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_7","position":[-0.6263185002954534,0.8743088030775161,0.71338606911949],"aabb_xy":[[-0.6676230433591894,0.810308803509399],[-0.5850139572317175,0.9383088026456332]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_8","position":[0.5046276472049416,-2.367862822396547,0.71338606911949],"aabb_xy":[[0.43962764620444106,-2.4186491875512215],[0.5696276482054421,-2.3170764572418716]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_9","position":[0.23244714482887396,-1.4801423238198406,0.71338606911949],"aabb_xy":[[0.22831128849617377,-1.5176423232641976],[0.23658300116157416,-1.4426423243754836]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_10","position":[0.0495086568715295,1.5021137716657873,0.71338606911949],"aabb_xy":[[-0.010491342975037288,1.4452951494727484],[0.10950865671809629,1.5589323938588258]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_11","position":[-0.3896145742766766,0.2429894326230566,0.71338606911949],"aabb_xy":[[-0.39424968942891,0.2391220975459079],[-0.38497945912444315,0.2468567677002052]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_12","position":[0.12607827190395726,1.009356979014517,0.71338606911949],"aabb_xy":[[0.10618723202361702,0.9967011677298203],[0.1459693117842975,1.022012790299214]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_13","position":[0.1697297307317015,0.8975015547032266,0.71338606911949],"aabb_xy":[[0.16414805909757274,0.8850015548854511],[0.17531140236583026,0.9100015545210021]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_14","position":[0.5388747610271964,0.6814780253479076,0.71338606911949],"aabb_xy":[[0.48887975006774453,0.6314780263123159],[0.5888697719866486,0.7314780243834993]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_15","position":[-0.34620431582555017,-0.7031712975335151,0.71338606911949],"aabb_xy":[[-0.3837043173411818,-0.7143980705496602],[-0.3087043143099184,-0.6919445245173701]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_16","position":[-0.4457536651931209,1.4341419948676486,0.71338606911949],"aabb_xy":[[-0.45659414341963583,1.4169557135769997],[-0.434913186966606,1.451328276158297]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_17","position":[-0.30436733345167466,1.3299311324671552,0.71338606911949],"aabb_xy":[[-0.36436733431248736,1.2785047024606686],[-0.24436733259086177,1.3813575624736414]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_18","position":[0.6298273176733065,0.9526426368064369,0.71338606911949],"aabb_xy":[[0.619674302119157,0.9165730952336963],[0.6399803332274557,0.988712178379177]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_19","position":[0.25971607319359935,-0.75725428441147,0.71338606911949],"aabb_xy":[[0.23721607318345111,-0.7713505040510733],[0.2822160732037477,-0.7431580647718667]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_20","position":[0.6125247264903129,-0.7215406225980552,0.71338606911949],"aabb_xy":[[0.5880111023933069,-0.7458052159000915],[0.6370383505873186,-0.6972760292960186]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_21","position":[0.7131212057354106,-0.9848534143413397,0.71338606911949],"aabb_xy":[[0.703961326791534,-0.9913846323848766],[0.7222810846792872,-0.9783221962978025]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_22","position":[-0.1978954343103042,-2.2180539914773636,0.71338606911949],"aabb_xy":[[-0.20659339660101952,-2.2301789657848383],[-0.18919747201958895,-2.205929017169889]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_23","position":[0.48441834895976155,-1.5666056248436466,0.71338606911949],"aabb_xy":[[0.43443954044944566,-1.6166056248493657],[0.5343971574700774,-1.516605624837928]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_24","position":[0.44299809070364304,0.9653286945395942,0.71338606911949],"aabb_xy":[[0.3529980921091732,0.9490781082261734],[0.5329980892981131,0.9815792808530155]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_25","position":[0.58847068877638,-1.2647991601890267,0.71338606911949],"aabb_xy":[[0.5334706891546341,-1.3197828529764994],[0.6434706883981258,-1.209815467401554]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6595996202830144,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7268.png","name":"7268"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7268.png","name":"7268"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7850.png","name":"7850"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9996.png","name":"9996"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1052.png","name":"1052"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2624.png","name":"2624"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":819.4013528869123,"rotation_z_degrees":204.25131577855979,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0029913190784217024,-0.005337366496850442,0.005706462000270706]},{"name":"camera_2","offset_m":[0.005593369749319992,-0.0016315226132229688,-0.017755030329265314]},{"name":"camera_3","offset_m":[-0.002478022627123551,0.010821236641195976,0.009723525866264349]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0012315779290908405,-0.0013422325444900163,-0.00027987159812277755],"end_effector_yaw_offset_degrees":-0.836404431176214},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0018497406497244091,0.0012217559143278952,0.00047687262233347483],"end_effector_yaw_offset_degrees":0.5148973568315127},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00013581169198533275,5.729978528686919e-05,-0.0017888799703909318],"end_effector_yaw_offset_degrees":-0.12017206026095795},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0014672843453384155,-0.00022231305140819608,-0.0018513958399583132],"end_effector_yaw_offset_degrees":-0.7438371228789897}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0015787540992098638,-0.004894221661099192],"position_m":[0.21142124590079014,-0.1433942216610992,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0029551770506445686,0.003563358161961791],"position_m":[0.22914482294935543,-0.3607366418380382,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0006559805075778864,-0.001044792698403292],"position_m":[0.29054401949242215,-0.04064479269840329,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002467426276748089,-0.0046214826939696444],"position_m":[0.34646742627674804,0.17027851730603036,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f60836b180e3713459da2979056be0253abf9e9f8264ad373e4cc909b6b5f1c6","episode_index":42,"episode_name":"episode_0042"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0042.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_7268/tex_ceiling_textures_2624/tex_floor_textures_1052/tex_table_textures_7850/tex_wall_textures_9996","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":7318992324615682393,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":7318992324615682393,"visual_seed":7318992324615682393,"scene_id":"lab_003","finished_at":"2026-09-05T22:31:48"} +{"episode_id":"ep_000043","started_at":"2026-09-05T22:31:54","dimensions":{"distractor":{"count":23,"items":[{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_0","position":[0.4765232862771416,-0.1298302288567963,0.71338606911949],"aabb_xy":[[0.46475509948248417,-0.2148302287620179],[0.4882914730717992,-0.04483022895157474]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_1","position":[0.5924677419562694,0.35110764908975867,0.71338606911949],"aabb_xy":[[0.5870097963192493,0.27110764578209956],[0.5979256875932895,0.4311076523974178]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_2","position":[-0.32552527187496727,-2.369588863086701,0.71338606911949],"aabb_xy":[[-0.39052527451276076,-2.421068461786148],[-0.2605252692371738,-2.318109264387254]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_3","position":[-0.36185469005539783,-0.5609767198523516,0.71338606911949],"aabb_xy":[[-0.44184851363395605,-0.6409767224451933],[-0.2818608664768396,-0.4809767172595102]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_4","position":[-0.013594841880020136,-2.2661690900469686,0.71338606911949],"aabb_xy":[[-0.03609397760624711,-2.288669090825231],[0.008904293846206836,-2.2436690892687055]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_5","position":[-0.24127168022974288,1.6490843938838728,0.71338606911949],"aabb_xy":[[-0.25643455320668,1.6339189365887543],[-0.22610880725280585,1.6642498511789918]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_6","position":[-0.01166537532988765,-0.882496289033091,0.71338606911949],"aabb_xy":[[-0.05021106815508868,-0.9210420600892796],[0.02688031749531338,-0.8439505179769023]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_7","position":[-0.42371178755802147,-2.5376420286671193,0.71338606911949],"aabb_xy":[[-0.446211788070062,-2.560133887032517],[-0.4012117870459808,-2.5151501703017205]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_8","position":[-0.4567556645763328,0.8089987541285879,0.71338606911949],"aabb_xy":[[-0.49325148520361156,0.7725148117018302],[-0.4202598439490541,0.8454826965553454]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_9","position":[-0.25553508693627314,-1.7642313537031264,0.71338606911949],"aabb_xy":[[-0.2755934985495135,-1.784296440612284],[-0.2354766753230329,-1.7441662667939692]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_10","position":[0.33985786158170783,0.42953430015968896,0.71338606911949],"aabb_xy":[[0.289879053071392,0.37953430015397016],[0.3898366700920238,0.47953430016540777]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_11","position":[-0.5451355929443268,0.47258057451931856,0.71338606911949],"aabb_xy":[[-0.5602378944053447,0.45747905288825663],[-0.5300332914833085,0.4876820961503803]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_12","position":[-0.6104295940952147,-0.3505595585919399,0.71338606911949],"aabb_xy":[[-0.620582609649364,-0.38662910016468016],[-0.6002765785410652,-0.31449001701919954]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_13","position":[0.32618799506306706,-2.330612989222308,0.71338606911949],"aabb_xy":[[0.25618799865310515,-2.351050924873989],[0.39618799147302874,-2.3101750535706254]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_14","position":[-0.6050658184188401,-0.9984042706081742,0.71338606911949],"aabb_xy":[[-0.6182170643901295,-1.023404270364861],[-0.5919145724475507,-0.9734042708514877]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_15","position":[-0.574991786250993,0.8267331206228654,0.71338606911949],"aabb_xy":[[-0.5858975623385557,0.7467331242240363],[-0.5640860101634303,0.9067331170216946]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_16","position":[0.07256464303582755,-1.6885617526534933,0.71338606911949],"aabb_xy":[[0.03908547577478661,-1.7220408660246005],[0.10604381029686849,-1.6550826392823865]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_17","position":[-0.22018725305443382,1.4689087273675452,0.71338606911949],"aabb_xy":[[-0.28518725093608166,1.4177850636610045],[-0.15518725517278603,1.5200323910740865]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_18","position":[-0.5254354795661291,-0.008781317172395386,0.71338606911949],"aabb_xy":[[-0.6054354782230151,-0.023286176096658173],[-0.4454354809092431,0.0057235417518674]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_19","position":[0.33443018524663737,-0.7081309076821125,0.71338606911949],"aabb_xy":[[0.32434847816806384,-0.7881309055742272],[0.3445118923252108,-0.6281309097899979]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_20","position":[-0.1108044523030205,-1.3630833504224962,0.71338606911949],"aabb_xy":[[-0.1467179567280102,-1.3989968586392507],[-0.0748909478780308,-1.3271698422057416]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_21","position":[0.27258174517078315,-1.6943565095042794,0.71338606911949],"aabb_xy":[[0.24425203522224298,-1.6988172516979965],[0.30091145511932343,-1.6898957673105623]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_22","position":[0.6752175461962557,1.2484781268776737,0.71338606911949],"aabb_xy":[[0.6402175463002369,1.2401038913657336],[0.7102175460922746,1.2568523623896137]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6702443314897415,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9697.png","name":"9697"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9697.png","name":"9697"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3331.png","name":"3331"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4099.png","name":"4099"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1934.png","name":"1934"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9167.png","name":"9167"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":647.9639961095269,"rotation_z_degrees":86.95928469997554,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015349336802560582,0.01713761754109115,0.014119973585694074]},{"name":"camera_2","offset_m":[-0.01793989950918663,0.014920350440293512,-0.005244943890790088]},{"name":"camera_3","offset_m":[0.0015878107493058659,0.009271750290767256,-0.005232233613216741]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0016635967556531146,0.0009296216122120647,0.0006800756368839558],"end_effector_yaw_offset_degrees":0.5545091141099896},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.001877074526948307,-0.0017146742523801918,-0.0014001067968522464],"end_effector_yaw_offset_degrees":0.3589702972725739},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0013946530544058028,0.0014392775002967464,-0.000582751748794557],"end_effector_yaw_offset_degrees":-0.643447484077815},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0018997585960329323,0.0005326322670071038,0.0013784117887137032],"end_effector_yaw_offset_degrees":0.24828209093893672}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0044203489216509614,0.0035259511368555705],"position_m":[0.20857965107834903,-0.13497404886314443,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004742658490811946,-0.004109718168449405],"position_m":[0.23684265849081196,-0.3684097181684494,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0036834022606537587,-0.0003751461236476093],"position_m":[0.2948834022606538,-0.03997514612364761,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0016238998285835792,0.00419183281798581],"position_m":[0.34562389982858355,0.1790918328179858,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b12a7b3f3955be1fb2689652be335da5291948cad690ef7aa11180d4a9ba659e","episode_index":43,"episode_name":"episode_0043"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0043.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_9697/tex_ceiling_textures_9167/tex_floor_textures_1934/tex_table_textures_3331/tex_wall_textures_4099","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":8427291011344041742,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":8427291011344041742,"visual_seed":8427291011344041742,"scene_id":"lab_003","finished_at":"2026-09-05T22:35:19"} +{"episode_id":"ep_000044","started_at":"2026-09-05T22:35:23","dimensions":{"distractor":{"count":35,"items":[{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_0","position":[0.3866478672407454,1.6649654644133922,0.71338606911949],"aabb_xy":[[0.34914786706887335,1.6322647290304848],[0.42414786741261723,1.6976661997962992]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_1","position":[-0.45696970559950245,-0.01388355792844509,0.71338606911949],"aabb_xy":[[-0.5219697067054457,-0.03884893099657338],[-0.39196970449355917,0.011081815139683204]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_2","position":[-0.003158421201960082,-2.03811863905298,0.71338606911949],"aabb_xy":[[-0.06715842354476163,-2.0830594902971127],[0.060841581140841476,-1.993177787808848]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_3","position":[-0.5127887014114579,-0.8802195307127367,0.71338606911949],"aabb_xy":[[-0.5628861653925316,-0.9442195312225485],[-0.4626912374303843,-0.8162195302029249]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_4","position":[0.5249816682081974,-0.6041478904870705,0.71338606911949],"aabb_xy":[[0.4884858475809186,-0.640631832913828],[0.5614774888354761,-0.5676639480603128]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_5","position":[-0.5412420554227183,1.3934516906403904,0.71338606911949],"aabb_xy":[[-0.5890482230364869,1.3284516879333312],[-0.49343588780894954,1.4584516933474492]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_6","position":[-0.6586595078400763,0.33146862340487715,0.71338606911949],"aabb_xy":[[-0.6687412149186497,0.2514686255127625],[-0.6485778007615027,0.4114686212969918]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_7","position":[0.39793016721421637,1.3053569228415958,0.71338606911949],"aabb_xy":[[0.3808280892558482,1.2882501173103262],[0.4150322451725845,1.3224637283728657]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_8","position":[0.37845886432219,0.32533106282847424,0.71338606911949],"aabb_xy":[[0.37434291421011723,0.3212155077956287],[0.38257481443426256,0.3294466178613197]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_9","position":[0.3777947761415146,-1.7184104635177562,0.71338606911949],"aabb_xy":[[0.32779477519098177,-1.7499596105212776],[0.4277947770920474,-1.6868613165142348]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_10","position":[-0.4158532715390259,1.3135316468778067,0.71338606911949],"aabb_xy":[[-0.440853270704659,1.3065794011724503],[-0.3908532723733928,1.3204838925831635]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_11","position":[-0.5321266961728561,-1.1877688658287806,0.71338606911949],"aabb_xy":[[-0.5696266959898897,-1.1924070771399224],[-0.49462669635582257,-1.1831306545176388]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_12","position":[-0.5325327836226417,-1.3250490682932135,0.71338606911949],"aabb_xy":[[-0.545979310256685,-1.3385189199463046],[-0.5190862569885983,-1.3115792166401223]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_13","position":[0.06527072915867005,-2.340045355744977,0.71338606911949],"aabb_xy":[[0.043380981569729256,-2.430045353034226],[0.08716047674761085,-2.250045358455728]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_14","position":[-0.3722770883125512,1.679718103250568,0.71338606911949],"aabb_xy":[[-0.4572770870046258,1.6477322398556893],[-0.28727708962047654,1.711703966645447]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_15","position":[0.22679415568734163,1.2035738266615286,0.71338606911949],"aabb_xy":[[0.2042977342534775,1.1810738268547811],[0.2492905771212057,1.226073826468276]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_16","position":[0.040113902427437065,0.9182160200208531,0.71338606911949],"aabb_xy":[[0.03285265485702965,0.9054290097573436],[0.04737514999784448,0.9310030302843626]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_17","position":[-0.27874677598693676,-1.7351769912480681,0.71338606911949],"aabb_xy":[[-0.29480870344545435,-1.82017699306066],[-0.26268484852841906,-1.6501769894354763]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_18","position":[-0.39524817790106165,0.5409939782277537,0.71338606911949],"aabb_xy":[[-0.43228228732912133,0.5066167708940443],[-0.35821406847300186,0.5753711855614632]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_19","position":[0.29402429723451917,-2.5467240342721684,0.71338606911949],"aabb_xy":[[0.27185177025786833,-2.5688997014282915],[0.31619682421117,-2.5245483671160454]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_20","position":[-0.33205783659189486,-0.22435629674087032,0.71338606911949],"aabb_xy":[[-0.3549735494769448,-0.24726059387729385],[-0.309142123706845,-0.20145199960444685]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_21","position":[-0.6223968575335396,-0.06234096137890344,0.71338606911949],"aabb_xy":[[-0.6265327138662398,-0.09984096082326044],[-0.6182610012008394,-0.024840961934546442]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_22","position":[0.5077041339513244,1.3821266388540865,0.71338606911949],"aabb_xy":[[0.4663995908875884,1.3181266392859696],[0.5490086770150604,1.4461266384222038]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_23","position":[0.6230799196265657,-1.7669346696388568,0.71338606911949],"aabb_xy":[[0.5730799209806445,-1.816854213298319],[0.6730799182724869,-1.7170151259793942]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_24","position":[0.6360261078666809,-0.8147520814045057,0.71338606911949],"aabb_xy":[[0.6295244713586763,-0.8245199034308157],[0.6425277443746855,-0.8049842593781962]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_25","position":[0.6807792706821694,1.6016759097306426,0.71338606911949],"aabb_xy":[[0.6710232811729954,1.591913375671408],[0.6905352601913431,1.6114384437898768]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_26","position":[0.4224246029184391,-1.2702115589150524,0.71338606911949],"aabb_xy":[[0.3584246043318666,-1.3172185223145612],[0.48642460150501154,-1.2232045955155437]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_27","position":[-0.5509129635707896,-2.0642678572830113,0.71338606911949],"aabb_xy":[[-0.585912961881485,-2.071982872206557],[-0.5159129652600941,-2.0565528423594657]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_28","position":[0.5366136287848731,0.7090365317111966,0.71338606911949],"aabb_xy":[[0.5167225889045329,0.6963807204264998],[0.5565046686652134,0.7216923429958935]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_29","position":[-0.11734250138072178,-1.1543706734887447,0.71338606911949],"aabb_xy":[[-0.1673425008209174,-1.2043385979730608],[-0.06734250194052614,-1.1044027490044281]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_30","position":[0.1364043811683403,1.1815038709993297,0.71338606911949],"aabb_xy":[[0.12393702305860468,1.1690385463660062],[0.14887173927807598,1.1939691956326532]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_31","position":[0.3701942403069143,0.5161288549407796,0.71338606911949],"aabb_xy":[[0.3051942424252665,0.4650051912342388],[0.4351942381885621,0.5672525186473205]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_32","position":[-0.658618117017248,-1.3666868598453905,0.71338606911949],"aabb_xy":[[-0.6930804644153896,-1.4011807422432125],[-0.624155769619106,-1.3321929774475672]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_33","position":[-0.18474021959092435,-1.9041954830178591,0.71338606911949],"aabb_xy":[[-0.20141735558401988,-1.9208954069917892],[-0.16806308359782887,-1.8874955590439286]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_34","position":[0.705055289440188,-0.6916463101969013,0.71338606911949],"aabb_xy":[[0.6994736178060591,-0.7041463100146768],[0.7106369610743167,-0.6791463103791258]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.666778704395996,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9607.png","name":"9607"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9607.png","name":"9607"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2951.png","name":"2951"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6863.png","name":"6863"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3247.png","name":"3247"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5984.png","name":"5984"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":771.7562935689127,"rotation_z_degrees":271.72551969187407,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010152508513876685,-0.016416061963642727,-0.015111491461765181]},{"name":"camera_2","offset_m":[-0.012996122841285866,0.01222318118913283,0.01151640552125022]},{"name":"camera_3","offset_m":[0.005184890582790553,-0.013294617107934451,-0.013487564939302178]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0012655194939086897,-0.0011090864016001355,0.001861031994615926],"end_effector_yaw_offset_degrees":-0.14293454972885677},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0019274102371246897,-0.000589361764770469,-5.2776712358045636e-05],"end_effector_yaw_offset_degrees":0.470005615939026},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0016873408482848268,6.77710501509627e-05,-0.0019375388165116885],"end_effector_yaw_offset_degrees":-0.0059704090015682},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0011625204340979566,1.5211201896043504e-05,-0.00010669920061278054],"end_effector_yaw_offset_degrees":0.09875911567614781}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0019881839949684034,0.0008738921501640472],"position_m":[0.2110118160050316,-0.13762610784983598,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00402446772108758,0.0011252439190084004],"position_m":[0.23612446772108758,-0.3631747560809916,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0038178303488557433,-0.003729315908522565],"position_m":[0.29501783034885576,-0.04332931590852257,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0005317109192494902,-0.004390210863768329],"position_m":[0.3434682890807505,0.17050978913623166,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8cc2f37bc00aeb52edafc956bc95c46859c2af8928612522a176cf1127340cdf","episode_index":44,"episode_name":"episode_0044"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0044.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_9607/tex_ceiling_textures_5984/tex_floor_textures_3247/tex_table_textures_2951/tex_wall_textures_6863","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":3652968821336484396,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":3652968821336484396,"visual_seed":3652968821336484396,"scene_id":"lab_003","finished_at":"2026-09-05T22:38:42"} +{"episode_id":"ep_000045","started_at":"2026-09-05T22:38:47","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_0","position":[-0.5484811732407657,-1.1594893692923394,0.71338606911949],"aabb_xy":[[-0.6024967695226657,-1.223489372184596],[-0.4944655769588657,-1.0954893664000818]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_1","position":[0.5594939326223367,1.4895296998060483,0.71338606911949],"aabb_xy":[[0.5419156304333899,1.4719552102319435],[0.5770722348112836,1.5071041893801536]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_2","position":[0.431751050121149,-0.4673358049477976,0.71338606911949],"aabb_xy":[[0.36775105095137905,-0.51410249206676],[0.49575104929091895,-0.42056911782883505]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_3","position":[-0.19494159309093484,-2.4514945316470276,0.71338606911949],"aabb_xy":[[-0.20550907274903388,-2.462039561760036],[-0.18437411343283586,-2.440949501534019]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_4","position":[-0.19255249371529037,1.1985321382179506,0.71338606911949],"aabb_xy":[[-0.22701497172837815,1.1918684610350276],[-0.1580900157022026,1.205195815400873]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_5","position":[0.10660617068835343,-1.1549527118019434,0.71338606911949],"aabb_xy":[[0.056606172042432235,-1.2048722554614058],[0.15660616933427463,-1.105033168142481]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_6","position":[0.6408484083219033,-0.7705846060122208,0.71338606911949],"aabb_xy":[[0.6352667366877743,-0.7830846058299963],[0.646430079956032,-0.7580846061944453]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_7","position":[0.6330699192301139,0.2639142359807942,0.71338606911949],"aabb_xy":[[0.575439450342843,0.2039142370540835],[0.6907003881173848,0.3239142349075047]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_8","position":[0.004660748318514152,-1.7656607003121034,0.71338606911949],"aabb_xy":[[-0.04246863068332152,-1.8296607013565052],[0.05179012732034982,-1.7016606992677012]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_9","position":[0.49751436396357196,-1.7432951062202364,0.71338606911949],"aabb_xy":[[0.4335143632601026,-1.7893134886931579],[0.5615143646670413,-1.6972767237473159]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_10","position":[-0.08198700919795554,0.6115626051888658,0.71338606911949],"aabb_xy":[[-0.09953370411407447,0.5740626036246145],[-0.06444031428183661,0.649062606753117]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_11","position":[0.2824362514397917,-0.5989567769796409,0.71338606911949],"aabb_xy":[[0.2689897248057484,-0.6124266286327321],[0.29588277807383506,-0.5854869253265497]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_12","position":[0.43847577357675505,-0.04454888862360873,0.71338606911949],"aabb_xy":[[0.4209757744423879,-0.054428515661196546],[0.4559757727111222,-0.0346692615860209]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_13","position":[0.4131044209167598,1.7957204769547475,0.71338606911949],"aabb_xy":[[0.40225281466788426,1.7848611862270962],[0.42395602716563546,1.8065797676823983]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_14","position":[-0.11696988966681254,-1.4980636397435405,0.71338606911949],"aabb_xy":[[-0.1388785718061636,-1.519964306563631],[-0.09506120752746149,-1.4761629729234496]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_15","position":[0.05696413643280973,-0.9611969435371837,0.71338606911949],"aabb_xy":[[0.019464134917178015,-0.9724237165533286],[0.09446413794844144,-0.9499701705210385]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_16","position":[-0.3576443923328284,-0.8452748966694001,0.71338606911949],"aabb_xy":[[-0.37087533786750965,-0.8585023156913996],[-0.34441344679814706,-0.8320474776474007]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_17","position":[-0.580067813941388,-2.3149214013281547,0.71338606911949],"aabb_xy":[[-0.5871092648921356,-2.321948153065949],[-0.5730263629906404,-2.3078946495903603]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_18","position":[-0.3832032256823313,0.405510649367371,0.71338606911949],"aabb_xy":[[-0.4682032240997545,0.320636353905086],[-0.29820322726490806,0.49038494482965594]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_19","position":[-0.6076253067806326,-0.2046214101398629,0.71338606911949],"aabb_xy":[[-0.6146656167141696,-0.28462140953953435],[-0.6005849968470957,-0.12462141074019153]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_20","position":[-0.39153007446343246,-1.2346493242625811,0.71338606911949],"aabb_xy":[[-0.4465300740851783,-1.2896330170500538],[-0.3365300748416866,-1.1796656314751084]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_21","position":[-0.43602857365859893,-1.4695865079921877,0.71338606911949],"aabb_xy":[[-0.5000285750665896,-1.5213754595161124],[-0.3720285722506083,-1.417797556468263]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_22","position":[0.6480217864871562,-1.9510339586762062,0.71338606911949],"aabb_xy":[[0.6426842108211517,-1.9760339596053462],[0.6533593621531608,-1.9260339577470666]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_23","position":[-0.27969405620928617,-0.27640848978505295,0.71338606911949],"aabb_xy":[[-0.3436940564832644,-0.3264745899823409],[-0.21569405593530794,-0.22634238958776498]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_24","position":[0.5489909058751665,-2.2614136112888716,0.71338606911949],"aabb_xy":[[0.48899090602859974,-2.3182322334819103],[0.6089909057217333,-2.204594989095833]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_25","position":[0.24263546805232428,-1.6013155656446316,0.71338606911949],"aabb_xy":[[0.1926354676917582,-1.6512955528542343],[0.29263546841289034,-1.5513355784350285]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6657088945552412,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5758.png","name":"5758"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5758.png","name":"5758"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/450.png","name":"450"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6566.png","name":"6566"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4229.png","name":"4229"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/622.png","name":"622"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":789.2244984925367,"rotation_z_degrees":114.04290445876863,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013094444799760876,0.011078412583729588,-0.01926142681150517]},{"name":"camera_2","offset_m":[0.011765665233682488,0.0028736644928929155,0.0011317263677830779]},{"name":"camera_3","offset_m":[0.00895485035452458,0.0008779654821679458,-0.002289924207730533]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0014650518521797731,0.0013435843285531934,0.0008449836712193532],"end_effector_yaw_offset_degrees":0.6482664041667898},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0018272094480742455,-0.0011671158914274673,-8.367611058852464e-05],"end_effector_yaw_offset_degrees":0.5368426427844899},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0004600286361820128,-0.0014892753501413415,-0.0007305825375408866],"end_effector_yaw_offset_degrees":0.11798664443472395},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0005516930711305401,0.0010469324711283759,-0.00016740156464723193],"end_effector_yaw_offset_degrees":-0.3405064568121243}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0026876988816653966,-0.004097745518891455],"position_m":[0.2156876988816654,-0.14259774551889146,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001807176846062004,-0.00031654546552962147],"position_m":[0.233907176846062,-0.36461654546552963,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0008064525983173957,0.004419233992725711],"position_m":[0.2903935474016826,-0.035180766007274294,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00196281370411044,0.003864359049476942],"position_m":[0.3459628137041104,0.17876435904947693,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9ed163b7ac8aa172d018eaf2dc4a1b15774716a9ba511957cd37beb14c0b6bf1","episode_index":45,"episode_name":"episode_0045"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0045.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_5758/tex_ceiling_textures_622/tex_floor_textures_4229/tex_table_textures_450/tex_wall_textures_6566","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":2532577027709380530,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":2532577027709380530,"visual_seed":2532577027709380530,"scene_id":"lab_003","finished_at":"2026-09-05T22:42:12"} +{"episode_id":"ep_000046","started_at":"2026-09-05T22:42:17","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_0","position":[-0.2624734422626942,-2.250276666473359,0.71338606911949],"aabb_xy":[[-0.33247344489928055,-2.270381531469224],[-0.19247343962610786,-2.230171801477493]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_1","position":[0.5696082870384152,-0.42577791120555286,0.71338606911949],"aabb_xy":[[0.56156492711246,-0.5107779123009193],[0.5776516469643703,-0.3407779101101864]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_2","position":[-0.047899755214629636,1.6306985417011233,0.71338606911949],"aabb_xy":[[-0.05201570532670229,1.6265829866682773],[-0.043783805102556965,1.6348140967339684]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_3","position":[0.18867366065006108,0.9745248628272964,0.71338606911949],"aabb_xy":[[0.16345282379022136,0.9493011119744095],[0.2138944975099007,0.999748613680183]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_4","position":[0.5122138435607129,-0.6323877727201284,0.71338606911949],"aabb_xy":[[0.4482138471651398,-0.6963510611388619],[0.576213839956286,-0.5684244843013948]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_5","position":[-0.6017220339856685,-2.2764419988234277,0.71338606911949],"aabb_xy":[[-0.6392220340912613,-2.283264160676409],[-0.5642220338800754,-2.2696198369704463]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_6","position":[-0.17336079781302638,-1.7248057107431194,0.71338606911949],"aabb_xy":[[-0.21944588906775786,-1.7888057079956747],[-0.1272757065582949,-1.6608057134905645]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_7","position":[0.2016507526878144,1.4112098480050848,0.71338606911949],"aabb_xy":[[0.1376507503450128,1.366268996760952],[0.2656507550306159,1.456150699249217]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_8","position":[-0.06973737392262369,-1.42108367724274,0.71338606911949],"aabb_xy":[[-0.1072373738663901,-1.4293767672775766],[-0.03223737397885729,-1.4127905872079034]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_9","position":[0.3228499617617506,0.9537369338353785,0.71338606911949],"aabb_xy":[[0.31482369113112463,0.9449854388580259],[0.3308762323923766,0.9624884288127311]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_10","position":[-0.5746700897981682,-1.9203992417190174,0.71338606911949],"aabb_xy":[[-0.5820825453395566,-1.9262504521406456],[-0.5672576342567797,-1.9145480312973897]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_11","position":[-0.009305891501942831,0.9294237487279258,0.71338606911949],"aabb_xy":[[-0.02440819296296092,0.9143222270968636],[0.005796409959075267,0.9445252703589873]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_12","position":[-0.40756113486047896,-0.7191680337632358,0.71338606911949],"aabb_xy":[[-0.4715611365384763,-0.76768542524255],[-0.3435611331824816,-0.6706506422839216]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_13","position":[0.009971500426631974,-2.3920096929108197,0.71338606911949],"aabb_xy":[[-0.007528433007351398,-2.4095096928310538],[0.027471433860615346,-2.3745096929905847]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_14","position":[-0.024476732949752056,-1.5374106966270418,0.71338606911949],"aabb_xy":[[-0.033770351186902636,-1.5749106951151757],[-0.015183114712601472,-1.4999106981389079]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_15","position":[-0.6288239898931619,0.6377941029188214,0.71338606911949],"aabb_xy":[[-0.6344056615272906,0.6252941031010458],[-0.6232423182590332,0.6502941027365968]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_16","position":[0.5745074974394078,-0.8870659790695898,0.71338606911949],"aabb_xy":[[0.5542231947160088,-0.9073486042122986],[0.5947918001628063,-0.8667833539268809]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_17","position":[-0.003953507613789875,-1.078476166310997,0.71338606911949],"aabb_xy":[[-0.0111972736600352,-1.1584761645145993],[0.0032902584324554507,-0.9984761681073946]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_18","position":[-0.17144530776292577,1.7403070502339326,0.71338606911949],"aabb_xy":[[-0.20829585569991338,1.7028070494108989],[-0.13459475982593816,1.7778070510569663]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_19","position":[-0.6277276721446737,-2.4817254317377033,0.71338606911949],"aabb_xy":[[-0.650227672154822,-2.4958216513773066],[-0.6052276721345254,-2.4676292120981]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_20","position":[-0.6265151716039525,-1.3592918312442224,0.71338606911949],"aabb_xy":[[-0.691515172604453,-1.410078196398897],[-0.561515170603452,-1.3085054660895472]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_21","position":[0.08164942253931406,1.0530690431640197,0.71338606911949],"aabb_xy":[[0.001649422069098128,1.0447583355496715],[0.16164942300953003,1.061379750778368]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_22","position":[0.3875374311399451,-0.8091352716981426,0.71338606911949],"aabb_xy":[[0.3781904235576498,-0.8234388939157867],[0.3968844387222403,-0.7948316494804987]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6599987462208241,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7890.png","name":"7890"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7890.png","name":"7890"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4038.png","name":"4038"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7769.png","name":"7769"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2703.png","name":"2703"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7873.png","name":"7873"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":562.6319647935803,"rotation_z_degrees":141.23279936795277,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007325151937154547,0.009662654596418116,0.004378006958160395]},{"name":"camera_2","offset_m":[0.0021544656640668063,-0.004063301385704498,0.01490788169617319]},{"name":"camera_3","offset_m":[-0.019162480863752048,0.009628738189137977,0.012071752997511422]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0008714790642929005,-0.0012958555896584799,0.0009918527861001447],"end_effector_yaw_offset_degrees":-0.41522438063724665},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0009146607655965049,0.0012384720892809624,0.00012713882940051024],"end_effector_yaw_offset_degrees":-0.2832736528903246},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0016252474149794503,0.0005474355803275735,0.00011343571816063843],"end_effector_yaw_offset_degrees":0.616146406885413},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00015422295305052075,0.0003765427117927542,0.00040542985492555755],"end_effector_yaw_offset_degrees":0.27103640371666726}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0009655575810675098,-0.002833899371444879],"position_m":[0.2120344424189325,-0.1413338993714449,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003684451607732453,0.0017224573224210882],"position_m":[0.22841554839226755,-0.3625775426775789,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0003159723585019307,-0.00012033119860452562],"position_m":[0.29088402764149807,-0.039720331198604526,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0042936272843130405,-0.0034844387480649688],"position_m":[0.348293627284313,0.17141556125193502,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0c57d510a4ed45f8370552d1c562561aa3dca34fe11ecdd91ce09f520a873f72","episode_index":46,"episode_name":"episode_0046"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0046.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_7890/tex_ceiling_textures_7873/tex_floor_textures_2703/tex_table_textures_4038/tex_wall_textures_7769","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":7326931385791599777,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":7326931385791599777,"visual_seed":7326931385791599777,"scene_id":"lab_003","finished_at":"2026-09-05T22:45:38"} +{"episode_id":"ep_000047","started_at":"2026-09-05T22:45:41","dimensions":{"distractor":{"count":23,"items":[{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_0","position":[-0.13600936973908717,-0.9380154856838012,0.71338606911949],"aabb_xy":[[-0.1530194670291378,-0.954149974182075],[-0.11899927244903649,-0.9218809971855272]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_1","position":[-0.4955134835511922,0.628009966502368,0.71338606911949],"aabb_xy":[[-0.5130134169851756,0.6105099665821333],[-0.4780135501172088,0.6455099664226024]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_2","position":[0.5235418791925024,0.3470168935413911,0.71338606911949],"aabb_xy":[[0.4685464013718429,0.29201689210748416],[0.5785373570131617,0.402016894975298]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_3","position":[0.13114868952419612,-2.2022285849400607,0.71338606911949],"aabb_xy":[[0.11364869038982896,-2.212108211977648],[0.1486486886585633,-2.1923489579024724]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_4","position":[-0.4136128188927629,-1.3542596131342737,0.71338606911949],"aabb_xy":[[-0.42967474635128056,-1.4392596149468655],[-0.39755089143424527,-1.2692596113216819]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_5","position":[-0.19894561557892648,1.3059673022710014,0.71338606911949],"aabb_xy":[[-0.2589456161749427,1.251154829725778],[-0.13894561498291033,1.360779774816225]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_6","position":[-0.45111160410682505,1.3919028409193954,0.71338606911949],"aabb_xy":[[-0.46898071186128054,1.3780699329421842],[-0.43324249635236955,1.4057357488966062]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_7","position":[0.5287567896950929,-1.747090528619938,0.71338606911949],"aabb_xy":[[0.5246209333623928,-1.7845905280642953],[0.5328926460277932,-1.7095905291755813]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_8","position":[-0.04465947975236917,-2.20253440323547,0.71338606911949],"aabb_xy":[[-0.10865948304207727,-2.245869322239387],[0.019340523537338946,-2.159199484231552]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_9","position":[0.4003641616396423,-0.9078997227755943,0.71338606911949],"aabb_xy":[[0.371714829279226,-0.93654528205267],[0.42901349400005845,-0.8792541634985184]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_10","position":[0.641135327603426,1.1061863144357211,0.71338606911949],"aabb_xy":[[0.6242245951670841,1.092714108843106],[0.6580460600397676,1.1196585200283353]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_11","position":[-0.23436652878989617,-2.1820876225906924,0.71338606911949],"aabb_xy":[[-0.2718665294544748,-2.197774680590914],[-0.19686652812531744,-2.16640056459047]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_12","position":[0.4411994229805849,0.6681679011886934,0.71338606911949],"aabb_xy":[[0.40369942440496404,0.6554316055251355],[0.47869942155620565,0.6809041968522513]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_13","position":[0.30988090580606764,-0.555069453374609,0.71338606911949],"aabb_xy":[[0.24488090765014858,-0.5813656979245212],[0.3748809039619867,-0.5287732088246968]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_14","position":[-0.6430382528894562,0.4304023815280704,0.71338606911949],"aabb_xy":[[-0.6518403081984288,0.4225910553731413],[-0.6342361975804833,0.43821370768299944]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_15","position":[0.5586569079632127,-0.3651714359997005,0.71338606911949],"aabb_xy":[[0.5408634010282962,-0.38297118159549814],[0.5764504148981291,-0.3473716904039028]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_16","position":[-0.1421842010421942,0.296228312517683,0.71338606911949],"aabb_xy":[[-0.19215726657470972,0.24622831270515017],[-0.09221113550967876,0.34622831233021595]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_17","position":[0.272731493214986,0.973251537177358,0.71338606911949],"aabb_xy":[[0.23523149479158562,0.9600873232095274],[0.3102314916383863,0.9864157511451886]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_18","position":[-0.24747913496141571,0.5237129313476601,0.71338606911949],"aabb_xy":[[-0.270760977159547,0.43871293005043194],[-0.22419729276328434,0.608712932644888]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_19","position":[-0.391702660519195,-1.9786794043047897,0.71338606911949],"aabb_xy":[[-0.4418001245002686,-2.0426794048146015],[-0.3416051965381214,-1.914679403794978]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_20","position":[-0.2066021811262982,0.8196735964289941,0.71338606911949],"aabb_xy":[[-0.25660218248718536,0.7696956918535786],[-0.15660217976541096,0.8696515010044098]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_21","position":[0.3187160262563806,0.8243364496660361,0.71338606911949],"aabb_xy":[[0.31079274601763235,0.8018364494280328],[0.326639306495129,0.8468364499040395]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_22","position":[0.28882718248124983,-1.9094593144047893,0.71338606911949],"aabb_xy":[[0.20882718389393037,-1.9887749163429502],[0.3688271810685692,-1.8301437124666284]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6615592570318476,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4917.png","name":"4917"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4917.png","name":"4917"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6567.png","name":"6567"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1219.png","name":"1219"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5353.png","name":"5353"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3792.png","name":"3792"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":647.6284049916792,"rotation_z_degrees":279.7199903996794,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0050498681630291205,0.0024221820671677524,-0.017111720117450976]},{"name":"camera_2","offset_m":[-0.007496140943621792,0.002073056842084132,0.01718434815005861]},{"name":"camera_3","offset_m":[0.007335149241079,0.004535659603836135,-0.012058998408252522]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0015181953067411676,-0.001911464834196497,-0.0013348158186346013],"end_effector_yaw_offset_degrees":-0.18383218345882035},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0019314204278962084,-8.02498953880132e-05,0.00011445965822948906],"end_effector_yaw_offset_degrees":-0.3770704072468858},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0005635421053400134,-0.0018808311292021203,-0.0009747490661332675],"end_effector_yaw_offset_degrees":-0.013580338235548828},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00027337072026577887,0.0002627082772251486,-7.877168792635135e-06],"end_effector_yaw_offset_degrees":-0.8467698744820389}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0049878746849473165,-0.002377115778086545],"position_m":[0.21798787468494732,-0.14087711577808656,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0006669266983989845,0.003484960476125713],"position_m":[0.231433073301601,-0.3608150395238743,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0019272925043777216,-0.004425623391425461],"position_m":[0.29312729250437775,-0.04402562339142546,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0007027512392561606,-0.001723538157373764],"position_m":[0.3432972487607438,0.17317646184262622,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4c35364a10c85b30cffc1afab4dd4d9814b66f1bebdbbdd1f0a6b9fe2c53be11","episode_index":47,"episode_name":"episode_0047"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0047.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_4917/tex_ceiling_textures_3792/tex_floor_textures_5353/tex_table_textures_6567/tex_wall_textures_1219","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":4518561701243906585,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":4518561701243906585,"visual_seed":4518561701243906585,"scene_id":"lab_003","finished_at":"2026-09-05T22:49:23"} +{"episode_id":"ep_000048","started_at":"2026-09-05T22:49:26","dimensions":{"distractor":{"count":27,"items":[{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_0","position":[0.27345808332919463,-1.6271173674052342,0.71338606911949],"aabb_xy":[[0.22348501779667923,-1.6771173672177675],[0.32343114886171015,-1.5771173675927017]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_1","position":[0.5181458498617111,1.3510157420877782,0.71338606911949],"aabb_xy":[[0.5111043989109635,1.343988990349984],[0.5251873008124587,1.3580424938255728]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_2","position":[-0.2590290371374199,-2.528644166429044,0.71338606911949],"aabb_xy":[[-0.3190290377334361,-2.5834566389742677],[-0.19902903654140375,-2.4738316938838207]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_3","position":[-0.2061397843755064,-1.9878872207418927,0.71338606911949],"aabb_xy":[[-0.21223441226362472,-1.9964566152935614],[-0.20004515648738808,-1.979317826190224]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_4","position":[-0.2617558807980722,1.3714610044427573,0.71338606911949],"aabb_xy":[[-0.2992558809036651,1.3646388425897762],[-0.22425588069247923,1.3782831662957384]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_5","position":[0.02101204852772387,0.9928794528217741,0.71338606911949],"aabb_xy":[[-0.04298795469091399,0.9461563409227659],[0.08501205174636173,1.0396025647207825]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_6","position":[0.5795929959793336,1.4175700392704988,0.71338606911949],"aabb_xy":[[0.5742604813247205,1.4122457110252633],[0.5849255106339466,1.4228943675157344]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_7","position":[-0.17108820778914224,0.8714126865133793,0.71338606911949],"aabb_xy":[[-0.17705474672987803,0.8654515418540153],[-0.16512166884840646,0.8773738311727434]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_8","position":[0.16885716512657267,0.6910792995022512,0.71338606911949],"aabb_xy":[[0.1519464326902309,0.6776070939096365],[0.18576789756291445,0.7045515050948655]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_9","position":[0.5064242512542325,-1.4248774603634478,0.71338606911949],"aabb_xy":[[0.42642425429119324,-1.5019531020072212],[0.5864242482172716,-1.3478018187196743]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_10","position":[-0.6138791997354327,-0.42086605622407536,0.71338606911949],"aabb_xy":[[-0.6778748971305292,-0.484866054524784],[-0.549883502340336,-0.3568660579233666]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_11","position":[0.269891537425058,0.9872244177734828,0.71338606911949],"aabb_xy":[[0.25231323523611116,0.969649928199378],[0.28746983961400485,1.0047989073475878]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_12","position":[-0.4226296974950569,1.6243467056995642,0.71338606911949],"aabb_xy":[[-0.4335354735826196,1.544346709300735],[-0.4117239214074942,1.7043467020983933]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_13","position":[-0.33805482633952144,-0.3219827350997657,0.71338606911949],"aabb_xy":[[-0.4020548227668434,-0.36915235892186216],[-0.2740548299121996,-0.2748131112776693]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_14","position":[-0.26290850587577846,-1.8345553391460052,0.71338606911949],"aabb_xy":[[-0.30040850581954487,-1.8428484291808416],[-0.22540850593201206,-1.8262622491111684]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_15","position":[-0.5188221170471334,-2.235716271749793,0.71338606911949],"aabb_xy":[[-0.5828221173076041,-2.2807250711027205],[-0.45482211678666257,-2.1907074723968645]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_16","position":[0.2391594437346818,-1.1457648239096665,0.71338606911949],"aabb_xy":[[0.21665944421097436,-1.168260771360287],[0.26165944325838913,-1.1232688764590455]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_17","position":[0.4055639246176419,0.9027404227672902,0.71338606911949],"aabb_xy":[[0.3792751002972012,0.8764689891126388],[0.4318527489380825,0.9290118564219413]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_18","position":[-0.2783712392835291,-0.6201125246442893,0.71338606911949],"aabb_xy":[[-0.2884529463621025,-0.7001125225364038],[-0.26828953220495555,-0.5401125267521745]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_19","position":[-0.5042261318560034,-1.1288943140927636,0.71338606911949],"aabb_xy":[[-0.5642261323638562,-1.1857410477786847],[-0.4442261313481504,-1.0720475804068421]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_20","position":[-0.15045888845990119,0.033446285766189465,0.71338606911949],"aabb_xy":[[-0.21545889109769464,-0.018033312933257495],[-0.08545888582210767,0.08492588446563643]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_21","position":[-0.1814990106232276,0.5013100154989321,0.71338606911949],"aabb_xy":[[-0.2714990143001457,0.4398776089218275],[-0.0914990069463094,0.5627424220760362]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_22","position":[0.5755348776039937,-2.3977234377257375,0.71338606911949],"aabb_xy":[[0.5255417654948019,-2.4477234383999336],[0.6255279897131857,-2.3477234370515423]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_23","position":[0.5700476366650273,-0.0775067175271471,0.71338606911949],"aabb_xy":[[0.5200476353811873,-0.12748557191776919],[0.6200476379488672,-0.027527863136524996]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_24","position":[-0.22675065823753704,1.023839891355327,0.71338606911949],"aabb_xy":[[-0.23478699293882185,1.01580177205091],[-0.21871432353625217,1.0318780106597436]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_25","position":[0.5541196974067051,0.25420830569158204,0.71338606911949],"aabb_xy":[[0.5487821217407006,0.22920830476244225],[0.5594572730727098,0.2792083066207218]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_26","position":[-0.2780152638512777,-1.3840299582219184,0.71338606911949],"aabb_xy":[[-0.3580152624385971,-1.463345560160079],[-0.19801526526395827,-1.3047143562837573]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.66553941016124,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5270.png","name":"5270"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5270.png","name":"5270"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/126.png","name":"126"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8002.png","name":"8002"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2881.png","name":"2881"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7387.png","name":"7387"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":580.7643103801506,"rotation_z_degrees":110.16307992384534,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008936770673669572,0.005143857579419004,-0.0011973388427532865]},{"name":"camera_2","offset_m":[-0.017643322077787755,0.016492275773905617,0.01658605194552477]},{"name":"camera_3","offset_m":[0.009329785471477586,-0.008430306173386977,0.0187384157872526]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0008932888975765735,-0.0005021416135115172,0.0005442750807200139],"end_effector_yaw_offset_degrees":-0.8050201368201693},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0005462867444896847,0.0015848753856837683,0.00012023968762085247],"end_effector_yaw_offset_degrees":0.9449576911527395},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0008039176182713355,0.0016050552054933777,0.0001335249985550237],"end_effector_yaw_offset_degrees":0.22080172701532508},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0012842336333376333,0.0012425574959398383,-0.0005054338393355464],"end_effector_yaw_offset_degrees":-0.04242996767395546}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0009717172922578919,-0.004248974241443519],"position_m":[0.2120282827077421,-0.14274897424144353,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0002636889590750839,-0.0023558920153901254],"position_m":[0.23236368895907508,-0.3666558920153901,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.000434675881059313,-0.001818445460810363],"position_m":[0.29163467588105935,-0.04141844546081037,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00478113944079291,-0.004876019894523952],"position_m":[0.34878113944079286,0.17002398010547604,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"04131dc4051f6fc1459cef400ae31972611c7f2568369471f19ede9ff607645c","episode_index":48,"episode_name":"episode_0048"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0048.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_5270/tex_ceiling_textures_7387/tex_floor_textures_2881/tex_table_textures_126/tex_wall_textures_8002","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":6226463666891886947,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":6226463666891886947,"visual_seed":6226463666891886947,"scene_id":"lab_003","finished_at":"2026-09-05T22:53:15"} +{"episode_id":"ep_000049","started_at":"2026-09-05T22:53:19","dimensions":{"distractor":{"count":30,"items":[{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_0","position":[0.6451309875862405,0.24065969987712688,0.71338606911949],"aabb_xy":[[0.635049280507667,0.16065970198501223],[0.6552126946648139,0.3206596977692415]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_1","position":[-0.5020016977685374,-0.9517245130995517,0.71338606911949],"aabb_xy":[[-0.5303314077170777,-0.9561852552932689],[-0.4736719878199972,-0.9472637709058348]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_2","position":[0.37788542245058965,-1.1163268508573527,0.71338606911949],"aabb_xy":[[0.3702611543604114,-1.1239600743938964],[0.38550969054076795,-1.108693627320809]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_3","position":[0.10595769938860833,-1.5773872504247417,0.71338606911949],"aabb_xy":[[0.0885269843096018,-1.594659365088592],[0.12338841446761482,-1.5601151357608904]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_4","position":[0.3154500522317838,-1.9251743833484194,0.71338606911949],"aabb_xy":[[0.2904500529598215,-1.9415197469445815],[0.3404500515037461,-1.9088290197522568]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_5","position":[0.30792343118383503,1.3020509385712886,0.71338606911949],"aabb_xy":[[0.2429234326267622,1.2722984051574058],[0.37292342974090786,1.331803471985171]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_6","position":[0.44277095283971124,-0.08080456610384212,0.71338606911949],"aabb_xy":[[0.4077709537097556,-0.08654978717950623],[0.4777709519696669,-0.07505934502817802]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_7","position":[-0.37029935132050784,-2.252343647244394,0.71338606911949],"aabb_xy":[[-0.4342993532328502,-2.3082547965024043],[-0.3062993494081655,-2.1964324979863834]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_8","position":[0.4576098621918292,1.0520696408550823,0.71338606911949],"aabb_xy":[[0.39601910296783643,0.9880696427460356],[0.519200621415822,1.1160696389641294]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_9","position":[-0.4839193436864121,-0.5255879309879239,0.71338606911949],"aabb_xy":[[-0.5300044349411435,-0.5895879282404789],[-0.43783425243168056,-0.4615879337353687]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_10","position":[0.4850761590194843,-1.1433918462401194,0.71338606911949],"aabb_xy":[[0.45007616074936435,-1.1504659739351073],[0.5200761572896042,-1.136317718545131]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_11","position":[0.09761508011767583,-0.7881884008163829,0.71338606911949],"aabb_xy":[[0.03761508027110905,-0.8450070230094217],[0.15761507996424262,-0.7313697786233443]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_12","position":[-0.466399343682903,-1.9068386392099934,0.71338606911949],"aabb_xy":[[-0.4835014216412712,-1.9239454447412632],[-0.4492972657245349,-1.8897318336787237]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_13","position":[0.5061235217033395,1.3647389768660125,0.71338606911949],"aabb_xy":[[0.4421235224091713,1.3007528364971583],[0.5701235209975077,1.4287251172348667]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_14","position":[0.06067687359898977,0.9436786223747893,0.71338606911949],"aabb_xy":[[0.0006768727381769589,0.8922521923683028],[0.12067687445980256,0.9951050523812756]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_15","position":[-0.1321404979981302,1.3159062645246071,0.71338606911949],"aabb_xy":[[-0.1546404975218376,1.293410317073986],[-0.1096404984744228,1.3384022119752275]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_16","position":[0.2904558706297685,-0.794316022965389,0.71338606911949],"aabb_xy":[[0.2004558738941583,-0.8474994862826833],[0.38045586736537873,-0.7411325596480943]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_17","position":[0.6438089858985416,-0.7571596747571125,0.71338606911949],"aabb_xy":[[0.6159639491179345,-0.7879441734954241],[0.6716540226791488,-0.7263751760188008]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_18","position":[-0.0363460621581525,-1.407546651839755,0.71338606911949],"aabb_xy":[[-0.09634606380107436,-1.4595468011316994],[0.02365393948476935,-1.355546502547811]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_19","position":[-0.3206297752665631,-0.4829675243638718,0.71338606911949],"aabb_xy":[[-0.3319915099198492,-0.4943359907701599],[-0.3092680406132769,-0.4715990579575837]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_20","position":[0.20443661543668112,-2.051999113091666,0.71338606911949],"aabb_xy":[[0.17328969659309798,-2.1219991117784733],[0.2355835342802642,-1.981999114404859]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_21","position":[-0.13071476683591887,1.0806836160098134,0.71338606911949],"aabb_xy":[[-0.13941272912663416,1.068558641702339],[-0.12201680454520358,1.0928085903172884]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_22","position":[-0.5467059984124668,1.6672475543689713,0.71338606911949],"aabb_xy":[[-0.6043364672997374,1.6072475554422603],[-0.48907552952519573,1.7272475532956815]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_23","position":[-0.017597125332204477,-2.0259503634648564,0.71338606911949],"aabb_xy":[[-0.052059472730346265,-2.0604442458626786],[0.016865222065937324,-1.9914564810670334]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_24","position":[-0.5183682197914845,0.9550665781170222,0.71338606911949],"aabb_xy":[[-0.5823682211994752,0.9032776265930975],[-0.4543682183834939,1.006855529640947]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_25","position":[0.7147046715838603,1.5554658315816563,0.71338606911949],"aabb_xy":[[0.7087381326431245,1.549504686922292],[0.7206712105245959,1.5614269762410202]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_26","position":[0.2979865231111455,-2.3296793528058237,0.71338606911949],"aabb_xy":[[0.26298652175966375,-2.350039088762644],[0.3329865244626272,-2.3093196168490024]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_27","position":[0.21890322943801332,-1.8311841556785016,0.71338606911949],"aabb_xy":[[0.1289032308435434,-1.847434741991923],[0.30890322803248327,-1.814933569365081]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_28","position":[-0.1275769023083091,-0.09349253521323764,0.71338606911949],"aabb_xy":[[-0.17757690325884187,-0.12504168221675904],[-0.07757690135777626,-0.06194338820971622]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_29","position":[-0.5986592214684775,0.6454075722400505,0.71338606911949],"aabb_xy":[[-0.668659217878439,0.6249696365883686],[-0.5286592250585154,0.665845507891732]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6659975756753626,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3600.png","name":"3600"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3600.png","name":"3600"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9757.png","name":"9757"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6428.png","name":"6428"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1991.png","name":"1991"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8321.png","name":"8321"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":751.938887876931,"rotation_z_degrees":81.95996925770554,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014158524942129692,-0.0015454161906631042,0.0029631063837492443]},{"name":"camera_2","offset_m":[0.011627828660347072,-0.01481083707989295,-0.0052607297752473685]},{"name":"camera_3","offset_m":[-0.006341846003011145,0.009015003218011932,-0.009046698180043293]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0011051623402758308,0.001289067715287496,-0.001943603479190589],"end_effector_yaw_offset_degrees":0.9292190914666625},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00014412467252582282,-0.000240567873037175,0.0018967703592504552],"end_effector_yaw_offset_degrees":-0.918148078639422},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0005321026970205108,0.0013116101031585134,-0.00018468045728449174],"end_effector_yaw_offset_degrees":-0.15968295278027678},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-1.9624579978951354e-05,0.0011509898752808255,-0.0006501023224327351],"end_effector_yaw_offset_degrees":0.6912058401066954}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.00377596436453726,-0.0007603014303034505],"position_m":[0.20922403563546274,-0.13926030143030346,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002006684638290777,-0.0005388412716455272],"position_m":[0.2341066846382908,-0.36483884127164556,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004863016758882632,-0.0013194332505249442],"position_m":[0.2863369832411174,-0.040919433250524946,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004868994915881747,-0.004281434700807357],"position_m":[0.3391310050841182,0.17061856529919264,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4b413baaa494eea7979b893265f400bd6b5e9fbcdaf5d87ad46af7fa5ff146c5","episode_index":49,"episode_name":"episode_0049"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0049.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_3600/tex_ceiling_textures_8321/tex_floor_textures_1991/tex_table_textures_9757/tex_wall_textures_6428","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":8671567066032146699,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":8671567066032146699,"visual_seed":8671567066032146699,"scene_id":"lab_003","finished_at":"2026-09-05T22:56:49"} +{"episode_id":"ep_000050","started_at":"2026-09-05T22:56:52","dimensions":{"distractor":{"count":34,"items":[{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_0","position":[0.27690050542230227,1.2912870340384925,0.71338606911949],"aabb_xy":[[0.2419005062923466,1.2855418129628282],[0.31190050455225793,1.2970322551141564]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_1","position":[0.3542546460513154,-2.2403313704655323,0.71338606911949],"aabb_xy":[[0.2842546496413535,-2.260769306117213],[0.4242546424612771,-2.2198934348138497]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_2","position":[0.6496913478991899,-1.6081606851828143,0.71338606911949],"aabb_xy":[[0.5946958700785305,-1.663160686616721],[0.7046868257198493,-1.5531606837489071]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_3","position":[-0.21787593309833791,1.2854523591499314,0.71338606911949],"aabb_xy":[[-0.23976568068727866,1.1954523618606823],[-0.19598618550939706,1.3754523564391805]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_4","position":[-0.6600857828549233,1.0910671504121883,0.71338606911949],"aabb_xy":[[-0.6850857827874413,1.084184482191265],[-0.6350857829224055,1.0979498186331116]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_5","position":[-0.6285742699732083,0.6335343153878314,0.71338606911949],"aabb_xy":[[-0.6367019581665216,0.6246207069771238],[-0.6204465817798952,0.6424479237985391]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_6","position":[0.41539702314791005,1.753763261113129,0.71338606911949],"aabb_xy":[[0.35039702204196677,1.728797888045001],[0.48039702425385333,1.7787286341812576]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_7","position":[0.21816434550992325,0.6908231867251473,0.71338606911949],"aabb_xy":[[0.16317113417278653,0.6358231863863537],[0.27315755684706006,0.7458231870639409]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_8","position":[0.6145591470086489,-1.1480672885087249,0.71338606911949],"aabb_xy":[[0.5345591500456097,-1.2251429301524983],[0.694559143971688,-1.0709916468649514]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_9","position":[-0.17663440765322092,1.6957084695182174,0.71338606911949],"aabb_xy":[[-0.19913440717692826,1.6732125220675964],[-0.15413440812951346,1.718204416968838]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_10","position":[0.2067806854161791,-0.7194267443525248,0.71338606911949],"aabb_xy":[[0.20214557026394572,-0.7232940794296735],[0.2114158005684125,-0.7155594092753762]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_11","position":[-0.09790174422816544,0.53048022072513,0.71338606911949],"aabb_xy":[[-0.1354017450201609,0.5241123797669399],[-0.06040174343617,0.5368480616833201]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_12","position":[0.4705879257265846,1.5247300486515578,0.71338606911949],"aabb_xy":[[0.4355879258305657,1.5163558131396178],[0.5055879256226035,1.5331042841634979]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_13","position":[-0.3163116132701394,-0.32900319292547486,0.71338606911949],"aabb_xy":[[-0.38031161549054643,-0.37337627705076315],[-0.2523116110497324,-0.2846301088001866]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_14","position":[-0.01671965497388772,-2.210963506427814,0.71338606911949],"aabb_xy":[[-0.02217760061090779,-2.290963509735473],[-0.011261709336867654,-2.130963503120155]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_15","position":[0.3657551440043312,-0.4933980250228829,0.71338606911949],"aabb_xy":[[0.3531524448672548,-0.5059934212477484],[0.3783578431414077,-0.4808026287980174]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_16","position":[-0.649493107075912,1.3820086847970914,0.71338606911949],"aabb_xy":[[-0.6671259426694396,1.3643857387814684],[-0.6318602714823844,1.3996316308127144]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_17","position":[0.3687383110696867,-2.039696747643004,0.71338606911949],"aabb_xy":[[0.33224249044240795,-2.0761806900697612],[0.4052341316969654,-2.003212805216246]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_18","position":[0.6849986716803578,0.7435323873957991,0.71338606911949],"aabb_xy":[[0.6762847026304231,0.7210323867366106],[0.693712640730292,0.7660323880549871]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_19","position":[0.2692810434123871,-2.345568423166697,0.71338606911949],"aabb_xy":[[0.2142810452106423,-2.3860903897931336],[0.32428104161413196,-2.3050464565402584]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_20","position":[0.46467596910646525,1.173426680075825,0.71338606911949],"aabb_xy":[[0.4195046512582964,1.1094266829312867],[0.5098472869546343,1.2374266772203635]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_21","position":[-0.5914588432178541,-0.29694090939722084,0.71338606911949],"aabb_xy":[[-0.6514588430644208,-0.3537595315902595],[-0.5314588433712872,-0.24012228720418216]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_22","position":[0.6546580633042072,-0.24891630912834106,0.71338606911949],"aabb_xy":[[0.5896580647471343,-0.2786688425422237],[0.71965806186128,-0.21916377571445847]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_23","position":[0.39012051622647803,-0.9167714794609318,0.71338606911949],"aabb_xy":[[0.3856898868716379,-0.9222198511956144],[0.39455114558131826,-0.9113231077262492]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_24","position":[0.4101210223674303,-2.5049381236460984,0.71338606911949],"aabb_xy":[[0.3201210229490594,-2.5383136204902876],[0.5001210217858012,-2.471562626801908]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_25","position":[-0.2652108198064408,0.4997634085612783,0.71338606911949],"aabb_xy":[[-0.31521082016700686,0.4497834213516753],[-0.21521081944587475,0.5497433957708812]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_26","position":[-0.5927992434834424,1.4981719816366446,0.71338606911949],"aabb_xy":[[-0.6567992399107644,1.4510023578145483],[-0.5287992470561206,1.5453416054587412]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_27","position":[0.19084911904381496,1.5464424760209776,0.71338606911949],"aabb_xy":[[0.12684911582517713,1.4997193641219693],[0.2548491222624528,1.593165587919986]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_28","position":[-0.6118387749064077,-1.72943660296221,0.71338606911949],"aabb_xy":[[-0.6768387727880555,-1.780560266668751],[-0.5468387770247599,-1.6783129392556693]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_29","position":[-0.37345641612933245,0.2953481080200122,0.71338606911949],"aabb_xy":[[-0.38144990592461453,0.2873499760795366],[-0.3654629263340504,0.30334623996048793]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_30","position":[-0.30732305210671923,-1.4666692745927514,0.71338606911949],"aabb_xy":[[-0.3523230535729481,-1.5116691314542325],[-0.2623230506404904,-1.421669417731271]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_31","position":[0.6542837064068237,-2.129518747793851,0.71338606911949],"aabb_xy":[[0.5902837072370538,-2.176285434912813],[0.7182837055765937,-2.082752060674888]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_32","position":[0.5486870578104999,0.6337230834403309,0.71338606911949],"aabb_xy":[[0.51524688261448,0.6002794576094007],[0.5821272330065193,0.6671667092712609]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_33","position":[-0.4554869499998079,-0.7546840357376288,0.71338606911949],"aabb_xy":[[-0.4698213751259713,-0.7667442512921676],[-0.44115252487364437,-0.7426238201830899]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6586841820415555,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2304.png","name":"2304"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2304.png","name":"2304"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9941.png","name":"9941"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7291.png","name":"7291"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5252.png","name":"5252"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1089.png","name":"1089"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":556.5868353784235,"rotation_z_degrees":159.9036910805161,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008617232292172695,-0.0011664061690090169,-0.0018311892933519404]},{"name":"camera_2","offset_m":[-0.012997653330567491,0.016785203488423012,-0.013957912440520137]},{"name":"camera_3","offset_m":[0.00802422475417034,-0.0157813822385085,0.0007532601177605153]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0008187519899595271,8.158068129866672e-05,-0.0004788372209533077],"end_effector_yaw_offset_degrees":-0.7921313045721714},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0012954827242901363,0.0008442830507828809,0.0008366771211957675],"end_effector_yaw_offset_degrees":-0.38390927459675783},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0004941108070217095,-0.0019306704488373497,-0.0003277459356925596],"end_effector_yaw_offset_degrees":0.5446732345648788},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0018862926490267285,0.0007478256250275589,-0.0017718942972504159],"end_effector_yaw_offset_degrees":0.37429330773174696}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0025333839448887533,-0.0033411020803745493],"position_m":[0.21553338394488875,-0.14184110208037456,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00479908747409729,0.002419980651748346],"position_m":[0.2273009125259027,-0.36188001934825165,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004893651315396169,0.0016504878803702298],"position_m":[0.29609365131539617,-0.037949512119629776,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001094560998651073,0.003091522112574268],"position_m":[0.34509456099865105,0.17799152211257427,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8e505158ddd20de7977968953ad5a0bc624efa109b6e131da854a65a315db04b","episode_index":50,"episode_name":"episode_0050"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0050.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_2304/tex_ceiling_textures_1089/tex_floor_textures_5252/tex_table_textures_9941/tex_wall_textures_7291","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":1693358245129075747,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":1693358245129075747,"visual_seed":1693358245129075747,"scene_id":"lab_003","finished_at":"2026-09-05T23:00:11"} +{"episode_id":"ep_000051","started_at":"2026-09-05T23:00:16","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_0","position":[0.6183955097441538,-1.6043658480360268,0.71338606911949],"aabb_xy":[[0.5770909666804178,-1.6683658476041436],[0.6597000528078898,-1.5403658484679095]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_1","position":[-0.4901354441171155,-1.3167082883502839,0.71338606911949],"aabb_xy":[[-0.49644754365345395,-1.3224752276035026],[-0.4838233445807771,-1.3109413490970647]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_2","position":[0.6462005815745908,-0.9657676433794875,0.71338606911949],"aabb_xy":[[0.6335737942873944,-0.9753137170810605],[0.658827368861787,-0.9562215696779147]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_3","position":[0.658862073207507,-2.3762202162225923,0.71338606911949],"aabb_xy":[[0.6232329173075474,-2.4118528829794452],[0.6944912291074669,-2.3405875494657393]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_4","position":[-0.214551567334477,0.16819929538923484,0.71338606911949],"aabb_xy":[[-0.23212986952342385,0.15062480581512994],[-0.19697326514553015,0.18577378496333974]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_5","position":[0.22607786904182803,-2.554876255675787,0.71338606911949],"aabb_xy":[[0.22216399584640548,-2.5636252710823437],[0.22999174223725052,-2.54612724026923]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_6","position":[0.37413688004823187,-1.5591348761815853,0.71338606911949],"aabb_xy":[[0.36533482473925916,-1.5669462023365144],[0.3829389353572046,-1.5513235500266562]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_7","position":[0.6572497598628824,0.9690587978300762,0.71338606911949],"aabb_xy":[[0.6443778563619422,0.8890587974162399],[0.6701216633638225,1.0490587982439121]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_8","position":[0.6364025979665733,-1.881480983869071,0.71338606911949],"aabb_xy":[[0.6193005200082051,-1.8985877894003407],[0.6535046759249414,-1.8643741783378012]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_9","position":[-0.6039390398680301,-2.1088387610412567,0.71338606911949],"aabb_xy":[[-0.6639390407288427,-2.1602651910477424],[-0.5439390390072171,-2.05741233103477]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_10","position":[-0.3858583254386224,-0.2692997051834025,0.71338606911949],"aabb_xy":[[-0.38929900167867965,-0.273161138157767],[-0.3824176491985653,-0.26543827220903804]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_11","position":[0.41087933774422014,0.22115826370325786,0.71338606911949],"aabb_xy":[[0.3939686053078783,0.20768605811064333],[0.42779007018056187,0.2346304692958724]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_12","position":[0.019938312585132345,-0.9092342773099873,0.71338606911949],"aabb_xy":[[0.009526753904648633,-0.9145800106458856],[0.030349871265616057,-0.9038885439740886]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_13","position":[-0.09703555093791505,0.9938702057783981,0.71338606911949],"aabb_xy":[[-0.17703554809749034,0.9823226048205811],[-0.017035553778339763,1.0054178067362152]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_14","position":[0.5624300656917609,-0.11490102925483026,0.71338606911949],"aabb_xy":[[0.5468742962814958,-0.13045146249923745],[0.5779858351020263,-0.09935059601042308]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_15","position":[-0.03468352790050666,0.158254934048085,0.71338606911949],"aabb_xy":[[-0.04192729394675198,0.07825493584448265],[-0.02743976185426133,0.2382549322516874]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_16","position":[-0.19367793457466265,-1.3699892498961728,0.71338606911949],"aabb_xy":[[-0.25867793721245613,-1.42146884859562],[-0.1286779319368692,-1.318509651196726]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_17","position":[0.416964303188498,0.8196670996923667,0.71338606911949],"aabb_xy":[[0.35196430315419525,0.7729664230120395],[0.4819643032228007,0.8663677763726941]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_18","position":[0.11689634360599144,1.2999929948864124,0.71338606911949],"aabb_xy":[[0.06190086578533205,1.2449929934525055],[0.17189182142665083,1.3549929963203193]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_19","position":[0.33238674764331844,-2.3384680683680648,0.71338606911949],"aabb_xy":[[0.3172145783616851,-2.353636925296268],[0.3475589169249518,-2.3232992114398616]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_20","position":[0.20430802703571027,-0.6372815759355923,0.71338606911949],"aabb_xy":[[0.13430802543343076,-0.6507143691372499],[0.27430802863798975,-0.6238487827339347]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_21","position":[0.18353901131587314,-1.2735415991317696,0.71338606911949],"aabb_xy":[[0.1759147432256949,-1.2811748226683133],[0.1911632794060514,-1.2659083755952258]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_22","position":[-0.46571413286300056,-1.0795844741447924,0.71338606911949],"aabb_xy":[[-0.5155968297406968,-1.1295844733910672],[-0.4158314359853044,-1.0295844748985177]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6662588250836983,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2050.png","name":"2050"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2050.png","name":"2050"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2756.png","name":"2756"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8804.png","name":"8804"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3282.png","name":"3282"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4810.png","name":"4810"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":527.2239246193038,"rotation_z_degrees":157.01933251378844,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0032129423495285032,0.00983518478503826,0.002140407264891859]},{"name":"camera_2","offset_m":[0.003748577198269782,-0.012309578728180441,0.00737259261000452]},{"name":"camera_3","offset_m":[-0.018706055329012893,-0.019477083478931383,-0.011488483766494651]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001857432452096022,0.0006595908667251919,6.942717537371159e-05],"end_effector_yaw_offset_degrees":-0.5944623725097018},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-2.1592353987874135e-05,0.00087935897333963,0.00012072448332057801],"end_effector_yaw_offset_degrees":-0.04545836944449211},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0014258052224955151,-0.0012493338037393477,-0.0003034643000288436],"end_effector_yaw_offset_degrees":-0.6967039788508402},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0019625132514952733,-0.0003651804726342812,0.00024233277331083772],"end_effector_yaw_offset_degrees":0.9125391056713834}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0015980678499002855,0.0023161766455099117],"position_m":[0.2114019321500997,-0.1361838233544901,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004322100032683274,0.002540476331440761],"position_m":[0.23642210003268327,-0.36175952366855924,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0033325308412781827,0.004899835099861176],"position_m":[0.28786746915872186,-0.03470016490013883,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00037062217441905746,-0.004424226518662824],"position_m":[0.3436293778255809,0.1704757734813372,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"488dc1663d0652fefc5a32b8dbdbd77c39b0387cff5749c9e9b87d8cf17a7156","episode_index":51,"episode_name":"episode_0051"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0051.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_2050/tex_ceiling_textures_4810/tex_floor_textures_3282/tex_table_textures_2756/tex_wall_textures_8804","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":6216270969308746385,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":6216270969308746385,"visual_seed":6216270969308746385,"scene_id":"lab_003","finished_at":"2026-09-05T23:03:45"} +{"episode_id":"ep_000052","started_at":"2026-09-05T23:03:49","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_0","position":[0.2364705873712134,-1.2249963141109363,0.71338606911949],"aabb_xy":[[0.2252255318005956,-1.2362381118350316],[0.24771564294183127,-1.213754516386841]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_1","position":[0.26472588326067326,-2.543326015810769,0.71338606911949],"aabb_xy":[[0.2007258799709651,-2.5866609348146863],[0.3287258865503813,-2.499991096806851]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_2","position":[0.5643220337028287,-2.375671682389113,0.71338606911949],"aabb_xy":[[0.5527530529558922,-2.4006716825060446],[0.5758910144497653,-2.350671682272181]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_3","position":[-0.3802021230794921,-0.3528333474131431,0.71338606911949],"aabb_xy":[[-0.391042601306007,-0.3700196287037919],[-0.3693616448529772,-0.3356470661224943]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_4","position":[-0.4027099798342589,0.577705596237331,0.71338606911949],"aabb_xy":[[-0.4479885947154081,0.5137055968891473],[-0.35743136495310956,0.6417055955855147]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_5","position":[-0.13320877805328946,1.6702342887819763,0.71338606911949],"aabb_xy":[[-0.21320877852350542,1.6619235811676285],[-0.053208777583073505,1.678544996396325]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_6","position":[-0.08569137522032255,0.49643058696975295,0.71338606911949],"aabb_xy":[[-0.1556913773517521,0.4736686213440573],[-0.015691373088893,0.5191925525954486]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_7","position":[0.43494850299906807,-2.5150570028963966,0.71338606911949],"aabb_xy":[[0.3709485027250899,-2.5651231030936845],[0.49894850327304635,-2.4649909026991086]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_8","position":[-0.6047157279216808,-0.7471261351415528,0.71338606911949],"aabb_xy":[[-0.6165878109331819,-0.8321261348352033],[-0.5928436449101797,-0.6621261354479026]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_9","position":[-0.0881265795243702,-0.8138792937253438,0.71338606911949],"aabb_xy":[[-0.10580221011296852,-0.8315595100047467],[-0.07045094893577185,-0.7961990774459412]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_10","position":[-0.4070029121250894,-0.541180381924339,0.71338606911949],"aabb_xy":[[-0.47100291282855883,-0.58719876439726],[-0.3430029114216201,-0.49516199945141803]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_11","position":[-0.18465084407428312,0.09990477542808396,0.71338606911949],"aabb_xy":[[-0.2071508438881855,0.09543015905760328],[-0.16215084426038073,0.10437939179856466]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_12","position":[-0.3118031457099031,0.8242433363219033,0.71338606911949],"aabb_xy":[[-0.3343031457200514,0.8101471166823],[-0.2893031456997548,0.8383395559615066]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_13","position":[-0.13485985453683813,-1.8952261590492536,0.71338606911949],"aabb_xy":[[-0.1480908000715194,-1.9084535780712528],[-0.12162890900215681,-1.881998740027254]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_14","position":[-0.6143798627425315,1.7805907014373576,0.71338606911949],"aabb_xy":[[-0.6843798661340935,1.7452749277339268],[-0.5443798593509696,1.8159064751407885]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_15","position":[-0.35936788095213235,-1.817497696472987,0.71338606911949],"aabb_xy":[[-0.40936788039232797,-1.867465620957303],[-0.3093678815119367,-1.7675297719886705]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_16","position":[0.3238681869553057,0.8451019021738722,0.71338606911949],"aabb_xy":[[0.2738839512471285,0.7951019033603766],[0.37385242266348295,0.8951019009873677]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_17","position":[-0.07377314692365178,-1.285063072350037,0.71338606911949],"aabb_xy":[[-0.158773145341075,-1.369937367812322],[0.01122685149377145,-1.200188776887752]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_18","position":[0.6409313745894367,0.8135843553209723,0.71338606911949],"aabb_xy":[[0.6367955182567365,0.7760843558766154],[0.6450672309221369,0.8510843547653294]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_19","position":[0.19552087526806838,1.1860388018588526,0.71338606911949],"aabb_xy":[[0.11552087668074894,1.1067231999206915],[0.27552087385538776,1.2653544037970132]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6651338734332308,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6392.png","name":"6392"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6392.png","name":"6392"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2025.png","name":"2025"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/242.png","name":"242"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6014.png","name":"6014"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/268.png","name":"268"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":692.143605400693,"rotation_z_degrees":133.8947463049754,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01163400026133524,-0.005476123487524789,-0.0004139351074747416]},{"name":"camera_2","offset_m":[-0.018176207392385377,0.0046575388246979585,-0.00940524226096565]},{"name":"camera_3","offset_m":[-0.0005422765729590912,0.006475161262791972,-0.01630592293421811]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0017384149581143064,0.0005477535044047378,-2.4430294872297784e-05],"end_effector_yaw_offset_degrees":0.5595117450153715},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0008323864771813115,-0.0017585263559206027,-0.0011034485080707742],"end_effector_yaw_offset_degrees":0.9658564756366981},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0013290605486182007,0.0009920810127644624,0.0003083429661736607],"end_effector_yaw_offset_degrees":0.2981077857310994},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0013349286930659557,0.0005741297359812508,-0.0016397926994727544],"end_effector_yaw_offset_degrees":-0.07315007133931117}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0016454967816006087,-0.003101513360369279],"position_m":[0.2146454967816006,-0.1416015133603693,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001279088010651801,-0.003950328859964332],"position_m":[0.2308209119893482,-0.36825032885996434,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0014238022233574233,0.0024397965444221134],"position_m":[0.2897761977766426,-0.03716020345557789,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003237610398458275,0.004540490283523632],"position_m":[0.3407623896015417,0.17944049028352363,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"46aa7d3c60df5bb25b3ddb4d5152f4aa78053d4672c97fdf1ec7a5d98618eb02","episode_index":52,"episode_name":"episode_0052"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0052.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_6392/tex_ceiling_textures_268/tex_floor_textures_6014/tex_table_textures_2025/tex_wall_textures_242","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":8629191423535936709,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":8629191423535936709,"visual_seed":8629191423535936709,"scene_id":"lab_003","finished_at":"2026-09-05T23:07:13"} +{"episode_id":"ep_000053","started_at":"2026-09-05T23:07:17","dimensions":{"distractor":{"count":24,"items":[{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_0","position":[0.33585379958957273,0.7888632025166529,0.71338606911949],"aabb_xy":[[0.3013914521914309,0.7543693201188301],[0.3703161469877145,0.8233570849144755]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_1","position":[-0.06597647377334426,0.7032507824866361,0.71338606911949],"aabb_xy":[[-0.07688224986090697,0.623250786087807],[-0.055070697685781544,0.7832507788854653]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_2","position":[0.4227734182639946,1.1768058563486954,0.71338606911949],"aabb_xy":[[0.40027428253776764,1.1543058555704322],[0.4452725539902216,1.1993058571269581]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_3","position":[0.08479174716025639,-1.5210046024032577,0.71338606911949],"aabb_xy":[[0.05979174799462328,-1.5279568481086143],[0.1097917463258895,-1.5140523566979012]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_4","position":[0.6265435265097747,-1.4180963916045837,0.71338606911949],"aabb_xy":[[0.6188403358356976,-1.4258057623033216],[0.6342467171838516,-1.4103870209058453]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_5","position":[0.04746788813462954,-1.869058781693389,0.71338606911949],"aabb_xy":[[-0.0075321110419599505,-1.9240484564683464],[0.10246788731121903,-1.8140691069184312]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_6","position":[-0.180795026747276,-2.364510573847642,0.71338606911949],"aabb_xy":[[-0.2046312443878811,-2.454510574656129],[-0.15695880910667095,-2.274510573039156]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_7","position":[-0.35187513725850483,-1.702903118631761,0.71338606911949],"aabb_xy":[[-0.36057309954922007,-1.7150280929392359],[-0.3431771749677895,-1.6907781443242864]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_8","position":[0.6139357085621597,-1.9565681243273862,0.71338606911949],"aabb_xy":[[0.5771410754372533,-1.9934739994239683],[0.6507303416870659,-1.9196622492308038]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_9","position":[0.27051195568916986,0.5454595308045231,0.71338606911949],"aabb_xy":[[0.22051195611283514,0.4954789518524172],[0.3205119552655046,0.5954401097566291]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_10","position":[0.1579289986642527,-0.5610969903025516,0.71338606911949],"aabb_xy":[[0.14448247203020934,-0.5745668419556428],[0.171375525298296,-0.5476271386494603]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_11","position":[0.5937423703672098,-0.33114001808812565,0.71338606911949],"aabb_xy":[[0.5903016941271526,-0.33500145106249013],[0.597183046607267,-0.3272785851137612]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_12","position":[0.24960072091462882,-0.7301816672207513,0.71338606911949],"aabb_xy":[[0.2344984194536107,-0.7452831888518129],[0.26470302237564686,-0.7150801455896892]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_13","position":[-0.4028289843491265,-1.2014374759295878,0.71338606911949],"aabb_xy":[[-0.4253289843592748,-1.2155336955691909],[-0.3803289843389782,-1.1873412562899843]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_14","position":[-0.5711822119978625,-1.8902851117615564,0.71338606911949],"aabb_xy":[[-0.5893880356591102,-1.9013105123435483],[-0.5529763883366149,-1.879259711179565]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_15","position":[-0.5380897827065736,-1.2363787045462669,0.71338606911949],"aabb_xy":[[-0.6030897805882215,-1.2875023682528077],[-0.4730897848249259,-1.185255040839726]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_16","position":[0.6367119205160525,-2.334273177420018,0.71338606911949],"aabb_xy":[[0.5667119183846228,-2.3570351430457137],[0.7067119226474818,-2.311511211794322]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_17","position":[0.17538233875961906,1.392006123482311,0.71338606911949],"aabb_xy":[[0.15038233920788055,1.381863639617176],[0.20038233831135752,1.4021486073474454]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_18","position":[-0.42422017651792615,0.9592061761357451,0.71338606911949],"aabb_xy":[[-0.43224644714855215,0.9504546811583925],[-0.41619390588730015,0.9679576711130977]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_19","position":[-0.18131244835368676,-0.4004856863260775,0.71338606911949],"aabb_xy":[[-0.23630565969082354,-0.45548568666487116],[-0.12631923701655,-0.3454856859872839]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_20","position":[0.42448306928281765,0.27654119775294683,0.71338606911949],"aabb_xy":[[0.4156810139738449,0.2687298715980177],[0.4332851245917903,0.28435252390787585]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_21","position":[-0.3335949007867277,0.22085997926972745,0.71338606911949],"aabb_xy":[[-0.4135948981903211,0.1408674080715446],[-0.25359490338313423,0.3008525504679102]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_22","position":[0.04487872983345642,0.9935872981444538,0.71338606911949],"aabb_xy":[[0.022413959862051303,0.9710872972655933],[0.06734349980486154,1.0160872990233143]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_23","position":[0.5253720514862321,0.2508332535924569,0.71338606911949],"aabb_xy":[[0.5165908243389958,0.2420535063039268],[0.5341532786334684,0.2596130008809871]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6661846862418455,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6986.png","name":"6986"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6986.png","name":"6986"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5017.png","name":"5017"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4788.png","name":"4788"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6069.png","name":"6069"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1165.png","name":"1165"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":811.769367152014,"rotation_z_degrees":228.30064073702655,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010676891932618244,-0.012451408249022574,-0.018463681949442427]},{"name":"camera_2","offset_m":[-0.0199483473181186,0.018934961413423438,0.015947842866110885]},{"name":"camera_3","offset_m":[0.017428231065421556,0.01151464406787538,-0.013558979424678182]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0010337667633397718,-0.001608837340876316,0.0011618264935520563],"end_effector_yaw_offset_degrees":-0.2833179276943869},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0013476429673040854,0.0017840196908464026,-1.688445307945546e-05],"end_effector_yaw_offset_degrees":0.5268932496188818},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-8.889056151318133e-05,0.00014894621812923045,-0.00017834644703425533],"end_effector_yaw_offset_degrees":0.7687658596608067},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001998900792624419,0.001526220665586925,0.0015092691384291737],"end_effector_yaw_offset_degrees":-0.9990576948669623}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0005301980789053787,0.003643670683612081],"position_m":[0.2135301980789054,-0.13485632931638794,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0017129586038279422,-0.001328032586514638],"position_m":[0.23381295860382795,-0.36562803258651466,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0010686308430687963,-0.0011419639736852693],"position_m":[0.2901313691569312,-0.04074196397368527,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.001157572110165225,-0.0026977558665506962],"position_m":[0.34284242788983477,0.1722022441334493,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1d7b8de2bc6482e246b82314bde9f76066da18b45b6a7ca218af8d3e99ff3cbc","episode_index":53,"episode_name":"episode_0053"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0053.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_6986/tex_ceiling_textures_1165/tex_floor_textures_6069/tex_table_textures_5017/tex_wall_textures_4788","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":5181008212441551003,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":5181008212441551003,"visual_seed":5181008212441551003,"scene_id":"lab_003","finished_at":"2026-09-05T23:10:32"} +{"episode_id":"ep_000054","started_at":"2026-09-05T23:10:35","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_0","position":[-0.2779003571934132,0.342147419217,0.71338606911949],"aabb_xy":[[-0.28440199370141783,0.3323795971906902],[-0.2713987206854086,0.35191524124330975]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_1","position":[0.3812542341562335,-1.9939806485179463,0.71338606911949],"aabb_xy":[[0.3660913611792964,-2.0091461058130653],[0.39641710713317063,-1.9788151912228276]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_2","position":[-0.6022003869497207,0.24116113325864896,0.71338606911949],"aabb_xy":[[-0.6094827033263841,0.1511611296491399],[-0.5949180705730568,0.33116113686815785]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_3","position":[0.6194625165697494,-0.5281226221217641,0.71338606911949],"aabb_xy":[[0.5819625160723911,-0.5320913056698825],[0.6569625170671076,-0.5241539385736457]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_4","position":[-0.6208265532983382,-0.13878650422590155,0.71338606911949],"aabb_xy":[[-0.6583265532421045,-0.14707959426073813],[-0.5833265533545717,-0.13049341419106497]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_5","position":[0.4866620661175316,1.0472330633267375,0.71338606911949],"aabb_xy":[[0.47650905056338216,1.011163521753997],[0.4968150816716809,1.0833026048994776]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_6","position":[0.2777012495436614,-1.1447029466828595,0.71338606911949],"aabb_xy":[[0.19770125095634197,-1.2240185486210202],[0.3577012481309808,-1.0653873447446984]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_7","position":[0.5247784735760967,-2.433080021532295,0.71338606911949],"aabb_xy":[[0.5130102867814392,-2.518080021437517],[0.5365466603707543,-2.348080021627074]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_8","position":[-0.5454011571455195,1.1251867272249791,0.71338606911949],"aabb_xy":[[-0.6291233826456019,1.035186723690283],[-0.46167893164543694,1.2151867307596749]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_9","position":[-0.4824867444141443,-0.34367343121899196,0.71338606911949],"aabb_xy":[[-0.5365023406960443,-0.40767343411124907],[-0.42847114813224424,-0.27967342832673475]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_10","position":[0.599248079111494,0.027701415006082364,0.71338606911949],"aabb_xy":[[0.558230135725123,-0.022298585624874964],[0.6402660224978648,0.0777014156370397]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_11","position":[0.5180762476247809,-0.4238877226454445,0.71338606911949],"aabb_xy":[[0.49307624835281866,-0.44023308624160684],[0.5430762468967432,-0.40754235904928215]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_12","position":[0.229386224830734,-0.567891110300121,0.71338606911949],"aabb_xy":[[0.16538622278100204,-0.6079855933894289],[0.293386226880466,-0.527796627210813]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_13","position":[-0.1003619753817625,-2.0296869343544017,0.71338606911949],"aabb_xy":[[-0.10740228531529954,-2.1096869337540736],[-0.09332166544822554,-1.9496869349547308]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_14","position":[-0.1260601447000932,0.17206853047406945,0.71338606911949],"aabb_xy":[[-0.1629106926370808,0.13456852965103572],[-0.08920959676310558,0.20956853129710318]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_15","position":[-0.41663016617308846,1.3639410643664407,0.71338606911949],"aabb_xy":[[-0.48063016345873705,1.3224343454135967],[-0.35263016888743975,1.4054477833192847]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_16","position":[-0.13653666985436652,0.7727333869604331,0.71338606911949],"aabb_xy":[[-0.14378043590061187,0.6927333887568307],[-0.12929290380812122,0.8527333851640354]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_17","position":[0.4972632438111615,-1.5862985482781484,0.71338606911949],"aabb_xy":[[0.43326324738383964,-1.6334681721002449],[0.5612632402384834,-1.539128924456052]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_18","position":[0.37480998052170733,-2.3241633441815317,0.71338606911949],"aabb_xy":[[0.35789924808536555,-2.337635549774146],[0.3917207129580491,-2.3106911385889166]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_19","position":[0.5251103924861358,1.314687441786028,0.71338606911949],"aabb_xy":[[0.5026103929624283,1.292191494335407],[0.5476103920098431,1.3371833892366485]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6676840663764636,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1868.png","name":"1868"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1868.png","name":"1868"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3699.png","name":"3699"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8267.png","name":"8267"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8277.png","name":"8277"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5697.png","name":"5697"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":759.0674683352356,"rotation_z_degrees":57.36170680533095,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0009588957908328102,-0.015387188766149161,-0.01127406390032697]},{"name":"camera_2","offset_m":[0.000526552476645268,0.009195281090749501,0.0018113947320736491]},{"name":"camera_3","offset_m":[0.009291621813366319,0.013642888311580652,-0.0046570485762076255]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00020616978743572423,-0.0014830122997897192,-0.0007209048466994515],"end_effector_yaw_offset_degrees":0.5999442817507794},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0004622850022055181,0.0008074562818611015,-0.0018729261927006226],"end_effector_yaw_offset_degrees":-0.7067413840070891},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0006281029727029756,-0.0006840640234998475,0.0014974805121921188],"end_effector_yaw_offset_degrees":-0.3006343815502641},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-4.630512444716087e-05,0.0011995844672793078,-0.0005443033669254565],"end_effector_yaw_offset_degrees":0.03671397192375769}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.003849655938061208,0.0033746476630965435],"position_m":[0.20915034406193878,-0.13512535233690348,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0017509250827425797,-0.003995405950524663],"position_m":[0.23385092508274258,-0.3682954059505247,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004962260555528112,-0.003865783060205217],"position_m":[0.29616226055552813,-0.043465783060205224,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00430286041165526,-0.001529626244809421],"position_m":[0.34830286041165526,0.17337037375519057,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d7664e8018c23aa9981ddd1dc5225318430af297795c6b7c8dab6195853db489","episode_index":54,"episode_name":"episode_0054"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0054.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_1868/tex_ceiling_textures_5697/tex_floor_textures_8277/tex_table_textures_3699/tex_wall_textures_8267","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":294378431685323617,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":294378431685323617,"visual_seed":294378431685323617,"scene_id":"lab_003","finished_at":"2026-09-05T23:14:02"} +{"episode_id":"ep_000055","started_at":"2026-09-05T23:14:07","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_0","position":[0.06968086976712318,-1.1760349603583917,0.71338606911949],"aabb_xy":[[0.005680866548485333,-1.2227580722574],[0.13368087298576103,-1.1293118484593834]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_1","position":[0.16950881295192877,-0.8246688326460636,0.71338606911949],"aabb_xy":[[0.134508811600447,-0.8450285686028843],[0.20450881430341047,-0.8043090966892427]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_2","position":[-0.5314725104985889,-2.459889465873116,0.71338606911949],"aabb_xy":[[-0.5395088451998736,-2.4679275851775326],[-0.523436175797304,-2.4518513465686995]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_3","position":[-0.2690162344071088,-0.6939926387427457,0.71338606911949],"aabb_xy":[[-0.34901005798566703,-0.7739926413355873],[-0.1890224108285506,-0.6139926361499042]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_4","position":[0.6193559966269626,-0.5586692249060303,0.71338606911949],"aabb_xy":[[0.5848936492288206,-0.5931631073038528],[0.6538183440251042,-0.5241753425082074]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_5","position":[-0.49870910841366023,0.7492783704415018,0.71338606911949],"aabb_xy":[[-0.5199871165571324,0.6842783681154285],[-0.4774311002701879,0.8142783727675746]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_6","position":[-0.15191222633533108,-1.5687528977457983,0.71338606911949],"aabb_xy":[[-0.18568778552602405,-1.5827913929589636],[-0.11813666714463811,-1.5547144025326334]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_7","position":[-0.25425858186513406,-0.17565598906194646,0.71338606911949],"aabb_xy":[[-0.26130003281588166,-0.182682740799741],[-0.24721713091438646,-0.16862923732415191]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_8","position":[-0.4404202553569069,1.3860516101344724,0.71338606911949],"aabb_xy":[[-0.45132603144446964,1.3060516137356433],[-0.4295144792693442,1.4660516065333016]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_9","position":[0.36476115554680333,-2.1806200005356358,0.71338606911949],"aabb_xy":[[0.3097656777261439,-2.2356200019695427],[0.41975663336746266,-2.125619999101729]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_10","position":[-0.19611851863424762,1.0143335709284131,0.71338606911949],"aabb_xy":[[-0.20858587674398327,1.0018682462950896],[-0.18365116052451197,1.0267988955617366]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_11","position":[-0.4050929377314388,0.16696471523040524,0.71338606911949],"aabb_xy":[[-0.45490971719627354,0.11696471674610187],[-0.355276158266604,0.2169647137147086]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_12","position":[-0.10104650747960153,-2.281712386709363,0.71338606911949],"aabb_xy":[[-0.1710465038895633,-2.3021503223610438],[-0.031046511069639734,-2.2612744510576803]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_13","position":[0.4935675248336624,-2.3664752077137314,0.71338606911949],"aabb_xy":[[0.44408710361970366,-2.430475205626583],[0.5430479460476212,-2.302475209800879]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_14","position":[0.15035217647858956,-0.7120737518949953,0.71338606911949],"aabb_xy":[[0.11355754335368329,-0.7489796269915777],[0.18714680960349583,-0.6751678767984132]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_15","position":[0.16298133036482798,-1.9409854905281612,0.71338606911949],"aabb_xy":[[0.1592780690356891,-1.944687508836879],[0.16668459169396685,-1.9372834722194434]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_16","position":[-0.644319915105999,0.697252795904217,0.71338606911949],"aabb_xy":[[-0.6729692474664151,0.6686072366271412],[-0.6156705827455826,0.7258983551812928]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_17","position":[-0.02933833596942237,1.2144687348538499,0.71338606911949],"aabb_xy":[[-0.07058714699933709,1.1594687353416322],[0.011910475060492363,1.269468734366067]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_18","position":[-0.5809370871139323,-1.0310785970534024,0.71338606911949],"aabb_xy":[[-0.5889305769092145,-1.0390767289938783],[-0.5729435973186504,-1.023080465112927]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_19","position":[0.6153448456186141,-1.856585665298399,0.71338606911949],"aabb_xy":[[0.6093783066778783,-1.8625468099577631],[0.6213113845593498,-1.8506245206390348]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_20","position":[-0.1324461313986024,1.5821117589202474,0.71338606911949],"aabb_xy":[[-0.16994613174683015,1.5703203633391638],[-0.09494613105037464,1.593903154501331]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_21","position":[0.470347590439371,1.6612988996478326,0.71338606911949],"aabb_xy":[[0.40634759404379794,1.597335611229099],[0.5343475868349441,1.7252621880665662]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_22","position":[0.13817709616464968,-0.9949202211744947,0.71338606911949],"aabb_xy":[[0.12733661793813478,-1.0121065024651434],[0.1490175743911646,-0.977733939883846]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_23","position":[0.13189591418340552,1.4793884324113402,0.71338606911949],"aabb_xy":[[0.12793543041367114,1.4717205678258196],[0.1358563979531399,1.4870562969968608]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_24","position":[-0.3132382872382772,-1.2940252547066653,0.71338606911949],"aabb_xy":[[-0.37723828751225547,-1.344091354903953],[-0.249238286964299,-1.243959154509377]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6636646058970633,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2988.png","name":"2988"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2988.png","name":"2988"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5264.png","name":"5264"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/707.png","name":"707"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6469.png","name":"6469"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4891.png","name":"4891"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":571.5241076074078,"rotation_z_degrees":143.66382739207725,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0037026876458733163,0.007106391098637567,-0.011172071083183095]},{"name":"camera_2","offset_m":[-0.013408716146440302,-0.019091182110679502,-0.01774834360207873]},{"name":"camera_3","offset_m":[0.01073394379403498,-0.011348491390357323,0.008745565462599005]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0009768681812602265,-0.00023351484616884874,0.0007245599606137223],"end_effector_yaw_offset_degrees":0.3204283938809289},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0011738847653755067,0.0008255481169011447,-0.0018778603569499608],"end_effector_yaw_offset_degrees":-0.2531113934226117},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0014764926169948543,0.0009114436243219675,-0.0018331170257794619],"end_effector_yaw_offset_degrees":0.04770162664357991},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0006816186363846001,0.0011518093558432869,0.0017041668755528308],"end_effector_yaw_offset_degrees":-0.7195204640500028}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0020567326023206434,0.004582472929433192],"position_m":[0.21094326739767935,-0.1339175270705668,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001894195617602157,-0.0022201101404761346],"position_m":[0.23020580438239785,-0.36652011014047614,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003966723688330345,-0.0011533717307379877],"position_m":[0.29516672368833036,-0.040753371730737994,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004237466606592619,0.003958693702185277],"position_m":[0.33976253339340734,0.17885869370218527,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4303c4163958a79356faeeab98b2d1806617ae2ada41186ecc42193562220cf4","episode_index":55,"episode_name":"episode_0055"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0055.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_2988/tex_ceiling_textures_4891/tex_floor_textures_6469/tex_table_textures_5264/tex_wall_textures_707","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":8966146851045324459,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":8966146851045324459,"visual_seed":8966146851045324459,"scene_id":"lab_003","finished_at":"2026-09-05T23:17:31"} +{"episode_id":"ep_000056","started_at":"2026-09-05T23:17:34","dimensions":{"distractor":{"count":27,"items":[{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_0","position":[-0.6229985393414648,-0.19886111660850636,0.71338606911949],"aabb_xy":[[-0.6600326487695245,-0.23323832394221578],[-0.585964429913405,-0.1644839092747969]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_1","position":[0.07300699377293784,-1.0144335038603314,0.71338606911949],"aabb_xy":[[0.06487930557962462,-1.023347112271039],[0.08113468196625107,-1.0055198954496238]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_2","position":[-0.23518876515005716,-0.17537997725390486,0.71338606911949],"aabb_xy":[[-0.29018876432664664,-0.2303696520288625],[-0.18018876597346767,-0.12039030247894722]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_3","position":[0.6641043582509625,-2.4608337577814017,0.71338606911949],"aabb_xy":[[0.6547573506686672,-2.4751373799990457],[0.6734513658332577,-2.4465301355637576]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_4","position":[0.6224063904757102,0.9627897533571956,0.71338606911949],"aabb_xy":[[0.5874063905796912,0.9544155178452557],[0.657406390371729,0.9711639888691356]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_5","position":[0.43451327917924143,0.040625081491466375,0.71338606911949],"aabb_xy":[[0.4232682236086236,0.029383283767371093],[0.44575833474985926,0.051866879215561656]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_6","position":[-0.24815949518065183,0.3434462501313482,0.71338606911949],"aabb_xy":[[-0.2536174408176719,0.26344624682368906],[-0.24270154954363174,0.42344625343900727]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_7","position":[-0.5911512610449648,-1.2844906757877386,0.71338606911949],"aabb_xy":[[-0.6279458941698711,-1.3213965508843208],[-0.5543566279200586,-1.2475848006911563]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_8","position":[-0.2493359907680815,1.5511702300276844,0.71338606911949],"aabb_xy":[[-0.2993308236960231,1.5011702311324409],[-0.1993411578401399,1.601170228922928]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_9","position":[0.530125633009525,-2.4397429658344194,0.71338606911949],"aabb_xy":[[0.4724951641222539,-2.499742964761129],[0.5877561018967956,-2.379742966907708]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_10","position":[0.20740668277018626,1.0300178935504207,0.71338606911949],"aabb_xy":[[0.18240668360455314,1.0230656478450642],[0.23240668193581937,1.0369701392557773]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_11","position":[-0.12844931713039476,-2.3634079089360327,0.71338606911949],"aabb_xy":[[-0.13549076808114235,-2.370434660673827],[-0.12140786617964716,-2.3563811571982383]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_12","position":[-0.08125917227016821,-2.514594267555078,0.71338606911949],"aabb_xy":[[-0.0892531608478716,-2.522594347650168],[-0.07326518369246482,-2.5065941874599877]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_13","position":[-0.6341531110311632,0.8570955330939949,0.71338606911949],"aabb_xy":[[-0.6466204691408989,0.8446302084606714],[-0.6216857529214276,0.8695608577273184]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_14","position":[-0.5880758387319367,0.022908186687151222,0.71338606911949],"aabb_xy":[[-0.6480758395927494,-0.028518243319335168],[-0.5280758378711238,0.0743346166936376]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_15","position":[0.2330301684818047,-0.7042729694603893,0.71338606911949],"aabb_xy":[[0.16903016777833535,-0.7502913519333105],[0.29703016918527403,-0.6582545869874684]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_16","position":[-0.1260993354712695,-0.07842569003996491,0.71338606911949],"aabb_xy":[[-0.13413567017255432,-0.08646380934438169],[-0.11806300076998463,-0.07038757073554813]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_17","position":[0.6227749892749326,0.3778534354180274,0.71338606911949],"aabb_xy":[[0.5977749897231941,0.3677109515528927],[0.6477749888266711,0.3879959192831621]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_18","position":[0.44295986901713125,-0.32880862255466115,0.71338606911949],"aabb_xy":[[0.3929598695769356,-0.37877654703897745],[0.49295986845732687,-0.27884069807034484]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_19","position":[-0.5800193054824218,0.2618679681148075,0.71338606911949],"aabb_xy":[[-0.5848629002436517,0.2570163156358234],[-0.5751757107211918,0.2667196205937916]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_20","position":[0.19614332473694596,1.2798051666853074,0.71338606911949],"aabb_xy":[[0.16368162385501847,1.2496723345704046],[0.2286050256188734,1.3099379988002098]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_21","position":[0.4831623905296998,-2.1925571682418163,0.71338606911949],"aabb_xy":[[0.47053560324250343,-2.202103241943389],[0.49578917781689613,-2.1830110945402437]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_22","position":[-0.39550096516030636,-0.69988854932358,0.71338606911949],"aabb_xy":[[-0.45950096158762826,-0.7470581731456765],[-0.33150096873298446,-0.6527189255014836]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_23","position":[-0.3382649075808095,-0.9754677465997275,0.71338606911949],"aabb_xy":[[-0.40826490918308905,-0.988900539801385],[-0.2682649059785301,-0.9620349533980699]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_24","position":[0.25998729694181755,-2.356848921359439,0.71338606911949],"aabb_xy":[[0.2380786148024665,-2.3787495881795295],[0.2818959790811686,-2.334948254539348]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_25","position":[-0.6127230928510949,-0.5313425447055935,0.71338606911949],"aabb_xy":[[-0.6305922006055503,-0.5451754526828043],[-0.5948539850966393,-0.5175096367283825]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_26","position":[0.5314640937831587,1.7119683330688678,0.71338606911949],"aabb_xy":[[0.46146409737319677,1.6915303974171856],[0.6014640901931203,1.732406268720549]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6646732738251542,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2474.png","name":"2474"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2474.png","name":"2474"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2076.png","name":"2076"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6407.png","name":"6407"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1744.png","name":"1744"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6116.png","name":"6116"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":683.5401906044156,"rotation_z_degrees":157.60560001706145,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.003145232418130698,0.004712785577946993,0.01538769468251949]},{"name":"camera_2","offset_m":[-0.00882692358939984,0.0009867450203075168,-0.015179768779088238]},{"name":"camera_3","offset_m":[-0.019808690291204842,0.006074887377087307,-0.014528679222521372]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0008176439971688786,-0.00020553317825905914,0.0014483823463942043],"end_effector_yaw_offset_degrees":-0.9104747903552142},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0013411422380441834,-0.0009839802819961564,0.0012281422057343673],"end_effector_yaw_offset_degrees":-0.5594138614671902},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00042474003243236826,-0.0006403563704178378,-0.0012689933446410771],"end_effector_yaw_offset_degrees":-0.9890711984828562},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0008865761070745801,0.0015436262387471139,-0.0016949837623926175],"end_effector_yaw_offset_degrees":0.8328105670948001}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0042035577596484025,-0.004676604880010348],"position_m":[0.2172035577596484,-0.14317660488001036,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0019014400403506012,0.0017224593220787066],"position_m":[0.2340014400403506,-0.3625775406779213,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0021401295000223687,0.0024112783126871117],"position_m":[0.28905987049997767,-0.037188721687312895,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003755533066514949,-0.0032260318512528263],"position_m":[0.34024446693348503,0.17167396814874716,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"db5df4f095bf30d11c1229c35790dd594a7d82e6f9e275619adeb8a9b2d68d1f","episode_index":56,"episode_name":"episode_0056"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0056.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_2474/tex_ceiling_textures_6116/tex_floor_textures_1744/tex_table_textures_2076/tex_wall_textures_6407","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":8976314143773235387,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":8976314143773235387,"visual_seed":8976314143773235387,"scene_id":"lab_003","finished_at":"2026-09-05T23:20:55"} +{"episode_id":"ep_000057","started_at":"2026-09-05T23:20:59","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_0","position":[-0.40980693304968824,-0.3321873371370514,0.71338606911949],"aabb_xy":[[-0.44730693354704654,-0.3361560206851698],[-0.37230693255233005,-0.328218653588933]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_1","position":[0.4977055093435172,-0.34911038097567726,0.71338606911949],"aabb_xy":[[0.493274879988677,-0.3545587527103599],[0.5021361386983574,-0.3436620092409947]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_2","position":[-0.2153328772718629,0.1344425521329642,0.71338606911949],"aabb_xy":[[-0.24317791405247008,0.10365805339465253],[-0.18748784049125583,0.1652270508712759]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_3","position":[0.585472997317019,-1.3031102189705983,0.71338606911949],"aabb_xy":[[0.5479729972114259,-1.3099323808235794],[0.6229729974226118,-1.2962880571176172]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_4","position":[-0.07180135957268374,-0.8886635262266771,0.71338606911949],"aabb_xy":[[-0.09000718323393143,-0.8996889268086689],[-0.05359553591143608,-0.8776381256446856]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_5","position":[-0.23340994726197345,1.290614241536343,0.71338606911949],"aabb_xy":[[-0.24082240280336195,1.2847630311147151],[-0.225997491720585,1.296465451957971]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_6","position":[-0.03996306087355517,1.0498913061379014,0.71338606911949],"aabb_xy":[[-0.053409587507598506,1.03642145448481],[-0.026516534239511842,1.0633611577909927]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_7","position":[0.40998557061116614,1.450923026582427,0.71338606911949],"aabb_xy":[[0.3880768884718151,1.429022359762336],[0.4318942527505172,1.4728236934025174]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_8","position":[-0.3834378239879091,0.23021302408139688,0.71338606911949],"aabb_xy":[[-0.4177347350056497,0.19591613787145545],[-0.34914091297016847,0.2645099102913382]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_9","position":[0.3979347419057415,0.958411113251235,0.71338606911949],"aabb_xy":[[0.3179347433184221,0.8790955113130741],[0.47793474049306095,1.0377267151893959]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_10","position":[-0.12095739406908235,-1.7873352671001652,0.71338606911949],"aabb_xy":[[-0.17095050617827423,-1.8373352677743613],[-0.07096428195989046,-1.73733526642597]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_11","position":[-0.49013249073908294,-2.3350567971906013,0.71338606911949],"aabb_xy":[[-0.5477629596263538,-2.3950567961173115],[-0.432502021851812,-2.2750567982638903]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_12","position":[0.6655364393707934,-0.05038770271516535,0.71338606911949],"aabb_xy":[[0.6245184959844226,-0.10038770334612268],[0.7065543827571643,-0.0003877020842080123]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_13","position":[0.60779767805042,-2.0953270976880205,0.71338606911949],"aabb_xy":[[0.527797677580204,-2.103637805302369],[0.6877976785206359,-2.0870163900736727]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_14","position":[0.617868980714779,-1.8921249791846808,0.71338606911949],"aabb_xy":[[0.5678915638495253,-1.9421249806739291],[0.6678463975800325,-1.842124977695432]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_15","position":[-0.328085141508522,-2.0322396250596597,0.71338606911949],"aabb_xy":[[-0.392085140678292,-2.0790063121786218],[-0.2640851423387521,-1.985472937940697]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_16","position":[0.5636072440905122,0.5180370152904552,0.71338606911949],"aabb_xy":[[0.5223584330605974,0.4630370157782378],[0.6048560551204268,0.5730370148026727]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_17","position":[-0.5705122646582531,0.8435304709058475,0.71338606911949],"aabb_xy":[[-0.6605122669922722,0.7660481163207349],[-0.48051226232423405,0.9210128254909602]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_18","position":[-0.18230662631161854,0.7250580923291392,0.71338606911949],"aabb_xy":[[-0.24630662836135053,0.6849636092398312],[-0.11830662426188654,0.7651525754184472]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_19","position":[0.2262522763546042,1.3862789879876583,0.71338606911949],"aabb_xy":[[0.18875227641083778,1.3779858979528214],[0.2637522762983706,1.3945720780224946]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_20","position":[0.5789089920119015,-1.5905086168573639,0.71338606911949],"aabb_xy":[[0.5708827213812754,-1.5992601118347165],[0.5869352626425274,-1.5817571218800113]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_21","position":[0.39417019985131163,-1.3831562754041882,0.71338606911949],"aabb_xy":[[0.3728921917078393,-1.4481562777302612],[0.4154482079947838,-1.3181562730781151]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_22","position":[0.388472159154327,-0.5031063842007599,0.71338606911949],"aabb_xy":[[0.35097215880609917,-0.5148977797818435],[0.4259721595025547,-0.4913149886196764]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_23","position":[-0.051077226762850425,1.6976893047487827,0.71338606911949],"aabb_xy":[[-0.1310772289256129,1.6177341211226388],[0.028922775399912067,1.777644488374926]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_24","position":[0.6324638663761388,0.18370820917690445,0.71338606911949],"aabb_xy":[[0.6216233881496238,0.16652192788625567],[0.6433043446026536,0.20089449046755328]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_25","position":[0.2489530393516649,-1.6200755299578073,0.71338606911949],"aabb_xy":[[0.20676862519083417,-1.6840755302350185],[0.29113745351249565,-1.5560755296805961]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6675530867893943,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8519.png","name":"8519"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8519.png","name":"8519"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8114.png","name":"8114"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8761.png","name":"8761"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4589.png","name":"4589"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9503.png","name":"9503"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":614.6660084859138,"rotation_z_degrees":73.54966352577223,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007235780639185041,0.00673412979131565,0.017719114121210414]},{"name":"camera_2","offset_m":[0.002553522155717469,0.001655545032741304,0.018210410672000975]},{"name":"camera_3","offset_m":[0.009136390261454613,-0.017355341597808174,0.013252163512105983]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0016487703723651174,-0.0013438812954285236,0.0019415668456020186],"end_effector_yaw_offset_degrees":-0.20704820729655493},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0019561414042056375,-0.0019526709687224006,-0.0014143126572230568],"end_effector_yaw_offset_degrees":-0.9813194614128704},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0017991047558152946,0.001165275152380759,-0.0007426359960274814],"end_effector_yaw_offset_degrees":-0.8033067489999242},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0007027010937405004,0.0008368757539327751,-0.001767403148756912],"end_effector_yaw_offset_degrees":0.7269611319466331}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0017696044326269357,-0.001543857135456731],"position_m":[0.21123039556737305,-0.14004385713545675,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0037819076129865055,-0.0006662635391095602],"position_m":[0.2358819076129865,-0.36496626353910955,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003286254096900747,0.00415766850188565],"position_m":[0.28791374590309926,-0.035442331498114356,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0028256351724040263,0.002314413312529984],"position_m":[0.34117436482759594,0.17721441331253,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7b666de542a91448a26a2a6df238478e34ae874c9728f8f3a436a19b05afe84b","episode_index":57,"episode_name":"episode_0057"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0057.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_8519/tex_ceiling_textures_9503/tex_floor_textures_4589/tex_table_textures_8114/tex_wall_textures_8761","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":2657001640714280873,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":2657001640714280873,"visual_seed":2657001640714280873,"scene_id":"lab_003","finished_at":"2026-09-05T23:24:17"} +{"episode_id":"ep_000058","started_at":"2026-09-05T23:24:20","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_0","position":[0.330171130661558,-1.4179765430614506,0.71338606911949],"aabb_xy":[[0.32609297275450827,-1.422057523309714],[0.33424928856860775,-1.4138955628131873]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_1","position":[-0.25498493068541306,-0.8466438506683918,0.71338606911949],"aabb_xy":[[-0.2894474086985008,-0.8533075278513146],[-0.22052245267232523,-0.8399801734854689]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_2","position":[-0.44277291358226045,0.0011210252965812018,0.71338606911949],"aabb_xy":[[-0.46527291339616283,-0.0033535910738994867],[-0.42027291376835807,0.00559564166706189]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_3","position":[0.33918014214446424,-2.2484053943018796,0.71338606911949],"aabb_xy":[[0.3023295942074767,-2.2859053951249133],[0.3760306900814519,-2.210905393478846]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_4","position":[0.4581148999067517,1.7444025052758243,0.71338606911949],"aabb_xy":[[0.44061496647276827,1.7269025053555898],[0.475614833340735,1.7619025051960588]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_5","position":[0.07135334855024689,-0.939558372659743,0.71338606911949],"aabb_xy":[[0.03705643753250625,-0.9738552588696842],[0.1056502595679875,-0.9052614864498015]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_6","position":[-0.020271879648578017,-2.0661981762651656,0.71338606911949],"aabb_xy":[[-0.05777188014593626,-2.070166859813284],[0.017228120848780223,-2.062229492717047]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_7","position":[-0.452007910476972,1.602226324178527,0.71338606911949],"aabb_xy":[[-0.4696407460704995,1.584603378162904],[-0.43437507488344435,1.61984927019415]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_8","position":[-0.05917188653426153,1.0651322254439526,0.71338606911949],"aabb_xy":[[-0.07667188677931092,1.0476324376043855],[-0.041671886289212146,1.0826320132835192]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_9","position":[0.46763503878250146,-1.4829128975536634,0.71338606911949],"aabb_xy":[[0.4637211655870789,-1.49166191296022],[0.4715489119779239,-1.4741638821471064]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_10","position":[-0.38221644421444717,-0.19105943098658829,0.71338606911949],"aabb_xy":[[-0.4622164474784603,-0.2046194632955016],[-0.30221644095043404,-0.17749939867767492]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_11","position":[-0.3591469042269882,-2.1192152337563868,0.71338606911949],"aabb_xy":[[-0.3631073879967226,-2.1268830983419074],[-0.3551864204572538,-2.111547369170866]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_12","position":[0.5548659411987009,-1.373619002513894,0.71338606911949],"aabb_xy":[[0.547825631265164,-1.4536190019135655],[0.561906251132238,-1.2936190031142227]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_13","position":[-0.14066112812407383,-2.0600114260689293,0.71338606911949],"aabb_xy":[[-0.14697322766041226,-2.065778365322148],[-0.1343490285877354,-2.0542444868157106]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_14","position":[-0.04524226809778975,-2.0084225654748002,0.71338606911949],"aabb_xy":[[-0.05402349524502599,-2.017202312763331],[-0.03646104095055353,-1.9996428181862704]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_15","position":[0.33172426675366085,0.8093850822354112,0.71338606911949],"aabb_xy":[[0.32446301918325343,0.7965980719719018],[0.33898551432406826,0.8221720924989208]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_16","position":[-0.47573793568161626,-2.39131536772938,0.71338606911949],"aabb_xy":[[-0.5125325688065225,-2.428221242825962],[-0.43894330255670994,-2.3544094926327976]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_17","position":[0.042347387506296186,-2.4878543987784987,0.71338606911949],"aabb_xy":[[-0.04765261191207471,-2.5212298956226875],[0.13234738692466708,-2.454478901934308]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_18","position":[0.17797697829478243,-1.5878816889147527,0.71338606911949],"aabb_xy":[[0.1719399652941177,-1.5939083899837012],[0.18401399129544715,-1.581854987845805]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_19","position":[-0.09913562289225064,1.6769565256563834,0.71338606911949],"aabb_xy":[[-0.1162377008506188,1.6598497201251137],[-0.08203354493388249,1.6940633311876532]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_20","position":[-0.5594275529305628,-1.3523929747659718,0.71338606911949],"aabb_xy":[[-0.6094008469338232,-1.4023929753205189],[-0.5094542589273023,-1.3023929742114242]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_21","position":[0.20211856929827787,-2.298524602296104,0.71338606911949],"aabb_xy":[[0.18461856903894128,-2.312616144484877],[0.21961856955761455,-2.284433060107332]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_22","position":[0.6159858836295147,0.5697632468766596,0.71338606911949],"aabb_xy":[[0.5747370725995998,0.5147632473644421],[0.6572346946594293,0.624763246388877]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_23","position":[-0.48650430563835745,1.4463290330375584,0.71338606911949],"aabb_xy":[[-0.516471862548183,1.4163290327396727],[-0.4565367487285317,1.4763290333354442]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_24","position":[0.364288033227143,-0.48821382249446854,0.71338606911949],"aabb_xy":[[0.36017208311507026,-0.4923293775273139],[0.3684039833392156,-0.48409826746162293]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_25","position":[-0.6697509842139541,-1.1685784837183297,0.71338606911949],"aabb_xy":[[-0.6942971998367048,-1.1988273802673668],[-0.6452047685912033,-1.1383295871692927]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_26","position":[-0.33876205599273707,-1.4413735471655154,0.71338606911949],"aabb_xy":[[-0.34220273223279424,-1.4452349801398798],[-0.3353213797526799,-1.4375121141911509]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_27","position":[-0.4783820031107724,0.8882023630318376,0.71338606911949],"aabb_xy":[[-0.4896270586813902,0.8769605653077424],[-0.46713694754015456,0.8994441607559329]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_28","position":[-0.20360480259859642,0.5725480419010456,0.71338606911949],"aabb_xy":[[-0.21916057200886174,0.5569976086566386],[-0.18804903318833122,0.588098475145453]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_29","position":[0.31450768162693654,-0.6396312909243476,0.71338606911949],"aabb_xy":[[0.25050767940652957,-0.6840043750496357],[0.3785076838473436,-0.5952582067990592]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_30","position":[0.15413338565403156,1.3913848672826266,0.71338606911949],"aabb_xy":[[0.07413338825043812,1.3113922960844433],[0.23413338305762496,1.471377438480809]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6631164711298565,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2309.png","name":"2309"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2309.png","name":"2309"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7612.png","name":"7612"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5999.png","name":"5999"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6399.png","name":"6399"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2447.png","name":"2447"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":502.18570682960103,"rotation_z_degrees":219.33541766138225,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014724060026133485,0.004064091657844066,-0.012732741418179918]},{"name":"camera_2","offset_m":[0.012575580654584872,0.0138472785216151,-0.01052423892227946]},{"name":"camera_3","offset_m":[0.00029217793734010247,-0.011411776066491859,-0.0015157813436699995]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0007060311151720565,0.0010407543412236787,-0.0012673080380710081],"end_effector_yaw_offset_degrees":-0.3156183632120104},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00024182740508038982,0.001003686713402048,-0.0008854906676277051],"end_effector_yaw_offset_degrees":-0.26789160996502925},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0006017556355266008,0.0010676012187750589,0.00011237991059473646],"end_effector_yaw_offset_degrees":0.4790183992036532},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005210438199059518,-0.0019540327248696748,-0.0017221699099102196],"end_effector_yaw_offset_degrees":-0.34193956504887324}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003649925185942757,-0.00035912700224245003],"position_m":[0.21664992518594275,-0.13885912700224246,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003963341272839645,-0.004339411021751467],"position_m":[0.22813665872716035,-0.36863941102175146,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003455697468907972,0.004220217965543851],"position_m":[0.28774430253109207,-0.03537978203445615,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0032783083513167775,0.0011654363393427836],"position_m":[0.34727830835131673,0.1760654363393428,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"34bf247a819c35557ccc483ac34792061b9849ed7ad3b0686fcb4a296f52ed6e","episode_index":58,"episode_name":"episode_0058"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0058.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_2309/tex_ceiling_textures_2447/tex_floor_textures_6399/tex_table_textures_7612/tex_wall_textures_5999","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":4554955878426974530,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":4554955878426974530,"visual_seed":4554955878426974530,"scene_id":"lab_003","finished_at":"2026-09-05T23:27:43"} +{"episode_id":"ep_000059","started_at":"2026-09-05T23:27:47","dimensions":{"distractor":{"count":25,"items":[{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_0","position":[0.2799605579029625,1.0010511153464585,0.71338606911949],"aabb_xy":[[0.22998726389970198,0.9510511147919112],[0.3299338519062229,1.0510511159010059]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_1","position":[-0.44521885028203667,-2.5395497064576555,0.71338606911949],"aabb_xy":[[-0.4524800978524441,-2.552336716721165],[-0.43795760271162926,-2.526762696194146]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_2","position":[0.23558058060371478,-1.4812725539427012,0.71338606911949],"aabb_xy":[[0.14558057826969573,-1.5587549085278138],[0.32558058293773384,-1.4037901993575885]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_3","position":[0.0948385244126555,1.4252176681678095,0.71338606911949],"aabb_xy":[[0.0747801127994152,1.405152581258652],[0.11489693602589578,1.445282755076967]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_4","position":[-0.2758578334515217,-0.35591923966946304,0.71338606911949],"aabb_xy":[[-0.3208578349177506,-0.40091909653094376],[-0.23085783198529292,-0.31091938280798237]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_5","position":[-0.30383779124995824,0.1619401697711771,0.71338606911949],"aabb_xy":[[-0.35883100258709505,0.10694016943238349],[-0.24884457991282155,0.21694017010997071]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_6","position":[0.136486249653899,-2.4049787908645506,0.71338606911949],"aabb_xy":[[0.0464862531530272,-2.450890433283009],[0.2264862461547707,-2.3590671484460923]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_7","position":[0.5344729217609809,0.44952789276403937,0.71338606911949],"aabb_xy":[[0.5168400861674534,0.43190494674841634],[0.5521057573545085,0.4671508387796623]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_8","position":[0.3959132600711919,-2.3170242064291324,0.71338606911949],"aabb_xy":[[0.35736756724599084,-2.3555699774853216],[0.4344589528963929,-2.278478435372944]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_9","position":[-0.6664285306619645,0.09636622846374188,0.71338606911949],"aabb_xy":[[-0.6705066885690143,0.09228524821547857],[-0.6623503727549147,0.10044720871200519]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_10","position":[0.6141677113634147,1.5794303523369142,0.71338606911949],"aabb_xy":[[0.5641677110028486,1.529450365127311],[0.6641677117239807,1.629410339546517]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_11","position":[0.19919716967340917,-1.827869184911895,0.71338606911949],"aabb_xy":[[0.11919717101652322,-1.8423740438361578],[0.27919716833029523,-1.8133643259876324]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_12","position":[0.4740946785603626,0.9492884324129833,0.71338606911949],"aabb_xy":[[0.4040946751688006,0.9139726587095525],[0.5440946819519246,0.9846042061164142]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_13","position":[-0.3986039514508617,0.7298490833452105,0.71338606911949],"aabb_xy":[[-0.41610395072894857,0.7125109832788645],[-0.3811039521727748,0.7471871834115564]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_14","position":[0.6386717260958039,0.8603466227759609,0.71338606911949],"aabb_xy":[[0.6211717258507544,0.842846834936394],[0.6561717263408532,0.8778464106155277]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_15","position":[-0.6675211457920611,-2.125777522121764,0.71338606911949],"aabb_xy":[[-0.6845312430821117,-2.1419120106200373],[-0.6505110485020104,-2.1096430336234895]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_16","position":[0.020125005052560985,1.5365242315177094,0.71338606911949],"aabb_xy":[[-0.029874996308326233,1.4865463269422938],[0.0701250064134482,1.586502136093125]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_17","position":[0.3059552578478417,-0.4755958161456335,0.71338606911949],"aabb_xy":[[0.27095525865502346,-0.4865628621432961],[0.34095525704066,-0.4646287701479708]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_18","position":[0.48501801440558334,0.6911803973717472,0.71338606911949],"aabb_xy":[[0.47797770447204646,0.6111803979720757],[0.49205832433912045,0.7711803967714186]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_19","position":[-0.051727988930411306,-1.0517400735203342,0.71338606911949],"aabb_xy":[[-0.10670171096674419,-1.1067400730845676],[0.0032457331059215777,-0.9967400739561012]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_20","position":[0.13584965539438365,-0.6538241515476007,0.71338606911949],"aabb_xy":[[0.12324695625730722,-0.6664195477724663],[0.14845235453146013,-0.6412287553227353]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_21","position":[0.4901584516564923,1.30207161305212,0.71338606911949],"aabb_xy":[[0.47551504610245926,1.2874128933953357],[0.5048018572105253,1.3167303327089042]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_22","position":[0.4289958689472966,-0.6563517266700323,0.71338606911949],"aabb_xy":[[0.3914958682827178,-0.6720387846702544],[0.4664958696118752,-0.64066466866981]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_23","position":[-0.23259744845113095,1.7446816290491767,0.71338606911949],"aabb_xy":[[-0.3175974468685542,1.6598073335868917],[-0.14759745003370772,1.8295559245114617]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_24","position":[-0.039929397045862736,0.7591758731950757,0.71338606911949],"aabb_xy":[[-0.05742933047984611,0.7416758732748412],[-0.022429463611879363,0.7766758731153103]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6624671439136546,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5912.png","name":"5912"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5912.png","name":"5912"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8787.png","name":"8787"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9146.png","name":"9146"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9491.png","name":"9491"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6262.png","name":"6262"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":568.9282009950549,"rotation_z_degrees":138.80988177717592,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01922317729730146,0.006244367932705493,0.0046997850723160435]},{"name":"camera_2","offset_m":[0.01882340028806485,-0.004440737493998634,-0.018059512253638638]},{"name":"camera_3","offset_m":[0.0013937329225427973,0.008149786965510102,-0.0016487196642219586]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[7.635756309376778e-05,0.0002432456390941617,-0.001993457145121942],"end_effector_yaw_offset_degrees":0.2091707059543193},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0019767897428951985,-0.00041851021684522535,0.0012327187694405619],"end_effector_yaw_offset_degrees":0.44444805773226514},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0005552461573567423,0.0005570558054536667,0.000354671989174635],"end_effector_yaw_offset_degrees":-0.6598110268414648},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0008931057458466971,-0.0016909418969377565,0.000500085857765252],"end_effector_yaw_offset_degrees":-0.01774016726765648}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0014086312358319443,-0.004340326501353009],"position_m":[0.21159136876416806,-0.14284032650135303,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001041420726036817,0.001250835537231999],"position_m":[0.23105857927396317,-0.363049164462768,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003621647634314255,-0.0028096694835177483],"position_m":[0.2948216476343143,-0.04240966948351775,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0018526867479388754,-0.002385461882481922],"position_m":[0.3421473132520611,0.17251453811751807,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"2be39780052e34d82a913244be7813e7a51b929d69a4b2dd1b8f928ec5920885","episode_index":59,"episode_name":"episode_0059"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0059.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_5912/tex_ceiling_textures_6262/tex_floor_textures_9491/tex_table_textures_8787/tex_wall_textures_9146","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":1908088712222237419,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":1908088712222237419,"visual_seed":1908088712222237419,"scene_id":"lab_003","finished_at":"2026-09-05T23:31:32"} +{"episode_id":"ep_000060","started_at":"2026-09-05T23:31:36","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_0","position":[-0.2725596195940116,-1.1322833256437141,0.71338606911949],"aabb_xy":[[-0.2796010705447592,-1.1393100773815086],[-0.265518168643264,-1.1252565739059193]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_1","position":[0.16164094590243328,0.9933151632315318,0.71338606911949],"aabb_xy":[[0.12414094511043783,0.9869473222733417],[0.19914094669442872,0.9996830041897219]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_2","position":[-0.20321327890199198,0.37122370329423227,0.71338606911949],"aabb_xy":[[-0.25321328026287915,0.3212457987188167],[-0.15321327754110475,0.42120160786964794]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_3","position":[0.042581501350684836,-2.4482382187399825,0.71338606911949],"aabb_xy":[[0.03174102312416993,-2.465424500030631],[0.05342197957719974,-2.431051937449334]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_4","position":[0.5171950174415612,0.8767725293616597,0.71338606911949],"aabb_xy":[[0.49713660582832075,0.8567074424525021],[0.5372534290548013,0.8968376162708172]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_5","position":[-0.5349234577982918,-2.4766022883783787,0.71338606911949],"aabb_xy":[[-0.5578391706833418,-2.4995065855148026],[-0.512007744913242,-2.4536979912419556]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_6","position":[-0.5533834172962631,1.5127640993736517,0.71338606911949],"aabb_xy":[[-0.6173834175567339,1.4677553000207235],[-0.4893834170357923,1.5577728987265795]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_7","position":[-0.16590199607780232,0.17940413911739306,0.71338606911949],"aabb_xy":[[-0.20340199618339525,0.1725819772644119],[-0.12840199597220933,0.18622630097037415]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_8","position":[-0.1831469529974864,-0.9426948367131667,0.71338606911949],"aabb_xy":[[-0.24714694939305948,-1.0066581251319002],[-0.11914695660191332,-0.8787315482944331]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_9","position":[-0.3689869355318165,-2.228792573383002,0.71338606911949],"aabb_xy":[[-0.4060210449598762,-2.263169780716711],[-0.3319528261037567,-2.194415366049292]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_10","position":[-0.6006776531615231,-1.0877417378118246,0.71338606911949],"aabb_xy":[[-0.6646776524556913,-1.1517278781806788],[-0.5366776538673549,-1.0237555974429704]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_11","position":[-0.19693311598044888,-0.3095089818634231,0.71338606911949],"aabb_xy":[[-0.21210528526208225,-0.3246778387916265],[-0.18176094669881557,-0.29434012493521977]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_12","position":[-0.1853296899429927,1.6048964984789866,0.71338606911949],"aabb_xy":[[-0.2078261113768568,1.5823964986722394],[-0.1628332685091286,1.6273964982857343]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_13","position":[-0.5099014058676603,0.7565941405511163,0.71338606911949],"aabb_xy":[[-0.5275342414611878,0.7389711945354932],[-0.4922685702741327,0.7742170865667392]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_14","position":[0.03316297469003604,-1.1650611113488039,0.71338606911949],"aabb_xy":[[0.029249101494613516,-1.1738101267553607],[0.037076847885458564,-1.156312095942247]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_15","position":[0.12245533459834868,-2.2884603509750305,0.71338606911949],"aabb_xy":[[0.08745533540553038,-2.2994273969726926],[0.1574553337911669,-2.2774933049773676]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_16","position":[0.16302646497504192,-1.3829944036887756,0.71338606911949],"aabb_xy":[[0.1570599260343061,-1.3889555483481393],[0.16899300391577768,-1.3770332590294114]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_17","position":[-0.2751009541796864,-2.4713976108019686,0.71338606911949],"aabb_xy":[[-0.29330677784093406,-2.4824230113839607],[-0.2568951305184387,-2.4603722102199774]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_18","position":[0.5164645276810129,1.271556296047009,0.71338606911949],"aabb_xy":[[0.48200218028287106,1.2370624136491861],[0.5509268750791546,1.3060501784448315]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_19","position":[-0.15945657479695408,-0.18401680140973697,0.71338606911949],"aabb_xy":[[-0.18162910177360492,-0.20619246856586013],[-0.13728404782030323,-0.1618411342536138]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_20","position":[-0.5388425681657629,0.3447852307295607,0.71338606911949],"aabb_xy":[[-0.5613425676894702,0.32228928327893985],[-0.5163425686420554,0.3672811781801814]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6683342423130562,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5576.png","name":"5576"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5576.png","name":"5576"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8488.png","name":"8488"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/865.png","name":"865"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1792.png","name":"1792"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8919.png","name":"8919"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":808.905833551707,"rotation_z_degrees":355.12846754510974,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005306245599562933,0.019679684612718556,0.01652925888387192]},{"name":"camera_2","offset_m":[0.01786043359431867,-0.006509180467208312,0.009132675926845819]},{"name":"camera_3","offset_m":[-0.007669109133252227,-0.018421167470800883,-0.019294376399274196]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0007146831456532094,0.0009704234144232286,0.0018169342311363567],"end_effector_yaw_offset_degrees":0.27492179714952925},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0014918122402680198,-0.0016772961264385332,0.0016867540976814748],"end_effector_yaw_offset_degrees":-0.8888851591665647},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001860136734911885,-0.0008323055177006764,0.0015509761305384975],"end_effector_yaw_offset_degrees":-0.9246217069001605},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.000116295877560426,0.001959039131747807,0.0006425953918176778],"end_effector_yaw_offset_degrees":0.6020899206983337}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0025464671162220088,0.004805855663289405],"position_m":[0.210453532883778,-0.13369414433671062,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0033500879732192438,-0.0027509750429459304],"position_m":[0.23545008797321926,-0.3670509750429459,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0014341130127153538,-0.004478255901627436],"position_m":[0.29263411301271536,-0.044078255901627436,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0024638427039110756,0.003673617409119297],"position_m":[0.3415361572960889,0.17857361740911928,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7858695fe52df2f489c5126f817a6d266d4ca70617e2fa024128791789d4c6af","episode_index":60,"episode_name":"episode_0060"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0060.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_5576/tex_ceiling_textures_8919/tex_floor_textures_1792/tex_table_textures_8488/tex_wall_textures_865","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":821912906927205968,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":821912906927205968,"visual_seed":821912906927205968,"scene_id":"lab_003","finished_at":"2026-09-05T23:35:18"} +{"episode_id":"ep_000061","started_at":"2026-09-05T23:35:21","dimensions":{"distractor":{"count":20,"items":[{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_0","position":[0.003707812915363262,-1.358138005956812,0.71338606911949],"aabb_xy":[[-0.046270995594952624,-1.4081380059625308],[0.05368662142567915,-1.3081380059510932]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_1","position":[0.321605762754094,-1.5557727265318717,0.71338606911949],"aabb_xy":[[0.2639752938668231,-1.6157727254585819],[0.3792362316413648,-1.495772727605161]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_2","position":[-0.25227395509234346,-0.9091410779983777,0.71338606911949],"aabb_xy":[[-0.25968641063373193,-0.9149922884200056],[-0.244861499550955,-0.9032898675767497]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_3","position":[-0.4930162420564696,-1.234250498563685,0.71338606911949],"aabb_xy":[[-0.548011719877129,-1.2892504999975918],[-0.4380207642358102,-1.179250497129778]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_4","position":[0.10173809366625342,1.4192079368755794,0.71338606911949],"aabb_xy":[[0.09411382557607517,1.4115747133390357],[0.10936236175643166,1.4268411604121232]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_5","position":[-0.45023351946658896,1.6861245597867103,0.71338606911949],"aabb_xy":[[-0.46691065545968446,1.6694246358127798],[-0.43355638347349346,1.7028244837606403]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_6","position":[-0.1508379767436634,-1.1532580544778155,0.71338606911949],"aabb_xy":[[-0.21483797996230125,-1.1999811663768238],[-0.08683797352502554,-1.1065349425788071]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_7","position":[0.6511940682609421,1.4066037741805246,0.71338606911949],"aabb_xy":[[0.5961940690843525,1.351614099405567],[0.7061940674375314,1.4615934489554823]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_8","position":[-0.3241004160900306,-0.8653464700001323,0.71338606911949],"aabb_xy":[[-0.34660041561373794,-0.887842417450753],[-0.30160041656632314,-0.8428505225495114]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_9","position":[-0.18130622595846324,0.5332852812191411,0.71338606911949],"aabb_xy":[[-0.26130622738859044,0.4537681262065315],[-0.10130622452833601,0.6128024362317505]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_10","position":[0.43538588948313395,-1.8893312940972222,0.71338606911949],"aabb_xy":[[0.3713858921974853,-1.9308380130500662],[0.4993858867687826,-1.8478245751443783]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_11","position":[0.6613309876694311,0.3501447381122431,0.71338606911949],"aabb_xy":[[0.6368173635724254,0.32588014481020666],[0.6858446117664371,0.37440933141427957]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_12","position":[0.17518008009671393,1.021485934435633,0.71338606911949],"aabb_xy":[[0.15390207195324168,0.95648593210956],[0.19645808824018618,1.0864859367617061]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_13","position":[0.26171077428336975,-2.351308518420166,0.71338606911949],"aabb_xy":[[0.1717107719493507,-2.4287908730052785],[0.3517107766173888,-2.273826163835053]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_14","position":[0.24902205820304812,-0.9521799914705011,0.71338606911949],"aabb_xy":[[0.18402205556525467,-1.003659590169948],[0.3140220608408416,-0.9007003927710542]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_15","position":[0.2829506947387832,0.978892124364148,0.71338606911949],"aabb_xy":[[0.25246644461175305,0.928892124582652],[0.31343494486581336,1.028892124145644]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_16","position":[0.07358017208813328,-2.15823181586273,0.71338606911949],"aabb_xy":[[0.04111847120620581,-2.1883646479776324],[0.10604187297006072,-2.128098983747827]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_17","position":[0.5954632989593038,-0.5685371611848553,0.71338606911949],"aabb_xy":[[0.5314632986853256,-0.6186032613821432],[0.6594632992332821,-0.5184710609875672]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_18","position":[0.2737236876037934,-1.0951673519796976,0.71338606911949],"aabb_xy":[[0.256223687358744,-1.1126671398192642],[0.2912236878488428,-1.0776675641401305]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_19","position":[-0.5006970179957062,-0.7193538659849739,0.71338606911949],"aabb_xy":[[-0.5505797148734025,-0.7693538652312487],[-0.4508143211180101,-0.6693538667386991]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6637995555388075,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1861.png","name":"1861"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1861.png","name":"1861"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1851.png","name":"1851"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1225.png","name":"1225"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3702.png","name":"3702"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7770.png","name":"7770"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":820.5615703059673,"rotation_z_degrees":56.389160311318854,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005629680270317121,-0.013895837709966833,-0.012583655442530692]},{"name":"camera_2","offset_m":[-0.0029865287576474886,0.016939032394872777,-0.016967087254676647]},{"name":"camera_3","offset_m":[0.019846971585726927,-0.007298460264534134,-0.009520221235213048]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0010018071959972245,0.0001158061509522793,-0.0007844919553554193],"end_effector_yaw_offset_degrees":0.7659220274651581},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0012539751817274608,-0.0017001221150387776,0.0010151266189796322],"end_effector_yaw_offset_degrees":-0.6653640196656652},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00014272721068071532,-0.0018034683425241017,0.00043420825374629194],"end_effector_yaw_offset_degrees":-0.1883819570569718},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0002751538873317801,0.0004864456726304169,-0.00028866525217651254],"end_effector_yaw_offset_degrees":-0.6050520484811521}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.002247978121813825,-0.0029742760770508727],"position_m":[0.21524797812181382,-0.14147427607705088,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0023116147406598542,-0.003093297768630888],"position_m":[0.22978838525934014,-0.3673932977686309,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0005770804673546582,0.0032174301709627226],"position_m":[0.29062291953264535,-0.03638256982903728,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002421978727982751,-0.0032089590018591053],"position_m":[0.3415780212720172,0.1716910409981409,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5007465d5a87db68a07588a5b19546f422af6a6a672d849ddaf9d9adc020ed7f","episode_index":61,"episode_name":"episode_0061"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0061.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_1861/tex_ceiling_textures_7770/tex_floor_textures_3702/tex_table_textures_1851/tex_wall_textures_1225","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":835634557695665992,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":835634557695665992,"visual_seed":835634557695665992,"scene_id":"lab_003","finished_at":"2026-09-05T23:38:53"} +{"episode_id":"ep_000062","started_at":"2026-09-05T23:38:56","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_0","position":[0.026254313127840545,1.7696293867147186,0.71338606911949],"aabb_xy":[[0.021619197975607154,1.7657620516375696],[0.03088942828007393,1.7734967217918671]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_1","position":[-0.007247312472516754,0.6278177387142958,0.71338606911949],"aabb_xy":[[-0.014871580562695,0.6201845151777521],[0.00037695561766149064,0.6354509622508395]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_2","position":[-0.541122645352043,0.1945209491316291,0.71338606911949],"aabb_xy":[[-0.5492363000254201,0.18641513267760004],[-0.5330089906786659,0.2026267655856582]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_3","position":[0.5335828896412464,1.2889817324367057,0.71338606911949],"aabb_xy":[[0.4635828932312846,1.2685437967850235],[0.6035828860512081,1.309419668088387]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_4","position":[-0.016122621917823765,-0.9631700825864322,0.71338606911949],"aabb_xy":[[-0.07771338114181658,-1.027170080695479],[0.045468137306169054,-0.8991700844773853]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_5","position":[-0.5319384368712623,-1.3274570844523257,0.71338606911949],"aabb_xy":[[-0.5498075446257178,-1.3412899924295365],[-0.5140693291168068,-1.3136241764751149]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_6","position":[-0.3360216901179311,1.4070015012618606,0.71338606911949],"aabb_xy":[[-0.35793037225728214,1.3851008344417697],[-0.31411300797858005,1.4289021680819511]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_7","position":[-0.11095997528743773,1.1769603561033537,0.71338606911949],"aabb_xy":[[-0.17495997171475963,1.1297907322812573],[-0.04695997886011584,1.2241299799254501]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_8","position":[-0.6396846336458831,0.9244716128792434,0.71338606911949],"aabb_xy":[[-0.6595756735262235,0.9118158015945468],[-0.619793593765543,0.9371274241639405]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_9","position":[-0.1884798741113889,-1.297318400307707,0.71338606911949],"aabb_xy":[[-0.2258111506366315,-1.3319714551025592],[-0.15114859758614627,-1.2626653455128547]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_10","position":[0.43329666162832026,-2.4515573332009777,0.71338606911949],"aabb_xy":[[0.3833233676250598,-2.5015573337555246],[0.4832699556315807,-2.40155733264643]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_11","position":[-0.39631370355399387,0.04086524433995242,0.71338606911949],"aabb_xy":[[-0.42082732765099967,0.016600651037915963],[-0.37180007945698795,0.06512983764198887]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_12","position":[-0.5349138999476937,-0.08157273613081628,0.71338606911949],"aabb_xy":[[-0.5431284450633775,-0.09024932642845755],[-0.5266993548320096,-0.07289614583317498]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_13","position":[-0.21650081052682446,-2.1453365186232407,0.71338606911949],"aabb_xy":[[-0.23900081005053184,-2.167832466073861],[-0.19400081100311703,-2.1228405711726195]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_14","position":[-0.03673300040772365,-1.648463819969878,0.71338606911949],"aabb_xy":[[-0.05923300065123904,-1.6606684546296502],[-0.014233000164208254,-1.6362591853101063]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_15","position":[-0.28467084970129763,-1.9125057539974513,0.71338606911949],"aabb_xy":[[-0.33467012486973385,-1.9625057552733989],[-0.23467157453286153,-1.8625057527215045]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_16","position":[0.29455632983867897,-2.161958556058741,0.71338606911949],"aabb_xy":[[0.2865199951373941,-2.1699966753631577],[0.3025926645399638,-2.1539204367543245]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_17","position":[-0.5044709284625336,0.8442181443116916,0.71338606911949],"aabb_xy":[[-0.5153225347114092,0.8333588535840405],[-0.493619322213658,0.8550774350393425]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_18","position":[-0.6126945926549114,0.39028990050373213,0.71338606911949],"aabb_xy":[[-0.6273379982089443,0.3756311808469478],[-0.5980511871008783,0.40494862016051636]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_19","position":[0.6090815002257095,-0.5547966911299951,0.71338606911949],"aabb_xy":[[0.5390814968341475,-0.5901124648334258],[0.6790815036172715,-0.5194809174265641]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_20","position":[0.515340344044118,0.4010369694881173,0.71338606911949],"aabb_xy":[[0.48104343302637725,0.36674008327817587],[0.5496372550618585,0.4353338556980586]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_21","position":[-0.4600189617794085,-1.8943520907923368,0.71338606911949],"aabb_xy":[[-0.4850189610513707,-1.910697454388499],[-0.43501896250744615,-1.8780067271961742]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_22","position":[0.4897595070810383,0.8153466042213617,0.71338606911949],"aabb_xy":[[0.4661743836171435,0.75034660197593],[0.5133446305449332,0.8803466064667935]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_23","position":[-0.5250891403675418,-1.0062564910108982,0.71338606911949],"aabb_xy":[[-0.5595516183806296,-1.0129201681938207],[-0.49062666235445407,-0.9995928138279752]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_24","position":[0.35214599346717423,0.49410869546358027,0.71338606911949],"aabb_xy":[[0.3023292140023395,0.44410869697927696],[0.401962772932009,0.5441086939478836]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_25","position":[-0.3792873994050344,0.3441687495434729,0.71338606911949],"aabb_xy":[[-0.4292874003555672,0.31261960253995147],[-0.32928739845450156,0.3757178965469943]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_26","position":[-0.3549662360953377,-2.0229715757819333,0.71338606911949],"aabb_xy":[[-0.3924662359123713,-2.0276097870930756],[-0.31746623627830417,-2.018333364470792]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_27","position":[-0.4597269333571037,0.7841458758513009,0.71338606911949],"aabb_xy":[[-0.48472693252273674,0.7771936301459443],[-0.4347269341914705,0.7910981215566575]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_28","position":[0.008731924954597292,0.9204147691211744,0.71338606911949],"aabb_xy":[[-0.0006150826276979382,0.9061111469035303],[0.018078932536892522,0.9347183913388184]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_29","position":[0.19622820985570355,-1.5260628524407176,0.71338606911949],"aabb_xy":[[0.15497939882578882,-1.5810628519529348],[0.23747702088561828,-1.4710628529285]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_30","position":[-0.33178621537751146,-2.546803973032185,0.71338606911949],"aabb_xy":[[-0.3642479162594388,-2.5769368051470876],[-0.2993245144955839,-2.516671140917282]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_31","position":[0.26547158729320697,1.4585548131582091,0.71338606911949],"aabb_xy":[[0.17547159055759676,1.4053713498409146],[0.3554715840288172,1.5117382764755036]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_32","position":[-0.4541679058019007,-0.8706488599981843,0.71338606911949],"aabb_xy":[[-0.5091679040036454,-0.9111708266246219],[-0.3991679076001558,-0.8301268933717467]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_33","position":[0.44691487690474796,-2.2649689246290694,0.71338606911949],"aabb_xy":[[0.41128572100478816,-2.3006015913859224],[0.48254403280470765,-2.2293362578722165]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_34","position":[0.08031550303715607,-1.9024607690211874,0.71338606911949],"aabb_xy":[[0.07617964670445587,-1.9399607684655444],[0.08445135936985626,-1.8649607695768304]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6633191526930536,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7988.png","name":"7988"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7988.png","name":"7988"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4270.png","name":"4270"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9001.png","name":"9001"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2290.png","name":"2290"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8957.png","name":"8957"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":724.3319379183158,"rotation_z_degrees":42.8783339039204,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0052242689036306085,-0.008186358863066779,-0.010977110391886988]},{"name":"camera_2","offset_m":[-0.017543343866155716,0.005649970887838834,0.008125993707554374]},{"name":"camera_3","offset_m":[-0.011098095368104736,0.0038653807438205623,0.003844400401207943]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.000704141174756462,-0.0011795829791310147,0.001995720465915495],"end_effector_yaw_offset_degrees":-0.9208483706955088},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0014725313025391812,0.0011588244948633692,0.0017317489264764081],"end_effector_yaw_offset_degrees":0.900031131342065},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0006571571407884957,0.0005652978059490963,0.001786648973724922],"end_effector_yaw_offset_degrees":-0.9666676667405922},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0007189019029054946,-0.0019125132377754794,-0.0014479253059841875],"end_effector_yaw_offset_degrees":-0.1690571616571579}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00462299545301944,-0.0009089965435042655],"position_m":[0.21762299545301944,-0.13940899654350428,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00391174438147822,-0.004626783687250523],"position_m":[0.22818825561852177,-0.3689267836872505,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.002924179679613376,0.0014701656060371448],"position_m":[0.2882758203203866,-0.03812983439396286,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003858038909208267,0.0025067623327878555],"position_m":[0.3401419610907917,0.17740676233278785,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5a48cee54cb7d90d1520de8fc9c36ceb124f1dcfaeae663c4269016bf93c29f4","episode_index":62,"episode_name":"episode_0062"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0062.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_7988/tex_ceiling_textures_8957/tex_floor_textures_2290/tex_table_textures_4270/tex_wall_textures_9001","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":8179723110427779339,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":8179723110427779339,"visual_seed":8179723110427779339,"scene_id":"lab_003","finished_at":"2026-09-05T23:42:18"} +{"episode_id":"ep_000063","started_at":"2026-09-05T23:42:21","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_0","position":[-0.12085835842084158,-2.3153496883867892,0.71338606911949],"aabb_xy":[[-0.12477223161626409,-2.3240987037933456],[-0.11694448522541905,-2.306600672980232]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_1","position":[-0.3120583841293705,-1.3631298152763511,0.71338606911949],"aabb_xy":[[-0.32794287739469563,-1.3774827555751752],[-0.29617389086404533,-1.348776874977527]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_2","position":[0.4013412118297328,-1.5445400713140152,0.71338606911949],"aabb_xy":[[0.3838412115703963,-1.5586316135027882],[0.41884121208906955,-1.530448529125243]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_3","position":[0.3063561817047795,1.210234062571609,0.71338606911949],"aabb_xy":[[0.2998545451967749,1.2004662405452995],[0.31285781821278413,1.220001884597919]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_4","position":[0.0726043217253014,-0.8704034477782574,0.71338606911949],"aabb_xy":[[0.048058106102550686,-0.9006523443272946],[0.09715053734805212,-0.8401545512292204]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_5","position":[-0.06844249214355425,-1.6568839136925555,0.71338606911949],"aabb_xy":[[-0.11841578614681468,-1.7068839142471024],[-0.018469198140293783,-1.6068839131380077]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_6","position":[-0.09210377461723496,-0.6297570628411822,0.71338606911949],"aabb_xy":[[-0.1045711327269706,-0.6422223874745057],[-0.07963641650749931,-0.6172917382078587]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_7","position":[-0.416119439182714,-0.5006836513972512,0.71338606911949],"aabb_xy":[[-0.45203294360770363,-0.5365971596140059],[-0.38020593475772424,-0.46477014318049664]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_8","position":[-0.03870246700810975,1.6658201424744816,0.71338606911949],"aabb_xy":[[-0.10870246861038924,1.6523873492728245],[0.03129753459416973,1.6792529356761396]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_9","position":[0.5969797709889606,-0.7789901737521374,0.71338606911949],"aabb_xy":[[0.57447977047692,-0.8014820321175358],[0.6194797715010012,-0.7564983153867391]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_10","position":[-0.5931449747466175,-0.4523447000581666,0.71338606911949],"aabb_xy":[[-0.6431449757657528,-0.4888109157959946],[-0.5431449737274823,-0.41587848432033875]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_11","position":[-0.4901852597598075,0.6434980340372398,0.71338606911949],"aabb_xy":[[-0.5501852596063743,0.586679411844201],[-0.43018525991324064,0.7003166562302784]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_12","position":[-0.5297982800573168,-1.6793025082549664,0.71338606911949],"aabb_xy":[[-0.5672982815729485,-1.6905292812711117],[-0.49229827854168506,-1.6680757352388216]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_13","position":[0.5470272947424903,-1.3620125462733756,0.71338606911949],"aabb_xy":[[0.49703418263329857,-1.4120125469475713],[0.5970204068516823,-1.31201254559918]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_14","position":[0.36229043929986715,-2.3644692767295683,0.71338606911949],"aabb_xy":[[0.3521374237457177,-2.4005388183023078],[0.3724434548540165,-2.328399735156827]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_15","position":[-0.3617833036497979,-2.1701866421255906,0.71338606911949],"aabb_xy":[[-0.37371603801162595,-2.18256879493345],[-0.3498505692879698,-2.1578044893177313]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_16","position":[0.24007444479854811,-1.3395890677405384,0.71338606911949],"aabb_xy":[[0.231960790125171,-1.3476948841945675],[0.24818809947192522,-1.3314832512865094]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_17","position":[-0.2059143373705306,0.2890830783995382,0.71338606911949],"aabb_xy":[[-0.26991433959093764,0.2447099942742499],[-0.14191433515012358,0.33345616252482646]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_18","position":[-0.3349278680002308,-2.3836449775645505,0.71338606911949],"aabb_xy":[[-0.4149278682738377,-2.4565945253902672],[-0.25492786772662374,-2.310695429738834]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_19","position":[0.5171221541195228,1.762963085121291,0.71338606911949],"aabb_xy":[[0.5062816758930079,1.745776803830642],[0.5279626323460377,1.7801493664119394]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_20","position":[-0.47244391577964884,0.08910242143109137,0.71338606911949],"aabb_xy":[[-0.552443912939224,0.07755482047327432],[-0.39244391862007344,0.1006500223889084]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_21","position":[0.16825188007933456,-1.8549295823623064,0.71338606911949],"aabb_xy":[[0.11827446321408096,-1.904929583851555],[0.21822929694458812,-1.8049295808730579]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6605880101017206,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5080.png","name":"5080"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5080.png","name":"5080"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6338.png","name":"6338"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3444.png","name":"3444"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2376.png","name":"2376"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5445.png","name":"5445"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":715.8693219280815,"rotation_z_degrees":117.50070405657259,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015092081823236566,-0.004060021524573566,-0.010683219557732082]},{"name":"camera_2","offset_m":[0.01801019130555497,-0.019589842661066014,-0.0005701038279501934]},{"name":"camera_3","offset_m":[-0.01612480894455134,0.008911927345816278,2.781342150858304e-05]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0010645171197783691,0.00093703066664644,-0.0010078171508963352],"end_effector_yaw_offset_degrees":0.10664206768998352},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0018059882387364832,8.918125592693006e-05,-0.0014596759817153422],"end_effector_yaw_offset_degrees":0.6055817008430358},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00040138808033770255,0.0002786360444381299,-0.0008627093441361366],"end_effector_yaw_offset_degrees":0.9735054459900061},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0001569392801322356,0.0007569848692090312,-0.0001650203894608198],"end_effector_yaw_offset_degrees":0.5343974513738632}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0013017180310261247,0.0019463907115974555],"position_m":[0.21430171803102613,-0.13655360928840254,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0011946952980424774,0.004455046344905633],"position_m":[0.23090530470195753,-0.3598449536550944,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002190103237052348,0.00042661948519217424],"position_m":[0.29339010323705234,-0.03917338051480783,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0006996040529978868,-0.003921895173949735],"position_m":[0.34330039594700207,0.17097810482605028,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"61b77251b916c648e9c09608037a583b3eed7a76f3f5d8f0047217d4a27af54f","episode_index":63,"episode_name":"episode_0063"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0063.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_5080/tex_ceiling_textures_5445/tex_floor_textures_2376/tex_table_textures_6338/tex_wall_textures_3444","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":7409979955497940057,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":7409979955497940057,"visual_seed":7409979955497940057,"scene_id":"lab_003","finished_at":"2026-09-05T23:45:44"} +{"episode_id":"ep_000064","started_at":"2026-09-05T23:45:48","dimensions":{"distractor":{"count":29,"items":[{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_0","position":[-0.3818901899407045,1.2342835276807045,0.71338606911949],"aabb_xy":[[-0.4007745737092147,1.2153976029003517],[-0.3630058061721943,1.2531694524610573]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_1","position":[-0.3477504344654671,0.3518538878838271,0.71338606911949],"aabb_xy":[[-0.3890549775292031,0.28785388831570996],[-0.3064458914017311,0.4158538874519441]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_2","position":[0.3362516288531219,0.9364763008487333,0.71338606911949],"aabb_xy":[[0.32488989419983566,0.9251078344424452],[0.347613363506408,0.9478447672550213]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_3","position":[-0.0008151987856529486,-2.3875365987495853,0.71338606911949],"aabb_xy":[[-0.0648152001936436,-2.43932555027351],[0.06318480262233771,-2.3357476472256606]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_4","position":[0.10348675087065728,1.2650580437858103,0.71338606911949],"aabb_xy":[[0.06645264144259756,1.230680836452101],[0.14052086029871697,1.2994352511195197]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_5","position":[-0.3702238821902429,-1.819360082626019,0.71338606911949],"aabb_xy":[[-0.3743597385229431,-1.8568600820703758],[-0.3660880258575427,-1.7818600831816618]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_6","position":[-0.2450738607329927,-2.2573654485959764,0.71338606911949],"aabb_xy":[[-0.2500298809178739,-2.2798654487980987],[-0.2401178405481115,-2.234865448393855]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_7","position":[-0.5936899287628242,-0.8141769706916586,0.71338606911949],"aabb_xy":[[-0.6137483403760646,-0.834242057600816],[-0.573631517149584,-0.794111883782501]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_8","position":[0.513201538169644,-0.9290611239874775,0.71338606911949],"aabb_xy":[[0.4235144618615285,-1.019061124241928],[0.6028886144777594,-0.8390611237330269]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_9","position":[0.5571593400053885,-2.0634341205445086,0.71338606911949],"aabb_xy":[[0.539365833070472,-2.0812338661403063],[0.5749528469403049,-2.045634374948711]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_10","position":[-0.5641574758135453,-1.3609644821441231,0.71338606911949],"aabb_xy":[[-0.6291574736951931,-1.412088145850664],[-0.4991574779318976,-1.3098408184375823]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_11","position":[-0.5381959221468351,0.8662937538701212,0.71338606911949],"aabb_xy":[[-0.6181959193064104,0.854746152912304],[-0.4581959249872598,0.8778413548279381]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_12","position":[0.2462219937856307,-0.5480937130245231,0.71338606911949],"aabb_xy":[[0.20872199260083787,-0.5525119357205837],[0.28372199497042344,-0.5436754903284626]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_13","position":[0.27401949659420766,1.5631112443865685,0.71338606911949],"aabb_xy":[[0.2614167974571312,1.550515848161703],[0.2866221957312841,1.575706640611434]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_14","position":[-0.08042139698590833,-0.04610075407050607,0.71338606911949],"aabb_xy":[[-0.11542139833739005,-0.0664604900273269],[-0.04542139563442659,-0.025741018113685236]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_15","position":[-0.15103154525482188,1.7833602207270913,0.71338606911949],"aabb_xy":[[-0.176031544420455,1.7764079750217348],[-0.12603154608918876,1.790312466432448]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_16","position":[0.19097397533690064,-1.6156531157131064,0.71338606911949],"aabb_xy":[[0.18633886018466722,-1.6195204507902545],[0.195609090489134,-1.6117857806359575]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_17","position":[-0.026369115696947776,1.188850145467756,0.71338606911949],"aabb_xy":[[-0.06386911604517553,1.1770587498866723],[0.011130884651279985,1.2006415410488394]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_18","position":[-0.183218999661248,0.5347815452419202,0.71338606911949],"aabb_xy":[[-0.2532190030528099,0.4994657715384894],[-0.113218996269686,0.5700973189453511]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_19","position":[-0.27856427303111814,-0.675294607779747,0.71338606911949],"aabb_xy":[[-0.288320262540292,-0.6850571418389814],[-0.26880828352194425,-0.6655320737205125]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_20","position":[-0.208688768847538,-2.37195962872445,0.71338606911949],"aabb_xy":[[-0.27268876614988435,-2.416326055692307],[-0.14468877154519158,-2.3275932017565935]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_21","position":[0.33559501538114866,-1.893570227649335,0.71338606911949],"aabb_xy":[[0.2555950179775552,-1.9735627988475175],[0.41559501278474204,-1.8135776564511519]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_22","position":[0.5857687858322771,-1.1846388114307076,0.71338606911949],"aabb_xy":[[0.5682688523982937,-1.202138811350942],[0.6032687192662605,-1.1671388115104728]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_23","position":[0.20494072571238564,0.7330428523622676,0.71338606911949],"aabb_xy":[[0.14094072249374778,0.6863197404632594],[0.2689407289310235,0.7797659642612761]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_24","position":[0.518416431827244,-2.287919668086202,0.71338606911949],"aabb_xy":[[0.4900867218787037,-2.2923804102799195],[0.5467461417757842,-2.2834589258924853]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_25","position":[0.6431291460595279,-0.3183729045631294,0.71338606911949],"aabb_xy":[[0.5831291458081267,-0.37265422959959404],[0.703129146310929,-0.26409157952666473]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_26","position":[0.6597008722688644,-1.3344902593676569,0.71338606911949],"aabb_xy":[[0.6211551794436634,-1.3730360304238456],[0.6982465650940655,-1.2959444883114681]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_27","position":[0.6406211962785993,-1.8201073892887578,0.71338606911949],"aabb_xy":[[0.5945361050238677,-1.884107386541313],[0.6867062875333306,-1.7561073920362027]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_28","position":[-0.5432380825272094,1.1862916817473326,0.71338606911949],"aabb_xy":[[-0.6072380796393152,1.1372593119529217],[-0.4792380854151038,1.235324051541743]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6625849146411953,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3475.png","name":"3475"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3475.png","name":"3475"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9836.png","name":"9836"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3038.png","name":"3038"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1899.png","name":"1899"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3275.png","name":"3275"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":621.8830087738183,"rotation_z_degrees":307.3248751512214,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014144162730731855,0.01017759275985422,-0.011643712140744703]},{"name":"camera_2","offset_m":[-0.008504625263205142,-0.016241183857783965,0.004496737309444564]},{"name":"camera_3","offset_m":[-0.013614991076005096,0.0017386014725292442,-0.00108273140123007]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0003131104659335419,-0.0006394469167259249,0.0007533030722590697],"end_effector_yaw_offset_degrees":-0.7307858938733616},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00036419818953720867,0.0013872114077094397,-0.00012347003482036543],"end_effector_yaw_offset_degrees":0.6359923383567951},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0006224757191261752,0.0008397604695397905,0.0016260124403566925],"end_effector_yaw_offset_degrees":0.667121459008472},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0014723371368224845,-0.000988507311476711,0.001649539480539783],"end_effector_yaw_offset_degrees":0.8154906020641339}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0029764822022339014,0.003599159642235239],"position_m":[0.2159764822022339,-0.13490084035776478,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004329059667517725,-0.003930052564954101],"position_m":[0.22777094033248227,-0.3682300525649541,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003313484726496614,0.0015591035557701556],"position_m":[0.29451348472649663,-0.038040896444229845,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0016067705736499882,-0.0016836300480036637],"position_m":[0.34560677057364997,0.17321636995199632,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"65a46bd9334e8b2a1641ab9df4a164b0bb174f4406f17dc690f2db020058fe60","episode_index":64,"episode_name":"episode_0064"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0064.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_3475/tex_ceiling_textures_3275/tex_floor_textures_1899/tex_table_textures_9836/tex_wall_textures_3038","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":595501452218919741,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":595501452218919741,"visual_seed":595501452218919741,"scene_id":"lab_003","finished_at":"2026-09-05T23:49:07"} +{"episode_id":"ep_000065","started_at":"2026-09-05T23:49:11","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_0","position":[-0.6292488511474936,0.9467427893895155,0.71338606911949],"aabb_xy":[[-0.6714332653083244,0.8827427891123044],[-0.5870644369866629,1.0107427896667267]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_1","position":[0.17702236635389446,1.7193004908777048,0.71338606911949],"aabb_xy":[[0.1270394161664151,1.6693004912351441],[0.22700531654137376,1.769300490520265]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_2","position":[0.19673363190113835,-2.0008521453514443,0.71338606911949],"aabb_xy":[[0.18851908678545432,-2.009528735649085],[0.20494817701682227,-1.9921755550538027]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_3","position":[-0.44008832804075493,-2.1805248708856877,0.71338606911949],"aabb_xy":[[-0.47758832883275043,-2.186892711843878],[-0.40258832724875954,-2.1741570299274975]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_4","position":[-0.41582300387293725,1.0433066448070827,0.71338606911949],"aabb_xy":[[-0.4197834876426716,1.035638780221562],[-0.4118625201032029,1.0509745093926033]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_5","position":[0.07589822616922925,1.1441032901543355,0.71338606911949],"aabb_xy":[[0.04343652528730179,1.1139704580394327],[0.1083599270511567,1.174236122269238]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_6","position":[-0.21485053419985484,0.8115383108381056,0.71338606911949],"aabb_xy":[[-0.23985053413237276,0.8046556426171824],[-0.18985053426733697,0.818420979059029]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_7","position":[-0.525375915031572,-1.6449523340640764,0.71338606911949],"aabb_xy":[[-0.5303319352164533,-1.6674523342661987],[-0.5204198948466909,-1.6224523338619554]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_8","position":[0.5371393991419877,-2.5307395961224044,0.71338606911949],"aabb_xy":[[0.5033638399512946,-2.544778091335569],[0.5709149583326806,-2.516701100909239]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_9","position":[-0.19716009896588782,-0.5074137694803027,0.71338606911949],"aabb_xy":[[-0.2471600984060834,-0.557381693964619],[-0.14716009952569217,-0.4574458449959864]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_10","position":[0.6811985303283188,-1.8343183119505664,0.71338606911949],"aabb_xy":[[0.6436985301564467,-1.8670190473334733],[0.7186985305001906,-1.801617576567659]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_11","position":[-0.2683693994374213,-2.06819220727614,0.71338606911949],"aabb_xy":[[-0.3057006759626639,-2.1028452620709923],[-0.23103812291217865,-2.033539152481288]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_12","position":[-0.1728665510791526,-1.2810796936442579,0.71338606911949],"aabb_xy":[[-0.2074576339331978,-1.3460796939292887],[-0.13827546822510736,-1.2160796933592266]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_13","position":[-0.01645018096933404,-2.0053712745492676,0.71338606911949],"aabb_xy":[[-0.05499587379453507,-2.0439170456054563],[0.022095511855866994,-1.9668255034930788]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_14","position":[0.584102762240001,-1.6373191207537245,0.71338606911949],"aabb_xy":[[0.5732622840134861,-1.654505402044373],[0.5949432404665159,-1.6201328394630756]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_15","position":[0.12857893727503755,-2.16505930886911,0.71338606911949],"aabb_xy":[[0.11251700981651992,-2.2500593106817015],[0.1446408647335552,-2.080059307056518]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_16","position":[0.20212671628958023,-0.6473324256909498,0.71338606911949],"aabb_xy":[[0.15212671527044497,-0.6837986414287779],[0.2521267173087155,-0.610866209953122]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_17","position":[-0.4881565994076025,0.7145709015791724,0.71338606911949],"aabb_xy":[[-0.5215967746036219,0.6811272757482421],[-0.45471642421158276,0.7480145274101022]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_18","position":[0.23441803549313023,0.8650828427230466,0.71338606911949],"aabb_xy":[[0.2044504785833046,0.8350828424251608],[0.2643855924029559,0.8950828430209323]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_19","position":[0.6881063738820083,0.6098045782350061,0.71338606911949],"aabb_xy":[[0.6754795865948119,0.6002585045334332],[0.7007331611692046,0.619350651936579]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_20","position":[-0.4823868151593681,1.3808972998515388,0.71338606911949],"aabb_xy":[[-0.5463868144535363,1.3169111594826846],[-0.4183868158651999,1.444883440220393]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_21","position":[0.5894327924612501,-1.054156821338661,0.71338606911949],"aabb_xy":[[0.5481282493975141,-1.1181568209067778],[0.6307373355249861,-0.9901568217705436]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_22","position":[-0.2565604012104928,1.7264891686779271,0.71338606911949],"aabb_xy":[[-0.28655206394436306,1.6964891693411266],[-0.2265687384766224,1.7564891680147277]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_23","position":[0.41929192099299684,-0.47387756159381933,0.71338606911949],"aabb_xy":[[0.39677822916953964,-0.5438775621948269],[0.44180561281645403,-0.4038775609928118]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_24","position":[0.3065082245175852,-0.8199573394780308,0.71338606911949],"aabb_xy":[[0.3011706488515806,-0.8449573404071705],[0.31184580018358976,-0.794957338548891]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_25","position":[0.0341559280015401,1.5876855284323388,0.71338606911949],"aabb_xy":[[0.02711561806800311,1.5076855290326676],[0.041196237935077096,1.6676855278320104]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_26","position":[-0.18929805948698863,-0.08126082703918103,0.71338606911949],"aabb_xy":[[-0.2303160028733595,-0.13126082767013836],[-0.14828011610061773,-0.03126082640822371]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6689886690283926,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5230.png","name":"5230"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5230.png","name":"5230"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/394.png","name":"394"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9800.png","name":"9800"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3871.png","name":"3871"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1700.png","name":"1700"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":723.382957078617,"rotation_z_degrees":354.663329880719,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007332332112765169,-0.010414929523620522,0.0036478339080778]},{"name":"camera_2","offset_m":[-0.0018961832990841213,0.004823452059196459,-0.00011868983179951983]},{"name":"camera_3","offset_m":[0.004312633518411397,0.0027416522684856164,0.012103813123560504]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[7.668556057595279e-05,0.0011170538262617836,-0.0006943573348070057],"end_effector_yaw_offset_degrees":0.3800178407781176},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.001201379286748888,1.3631506514065559e-05,0.0009044396569082664],"end_effector_yaw_offset_degrees":0.6639554657076423},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0003608487646307311,0.00012990195784721948,0.0012436247909425307],"end_effector_yaw_offset_degrees":0.024375474857603274},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0004617172137315229,-9.572904782200343e-06,0.000768697490423775],"end_effector_yaw_offset_degrees":-0.9903588988109278}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0046797410802200375,0.0008703585849735244],"position_m":[0.21767974108022003,-0.13762964141502648,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003385190620932943,-0.0038879525995911346],"position_m":[0.23548519062093295,-0.36818795259959114,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004136423081193463,0.0019952642770399032],"position_m":[0.29533642308119346,-0.0376047357229601,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0036435272217784634,-0.0021280850822216037],"position_m":[0.34764352722177844,0.1727719149177784,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6de75ae6db59a491ca56f1f3c53519591a38d041e62e1c5524d48a02ca58634b","episode_index":65,"episode_name":"episode_0065"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0065.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_5230/tex_ceiling_textures_1700/tex_floor_textures_3871/tex_table_textures_394/tex_wall_textures_9800","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":4260150528722129110,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":4260150528722129110,"visual_seed":4260150528722129110,"scene_id":"lab_003","finished_at":"2026-09-05T23:52:35"} +{"episode_id":"ep_000066","started_at":"2026-09-05T23:54:57","dimensions":{"distractor":{"count":30,"items":[{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_0","position":[-0.3312378748685236,-0.6521298494011021,0.71338606911949],"aabb_xy":[[-0.3562378741404858,-0.6684752129972644],[-0.30623787559656124,-0.6357844858049397]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_1","position":[-0.6513544144316479,0.07899919106417519,0.71338606911949],"aabb_xy":[[-0.6601564697406205,0.0711878649092461],[-0.642552359122675,0.08681051721910425]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_2","position":[0.704552365530688,-1.4396341060948163,0.71338606911949],"aabb_xy":[[0.6869740633417412,-1.4572085956689211],[0.7221306677196349,-1.4220596165207111]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_3","position":[0.2549764712415128,-2.1741645774890674,0.71338606911949],"aabb_xy":[[0.23742977632539392,-2.211664579053319],[0.2725231661576318,-2.136664575924816]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_4","position":[-0.3977803239469183,-1.209936385424567,0.71338606911949],"aabb_xy":[[-0.43224267134506,-1.2444302678223895],[-0.3633179765487764,-1.1754425030267441]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_5","position":[-0.4262609103348552,-1.9251995074809596,0.71338606911949],"aabb_xy":[[-0.4429380463279507,-1.94189943145489],[-0.4095837743417597,-1.9084995835070295]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_6","position":[0.5929032075782388,-1.4460184050907632,0.71338606911949],"aabb_xy":[[0.5827501920240893,-1.4820879466635033],[0.603056223132388,-1.4099488635180226]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_7","position":[0.5234701159105217,-1.8265217597308636,0.71338606911949],"aabb_xy":[[0.5015614337711706,-1.8484224265509541],[0.5453787980498727,-1.8046210929107727]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_8","position":[0.2898494087187852,0.9621343955246395,0.71338606911949],"aabb_xy":[[0.229849408467384,0.9078530704881748],[0.34984940897018635,1.016415720561104]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_9","position":[-0.3954281997489932,1.8180380658315358,0.71338606911949],"aabb_xy":[[-0.40139473868972897,1.8120769211721715],[-0.3894616608082574,1.8239992104908997]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_10","position":[-0.24058525258946495,0.5136119757937543,0.71338606911949],"aabb_xy":[[-0.2780852526950579,0.506789813940773],[-0.203085252483872,0.5204341376467353]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_11","position":[-0.209298561818897,-2.404524936869634,0.71338606911949],"aabb_xy":[[-0.28929855979968205,-2.412126477831486],[-0.12929856383811197,-2.3969233959077823]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_12","position":[-0.25902105513525836,-2.52420204795062,0.71338606911949],"aabb_xy":[[-0.3240210532911774,-2.5504982925005324],[-0.1940210569793393,-2.497905803400708]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_13","position":[-0.17242838129081384,-1.0713790181845428,0.71338606911949],"aabb_xy":[[-0.22242838224134662,-1.1029281651880642],[-0.122428380340281,-1.0398298711810214]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_14","position":[-0.4710041304140382,1.5902293895577384,0.71338606911949],"aabb_xy":[[-0.47899811899174155,1.5822293094626478],[-0.46301014183633477,1.5982294696528285]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_15","position":[0.548208375071636,-0.3134870833003678,0.71338606911949],"aabb_xy":[[0.49320837544989016,-0.3684707760878405],[0.6032083746933818,-0.25850339051289506]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_16","position":[0.23994959847179675,-2.320522277738776,0.71338606911949],"aabb_xy":[[0.18994959711090953,-2.3705001823141916],[0.289949599832684,-2.2705443731633603]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_17","position":[0.4428091972034667,1.7100463244138608,0.71338606911949],"aabb_xy":[[0.43576888726992985,1.63004632501419],[0.44984950713700383,1.7900463238135327]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_18","position":[-0.5270903095649566,-0.7108001134988342,0.71338606911949],"aabb_xy":[[-0.5445903098100059,-0.7282999013384011],[-0.5095903093199071,-0.6933003256592674]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_19","position":[-0.5242072445392718,0.4230474742303425,0.71338606911949],"aabb_xy":[[-0.5471229574243218,0.400143177093919],[-0.501291531654222,0.445951771366766]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_20","position":[-0.6082151486712646,1.6981053506745192,0.71338606911949],"aabb_xy":[[-0.6632151468730093,1.6575833840480816],[-0.5532151504695196,1.7386273173009568]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_21","position":[-0.11996837139687655,0.16484399113856618,0.71338606911949],"aabb_xy":[[-0.16996837083707214,0.11487606665424988],[-0.0699683719566809,0.2148119156228825]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_22","position":[0.5127407639222354,-1.5707564748053038,0.71338606911949],"aabb_xy":[[0.5053283083808471,-1.5766076852269317],[0.520153219463624,-1.5649052643836758]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_23","position":[0.507189997576365,1.0678384810462012,0.71338606911949],"aabb_xy":[[0.4171899989818951,1.0515878947327801],[0.597189996170835,1.0840890673596222]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_24","position":[0.07539928839629673,-1.5941437647595804,0.71338606911949],"aabb_xy":[[0.020407037760785774,-1.6491437665028934],[0.13039153903180767,-1.5391437630162679]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_25","position":[0.6833898932942559,0.9366718127186848,0.71338606911949],"aabb_xy":[[0.6725494150677409,0.919485531428036],[0.6942303715207707,0.9538580940093336]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_26","position":[-0.2982865731889034,1.2059726379113016,0.71338606911949],"aabb_xy":[[-0.37828657059249676,1.1259800667131186],[-0.21828657578530994,1.2859652091094842]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_27","position":[-0.3941569421693716,-1.5696014305792596,0.71338606911949],"aabb_xy":[[-0.48415694450339064,-1.6470837851643723],[-0.3041569398353525,-1.492119075994147]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_28","position":[-0.14510360281225376,0.854188203495093,0.71338606911949],"aabb_xy":[[-0.23510360253542792,0.831114850959913],[-0.05510360308907957,0.8772615560302727]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_29","position":[0.08909117592008864,1.1525045214448735,0.71338606911949],"aabb_xy":[[0.03910694021191141,1.1025045226313777],[0.13907541162826587,1.2025045202583688]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6664945300466513,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6999.png","name":"6999"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6999.png","name":"6999"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9539.png","name":"9539"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9327.png","name":"9327"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/139.png","name":"139"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8348.png","name":"8348"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":785.8387805863993,"rotation_z_degrees":219.33987458731258,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01627538358018964,0.013085924161013614,0.011002009794226397]},{"name":"camera_2","offset_m":[-0.016234152797701584,-0.017005742474842857,-0.0014453363517627077]},{"name":"camera_3","offset_m":[-0.004104001500097678,-0.0030809210865228483,0.009217267597460471]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0014575356596909922,0.0007259243381937141,0.000586997606194847],"end_effector_yaw_offset_degrees":-0.8205513534802757},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00117335734034306,-0.0014228027811078385,-0.0002650391845630566],"end_effector_yaw_offset_degrees":0.7845405210755345},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0004251537567024938,-0.0010129918186147023,-0.0010888815999739142],"end_effector_yaw_offset_degrees":0.7019854491383761},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006078620283551254,-0.001060034574073395,-0.0005654709692643825],"end_effector_yaw_offset_degrees":-0.6598957310745182}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0004670299502912596,0.0007615106258954682],"position_m":[0.21346702995029126,-0.13773848937410454,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004594308692488231,0.0025273903851195587],"position_m":[0.23669430869248823,-0.36177260961488045,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0016693837719211034,-0.0016086993475901003],"position_m":[0.2928693837719211,-0.041208699347590104,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00443830349717172,0.0026204469982852013],"position_m":[0.33956169650282825,0.1775204469982852,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9f5affddf7c2d7064a9700472d276663d5a556765f46b0efe9205ab0b655a9f7","episode_index":67,"episode_name":"episode_0067"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0067.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_6999/tex_ceiling_textures_8348/tex_floor_textures_139/tex_table_textures_9539/tex_wall_textures_9327","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":7983761995197690371,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":7983761995197690371,"visual_seed":7983761995197690371,"scene_id":"lab_003","finished_at":"2026-09-05T23:58:21"} +{"episode_id":"ep_000067","started_at":"2026-09-05T23:58:25","dimensions":{"distractor":{"count":25,"items":[{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_0","position":[0.640783846932365,0.754421182667997,0.71338606911949],"aabb_xy":[[0.6247219194738474,0.6694211808554051],[0.6568457743908827,0.8394211844805888]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_1","position":[0.5375943119345843,-1.562950819789323,0.71338606911949],"aabb_xy":[[0.5000943118289912,-1.569772981642304],[0.5750943120401771,-1.5561286579363418]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_2","position":[0.45459760203648725,-2.0521979425422296,0.71338606911949],"aabb_xy":[[0.4085125107817557,-2.1161979397947843],[0.5006826932912186,-1.9881979452896743]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_3","position":[-0.31165844347907634,-1.728757927462572,0.71338606911949],"aabb_xy":[[-0.3916584404933243,-1.7488924791359832],[-0.23165844646482836,-1.7086233757891607]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_4","position":[-0.14234893624193778,0.8900099838323321,0.71338606911949],"aabb_xy":[[-0.14578961248199496,0.8861485508579676],[-0.1389082600018806,0.8938714168066966]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_5","position":[-0.5446421328095044,-0.8850766883440708,0.71338606911949],"aabb_xy":[[-0.6146421349409338,-0.9078386539697664],[-0.4746421306780747,-0.8623147227183751]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_6","position":[-0.5437322855563842,1.4809697787833014,0.71338606911949],"aabb_xy":[[-0.6077322874687265,1.425058629525291],[-0.47973228364404186,1.5368809280413118]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_7","position":[0.6258945097654023,-1.1464997144222622,0.71338606911949],"aabb_xy":[[0.6171132826181661,-1.1552794617107927],[0.6346757369126387,-1.1377199671337321]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_8","position":[0.5532005417806896,0.11659993760898235,0.71338606911949],"aabb_xy":[[0.4632005394466705,0.03911758302386968],[0.6432005441147086,0.194082292194095]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_9","position":[-0.25376656566136435,0.1849613922766835,0.71338606911949],"aabb_xy":[[-0.26339820188179397,0.1753240794969746],[-0.24413492944093473,0.19459870505639243]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_10","position":[-0.6451382191865095,-1.003408603215383,0.71338606911949],"aabb_xy":[[-0.6950209160642057,-1.053408602461658],[-0.5952555223088133,-0.9534086039691085]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_11","position":[0.45604106712137615,-2.3234618267923093,0.71338606911949],"aabb_xy":[[0.3920410664179069,-2.3694802092652307],[0.5200410678248456,-2.2774434443193887]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_12","position":[-0.6200949872734338,1.2761206760850254,0.71338606911949],"aabb_xy":[[-0.6356507566836992,1.2605702428406182],[-0.6045392178631687,1.2916711093294326]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_13","position":[0.276593819324342,1.7512461527202574,0.71338606911949],"aabb_xy":[[0.21259381727461002,1.7111516696309494],[0.340593821374074,1.7913406358095654]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_14","position":[0.524385071493435,-0.670224393421218,0.71338606911949],"aabb_xy":[[0.4744120059609197,-0.7202243932337509],[0.5743581370259506,-0.6202243936086851]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_15","position":[-0.0299919562617188,-2.463920850727507,0.71338606911949],"aabb_xy":[[-0.04343848289576213,-2.477390702380598],[-0.016545429627675468,-2.450450999074415]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_16","position":[-0.3778707786461739,1.8045538944538282,0.71338606911949],"aabb_xy":[[-0.4128707769162938,1.7974797667588402],[-0.342870780376054,1.8116280221488166]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_17","position":[-0.12543265672622983,1.3122453846371984,0.71338606911949],"aabb_xy":[[-0.13830456022716994,1.232245384223362],[-0.11256075322528968,1.3922453850510343]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_18","position":[0.580470397299063,-0.13512544511512914,0.71338606911949],"aabb_xy":[[0.5164703949562613,-0.1800662963592616],[0.6444703996418645,-0.09018459387099663]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_19","position":[0.42384439176611366,0.5205594712570236,0.71338606911949],"aabb_xy":[[0.3438443948030745,0.44348382961325017],[0.5038443887291528,0.5976351129007971]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_20","position":[-0.379388803155174,-0.283493248331832,0.71338606911949],"aabb_xy":[[-0.40438880242713626,-0.2998386119279943],[-0.3543888038832117,-0.26714788473566964]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_21","position":[0.6589026320580951,-1.3206947436398164,0.71338606911949],"aabb_xy":[[0.6400182482895849,-1.3395806684201692],[0.6777870158266053,-1.3018088188594636]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_22","position":[-0.3000873116554881,-0.6054925256808947,0.71338606911949],"aabb_xy":[[-0.3375873131711198,-0.6167192986970397],[-0.26258731013985637,-0.5942657526647496]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_23","position":[0.5864102354745881,-1.789240655699997,0.71338606911949],"aabb_xy":[[0.5314102358528423,-1.84422434848747],[0.641410235096334,-1.7342569629125246]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_24","position":[-0.2722689619488332,-2.4652471033299004,0.71338606911949],"aabb_xy":[[-0.3338597211728261,-2.5292471014389473],[-0.21067820272484045,-2.4012471052208535]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6663345266204771,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1093.png","name":"1093"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1093.png","name":"1093"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3766.png","name":"3766"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7699.png","name":"7699"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2024.png","name":"2024"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7984.png","name":"7984"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":563.2101827094133,"rotation_z_degrees":324.1457847521108,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011056760064707434,0.016664584782423306,-0.002013019100555201]},{"name":"camera_2","offset_m":[-0.009687929698173626,-0.01810688403258054,-0.01619677794014178]},{"name":"camera_3","offset_m":[0.018595767000809834,0.008318610767038267,-0.002834453513265764]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001598763486844597,-0.0011784369001290426,0.0008084078632170791],"end_effector_yaw_offset_degrees":-0.09946600379162218},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0014191545411185431,-0.0015653762218695588,-0.0005208226110742125],"end_effector_yaw_offset_degrees":0.35570875959424986},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0014527610377946944,0.0015132553430170863,0.0014915366128241047],"end_effector_yaw_offset_degrees":-0.6475413709314282},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008123860596427981,4.0601083053056104e-05,-0.0008573138310106981],"end_effector_yaw_offset_degrees":-0.43670899860884926}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0009134359880894416,-0.002860896124454129],"position_m":[0.21208656401191056,-0.14136089612445413,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0014647494525869033,-0.0019784402178989924],"position_m":[0.2335647494525869,-0.366278440217899,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0032868997869510757,0.00039140330001155837],"position_m":[0.2944868997869511,-0.03920859669998845,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0019795770471626407,-0.0035697717332789903],"position_m":[0.3459795770471626,0.171330228266721,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a5355c76c63b9ec6108a0b948524fdc8fe5afa9f9212560c4992e95b392747ee","episode_index":68,"episode_name":"episode_0068"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0068.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_1093/tex_ceiling_textures_7984/tex_floor_textures_2024/tex_table_textures_3766/tex_wall_textures_7699","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":3354513052051284462,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":3354513052051284462,"visual_seed":3354513052051284462,"scene_id":"lab_003","finished_at":"2026-09-06T00:01:55"} +{"episode_id":"ep_000068","started_at":"2026-09-06T00:01:59","dimensions":{"distractor":{"count":34,"items":[{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_0","position":[-0.6120131222698628,-0.7327979247054701,0.71338606911949],"aabb_xy":[[-0.6920131255277058,-0.8127944324974541],[-0.5320131190120199,-0.6528014169134861]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_1","position":[0.33356383338202833,-1.4069852577001178,0.71338606911949],"aabb_xy":[[0.32265805729446567,-1.4869852540989468],[0.3444696094695911,-1.3269852613012885]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_2","position":[-0.5305381194247749,-2.162045811276031,0.71338606911949],"aabb_xy":[[-0.610538116439023,-2.182180362949442],[-0.45053812241052704,-2.1419112596026197]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_3","position":[0.6418830895798204,-0.07959602278083766,0.71338606911949],"aabb_xy":[[0.61189142684595,-0.10959602211763819],[0.6718747523136906,-0.04959602344403713]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_4","position":[-0.1968918201779658,-1.4667297979865261,0.71338606911949],"aabb_xy":[[-0.28689182251198486,-1.5442121525716388],[-0.10689181784394675,-1.3892474434014135]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_5","position":[-0.30848880333252415,-0.8883932371946972,0.71338606911949],"aabb_xy":[[-0.33037855092146495,-0.9783932344839462],[-0.28659905574358335,-0.798393239905448]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_6","position":[-0.010105338539358799,-2.359883668236656,0.71338606911949],"aabb_xy":[[-0.034651554162109514,-2.3901325647856932],[0.01444087708339192,-2.329634771687619]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_7","position":[0.5316202261402485,0.15595926106575853,0.71338606911949],"aabb_xy":[[0.5236267363449666,0.1479611291252829],[0.5396137159355306,0.16395739300623421]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_8","position":[-0.011821257776972072,1.0925160454658531,0.71338606911949],"aabb_xy":[[-0.0235894445716296,1.0075160455606318],[-5.307098231455144e-05,1.177516045371075]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_9","position":[-0.6020021862653974,1.6038302191399567,0.71338606911949],"aabb_xy":[[-0.6920021830010075,1.5506467558226622],[-0.512002189529787,1.6570136824572512]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_10","position":[0.008404402477832362,-1.8665415911781538,0.71338606911949],"aabb_xy":[[0.0024378635370965723,-1.872502735837518],[0.014370941418568149,-1.8605804465187896]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_11","position":[-0.26406432153119885,0.35519811655837996,0.71338606911949],"aabb_xy":[[-0.3280643188335452,0.3108316895905232],[-0.2000643242288524,0.3995645435262367]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_12","position":[-0.4655117903931762,-0.35173953188038487,0.71338606911949],"aabb_xy":[[-0.5023064235180825,-0.38864540697696714],[-0.42871715726826987,-0.3148336567838026]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_13","position":[-0.43040839596745956,0.08875590956039536,0.71338606911949],"aabb_xy":[[-0.5141306214675421,-0.0012440939743005863],[-0.3466861704673771,0.1787559130950913]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_14","position":[-0.5890803519310026,-1.6367187787150392,0.71338606911949],"aabb_xy":[[-0.6059910843673443,-1.6501909843076539],[-0.5721696194946607,-1.6232465731224246]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_15","position":[0.35555760446003215,1.1712464492978945,0.71338606911949],"aabb_xy":[[0.3055787959497163,1.1212464492921757],[0.4055364129703481,1.2212464493036133]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_16","position":[-0.6653906765130805,1.7324146469798687,0.71338606911949],"aabb_xy":[[-0.6800340820671134,1.7177559273230842],[-0.6507472709590474,1.7470733666366527]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_17","position":[0.0832768062871263,0.7173539732350265,0.71338606911949],"aabb_xy":[[0.018276807730053468,0.687601439821144],[0.14827680484419914,0.7471065066489092]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_18","position":[-0.5391550794772826,-2.4392207571744646,0.71338606911949],"aabb_xy":[[-0.609155081608712,-2.4619827228001596],[-0.46915507734585293,-2.4164587915487687]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_19","position":[0.15226264993895644,-1.5341291232567678,0.71338606911949],"aabb_xy":[[0.08226264654739447,-1.5694448969601986],[0.22226265333051842,-1.498813349553337]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_20","position":[-0.03096087747944465,-2.4664631213787107,0.71338606911949],"aabb_xy":[[-0.06687438190443433,-2.502376629595465],[0.004952626945545036,-2.4305496131619555]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_21","position":[0.4552481129954582,-1.2776667206799033,0.71338606911949],"aabb_xy":[[0.43397010485198584,-1.3426667230059763],[0.47652612113893034,-1.2126667183538302]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_22","position":[0.5702067169206368,-0.49331544453236864,0.71338606911949],"aabb_xy":[[0.5377450160387092,-0.5234482766472711],[0.6026684178025641,-0.46318261241746594]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_23","position":[0.35789759482356587,-1.8472020074734756,0.71338606911949],"aabb_xy":[[0.35065382877732054,-1.9272020056770782],[0.3651413608698112,-1.7672020092698735]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_24","position":[0.12825911283279268,-2.0099421322438866,0.71338606911949],"aabb_xy":[[0.07326686219728175,-2.0649421339871994],[0.18325136346830365,-1.9549421305005739]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_25","position":[0.05700198945684243,-1.333170195877089,0.71338606911949],"aabb_xy":[[0.04878744434115845,-1.3418467861747299],[0.06521653457252641,-1.3244936055794472]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_26","position":[-0.5549335101337538,0.8254130828499213,0.71338606911949],"aabb_xy":[[-0.5643509847036166,0.8159969057122022],[-0.545516035563891,0.8348292599876402]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_27","position":[0.6509397720763044,-1.4344616899028608,0.71338606911949],"aabb_xy":[[0.6159397720998085,-1.4439263059504774],[0.6859397720528002,-1.4249970738552442]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_28","position":[0.18900814139502797,-2.5800667885801256,0.71338606911949],"aabb_xy":[[0.1545456633819402,-2.586730465763048],[0.22347061940811574,-2.5734031113972025]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_29","position":[-0.4327941454042915,-1.4525009348521936,0.71338606911949],"aabb_xy":[[-0.4826109248691262,-1.502500933336497],[-0.3829773659394567,-1.4025009363678902]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_30","position":[-0.4253834346994962,1.793747103871668,0.71338606911949],"aabb_xy":[[-0.4293439184692306,1.7860792392861473],[-0.4214229509297618,1.8014149684571885]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_31","position":[-0.3863258105520187,1.2023117064546094,0.71338606911949],"aabb_xy":[[-0.395107037699255,1.1935319591660793],[-0.37754458340478253,1.2110914537431399]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_32","position":[0.5825414358370355,-2.206294810704894,0.71338606911949],"aabb_xy":[[0.5596257229519858,-2.2291991078413176],[0.6054571487220856,-2.1833905135684706]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_33","position":[0.5552835911519094,-0.3209028225018624,0.71338606911949],"aabb_xy":[[0.5053006409644298,-0.3709028221444227],[0.6052665413393885,-0.2709028228593019]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6682129274128553,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6616.png","name":"6616"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6616.png","name":"6616"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6327.png","name":"6327"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2180.png","name":"2180"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8885.png","name":"8885"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6327.png","name":"6327"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":682.8717775816854,"rotation_z_degrees":176.6724038407184,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005549890364954102,-0.009082285198251685,-0.00033178056021806665]},{"name":"camera_2","offset_m":[0.019886168983595975,-0.007442031632638454,-0.009855572850621427]},{"name":"camera_3","offset_m":[-0.014035019979684633,-0.008154506301805644,-0.01292169674081043]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0010652040762322175,0.0006249413321336981,-0.001826820504876086],"end_effector_yaw_offset_degrees":0.8876352180301725},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0017428030109897814,0.0005756551153968245,0.0007480791308937021],"end_effector_yaw_offset_degrees":0.26376234470555526},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0005059366212431297,0.0007066235391551476,0.0006669237119576957],"end_effector_yaw_offset_degrees":0.4074990192225325},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0013541359619023167,7.419051343024929e-05,-0.0006354901965335213],"end_effector_yaw_offset_degrees":0.01967643103621808}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0023414820583479356,-0.0044460518105740796],"position_m":[0.21065851794165205,-0.1429460518105741,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0033441257311238167,-0.0025391179616756623],"position_m":[0.2354441257311238,-0.3668391179616757,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.002790224141969524,0.002817482316483635],"position_m":[0.2884097758580305,-0.03678251768351637,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0029130693455920063,-0.0016089844179749601],"position_m":[0.34691306934559196,0.17329101558202503,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c9dc23ed3a2581a88ead8898a4336c6ff7bff4167ddd6fb32ee93d2fd68cf0d8","episode_index":69,"episode_name":"episode_0069"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0069.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_6616/tex_ceiling_textures_6327/tex_floor_textures_8885/tex_table_textures_6327/tex_wall_textures_2180","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":6906198672342983272,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":6906198672342983272,"visual_seed":6906198672342983272,"scene_id":"lab_003","finished_at":"2026-09-06T00:05:17"} +{"episode_id":"ep_000069","started_at":"2026-09-06T00:05:21","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_0","position":[-0.11411379275694655,1.1878732903577776,0.71338606911949],"aabb_xy":[[-0.17811379205111477,1.1238871499889231],[-0.05011379346277832,1.2518594307266315]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_1","position":[-0.6461221179820235,0.9475108709344462,0.71338606911949],"aabb_xy":[[-0.6686185394158876,0.9250108711276986],[-0.6236256965481594,0.9700108707411935]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_2","position":[0.4753513576081596,1.4673875490371917,0.71338606911949],"aabb_xy":[[0.4253513562472724,1.417409644461776],[0.5253513589690468,1.5173654536126073]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_3","position":[-0.3375828024263657,0.5338029113543281,0.71338606911949],"aabb_xy":[[-0.36387162674680634,0.5075314776996768],[-0.311293978105925,0.5600743450089792]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_4","position":[-0.3565072919563115,-0.5962245201607042,0.71338606911949],"aabb_xy":[[-0.36775234752692926,-0.6074663178847994],[-0.3452622363856936,-0.5849827224366089]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_5","position":[0.6908971792115828,-0.11875754534385896,0.71338606911949],"aabb_xy":[[0.671784871853604,-0.13789232422110098],[0.7100094865695618,-0.09962276646661694]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_6","position":[-0.44199822933531696,-2.2383860215055975,0.71338606911949],"aabb_xy":[[-0.4794982308509487,-2.2496127945217426],[-0.4044982278196853,-2.2271592484894525]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_7","position":[-0.32043717808138544,-1.6472820754693767,0.71338606911949],"aabb_xy":[[-0.4104371804154045,-1.7247644300544895],[-0.23043717574736639,-1.5697997208842642]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_8","position":[0.5307353139443216,-0.37145737300542647,0.71338606911949],"aabb_xy":[[0.466735312536331,-0.4232463245293511],[0.5947353153523123,-0.3196684214815017]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_9","position":[-0.6518836446217173,-1.4346484901055996,0.71338606911949],"aabb_xy":[[-0.6853238198177368,-1.4680921159365292],[-0.6184434694256976,-1.401204864274669]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_10","position":[0.5687786177541498,1.1026971083062964,0.71338606911949],"aabb_xy":[[0.5312786174059221,1.0909057127252129],[0.6062786181023776,1.11448850388738]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_11","position":[0.39466297203853506,-1.9252379056475577,0.71338606911949],"aabb_xy":[[0.3886964330977993,-1.9311990503069216],[0.40062951097927085,-1.9192767609881938]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_12","position":[0.6059047918588991,-1.6491481829010484,0.71338606911949],"aabb_xy":[[0.5994909782157141,-1.6555580031487165],[0.612318605502084,-1.6427383626533798]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_13","position":[-0.25973866320869493,-1.9808976688314281,0.71338606911949],"aabb_xy":[[-0.2822386634522103,-1.9931023034912003],[-0.23723866296517954,-1.9686930341716564]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_14","position":[-0.28051230151944284,-1.829379811985186,0.71338606911949],"aabb_xy":[[-0.3057331383792824,-1.8546035628380724],[-0.25529146465960306,-1.8041560611322989]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_15","position":[0.16217924208425227,1.1019234646592349,0.71338606911949],"aabb_xy":[[0.09817924478190584,1.057557037691378],[0.22617923938659865,1.1462898916270916]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_16","position":[-0.474247295211093,1.7493528353411443,0.71338606911949],"aabb_xy":[[-0.4967472947348004,1.7268568878905233],[-0.4517472956873856,1.7718487827917648]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_17","position":[-0.4398739019934017,-0.005682222612787946,0.71338606911949],"aabb_xy":[[-0.4644201176161524,-0.035931119161825],[-0.41532768637065093,0.024566673936249114]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_18","position":[0.5914487027989619,0.9120660803422154,0.71338606911949],"aabb_xy":[[0.5788460036618854,0.89947068411735],[0.6040514019360383,0.924661476567081]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_19","position":[-0.6167110888219269,-0.8235408188892359,0.71338606911949],"aabb_xy":[[-0.6227481018225918,-0.8295675199581842],[-0.6106740758212623,-0.8175141178202878]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6627316884068826,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9233.png","name":"9233"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9233.png","name":"9233"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5273.png","name":"5273"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3401.png","name":"3401"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6477.png","name":"6477"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8857.png","name":"8857"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":757.4081009711442,"rotation_z_degrees":242.99577089037138,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015928946868625258,-0.011751516270657972,0.014204815566590905]},{"name":"camera_2","offset_m":[-0.005643404073917146,0.010609069758382522,0.0009734237417457596]},{"name":"camera_3","offset_m":[0.004591064720094407,0.010848180667428937,-0.011153571701709622]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0015512736838747682,-0.0007438707635893324,0.0013363222002917546],"end_effector_yaw_offset_degrees":-0.8781536947050244},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0017308946729477082,0.0017354659740180223,-0.001874771355955457],"end_effector_yaw_offset_degrees":0.10226870095476737},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001561612548758039,0.001462085923125125,-0.0003112098749361292],"end_effector_yaw_offset_degrees":0.9725124470754412},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00038725346911672263,0.0012378862104759163,-0.0015648677842826735],"end_effector_yaw_offset_degrees":-0.49994432700226654}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004157267476956027,0.003735501337762219],"position_m":[0.20884273252304397,-0.1347644986622378,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0036721246102374783,-0.003210199629332331],"position_m":[0.22842787538976253,-0.36751019962933235,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004596462315512966,-6.41849703205688e-05],"position_m":[0.295796462315513,-0.03966418497032057,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00011993232193960226,-0.004366219194829221],"position_m":[0.34411993232193955,0.1705337808051708,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1987a76e344eae61868361a06592a134c6a2b0c03fa8f5fbbed27b23d98132c7","episode_index":70,"episode_name":"episode_0070"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0070.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_9233/tex_ceiling_textures_8857/tex_floor_textures_6477/tex_table_textures_5273/tex_wall_textures_3401","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":6435715912440114230,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":6435715912440114230,"visual_seed":6435715912440114230,"scene_id":"lab_003","finished_at":"2026-09-06T00:09:05"} +{"episode_id":"ep_000070","started_at":"2026-09-06T00:09:10","dimensions":{"distractor":{"count":30,"items":[{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_0","position":[0.09241074079807776,1.3620497259736095,0.71338606911949],"aabb_xy":[[0.03741074117633192,1.307066033186137],[0.1474107404198236,1.4170334187610825]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_1","position":[0.6858386652106931,0.045844325087528226,0.71338606911949],"aabb_xy":[[0.6802569935765642,0.03334432526975273],[0.6914203368448218,0.058344324905303724]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_2","position":[-0.6173438350871336,0.7937088285242808,0.71338606911949],"aabb_xy":[[-0.639843834901036,0.7892342121538001],[-0.5948438352732313,0.7981834448947616]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_3","position":[0.62970195259343,-1.8258024239572446,0.71338606911949],"aabb_xy":[[0.574709701957919,-1.8808024257005576],[0.6846942032289409,-1.770802422213932]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_4","position":[-0.29911803754718214,-2.3021866427829916,0.71338606911949],"aabb_xy":[[-0.3359126706720884,-2.339092517879574],[-0.26232340442227586,-2.2652807676864093]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_5","position":[-0.4449965604361878,-0.2560582987993332,0.71338606911949],"aabb_xy":[[-0.49487925731388416,-0.30605829804560786],[-0.39511386355849176,-0.20605829955305838]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_6","position":[0.5377435456696971,-0.8801217246593875,0.71338606911949],"aabb_xy":[[0.45774354423956987,-0.959638879671997],[0.6177435470998243,-0.8006045696467781]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_7","position":[-0.005620043908387551,-2.0335454393333183,0.71338606911949],"aabb_xy":[[-0.04153354833337723,-2.0694589475500726],[0.03029346051660213,-1.9976319311165633]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_8","position":[-0.12927997920467982,-0.0794757040964087,0.71338606911949],"aabb_xy":[[-0.19427997776175265,-0.1092282375102913],[-0.06427998064760698,-0.04972317068252606]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_9","position":[-0.5706154320318972,-2.1614778135865516,0.71338606911949],"aabb_xy":[[-0.5814559102584121,-2.1786640948772003],[-0.5597749538053823,-2.144291532295903]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_10","position":[0.3224319524742816,1.5457964270715165,0.71338606911949],"aabb_xy":[[0.24243195388696212,1.4664808251333554],[0.40243195106160096,1.6251120290096772]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_11","position":[-0.3685494881802738,-0.3646318899338792,0.71338606911949],"aabb_xy":[[-0.4485494868371598,-0.37913674885814197],[-0.28854948952338777,-0.3501270310096164]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_12","position":[-0.08802041826732299,-1.1687156666576484,0.71338606911949],"aabb_xy":[[-0.15202041852779377,-1.2137244660105764],[-0.02402041800685217,-1.1237068673047204]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_13","position":[-0.21685776252312072,-0.47576079852936815,0.71338606911949],"aabb_xy":[[-0.23903028949977154,-0.49793646568549127],[-0.19468523554646985,-0.4535851313732449]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_14","position":[-0.5946855540604188,0.5531579236165651,0.71338606911949],"aabb_xy":[[-0.6171855540705671,0.5390617039769618],[-0.5721855540502705,0.5672541432561684]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_15","position":[0.35369186694742893,-1.7589102338748162,0.71338606911949],"aabb_xy":[[0.3274030426269882,-1.7851816675294674],[0.37998069126786954,-1.732638800220165]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_16","position":[0.40547646089848666,-1.238715054652488,0.71338606911949],"aabb_xy":[[0.3878436253049591,-1.2563380006681109],[0.42310929649201423,-1.221092108636865]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_17","position":[-0.07531755751867131,-1.7497647949665178,0.71338606911949],"aabb_xy":[[-0.11031755749516714,-1.7592294110141349],[-0.040317557542175475,-1.7403001789189017]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_18","position":[-0.32632205230690775,-1.690151865349738,0.71338606911949],"aabb_xy":[[-0.406322049466483,-1.7016994663075549],[-0.2463220551473324,-1.6786042643919208]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_19","position":[0.21743269800591147,-1.2798593174246033,0.71338606911949],"aabb_xy":[[0.17993269682111862,-1.2842775401206636],[0.25493269919070416,-1.2754410947285426]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_20","position":[-0.16684083592320598,0.7939787325240824,0.71338606911949],"aabb_xy":[[-0.20434083602879893,0.7871565706711011],[-0.12934083581761302,0.8008008943770634]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_21","position":[-0.35849473208832383,0.5976157669987621,0.71338606911949],"aabb_xy":[[-0.4034873188067742,0.5526157677243132],[-0.31350214536987336,0.6426157662732107]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_22","position":[0.1249285332290927,-1.4322651049752066,0.71338606911949],"aabb_xy":[[0.10303878564015191,-1.5222651022644558],[0.1468182808180335,-1.3422651076859575]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_23","position":[-0.12262323332892822,0.02044979720772666,0.71338606911949],"aabb_xy":[[-0.13140446047616447,0.01167004991919651],[-0.11384200618169202,0.029229544496256813]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_24","position":[-0.6151191652843953,-0.9049046056512589,0.71338606911949],"aabb_xy":[[-0.6564237083481312,-0.9689046052193758],[-0.5738146222206593,-0.8409046060831417]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_25","position":[0.06661798384195428,1.6455486664202676,0.71338606911949],"aabb_xy":[[0.03161798464913598,1.634581620422605],[0.10161798303477251,1.65651571241793]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_26","position":[0.10555541219564757,-1.6715694988882,0.71338606911949],"aabb_xy":[[0.015555412777276664,-1.70494499573239],[0.19555541161401846,-1.6381940020440104]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_27","position":[0.2285874493316985,1.7409779783287251,0.71338606911949],"aabb_xy":[[0.1385874496085243,1.7179046257935453],[0.31858744905487263,1.764051330863905]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_28","position":[-0.26360122857216045,-1.9859081866373836,0.71338606911949],"aabb_xy":[[-0.327601228949694,-2.0356534534881954],[-0.19960122819462678,-1.936162919786571]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_29","position":[0.14679228484546747,0.9487516457779575,0.71338606911949],"aabb_xy":[[0.06179228615339283,0.9167657823830784],[0.2317922835375421,0.9807375091728361]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6677749727007364,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6642.png","name":"6642"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6642.png","name":"6642"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2443.png","name":"2443"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9002.png","name":"9002"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6729.png","name":"6729"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/674.png","name":"674"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":697.6625619714966,"rotation_z_degrees":197.46947547389087,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0026538516539886814,0.009430219633417503,-0.013815328638766071]},{"name":"camera_2","offset_m":[0.015741829633817848,-0.007704404403730658,0.008770405372527813]},{"name":"camera_3","offset_m":[-0.008973547484984402,0.009333315194890463,-0.016834929176935173]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0010145093850514994,0.0012867174939490563,-0.0003094143762742002],"end_effector_yaw_offset_degrees":-0.2773176116292766},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0016933078422337352,0.000944645059324887,0.00028680795956232937],"end_effector_yaw_offset_degrees":-0.13173570973236148},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0017043477075273606,0.001798450621990924,0.0003431992843227834],"end_effector_yaw_offset_degrees":-0.7410285532969987},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-4.533851774104515e-06,0.00015178106542243627,-0.001952300433353325],"end_effector_yaw_offset_degrees":0.2672282216040385}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004951006749249334,-0.0028730969041364674],"position_m":[0.21795100674924933,-0.1413730969041365,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0026261540739506116,-0.002833903168231735],"position_m":[0.23472615407395062,-0.36713390316823175,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-2.0313296073188637e-05,-0.0030943319341770904],"position_m":[0.2911796867039268,-0.04269433193417709,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0034007161579015727,0.0013151146185192654],"position_m":[0.3474007161579015,0.17621511461851927,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d2da2414c9008a72e691fb73a1be13d66b8de788aab7dd3df6e97caa45b443d9","episode_index":71,"episode_name":"episode_0071"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0071.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_6642/tex_ceiling_textures_674/tex_floor_textures_6729/tex_table_textures_2443/tex_wall_textures_9002","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":8551687178108834825,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":8551687178108834825,"visual_seed":8551687178108834825,"scene_id":"lab_003","finished_at":"2026-09-06T00:12:07"} +{"episode_id":"ep_000071","started_at":"2026-09-06T00:12:11","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_0","position":[-0.21617042545373094,-1.7556199050991297,0.71338606911949],"aabb_xy":[[-0.25367042574590576,-1.759661380499733],[-0.17867042516155612,-1.751578429698526]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_1","position":[0.687916933937808,-1.3282442637138874,0.71338606911949],"aabb_xy":[[0.6629169347721748,-1.335196509419244],[0.7129169331034411,-1.3212920180085308]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_2","position":[-0.3727979179507699,-2.3331744468147546,0.71338606911949],"aabb_xy":[[-0.4367979172449381,-2.3971605871836084],[-0.30879791865660167,-2.2691883064459]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_3","position":[0.024536240553884925,-1.828693974462385,0.71338606911949],"aabb_xy":[[-0.03946375970658588,-1.8737027738153127],[0.08853624081435572,-1.7836851751094567]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_4","position":[0.5373274180135637,-0.28767122653689636,0.71338606911949],"aabb_xy":[[0.4673274153769773,-0.3077760915327618],[0.60732742065015,-0.2675663615410308]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_5","position":[-0.2666083214162448,-0.8137228215486638,0.71338606911949],"aabb_xy":[[-0.28094274654240825,-0.8257830371032026],[-0.25227389629008135,-0.8016626059941249]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_6","position":[0.12251416207089971,-1.9485481497921675,0.71338606911949],"aabb_xy":[[0.04251415880688657,-1.9621081821010806],[0.20251416533491284,-1.934988117483254]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_7","position":[0.2887879327701378,1.438259625376808,0.71338606911949],"aabb_xy":[[0.25128793419451695,1.42552332971325],[0.32628793134575856,1.4509959210403658]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_8","position":[0.49086416351258144,-0.5576258360858297,0.71338606911949],"aabb_xy":[[0.4820829363653453,-0.56640558337436],[0.4996453906598178,-0.5488460887972997]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_9","position":[-0.11436501770908825,-2.1707014810330483,0.71338606911949],"aabb_xy":[[-0.13728073059413817,-2.193605778169472],[-0.09144930482403836,-2.147797183896625]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_10","position":[-0.6879162533569292,-2.5304419007837233,0.71338606911949],"aabb_xy":[[-0.6943300670001139,-2.5368517210313906],[-0.681502439713744,-2.5240320805360543]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_11","position":[-0.6066730045245453,-1.800573716318642,0.71338606911949],"aabb_xy":[[-0.6139167705707906,-1.8805737145222445],[-0.5994292384783,-1.7205737181150398]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_12","position":[0.13834145875540493,-0.5906381317817255,0.71338606911949],"aabb_xy":[[0.11584503732154083,-0.6131381315884731],[0.16083788018926903,-0.5681381319749782]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_13","position":[-0.6577702532328222,1.526823190234087,0.71338606911949],"aabb_xy":[[-0.6752702525109091,1.5094850901677408],[-0.6402702539547354,1.5441612903004327]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_14","position":[0.48124259848129136,-0.9728220650021386,0.71338606911949],"aabb_xy":[[0.4172425993115214,-1.0195887521211011],[0.5452425976510613,-0.9260553778831762]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_15","position":[-0.13429745514245506,1.7018630049613477,0.71338606911949],"aabb_xy":[[-0.13963503080845963,1.6768630040322081],[-0.1289598794764505,1.7268630058904877]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_16","position":[0.3341204055576965,-1.2387423887196454,0.71338606911949],"aabb_xy":[[0.309120406005958,-1.24888487258478],[0.359120405109435,-1.2285999048545106]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_17","position":[-0.5120985371402883,0.6008473038934765,0.71338606911949],"aabb_xy":[[-0.5184106366766267,0.5950803646402577],[-0.5057864376039497,0.6066142431466953]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_18","position":[-0.18775849135384903,1.1144047196389328,0.71338606911949],"aabb_xy":[[-0.2517584899404215,1.0673977562394243],[-0.12375849276727657,1.1614116830384418]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_19","position":[-0.3558225602129168,-0.1705165544515972,0.71338606911949],"aabb_xy":[[-0.435816383791475,-0.25051655704443876],[-0.2758287366343586,-0.09051655185875562]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_20","position":[0.3786349002175087,0.6108763935681716,0.71338606911949],"aabb_xy":[[0.33082873260374,0.5458763908611126],[0.4264410678312773,0.6758763962752306]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6668695768222883,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1437.png","name":"1437"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1437.png","name":"1437"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4078.png","name":"4078"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9365.png","name":"9365"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9579.png","name":"9579"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5030.png","name":"5030"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":842.5178369345549,"rotation_z_degrees":206.00125990943482,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010903070068683702,0.015109692999762201,0.008397554574971124]},{"name":"camera_2","offset_m":[0.014770936998381268,0.015410083459923122,-0.012571563180491133]},{"name":"camera_3","offset_m":[0.0041627839047988155,0.0020774037006801374,0.0095197885355745]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001962119440725482,0.0017130446490809946,0.0004925579361556897],"end_effector_yaw_offset_degrees":0.39467033541497476},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0015145258504715938,-0.001203377616661934,0.0007232042152020232],"end_effector_yaw_offset_degrees":-0.2742800106918988},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001562306369631093,-0.0015761661937465385,0.0019293499439850675],"end_effector_yaw_offset_degrees":0.9719541808394121},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0014844241964387277,0.00045540372162149005,3.2341026359925494e-05],"end_effector_yaw_offset_degrees":-0.15838438602674354}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.003920958857054434,0.0036928201598986814],"position_m":[0.20907904114294557,-0.13480717984010132,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0016001132638313233,-0.00274563977234751],"position_m":[0.23370011326383133,-0.3670456397723475,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004320123811314534,0.0035608515878020513],"position_m":[0.29552012381131454,-0.03603914841219795,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0007392860166178109,-0.0029648820126706187],"position_m":[0.34326071398338215,0.17193511798732938,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3ca5e688987ebaba37a40ff4b5c3cf369aadce39bb9d9777384496dfaefb91e6","episode_index":72,"episode_name":"episode_0072"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0072.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_1437/tex_ceiling_textures_5030/tex_floor_textures_9579/tex_table_textures_4078/tex_wall_textures_9365","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":7432680486959174539,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":7432680486959174539,"visual_seed":7432680486959174539,"scene_id":"lab_003","finished_at":"2026-09-06T00:15:36"} +{"episode_id":"ep_000072","started_at":"2026-09-06T00:15:41","dimensions":{"distractor":{"count":26,"items":[{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_0","position":[0.3251190112489779,0.6933813166209033,0.71338606911949],"aabb_xy":[[0.30261901172527045,0.6708853691702824],[0.34761901077268526,0.715877264071524]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_1","position":[0.0962488778185353,0.6683514224380982,0.71338606911949],"aabb_xy":[[0.08488714316524913,0.65698295603181],[0.10761061247182145,0.6797198888443862]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_2","position":[0.14449522588559927,0.7944230109051187,0.71338606911949],"aabb_xy":[[0.12699522564054985,0.7769232230655517],[0.16199522613064862,0.8119227987446854]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_3","position":[-0.5029307617959871,0.6714972548000389,0.71338606911949],"aabb_xy":[[-0.5334150119230172,0.6214972550185429],[-0.4724465116689569,0.7214972545815348]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_4","position":[-0.17555394458178863,-0.22635943710805595,0.71338606911949],"aabb_xy":[[-0.1931322467707355,-0.24393392668216085],[-0.15797564239284181,-0.20878494753395105]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_5","position":[0.39656022882693875,-1.758231958913969,0.71338606911949],"aabb_xy":[[0.385787254905571,-1.7932319571330082],[0.40733320274830653,-1.7232319606949302]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_6","position":[-0.1375187649252524,-2.128424728171466,0.71338606911949],"aabb_xy":[[-0.16536380170585951,-2.159209226909778],[-0.10967372814464527,-2.0976402294331544]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_7","position":[0.5089148227264779,-0.019549257391563657,0.71338606911949],"aabb_xy":[[0.49427141717244494,-0.03420797704834794],[0.5235582282805109,-0.004890537734779373]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_8","position":[0.4778796012537383,-1.2708495916649032,0.71338606911949],"aabb_xy":[[0.4278796008931722,-1.3208295788745057],[0.5278796016143043,-1.2208696044552998]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_9","position":[-0.507239194498123,0.3182139976275997,0.71338606911949],"aabb_xy":[[-0.5712391908936961,0.25425070920886617],[-0.44323919810254997,0.3821772860463333]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_10","position":[0.17438074117564217,1.5261624311687743,0.71338606911949],"aabb_xy":[[0.1573706438855915,1.5100279426705003],[0.1913908384656928,1.5422969196670482]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_11","position":[-0.4502268317812494,-2.3628434084756096,0.71338606911949],"aabb_xy":[[-0.5402268354581676,-2.424275815052713],[-0.3602268281043312,-2.3014110018985043]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_12","position":[0.5290787585072274,-0.3532555569037501,0.71338606911949],"aabb_xy":[[0.5065787579951867,-0.37574741526914845],[0.5515787590192679,-0.33076369853835175]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_13","position":[-0.5838682005616319,-0.7556412301383815,0.71338606911949],"aabb_xy":[[-0.5925821696115663,-0.7781412307975695],[-0.5751542315116973,-0.733141229479193]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_14","position":[0.6591210906434797,-0.7653653462274925,0.71338606911949],"aabb_xy":[[0.6091210892825925,-0.8153432508029081],[0.7091210920043669,-0.7153874416520769]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_15","position":[-0.2609953469664525,-0.5552745183098899,0.71338606911949],"aabb_xy":[[-0.32499534425210114,-0.5967812372627339],[-0.19699534968080384,-0.513767799357046]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_16","position":[0.2404973261079365,1.251604425268027,0.71338606911949],"aabb_xy":[[0.2054973269151182,1.240637379270364],[0.27549732530075477,1.262571471265689]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_17","position":[-0.23201775548472814,1.2887151422018905,0.71338606911949],"aabb_xy":[[-0.28200199119290537,1.2387151433883947],[-0.18203351977655088,1.338715141015386]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_18","position":[0.30974536022241383,0.9689212968688503,0.71338606911949],"aabb_xy":[[0.22974535696457088,0.8889247890768665],[0.3897453634802568,1.0489178046608343]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_19","position":[-0.13555146096583837,1.0547036737264506,0.71338606911949],"aabb_xy":[[-0.14366511563921547,1.0465978572724215],[-0.12743780629246126,1.0628094901804797]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_20","position":[-0.15266365415682592,-2.4631217459500947,0.71338606911949],"aabb_xy":[[-0.17294795688022466,-2.4834043710928033],[-0.13237935143342713,-2.442839120807385]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_21","position":[-0.63355613848802,-2.0647641688521414,0.71338606911949],"aabb_xy":[[-0.6835561380643548,-2.114744747804248],[-0.5835561389116853,-2.014783589900036]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_22","position":[0.5296514566527686,-1.9156262520010656,0.71338606911949],"aabb_xy":[[0.4696514564013673,-1.9699075770375303],[0.5896514569041696,-1.861344926964601]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_23","position":[0.3794793576172262,-1.5956339267626538,0.71338606911949],"aabb_xy":[[0.3741468429626132,-1.6009582550078894],[0.38481187227183916,-1.5903095985174183]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_24","position":[-0.29599030137499155,0.2780156749316869,0.71338606911949],"aabb_xy":[[-0.33349030255978424,0.27359745223562626],[-0.25849030019019864,0.2824338976277473]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_25","position":[-0.5359309217892109,1.5521306902891845,0.71338606911949],"aabb_xy":[[-0.5467714000157257,1.5349444089985356],[-0.5250904435626959,1.569316971579833]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6659745243006701,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4965.png","name":"4965"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4965.png","name":"4965"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7123.png","name":"7123"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4164.png","name":"4164"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9369.png","name":"9369"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6012.png","name":"6012"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":651.5606875362586,"rotation_z_degrees":246.0395281330272,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.019011518477695045,-0.016506460300057094,0.018530212415737542]},{"name":"camera_2","offset_m":[0.006673418983860247,-0.01434743449828698,0.00953158825411942]},{"name":"camera_3","offset_m":[0.01217707976313263,0.01637415683877216,-0.00905821003005283]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0018677480390482497,0.0010511049422050923,0.00039306812339124156],"end_effector_yaw_offset_degrees":0.31147510255911603},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0009062551090036678,0.0018600407210660887,0.0016887110405208886],"end_effector_yaw_offset_degrees":0.4040522620314766},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0011044149474480763,0.0005041578783503077,0.000459767635640128],"end_effector_yaw_offset_degrees":0.33717540778367283},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0015511428589793813,-0.00015342014807275851,-0.0007547250558481808],"end_effector_yaw_offset_degrees":0.21683154955060746}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0024634656535285505,-0.004525650357355757],"position_m":[0.21546346565352856,-0.14302565035735576,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0014460767586691467,-0.001351553260742292],"position_m":[0.23354607675866915,-0.3656515532607423,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.00031444833282476964,-0.004030785266819084],"position_m":[0.2915144483328248,-0.043630785266819086,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0019362946056523103,0.001914343705007161],"position_m":[0.34206370539434766,0.17681434370500715,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"31fbbcc2162a9a4a20803e23d58ac17151a2a4b81a96afdc3f0f1523d02f3a58","episode_index":73,"episode_name":"episode_0073"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0073.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_4965/tex_ceiling_textures_6012/tex_floor_textures_9369/tex_table_textures_7123/tex_wall_textures_4164","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":7378955598491970354,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":7378955598491970354,"visual_seed":7378955598491970354,"scene_id":"lab_003","finished_at":"2026-09-06T00:19:02"} +{"episode_id":"ep_000073","started_at":"2026-09-06T00:19:05","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_0","position":[-0.03754220628206195,0.6339389835850135,0.71338606911949],"aabb_xy":[[-0.043854305818400385,0.6281720443317947],[-0.031230106745723518,0.6397059228382324]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_1","position":[-0.12331393108677313,0.8174807488894049,0.71338606911949],"aabb_xy":[[-0.15831393106326896,0.8080161328417883],[-0.0883139311102773,0.8269453649370215]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_2","position":[-0.35630033356036594,-0.9030771885068967,0.71338606911949],"aabb_xy":[[-0.4463003332835401,-0.9261505410420764],[-0.2663003338371917,-0.8800038359717167]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_3","position":[0.2367324414362323,0.9220509922901035,0.71338606911949],"aabb_xy":[[0.1791019725489614,0.8620509933633926],[0.2943629103235031,0.9820509912168138]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_4","position":[0.6155674625650072,1.5588445762096623,0.71338606911949],"aabb_xy":[[0.5355674656019679,1.4817689345658889],[0.6955674595280462,1.6359202178534358]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_5","position":[0.1988931061494722,-1.0387154183526879,0.71338606911949],"aabb_xy":[[0.1487956421683986,-1.1027154188624995],[0.24899057013054585,-0.9747154178428759]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_6","position":[-0.3176187850864093,0.12083941748765437,0.71338606911949],"aabb_xy":[[-0.335118785345746,0.10674787529888177],[-0.30011878482707277,0.13493095967642701]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_7","position":[0.20801902033020747,-2.365879079815565,0.71338606911949],"aabb_xy":[[0.14301901932970695,-2.4166654449702394],[0.273019021330708,-2.3150927146608895]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_8","position":[-0.33017660839698937,-1.452617270769709,0.71338606911949],"aabb_xy":[[-0.3796570296109482,-1.516617268682561],[-0.28069618718303063,-1.3886172728568573]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_9","position":[0.5807529507310514,-0.9605484922692151,0.71338606911949],"aabb_xy":[[0.5629594437961349,-0.9783482378650128],[0.5985464576659678,-0.9427487466734175]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_10","position":[-0.6261739244877725,-1.7247557957163995,0.71338606911949],"aabb_xy":[[-0.6348878935377069,-1.7472557963755873],[-0.6174599554378379,-1.7022557950572108]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_11","position":[0.44496443950773656,0.82456211552371,0.71338606911949],"aabb_xy":[[0.44082858317503637,0.787062116079353],[0.44910029584043676,0.862062114968067]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_12","position":[-0.5932069689141285,-1.0816049913054104,0.71338606911949],"aabb_xy":[[-0.6431912046223057,-1.131604990118906],[-0.5432227332059513,-1.0316049924919148]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_13","position":[0.2975228237798302,-1.6802609267440949,0.71338606911949],"aabb_xy":[[0.26252282388381126,-1.6886351622560347],[0.332522823675849,-1.6718866912321546]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_14","position":[0.44676323471809254,0.3061547377177445,0.71338606911949],"aabb_xy":[[0.37676323208150614,0.286049872721879],[0.5167632373546789,0.32625960271361]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_15","position":[-0.5138048421151611,1.5943622979458207,0.71338606911949],"aabb_xy":[[-0.5238865491937345,1.5143623000537059],[-0.5037231350365875,1.6743622958379352]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_16","position":[-0.47412332875351704,1.1706163444252882,0.71338606911949],"aabb_xy":[[-0.49662332827722444,1.1481203969746672],[-0.45162332922980963,1.1931122918759087]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_17","position":[0.1368310627647723,-1.8653899491861825,0.71338606911949],"aabb_xy":[[0.11494131517583149,-1.9553899464754316],[0.15872081035371308,-1.7753899518969334]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_18","position":[-0.2369923950611586,1.6118888610267192,0.71338606911949],"aabb_xy":[[-0.2669599519709842,1.5818888607288335],[-0.2070248381513329,1.641888861324605]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_19","position":[-0.19409258630178527,-0.5903708015751294,0.71338606911949],"aabb_xy":[[-0.25808828369688186,-0.6543707998758381],[-0.1300968889066887,-0.5263708032744208]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_20","position":[0.18418379555049225,-1.5244156688145225,0.71338606911949],"aabb_xy":[[0.16984937042432877,-1.5364758843690611],[0.19851822067665567,-1.5123554532599834]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_21","position":[-0.46781858183636793,-0.27483885698189203,0.71338606911949],"aabb_xy":[[-0.48545141742989545,-0.29246180299751495],[-0.4501857462428403,-0.257215910966269]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_22","position":[0.5906735089118849,0.8155346501671961,0.71338606911949],"aabb_xy":[[0.5406735078927496,0.7790684344293682],[0.6406735099310201,0.8520008659050241]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_23","position":[-0.6643346093935232,0.6220192864046981,0.71338606911949],"aabb_xy":[[-0.6751750876200382,0.6048330051140491],[-0.6534941311670084,0.6392055676953468]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_24","position":[0.5069721334199573,-1.45920242947126,0.71338606911949],"aabb_xy":[[0.41697213691908536,-1.505114071889718],[0.5969721299208288,-1.4132907870528015]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_25","position":[-0.4493937594200953,1.4460113611814402,0.71338606911949],"aabb_xy":[[-0.4649495288303606,1.4304609279370333],[-0.4338379900098301,1.4615617944258477]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_26","position":[-0.22326347811029512,0.23834867660966053,0.71338606911949],"aabb_xy":[[-0.24654532030842646,0.15334867531243246],[-0.19998163591216378,0.3233486779068886]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_27","position":[-0.06722621146388097,0.9650064744372462,0.71338606911949],"aabb_xy":[[-0.08711725134422123,0.9523506631525496],[-0.04733517158354074,0.9776622857219432]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_28","position":[0.5080895943460524,1.7308650688397305,0.71338606911949],"aabb_xy":[[0.4902204865915969,1.7170321608625192],[0.5259587021005079,1.7446979768169413]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_29","position":[0.547837055728261,-1.3087861145844244,0.71338606911949],"aabb_xy":[[0.5007076767264252,-1.3727861156288261],[0.5949664347300966,-1.2447861135400222]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_30","position":[-0.5227708024212149,-0.03940939962823453,0.71338606911949],"aabb_xy":[[-0.5679421202693838,-0.10340939677277296],[-0.4775994845730459,0.0245905975163039]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_31","position":[0.0672885639141183,-2.151868485507129,0.71338606911949],"aabb_xy":[[-0.01271143348947512,-2.2318610567053114],[0.1472885613177117,-2.071875914308946]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6635918599023187,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6051.png","name":"6051"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6051.png","name":"6051"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1327.png","name":"1327"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4979.png","name":"4979"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7463.png","name":"7463"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8195.png","name":"8195"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":617.5457741582229,"rotation_z_degrees":352.7709887473143,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007894321456345464,-0.011399370660533661,-0.015982418628028038]},{"name":"camera_2","offset_m":[0.002960093993279761,-0.011572335937696337,-0.014619098230181305]},{"name":"camera_3","offset_m":[-0.010572734279995718,0.006368073373644721,0.008199402745757752]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0018908358885722635,-0.0008726684172515222,-0.0016606060997895735],"end_effector_yaw_offset_degrees":0.5681649848390127},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.000974552017087607,0.00035182623835423,-0.0018103413762403267],"end_effector_yaw_offset_degrees":0.05902393496131508},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001995199194413972,0.0016348860646434975,0.00150558010252538],"end_effector_yaw_offset_degrees":-0.6348616472677742},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0002655661231997712,0.0014960432175599447,-0.0004962234881150226],"end_effector_yaw_offset_degrees":0.4116235994503037}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004464896487190332,0.003073078420335002],"position_m":[0.20853510351280966,-0.13542692157966502,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003416238648254866,-0.004376403560450316],"position_m":[0.22868376135174515,-0.36867640356045034,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0024913098037279103,0.002358420207776126],"position_m":[0.29369130980372793,-0.03724157979222388,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0028022647265697745,-0.004590843888907814],"position_m":[0.3468022647265697,0.17030915611109218,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a3d9a1b06bcd2db262cef744fe9218aabb99b7869fe6aa066310dbfcb6dbb54d","episode_index":74,"episode_name":"episode_0074"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0074.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_6051/tex_ceiling_textures_8195/tex_floor_textures_7463/tex_table_textures_1327/tex_wall_textures_4979","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":2156066235147016288,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":2156066235147016288,"visual_seed":2156066235147016288,"scene_id":"lab_003","finished_at":"2026-09-06T00:22:28"} +{"episode_id":"ep_000074","started_at":"2026-09-06T00:22:31","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_0","position":[-0.5063591005791714,1.6557237583104727,0.71338606911949],"aabb_xy":[[-0.5703591038688796,1.6123888393065549],[-0.4423590972894634,1.69905867731439]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_1","position":[0.30633957192903916,1.079954472420292,0.71338606911949],"aabb_xy":[[0.2263395704989119,1.0004373174076826],[0.3863395733591663,1.1594716274329016]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_2","position":[-0.5939448936191868,0.8667793994981312,0.71338606911949],"aabb_xy":[[-0.6070961395904761,0.8417793997414449],[-0.5807936476478974,0.891779399254818]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_3","position":[-0.5621063009859552,1.0408033007253823,0.71338606911949],"aabb_xy":[[-0.5977354568859148,1.0051706339685296],[-0.5264771450859953,1.0764359674822355]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_4","position":[-0.08908950646828995,1.585378774789373,0.71338606911949],"aabb_xy":[[-0.13907245665576928,1.5353787751468124],[-0.03910655628081062,1.6353787744319332]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_5","position":[0.2640092845528573,1.7526581947173798,0.71338606911949],"aabb_xy":[[0.25244030380592075,1.7276581946004481],[0.2755782652997939,1.7776581948343115]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_6","position":[-0.28176976680997556,-2.0854696243420627,0.71338606911949],"aabb_xy":[[-0.32395418097080625,-2.1494696246192744],[-0.23958535264914477,-2.021469624064852]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_7","position":[0.3717670904371957,-1.7761646880727309,0.71338606911949],"aabb_xy":[[0.28176709184272575,-1.792415274386152],[0.46176708903166563,-1.7599141017593098]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_8","position":[0.571962933663416,0.5142694347272658,0.71338606911949],"aabb_xy":[[0.5573195281093829,0.49961071507048144],[0.5866063392174489,0.5289281543840499]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_9","position":[0.42030646693943274,-1.4040459394664286,0.71338606911949],"aabb_xy":[[0.3303064704385609,-1.4499575818848867],[0.5103064634403043,-1.3581342970479702]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_10","position":[0.392065964693052,1.33676237348269,0.71338606911949],"aabb_xy":[[0.38482219864680667,1.2567623752790873],[0.3993097307392973,1.416762371686292]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_11","position":[-0.5242698330618459,-2.2808941240050404,0.71338606911949],"aabb_xy":[[-0.5329677953525613,-2.293019098312515],[-0.5155718707711308,-2.2687691496975657]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_12","position":[0.5912414451917645,-0.41573484015999096,0.71338606911949],"aabb_xy":[[0.5012414457733935,-0.44911033700418057],[0.6812414446101352,-0.3823593433158011]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_13","position":[0.6279605464527649,-0.8365785699505177,0.71338606911949],"aabb_xy":[[0.6188006675088883,-0.8431097879940547],[0.6371204253966415,-0.8300473519069805]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_14","position":[-0.08689366738008897,-0.6789714063813024,0.71338606911949],"aabb_xy":[[-0.12439366787744721,-0.6829400899294208],[-0.049393666882730725,-0.675002722833184]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_15","position":[0.08523042098327704,-1.3969271244628116,0.71338606911949],"aabb_xy":[[0.06773042184890986,-1.4068067515003992],[0.1027304201176442,-1.3870474974252236]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_16","position":[-0.3829877257127819,0.5386697860434517,0.71338606911949],"aabb_xy":[[-0.4329610197160423,0.4886697854889044],[-0.3330144317095214,0.5886697865979991]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_17","position":[-0.5506486848048684,-1.2927849186069669,0.71338606911949],"aabb_xy":[[-0.5919532278686044,-1.3567849181750837],[-0.5093441417411324,-1.2287849190388496]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_18","position":[-0.09686123124100843,0.020905402290749997,0.71338606911949],"aabb_xy":[[-0.16086123346141545,-0.023467681834538293],[-0.0328612290206014,0.06527848641603828]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_19","position":[0.11575679314763132,-1.8504949421759438,0.71338606911949],"aabb_xy":[[0.035756792677415376,-1.8588056497902923],[0.1957567936178473,-1.8421842345615957]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_20","position":[0.639054743457899,-0.2517738000721832,0.71338606911949],"aabb_xy":[[0.5740547449008261,-0.2815263334860658],[0.7040547420149718,-0.22202126665830058]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_21","position":[0.5720691708937473,-0.004587597471110705,0.71338606911949],"aabb_xy":[[0.5242630032799785,-0.06958760017816966],[0.6198753385075159,0.06041240523594825]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_22","position":[-0.499809188666487,-1.8105883013008346,0.71338606911949],"aabb_xy":[[-0.5648091896669876,-1.8613746664555093],[-0.4348091876659864,-1.7598019361461594]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_23","position":[-0.4112935315384453,-0.7056209460063849,0.71338606911949],"aabb_xy":[[-0.41738815942656365,-0.7141903405580535],[-0.405198903650327,-0.6970515514547161]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_24","position":[0.23965961080940523,-1.1438701199112018,0.71338606911949],"aabb_xy":[[0.18977691393170903,-1.1938701191574765],[0.28954230768710143,-1.093870120664927]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_25","position":[0.5589488827150275,-2.289236822749103,0.71338606911949],"aabb_xy":[[0.49495318531993093,-2.3532368210498116],[0.6229445801101241,-2.225236824448394]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_26","position":[0.5733319769230965,-1.63718147645739,0.71338606911949],"aabb_xy":[[0.5635759874139225,-1.6469440105166242],[0.5830879664322702,-1.6274189423981553]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_27","position":[-0.26612367908608875,-0.37399248651348405,0.71338606911949],"aabb_xy":[[-0.3161229542545249,-0.42399248778943116],[-0.21612440391765259,-0.3239924852375368]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_28","position":[-0.5760995646573603,-1.0139482039685528,0.71338606911949],"aabb_xy":[[-0.587005340744923,-1.093948200367382],[-0.5651937885697976,-0.9339482075697236]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_29","position":[0.45993219346891223,1.4151586642726284,0.71338606911949],"aabb_xy":[[0.4486871378982944,1.403916866548533],[0.47117724903953007,1.4264004619967237]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_30","position":[-0.14177422266234097,-2.05862178456399,0.71338606911949],"aabb_xy":[[-0.16961925944294812,-2.0894062833023015],[-0.11392918588173387,-2.027837285825678]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_31","position":[0.10219433926832255,-2.350752530091955,0.71338606911949],"aabb_xy":[[0.08308203191034369,-2.369887308969197],[0.12130664662630142,-2.331617751214713]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_32","position":[-0.04882742922116745,-2.118936454635346,0.71338606911949],"aabb_xy":[[-0.0647119224864926,-2.1332893949341707],[-0.0329429359558423,-2.104583514336522]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_33","position":[-0.19124005777146091,0.36591012206040885,0.71338606911949],"aabb_xy":[[-0.2246802329674805,0.33246649622947877],[-0.15779988257544128,0.39935374789133893]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_34","position":[0.3083171574605783,-1.5654510792312633,0.71338606911949],"aabb_xy":[[0.22831716044633033,-1.5855856309046747],[0.3883171544748263,-1.5453165275578522]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.659804474470237,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8095.png","name":"8095"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8095.png","name":"8095"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2351.png","name":"2351"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4324.png","name":"4324"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1220.png","name":"1220"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6859.png","name":"6859"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":588.6214372981362,"rotation_z_degrees":295.947065177997,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016143659433544507,0.0057979054856363045,-0.008324346424854641]},{"name":"camera_2","offset_m":[-0.013351039799287086,-0.0029212782409017944,0.0030713465679410752]},{"name":"camera_3","offset_m":[-0.013192450283495112,0.011155159021183955,0.005254681433916764]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0012813991059881817,-0.0014523939991028926,0.0007267173513959319],"end_effector_yaw_offset_degrees":0.5066730310633563},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0008695202680080879,0.001254890728298545,-0.0005657615065492885],"end_effector_yaw_offset_degrees":-0.6023881792915167},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0014925015673762352,-0.0010522224803796126,0.0013035735615893368],"end_effector_yaw_offset_degrees":-0.383712344312116},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0007690752483689636,-0.00011865981715783176,-0.0008496056132556533],"end_effector_yaw_offset_degrees":-0.25545490962144735}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003951876331100332,-0.0012964299602134357],"position_m":[0.21695187633110033,-0.13979642996021344,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00214681731312526,0.004428074478390494],"position_m":[0.22995318268687473,-0.3598719255216095,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0015835903458023878,0.00017127444628717986],"position_m":[0.2927835903458024,-0.03942872555371282,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003190277982761035,-0.0013073954636452913],"position_m":[0.3408097220172389,0.17359260453635472,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"57019d4de14f39a4490d5ea882fa6642b9ad39e848ecb3b8f0c788f9f54d0e7d","episode_index":75,"episode_name":"episode_0075"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0075.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_8095/tex_ceiling_textures_6859/tex_floor_textures_1220/tex_table_textures_2351/tex_wall_textures_4324","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":5565723769577410211,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":5565723769577410211,"visual_seed":5565723769577410211,"scene_id":"lab_003","finished_at":"2026-09-06T00:25:51"} +{"episode_id":"ep_000075","started_at":"2026-09-06T00:25:55","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_0","position":[-0.289006887471943,-1.8802249806431268,0.71338606911949],"aabb_xy":[[-0.29770484976265826,-1.8923499549506015],[-0.2803089251812277,-1.868100006335652]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_1","position":[0.48903511727251026,-2.033096606683948,0.71338606911949],"aabb_xy":[[0.4250351199868616,-2.074603325636792],[0.5530351145581589,-1.991589887731104]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_2","position":[0.35898865349905895,0.8501781155976595,0.71338606911949],"aabb_xy":[[0.349232663989885,0.840415581538425],[0.3687446430082328,0.8599406496568939]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_3","position":[0.5535595513266744,-0.6339268441306798,0.71338606911949],"aabb_xy":[[0.5427865774053067,-0.6689268423497189],[0.5643325252480422,-0.5989268459116409]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_4","position":[-0.4486318505257753,-1.8839348566018739,0.71338606911949],"aabb_xy":[[-0.4749206748462159,-1.9102062902565249],[-0.4223430262053346,-1.8576634229472224]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_5","position":[0.6031213587616411,-1.9130670717553775,0.71338606911949],"aabb_xy":[[0.5898904132269597,-1.926294490777377],[0.6163523042963223,-1.899839652733378]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_6","position":[0.522579148011354,-1.8073391001738064,0.71338606911949],"aabb_xy":[[0.500080012285127,-1.8298391009520691],[0.5450782837375809,-1.7848390993955432]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_7","position":[-0.5660806912359354,-0.02196400296803347,0.71338606911949],"aabb_xy":[[-0.6300806905301037,-0.08595014333688766],[-0.5020806919417673,0.042022137400820725]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_8","position":[0.37980231071856063,-1.6034769707590986,0.71338606911949],"aabb_xy":[[0.3671755234313642,-1.6130230444606717],[0.3924290980057569,-1.5939308970575259]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_9","position":[0.5391448503450857,0.21846223384736518,0.71338606911949],"aabb_xy":[[0.5141448507933473,0.20831974998223043],[0.5641448498968242,0.22860471771249988]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_10","position":[0.29429288633502837,1.158763954620635,0.71338606911949],"aabb_xy":[[0.2905896250058895,1.1550619363119168],[0.29799614766416727,1.1624659729293523]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_11","position":[-0.5662303169851699,-2.0716486315635048,0.71338606911949],"aabb_xy":[[-0.6037303185008016,-2.08287540457965],[-0.5287303154695382,-2.0604218585473597]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_12","position":[-0.16557204586678476,-2.4165222544264844,0.71338606911949],"aabb_xy":[[-0.23057204442385762,-2.446274787840367],[-0.10057204730971195,-2.3867697210126018]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_13","position":[-0.04021660802942739,1.230960200783052,0.71338606911949],"aabb_xy":[[-0.05610110129475254,1.216607260484228],[-0.02433211476410224,1.245313141081876]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_14","position":[0.05335290478423993,1.501336153667809,0.71338606911949],"aabb_xy":[[-0.010647095593293687,1.4515908868169967],[0.11735290516177355,1.5510814205186212]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_15","position":[-0.6477981551514241,0.5270225812165736,0.71338606911949],"aabb_xy":[[-0.692798156617653,0.4820227243550931],[-0.6027981536851953,0.5720224380780544]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_16","position":[0.6081736724033535,1.1759592104283736,0.71338606911949],"aabb_xy":[[0.5281736719331377,1.1676485028140253],[0.6881736728735696,1.1842699180427219]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_17","position":[0.42576230729017506,-0.8266515831232288,0.71338606911949],"aabb_xy":[[0.3457623103271359,-0.9037272247670022],[0.5057623042532142,-0.7495759414794553]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_18","position":[-0.45341698509960515,1.1179781233007513,0.71338606911949],"aabb_xy":[[-0.5334169825031985,1.0379855521025683],[-0.37341698769601167,1.197970694498934]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_19","position":[-0.5985618932655006,-1.6019130101415238,0.71338606911949],"aabb_xy":[[-0.6360618940574959,-1.6082808510997137],[-0.561061892473505,-1.5955451691833333]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_20","position":[-0.2929818032435016,-2.2651131504023025,0.71338606911949],"aabb_xy":[[-0.32727871426124217,-2.2994100366122434],[-0.2586848922257609,-2.230816264192361]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_21","position":[0.07526474363369806,-0.821992370859655,0.71338606911949],"aabb_xy":[[0.005264741502268508,-0.8447543364853507],[0.1452647457651276,-0.7992304052339594]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_22","position":[-0.03623586129728662,-1.5987563912486744,0.71338606911949],"aabb_xy":[[-0.07373586124105302,-1.607049481283511],[0.0012641386464797913,-1.5904633012138378]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_23","position":[0.10538658483804053,-2.106653468881962,0.71338606911949],"aabb_xy":[[0.10054299007681056,-2.111505121360946],[0.1102301795992705,-2.1018018164029777]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_24","position":[0.610200096819624,1.4169692583681797,0.71338606911949],"aabb_xy":[[0.6009064785824734,1.3794692598800458],[0.6194937150567745,1.4544692568563136]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_25","position":[0.680763441103174,0.08564939522125137,0.71338606911949],"aabb_xy":[[0.643263439918381,0.08123117252519081],[0.7182634422879666,0.0900676179173119]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_26","position":[0.17294875836810886,1.3773011868701088,0.71338606911949],"aabb_xy":[[0.15383645101013,1.3581664079928666],[0.19206106572608772,1.3964359657473506]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_27","position":[0.4741289534027693,0.3976211876223421,0.71338606911949],"aabb_xy":[[0.46097770743148003,0.3726211878656556],[0.48728019937405875,0.42262118737902876]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_28","position":[0.16473514843808001,-0.6393024674022469,0.71338606911949],"aabb_xy":[[0.11474013747862799,-0.6893024664378388],[0.21473015939753207,-0.5893024683666553]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_29","position":[-0.6550370627042628,-1.3813969464449967,0.71338606911949],"aabb_xy":[[-0.6836863950646789,-1.410042505722072],[-0.6263877303438464,-1.3527513871679204]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.659161914927332,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4167.png","name":"4167"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4167.png","name":"4167"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4310.png","name":"4310"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5106.png","name":"5106"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1111.png","name":"1111"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7081.png","name":"7081"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":849.3725375987146,"rotation_z_degrees":322.3618919806769,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0013820656590775443,-0.013721356461607576,0.008746318156283472]},{"name":"camera_2","offset_m":[0.00507232995284812,0.005861348527236899,0.006304665421106637]},{"name":"camera_3","offset_m":[-0.0081731301715585,0.0076918800042364635,-0.01926372637801534]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001070660887329205,-0.0011806034458558758,-3.9963949405741155e-05],"end_effector_yaw_offset_degrees":-0.21183232344819558},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0018731387505013185,-0.001171877734263839,-1.2779134307327068e-05],"end_effector_yaw_offset_degrees":0.12631265122311142},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0006459768509720107,-0.0001657244092320776,-0.001734248595538554],"end_effector_yaw_offset_degrees":0.9385561802259941},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0013818190674982664,0.0002489357254430182,-0.0019090064657913569],"end_effector_yaw_offset_degrees":-0.700333941966633}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0045910337110342545,0.0017164105187543336],"position_m":[0.21759103371103425,-0.13678358948124567,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004601461983787317,0.0018511809616479523],"position_m":[0.22749853801621267,-0.3624488190383521,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0014695028031591964,-1.1707883438343003e-05],"position_m":[0.29266950280315923,-0.039611707883438346,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004908308135459372,0.0005804060976290683],"position_m":[0.34890830813545937,0.17548040609762908,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c70dbd0523c1c69a67ef9ce071f60c53a4fd8db5322b58673530480e6a988cff","episode_index":76,"episode_name":"episode_0076"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0076.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_4167/tex_ceiling_textures_7081/tex_floor_textures_1111/tex_table_textures_4310/tex_wall_textures_5106","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":1654518142859589041,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":1654518142859589041,"visual_seed":1654518142859589041,"scene_id":"lab_003","finished_at":"2026-09-06T00:29:15"} +{"episode_id":"ep_000076","started_at":"2026-09-06T00:29:18","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_0","position":[-0.4734412586667743,0.13971420990597805,0.71338606911949],"aabb_xy":[[-0.5045881775103573,0.06971421121917085],[-0.44229433982319116,0.2097142085927852]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_1","position":[-0.37179441624326737,-2.3704682354240334,0.71338606911949],"aabb_xy":[[-0.382205974923751,-2.3758139687599313],[-0.3613828575627836,-2.3651225020881346]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_2","position":[-0.3011147649093209,-2.1105716034789404,0.71338606911949],"aabb_xy":[[-0.32239277305279307,-2.175571605805014],[-0.27983675676584857,-2.0455716011528677]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_3","position":[0.4173486600375189,0.009518726469024408,0.71338606911949],"aabb_xy":[[0.40964546936344187,0.001809355770286401],[0.42505185071159596,0.017228097167762413]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_4","position":[0.06307725451467872,-2.444541559909409,0.71338606911949],"aabb_xy":[[0.02557725372268327,-2.4509094008675993],[0.10057725530667416,-2.438173718951219]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_5","position":[0.5561182201409545,-0.2974847532841367,0.71338606911949],"aabb_xy":[[0.5311182209753214,-0.3044369989894933],[0.5811182193065876,-0.29053250757878013]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_6","position":[0.526983584853767,-0.04590452477624973,0.71338606911949],"aabb_xy":[[0.50448444912754,-0.06840452555451271],[0.5494827205799939,-0.02340452399798676]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_7","position":[-0.14812469514805315,1.2304922946351957,0.71338606911949],"aabb_xy":[[-0.17334553200789277,1.2052685437823085],[-0.12290385828821344,1.255716045488082]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_8","position":[-0.38318583080982205,-0.8510973187554578,0.71338606911949],"aabb_xy":[[-0.4431858324527439,-0.9030974680474019],[-0.3231858291669002,-0.7990971694635135]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_9","position":[-0.29573798317332367,1.6321854363476276,0.71338606911949],"aabb_xy":[[-0.37946020867340613,1.5421854328129314],[-0.2120157576732412,1.7221854398823233]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_10","position":[-0.3297479335484006,-1.7902347159279772,0.71338606911949],"aabb_xy":[[-0.3338837898811008,-1.8277347153723345],[-0.3256120772157004,-1.7527347164836204]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_11","position":[-0.3021678022500237,-1.6293624273008016,0.71338606911949],"aabb_xy":[[-0.33779695814998345,-1.6649950940576546],[-0.26653864635006397,-1.5937297605439487]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_12","position":[-0.35582915780119306,1.2021539078369052,0.71338606911949],"aabb_xy":[[-0.3597430309966156,1.1934048924303482],[-0.35191528460577054,1.2109029232434618]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_13","position":[-0.27113984857569884,1.4966304804470085,0.71338606911949],"aabb_xy":[[-0.27525579868777145,1.4925149254141628],[-0.2670238984636261,1.5007460354798539]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_14","position":[0.4864007241581261,1.009879779887639,0.71338606911949],"aabb_xy":[[0.41640072774816417,0.989441844235957],[0.5564007205680876,1.0303177155393204]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_15","position":[-0.28792621944260827,-1.3624411119742563,0.71338606911949],"aabb_xy":[[-0.3229262194191041,-1.371905728021873],[-0.25292621946611243,-1.3529764959266397]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_16","position":[-0.25256038398429853,1.003102806358517,0.71338606911949],"aabb_xy":[[-0.3075341060206314,0.9481028067942838],[-0.19758666194796565,1.0581028059227502]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_17","position":[0.6225674717126848,-0.757968927350338,0.71338606911949],"aabb_xy":[[0.6066829784473596,-0.772321867649162],[0.6384519649780099,-0.7436159870515139]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_18","position":[-0.6120579735812613,-0.6310811071253042,0.71338606911949],"aabb_xy":[[-0.6194704291226497,-0.6369323175469321],[-0.6046455180398728,-0.6252298967036762]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_19","position":[-0.1467291578061063,-1.7585429029365751,0.71338606911949],"aabb_xy":[[-0.16363989024244804,-1.7720151085291898],[-0.12981842536976448,-1.7450706973439605]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_20","position":[-0.5999487305242752,0.6505368644746881,0.71338606911949],"aabb_xy":[[-0.6499329662324523,0.6005368656611925],[-0.5499644948160979,0.7005368632881837]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_21","position":[-0.08490040508940411,-0.18437936976935454,0.71338606911949],"aabb_xy":[[-0.10007257437103745,-0.1995482266975579],[-0.06972823580777077,-0.16921051284115118]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_22","position":[-0.41787337028379384,-0.6782072810779871,0.71338606911949],"aabb_xy":[[-0.4259870249571709,-0.6863130975320162],[-0.4097597156104167,-0.670101464623958]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_23","position":[-0.5372283595295179,-0.5190720899292862,0.71338606911949],"aabb_xy":[[-0.5425659351955224,-0.544072090858426],[-0.5318907838635133,-0.49407208900014643]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_24","position":[-0.08160326460723966,-2.461145462309821,0.71338606911949],"aabb_xy":[[-0.12290780767097564,-2.525145461877938],[-0.04029872154350367,-2.3971454627417037]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_25","position":[-0.3935978416674709,0.48936593890024316,0.71338606911949],"aabb_xy":[[-0.41102855674647737,0.4720938242363923],[-0.37616712658846435,0.5066380535640939]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_26","position":[0.12177949523668985,-2.5587253276837516,0.71338606911949],"aabb_xy":[[0.11378600544140785,-2.5667234596242277],[0.1297729850319719,-2.5507271957432764]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_27","position":[-0.630264307801363,-1.7255480172075242,0.71338606911949],"aabb_xy":[[-0.6802417246666165,-1.7755480186967727],[-0.5802868909361093,-1.6755480157182756]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_28","position":[0.36542808394027304,1.2029644657071317,0.71338606911949],"aabb_xy":[[0.3014280815974714,1.1580236144629994],[0.42942808628307455,1.2479053169512644]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_29","position":[0.2977635520468336,1.5085231556672611,0.71338606911949],"aabb_xy":[[0.28312014649280054,1.493864436010477],[0.3124069576008665,1.5231818753240454]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_30","position":[-0.46479748055575765,1.1832838385071245,0.71338606911949],"aabb_xy":[[-0.4774001796928341,1.1706884422822592],[-0.4521947814186812,1.1958792347319902]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_31","position":[0.2462042114455668,-2.16112159749762,0.71338606911949],"aabb_xy":[[0.15651713513745136,-2.251121597752071],[0.33589128775368227,-2.07112159724317]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6581273829873785,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3818.png","name":"3818"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3818.png","name":"3818"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1208.png","name":"1208"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7706.png","name":"7706"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6425.png","name":"6425"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3752.png","name":"3752"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":552.3732575851835,"rotation_z_degrees":168.36767502020305,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008641752303647974,-0.00940670374227742,-0.009971236693893517]},{"name":"camera_2","offset_m":[0.017103274079928166,-0.005976945702854954,0.011204582593614228]},{"name":"camera_3","offset_m":[0.014981776436461803,0.0108290007038172,0.010737791339258937]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0012828789547414856,-0.0015811316672926204,0.001995451765476267],"end_effector_yaw_offset_degrees":0.3112690024675058},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.000324507546907241,0.000899594478660011,-0.001282742128333182],"end_effector_yaw_offset_degrees":0.21715019556180626},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001493482712076868,0.0005109003699704396,-0.0010360236856518843],"end_effector_yaw_offset_degrees":0.9094317815936301},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0003853116185458514,0.0016530019915918476,0.0011027189635961494],"end_effector_yaw_offset_degrees":-0.22288840709032898}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.001725948762930479,0.000378155776725877],"position_m":[0.21472594876293047,-0.13812184422327414,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004870786532988616,0.003325098748372372],"position_m":[0.2272292134670114,-0.3609749012516276,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0008856588639751632,0.0022625111334197076],"position_m":[0.2920856588639752,-0.037337488866580296,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0001769134381194859,0.0012612771037427452],"position_m":[0.3438230865618805,0.17616127710374274,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ae5ef02cb2c89af5586a9558d6c7fbbbc5750b15bc240953b7339d17116ca832","episode_index":77,"episode_name":"episode_0077"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0077.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_3818/tex_ceiling_textures_3752/tex_floor_textures_6425/tex_table_textures_1208/tex_wall_textures_7706","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":8012822955918996924,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":8012822955918996924,"visual_seed":8012822955918996924,"scene_id":"lab_003","finished_at":"2026-09-06T00:32:44"} +{"episode_id":"ep_000077","started_at":"2026-09-06T00:32:48","dimensions":{"distractor":{"count":23,"items":[{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_0","position":[0.14915333183553414,1.7091734864761308,0.71338606911949],"aabb_xy":[[0.09415333363378929,1.6686515198496932],[0.20415333003727895,1.7496954531025684]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_1","position":[0.5772066654828767,-0.3245048959150756,0.71338606911949],"aabb_xy":[[0.5222329434465438,-0.37950489547930877],[0.6321803875192096,-0.2695048963508424]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_2","position":[-0.4423070227315102,1.2963243276515821,0.71338606911949],"aabb_xy":[[-0.47676937012965187,1.2618304452537594],[-0.40784467533336827,1.3308182100494048]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_3","position":[-0.028844504274236793,1.6552074185761785,0.71338606911949],"aabb_xy":[[-0.08384450389598264,1.6002237257887058],[0.026155495347509047,1.7101911113636512]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_4","position":[0.3072244327473612,-1.2961642646695875,0.71338606911949],"aabb_xy":[[0.2697244341717404,-1.3089005603331452],[0.34472443132298203,-1.2834279690060293]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_5","position":[-0.5906450064625546,1.1026114408640901,0.71338606911949],"aabb_xy":[[-0.6256450047732499,1.0948964259405445],[-0.555645008151859,1.1103264557876358]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_6","position":[-0.197856146563668,1.6363546062029397,0.71338606911949],"aabb_xy":[[-0.23285614575648625,1.625387560205277],[-0.16285614737084972,1.647321652200602]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_7","position":[-0.2764520864870856,-2.1621717353714676,0.71338606911949],"aabb_xy":[[-0.3098922616831051,-2.1956153612023974],[-0.2430119112910659,-2.128728109540537]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_8","position":[0.37363071102546663,-1.1976021103922354,0.71338606911949],"aabb_xy":[[0.351130710513426,-1.2200939687576338],[0.3961307115375072,-1.175110252026837]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_9","position":[0.5970823865266195,-1.6319114791008142,0.71338606911949],"aabb_xy":[[0.5595823867095859,-1.6365496904119559],[0.634582386343653,-1.6272732677896722]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_10","position":[-0.5910641342602824,-1.90338185604901,0.71338606911949],"aabb_xy":[[-0.6388703018740509,-1.9683818587560684],[-0.5432579666465136,-1.8383818533419505]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_11","position":[0.06896711382569909,-1.4324010054876244,0.71338606911949],"aabb_xy":[[0.05888540674712561,-1.5124010033797388],[0.07904882090427257,-1.3524010075955095]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_12","position":[-0.5500912388852385,-2.221732193398688,0.71338606911949],"aabb_xy":[[-0.5838667980759314,-2.235770688611853],[-0.5163156796945455,-2.207693698185523]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_13","position":[0.3974124806430561,-2.0389740807142247,0.71338606911949],"aabb_xy":[[0.37489878881959887,-2.108974081315232],[0.41992617246651326,-1.9689740801132167]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_14","position":[0.5684383100758716,0.8279082140684206,0.71338606911949],"aabb_xy":[[0.5328091541759119,0.7922755473115677],[0.6040674659758314,0.8635408808252736]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_15","position":[0.7037186416695567,-0.7157779078582087,0.71338606911949],"aabb_xy":[[0.6987626214846756,-0.7382779080603303],[0.708674661854438,-0.6932779076560871]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_16","position":[0.007799113544815328,-2.4333556094296016,0.71338606911949],"aabb_xy":[[-0.016037104095789737,-2.5233556102380885],[0.0316353311854204,-2.3433556086211156]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_17","position":[0.08822208239222484,-1.6027846302457196,0.71338606911949],"aabb_xy":[[0.008222079128211712,-1.6163446625546332],[0.16822208565623797,-1.5892245979368065]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_18","position":[-0.035507102231691956,1.4733014391278743,0.71338606911949],"aabb_xy":[[-0.11550710548953491,1.3933049313358903],[0.044492901026151,1.5532979469198582]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_19","position":[0.06520076140846065,-2.103424155952951,0.71338606911949],"aabb_xy":[[-0.024799235092411106,-2.1493357983714088],[0.15520075790933238,-2.0575125135344923]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_20","position":[-0.07131924560643566,0.9517596628872256,0.71338606911949],"aabb_xy":[[-0.08881924586577229,0.9376681206984532],[-0.053819245347099046,0.9658512050759984]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_21","position":[-0.3094882781848128,-0.424774679379452,0.71338606911949],"aabb_xy":[[-0.39948827790798697,-0.44784803191463185],[-0.21948827846163863,-0.4017013268442722]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_22","position":[-0.13041433910514033,-1.4547747834409792,0.71338606911949],"aabb_xy":[[-0.18039857481331753,-1.5047747822544748],[-0.08043010339696308,-1.4047747846274836]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6680450270574319,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5076.png","name":"5076"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5076.png","name":"5076"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3826.png","name":"3826"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1922.png","name":"1922"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1249.png","name":"1249"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5885.png","name":"5885"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":702.0328389730075,"rotation_z_degrees":219.3310444321715,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.018484696616505692,-0.0026927030767954184,0.01844025986408947]},{"name":"camera_2","offset_m":[0.008497985614853154,0.010913032326272814,-0.019545136308879784]},{"name":"camera_3","offset_m":[-0.007869553438042591,0.014215409132375015,-0.01834491843099527]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0004199518180044337,-0.0014206198158434296,-0.0007750848089837711],"end_effector_yaw_offset_degrees":0.33603791983023945},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0012133697115205844,0.0017912417073958193,-0.0016011305111108514],"end_effector_yaw_offset_degrees":0.9910079595566832},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00014433222314194616,-0.001174465992160804,-0.0007132809799102757],"end_effector_yaw_offset_degrees":-0.5264770817486075},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00018919704025374207,0.0006008836517687795,0.0017320955161510255],"end_effector_yaw_offset_degrees":-0.35018912623300325}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0028635997130341114,-0.00046666431264133935],"position_m":[0.2158635997130341,-0.13896666431264135,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003506260282718215,-0.001986029706757432],"position_m":[0.23560626028271822,-0.36628602970675744,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0016496471982177909,0.004688229086352636],"position_m":[0.2895503528017822,-0.03491177091364737,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0007485020722771381,-0.004060506050959751],"position_m":[0.34325149792772286,0.17083949394904024,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7af82e5267a1a5cf19e49d6edccd15674b8f58609811a3c2ed93c0e8a85d7a0d","episode_index":78,"episode_name":"episode_0078"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0078.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_5076/tex_ceiling_textures_5885/tex_floor_textures_1249/tex_table_textures_3826/tex_wall_textures_1922","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":6699929111860517513,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":6699929111860517513,"visual_seed":6699929111860517513,"scene_id":"lab_003","finished_at":"2026-09-06T00:36:16"} +{"episode_id":"ep_000078","started_at":"2026-09-06T00:36:20","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_0","position":[-0.3602244257567087,0.16580895005778995,0.71338606911949],"aabb_xy":[[-0.40299113263612885,0.1018089466359875],[-0.31745771887728846,0.2298089534795924]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_1","position":[-0.37489227226576827,1.5239989080794243,0.71338606911949],"aabb_xy":[[-0.39180300470211,1.5105267024868092],[-0.35798153982942643,1.5374711136720385]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_2","position":[0.6298921205264334,-2.287736393638827,0.71338606911949],"aabb_xy":[[0.5749183984901005,-2.3427363932030603],[0.6848658425627663,-2.232736394074594]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_3","position":[0.11070527914854611,-0.782573367859325,0.71338606911949],"aabb_xy":[[0.07215958632334507,-0.8211191389155136],[0.14925097197374715,-0.7440275968031363]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_4","position":[0.10359747851054146,0.9245551850866094,0.71338606911949],"aabb_xy":[[0.06609747771854599,0.9181873441284192],[0.14109747930253688,0.9309230260447994]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_5","position":[-0.2318617285851317,-0.405377829020642,0.71338606911949],"aabb_xy":[[-0.2427022068116466,-0.4225641103112909],[-0.22102125035861678,-0.38819154772999326]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_6","position":[-0.4424517644543466,1.6511309572075183,0.71338606911949],"aabb_xy":[[-0.49245176403068136,1.6011503782554126],[-0.3924517648780119,1.7011115361596245]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_7","position":[-0.5102181602885725,-0.5358793735744181,0.71338606911949],"aabb_xy":[[-0.5742181594583424,-0.5826460606933805],[-0.4462181611188026,-0.48911268645545564]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_8","position":[-0.3510454633387119,0.6068713319403503,0.71338606911949],"aabb_xy":[[-0.3626144440856485,0.5818713318234187],[-0.3394764825917754,0.6318713320572821]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_9","position":[-0.5557057817600854,-1.2219137074560218,0.71338606911949],"aabb_xy":[[-0.5900026927778259,-1.256210593665963],[-0.5214088707423448,-1.1876168212460805]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_10","position":[0.36449421873697174,0.7641315610001467,0.71338606911949],"aabb_xy":[[0.3144949435685356,0.7141315597241995],[0.4144934939054079,0.8141315622760938]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_11","position":[-0.08746723234525189,-0.010994496573268009,0.71338606911949],"aabb_xy":[[-0.15146722945735758,-0.06002686636767862],[-0.0234672352331462,0.038037873221142604]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_12","position":[0.3234323616510548,-2.3641611207373825,0.71338606911949],"aabb_xy":[[0.2763029826492191,-2.4281611217817836],[0.37056174065289044,-2.3001611196929796]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_13","position":[-0.16076060387251068,1.565050400146006,0.71338606911949],"aabb_xy":[[-0.1810449065959094,1.5447677750032969],[-0.1404763011491119,1.5853330252887146]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_14","position":[-0.023028662350805917,-1.00368581681735,0.71338606911949],"aabb_xy":[[-0.07802866197255176,-1.0586695096048226],[0.031971337270939926,-0.9487021240298772]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_15","position":[0.15297062096213154,-1.2383385769871205,0.71338606911949],"aabb_xy":[[0.0929706204542786,-1.2951853106730415],[0.21297062146998444,-1.181491843301199]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_16","position":[-0.6535986665181466,-1.1943130686063927,0.71338606911949],"aabb_xy":[[-0.6584979588247101,-1.2219899879089613],[-0.6486993742115831,-1.1666361493038238]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_17","position":[0.3539028262376869,-1.0941126734962052,0.71338606911949],"aabb_xy":[[0.289902829810365,-1.1412822973183019],[0.41790282266500883,-1.046943049674109]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_18","position":[-0.044253363566661985,-2.320609093350095,0.71338606911949],"aabb_xy":[[-0.05935566502768007,-2.3357106149811555],[-0.029151062105643877,-2.3055075717190316]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_19","position":[-0.5215575076639343,-1.0536417515058683,0.71338606911949],"aabb_xy":[[-0.5590575074809678,-1.05827996281701],[-0.4840575078469007,-1.0490035401947264]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.661883276435439,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1287.png","name":"1287"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1287.png","name":"1287"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4373.png","name":"4373"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1599.png","name":"1599"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4041.png","name":"4041"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6004.png","name":"6004"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":726.4489411705985,"rotation_z_degrees":121.03322339319573,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.001201109642463661,0.01787739392504731,0.0012096411271642765]},{"name":"camera_2","offset_m":[-0.013549178350772545,0.01632492834679271,0.013198269339177119]},{"name":"camera_3","offset_m":[0.016558417187094308,0.0194777436667196,0.001753430797726819]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0016752830634670897,-0.00031494174993501557,-0.0019252373179286463],"end_effector_yaw_offset_degrees":-0.7702005325404442},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0015340632960301405,0.0005492663886798098,0.0006037095735059602],"end_effector_yaw_offset_degrees":0.8816216737280183},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0012321466815143102,0.0018535207391197918,-0.0009119679742134346],"end_effector_yaw_offset_degrees":0.34688482461688297},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0011410272644499812,0.0007441919892195027,0.00041780703852353903],"end_effector_yaw_offset_degrees":-0.18811764745490067}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[8.290239622932728e-05,-0.0017520269309098768],"position_m":[0.21308290239622932,-0.14025202693090988,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0041005591341529025,-0.0023228507136299403],"position_m":[0.2279994408658471,-0.36662285071362993,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004160558970800063,0.0008728180843170785],"position_m":[0.2953605589708001,-0.038727181915682925,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0006791159122353698,-0.0032930096134955265],"position_m":[0.3446791159122353,0.17160699038650448,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"10e73af2de03452101fb095303a1fe6b9ae738a3db3b86a09b7cf2c11571d1a9","episode_index":79,"episode_name":"episode_0079"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0079.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_1287/tex_ceiling_textures_6004/tex_floor_textures_4041/tex_table_textures_4373/tex_wall_textures_1599","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":6781835940593835864,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":6781835940593835864,"visual_seed":6781835940593835864,"scene_id":"lab_003","finished_at":"2026-09-06T00:39:54"} +{"episode_id":"ep_000079","started_at":"2026-09-06T00:39:57","dimensions":{"distractor":{"count":26,"items":[{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_0","position":[-0.6357628162186596,0.029149468330842865,0.71338606911949],"aabb_xy":[[-0.6582619519448866,0.006649467552579891],[-0.6132636804924326,0.05164946910910584]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_1","position":[0.2291820637524058,-2.1080288989626377,0.71338606911949],"aabb_xy":[[0.19540650456171282,-2.1220673941758026],[0.26295762294309877,-2.0939904037494728]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_2","position":[-0.05028060753787633,-2.5002890882421966,0.71338606911949],"aabb_xy":[[-0.057693063079264806,-2.5061402986638246],[-0.04286815199648786,-2.4944378778205687]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_3","position":[-0.5213771571458703,-1.2854274936418395,0.71338606911949],"aabb_xy":[[-0.5388771574052069,-1.2995190358306121],[-0.5038771568865337,-1.2713359514530669]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_4","position":[0.1392042281914202,-0.7795813339040711,0.71338606911949],"aabb_xy":[[0.0892268113261666,-0.8295813353933196],[0.18918164505667376,-0.7295813324148225]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_5","position":[0.06727777153461534,-2.2503991192188098,0.71338606911949],"aabb_xy":[[0.02977777074261989,-2.256766960177],[0.10477777232661079,-2.2440312782606195]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_6","position":[0.6013875658124677,0.09989499871895635,0.71338606911949],"aabb_xy":[[0.5373875639001254,0.043983849460945926],[0.6653875677248101,0.1558061479769668]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_7","position":[-0.03597273763052633,0.12586061867326626,0.71338606911949],"aabb_xy":[[-0.04844009574026198,0.11339529403994275],[-0.02350537952079068,0.13832594330658976]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_8","position":[-0.16732614859888995,0.6801732512223952,0.71338606911949],"aabb_xy":[[-0.23132614930235934,0.6341548687494744],[-0.10332614789542063,0.7261916336953164]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_9","position":[-0.28317956912456005,-2.4294962904598005,0.71338606911949],"aabb_xy":[[-0.29259704369442274,-2.438912467597519],[-0.27376209455469724,-2.420080113322081]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_10","position":[-0.38528061528866536,0.44854177238249804,0.71338606911949],"aabb_xy":[[-0.4202806166401471,0.4281820364256771],[-0.3502806139371836,0.46890150833931876]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_11","position":[-0.04416961928735086,-1.898914285867495,0.71338606911949],"aabb_xy":[[-0.06180245488087843,-1.9165372318831182],[-0.02653678369382329,-1.8812913398518722]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_12","position":[0.6080526724292137,-2.338300127328551,0.71338606911949],"aabb_xy":[[0.5430526697914202,-2.389779726027998],[0.6730526750670072,-2.286820528629104]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_13","position":[0.48491621974192034,0.07382794140583027,0.71338606911949],"aabb_xy":[[0.4795786440759159,0.04882794047669048],[0.490253795407925,0.09882794233497005]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_14","position":[-0.2350949474668491,-0.8937853797567139,0.71338606911949],"aabb_xy":[[-0.2990949507565572,-0.9371202987606315],[-0.17109494417714097,-0.8504504607527963]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_15","position":[-0.10709851096310152,-2.097534409650379,0.71338606911949],"aabb_xy":[[-0.15709851262459623,-2.1475328519060812],[-0.05709850930160674,-2.047535967394676]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_16","position":[0.37596682927984815,-2.255530499783145,0.71338606911949],"aabb_xy":[[0.3258693652987745,-2.3195305002929567],[0.42606429326092177,-2.191530499273333]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_17","position":[0.32592920048690344,-1.9412783790401469,0.71338606911949],"aabb_xy":[[0.2890786525499158,-1.9787783798631808],[0.36277974842389105,-1.9037783782171134]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_18","position":[0.3885103916722714,1.739387687519844,0.71338606911949],"aabb_xy":[[0.3385370976690109,1.6893876869652966],[0.4384836856755318,1.7893876880743913]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_19","position":[-0.6057010923770761,0.7653625425585933,0.71338606911949],"aabb_xy":[[-0.6200355175032397,0.7533023270040544],[-0.5913666672509128,0.7774227581131321]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_20","position":[-0.47697213049558246,0.17913664012099195,0.71338606911949],"aabb_xy":[[-0.48401244042911956,0.09913664072132061],[-0.4699318205620456,0.25913663952066346]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_21","position":[0.13142218109847936,0.9436019265859126,0.71338606911949],"aabb_xy":[[0.12371899042440232,0.9358925558871743],[0.1391253717725564,0.9513112972846504]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_22","position":[-0.44597708657477914,-1.599287237236809,0.71338606911949],"aabb_xy":[[-0.46107938803579707,-1.6143887588678703],[-0.43087478511376087,-1.5841857156057468]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_23","position":[-0.4892529991454224,-1.0019373532877784,0.71338606911949],"aabb_xy":[[-0.5203999179890055,-1.0719373519745854],[-0.45810608030183925,-0.931937354600971]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_24","position":[0.20754966470853087,-1.3724146308850584,0.71338606911949],"aabb_xy":[[0.14254966682688308,-1.4235382945915995],[0.27254966259017865,-1.3212909671785178]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_25","position":[0.4043230380710108,1.1200936373410206,0.71338606911949],"aabb_xy":[[0.3718613371890832,1.0899608052261176],[0.4367847389529381,1.1502264694559228]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6579767757545678,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8622.png","name":"8622"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8622.png","name":"8622"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1443.png","name":"1443"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8872.png","name":"8872"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/443.png","name":"443"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/988.png","name":"988"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":612.5367838465519,"rotation_z_degrees":251.04138537806688,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00015983961323687637,0.009622918071010882,0.001132905388063609]},{"name":"camera_2","offset_m":[-0.008831596951214823,-0.019871967334910975,-0.0070635877670639675]},{"name":"camera_3","offset_m":[0.005018507721874076,-0.011146623030032084,-0.004084325891984188]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0012037990403863355,-0.000864141747684168,0.0006889283998319663],"end_effector_yaw_offset_degrees":-0.9465404164528664},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0011883052236473387,-0.0011913579489245714,0.0018875705430181945],"end_effector_yaw_offset_degrees":-0.01875341601731373},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001537606869491484,0.001609002320904922,-0.000949101359221753],"end_effector_yaw_offset_degrees":0.7961591701055206},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0007368261442997153,-0.0005624344992219811,-0.0015427178543171581],"end_effector_yaw_offset_degrees":0.2563424611741789}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0004929659807119038,0.0010033735615568315],"position_m":[0.21250703401928808,-0.13749662643844318,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004849505722960945,0.003632220062861932],"position_m":[0.22725049427703906,-0.36066777993713806,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0013515011093977345,-0.0009086827302053901],"position_m":[0.28984849889060227,-0.04050868273020539,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0026325027976198466,-0.0026519480215567402],"position_m":[0.34136749720238013,0.17224805197844326,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"fb5450db0d91227fe63ac7ccd797d00d6a41d44375488ff97e38017b04b300b5","episode_index":80,"episode_name":"episode_0080"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0080.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_8622/tex_ceiling_textures_988/tex_floor_textures_443/tex_table_textures_1443/tex_wall_textures_8872","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":2448921627884008967,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":2448921627884008967,"visual_seed":2448921627884008967,"scene_id":"lab_003","finished_at":"2026-09-06T00:43:17"} +{"episode_id":"ep_000080","started_at":"2026-09-06T00:43:20","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_0","position":[0.3858567183526953,1.724309664632584,0.71338606911949],"aabb_xy":[[0.372410191718652,1.7108398129794926],[0.39930324498673864,1.7377795162856753]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_1","position":[-0.019694963011043898,1.0324440103169716,0.71338606911949],"aabb_xy":[[-0.08369495940661698,0.9684807218982379],[0.04430503338452918,1.096407298735705]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_2","position":[0.6552557302325199,0.43779291052921776,0.71338606911949],"aabb_xy":[[0.6187599096052411,0.40130896810246014],[0.6917515508597986,0.47427685295597527]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_3","position":[0.5765594024335683,1.5087995949979827,0.71338606911949],"aabb_xy":[[0.546567739699698,1.478799595661182],[0.6065510651674386,1.538799594334783]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_4","position":[0.4785880882050664,1.3514320516062797,0.71338606911949],"aabb_xy":[[0.4611573731260598,1.3341599369424284],[0.49601880328407283,1.36870416627013]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_5","position":[-0.3971560269811117,-0.14082273894233266,0.71338606911949],"aabb_xy":[[-0.461156028659109,-0.1893401304216469],[-0.3331560253031143,-0.09230534746301847]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_6","position":[0.6586533953992217,-1.9705059035330836,0.71338606911949],"aabb_xy":[[0.6505397407258446,-1.9786117199871125],[0.6667670500725988,-1.9624000870790543]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_7","position":[-0.2357061859572971,0.7298395682180412,0.71338606911949],"aabb_xy":[[-0.23914686219735426,0.7259781352436767],[-0.23226550971723992,0.7337010011924057]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_8","position":[-0.4700585921006529,-1.7474632094632234,0.71338606911949],"aabb_xy":[[-0.48252595021038863,-1.759928534096547],[-0.45759123399091733,-1.7349978848299]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_9","position":[-0.2035602092022719,-1.243768856718602,0.71338606911949],"aabb_xy":[[-0.23470712804585503,-1.3137688554054092],[-0.1724132903586888,-1.1737688580317949]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_10","position":[-0.038408882000343425,1.5914473727512832,0.71338606911949],"aabb_xy":[[-0.1184088790145914,1.5713128210778717],[0.041591115013904556,1.6115819244246943]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_11","position":[-0.14624099132691648,-1.7586369999478184,0.71338606911949],"aabb_xy":[[-0.1812409926783982,-1.778996735904639],[-0.11124098997543473,-1.7382772639909974]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_12","position":[0.12807356322695063,-1.4811624427206744,0.71338606911949],"aabb_xy":[[0.04807355996910767,-1.5611589505126582],[0.20807356648479358,-1.4011659349286902]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_13","position":[-0.4337679407917183,0.04095666077927396,0.71338606911949],"aabb_xy":[[-0.45876793995735143,0.03400441507391738],[-0.4087679416260852,0.04790890648463053]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_14","position":[-0.08065562604445753,-2.387666948730643,0.71338606911949],"aabb_xy":[[-0.09380687201574692,-2.4126669484873293],[-0.06750438007316818,-2.3626669489739562]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_15","position":[-0.23931302711848035,0.48637250173747937,0.71338606911949],"aabb_xy":[[-0.2472363073572287,0.463872501499476],[-0.23138974687973204,0.5088725019754827]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_16","position":[0.05726652850152347,-1.3390589282672072,0.71338606911949],"aabb_xy":[[0.0390607048402758,-1.3500843288491988],[0.07547235216277115,-1.3280335276852155]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_17","position":[0.4986208205233149,-0.6204778829503415,0.71338606911949],"aabb_xy":[[0.4733999836634752,-0.645701633803228],[0.5238416573831545,-0.5952541320974545]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_18","position":[0.4799784603720094,0.9239986214195208,0.71338606911949],"aabb_xy":[[0.3999784571079963,0.9104385891106074],[0.5599784636360225,0.937558653728434]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_19","position":[0.6117210473537376,-0.35134383185029927,0.71338606911949],"aabb_xy":[[0.60467959640299,-0.3583705835880938],[0.6187624983044852,-0.3443170801125047]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_20","position":[0.6543294365152603,-0.7181352967913026,0.71338606911949],"aabb_xy":[[0.645631474224545,-0.7302602710987773],[0.6630273988059756,-0.7060103224838279]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_21","position":[-0.17651407134777086,0.7838144794926558,0.71338606911949],"aabb_xy":[[-0.18735454957428574,0.766628198202007],[-0.16567359312125593,0.8010007607833046]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_22","position":[0.41825603223049357,-1.0868883979713528,0.71338606911949],"aabb_xy":[[0.32825603250731933,-1.1099617505065325],[0.5082560319536676,-1.0638150454361728]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_23","position":[-0.07773208887852112,-0.6372637158247796,0.71338606911949],"aabb_xy":[[-0.09779050049176141,-0.6573288027339371],[-0.05767367726528083,-0.617198628915622]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_24","position":[-0.3946682536492139,1.0997266734183975,0.71338606911949],"aabb_xy":[[-0.4496614649863507,1.044726673079604],[-0.3396750423120771,1.1547266737571913]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_25","position":[-0.3843706785829416,-1.7455640196197209,0.71338606911949],"aabb_xy":[[-0.3941266680921155,-1.755326553678955],[-0.3746146890737677,-1.7358014855604862]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_26","position":[0.3207220045363002,1.505606116644039,0.71338606911949],"aabb_xy":[[0.2982083127128429,1.4356061160430313],[0.3432356963597573,1.5756061172450464]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_27","position":[-0.4216889205177889,-1.293538014980329,0.71338606911949],"aabb_xy":[[-0.44623513614053967,-1.3237869115293661],[-0.3971427048950382,-1.263289118431292]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_28","position":[0.29871011250543855,0.6689296082081357,0.71338606911949],"aabb_xy":[[0.28814263284733954,0.6583845780951272],[0.30927759216353756,0.6794746383211443]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6653889069810461,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1494.png","name":"1494"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1494.png","name":"1494"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8302.png","name":"8302"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9652.png","name":"9652"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2246.png","name":"2246"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6790.png","name":"6790"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":740.2025442301815,"rotation_z_degrees":298.0820256353482,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004060222962555926,0.01747378560877399,-0.00549992530418876]},{"name":"camera_2","offset_m":[-0.009344357783407689,-0.0007678876165707789,0.009415318688318332]},{"name":"camera_3","offset_m":[-0.004262040439290397,0.0025898178239369997,0.01848074192117635]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-2.6281401736982617e-05,0.0004969410880590404,-0.0018723667523599522],"end_effector_yaw_offset_degrees":-0.6904325227180259},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0001516899972767499,0.00021446333638338753,-0.0009875361813065343],"end_effector_yaw_offset_degrees":0.6886584629681134},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001802442185640584,-0.001902830293919259,-0.0003439251975756478],"end_effector_yaw_offset_degrees":-0.5673608349874777},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001346261193519231,-0.0006696451182148194,-0.0003854816482395402],"end_effector_yaw_offset_degrees":-0.6028899122788718}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0016341564045842596,0.0028711840844594843],"position_m":[0.21463415640458425,-0.13562881591554052,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00017612596523520086,-0.002215345706529408],"position_m":[0.2322761259652352,-0.36651534570652944,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0011852661854753555,-0.0009731475017545951],"position_m":[0.29001473381452464,-0.0405731475017546,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0037616856265051827,0.0024850734387789385],"position_m":[0.3402383143734948,0.17738507343877893,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"41385ce486f7211e2cc00f68293df6479103633707f35c95a934a6aa4e4aa935","episode_index":81,"episode_name":"episode_0081"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0081.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_1494/tex_ceiling_textures_6790/tex_floor_textures_2246/tex_table_textures_8302/tex_wall_textures_9652","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":1917702705388309501,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":1917702705388309501,"visual_seed":1917702705388309501,"scene_id":"lab_003","finished_at":"2026-09-06T00:46:58"} +{"episode_id":"ep_000081","started_at":"2026-09-06T00:47:01","dimensions":{"distractor":{"count":34,"items":[{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_0","position":[0.40255416719027304,-0.945012461520544,0.71338606911949],"aabb_xy":[[0.36755416799745466,-0.9559795075182064],[0.4375541663830912,-0.9340454155228811]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_1","position":[-0.036356731849284785,-1.4588083251294666,0.71338606911949],"aabb_xy":[[-0.11635672881232395,-1.53588396677324],[0.04364326511375438,-1.3817326834856931]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_2","position":[-0.42458581215318114,1.273500229755086,0.71338606911949],"aabb_xy":[[-0.43645789516468225,1.1885002300614356],[-0.41271372914168003,1.3585002294487363]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_3","position":[-0.4154336136389934,-1.7814394228106325,0.71338606911949],"aabb_xy":[[-0.4615187048937249,-1.8454394200631876],[-0.3693485223842619,-1.7174394255580774]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_4","position":[0.5200135270015136,1.5871024733674681,0.71338606911949],"aabb_xy":[[0.5025135935675302,1.5696024734472334],[0.537513460435497,1.6046024732877024]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_5","position":[0.45163396316486604,-1.2538065669898935,0.71338606911949],"aabb_xy":[[0.44553933527674777,-1.2623759615415624],[0.4577285910529844,-1.245237172438225]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_6","position":[0.6821587675905945,-2.267069305396762,0.71338606911949],"aabb_xy":[[0.6571587684249613,-2.2740215511021185],[0.7071587667562276,-2.2601170596914053]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_7","position":[0.2723582539029179,-1.6340392216538766,0.71338606911949],"aabb_xy":[[0.24236659116904757,-1.664039220990677],[0.30234991663678823,-1.6040392223170759]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_8","position":[0.4828323565474424,-0.3132512331998867,0.71338606911949],"aabb_xy":[[0.4483700091493005,-0.34774511559770926],[0.517294703945584,-0.2787573508020639]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_9","position":[0.16439543652307287,-1.409560728724988,0.71338606911949],"aabb_xy":[[0.08439543544995254,-1.4193387750623725],[0.2443954375961932,-1.3997826823876036]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_10","position":[0.06615355096280418,-2.1947536720810734,0.71338606911949],"aabb_xy":[[0.04323783807775427,-2.2176579692174974],[0.08906926384785407,-2.1718493749446504]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_11","position":[0.4894434286508329,-0.8194178431861852,0.71338606911949],"aabb_xy":[[0.43444342902908717,-0.8744015359736579],[0.5444434282725789,-0.7644341503987124]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_12","position":[0.16001291198648848,1.6645073344229293,0.71338606911949],"aabb_xy":[[0.09001291017774307,1.643153565658742],[0.23001291379523395,1.6858611031871167]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_13","position":[0.07611807228436895,-1.6650788535260705,0.71338606911949],"aabb_xy":[[0.012118070063961942,-1.7094519376513588],[0.14011807450477598,-1.6207057694007823]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_14","position":[0.401260303517178,-2.473606157903246,0.71338606911949],"aabb_xy":[[0.33726030029854015,-2.520329269802254],[0.46526030673581587,-2.4268830460042374]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_15","position":[-0.6394828431254594,-0.5467579589154128,0.71338606911949],"aabb_xy":[[-0.6502558170468271,-0.5817579571344518],[-0.6287098692040916,-0.5117579606963738]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_16","position":[0.49796660885616806,-0.08814902995396157,0.71338606911949],"aabb_xy":[[0.4508372298543323,-0.15214903099836352],[0.5450959878580036,-0.024149028909559597]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_17","position":[-0.5196371128098785,-0.3688311121486225,0.71338606911949],"aabb_xy":[[-0.5325090163108185,-0.4488311125624586],[-0.5067652093089382,-0.2888311117347863]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_18","position":[-0.1134431145071706,1.2900101255298009,0.71338606911949],"aabb_xy":[[-0.15023774763207687,1.2531042504332186],[-0.07664848138226431,1.3269160006263832]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_19","position":[0.6385460637561364,-2.452371916467591,0.71338606911949],"aabb_xy":[[0.558546066596561,-2.463919517425408],[0.7185460609157116,-2.440824315509774]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_20","position":[-0.6186456712179467,-2.1723545208068167,0.71338606911949],"aabb_xy":[[-0.6826456676452686,-2.2195241446289136],[-0.5546456747906248,-2.1251848969847207]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_21","position":[-0.19896195990395515,0.7714970672289176,0.71338606911949],"aabb_xy":[[-0.22146196014747058,0.7592924325691458],[-0.1764619596604398,0.7837017018886897]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_22","position":[-0.46095433389967033,0.060875149550438934,0.71338606911949],"aabb_xy":[[-0.46486820709509286,0.052126134143882175],[-0.4570404607042478,0.0696241649569957]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_23","position":[-0.37029838818344357,-0.19486007906804748,0.71338606911949],"aabb_xy":[[-0.39220707032279467,-0.21676074588813818],[-0.3483897060440926,-0.17295941224795672]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_24","position":[-0.53433755329872,0.6988219981863977,0.71338606911949],"aabb_xy":[[-0.5943375538947363,0.6440095256411742],[-0.47433755270270395,0.7536344707316212]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_25","position":[-0.6075077414545142,-1.1261436505272315,0.71338606911949],"aabb_xy":[[-0.6715077406242842,-1.172910337646194],[-0.5435077422847443,-1.079376963408269]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_26","position":[0.6061446048873151,0.5978991158779698,0.71338606911949],"aabb_xy":[[0.5884689742987167,0.580218899598567],[0.6238202354759134,0.6155793321573725]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_27","position":[0.30693835078279563,0.46528622874470305,0.71338606911949],"aabb_xy":[[0.3020390584762321,0.4376093094421342],[0.3118376430893591,0.49296314804727176]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_28","position":[0.36581836202667484,1.4672947981610016,0.71338606911949],"aabb_xy":[[0.3616825056939747,1.4297947987166446],[0.3699542183593751,1.5047947976053586]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_29","position":[-0.21366716331773333,-1.7682106803328157,0.71338606911949],"aabb_xy":[[-0.30366716565175245,-1.8456930349179284],[-0.1236671609837143,-1.690728325747703]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_30","position":[-0.10728743196047275,-2.0358182857273346,0.71338606911949],"aabb_xy":[[-0.12238973342149082,-2.050919807358395],[-0.09218513049945462,-2.0207167640962713]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_31","position":[-0.09758540669527915,0.1659719023143884,0.71338606911949],"aabb_xy":[[-0.16158540696925738,0.11590580211710044],[-0.03358540642130092,0.21603800251167637]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_32","position":[0.1761843940358585,0.7038061989012174,0.71338606911949],"aabb_xy":[[0.11218439675020986,0.6622994799483735],[0.24018439132150715,0.7453129178540614]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_33","position":[-0.6655492205073237,-0.400435099791256,0.71338606911949],"aabb_xy":[[-0.6833427274422401,-0.4182348453870537],[-0.6477557135724072,-0.38263535419545835]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6666837613070957,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6959.png","name":"6959"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6959.png","name":"6959"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5930.png","name":"5930"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/533.png","name":"533"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5845.png","name":"5845"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3671.png","name":"3671"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":634.78549176258,"rotation_z_degrees":150.0933807672267,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004146986112944666,0.017032732902813683,0.008009334968274794]},{"name":"camera_2","offset_m":[0.003276602911250221,-0.00010794426243291091,0.0017348528748514225]},{"name":"camera_3","offset_m":[-0.016923717533897646,0.012165949633090183,0.011331868882241063]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0006681817016073856,-0.00021134716009949006,-0.0008577912135246623],"end_effector_yaw_offset_degrees":-0.50763537922594},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.000405051881094599,-0.00023695061792410933,-0.0007821074381135005],"end_effector_yaw_offset_degrees":-0.01232361383285907},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[7.901981267378856e-05,0.0011500104072700366,0.0017429675287963112],"end_effector_yaw_offset_degrees":0.053755692271999944},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00034315551601571707,0.0011824908250116653,0.0018265178168941167],"end_effector_yaw_offset_degrees":0.82969220033118}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0008730872344203736,0.004820581971497454],"position_m":[0.21212691276557963,-0.13367941802850256,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0021659853936057656,-0.0015473591232803563],"position_m":[0.23426598539360577,-0.36584735912328037,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004567954908299954,-0.002097696799849771],"position_m":[0.2957679549083,-0.041697696799849776,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0027264196368821272,0.003652764202475599],"position_m":[0.34127358036311783,0.1785527642024756,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b1dc6d63604c6f3881d7cab94dd2db5a1b37dede5d93c94d1fc58a32bf6c1754","episode_index":82,"episode_name":"episode_0082"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0082.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_6959/tex_ceiling_textures_3671/tex_floor_textures_5845/tex_table_textures_5930/tex_wall_textures_533","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":5706655391313024477,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":5706655391313024477,"visual_seed":5706655391313024477,"scene_id":"lab_003","finished_at":"2026-09-06T00:50:27"} +{"episode_id":"ep_000082","started_at":"2026-09-06T00:50:30","dimensions":{"distractor":{"count":20,"items":[{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_0","position":[-0.5301826797755226,-1.35713379490255,0.71338606911949],"aabb_xy":[[-0.5479761867104389,-1.3749335404983474],[-0.512389172840606,-1.339334049306752]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_1","position":[-0.44025717460101527,1.4174826992301965,0.71338606911949],"aabb_xy":[[-0.5102571772376017,1.397377834234331],[-0.3702571719644289,1.437587564226062]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_2","position":[-0.38266815994006964,1.2892032151649917,0.71338606911949],"aabb_xy":[[-0.43766041057558064,1.234203213421679],[-0.3276759093045587,1.3442032169083045]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_3","position":[-0.577866377584418,1.1782318072904183,0.71338606911949],"aabb_xy":[[-0.6228589643028684,1.1332318080159693],[-0.5328737908659675,1.2232318065648669]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_4","position":[-0.46899943053005033,-2.0049954094122504,0.71338606911949],"aabb_xy":[[-0.47624319657629566,-2.0849954076158523],[-0.461755664483805,-1.9249954112086476]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_5","position":[-0.3476444486545386,0.7484235541221769,0.71338606911949],"aabb_xy":[[-0.41164444903207215,0.6986782872713645],[-0.2836444482770049,0.798168820972989]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_6","position":[-0.5676185845408515,1.6151695212981418,0.71338606911949],"aabb_xy":[[-0.5846286818309021,1.5990350327998681],[-0.5506084872508008,1.631304009796416]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_7","position":[0.3699381655067391,-1.9795051145453284,0.71338606911949],"aabb_xy":[[0.348029483367388,-2.0014057813654196],[0.39184684764609007,-1.957604447725238]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_8","position":[0.23687893985609443,-0.7562470072568537,0.71338606911949],"aabb_xy":[[0.2068872771222241,-0.7862470065936542],[0.26687060258996476,-0.7262470079200531]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_9","position":[0.024942651206851574,-0.8622951532892151,0.71338606911949],"aabb_xy":[[0.0011064335662465121,-0.9522951540977018],[0.04877886884745665,-0.7722951524807289]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_10","position":[0.1759364218229078,-2.306274406707105,0.71338606911949],"aabb_xy":[[0.11193642323633535,-2.3532813701066138],[0.23993642040948027,-2.2592674433075963]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_11","position":[0.6184762588438422,-1.975754544513726,0.71338606911949],"aabb_xy":[[0.5384762583736262,-1.9840652521280744],[0.6984762593140581,-1.9674438368993779]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_12","position":[-0.48339933406952507,-1.1845779102219762,0.71338606911949],"aabb_xy":[[-0.5145462529131082,-1.2545779089087832],[-0.45225241522594195,-1.1145779115351688]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_13","position":[0.5334745061559116,-1.0416024197305582,0.71338606911949],"aabb_xy":[[0.5179187367456465,-1.0571528529749656],[0.549030275566177,-1.0260519864861513]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_14","position":[0.24043925879881667,1.264403257681904,0.71338606911949],"aabb_xy":[[0.17643925950464848,1.2004171173130498],[0.3044392580929849,1.3283893980507582]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_15","position":[-0.3407162359191447,0.12649688459348152,0.71338606911949],"aabb_xy":[[-0.3685612726997518,0.09571238585516983],[-0.31287119913853756,0.1572813833317932]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_16","position":[-0.17190816695216682,1.1805695531968037,0.71338606911949],"aabb_xy":[[-0.1758686507219012,1.1729016886112833],[-0.16794768318243244,1.1882374177823245]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_17","position":[-0.41326393726978106,0.5185714869999098,0.71338606911949],"aabb_xy":[[-0.4212902079004071,0.5098199920225572],[-0.4052376666391551,0.5273229819772625]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_18","position":[-0.37799892883194486,-2.4547392165722037,0.71338606911949],"aabb_xy":[[-0.41549892900381674,-2.4874399519551105],[-0.34049892866007286,-2.422038481189296]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_19","position":[0.17373161537990411,-1.6868217544464628,0.71338606911949],"aabb_xy":[[0.14324736525287396,-1.7368217542279585],[0.20421586550693427,-1.6368217546649666]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6604514281861004,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/268.png","name":"268"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/268.png","name":"268"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/107.png","name":"107"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1485.png","name":"1485"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1721.png","name":"1721"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1537.png","name":"1537"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":836.7694783607218,"rotation_z_degrees":73.23452254895442,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0031348643803994457,0.00230866890582853,-0.008506944077846872]},{"name":"camera_2","offset_m":[0.014985495190953057,-0.00992669347248294,0.009065939104573099]},{"name":"camera_3","offset_m":[0.018538909656843374,-0.019547829368094898,-0.012233241987572772]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[4.151991920706057e-05,-0.0013500988273748096,-0.0009115719445630739],"end_effector_yaw_offset_degrees":-0.8721178112278727},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0001750451464360037,0.0008225754897217079,-0.0015117249847136996],"end_effector_yaw_offset_degrees":0.20627075415747353},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-6.036307939749283e-06,0.0006663418048766401,-0.0008802009125247489],"end_effector_yaw_offset_degrees":-0.6509834377437513},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0011425265425658551,-0.0011259525117505542,0.0008266561866382225],"end_effector_yaw_offset_degrees":-0.19849190083309964}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0013141013843277825,0.002958862580420927],"position_m":[0.21168589861567222,-0.13554113741957907,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0034681649683476123,0.0012275438671955552],"position_m":[0.22863183503165238,-0.3630724561328045,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0026047420956172296,-0.0033578561018973163],"position_m":[0.2885952579043828,-0.04295785610189732,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0033069326746331213,-0.0030995655819936285],"position_m":[0.3473069326746331,0.17180043441800638,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4d9676c3f02516b82d2572e10a8ebf4c00991092954e553f0242fc264bd4a94c","episode_index":83,"episode_name":"episode_0083"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0083.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_268/tex_ceiling_textures_1537/tex_floor_textures_1721/tex_table_textures_107/tex_wall_textures_1485","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":2706019091216267511,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":2706019091216267511,"visual_seed":2706019091216267511,"scene_id":"lab_003","finished_at":"2026-09-06T00:53:52"} +{"episode_id":"ep_000083","started_at":"2026-09-06T00:53:55","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_0","position":[0.31304890846755606,-2.487894339816827,0.71338606911949],"aabb_xy":[[0.2630659582800767,-2.537894339459387],[0.36303185865503534,-2.437894340174266]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_1","position":[-0.48301874095427044,1.2656412474304655,0.71338606911949],"aabb_xy":[[-0.5051912679309212,1.2434655802743426],[-0.46084621397761955,1.2878169145865888]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_2","position":[0.40929239597268774,-0.8506727266277192,0.71338606911949],"aabb_xy":[[0.3192923922957695,-0.9121051332048233],[0.4992923996496058,-0.7892403200506146]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_3","position":[-0.006963698288711351,-2.3723346578781883,0.71338606911949],"aabb_xy":[[-0.026854738169051602,-2.3849904691628856],[0.012927341591628899,-2.359678846593492]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_4","position":[0.40542813442701187,1.2431506642086556,0.71338606911949],"aabb_xy":[[0.38722231076576424,1.232125263626664],[0.4236339580882596,1.2541760647906472]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_5","position":[0.6361170954846975,-0.42929867514503073,0.71338606911949],"aabb_xy":[[0.5986170969090766,-0.44203497080858867],[0.6736170940603182,-0.4165623794814728]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_6","position":[0.5979144414360458,-0.7037757093739359,0.71338606911949],"aabb_xy":[[0.5804144411909963,-0.7212754972135027],[0.615414441681095,-0.686275921534369]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_7","position":[0.008951380343836912,0.7416096348994072,0.71338606911949],"aabb_xy":[[0.004107785582606939,0.736757982420423],[0.013794975105066888,0.7464612873783912]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_8","position":[-0.6165723551403167,-0.9616028385726079,0.71338606911949],"aabb_xy":[[-0.6865723515502784,-0.9820407742242895],[-0.5465723587303548,-0.941164902920926]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_9","position":[-0.21130089539058172,1.7048463423263205,0.71338606911949],"aabb_xy":[[-0.2338008952044841,1.7003717259558397],[-0.18880089557667934,1.7093209586968012]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_10","position":[-0.22909511477781364,-1.0571054087428597,0.71338606911949],"aabb_xy":[[-0.3090951127585987,-1.0647069497047117],[-0.14909511679702858,-1.0495038677810078]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_11","position":[0.28788460294547724,-0.6106353885860596,0.71338606911949],"aabb_xy":[[0.26541983297407207,-0.63313538946492],[0.3103493729168823,-0.588135387707199]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_12","position":[0.1310495240902093,-2.379186295099969,0.71338606911949],"aabb_xy":[[0.10746440062631446,-2.444186297345401],[0.15463464755410417,-2.3141862928545374]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_13","position":[0.35029092734898937,-1.5968441144297896,0.71338606911949],"aabb_xy":[[0.33943932110011377,-1.6077034051574404],[0.36114253359786497,-1.5859848237021383]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_14","position":[0.06736852718009978,1.591916945036473,0.71338606911949],"aabb_xy":[[0.017368525518605012,1.54191850278077],[0.11736852884159453,1.6419153872921755]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_15","position":[0.7092795528998306,-0.967343141907864,0.71338606911949],"aabb_xy":[[0.7020357868535851,-1.0473431401114663],[0.7165233189460758,-0.8873431437042616]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_16","position":[-0.5722565533957163,0.532751350996377,0.71338606911949],"aabb_xy":[[-0.5911409371642266,0.5138654262160244],[-0.5533721696272061,0.5516372757767299]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_17","position":[-0.33860561479952356,-0.46437748032310333,0.71338606911949],"aabb_xy":[[-0.41860561338684293,-0.5436930822612641],[-0.25860561621220407,-0.3850618783849424]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_18","position":[0.5959368500889333,0.5508506307203365,0.71338606911949],"aabb_xy":[[0.5789267527988826,0.5347161422220625],[0.6129469473789839,0.5669851192186104]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_19","position":[0.4697947969074836,1.1039610111328257,0.71338606911949],"aabb_xy":[[0.45269271894911545,1.086854205601556],[0.48689687486585176,1.1210678166640955]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_20","position":[-0.13101939585962386,-1.353298435098394,0.71338606911949],"aabb_xy":[[-0.1397333649095583,-1.375798435757582],[-0.12230542680968932,-1.3307984344392056]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_21","position":[-0.08279284621384309,0.2862153341853011,0.71338606911949],"aabb_xy":[[-0.14679284943248094,0.23949222228629274],[-0.018792842995205228,0.33293844608430945]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_22","position":[-0.24068745311947026,-0.2484892332020876,0.71338606911949],"aabb_xy":[[-0.24511808247431047,-0.2539376049367702],[-0.23625682376463011,-0.243040861467405]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_23","position":[0.6100601263421828,1.2755227172021195,0.71338606911949],"aabb_xy":[[0.560579705128224,1.211522719289268],[0.6595405475561416,1.3395227151149716]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_24","position":[-0.2925995837439266,0.24392444412234582,0.71338606911949],"aabb_xy":[[-0.315099583987442,0.2317198094625739],[-0.2700995835004112,0.25612907878211777]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6611365067004236,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5137.png","name":"5137"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5137.png","name":"5137"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1718.png","name":"1718"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1221.png","name":"1221"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2396.png","name":"2396"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/686.png","name":"686"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":541.2059044397183,"rotation_z_degrees":236.71813373952853,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0026803618835618756,-0.009647782180977353,-0.019100164247778766]},{"name":"camera_2","offset_m":[-0.01632760743617699,0.011171651256271651,0.01556205119386701]},{"name":"camera_3","offset_m":[-0.014304768024429319,0.00030468601192991385,-0.0003906797950567406]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0014341589766845857,0.0009561567920938949,0.0006274641771795413],"end_effector_yaw_offset_degrees":-0.545811759561039},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0013797993660332594,0.0007096439850115066,0.0009082886941669949],"end_effector_yaw_offset_degrees":0.6784032443051813},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.000174232437293231,0.0013663534548500242,0.0011590309146161147],"end_effector_yaw_offset_degrees":-0.29173258198341334},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0002485768698026261,-0.0013840145271781493,0.0006589257215775446],"end_effector_yaw_offset_degrees":-0.9157475911674915}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.001902168142558014,-0.003496911883358409],"position_m":[0.214902168142558,-0.14199691188335842,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002854922700228111,0.0009131923926781757],"position_m":[0.2292450772997719,-0.36338680760732184,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0045218534861245375,-0.003635202665261894],"position_m":[0.28667814651387546,-0.043235202665261895,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0005646417442590054,-0.0009072176234557793],"position_m":[0.34343535825574095,0.17399278237654422,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"742a0ee2afe3fb2220800a9e6f7251860ea2d6ae0d93691f03515514538eab68","episode_index":84,"episode_name":"episode_0084"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0084.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_5137/tex_ceiling_textures_686/tex_floor_textures_2396/tex_table_textures_1718/tex_wall_textures_1221","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":2397906833961765818,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":2397906833961765818,"visual_seed":2397906833961765818,"scene_id":"lab_003","finished_at":"2026-09-06T00:57:29"} +{"episode_id":"ep_000084","started_at":"2026-09-06T00:57:33","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_0","position":[0.35099728820228915,-1.620050025709805,0.71338606911949],"aabb_xy":[[0.28940652897829633,-1.684050023818852],[0.41258804742628197,-1.5560500276007583]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_1","position":[0.5758747022505746,-1.9465154228777393,0.71338606911949],"aabb_xy":[[0.5118747005725772,-1.9950328143570533],[0.6398747039285719,-1.8979980313984248]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_2","position":[0.1566691200991711,-2.3953567819988866,0.71338606911949],"aabb_xy":[[0.128824083318564,-2.4261412807371983],[0.18451415687977823,-2.364572283260575]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_3","position":[0.19344561065236443,-2.130463678998914,0.71338606911949],"aabb_xy":[[0.10344561415149266,-2.176375321417372],[0.28344560715323613,-2.0845520365804555]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_4","position":[-0.5379111525750047,-0.8955318249310178,0.71338606911949],"aabb_xy":[[-0.5879061635344568,-0.9455318239666097],[-0.48791614161555275,-0.8455318258954263]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_5","position":[-0.3140601031977743,-0.8099915234405872,0.71338606911949],"aabb_xy":[[-0.3221877913910875,-0.818905131851295],[-0.30593241500446106,-0.8010779150298797]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_6","position":[-0.1270151688380734,1.159949929805315,0.71338606911949],"aabb_xy":[[-0.17414454783990901,1.095949928760913],[-0.07988578983623768,1.2239499308497168]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_7","position":[0.5303108185042018,-0.5682055272208539,0.71338606911949],"aabb_xy":[[0.4881264043433712,-0.6322055274980651],[0.5724952326650327,-0.5042055269436427]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_8","position":[0.633642501233828,-0.5660353067014126,0.71338606911949],"aabb_xy":[[0.6256490114385461,-0.5740334386418883],[0.6416359910291102,-0.5580371747609371]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_9","position":[-0.07122313194665542,-1.6714840910319562,0.71338606911949],"aabb_xy":[[-0.10622313113947367,-1.6824511370296187],[-0.03622313275383714,-1.6605170450342936]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_10","position":[-0.4831225478449717,-0.48109002139106005,0.71338606911949],"aabb_xy":[[-0.5481225460008907,-0.5073862659409722],[-0.4181225496890526,-0.45479377684114786]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_11","position":[-0.13099349571578278,0.46169723216282765,0.71338606911949],"aabb_xy":[[-0.22099349513415364,0.4283217353186379],[-0.04099349629741186,0.4950727290070173]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_12","position":[-0.4394039631638492,-1.644990114248655,0.71338606911949],"aabb_xy":[[-0.4466477292100945,-1.724990112452257],[-0.43216019711760384,-1.5649901160450523]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_13","position":[-0.11565672109475911,-0.10898630185301705,0.71338606911949],"aabb_xy":[[-0.18565671750472088,-0.12942423750469872],[-0.045656724684797305,-0.0885483662013353]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_14","position":[0.5908110007893219,-1.675976538859393,0.71338606911949],"aabb_xy":[[0.5827746660880371,-1.6840146581638096],[0.5988473354906068,-1.667938419554976]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_15","position":[0.3391328256061277,0.7038626367254253,0.71338606911949],"aabb_xy":[[0.2591328285918797,0.6837280850520139],[0.41913282262037566,0.7239971883988364]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_16","position":[-0.34143288114402043,-2.456822873717812,0.71338606911949],"aabb_xy":[[-0.40543288255201104,-2.508611825241737],[-0.2774328797360297,-2.4050339221938875]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_17","position":[-0.38669401617988214,-2.076117938776891,0.71338606911949],"aabb_xy":[[-0.4048998398411298,-2.087143339358883],[-0.36848819251863446,-2.0650925381948997]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_18","position":[0.5008169934145958,1.5800881307835017,0.71338606911949],"aabb_xy":[[0.44081699290674287,1.5232413970975804],[0.5608169939224487,1.636934864469423]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_19","position":[0.24161197398826795,1.2589447737598891,0.71338606911949],"aabb_xy":[[0.16161197182550543,1.1789895901337455],[0.32161197615103043,1.3388999573860327]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_20","position":[-0.19050956099349559,-0.32175503347426027,0.71338606911949],"aabb_xy":[[-0.24050955963941678,-0.37167457713372265],[-0.1405095623475744,-0.2718354898147979]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_21","position":[-0.5652621148050752,1.7275950839351881,0.71338606911949],"aabb_xy":[[-0.5746795893749379,1.718178906797469],[-0.5558446402352124,1.7370112610729072]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_22","position":[-0.5614034245152203,1.0153613976122302,0.71338606911949],"aabb_xy":[[-0.5989034253072157,1.00899355665404],[-0.5239034237232248,1.0217292385704204]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_23","position":[0.604992345134123,-1.3992188284925309,0.71338606911949],"aabb_xy":[[0.5149923414572046,-1.4606512350696348],[0.694992348811041,-1.337786421915426]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_24","position":[-0.6463144356936835,-1.7815215421635062,0.71338606911949],"aabb_xy":[[-0.6556614432759789,-1.7958251643811503],[-0.6369674281113884,-1.7672179199458622]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_25","position":[-0.14604627794294212,-1.5191018604582618,0.71338606911949],"aabb_xy":[[-0.15474424023365743,-1.5312268347657367],[-0.13734831565222685,-1.5069768861507873]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_26","position":[-0.09580079629387306,0.24868608499405642,0.71338606911949],"aabb_xy":[[-0.113347491209992,0.21118608342980513],[-0.07825410137775414,0.2861860865583077]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_27","position":[-0.020585784833109688,1.4128550592251323,0.71338606911949],"aabb_xy":[[-0.08458578705351671,1.3684819750998438],[0.04341421738729734,1.4572281433504204]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_28","position":[0.5696199940014748,1.3765513626853028,0.71338606911949],"aabb_xy":[[0.5495615823882345,1.3564862757761453],[0.5896784056147151,1.3966164495944602]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_29","position":[-0.1380226942387066,0.7008945445189991,0.71338606911949],"aabb_xy":[[-0.16431151855914725,0.6746231108643478],[-0.11173386991826594,0.7271659781736503]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_30","position":[0.5076390104367137,-2.1020814692728065,0.71338606911949],"aabb_xy":[[0.42763901327713827,-2.1136290702306235],[0.5876390075962888,-2.0905338683149894]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_31","position":[0.03703852502864868,-2.123822561884394,0.71338606911949],"aabb_xy":[[0.02962606948726021,-2.1296737723060217],[0.04445098057003716,-2.117971351462766]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6692400103904559,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1115.png","name":"1115"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1115.png","name":"1115"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6919.png","name":"6919"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1718.png","name":"1718"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1383.png","name":"1383"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9617.png","name":"9617"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":746.1718053396983,"rotation_z_degrees":100.97213953481072,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004588457423757974,0.0111218845430941,-0.019801847719528563]},{"name":"camera_2","offset_m":[-0.012495721002433572,0.007680600923448685,0.002501013654276525]},{"name":"camera_3","offset_m":[-0.009328282904659724,0.0006136890822082512,0.000856531457727662]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0004422661787554737,0.0009168531090407894,-0.0015695603143221428],"end_effector_yaw_offset_degrees":0.49931154660406873},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0014491998004629823,-0.0004964972311356178,-0.0010449238938191],"end_effector_yaw_offset_degrees":-0.9776127042539207},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00019558328386154325,0.0011084555885030622,-0.001234726470403326],"end_effector_yaw_offset_degrees":-0.9670573590244134},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0009731690011320793,-0.000857933920562617,0.000746383814369287],"end_effector_yaw_offset_degrees":0.9597159343318393}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0033507435071445735,-0.00012756518879952338],"position_m":[0.21635074350714456,-0.13862756518879954,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0049293378737772,-0.0019941441469497312],"position_m":[0.2370293378737772,-0.3662941441469497,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0006364759614696678,-0.004200679595118427],"position_m":[0.29056352403853036,-0.04380067959511843,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003659258590742803,-0.004123935505453346],"position_m":[0.3403407414092572,0.17077606449454666,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f5c26fd1474ac81a4e7ec32698ca5265ed2f0890313e884d33a098e94be14b17","episode_index":85,"episode_name":"episode_0085"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0085.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_1115/tex_ceiling_textures_9617/tex_floor_textures_1383/tex_table_textures_6919/tex_wall_textures_1718","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":7784253363660383964,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":7784253363660383964,"visual_seed":7784253363660383964,"scene_id":"lab_003","finished_at":"2026-09-06T01:00:54"} +{"episode_id":"ep_000085","started_at":"2026-09-06T01:00:57","dimensions":{"distractor":{"count":28,"items":[{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_0","position":[0.357893195406519,1.0935802700155768,0.71338606911949],"aabb_xy":[[0.33598451326716794,1.071679603195486],[0.37980187754587,1.1154809368356675]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_1","position":[0.13459221392987641,-1.0680862512567437,0.71338606911949],"aabb_xy":[[0.04490513762176096,-1.1580862515111943],[0.22427929023799187,-0.9780862510022932]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_2","position":[-0.2582018725424637,-2.325909096202891,0.71338606911949],"aabb_xy":[[-0.2957018726480566,-2.3327312580558726],[-0.2207018724368707,-2.31908693434991]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_3","position":[0.5698055207307642,-2.3851310447317564,0.71338606911949],"aabb_xy":[[0.5058055203532305,-2.4348763115825682],[0.6338055211082977,-2.3353857778809437]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_4","position":[-0.5903819340472791,-1.250254392455833,0.71338606911949],"aabb_xy":[[-0.6072926664836208,-1.2637265980484471],[-0.5734712016109372,-1.2367821868632183]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_5","position":[0.402776490558616,1.2795425932729225,0.71338606911949],"aabb_xy":[[0.3654452140333733,1.2448895384780703],[0.4401077670838585,1.3141956480677748]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_6","position":[-0.34452668711377765,1.7045413878249174,0.71338606911949],"aabb_xy":[[-0.3644177269941179,1.691885576540221],[-0.3246356472334374,1.7171971991096147]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_7","position":[0.16239277197731605,-2.5257926100355776,0.71338606911949],"aabb_xy":[[0.09839277029931867,-2.574310001514892],[0.22639277365531338,-2.4772752185562634]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_8","position":[0.6794608275522696,-1.1853662822949262,0.71338606911949],"aabb_xy":[[0.6706587722432967,-1.193177608449855],[0.6882628828612422,-1.177554956139997]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_9","position":[-0.30641176729713615,-0.35347942236022556,0.71338606911949],"aabb_xy":[[-0.36042736357903615,-0.4174794252524827],[-0.25239617101523615,-0.2894794194679684]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_10","position":[-0.5676554885404724,1.6106047755545165,0.71338606911949],"aabb_xy":[[-0.6176554879806679,1.5606368510701998],[-0.5176554891002767,1.6605727000388324]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_11","position":[0.4769970336660807,0.31999205881985615,0.71338606911949],"aabb_xy":[[0.41199703270895355,0.2680438468861505],[0.5419970346232079,0.3719402707535617]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_12","position":[0.22040125576720393,-1.333391044056751,0.71338606911949],"aabb_xy":[[0.21235789584124873,-1.4183910451521173],[0.22844461569315908,-1.2483910429613845]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_13","position":[-0.5179392193694395,-1.8531669499768837,0.71338606911949],"aabb_xy":[[-0.530541918506516,-1.8657623462017492],[-0.5053365202323631,-1.8405715537520182]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_14","position":[-0.06378494779946864,-0.10856230803227751,0.71338606911949],"aabb_xy":[[-0.06862854256069861,-0.11341396051126162],[-0.058941353038238664,-0.1037106555532934]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_15","position":[0.6128442717936005,-0.8761797431546463,0.71338606911949],"aabb_xy":[[0.5778442734829051,-0.883894758078192],[0.647844270104296,-0.8684647282311007]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_16","position":[0.23921428621183916,1.2721281522188042,0.71338606911949],"aabb_xy":[[0.230433059064603,1.2633484049302741],[0.24799551335907546,1.2809078995073346]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_17","position":[-0.5310911663485474,0.23256486640459384,0.71338606911949],"aabb_xy":[[-0.5381314762820846,0.15256486700492244],[-0.5240508564150106,0.31256486580426524]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_18","position":[0.4800528411017053,1.7580872150074112,0.71338606911949],"aabb_xy":[[0.4160528439895996,1.7090548452130003],[0.544052838213811,1.8071195848018216]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_19","position":[-0.17630483130890662,-1.4612852474975613,0.71338606911949],"aabb_xy":[[-0.22630483266979382,-1.5112631520729767],[-0.12630482994801936,-1.4113073429221454]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_20","position":[0.04990062325123046,0.8095376971449806,0.71338606911949],"aabb_xy":[[0.023611798930789785,0.7832662634903294],[0.07618944757167109,0.8358091307996318]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_21","position":[0.3132420964378777,0.598916019324176,0.71338606911949],"aabb_xy":[[0.30188036178459154,0.5875475529178878],[0.32460383109116386,0.610284485730464]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_22","position":[0.3724684345777516,1.1772400259585387,0.71338606911949],"aabb_xy":[[0.3605357002159235,1.1648578731506793],[0.38440116893957965,1.189622178766398]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_23","position":[0.2631385457797034,1.135104495847561,0.71338606911949],"aabb_xy":[[0.24796637649807007,1.1199356389193578],[0.27831071506133676,1.1502733527757645]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_24","position":[0.45509369334562155,0.931431135839611,0.71338606911949],"aabb_xy":[[0.4264443609852053,0.9027855765625352],[0.4837430257060377,0.9600766951166868]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_25","position":[0.31930514501879603,-1.7434998639597343,0.71338606911949],"aabb_xy":[[0.3098876704489333,-1.7529160410974534],[0.3287226195886588,-1.7340836868220153]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_26","position":[0.6944019987086156,1.080660331966278,0.71338606911949],"aabb_xy":[[0.6719019986984673,1.0665641123266747],[0.7169019987187639,1.0947565516058813]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_27","position":[0.03637520033422703,1.817413326933433,0.71338606911949],"aabb_xy":[[0.027215321390350433,1.8108821088898959],[0.04553507927810363,1.82394454497697]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6674787168809367,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2200.png","name":"2200"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2200.png","name":"2200"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8787.png","name":"8787"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8529.png","name":"8529"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4657.png","name":"4657"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/826.png","name":"826"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":500.4342187686393,"rotation_z_degrees":238.12042426715232,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008793727352378454,-0.015360213694635597,0.012755694025625878]},{"name":"camera_2","offset_m":[0.012959544598726173,-0.001539943596593818,-0.0025855186375564956]},{"name":"camera_3","offset_m":[0.011317583071037817,-0.009166828972163747,0.01647474220048172]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0010408288595728952,-0.0011853843367607658,-0.0017748029005318245],"end_effector_yaw_offset_degrees":0.08390672073759586},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.001338334678972652,0.0011420273534658307,-0.0006251477149326829],"end_effector_yaw_offset_degrees":-0.729510881981029},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0009422086917047863,-0.0017317863756463132,0.0002994333482698166],"end_effector_yaw_offset_degrees":0.30330494113674256},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0015804473236651368,0.0019009956539306956,0.0014529057744444656],"end_effector_yaw_offset_degrees":0.43302756825334265}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.002032410657474647,0.004184581114032522],"position_m":[0.21503241065747464,-0.13431541888596749,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00380619291821535,-0.0004930112818999919],"position_m":[0.23590619291821535,-0.3647930112819,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.00022005147291099484,0.0049317277857366245],"position_m":[0.291420051472911,-0.03466827221426338,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004727522368928043,-0.004464821703352599],"position_m":[0.348727522368928,0.1704351782966474,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"cbaa99a4b3290fd9541562ff20b42b8130d737d29b983223b0c6b5183a8f27c1","episode_index":86,"episode_name":"episode_0086"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0086.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_2200/tex_ceiling_textures_826/tex_floor_textures_4657/tex_table_textures_8787/tex_wall_textures_8529","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":8305216537782975974,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":8305216537782975974,"visual_seed":8305216537782975974,"scene_id":"lab_003","finished_at":"2026-09-06T01:04:25"} +{"episode_id":"ep_000086","started_at":"2026-09-06T01:04:28","dimensions":{"distractor":{"count":26,"items":[{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_0","position":[-0.4721003457740255,1.7122680126911187,0.71338606911949],"aabb_xy":[[-0.552100347936788,1.6323128290649749],[-0.392100343611263,1.7922231963172621]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_1","position":[-0.3525130557387253,0.6967279136133375,0.71338606911949],"aabb_xy":[[-0.3938175988024613,0.6327279140452204],[-0.31120851267498933,0.7607279131814546]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_2","position":[-0.21348015452818409,-1.5583795834533003,0.71338606911949],"aabb_xy":[[-0.2311557851167824,-1.5760597997327028],[-0.19580452393958572,-1.5406993671738973]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_3","position":[-0.2976058792479418,-2.2296841869732797,0.71338606911949],"aabb_xy":[[-0.3077588948020911,-2.2657537285460196],[-0.28745286369379236,-2.193614645400539]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_4","position":[-0.4768519595874702,-0.856434009932648,0.71338606911949],"aabb_xy":[[-0.5143519597593422,-0.889134745315555],[-0.4393519594155983,-0.8237332745497407]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_5","position":[0.3241911936217907,1.5272938867898893,0.71338606911949],"aabb_xy":[[0.3154772245718561,1.5047938861307009],[0.3329051626717251,1.5497938874490773]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_6","position":[-0.4283833727585184,-1.8382836397721347,0.71338606911949],"aabb_xy":[[-0.47837820568646006,-1.8882836386673783],[-0.37838853983057685,-1.7882836408768912]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_7","position":[-0.2121037381433729,0.9985128896457827,0.71338606911949],"aabb_xy":[[-0.3021037346442446,0.9526012472273243],[-0.12210374164250114,1.0444245320642407]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_8","position":[-0.5816725599499686,0.4711594123676126,0.71338606911949],"aabb_xy":[[-0.5876390988907043,0.4651982677082485],[-0.5757060210092328,0.4771205570269766]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_9","position":[0.036846499136908406,-2.3885509141289645,0.71338606911949],"aabb_xy":[[5.186601200213303e-05,-2.4254567892255467],[0.07364113226181468,-2.351645039032382]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_10","position":[-0.6536408938627066,-0.6156562952265501,0.71338606911949],"aabb_xy":[[-0.6650026285159927,-0.6270247616328379],[-0.6422791592094204,-0.6042878288202618]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_11","position":[0.3354299809644943,0.7367052521284454,0.71338606911949],"aabb_xy":[[0.314151972821022,0.6717052498023723],[0.35670798910796647,0.8017052544545185]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_12","position":[-0.34189901060358674,1.4904868199271815,0.71338606911949],"aabb_xy":[[-0.3463296399584269,1.485038448192499],[-0.33746838124874656,1.495935191661864]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_13","position":[-0.5379658058978773,-1.6265521677416022,0.71338606911949],"aabb_xy":[[-0.5879446144081931,-1.6765521677473207],[-0.48798699738756135,-1.5765521677358831]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_14","position":[-0.4362657680568524,0.39195919711294325,0.71338606911949],"aabb_xy":[[-0.5012657691627957,0.36699382404481495],[-0.3712657669509091,0.41692457018107154]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_15","position":[0.6132126391213948,-1.4756509844464345,0.71338606911949],"aabb_xy":[[0.5235255628132793,-1.565650984700885],[0.7028997154295102,-1.385650984191984]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_16","position":[-0.561902836744109,-0.4819093415973663,0.71338606911949],"aabb_xy":[[-0.574774740245049,-0.5619093420112025],[-0.5490309332431688,-0.4019093411835302]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_17","position":[-0.6052766476289736,-0.0866382952239122,0.71338606911949],"aabb_xy":[[-0.6852766462858596,-0.10114315414817499],[-0.5252766489720876,-0.07213343629964941]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_18","position":[0.08456427026048607,-0.669067358506001,0.71338606911949],"aabb_xy":[[0.020564269882952457,-0.7188126253568132],[0.1485642706380197,-0.6193220916551887]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_19","position":[0.5285816282505276,1.3477334916030204,0.71338606911949],"aabb_xy":[[0.47858162729999465,1.316184344599499],[0.5785816292010603,1.3792826386065418]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_20","position":[0.358553318683555,0.4619920271778568,0.71338606911949],"aabb_xy":[[0.33605418295732803,0.4394920263995938],[0.38105245440978197,0.48449202795611973]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_21","position":[0.04055983442372557,1.370848369243848,0.71338606911949],"aabb_xy":[[0.03244617975034846,1.362742552789819],[0.048673489097102667,1.378954185697877]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_22","position":[-0.2606196898622377,0.2718163540855225,0.71338606911949],"aabb_xy":[[-0.2869085141826784,0.24554492043087126],[-0.23433086554179708,0.2980877877401737]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_23","position":[0.5472048529840656,1.6571941839261108,0.71338606911949],"aabb_xy":[[0.5044381461046454,1.5931941805043084],[0.5899715598634858,1.7211941873479133]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_24","position":[0.6839548558739501,0.4038100538935141,0.71338606911949],"aabb_xy":[[0.6696204307477867,0.3917498383389752],[0.6982892810001136,0.4158702694480529]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_25","position":[0.2665095779997335,-1.6450199415726094,0.71338606911949],"aabb_xy":[[0.2378602456393173,-1.673665500849685],[0.29515891036014974,-1.6163743822955334]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6610462171083228,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1013.png","name":"1013"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1013.png","name":"1013"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2890.png","name":"2890"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1926.png","name":"1926"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4564.png","name":"4564"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/665.png","name":"665"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":818.0403731840809,"rotation_z_degrees":140.04931955391555,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011081256239752717,-0.00998711845880366,-0.010671911389345104]},{"name":"camera_2","offset_m":[0.014147896796023341,0.011095703310908218,-0.0017638421289124934]},{"name":"camera_3","offset_m":[0.017036475056402944,0.010249145610988716,0.0030190339685329005]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001174501213825862,0.001722512613006326,-0.0004750955735902079],"end_effector_yaw_offset_degrees":-0.7906936538494205},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0008257362786808051,-0.0012265139769111109,0.0019879848100489194],"end_effector_yaw_offset_degrees":0.8233604662199028},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0006750764534991305,0.0003298926480258678,-0.0011306189268805347],"end_effector_yaw_offset_degrees":0.9789064655093425},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00024349578161168318,0.00019925330411041647,-0.0015044971186015058],"end_effector_yaw_offset_degrees":-0.9560578097185859}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.00022678374179129109,0.0021597462046339293],"position_m":[0.2127732162582087,-0.13634025379536607,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0005114303126743536,0.00466616831698873],"position_m":[0.23158856968732563,-0.3596338316830113,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0006502599887996119,0.00019775527571828239],"position_m":[0.29185025998879965,-0.03940224472428172,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004220391010985696,0.004078720485828185],"position_m":[0.3482203910109857,0.1789787204858282,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"84fb3db497d0de808386956efb9159f4ce376f19fc02c496701df8d7aa5c0f77","episode_index":87,"episode_name":"episode_0087"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0087.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_1013/tex_ceiling_textures_665/tex_floor_textures_4564/tex_table_textures_2890/tex_wall_textures_1926","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":3669051314722865913,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":3669051314722865913,"visual_seed":3669051314722865913,"scene_id":"lab_003","finished_at":"2026-09-06T01:07:55"} +{"episode_id":"ep_000087","started_at":"2026-09-06T01:07:59","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_0","position":[-0.5510342107563602,-0.23796769627757053,0.71338606911949],"aabb_xy":[[-0.6150342071836822,-0.28513732009966697],[-0.4870342143290384,-0.1907980724554741]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_1","position":[0.14839642200209768,-1.7918030885912497,0.71338606911949],"aabb_xy":[[0.11593472112017018,-1.821935920706152],[0.18085812288402509,-1.761670256476347]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_2","position":[-0.07086074640681617,-1.7873643443500287,0.71338606911949],"aabb_xy":[[-0.08796282436518432,-1.8044711498812984],[-0.05375866844844801,-1.770257538818759]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_3","position":[0.2148377103065514,-2.4614114307678623,0.71338606911949],"aabb_xy":[[0.1898377111409183,-2.468363676473219],[0.23983770947218452,-2.4544591850625057]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_4","position":[0.621245920022879,-1.0017693699418153,0.71338606911949],"aabb_xy":[[0.5847500993956002,-1.0382533123685729],[0.6577417406501577,-0.9652854275150577]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_5","position":[-0.3518364510095277,1.6890188332468106,0.71338606911949],"aabb_xy":[[-0.38933645082656126,1.6843806219356687],[-0.31433645119249415,1.6936570445579524]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_6","position":[0.4977467934718667,1.1834519929366913,0.71338606911949],"aabb_xy":[[0.48011395787833916,1.1658290469210681],[0.5153796290653943,1.201074938952314]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_7","position":[-0.5898290040724153,0.5237990320727031,0.71338606911949],"aabb_xy":[[-0.6273290024958156,0.5106348181048723],[-0.5523290056490149,0.5369632460405336]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_8","position":[-0.4215781428315782,-1.5969353266501867,0.71338606911949],"aabb_xy":[[-0.5015781439046985,-1.6067133729875713],[-0.34157814175845785,-1.5871572803128025]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_9","position":[-0.25615914433825604,1.3153893843679163,0.71338606911949],"aabb_xy":[[-0.2783316713149069,1.2932137172117932],[-0.2339866173616052,1.3375650515240394]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_10","position":[0.21509587173640055,0.9617481908125494,0.71338606911949],"aabb_xy":[[0.19381786359292827,0.8967481884864762],[0.23637387987987277,1.0267481931386224]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_11","position":[-0.19549811408277545,0.721287842588413,0.71338606911949],"aabb_xy":[[-0.2604981119644233,0.6701641788818722],[-0.1304981162011277,0.772411506294954]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_12","position":[-0.01917006309960556,1.1571509159810152,0.71338606911949],"aabb_xy":[[-0.026413829145850883,1.0771509177774128],[-0.011926297053360232,1.2371509141846175]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_13","position":[-0.16609034758524166,-1.672870081172802,0.71338606911949],"aabb_xy":[[-0.1715482932222617,-1.7528700844804608],[-0.16063240194822156,-1.5928700778651426]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_14","position":[-0.5248108593817028,-1.05527490810442,0.71338606911949],"aabb_xy":[[-0.5483959828455977,-1.1202749103498515],[-0.501225735917808,-0.9902749058589879]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_15","position":[0.42410639281882334,-0.6140463163683423,0.71338606911949],"aabb_xy":[[0.4116390347090877,-0.6265116410016658],[0.436573750928559,-0.6015809917350188]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_16","position":[0.12476187464110156,1.6555536823470587,0.71338606911949],"aabb_xy":[[0.06076187735545291,1.614046963394215],[0.1887618719267502,1.6970604012999029]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_17","position":[-0.43619415612715934,-1.7388426177444556,0.71338606911949],"aabb_xy":[[-0.4474392116977772,-1.7500844154685509],[-0.4249491005565415,-1.7276008200203603]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_18","position":[-0.07776998588754147,1.7027245518784482,0.71338606911949],"aabb_xy":[[-0.1677699895644596,1.6412921453013434],[0.012230017789376723,1.764156958455552]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_19","position":[0.2643265401777417,-0.9158276170386799,0.71338606911949],"aabb_xy":[[0.19932654162066882,-0.9455801504525624],[0.3293265387348145,-0.8860750836247971]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_20","position":[-0.5554322436070233,1.4196437696759214,0.71338606911949],"aabb_xy":[[-0.6404322422990978,1.3876579062810424],[-0.4704322449149485,1.4516296330708]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_21","position":[0.4237207987200169,-2.409626676117774,0.71338606911949],"aabb_xy":[[0.3862207985481449,-2.4423274115006812],[0.4612207988918888,-2.376925940734867]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_22","position":[0.5505009883387013,0.977381801103828,0.71338606911949],"aabb_xy":[[0.5322951646774536,0.9663564005218365],[0.568706811999949,0.9884072016858197]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_23","position":[-0.10734560497237089,-1.8642803012753433,0.71338606911949],"aabb_xy":[[-0.1873456036292569,-1.8787851601996064],[-0.027345606315484897,-1.8497754423510806]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_24","position":[0.5204472011334944,-1.568508007531502,0.71338606911949],"aabb_xy":[[0.506112776007331,-1.5805682230860407],[0.5347816262596579,-1.556447791976963]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_25","position":[0.5280493133041491,-1.9372308392169897,0.71338606911949],"aabb_xy":[[0.5192472579951762,-1.9450421653719185],[0.5368513686131217,-1.9294195130620604]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_26","position":[-0.5022174514858174,0.25482666225220063,0.71338606911949],"aabb_xy":[[-0.5521001483635136,0.20482666300592595],[-0.4523347546081212,0.3048266614984754]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_27","position":[-0.35304225731731526,1.1127757488998462,0.71338606911949],"aabb_xy":[[-0.37632409951544654,1.0277757476026181],[-0.32976041511918386,1.1977757501970743]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_28","position":[-0.31007693117742047,0.12551019659836227,0.71338606911949],"aabb_xy":[[-0.4000769297718904,0.10925961028494124],[-0.22007693258295052,0.1417607829117833]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6671760048067759,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7655.png","name":"7655"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7655.png","name":"7655"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/321.png","name":"321"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2478.png","name":"2478"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4431.png","name":"4431"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/595.png","name":"595"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":563.2401351051808,"rotation_z_degrees":341.72158642485283,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017253075460879685,0.016332270004954994,0.007054792678827894]},{"name":"camera_2","offset_m":[-0.010337252056209847,-0.007446296894472643,-0.012064757422029318]},{"name":"camera_3","offset_m":[-0.01242517260070152,0.007971698928404304,-0.011313512446423188]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001660247812979776,0.001197950816632622,-0.001035972950660873],"end_effector_yaw_offset_degrees":0.6940699773656056},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0008262773431567188,0.00020173752031129146,0.0019093843860781366],"end_effector_yaw_offset_degrees":-0.2893712681461338},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00031005499644149717,0.0012078785605942857,-0.0006530198613231288],"end_effector_yaw_offset_degrees":-0.3593355711254873},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0019559599513514865,-0.00022441112066161621,0.0017249863982758068],"end_effector_yaw_offset_degrees":-0.5730152591314475}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0003700299745020173,0.0038690048148214947],"position_m":[0.21262997002549797,-0.13463099518517851,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003157654838138323,-0.0009321522392794898],"position_m":[0.23525765483813832,-0.3652321522392795,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.00287843192712921,-0.003597754121143668],"position_m":[0.29407843192712924,-0.04319775412114367,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00064619005767904,0.0008031898744459143],"position_m":[0.344646190057679,0.17570318987444591,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8e729ec52a5356996d8542c97ae6ec18164ad41c1d7669ab21785a84987eb8be","episode_index":88,"episode_name":"episode_0088"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0088.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_7655/tex_ceiling_textures_595/tex_floor_textures_4431/tex_table_textures_321/tex_wall_textures_2478","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":8826601203728869291,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":8826601203728869291,"visual_seed":8826601203728869291,"scene_id":"lab_003","finished_at":"2026-09-06T01:11:18"} +{"episode_id":"ep_000088","started_at":"2026-09-06T01:11:22","dimensions":{"distractor":{"count":25,"items":[{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_0","position":[-0.4134177235641975,1.032117734507763,0.71338606911949],"aabb_xy":[[-0.42432349965176014,0.9521177381089339],[-0.4025119474766347,1.1121177309065922]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_1","position":[-0.3668262335095284,-1.4141514446423458,0.71338606911949],"aabb_xy":[[-0.3769792490636777,-1.4502209862150859],[-0.356673217955379,-1.3780819030696052]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_2","position":[-0.1288581386972597,-2.454013300091758,0.71338606911949],"aabb_xy":[[-0.14635807213124308,-2.471513300011992],[-0.11135820526327633,-2.436513300171523]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_3","position":[-0.26033176770677047,-1.6200711197678368,0.71338606911949],"aabb_xy":[[-0.2978317662823912,-1.6328074154313947],[-0.22283176913114963,-1.6073348241042789]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_4","position":[-0.4948124726553534,-1.6329276812518425,0.71338606911949],"aabb_xy":[[-0.5117232050916949,-1.646399886844457],[-0.4779017402190115,-1.6194554756592277]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_5","position":[0.40861424143734726,-1.5881655295830375,0.71338606911949],"aabb_xy":[[0.3236142427452726,-1.6201513929779159],[0.4936142401294219,-1.5561796661881582]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_6","position":[-0.5823312506662865,0.31740764124888887,0.71338606911949],"aabb_xy":[[-0.5919628868867162,0.30777032846917995],[-0.5726996144458569,0.3270449540285978]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_7","position":[-0.5772758719382061,0.6163637583180943,0.71338606911949],"aabb_xy":[[-0.6412715693333026,0.5523637600173854],[-0.5132801745431095,0.6803637566188028]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_8","position":[0.11915746850868714,-0.7084403989571422,0.71338606911949],"aabb_xy":[[0.11104381383531003,-0.7165462154111713],[0.12727112318206424,-0.7003345825031131]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_9","position":[0.36514660032856194,-1.293676195490974,0.71338606911949],"aabb_xy":[[0.3276466005115284,-1.2983144068021155],[0.4026466001455955,-1.2890379841798318]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_10","position":[-0.3362642280672933,-0.5211648123697397,0.71338606911949],"aabb_xy":[[-0.3403801781793659,-0.5252803674025851],[-0.33214827795522056,-0.517049257336894]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_11","position":[0.5774800593383427,1.3323235733442975,0.71338606911949],"aabb_xy":[[0.5074800567017562,1.312218708348432],[0.6474800619749289,1.352428438340163]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_12","position":[-0.4368529200174407,1.4636160314981317,0.71338606911949],"aabb_xy":[[-0.5008529203949743,1.4138707646473194],[-0.3728529196399071,1.513361298348944]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_13","position":[-0.479299356910872,-2.455766867407806,0.71338606911949],"aabb_xy":[[-0.5342993551126167,-2.4962888340342433],[-0.4242993587091271,-2.415244900781368]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_14","position":[-0.14085194106397858,-1.5089440260234654,0.71338606911949],"aabb_xy":[[-0.2008519427069004,-1.5609441753154094],[-0.0808519394210567,-1.456943876731521]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_15","position":[0.004277251756372058,0.963349147175101,0.71338606911949],"aabb_xy":[[-0.08572274766199883,0.9299736503309113],[0.09427725117474295,0.9967246440192907]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_16","position":[0.6428566037747945,0.2914118971959754,0.71338606911949],"aabb_xy":[[0.5778566026688512,0.26644652412784714],[0.7078566048807378,0.3163772702641037]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_17","position":[-0.5387984458175353,-2.3174682883864945,0.71338606911949],"aabb_xy":[[-0.547958324761412,-2.3239995064300314],[-0.5296385668736588,-2.3109370703429577]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_18","position":[-0.08392380846280567,-2.1337891670449824,0.71338606911949],"aabb_xy":[[-0.1339080441709829,-2.1837891658584776],[-0.033939572754628444,-2.0837891682314864]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_19","position":[-0.30613119940269606,-0.9218884828900666,0.71338606911949],"aabb_xy":[[-0.35610449340595646,-0.9718884834446138],[-0.25615790539943556,-0.8718884823355191]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_20","position":[0.6113012094800807,-0.24832566789883925,0.71338606911949],"aabb_xy":[[0.5613080973708889,-0.2983256685730349],[0.6612943215892727,-0.19832566722464365]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_21","position":[-0.5555597015740142,-0.610340551044847,0.71338606911949],"aabb_xy":[[-0.5805597011257527,-0.6204830349099817],[-0.5305597020222758,-0.6001980671797122]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_22","position":[0.12950722954673188,-2.154914937980801,0.71338606911949],"aabb_xy":[[0.11062284577822168,-2.173800862761154],[0.1483916133152421,-2.1360290132004485]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_23","position":[-0.4180418830820026,1.609674563616251,0.71338606911949],"aabb_xy":[[-0.4820418803676512,1.568167844663407],[-0.35404188579635393,1.651181282569095]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_24","position":[-0.6721072587937265,-1.5092982679068156,0.71338606911949],"aabb_xy":[[-0.6791475687272636,-1.5892982673064875],[-0.6650669488601896,-1.4292982685071445]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.662521588760883,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5605.png","name":"5605"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5605.png","name":"5605"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4992.png","name":"4992"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2989.png","name":"2989"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1957.png","name":"1957"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1224.png","name":"1224"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":703.8241704771594,"rotation_z_degrees":353.7905079171708,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013987725388991335,0.010650754378207838,-0.017867463632239948]},{"name":"camera_2","offset_m":[-0.014033565609214486,-0.0065084951869901625,-0.010774934106204656]},{"name":"camera_3","offset_m":[-0.0061104500190760185,-0.0037524560333087945,0.00254584027679133]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0003433658130786385,-0.001891206737275125,0.0011675239498650436],"end_effector_yaw_offset_degrees":-0.13268820027180483},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.000528452564342276,-0.0010731673352336788,-0.0005967019012852357],"end_effector_yaw_offset_degrees":-0.4853886840797157},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008642395858066525,0.0006397396776527801,0.0009007310511954087],"end_effector_yaw_offset_degrees":0.056391822355419174},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0016691942089540643,0.0017827690859325588,-0.001623992976314244],"end_effector_yaw_offset_degrees":0.06797921428270182}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0039313763991562145,-0.0006424155043415203],"position_m":[0.20906862360084377,-0.13914241550434153,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0003987676819596272,0.0021339915109226696],"position_m":[0.23170123231804038,-0.3621660084890773,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003159454390174562,0.004479033697816582],"position_m":[0.28804054560982545,-0.03512096630218342,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0003028961408558361,0.0013526455054563872],"position_m":[0.3443028961408558,0.17625264550545638,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e4f890d0068219168a84f60967cbb9ac0ca66de345a1cccfa2a42d9fb5d7db14","episode_index":89,"episode_name":"episode_0089"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0089.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_5605/tex_ceiling_textures_1224/tex_floor_textures_1957/tex_table_textures_4992/tex_wall_textures_2989","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":6126026264614226631,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":6126026264614226631,"visual_seed":6126026264614226631,"scene_id":"lab_003","finished_at":"2026-09-06T01:14:37"} +{"episode_id":"ep_000089","started_at":"2026-09-06T01:14:41","dimensions":{"distractor":{"count":33,"items":[{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_0","position":[-0.44787307522542125,-1.436066356447903,0.71338606911949],"aabb_xy":[[-0.49787307658630847,-1.4860442610233187],[-0.397873073864534,-1.3860884518724874]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_1","position":[0.09960671901155582,-1.7087255492854494,0.71338606911949],"aabb_xy":[[0.062106718346977126,-1.7244126072856714],[0.13710671967613453,-1.693038491285227]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_2","position":[0.7037125024677529,-1.4018287026475085,0.71338606911949],"aabb_xy":[[0.6990773873155194,-1.4056960377246568],[0.7083476176199861,-1.3979613675703597]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_3","position":[-0.5520202959941809,0.7631748908246454,0.71338606911949],"aabb_xy":[[-0.5594327515355694,0.7573236804030175],[-0.5446078404527924,0.7690261012462734]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_4","position":[-0.2094887203824637,-2.350551977655289,0.71338606911949],"aabb_xy":[[-0.25946613724771717,-2.4005519791445367],[-0.15951130351721005,-2.3005519761660396]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_5","position":[0.1053769177561874,-1.0097378918672761,0.71338606911949],"aabb_xy":[[0.045376917504786216,-1.0640192169037408],[0.16537691800758858,-0.9554565668308115]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_6","position":[-0.6457261772051556,0.1560106224631146,0.71338606911949],"aabb_xy":[[-0.6537524478357816,0.147259127485762],[-0.6376999065745296,0.16476211744046723]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_7","position":[0.5941282954993183,1.1928322568949654,0.71338606911949],"aabb_xy":[[0.5441282945487855,1.1612831098914438],[0.6441282964498511,1.2243814038984866]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_8","position":[0.2558221762327898,1.051416720198588,0.71338606911949],"aabb_xy":[[0.21849089970754723,1.0167636654037358],[0.29315345275803245,1.0860697749934403]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_9","position":[-0.18725131853070287,1.0875489423720723,0.71338606911949],"aabb_xy":[[-0.20392845452379837,1.070849018398142],[-0.17057418253760737,1.1042488663460026]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_10","position":[-0.633374936432949,-0.2740815867597086,0.71338606911949],"aabb_xy":[[-0.6458422945426846,-0.2865469113930321],[-0.6209075783232133,-0.2616162621263851]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_11","position":[0.0005829775755088473,0.7651526388287646,0.71338606911949],"aabb_xy":[[-0.004373042609372353,0.7426526386266431],[0.005538997760390047,0.7876526390308864]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_12","position":[0.4081406850317393,0.7398458017009566,0.71338606911949],"aabb_xy":[[0.3581458521037977,0.6898458028057132],[0.4581355179596809,0.7898458005962002]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_13","position":[-0.44199782538453936,-1.9069152592728211,0.71338606911949],"aabb_xy":[[-0.5069978263850399,-1.9577016244274958],[-0.3769978243840388,-1.856128894118146]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_14","position":[0.5038869262208625,0.9857574062150598,0.71338606911949],"aabb_xy":[[0.4752375938604462,0.9571118469379839],[0.5325362585812786,1.0144029654921356]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_15","position":[0.6147070954426783,-0.40009109633992423,0.71338606911949],"aabb_xy":[[0.5847395385328525,-0.43009109663781],[0.6446746523525039,-0.3700910960420385]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_16","position":[0.5677448052587097,1.577654797960378,0.71338606911949],"aabb_xy":[[0.4777448085230994,1.5244713346430834],[0.6577448019943198,1.6308382612776724]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_17","position":[-0.5356383693048725,-0.14037548495426533,0.71338606911949],"aabb_xy":[[-0.5472073500518091,-0.16537548507119704],[-0.524069388557936,-0.11537548483733362]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_18","position":[-0.07724956606721423,1.2328503761280238,0.71338606911949],"aabb_xy":[[-0.12224215278566462,1.1878503768535749],[-0.0322569793487638,1.2778503754024724]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_19","position":[0.07234974096070346,0.6197419641341639,0.71338606911949],"aabb_xy":[[0.037349741830747796,0.6139967430584998],[0.10734974009065912,0.625487185209828]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_20","position":[-0.06157446493856411,1.6266891667400354,0.71338606911949],"aabb_xy":[[-0.09272138378214723,1.5566891680532282],[-0.030427546094980988,1.6966891654268426]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_21","position":[-0.5864741063911034,1.5224484998760812,0.71338606911949],"aabb_xy":[[-0.6089741062050058,1.5179738835056007],[-0.563974106577201,1.5269231162465622]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_22","position":[-0.6720672401669222,-2.2570748797525146,0.71338606911949],"aabb_xy":[[-0.6760277239366566,-2.2647427443380352],[-0.6681067563971879,-2.249407015166994]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_23","position":[-0.5033534320171666,-3.108362220727301e-05,0.71338606911949],"aabb_xy":[[-0.5673534327206361,-0.046049466095128284],[-0.4393534313136974,0.04598729885071374]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_24","position":[0.0498367542512953,0.9729057668373176,0.71338606911949],"aabb_xy":[[-0.0001632451889003253,0.9229378423530012],[0.09983675369149092,1.0228736913216339]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_25","position":[-0.22592422421675312,0.7451911186088349,0.71338606911949],"aabb_xy":[[-0.2360772397709025,0.7091215770360944],[-0.21577120866260374,0.7812606601815749]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_26","position":[-0.4637251784701367,-0.6058527011266523,0.71338606911949],"aabb_xy":[[-0.48872517840265467,-0.6127353693475757],[-0.4387251785376189,-0.598970032905729]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_27","position":[0.4231515684039684,-0.5653586333640739,0.71338606911949],"aabb_xy":[[0.3331515647270502,-0.6267910399411781],[0.5131515720808866,-0.5039262267869694]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_28","position":[-0.397585884262312,-1.7000885073244234,0.71338606911949],"aabb_xy":[[-0.45257909559944887,-1.7550885076632172],[-0.3425926729251753,-1.64508850698563]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_29","position":[-0.16422582880245296,-1.4537369203717658,0.71338606911949],"aabb_xy":[[-0.19421749153632326,-1.4837369197085664],[-0.1342341660685826,-1.4237369210349653]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_30","position":[-0.41999553739275836,-2.2200020099577635,0.71338606911949],"aabb_xy":[[-0.43555130680302373,-2.235552443202171],[-0.4044397679824932,-2.204451576713357]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_31","position":[0.044873550821727504,-1.3562388403575858,0.71338606911949],"aabb_xy":[[0.033511816168441344,-1.3676073067638737],[0.05623528547501366,-1.3448703739512975]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_32","position":[0.7076048168791631,-0.5556181719834927,0.71338606911949],"aabb_xy":[[0.6999805487889849,-0.5632513955200366],[0.7152290849693413,-0.5479849484469491]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6677147207336693,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8463.png","name":"8463"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8463.png","name":"8463"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5632.png","name":"5632"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8157.png","name":"8157"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7245.png","name":"7245"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9045.png","name":"9045"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":762.8229587886597,"rotation_z_degrees":286.73287853635503,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014752377784793748,0.015360004393864129,0.00040721935229146716]},{"name":"camera_2","offset_m":[0.0035754263871921217,-0.009981133717918369,0.01343323241111807]},{"name":"camera_3","offset_m":[0.0064607754115350025,-0.0009537436034854664,0.019674300279209685]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0005342218183188867,-0.0016323434557663208,0.0015854983742434282],"end_effector_yaw_offset_degrees":0.9654653430867006},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0018629020710912167,-0.00010540168367228456,8.005238976220184e-05],"end_effector_yaw_offset_degrees":-0.8345796729245629},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0008317811760488129,0.000759645846488897,-0.0009779384933737006],"end_effector_yaw_offset_degrees":-0.9133887563066883},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0007549765411998029,0.0018554997821416909,0.0005357575982065424],"end_effector_yaw_offset_degrees":-0.8761024124894448}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004617283160259974,-0.00433138593059076],"position_m":[0.21761728316025997,-0.14283138593059078,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002787923394618209,-0.002478338432788353],"position_m":[0.2348879233946182,-0.36677833843278834,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003446700720010476,-0.0009478113985006064],"position_m":[0.2946467007200105,-0.04054781139850061,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0028589848622375255,-0.003060402845537712],"position_m":[0.3468589848622375,0.1718395971544623,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f7a2e0b247a51838cd842fe21fae3d49f66b806d524872570d1e72dd86a5b71a","episode_index":90,"episode_name":"episode_0090"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0090.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_8463/tex_ceiling_textures_9045/tex_floor_textures_7245/tex_table_textures_5632/tex_wall_textures_8157","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":3001942097030768637,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":3001942097030768637,"visual_seed":3001942097030768637,"scene_id":"lab_003","finished_at":"2026-09-06T01:18:03"} +{"episode_id":"ep_000090","started_at":"2026-09-06T01:18:06","dimensions":{"distractor":{"count":32,"items":[{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_0","position":[-0.5450986085059158,-1.43517130400387,0.71338606911949],"aabb_xy":[[-0.5825986092979113,-1.4415391449620603],[-0.5075986077139204,-1.4288034630456798]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_1","position":[-0.32312872299608847,-0.49857162458897264,0.71338606911949],"aabb_xy":[[-0.35312038572995874,-0.5285716239257732],[-0.2931370602622181,-0.46857162525217216]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_2","position":[-0.5803935475120076,-0.6079847665097411,0.71338606911949],"aabb_xy":[[-0.6216980905757437,-0.6719847660778582],[-0.5390890044482717,-0.543984766941624]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_3","position":[-0.2818821964273386,-1.5434605989763814,0.71338606911949],"aabb_xy":[[-0.33187530853653047,-1.5934605996505773],[-0.2318890843181467,-1.4934605983021858]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_4","position":[0.20253936088999946,1.1325745896747157,0.71338606911949],"aabb_xy":[[0.19769576612876952,1.1277229371957316],[0.20738295565122947,1.1374262421536998]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_5","position":[-0.5340587140682285,-0.19481424081851229,0.71338606911949],"aabb_xy":[[-0.5438147035774024,-0.2045767748777467],[-0.5243027245590546,-0.18505170675927782]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_6","position":[-0.5122675227751463,-1.8877220120643097,0.71338606911949],"aabb_xy":[[-0.5298458249640932,-1.9052965016384147],[-0.49468922058619946,-1.8701475224902047]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_7","position":[0.23237418646540542,0.857887390823949,0.71338606911949],"aabb_xy":[[0.22112913089478758,0.8466455930998537],[0.24361924203602325,0.8691291885480442]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_8","position":[0.08336026354087112,-1.4296898380871075,0.71338606911949],"aabb_xy":[[0.03727517228613963,-1.4936898353396626],[0.12944535479560257,-1.3656898408345524]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_9","position":[0.47293387598180003,-2.29045878829277,0.71338606911949],"aabb_xy":[[0.41530340709452906,-2.35045878721948],[0.5305643448690708,-2.230458789366059]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_10","position":[0.09668072325995103,-0.6369831598458422,0.71338606911949],"aabb_xy":[[0.059886090135044756,-0.6738890349424244],[0.1334753563848573,-0.6000772847492598]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_11","position":[0.4692761811686361,1.111181869157638,0.71338606911949],"aabb_xy":[[0.4516005505800378,1.093501652878235],[0.48695181175723445,1.1288620854370406]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_12","position":[-0.1411316993126489,-1.8639257470394424,0.71338606911949],"aabb_xy":[[-0.20613170031314942,-1.9147121121941173],[-0.07613169831214839,-1.8131393818847674]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_13","position":[0.14001060087361483,1.642057453518642,0.71338606911949],"aabb_xy":[[0.09001060051304875,1.592077466309039],[0.19001060123418087,1.6920374407282448]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_14","position":[-0.06987036045808981,-1.6545253038721628,0.71338606911949],"aabb_xy":[[-0.08766386739300623,-1.6723250494679605],[-0.05207685352317336,-1.6367255582763651]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_15","position":[-0.05898691234986031,0.18306927148749574,0.71338606911949],"aabb_xy":[[-0.06540072599304524,0.17665945123982735],[-0.05257309870667536,0.18947909173516403]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_16","position":[0.3780344660906172,-2.073712480125932,0.71338606911949],"aabb_xy":[[0.31403446538714785,-2.1197308625988533],[0.4420344667940866,-2.0276940976530113]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_17","position":[-0.5315158449891205,-2.2889890927169056,0.71338606911949],"aabb_xy":[[-0.5793220126028891,-2.353989095423964],[-0.48370967737535175,-2.2239890900098462]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_18","position":[-0.2125274475634183,-2.5819944668120427,0.71338606911949],"aabb_xy":[[-0.21716256271565168,-2.5858618018891906],[-0.2078923324111849,-2.578127131734893]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_19","position":[-0.45792792910263147,0.6182037866473657,0.71338606911949],"aabb_xy":[[-0.5079053459678848,0.5682037851581171],[-0.40795051223737777,0.6682037881366142]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_20","position":[0.5161742097924729,0.46913877672486803,0.71338606911949],"aabb_xy":[[0.509133899858936,0.3891387773251967],[0.52321451972601,0.5491387761245394]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_21","position":[-0.39542847001835874,1.4139132179984588,0.71338606911949],"aabb_xy":[[-0.4570192292423516,1.3499132198894122],[-0.33383771079436597,1.477913216107506]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_22","position":[-0.35378418129402867,1.6799387209062098,0.71338606911949],"aabb_xy":[[-0.4177841833437606,1.639844237816902],[-0.2897841792442966,1.720033203995518]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_23","position":[-0.08282152729982128,-0.8536109218961117,0.71338606911949],"aabb_xy":[[-0.12558823417924148,-0.9176109253179141],[-0.040054820420401094,-0.7896109184743092]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_24","position":[0.5305539558538213,-0.7656093849746406,0.71338606911949],"aabb_xy":[[0.4971137806578015,-0.7990530108055706],[0.5639941310498406,-0.7321657591437104]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_25","position":[-0.3538520516174084,0.9828933187458624,0.71338606911949],"aabb_xy":[[-0.4138520522134246,0.9280808462006389],[-0.2938520510213922,1.0377057912910859]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_26","position":[0.6147364438626568,1.7762931656054586,0.71338606911949],"aabb_xy":[[0.5973057287836501,1.7590210509416078],[0.6321671589416631,1.7935652802693094]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_27","position":[0.5782310316747858,-1.2460598476230134,0.71338606911949],"aabb_xy":[[0.5411969222467261,-1.2804370549567226],[0.6152651411028456,-1.2116826402893037]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_28","position":[0.566733153431263,0.9617489605129563,0.71338606911949],"aabb_xy":[[0.5594893873850176,0.881748962309354],[0.5739769194775083,1.0417489587165587]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_29","position":[-0.5931062297601472,1.727878734773769,0.71338606911949],"aabb_xy":[[-0.642586650974106,1.663878736860917],[-0.5436258085461885,1.7918787326866206]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_30","position":[0.1684078014022422,-1.2632445796473448,0.71338606911949],"aabb_xy":[[0.10340780284516937,-1.2929971130612272],[0.23340779995931504,-1.233492046233462]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_31","position":[-0.3428150601231505,0.2580747095022251,0.71338606911949],"aabb_xy":[[-0.3927980103106298,0.20807470985966467],[-0.2928321099356711,0.30807470914478546]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6647227551698028,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6455.png","name":"6455"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6455.png","name":"6455"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4797.png","name":"4797"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1410.png","name":"1410"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2660.png","name":"2660"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9983.png","name":"9983"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":815.8530010411681,"rotation_z_degrees":319.5440830109509,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.003091700274277201,-0.012517326895408205,0.009641310450819299]},{"name":"camera_2","offset_m":[0.0062561542286588695,0.0015014830706752795,-0.005379584187237755]},{"name":"camera_3","offset_m":[-0.013283056051249017,0.00798376943113769,0.012183993544158726]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00031705050433418957,0.0018819154109855837,-0.00044705449792312364],"end_effector_yaw_offset_degrees":0.7587462799924265},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00026457239820715955,0.0019659942791812038,-0.0017395041875279823],"end_effector_yaw_offset_degrees":-0.9030926016275005},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0015760509743323245,-7.212270191944985e-05,-0.0014943161879111253],"end_effector_yaw_offset_degrees":0.2423359263654159},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00011045106208261782,5.412636868383372e-05,-0.00042050773123535816],"end_effector_yaw_offset_degrees":-0.0725309342891951}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0010944276267231875,-0.003767636891591447],"position_m":[0.21409442762672318,-0.14226763689159147,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0005508447006960871,-0.002107352797006474],"position_m":[0.23154915529930392,-0.3664073527970065,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0010826966916054493,0.000402448017866229],"position_m":[0.29228269669160545,-0.039197551982133774,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00032327748088035145,-0.0001301907067042321],"position_m":[0.3436767225191196,0.17476980929329577,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"eb373597a363195edcc1bf5088c19c33acd97f1b27df397e32b05346cf90f6e3","episode_index":91,"episode_name":"episode_0091"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0091.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_6455/tex_ceiling_textures_9983/tex_floor_textures_2660/tex_table_textures_4797/tex_wall_textures_1410","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":919222020008609169,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":919222020008609169,"visual_seed":919222020008609169,"scene_id":"lab_003","finished_at":"2026-09-06T01:21:36"} +{"episode_id":"ep_000091","started_at":"2026-09-06T01:21:40","dimensions":{"distractor":{"count":31,"items":[{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_0","position":[0.5389387557336092,-1.4020533411279859,0.71338606911949],"aabb_xy":[[0.5164387557234609,-1.4161495607675891],[0.5614387557437575,-1.3879571214883826]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_1","position":[-0.47428720132770774,-0.3538089406355893,0.71338606911949],"aabb_xy":[[-0.4918338962438266,-0.3913089421998406],[-0.45674050641158875,-0.31630893907133806]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_2","position":[0.3613557286382687,-0.49839987832815424,0.71338606911949],"aabb_xy":[[0.27635572994619406,-0.5303857417230331],[0.44635572733034334,-0.4664140149332754]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_3","position":[-0.42282569460957575,-1.9874875352622283,0.71338606911949],"aabb_xy":[[-0.42986714556032335,-1.994514287000023],[-0.41578424365882816,-1.9804607835244337]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_4","position":[-0.14864114091263858,-0.5627057169439222,0.71338606911949],"aabb_xy":[[-0.15941411483400636,-0.5977057151629612],[-0.1378681669912708,-0.5277057187248833]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_5","position":[-0.3096357595385276,1.213514980036976,0.71338606911949],"aabb_xy":[[-0.39963575895689846,1.1801394831927863],[-0.21963576012015668,1.2468904768811657]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_6","position":[-0.055287200889205024,1.2239406073569836,0.71338606911949],"aabb_xy":[[-0.06544021644335439,1.1878710657842433],[-0.045134185335055636,1.260010148929724]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_7","position":[0.05457091746053755,-1.4927381408266955,0.71338606911949],"aabb_xy":[[0.04732715141429222,-1.572738139030298],[0.061814683506782875,-1.4127381426230932]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_8","position":[-0.3213471838337655,1.666527051311784,0.71338606911949],"aabb_xy":[[-0.33884718296813265,1.6566474242741958],[-0.3038471846993983,1.6764066783493714]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_9","position":[0.4047606110048687,-0.9518723876036799,0.71338606911949],"aabb_xy":[[0.39042618587870526,-0.9639326031582187],[0.41909503613103216,-0.939812172049141]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_10","position":[-0.4743111987678884,0.834244522892535,0.71338606911949],"aabb_xy":[[-0.5383112020575964,0.7909096038886174],[-0.41031119547818024,0.8775794418964526]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_11","position":[-0.5296242030562335,1.5851755229699749,0.71338606911949],"aabb_xy":[[-0.6096242010370184,1.5775739820081227],[-0.44962420507544837,1.5927770639318266]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_12","position":[-0.5420325766943632,-2.2047256127193466,0.71338606911949],"aabb_xy":[[-0.6220325769679702,-2.277675160545063],[-0.4620325764207563,-2.1317760648936295]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_13","position":[-0.21951258233077586,-1.793652429525456,0.71338606911949],"aabb_xy":[[-0.3095125790663861,-1.8468358928427502],[-0.12951258559516562,-1.7404689662081612]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_14","position":[0.5535490164052881,0.39453269272920943,0.71338606911949],"aabb_xy":[[0.5498457550761491,0.3908306744204915],[0.5572522777344269,0.39823471103792724]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_15","position":[0.010107265860795911,1.3952301541045302,0.71338606911949],"aabb_xy":[[-0.05389273735784195,1.3485070422055219],[0.07410726907943377,1.4419532660035386]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_16","position":[-0.10957456330318005,-0.06392411218815086,0.71338606911949],"aabb_xy":[[-0.12048033939074276,-0.14392410858698002],[-0.09866878721561734,0.016075884210678293]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_17","position":[-0.30889467052912206,-0.8234790276757886,0.71338606911949],"aabb_xy":[[-0.3220459165004115,-0.8484790274324753],[-0.29574342455783276,-0.7984790279191022]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_18","position":[-0.5700383436612921,-2.0278166541704126,0.71338606911949],"aabb_xy":[[-0.607538343953467,-2.0318581295710163],[-0.5325383433691173,-2.023775178769809]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_19","position":[-0.4448265320992563,-0.060515475879217906,0.71338606911949],"aabb_xy":[[-0.4998187827347673,-0.1155154776225307],[-0.38983428146374544,-0.0055154741359051416]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_20","position":[-0.2494437457684291,-0.06387613258153602,0.71338606911949],"aabb_xy":[[-0.2844437456644479,-0.07225036809347594],[-0.2144437458724102,-0.055501897069596066]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_21","position":[0.590977919445544,0.5635943841208437,0.71338606911949],"aabb_xy":[[0.5676960772474127,0.4785943828236157],[0.6142597616436754,0.6485943854180718]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_22","position":[0.37482757434642133,-1.6930708412337545,0.71338606911949],"aabb_xy":[[0.3523275748227138,-1.7155667886843748],[0.3973275738701286,-1.6705748937831333]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_23","position":[-0.12704482458142907,1.0393213366910925,0.71338606911949],"aabb_xy":[[-0.15062994804532392,0.9743213344456607],[-0.10345970111753422,1.1043213389365243]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_24","position":[-0.2858116718216056,-0.3560710866693473,0.71338606911949],"aabb_xy":[[-0.29402621693728953,-0.36474767696698845],[-0.27759712670592157,-0.3473944963717059]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_25","position":[-0.6077843005448693,-0.7532429345740981,0.71338606911949],"aabb_xy":[[-0.6452843004886358,-0.7615360246089347],[-0.570284300601103,-0.7449498445392615]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_26","position":[-0.373593758050513,-1.4097370136424432,0.71338606911949],"aabb_xy":[[-0.3868247035851942,-1.4229644326644424],[-0.36036281251583163,-1.3965095946204436]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_27","position":[0.649505082231074,-1.7432896860036826,0.71338606911949],"aabb_xy":[[0.642464772297537,-1.8232896854033542],[0.6565453921646109,-1.6632896866040114]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_28","position":[-0.30159936388974673,1.555603377109485,0.71338606911949],"aabb_xy":[[-0.32165777550298696,1.5355382902003276],[-0.2815409522765064,1.5756684640186425]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_29","position":[0.5777062251309717,-1.2016007150581214,0.71338606911949],"aabb_xy":[[0.5671387454728726,-1.21214574517113],[0.5882737047890706,-1.1910556849451128]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_30","position":[-0.4553163825048203,-1.510509760118875,0.71338606911949],"aabb_xy":[[-0.5453163810992903,-1.526760346432296],[-0.3653163839103504,-1.494259173805454]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6651511522451731,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8925.png","name":"8925"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8925.png","name":"8925"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1470.png","name":"1470"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3448.png","name":"3448"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4322.png","name":"4322"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2323.png","name":"2323"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":549.4130139907495,"rotation_z_degrees":63.864470656376234,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.003601487522579109,-0.006716004784702726,-0.00534485175420658]},{"name":"camera_2","offset_m":[-0.01908922231852491,-0.01164829092024442,0.018156559751194786]},{"name":"camera_3","offset_m":[0.0175792503716747,0.010888545899711787,-0.006877383641852607]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0014230367551651539,-0.0008717232352016963,0.001377061112262986],"end_effector_yaw_offset_degrees":0.9643166269591066},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0014694953469147507,-0.0009233756008847887,-7.43305951270768e-05],"end_effector_yaw_offset_degrees":0.9060880790333021},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00020535268737726688,0.00025204632451861957,0.0002378226304553567],"end_effector_yaw_offset_degrees":0.7775367845397034},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0005630530683286014,-0.0013508601035123267,-2.87224063595529e-06],"end_effector_yaw_offset_degrees":-0.17003909742364565}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0038348823840509165,0.00020746877502015627],"position_m":[0.2168348823840509,-0.13829253122497986,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00312974471589876,0.002736753512396819],"position_m":[0.23522974471589875,-0.3615632464876032,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004019028549953447,-0.00301911745249978],"position_m":[0.28718097145004656,-0.042619117452499786,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0003956655761879965,-0.003858417445292638],"position_m":[0.343604334423812,0.17104158255470736,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"baa689be20298bc417d812c66ed6a09a2614aa60a82ae76c84b041d97ce17636","episode_index":92,"episode_name":"episode_0092"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0092.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_8925/tex_ceiling_textures_2323/tex_floor_textures_4322/tex_table_textures_1470/tex_wall_textures_3448","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":4137843238698819862,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":4137843238698819862,"visual_seed":4137843238698819862,"scene_id":"lab_003","finished_at":"2026-09-06T01:25:10"} +{"episode_id":"ep_000092","started_at":"2026-09-06T01:25:13","dimensions":{"distractor":{"count":26,"items":[{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_0","position":[0.24901917539794027,0.5194699256852275,0.71338606911949],"aabb_xy":[[0.23013479162943007,0.5005840009048746],[0.2679035591664505,0.5383558504655802]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_1","position":[-0.1250242447542922,-1.359002165748061,0.71338606911949],"aabb_xy":[[-0.13301773454957425,-1.367000297688537],[-0.11703075495901019,-1.3510040338075857]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_2","position":[-0.015285427574311061,-1.1336349774772991,0.71338606911949],"aabb_xy":[[-0.020617942228924047,-1.1389593057225347],[-0.009952912919698078,-1.1283106492320636]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_3","position":[0.6828488462224249,0.20240720209322038,0.71338606911949],"aabb_xy":[[0.6657467682640569,0.18530039656195066],[0.6999509241807932,0.21951400762449017]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_4","position":[0.07405168205851698,1.371688244790307,0.71338606911949],"aabb_xy":[[0.06593802738513987,1.3635824283362776],[0.08216533673189408,1.3797940612443358]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_5","position":[0.6314969059718154,0.33887379707466225,0.71338606911949],"aabb_xy":[[0.618870118684619,0.3293277233730893],[0.6441236932590118,0.3484198707762351]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_6","position":[0.05053566604330306,1.558263372858987,0.71338606911949],"aabb_xy":[[0.0006529691656068649,1.5082633736127125],[0.10041836292099929,1.608263372105262]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_7","position":[-0.08583573409380163,1.381414021376957,0.71338606911949],"aabb_xy":[[-0.0902663634486418,1.3759656496422745],[-0.08140510473896145,1.3868623931116395]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_8","position":[0.08803174005280545,-0.8630581701758082,0.71338606911949],"aabb_xy":[[0.06351811595579959,-0.8873227634778448],[0.11254536414981131,-0.8387935768737719]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_9","position":[0.33555721796890525,-0.6565305741700393,0.71338606911949],"aabb_xy":[[0.2555633943903471,-0.7365305767628809],[0.41555104154746353,-0.5765305715771978]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_10","position":[0.0626684699659148,-0.6993012282651845,0.71338606911949],"aabb_xy":[[0.059227793725857625,-0.7031626612395491],[0.06610914620597197,-0.6954397952908201]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_11","position":[0.2237986775972226,-1.4666063906515732,0.71338606911949],"aabb_xy":[[0.21463879865334598,-1.47313760869511],[0.23295855654109918,-1.4600751726080359]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_12","position":[0.4231402693696602,-1.6869289698545442,0.71338606911949],"aabb_xy":[[0.40186226122618784,-1.7519289721806173],[0.44441827751313234,-1.6219289675284712]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_13","position":[-0.0889211679686962,-1.1594679660542753,0.71338606911949],"aabb_xy":[[-0.10655400356222378,-1.177090912069898],[-0.07128833237516863,-1.141845020038652]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_14","position":[-0.5514473293692552,1.6396883377690528,0.71338606911949],"aabb_xy":[[-0.5612033188784291,1.629925803709818],[-0.5416913398600813,1.649450871828287]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_15","position":[-0.06736394547340019,-2.0917077146490066,0.71338606911949],"aabb_xy":[[-0.07528722571214853,-2.11420771488701],[-0.05944066523465187,-2.0692077144110033]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_16","position":[0.2137948335113331,-0.9091827703553725,0.71338606911949],"aabb_xy":[[0.15379483325993193,-0.9634640953918371],[0.2737948337627343,-0.8549014453189078]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_17","position":[0.6168270065863097,1.627392008246169,0.71338606911949],"aabb_xy":[[0.5618315287656503,1.5723920068122619],[0.6718224844069691,1.6823920096800757]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_18","position":[0.29888443145644494,-1.8475014137821986,0.71338606911949],"aabb_xy":[[0.2348844343443393,-1.8965337835766092],[0.3628844285685507,-1.798469043987788]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_19","position":[0.4247159614046807,-1.4413122680258315,0.71338606911949],"aabb_xy":[[0.3597159587668872,-1.4927918667252784],[0.4897159640424742,-1.3898326693263845]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_20","position":[-0.2857257444912846,0.8354746178145156,0.71338606911949],"aabb_xy":[[-0.303519251426201,0.8176748722187178],[-0.26793223755636814,0.8532743634103132]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_21","position":[0.43120067532233675,0.3587570640359643,0.71338606911949],"aabb_xy":[[0.42111896824376327,0.2787570661438496],[0.4412823824009102,0.4387570619280789]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_22","position":[-0.508203125535384,-2.5457919896236203,0.71338606911949],"aabb_xy":[[-0.5197721062823207,-2.5707919897405525],[-0.4966341447884476,-2.520791989506689]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_23","position":[-0.16737847853178633,-0.7594387656808055,0.71338606911949],"aabb_xy":[[-0.18743689014502665,-0.779503852589963],[-0.14732006691854607,-0.739373678771648]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_24","position":[0.20865398124610934,1.5408570555012395,0.71338606911949],"aabb_xy":[[0.19174324880976754,1.5273848499086244],[0.2255647136824511,1.5543292610938537]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_25","position":[-0.42718913383230434,-1.3382083416313477,0.71338606911949],"aabb_xy":[[-0.46422324326036396,-1.3725855489650571],[-0.3901550244042445,-1.3038311342976383]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6675521433089417,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5942.png","name":"5942"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5942.png","name":"5942"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1196.png","name":"1196"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2808.png","name":"2808"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9850.png","name":"9850"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8828.png","name":"8828"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":762.189252880338,"rotation_z_degrees":297.8771480414831,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01280908418181093,0.00604721726875131,-0.009535311246592263]},{"name":"camera_2","offset_m":[-0.009150692161219989,0.011284964488350997,-0.005441329907517724]},{"name":"camera_3","offset_m":[0.005923661245256024,-0.015378548879868803,-0.0041580940207857076]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0011303423224469093,0.000633868867483102,-0.000641552249924747],"end_effector_yaw_offset_degrees":0.1937190616189275},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0007301966098973906,-0.00024253169789918878,0.001376803135764557],"end_effector_yaw_offset_degrees":0.9456219867100908},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0015362037102651825,-0.00022456566402714092,0.0013952062418149153],"end_effector_yaw_offset_degrees":-0.8442605700939749},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001005004808734852,-0.0013533501584387353,0.0010539228892729124],"end_effector_yaw_offset_degrees":0.9815037499585695}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004465442211550368,-0.004182381503675321],"position_m":[0.21746544221155037,-0.14268238150367532,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003492121932559285,-0.001107953261037643],"position_m":[0.2355921219325593,-0.36540795326103764,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0007339110727161858,0.004631924012660836],"position_m":[0.2919339110727162,-0.03496807598733917,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002119275519478613,0.0020355435753625518],"position_m":[0.34188072448052137,0.17693554357536256,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5e77cd8cf1919c552a5196fc36e37e559d38978bf639cec97fdd96f482239ad2","episode_index":93,"episode_name":"episode_0093"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0093.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_5942/tex_ceiling_textures_8828/tex_floor_textures_9850/tex_table_textures_1196/tex_wall_textures_2808","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":4938537922121977163,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":4938537922121977163,"visual_seed":4938537922121977163,"scene_id":"lab_003","finished_at":"2026-09-06T01:28:07"} +{"episode_id":"ep_000093","started_at":"2026-09-06T01:28:11","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_0","position":[0.14373913512649794,-2.1838643529322015,0.71338606911949],"aabb_xy":[[0.1333275764460142,-2.1892100862680994],[0.15415069380698163,-2.1785186195963027]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_1","position":[-0.2205367975483291,-2.19087231795542,0.71338606911949],"aabb_xy":[[-0.28053679840914186,-2.2422987479619056],[-0.16053679668751628,-2.1394458879489324]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_2","position":[0.6765918401240076,-2.3995587787775814,0.71338606911949],"aabb_xy":[[0.6479425077635912,-2.4282043380546567],[0.7052411724844236,-2.370913219500505]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_3","position":[-0.37210455144169285,1.3118558301586978,0.71338606911949],"aabb_xy":[[-0.46210455086006375,1.278480333314508],[-0.28210455202332196,1.3452313270028875]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_4","position":[0.3208595658077422,-2.45410687514122,0.71338606911949],"aabb_xy":[[0.25585956792609443,-2.505230538847761],[0.38585956368939006,-2.4029832114346794]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_5","position":[-0.4332595651925208,-0.8001716541620636,0.71338606911949],"aabb_xy":[[-0.4424194441363974,-0.8067028722056007],[-0.4240996862486442,-0.7936404361185265]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_6","position":[0.587678075469731,1.7266692091063551,0.71338606911949],"aabb_xy":[[0.5700452398762034,1.709046263090732],[0.6053109110632585,1.7442921551219779]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_7","position":[0.6851691310473644,0.7276343890470249,0.71338606911949],"aabb_xy":[[0.6486733104200856,0.6911504466202674],[0.7216649516746431,0.7641183314737825]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_8","position":[-0.49178738176415404,0.43668381161064707,0.71338606911949],"aabb_xy":[[-0.5292873817079204,0.4283907215758105],[-0.4542873818203876,0.44497690164548365]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_9","position":[0.7041203610039846,-0.90650272142427,0.71338606911949],"aabb_xy":[[0.6889574880270476,-0.921668178719389],[0.7192832339809218,-0.8913372641291515]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_10","position":[-0.23216661292319707,-0.3144453226859061,0.71338606911949],"aabb_xy":[[-0.31216661618104,-0.39444183047789005],[-0.1521666096653541,-0.2344488148939221]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_11","position":[-0.37085918278074254,1.4804148862751636,0.71338606911949],"aabb_xy":[[-0.4208591837312753,1.4488657392716422],[-0.32085918183020967,1.511964033278685]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_12","position":[0.16972236982102917,0.8653781748851812,0.71338606911949],"aabb_xy":[[0.13222236971543622,0.8585560130322001],[0.20722236992662213,0.8722003367381623]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_13","position":[-0.1654585759368673,-0.9329031231865657,0.71338606911949],"aabb_xy":[[-0.24545857309644256,-0.9444507241443826],[-0.08545857877729199,-0.9213555222287485]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_14","position":[-0.27020846415266186,-1.7028612830256598,0.71338606911949],"aabb_xy":[[-0.3502084621334469,-1.7104628239875115],[-0.19020846617187684,-1.6952597420638076]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_15","position":[-0.6348484533393067,1.1503366456739599,0.71338606911949],"aabb_xy":[[-0.6422609088806953,1.144485435252332],[-0.6274359977979184,1.1561878560955878]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_16","position":[0.6043638400418345,-1.4487053589020684,0.71338606911949],"aabb_xy":[[0.5543638383803396,-1.498703801157771],[0.6543638417033292,-1.3987069166463655]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_17","position":[-0.5962106975259462,-1.14256459462786,0.71338606911949],"aabb_xy":[[-0.6034930139026097,-1.2325645982373685],[-0.5889283811492824,-1.0525645910183505]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_18","position":[-0.41742982139418683,0.7158575085381438,0.71338606911949],"aabb_xy":[[-0.46270843627533603,0.6518575091899601],[-0.3721512065130375,0.7798575078863275]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_19","position":[-0.15188444849217086,-1.4574041082054037,0.71338606911949],"aabb_xy":[[-0.16345342923910744,-1.4824041083223356],[-0.1403154677452343,-1.4324041080884722]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_20","position":[0.44727819213082065,-2.3407947069209514,0.71338606911949],"aabb_xy":[[0.4247781918873053,-2.3529993415807233],[0.4697781923743361,-2.3285900722611794]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_21","position":[0.4172767108666624,-0.8200524045737878,0.71338606911949],"aabb_xy":[[0.40719500378808887,-0.9000524024659022],[0.4273584179452358,-0.7400524066816729]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_22","position":[-0.5388500344011196,-0.1716537400713931,0.71338606911949],"aabb_xy":[[-0.6028500329876921,-0.21866070347090183],[-0.4748500358145472,-0.1246467766718844]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_23","position":[0.32048292823035207,0.8726697218907646,0.71338606911949],"aabb_xy":[[0.2504829260989225,0.8499077562650688],[0.39048293036178156,0.8954316875164601]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_24","position":[-0.06975076447365247,-2.501583531856242,0.71338606911949],"aabb_xy":[[-0.11975076404998719,-2.551564110808348],[-0.019750764897317752,-2.4516029529041363]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_25","position":[-0.40754925998311453,-0.3344164523098412,0.71338606911949],"aabb_xy":[[-0.462549259159704,-0.3894061270847988],[-0.35254926080652504,-0.27942677753488354]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_26","position":[0.18941842656358399,-1.573922013092751,0.71338606911949],"aabb_xy":[[0.18332379867546567,-1.5824914076444199],[0.1955130544517023,-1.5653526185410824]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_27","position":[-0.5837452545163263,-1.737065258274027,0.71338606911949],"aabb_xy":[[-0.5871859307563835,-1.7409266912483914],[-0.5803045782762691,-1.7332038252996624]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_28","position":[-0.07085457996788325,1.640768601542352,0.71338606911949],"aabb_xy":[[-0.1058545790978389,1.6350233804666876],[-0.03585458083792757,1.6465138226180158]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_29","position":[0.24051647321930847,1.3900383273721584,0.71338606911949],"aabb_xy":[[0.2192384650758362,1.325038325046085],[0.2617944813627807,1.4550383296982312]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_30","position":[0.4923843537656103,-2.1768641551739325,0.71338606911949],"aabb_xy":[[0.4123905301870521,-2.256864157766774],[0.5723781773441685,-2.096864152581091]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_31","position":[-0.6024118591502152,0.6633999141210927,0.71338606911949],"aabb_xy":[[-0.6861340846502978,0.5733999105863966],[-0.5186896336501329,0.7533999176557885]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_32","position":[0.16184905741584765,-2.307499836328889,0.71338606911949],"aabb_xy":[[0.10687533537951477,-2.3624998358931224],[0.21682277945218054,-2.252499836764656]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_33","position":[0.4906640699908751,-0.4303274047225112,0.71338606911949],"aabb_xy":[[0.4556640686393934,-0.4506871406793319],[0.5256640713423568,-0.40996766876569024]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6645383424630071,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1204.png","name":"1204"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1204.png","name":"1204"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3506.png","name":"3506"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5214.png","name":"5214"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/410.png","name":"410"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/105.png","name":"105"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":844.4187679134207,"rotation_z_degrees":63.39285798694064,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.019720080781543952,0.0074203757792150014,0.01393797713476783]},{"name":"camera_2","offset_m":[0.0008145012071746824,-0.001375840116483923,-0.014798994152869418]},{"name":"camera_3","offset_m":[0.012559395214599981,0.006778677298412989,-0.017166241701256416]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0014882959103844104,0.0010528697947127202,0.0010337752315359972],"end_effector_yaw_offset_degrees":0.4245770611381561},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0016354196718065036,-8.81356507961529e-05,-0.0007024426537538026],"end_effector_yaw_offset_degrees":-0.37194028165293536},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0012873419232263083,-0.0013197167359315426,0.0008392751502742575],"end_effector_yaw_offset_degrees":0.8122290308746885},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0018978563005454716,0.0005935495343540537,0.0009257756773808279],"end_effector_yaw_offset_degrees":-0.2694528795576183}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0016353804562331143,-0.003504524900047633],"position_m":[0.21136461954376687,-0.14200452490004764,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00036356142565079335,-0.0003835918517617722],"position_m":[0.2324635614256508,-0.3646835918517618,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.002318692149752816,-0.0035448494768028816],"position_m":[0.2888813078502472,-0.04314484947680289,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004859785682236173,-0.003249714319473394],"position_m":[0.3391402143177638,0.1716502856805266,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c74a8490433c796a16eb7e6b8bce91a1ed9d7549432a11b56094dea41685b895","episode_index":94,"episode_name":"episode_0094"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0094.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_1204/tex_ceiling_textures_105/tex_floor_textures_410/tex_table_textures_3506/tex_wall_textures_5214","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":5650636628814693949,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":5650636628814693949,"visual_seed":5650636628814693949,"scene_id":"lab_003","finished_at":"2026-09-06T01:31:44"} +{"episode_id":"ep_000094","started_at":"2026-09-06T01:31:48","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_0","position":[0.5435296221358108,-0.5086055599123602,0.71338606911949],"aabb_xy":[[0.5355033515051848,-0.517357054889713],[0.5515558927664368,-0.4998540649350077]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_1","position":[0.32313252346850807,-2.4264945827291644,0.71338606911949],"aabb_xy":[[0.30066775349710295,-2.4489945836080245],[0.3455972934399132,-2.4039945818503035]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_2","position":[0.4690345968998255,1.2825454391385942,0.71338606911949],"aabb_xy":[[0.46104060832212207,1.2745453590435036],[0.47702858547752885,1.2905455192336843]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_3","position":[0.12052228505055884,-1.2230925335809497,0.71338606911949],"aabb_xy":[[0.05052228344827939,-1.2365253267826075],[0.19052228665283835,-1.2096597403792924]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_4","position":[-0.6156578025262519,-0.6466375638419695,0.71338606911949],"aabb_xy":[[-0.6307601039872699,-0.6617390854730312],[-0.6005555010652337,-0.6315360422109075]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_5","position":[0.004596449708303085,-0.816365019359029,0.71338606911949],"aabb_xy":[[-0.029700461309437536,-0.8506619055689703],[0.038893360726043706,-0.7820681331490876]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_6","position":[0.5206279479476033,-2.1316647890469906,0.71338606911949],"aabb_xy":[[0.49811425612414606,-2.201664789647998],[0.5431416397710604,-2.061664788445983]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_7","position":[-0.30278242325404736,-2.3110491820348353,0.71338606911949],"aabb_xy":[[-0.31156365040128364,-2.3198289293233665],[-0.2940011961068112,-2.302269434746306]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_8","position":[0.6233772101804895,-1.175255451148993,0.71338606911949],"aabb_xy":[[0.5617864509564968,-1.23925544925804],[0.6849679694044825,-1.1112554530399463]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_9","position":[0.22794767582655218,0.591895239813935,0.71338606911949],"aabb_xy":[[0.16794767523053597,0.5370827672687115],[0.28794767642256835,0.6467077123591585]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_10","position":[0.25199175768689674,-2.2492769967544746,0.71338606911949],"aabb_xy":[[0.18799175563716475,-2.2893714798437825],[0.31599175973662874,-2.2091825136651666]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_11","position":[-0.6227463034940389,1.7210611794578798,0.71338606911949],"aabb_xy":[[-0.6406154112484944,1.7072282714806686],[-0.6048771957395834,1.7348940874350907]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_12","position":[0.1359080555760075,0.8578760644373533,0.71338606911949],"aabb_xy":[[0.04590805324198846,0.7803937098522407],[0.22590805791002658,0.935358419022466]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_13","position":[0.4099493958894773,0.4023267975558018,0.71338606911949],"aabb_xy":[[0.32622717038939486,0.31232679402110586],[0.4936716213895598,0.49232680109049776]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_14","position":[0.5360068848236734,-1.3063394881981678,0.71338606911949],"aabb_xy":[[0.5189967875336227,-1.3224739766964417],[0.553016982113724,-1.2902049996998939]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_15","position":[-0.32746065181411643,1.3387508242947148,0.71338606911949],"aabb_xy":[[-0.377460651254312,1.2887828998103983],[-0.27746065237392076,1.388718748779031]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_16","position":[-0.10930861019783022,1.651635046145706,0.71338606911949],"aabb_xy":[[-0.13795794255824645,1.62298948686863],[-0.08065927783741399,1.6802806054227817]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_17","position":[-0.6656042288034942,1.0323230548139986,0.71338606911949],"aabb_xy":[[-0.6764558350523698,1.0214637640863475],[-0.6547526225546186,1.0431823455416496]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_18","position":[-0.4020464222110898,-0.6021266047964806,0.71338606911949],"aabb_xy":[[-0.4061623723231624,-0.606242159829326],[-0.39793047209901705,-0.598011049763635]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_19","position":[-0.43001876699835595,1.1769730354065717,0.71338606911949],"aabb_xy":[[-0.46751876710394896,1.1701508735535906],[-0.39251876689276305,1.1837951972595528]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_20","position":[0.0812959324277941,-1.9136016950285828,0.71338606911949],"aabb_xy":[[0.017295930084992524,-1.9585425462727153],[0.14529593477059563,-1.8686608437844503]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_21","position":[0.5880208970509053,0.15814898729953297,0.71338606911949],"aabb_xy":[[0.5379234330698318,0.09414898678972117],[0.638118361031979,0.22214898780934478]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_22","position":[0.5392792486241187,-2.4523545394561546,0.71338606911949],"aabb_xy":[[0.4816487797368477,-2.5123545383828647],[0.5969097175113894,-2.3923545405294435]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_23","position":[0.6342913621271942,1.6153104668044977,0.71338606911949],"aabb_xy":[[0.570291361423725,1.569292084331577],[0.6982913628306637,1.661328849277419]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_24","position":[0.417204751006651,1.7906323875697319,0.71338606911949],"aabb_xy":[[0.39970481757266757,1.7731323876494973],[0.4347046844406343,1.8081323874899664]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_25","position":[-0.08880551497308276,0.8145317879817608,0.71338606911949],"aabb_xy":[[-0.10469000823840789,0.8001788476829368],[-0.07292102170775759,0.8288847282805849]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_26","position":[-0.21874539619118122,0.10590742474516412,0.71338606911949],"aabb_xy":[[-0.2275474515001539,0.09809609859023505],[-0.20994334088220848,0.1137187509000932]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_27","position":[-0.5558018900153491,-0.22183837952445007,0.71338606911949],"aabb_xy":[[-0.5733018902746858,-0.23592992171322272],[-0.5383018897560126,-0.20774683733567748]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_28","position":[-0.25160700029345334,-0.8591922539795509,0.71338606911949],"aabb_xy":[[-0.2891070004653252,-0.8918929893624581],[-0.21410700012158135,-0.8264915185966437]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_29","position":[-0.6421155098912245,1.324648666642319,0.71338606911949],"aabb_xy":[[-0.6725997600182546,1.274648666860823],[-0.6116312597641943,1.374648666423815]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_30","position":[-0.4710652056673653,-2.336609610026783,0.71338606911949],"aabb_xy":[[-0.5079157536043529,-2.3741096108498168],[-0.4342146577303777,-2.2991096092037493]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_31","position":[-0.07533613431958242,1.2122379372229917,0.71338606911949],"aabb_xy":[[-0.10648305316316552,1.1422379385361845],[-0.044189215475999286,1.2822379359097988]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_32","position":[0.5661308423373841,-1.5233324824728034,0.71338606911949],"aabb_xy":[[0.5161308436914628,-1.5732520261322656],[0.6161308409833052,-1.4734129388133408]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_33","position":[0.5394536852285885,1.3461687430961526,0.71338606911949],"aabb_xy":[[0.5300362106587257,1.3367525659584336],[0.5488711597984512,1.3555849202338717]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.669482143415344,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8941.png","name":"8941"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8941.png","name":"8941"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3875.png","name":"3875"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8960.png","name":"8960"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9240.png","name":"9240"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1340.png","name":"1340"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":615.7684663009904,"rotation_z_degrees":229.50250477881707,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006898964336224028,-0.0028932471939481334,-0.017468999588005022]},{"name":"camera_2","offset_m":[0.012977157506083106,0.0197774662298628,0.011860613365998415]},{"name":"camera_3","offset_m":[0.0003920633901280911,-0.002082376273560751,-0.006570022028151122]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0019400107290857387,0.0019420714812776524,0.0019154338860010375],"end_effector_yaw_offset_degrees":0.5523732930968315},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0004122653580000452,0.0006710149023235897,0.0013890374597409967],"end_effector_yaw_offset_degrees":0.22061382202739654},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0003769480996548974,1.6348796064462844e-05,0.0013880796211267433],"end_effector_yaw_offset_degrees":0.28912950100311274},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0008337184263890846,-0.0006656599854103953,0.001663890623393025],"end_effector_yaw_offset_degrees":-0.13829117539613867}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0015470349691683572,0.004431225519668516],"position_m":[0.21145296503083164,-0.1340687744803315,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0036734450666732017,-0.004347216716291418],"position_m":[0.2357734450666732,-0.3686472167162914,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0027076863277030964,0.0013147499836682654],"position_m":[0.2939076863277031,-0.038285250016331734,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0005012502836231822,-0.0005883430273301805],"position_m":[0.34450125028362316,0.17431165697266982,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"239adaebf6dcb2694d0d735f76beb2cee1e01ac0864a9723f3134eee7554ff60","episode_index":95,"episode_name":"episode_0095"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0095.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_8941/tex_ceiling_textures_1340/tex_floor_textures_9240/tex_table_textures_3875/tex_wall_textures_8960","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":4899671135736735062,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":4899671135736735062,"visual_seed":4899671135736735062,"scene_id":"lab_003","finished_at":"2026-09-06T01:35:17"} +{"episode_id":"ep_000095","started_at":"2026-09-06T01:35:20","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_0","position":[0.10758285264126899,-0.6666405910088209,0.71338606911949],"aabb_xy":[[0.066278309577533,-0.7306405905769379],[0.14888739570500498,-0.6026405914407037]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_1","position":[0.5913749762866214,0.8276202786708975,0.71338606911949],"aabb_xy":[[0.5800132416333351,0.8162518122646094],[0.6027367109399074,0.8389887450771856]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_2","position":[-0.4249490590122502,0.5956551924928322,0.71338606911949],"aabb_xy":[[-0.4499490589447681,0.588772524271909],[-0.3999490590797323,0.6025378607137556]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_3","position":[-0.5962812095245815,-0.5099261626640388,0.71338606911949],"aabb_xy":[[-0.6312812095010772,-0.5193907787116554],[-0.5612812095480856,-0.5004615466164222]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_4","position":[-0.15583941926897138,-1.9645487540135305,0.71338606911949],"aabb_xy":[[-0.19333941993355008,-1.9802358120137524],[-0.11833941860439269,-1.948861696013308]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_5","position":[-0.1008999307185795,-1.3413531781545063,0.71338606911949],"aabb_xy":[[-0.15589314205571625,-1.3963531784932999],[-0.045906719381442744,-1.2863531778157127]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_6","position":[0.12099810781626674,1.3880232809338655,0.71338606911949],"aabb_xy":[[0.1075515811822234,1.3745534292807744],[0.13444463445031007,1.401493132586957]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_7","position":[-0.674672450414208,-0.8141528744097448,0.71338606911949],"aabb_xy":[[-0.6923480810028062,-0.8318330906891475],[-0.6569968198256095,-0.796472658130342]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_8","position":[0.07995777304161633,-1.4259734457874778,0.71338606911949],"aabb_xy":[[0.03719106616219614,-1.4899734492092804],[0.12272447992103652,-1.3619734423656755]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_9","position":[-0.09565142192605869,0.5406314464636783,0.71338606911949],"aabb_xy":[[-0.13315142034945904,0.5274672324958476],[-0.058151423502658325,0.5537956604315089]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_10","position":[-0.030843123069327016,1.4528754810056088,0.71338606911949],"aabb_xy":[[-0.09084312471224887,1.4008753317136644],[0.02915687857359484,1.5048756302975528]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_11","position":[0.05580215142686418,0.6290214462922039,0.71338606911949],"aabb_xy":[[0.02080215311616873,0.6213064313686583],[0.09080214973755962,0.6367364612157496]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_12","position":[-0.48975601564464455,0.7545243859494484,0.71338606911949],"aabb_xy":[[-0.5262518362719233,0.7180404435226906],[-0.45326019501736586,0.7910083283762057]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_13","position":[-0.15361136310184642,-0.35341325719041006,0.71338606911949],"aabb_xy":[[-0.17719648656574127,-0.41841325943584184],[-0.13002623963795157,-0.28841325494497827]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_14","position":[-0.5011345456817102,-2.0482871785721177,0.71338606911949],"aabb_xy":[[-0.5052504957937829,-2.052402733604963],[-0.49701859556963757,-2.0441716235392717]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_15","position":[-0.43207843317167866,-0.6136960980122932,0.71338606911949],"aabb_xy":[[-0.49707843427762194,-0.6386614710804216],[-0.36707843206573537,-0.588730724944165]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_16","position":[0.05634529240661745,1.1272233188338623,0.71338606911949],"aabb_xy":[[0.04930384145586985,1.1201965670960676],[0.06338674335736505,1.1342500705716565]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_17","position":[-0.561783957800762,0.6213619889866213,0.71338606911949],"aabb_xy":[[-0.6317839599321914,0.5986000233609254],[-0.4917839556693323,0.6441239546123168]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_18","position":[-0.6324820385136465,-0.5854833646403743,0.71338606911949],"aabb_xy":[[-0.6483665317789716,-0.5998363049391983],[-0.6165975452483213,-0.5711304243415501]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_19","position":[0.27593995310979325,-0.609328414158111,0.71338606911949],"aabb_xy":[[0.21193995119745096,-0.6652395634161216],[0.33993995502213564,-0.5534172649001007]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_20","position":[0.09055551166063913,0.8500868709885321,0.71338606911949],"aabb_xy":[[0.04527689677948987,0.7860868716403483],[0.1358341265417884,0.9140868703367157]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_21","position":[-0.3929325293264111,-1.673813700613188,0.71338606911949],"aabb_xy":[[-0.4829325260620213,-1.7269971639304824],[-0.3029325325908009,-1.6206302372958934]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_22","position":[0.5843222676736393,-1.9605234510547647,0.71338606911949],"aabb_xy":[[0.5734706614247637,-1.9713827417824157],[0.5951738739225149,-1.9496641603271136]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_23","position":[-0.003326088120076842,0.6925054852085082,0.71338606911949],"aabb_xy":[[-0.008658602774689828,0.6871811569632726],[0.0020064265345361427,0.6978298134537437]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_24","position":[-0.4031480045113709,-1.1953141977598072,0.71338606911949],"aabb_xy":[[-0.4671480047853491,-1.2453802979570954],[-0.33914800423739266,-1.1452480975625194]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_25","position":[-0.5321382235193447,1.5243568643896617,0.71338606911949],"aabb_xy":[[-0.5497710591128722,1.5067339183740385],[-0.514505387925817,1.5419798104052844]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_26","position":[0.30678068687938964,-0.9454297562104863,0.71338606911949],"aabb_xy":[[0.26993013894240203,-0.98292975703352],[0.34363123481637725,-0.9079297553874526]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_27","position":[-0.37591370891239856,1.3699357037825353,0.71338606911949],"aabb_xy":[[-0.455913706315992,1.2899431325843522],[-0.29591371150880513,1.4499282749807179]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6670473421853315,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2211.png","name":"2211"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2211.png","name":"2211"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6623.png","name":"6623"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9529.png","name":"9529"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2326.png","name":"2326"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5671.png","name":"5671"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":513.0791017651893,"rotation_z_degrees":323.0893855044791,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.019350452425261126,0.01777614320055888,-0.014603677868206084]},{"name":"camera_2","offset_m":[0.012048641632177965,-0.018128920327499014,-0.011996887950654504]},{"name":"camera_3","offset_m":[0.0006548006412992573,-0.0010751367438719198,0.0032546979690250416]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00185714774716483,-0.000986788144831173,-0.0007529638199696147],"end_effector_yaw_offset_degrees":-0.15138165121483982},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00011741263069410101,0.0008787529131178825,-0.0016606758126070159],"end_effector_yaw_offset_degrees":0.1827580131383879},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0005449140788274897,0.00044208869225468954,2.683142590352138e-06],"end_effector_yaw_offset_degrees":0.3560338189954795},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0004890192483222974,-0.0015185775749631425,0.0008304949199079989],"end_effector_yaw_offset_degrees":0.5535592372461395}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003800610790456553,0.0005020692349360202],"position_m":[0.21680061079045654,-0.137997930765064,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004633172395583469,0.0015699431663979517],"position_m":[0.23673317239558347,-0.36273005683360204,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002506458890028317,-0.000322911874600559],"position_m":[0.29370645889002833,-0.039922911874600564,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0016511596981901742,-0.00293620167639153],"position_m":[0.34565115969819016,0.17196379832360847,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"38dc76685f1546593031c1fe7b427d8a96d05956b9125f5b9a87fd027f761f20","episode_index":96,"episode_name":"episode_0096"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0096.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_2211/tex_ceiling_textures_5671/tex_floor_textures_2326/tex_table_textures_6623/tex_wall_textures_9529","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":2905363740394498696,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":2905363740394498696,"visual_seed":2905363740394498696,"scene_id":"lab_003","finished_at":"2026-09-06T01:38:36"} +{"episode_id":"ep_000096","started_at":"2026-09-06T01:38:42","dimensions":{"distractor":{"count":24,"items":[{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_0","position":[0.5078478794532406,1.5769909866302494,0.71338606911949],"aabb_xy":[[0.48595813186429976,1.4869909893410003],[0.5297376270421813,1.6669909839194985]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_1","position":[-0.06459661488532642,1.4873977512176508,0.71338606911949],"aabb_xy":[[-0.0990589622834682,1.4529038688198277],[-0.0301342674871846,1.521891633615473]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_2","position":[0.5505389115707349,0.3118352631278447,0.71338606911949],"aabb_xy":[[0.515538911594239,0.3023706470802281],[0.5855389115472307,0.3212998791754613]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_3","position":[-0.3505157931633575,1.1764885243686365,0.71338606911949],"aabb_xy":[[-0.35855212786464236,1.1684504050642195],[-0.3424794584620727,1.184526643673053]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_4","position":[-0.30754516725818537,0.44003558862619396,0.71338606911949],"aabb_xy":[[-0.3227173365398187,0.4248667316979907],[-0.29237299797655203,0.45520444555439743]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_5","position":[-0.5405028330564432,1.3217776395368537,0.71338606911949],"aabb_xy":[[-0.6045028294520164,1.2578143511181201],[-0.47650283666087023,1.3857409279555872]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_6","position":[-0.053946360600764076,0.4421928953109515,0.71338606911949],"aabb_xy":[[-0.08894635887088398,0.4351187676159633],[-0.018946362330644173,0.4492670230059396]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_7","position":[0.2942138210503952,-1.4228528857388663,0.71338606911949],"aabb_xy":[[0.2697001969533893,-1.4471174790409027],[0.31872744514740103,-1.3985882924368298]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_8","position":[-0.6164704663961773,-0.13626937396087602,0.71338606911949],"aabb_xy":[[-0.6290972536833737,-0.14581544766244892],[-0.603843679108981,-0.12672330025930312]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_9","position":[-0.5709463652490784,-0.8762891602973955,0.71338606911949],"aabb_xy":[[-0.6349463623611841,-0.925321530091806],[-0.5069463681369727,-0.8272567905029847]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_10","position":[-0.43214334158598905,-0.3535097783406771,0.71338606911949],"aabb_xy":[[-0.469643341757861,-0.3862105137235843],[-0.3946433414141171,-0.3208090429577699]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_11","position":[0.39241594940153357,1.0256936953656615,0.71338606911949],"aabb_xy":[[0.35741594805005183,1.0053339594088406],[0.4274159507530153,1.0460534313224823]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_12","position":[0.14935265466822323,1.7164152829614836,0.71338606911949],"aabb_xy":[[0.08435265203042971,1.6649356842620366],[0.2143526573060167,1.7678948816609306]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_13","position":[0.3466677121409776,-2.220750603132107,0.71338606911949],"aabb_xy":[[0.3413351974863646,-2.226074931377343],[0.35200022679559057,-2.2154262748868714]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_14","position":[0.36680867060815814,-1.6662053985100842,0.71338606911949],"aabb_xy":[[0.33031284998087945,-1.7026893409368418],[0.40330449123543693,-1.6297214560833266]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_15","position":[0.6457518540534393,0.02573141903296028,0.71338606911949],"aabb_xy":[[0.5986224750516035,-0.038268582011441676],[0.6928812330552748,0.08973142007736223]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_16","position":[-0.10726786112682929,0.7376490436226337,0.71338606911949],"aabb_xy":[[-0.12481455604294824,0.7001490420583825],[-0.08972116621071037,0.775149045186885]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_17","position":[0.41512315771704245,-1.8675623376963233,0.71338606911949],"aabb_xy":[[0.3251231579938682,-1.8906356902315031],[0.5051231574402165,-1.8444889851611435]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_18","position":[-0.6165438726274056,1.6720022126754723,0.71338606911949],"aabb_xy":[[-0.6865438744361511,1.650648443911285],[-0.5465438708186602,1.6933559814396597]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_19","position":[0.22152367845246324,-1.2500846539624368,0.71338606911949],"aabb_xy":[[0.21618610278645867,-1.2750846548915766],[0.2268612541184678,-1.225084653033297]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_20","position":[0.25495674494408027,-0.5860684855289757,0.71338606911949],"aabb_xy":[[0.2174567450003138,-0.5943615755638123],[0.2924567448878466,-0.5777753954941391]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_21","position":[0.44747870377325993,0.17724988696006738,0.71338606911949],"aabb_xy":[[0.4404372528225124,0.17022313522227284],[0.4545201547240076,0.18427663869786193]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_22","position":[0.19702454931363667,1.5011087842468425,0.71338606911949],"aabb_xy":[[0.18545556856670012,1.4761087841299108],[0.20859353006057327,1.5261087843637742]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_23","position":[0.522204213224716,0.09586372310619806,0.71338606911949],"aabb_xy":[[0.517360618463486,0.09101207062721396],[0.527047807985946,0.10071537558518219]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6647162138976882,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6564.png","name":"6564"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6564.png","name":"6564"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6638.png","name":"6638"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1410.png","name":"1410"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6304.png","name":"6304"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7431.png","name":"7431"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":803.423563800433,"rotation_z_degrees":251.5114131310347,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015843904351442836,-0.004669676750270581,0.013801136056030176]},{"name":"camera_2","offset_m":[-0.00017052295773663934,0.010577707524737714,-0.00867736750699089]},{"name":"camera_3","offset_m":[0.013197533017315511,-0.009241124460738938,0.0068620168841729695]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-6.292194118862732e-05,-0.0018363174166386154,0.0008091455638757931],"end_effector_yaw_offset_degrees":-0.7208968246557523},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0015065676203867267,0.0010489655301747463,-0.0008048616763596738],"end_effector_yaw_offset_degrees":-0.05256895991935173},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0019434579327801526,-0.00013340200364336265,0.0005764702494484167],"end_effector_yaw_offset_degrees":0.5371505217199457},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00043781689735840606,0.0017423318349118013,0.00042432295059327985],"end_effector_yaw_offset_degrees":0.552829759474454}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004359658866954402,0.0022766256641095104],"position_m":[0.20864034113304558,-0.1362233743358905,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0005947638926021119,-0.0003554903819426346],"position_m":[0.2326947638926021,-0.36465549038194267,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0027219642923645895,-0.0033931086308402556],"position_m":[0.2939219642923646,-0.04299310863084026,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002194505493753084,0.003575345390547306],"position_m":[0.34180549450624687,0.1784753453905473,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"075616aa944bb5bafa5937a2b2b2768cd5a9e5e5e90182abd379a875a45f59f9","episode_index":97,"episode_name":"episode_0097"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0097.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_6564/tex_ceiling_textures_7431/tex_floor_textures_6304/tex_table_textures_6638/tex_wall_textures_1410","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":614450888635256249,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":614450888635256249,"visual_seed":614450888635256249,"scene_id":"lab_003","finished_at":"2026-09-06T01:42:09"} +{"episode_id":"ep_000097","started_at":"2026-09-06T01:42:12","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_0","position":[-0.33153923331032237,-0.7169652196014225,0.71338606911949],"aabb_xy":[[-0.3737236474711531,-0.7809652198786337],[-0.2893548191494916,-0.6529652193242113]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_1","position":[-0.40510691361566403,-1.593197358313145,0.71338606911949],"aabb_xy":[[-0.4851069122029835,-1.6725129602513058],[-0.32510691502834466,-1.513881756374984]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_2","position":[0.6958117833858801,0.9423091229287341,0.71338606911949],"aabb_xy":[[0.6857300763073065,0.8623091250366195],[0.7058934904644535,1.0223091208208488]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_3","position":[0.5120482138044125,0.16837949886237746,0.71338606911949],"aabb_xy":[[0.4520482132965595,0.11153276517645615],[0.5720482143122653,0.22522623254829874]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_4","position":[0.1458652580391595,-1.3554197813834692,0.71338606911949],"aabb_xy":[[0.12580684642591922,-1.3754848682926268],[0.1659236696523998,-1.3353546944743115]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_5","position":[-0.29241354380788187,-0.40247863623027635,0.71338606911949],"aabb_xy":[[-0.3258537190039014,-0.4359222620612064],[-0.2589733686118622,-0.3690350103993462]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_6","position":[-0.1722961888851121,-1.2623087695102015,0.71338606911949],"aabb_xy":[[-0.25229618935532816,-1.27061947712455],[-0.09229618841489622,-1.253998061895853]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_7","position":[-0.15689331662887784,1.6926207631636774,0.71338606911949],"aabb_xy":[[-0.2184840758528707,1.6286207650546307],[-0.09530255740488505,1.7566207612727245]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_8","position":[-0.26829229214769557,-1.0652281970768451,0.71338606911949],"aabb_xy":[[-0.3322922925252292,-1.1149734639276574],[-0.20429229177016195,-1.0154829302260329]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_9","position":[0.3654738408066003,-1.9334817448856356,0.71338606911949],"aabb_xy":[[0.3104738416300108,-1.9884714196605933],[0.42047383998318977,-1.878492070110678]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_10","position":[-0.3040885314723109,-2.088547540449626,0.71338606911949],"aabb_xy":[[-0.3680885287579596,-2.1300542594024705],[-0.24008853418666232,-2.0470408214967826]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_11","position":[0.4078394047232401,0.9600782469112383,0.71338606911949],"aabb_xy":[[0.3856668777465892,0.937902579755115],[0.4300119316998909,0.9822539140673614]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_12","position":[-0.5784979820024002,1.2611749301071766,0.71338606911949],"aabb_xy":[[-0.6109596828843274,1.2310420979922738],[-0.5460362811204725,1.291307762222079]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_13","position":[-0.5344335777210507,-0.19187558418137485,0.71338606911949],"aabb_xy":[[-0.5450010573791497,-0.20242061429438338],[-0.5238660980629517,-0.18133055406836626]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_14","position":[-0.06106744651179252,-0.0867008954638604,0.71338606911949],"aabb_xy":[[-0.06986950182076522,-0.09451222161878946],[-0.052265391202819804,-0.0788895693089313]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_15","position":[0.008247637469894542,1.4385199772685904,0.71338606911949],"aabb_xy":[[-0.003624445541606569,1.3535199775749398],[0.020119720481395653,1.5235199769622405]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_16","position":[0.5666222867343349,-1.0911276796993263,0.71338606911949],"aabb_xy":[[0.502622284684603,-1.1312221627886343],[0.630622288784067,-1.0510331966100184]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_17","position":[0.559019843541418,-1.3975822183076774,0.71338606911949],"aabb_xy":[[0.5216885670161754,-1.4322352731025296],[0.5963511200666606,-1.3629291635128251]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_18","position":[0.5193636525976675,1.5823701602869105,0.71338606911949],"aabb_xy":[[0.5112359644043543,1.5734565518762027],[0.5274913407909807,1.5912837686976182]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_19","position":[0.40265784597196785,0.5986812321267325,0.71338606911949],"aabb_xy":[[0.31265784229504956,0.537248825549628],[0.49265784964888587,0.6601136387038368]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6618747055713627,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5315.png","name":"5315"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5315.png","name":"5315"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6091.png","name":"6091"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2319.png","name":"2319"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4504.png","name":"4504"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7380.png","name":"7380"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":647.8561929121033,"rotation_z_degrees":114.95179455320694,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01050758720547906,-0.004458482302898399,-0.007603121960264879]},{"name":"camera_2","offset_m":[0.007800930743085854,-0.009335164030979755,-0.0010843081119212838]},{"name":"camera_3","offset_m":[-0.0017392936663176324,-0.016689526851045026,-0.01811152514032139]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0010998722405769798,-7.089637287428416e-05,-0.0003152409675363148],"end_effector_yaw_offset_degrees":0.7869482163152794},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.001914089983324411,-0.0007231442892502767,-0.0012463287277650133],"end_effector_yaw_offset_degrees":0.605480368616371},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0016741071857781843,-0.0013703281562299175,0.0003610466968708868],"end_effector_yaw_offset_degrees":-0.5988310506708536},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0019127330950904971,-0.0001831215436807886,-0.0012272692272632848],"end_effector_yaw_offset_degrees":0.36478326439821074}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0003522089429263582,0.004919361168445037],"position_m":[0.21335220894292636,-0.13358063883155497,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0017278903722461824,0.0012842820096226112],"position_m":[0.2303721096277538,-0.3630157179903774,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0036252722180149495,-0.004339649032801711],"position_m":[0.29482527221801497,-0.04393964903280172,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003991808467057884,-0.0037214647415659253],"position_m":[0.34799180846705785,0.17117853525843407,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6b2f937defed53ccef7ceaac03d7cf6f1522406b7cc87c5d87f10fd270ea56da","episode_index":98,"episode_name":"episode_0098"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0098.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_5315/tex_ceiling_textures_7380/tex_floor_textures_4504/tex_table_textures_6091/tex_wall_textures_2319","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":6148864167633969808,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":6148864167633969808,"visual_seed":6148864167633969808,"scene_id":"lab_003","finished_at":"2026-09-06T01:45:32"} +{"episode_id":"ep_000098","started_at":"2026-09-06T01:45:35","dimensions":{"distractor":{"count":25,"items":[{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_0","position":[-0.5726078161185224,1.301805961299808,0.71338606911949],"aabb_xy":[[-0.58437600291318,1.2168059613945865],[-0.560839629323865,1.3868059612050296]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_1","position":[0.3370530024160907,-1.5392885041185533,0.71338606911949],"aabb_xy":[[0.2570530009859635,-1.6188056591311628],[0.4170530038462179,-1.4597713491059439]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_2","position":[0.04162830637546655,1.768626744667063,0.71338606911949],"aabb_xy":[[0.007312029200848613,1.718626744693885],[0.07594458355008449,1.8186267446402404]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_3","position":[0.18895608375861428,1.5694122114587583,0.71338606911949],"aabb_xy":[[0.1249560820806169,1.520894819979444],[0.25295608543661163,1.6179296029380725]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_4","position":[-0.5343155203446707,-0.4343687124281219,0.71338606911949],"aabb_xy":[[-0.5693155202406894,-0.4427429479400618],[-0.49931552044865174,-0.4259944769161819]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_5","position":[0.5984271649765533,-1.9337976905393108,0.71338606911949],"aabb_xy":[[0.5484540994440379,-1.9837976903518442],[0.6484002305090688,-1.8837976907267784]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_6","position":[0.473169397069652,0.7251441143274544,0.71338606911949],"aabb_xy":[[0.46505574239627484,0.7170382978734253],[0.48128305174302904,0.7332499307814835]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_7","position":[0.3094399954696183,-1.3095366695994322,0.71338606911949],"aabb_xy":[[0.22943999748883329,-1.317138210561284],[0.38943999345040337,-1.3019351286375802]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_8","position":[-0.204483098458085,0.519045157735758,0.71338606911949],"aabb_xy":[[-0.21377671669523554,0.4815451592476241],[-0.19518948022093438,0.5565451562238919]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_9","position":[-0.5822552533555466,-0.5585621326775985,0.71338606911949],"aabb_xy":[[-0.6197552537037743,-0.5703535282586819],[-0.5447552530073188,-0.5467707370965148]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_10","position":[0.03944818124760996,-1.4080977403666854,0.71338606911949],"aabb_xy":[[0.01616633904947862,-1.4930977416639135],[0.0627300234457413,-1.3230977390694574]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_11","position":[-0.4841159328693035,-2.387359226068735,0.71338606911949],"aabb_xy":[[-0.5392411384988941,-2.447359227510022],[-0.42899072723971265,-2.3273592246274477]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_12","position":[-0.2105137772645061,-2.006269234359078,0.71338606911949],"aabb_xy":[[-0.2745137765586743,-2.070255374727932],[-0.14651377797033788,-1.9422830939902238]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_13","position":[0.3740484919824394,-0.8702858517667122,0.71338606911949],"aabb_xy":[[0.3090484893446459,-0.9217654504661591],[0.4390484946202329,-0.8188062530672652]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_14","position":[0.24221077490595933,-1.8527787248547978,0.71338606911949],"aabb_xy":[[0.15721077621388468,-1.8847645882496766],[0.32721077359803397,-1.820792861459919]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_15","position":[0.6397209953106449,1.518809393684259,0.71338606911949],"aabb_xy":[[0.5597209931478823,1.4388542100581154],[0.7197209974734072,1.5987645773104027]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_16","position":[-0.21048700364352485,-1.5497492148185963,0.71338606911949],"aabb_xy":[[-0.24494948165661262,-1.5564128920015192],[-0.17602452563043708,-1.5430855376356734]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_17","position":[0.5842176836539184,-2.526738467079578,0.71338606911949],"aabb_xy":[[0.5467176829893395,-2.5424255250798],[0.6217176843184969,-2.5110514090793554]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_18","position":[0.2731273883742099,1.3679563143830449,0.71338606911949],"aabb_xy":[[0.2530689767609696,1.3478912274738877],[0.2931857999874502,1.3880214012922025]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_19","position":[-0.2943051641176441,1.2912957416846416,0.71338606911949],"aabb_xy":[[-0.3355539751475588,1.2362957421724239],[-0.25305635308772934,1.3462957411968588]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_20","position":[0.0531589205139662,1.416082081847533,0.71338606911949],"aabb_xy":[[0.01886200949622558,1.3817851956375915],[0.08745583153170683,1.4503789680574741]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_21","position":[-0.14053300317198514,0.7208934554616322,0.71338606911949],"aabb_xy":[[-0.195533002793731,0.6659097626741596],[-0.08553300355023932,0.775877148249105]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_22","position":[0.24788599572866732,1.0513449059560056,0.71338606911949],"aabb_xy":[[0.23465505019398603,1.038117486934006],[0.2611169412633486,1.0645723249780048]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_23","position":[-0.35955905314105824,-1.7611831329511913,0.71338606911949],"aabb_xy":[[-0.3697120686952076,-1.7972526745239312],[-0.34940603758690886,-1.7251135913784506]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_24","position":[-0.4314937669348488,0.7646038467048961,0.71338606911949],"aabb_xy":[[-0.5114937640944242,0.7530562457470791],[-0.3514937697752735,0.7761514476627132]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6594291506241616,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4730.png","name":"4730"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4730.png","name":"4730"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1466.png","name":"1466"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9155.png","name":"9155"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1000.png","name":"1000"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8028.png","name":"8028"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":626.891377354077,"rotation_z_degrees":310.12113200739384,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011420897441923525,0.005192195177067281,-0.0012592805970086177]},{"name":"camera_2","offset_m":[-0.008330128690164803,-0.009283853963523537,-0.0013308539729459008]},{"name":"camera_3","offset_m":[-0.006623887260303088,0.012629779697406255,-0.019837645659391036]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001352286637952783,0.0012894564150548013,0.0011120125534777284],"end_effector_yaw_offset_degrees":-0.4057711071957453},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0009402381233818921,-0.0015620276302662252,-0.0009965740826532947],"end_effector_yaw_offset_degrees":-0.8899243409759994},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0013627913893284305,0.0016988505453772382,-0.0009853315789322141],"end_effector_yaw_offset_degrees":0.9501701041429098},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0019321828458294173,0.0013323327193928468,-0.0013950674332614357],"end_effector_yaw_offset_degrees":-0.4893729973040939}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0025812438492920477,0.0026800315328630118],"position_m":[0.21558124384929203,-0.135819968467137,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0027195631616755956,0.00423638196930842],"position_m":[0.2293804368383244,-0.3600636180306916,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0031637812874313886,0.00206435103409447],"position_m":[0.2880362187125686,-0.037535648965905534,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004211891707237308,-0.00425785440490343],"position_m":[0.3397881082927627,0.17064214559509658,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"70d9ebcc13b1d693e204e971538d010dc1c6184b51e7be2ca52d19b7709d8d5a","episode_index":99,"episode_name":"episode_0099"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0099.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_4730/tex_ceiling_textures_8028/tex_floor_textures_1000/tex_table_textures_1466/tex_wall_textures_9155","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":4578279104792979219,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":4578279104792979219,"visual_seed":4578279104792979219,"scene_id":"lab_003","finished_at":"2026-09-06T01:49:05"} +{"episode_id":"ep_000099","started_at":"2026-09-06T01:49:09","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_0","position":[-0.0596227616378765,0.9574910251597695,0.71338606911949],"aabb_xy":[[-0.06370091954492624,0.9534100449115063],[-0.05554460373082675,0.9615720054080329]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_1","position":[0.017449630405489303,-0.9645858186217626,0.71338606911949],"aabb_xy":[[-0.01934500271941697,-1.0014916937183447],[0.054244263530395576,-0.9276799435251802]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_2","position":[-0.1855558359707974,-0.6395747907452152,0.71338606911949],"aabb_xy":[[-0.2230558343941977,-0.6527390047130456],[-0.148055837547397,-0.6264105767773843]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_3","position":[-0.5956630910884623,0.009460096708204802,0.71338606911949],"aabb_xy":[[-0.6306630893585822,0.002385969013216638],[-0.5606630928183424,0.016534224403192965]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_4","position":[0.3612680348675894,1.1210766665617724,0.71338606911949],"aabb_xy":[[0.33880326489618423,1.098576665682912],[0.38373280483899447,1.143576667440633]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_5","position":[-0.3081551834499803,1.2322274867218277,0.71338606911949],"aabb_xy":[[-0.39815518712689835,1.1707950801447229],[-0.21815517977306204,1.2936598932989316]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_6","position":[0.16425932808335952,-1.9563027748168487,0.71338606911949],"aabb_xy":[[0.11427637789588015,-2.0063027744594093],[0.2142422782708388,-1.9063027751742883]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_7","position":[-0.2485941679511623,-0.23784851777289884,0.71338606911949],"aabb_xy":[[-0.28609416812303423,-0.270549253155806],[-0.21109416777929033,-0.20514778238999162]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_8","position":[-0.6811423238534714,-0.561989010958639,0.71338606911949],"aabb_xy":[[-0.691993930102347,-0.57284830168629],[-0.6702907176045958,-0.5511297202309879]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_9","position":[-0.37990981947669217,1.48442397429563,0.71338606911949],"aabb_xy":[[-0.40240624091055627,1.4619239744888826],[-0.35741339804282807,1.5069239741023774]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_10","position":[0.52756441770645,-2.410464043126885,0.71338606911949],"aabb_xy":[[0.44756442030285654,-2.4904566143250673],[0.6075644151100433,-2.3304714719287016]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_11","position":[0.4003472205448102,-0.45694339877663426,0.71338606911949],"aabb_xy":[[0.36534722141485454,-0.4626886198522984],[0.43534721967476586,-0.4511981777009702]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_12","position":[0.24626535364682411,-2.2134358832336343,0.71338606911949],"aabb_xy":[[0.22858972305822578,-2.2311160995130366],[0.26394098423542245,-2.195755666954231]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_13","position":[-0.04721278585723887,1.616690776704783,0.71338606911949],"aabb_xy":[[-0.1072127863650918,1.5598440430188614],[0.012787214650614038,1.673537510390704]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_14","position":[0.616239642631079,1.598444670738267,0.71338606911949],"aabb_xy":[[0.6001777151725612,1.513444668925675],[0.6323015700895965,1.6834446725508587]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_15","position":[-0.38344242736382494,-0.21231247962686295,0.71338606911949],"aabb_xy":[[-0.394009907021924,-0.22285750973987148],[-0.372874947705726,-0.20176744951385436]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_16","position":[0.5345607275086046,-1.5413094996033248,0.71338606911949],"aabb_xy":[[0.5007851683179115,-1.5553479948164899],[0.5683362866992975,-1.5272710043901596]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_17","position":[-0.5309390346397703,-1.657421885087706,0.71338606911949],"aabb_xy":[[-0.5508300745201106,-1.670077696372403],[-0.5110479947594301,-1.6447660738030094]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_18","position":[0.40533092392775094,-1.8494078804832728,0.71338606911949],"aabb_xy":[[0.3678309235795231,-1.8611992760643559],[0.4428309242759786,-1.8376164849021888]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_19","position":[-0.5489559159028065,-2.239991528405511,0.71338606911949],"aabb_xy":[[-0.6039559141045512,-2.280513495031949],[-0.49395591770106156,-2.1994695617790736]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_20","position":[0.6410164764795185,-0.5550595285260673,0.71338606911949],"aabb_xy":[[0.6207321737561197,-0.5753421536687761],[0.6613007792029172,-0.5347769033833584]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_21","position":[0.4418085483301315,0.6100688183573908,0.71338606911949],"aabb_xy":[[0.4044772718048889,0.5754157635625387],[0.4791398248553741,0.6447218731522432]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_22","position":[-0.20223237996071053,-2.1209964914844677,0.71338606911949],"aabb_xy":[[-0.20567305620076773,-2.124857924458832],[-0.19879170372065338,-2.117135058510103]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_23","position":[-0.34910064725360834,-0.06587779193344678,0.71338606911949],"aabb_xy":[[-0.38660064754578316,-0.06991926733405038],[-0.3116006469614335,-0.06183631653284319]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_24","position":[-0.6818861977546432,-0.268154555101499,0.71338606911949],"aabb_xy":[[-0.6891299638008884,-0.34815455330510137],[-0.6746424317083978,-0.18815455689789662]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_25","position":[0.021383768325765384,-0.753535576600376,0.71338606911949],"aabb_xy":[[-0.01307870968732239,-0.7601992537832988],[0.055846246338853156,-0.7468718994174531]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_26","position":[-0.38755051989490397,-1.5824765142084547,0.71338606911949],"aabb_xy":[[-0.4515505201688822,-1.6325426144057429],[-0.32355051962092574,-1.532410414011167]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_27","position":[0.3824189277643897,0.8854646412688072,0.71338606911949],"aabb_xy":[[0.3672560547874526,0.8702991839736887],[0.3975818007413268,0.9006300985639262]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_28","position":[0.405353656569752,-0.8257629956819781,0.71338606911949],"aabb_xy":[[0.32535365960671275,-0.9028386373257514],[0.4853536535327911,-0.7486873540382045]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_29","position":[0.43709779745603017,1.546308957659417,0.71338606911949],"aabb_xy":[[0.4145977976421278,1.5418343412889361],[0.45959779726993255,1.5507835740298976]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_30","position":[0.33700424636865733,-2.35445304794141,0.71338606911949],"aabb_xy":[[0.3257591907980395,-2.365694845665505],[0.34824930193927517,-2.3432112502173146]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_31","position":[-0.4496539139406466,-0.6291985838879361,0.71338606911949],"aabb_xy":[[-0.4725696268256965,-0.6521028810243598],[-0.4267382010555967,-0.6062942867515128]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_32","position":[0.6141681315432679,-0.38222460887198917,0.71338606911949],"aabb_xy":[[0.5776723109159891,-0.4187085512987467],[0.6506639521705466,-0.34574066644523155]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_33","position":[-0.5392915831141134,-0.401622671621769,0.71338606911949],"aabb_xy":[[-0.5767915837786919,-0.4173097296219912],[-0.5017915824495345,-0.3859356136215468]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_34","position":[0.45049443658662547,1.6700387722186636,0.71338606911949],"aabb_xy":[[0.4005156280763095,1.6200387722129448],[0.5004732450969414,1.7200387722243824]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6626251042776516,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3143.png","name":"3143"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3143.png","name":"3143"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9979.png","name":"9979"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8876.png","name":"8876"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6599.png","name":"6599"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4353.png","name":"4353"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":745.1841683686275,"rotation_z_degrees":154.6278522605027,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0120208996711282,0.008291061606511243,0.019966328696959783]},{"name":"camera_2","offset_m":[-0.014295576029214278,-0.015731612375476493,-0.016530427040338167]},{"name":"camera_3","offset_m":[-0.007143126144886703,0.0017593269838501457,-0.011024631179067908]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001279050526928018,-0.0017498235398350883,0.0019695636773245356],"end_effector_yaw_offset_degrees":-0.26929725534529947},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00029026345557797836,-0.0015628643477519385,-0.0014981538826566673],"end_effector_yaw_offset_degrees":0.16968697422236478},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0010457030391950984,-0.0018505840886747498,-0.001303318335870324],"end_effector_yaw_offset_degrees":-0.4504644716728736},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001468363139176216,0.0009085884595440566,-0.0008088474237238025],"end_effector_yaw_offset_degrees":0.09855588573543494}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_hte_00038","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004773701367219293,0.0034090472226048106],"position_m":[0.2082262986327807,-0.1350909527773952,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0030807598732994455,-0.0021285548098845743],"position_m":[0.22901924012670055,-0.36642855480988457,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0005271918583880679,0.001706941757545195],"position_m":[0.2917271918583881,-0.037893058242454807,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0014841544366569507,-0.004626156633126037],"position_m":[0.3454841544366569,0.17027384336687396,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"fe28f515c983b72bdeee57087ef934ff04e36b8beafe667cdcf1392adf20171a","episode_index":100,"episode_name":"episode_0100"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/dataset/episode_0100.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_3143/tex_ceiling_textures_4353/tex_floor_textures_6599/tex_table_textures_9979/tex_wall_textures_8876","seeds":{"action_seed":1937247219597208700,"physical_seed":4015830930766581336,"visual_seed":4609660160882380228,"layout_id":"layout_00038","physical_randomization_enabled":true},"episode_seed":4609660160882380228,"visual_seed":4609660160882380228,"scene_id":"lab_003","finished_at":"2026-09-06T01:52:28"} diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/resolved_config.yaml b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0828e5beabfa1db65cb5da8767a14dc47c19d038 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/resolved_config.yaml @@ -0,0 +1,257 @@ +name: lab3_heat_2beaker_s04_pslr_hte_00038 +task_type: workflow +controller_type: workflow +mode: collect +usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd +max_episodes: 100 +infer: + type: local + obs_names: + camera_1_rgb: camera_1_rgb + camera_2_rgb: camera_2_rgb + policy_model_path: '' + policy_config_path: '' + normalizer_path: '' + host: 127.0.0.1 + port: 8000 + n_obs_steps: 1 + timeout: 30 + max_retries: 3 +task: + max_steps: 14000 +workflow: + table_prim_path: /World/table + language_instruction: Pick up beaker b from home. Shake the current contents of + beaker b once. Place beaker b on the heater platform. Press the heater button + to start heating. + layout_id: layout_00038 + reproducibility: + enabled: true + layout_id: layout_00038 + action_seed: 1937247219597208700 + step_seeds: + - 3932150417231703852 + - 6575293240791915237 + - 6314773312541860175 + - 1098307215458801517 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.2912 + - 0.2912 + 'y': + - -0.0396 + - -0.0396 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.213 + - 0.213 + 'y': + - -0.1385 + - -0.1385 + z: + - 0.0 + - 0.0 + role: source + - name: inspection_platform + path: /World/target_plat + position_range: + x: + - 0.344 + - 0.344 + 'y': + - 0.1749 + - 0.1749 + z: + - 0.0 + - 0.0 + role: placement_target + - name: heat_device + path: /World/heat_device + position_range: + x: + - 0.2321 + - 0.2321 + 'y': + - -0.3643 + - -0.3643 + z: + - 0.0 + - 0.0 + - name: heater_platform + path: /World/heat_device/heat_device/heat_device/plat + parent_object: heat_device + role: placement_target + - name: heat_button + path: /World/heat_device/button + parent_object: heat_device + steps: + - skill: pick + target_object: beaker_b + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.3 + gripper_distances: 0.019 + reset_at_center: false + require_phase_convergence: false + lock_target_position: true + position_only: false + gripper_control_mode: position + gripper_control_params: + smooth_close: true + - skill: shake + target_object: beaker_b + params: + end_effector_euler: + - 0 + - 90 + - 30 + shake_distance: 0.08 + shake_center_offset_z: 0.0 + fallback_height_offset: 0.23 + events_dt: + - 0.04 + - 0.018 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.015 + position_only: true + position_threshold: 0.04 + - skill: place + target_object: heater_platform + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.005 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.045 + retreat_height: 0.15 + retreat_xy: 0.15 + keep_gripper_closed_until_release: true + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 + - skill: press + target_object: heat_button + params: + end_effector_euler: + - 0 + - 90 + - 10 + events_dt: + - 0.004 + - 0.02 + - 0.01 + - 0.02 + - 0.01 + - 0.02 + press_distance: 0.04 + gripper_gap: 0.0 + lock_target_position: true + initial_offset_z: 0.2 + press_z_tcp_offset: 0.025 + position_threshold: 0.01 + recreate_motion_controllers_on_reset: true +cameras: +- prim_path: /World/Camera1 + name: camera_1 + translation: + - 2.129903 + - 0.0 + - 2.075001 + resolution: + - 512 + - 512 + focal_length: 3.5 + orientation: + - 0.61237 + - 0.35355 + - 0.35355 + - 0.61237 + image_type: rgb +- prim_path: /World/Camera2 + name: camera_2 + translation: + - 0.1 + - 0.0 + - 2.65 + resolution: + - 512 + - 512 + focal_length: 2.825 + orientation: + - 0.70711 + - 0 + - 0 + - -0.70711 + image_type: rgb +- prim_path: /World/Camera3 + name: camera_3 + translation: + - 0.2 + - -3.01678 + - 1.16281 + resolution: + - 512 + - 512 + focal_length: 4 + orientation: + - 0.7681 + - 0.63858 + - -0.03028 + - -0.03642 + image_type: rgb + track_end_effector: true +robot: + type: ur5e + position: + - -0.27 + - 0.0 + - 0.71 +collector: + type: default + compression: gzip +multi_run: + run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_0_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2445926b1df995088daa672e2c9a88de5628db5e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_0_success.json @@ -0,0 +1,926 @@ +{ + "episode": 0, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2366381436768621, + -0.13316212690194526, + 1.0468015676711022 + ], + "current_z": 1.0468015676711022, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.1902151794718262, + "gripper_z": 1.0507384723856559, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23205343508321444, + -0.13761396989754446, + 1.0507384723856559 + ], + "object_minus_gripper": [ + 0.004584708593647652, + 0.004451842995599198, + -0.003936904714553657 + ], + "object_to_gripper_xy": 0.006390497550749258, + "object_to_gripper_z": -0.003936904714553657, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2366381436768621, + -0.15755116131429933, + 1.0468015676711022 + ], + "finger_b": [ + 0.22592590911705668, + -0.13316212690194526, + 1.0468015676711022 + ], + "finger_midpoint": [ + 0.23128202639695938, + -0.1453566441081223, + 1.0468015676711022 + ], + "object_minus_finger_midpoint": [ + 0.005356117279902706, + 0.012194517206177036, + 0.0 + ], + "finger_gap": 0.026637885967758037, + "fingertip_max_gap": 0.09570296000727341, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013318942983879018, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0468015676711022, + "object_top_z": 1.0939141022191627, + "finger_top_clearance": 0.047112534548060525, + "fingertip_min_top_clearance": 0.014133760364418158, + "object_projection_between_fingers": 0.8382811529899379, + "object_to_finger_line_xy": 0.009807875055420226, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.050351480003636706, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.1903671458953107, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 204, + "max_stable_success_frames": 204, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24415012834059024, + -0.12835401105746952, + 1.2440614916801584 + ], + "held_position": [ + 0.24896336846798423, + -0.12377426101759331, + 1.2405718690737182 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007504589055176881, + "max_held_gripper_dist": 0.0075071453658650845, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003489622606440257, + "max_held_gripper_z_dist": 0.003922667659526091, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08595020893197297, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.24896336846798423, + -0.1479092637252081, + 1.2405718690737182 + ], + "held_grasp_finger_b": [ + 0.2398556610178872, + -0.12377426101759331, + 1.2405718690737182 + ], + "held_grasp_midpoint": [ + 0.2444095147429357, + -0.13584176237140072, + 1.2405718690737182 + ], + "held_grasp_object_position": [ + 0.24896336846798423, + -0.12377426101759331, + 1.2405718690737182 + ], + "held_grasp_finger_gap": 0.02579629218886168, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023772732430226363, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.02740625502213815, + -0.995332002829712, + -0.09253702679822795 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0043681001372111545, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03306425059765321, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2903955561263401, + -0.3624751735450388, + 0.8470195171643852 + ], + "target_position": [ + 0.28481654027016823, + -0.36416378955781364, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005828965771216787, + "xy_threshold": 0.08, + "gripper_dist": 0.18567916968088644, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195171643852, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07553149705411738, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08751417566411533, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15399745138645476, + "release_required_pad_clearance": 0.05375708783205767, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.523210811638556, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00805962085723877, + "max_z_decrease": 0.00805962085723877, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03518499479562401, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00805962085723877, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021226251191161772, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00805962085723877, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00805962603350288, + "max_button_displacement": 0.12, + "button_start": [ + 0.14051645994186399, + -0.4204252362251282, + 0.7768088579177856 + ], + "button_final": [ + 0.14051645994186399, + -0.4204252362251282, + 0.7768088579177856 + ], + "closest_ee": [ + 0.14026857889947186, + -0.422157853616686, + 0.8038902248754685 + ], + "closest_button": [ + 0.1405159384012222, + -0.42041611671447754, + 0.7687492370605469 + ], + "closest_ee_minus_button": [ + -0.0002473595017503383, + -0.0017417369022084683, + 0.03514098781492159 + ], + "button_min_z_position": [ + 0.1405159384012222, + -0.42041611671447754, + 0.7687492370605469 + ], + "min_active_finger_to_button": 0.1457062388781639, + "closest_active_finger": [ + -0.00014356523752212524, + -0.4038734436035156, + 0.8110301494598389 + ], + "closest_active_finger_button": [ + 0.1405162811279297, + -0.4204262197017669, + 0.776808500289917 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1406598463654518, + 0.016552776098251287, + 0.034221649169921875 + ], + "min_contact_pad_to_button": 0.021226251191161772, + "closest_contact_pad": [ + 0.1405159384012222, + -0.42353017961517647, + 0.7897458165886697 + ], + "closest_contact_pad_button": [ + 0.1405159384012222, + -0.42041611671447754, + 0.7687492370605469 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.003114062900698933, + 0.02099657952812284 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 0, + "reproducibility": { + "enabled": true, + "action_seed": 1937247219597208700, + "physical_seed": 4015830930766581336, + "layout_id": "layout_00038", + "step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "workflow_spec_digest": "899d6ab12a9c3475100698bd12223ba9b0722ce0ef08f7e073f1cc82e64b1c61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "aab59a7793b1af481daa7c87811bcae4ae340ceb98d5e3cd060ccca1f31d451b", + "visual_seed": 7397811094550520226, + "episode_index": 0, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "runtime_workflow_digest": "82bc5063731ddfd0266f831cc4632665172de8ce02e3cf0701723ae89e342f48" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_100_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_100_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f7347aa5272247ec81f60b20e3daea3e569d00cc --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_100_success.json @@ -0,0 +1,926 @@ +{ + "episode": 100, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23535863618270778, + -0.13204078744221592, + 1.0479738548298119 + ], + "current_z": 1.0479738548298119, + "required_z": 0.8565865597843132, + "initial_z": 0.7565865597843132, + "lift_margin": 0.19138729504549867, + "gripper_z": 1.0515809255051045, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23131244379530508, + -0.13620417130628512, + 1.0515809255051045 + ], + "object_minus_gripper": [ + 0.004046192387402697, + 0.004163383864069198, + -0.003607070675292645 + ], + "object_to_gripper_xy": 0.005805638469235516, + "object_to_gripper_z": -0.003607070675292645, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23535863618270778, + -0.15601115474638758, + 1.0479738548298119 + ], + "finger_b": [ + 0.2250301846155564, + -0.13204078744221592, + 1.0479738548298119 + ], + "finger_midpoint": [ + 0.23019441039913208, + -0.14402597109430176, + 1.0479738548298119 + ], + "object_minus_finger_midpoint": [ + 0.005164225783575699, + 0.01198518365208584, + 0.0 + ], + "finger_gap": 0.026100870109478973, + "fingertip_max_gap": 0.09447344720018361, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013050435054739505, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0479738548298119, + "object_top_z": 1.0944107897972595, + "finger_top_clearance": 0.04643693496744761, + "fingertip_min_top_clearance": 0.013931080490234315, + "object_projection_between_fingers": 0.8434112836840278, + "object_to_finger_line_xy": 0.009485384077600315, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049736723600091806, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.11692270244726, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 205, + "max_stable_success_frames": 205, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2431722679775741, + -0.12754283972384356, + 1.242835850590931 + ], + "held_position": [ + 0.24744741685932312, + -0.12327416473889861, + 1.239637996244548 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00683555092943461, + "max_held_gripper_dist": 0.006836336979796278, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003197854346382867, + "max_held_gripper_z_dist": 0.003588382797260481, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08521718386925939, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.24744741685932312, + -0.14707785578676094, + 1.239637996244548 + ], + "held_grasp_finger_b": [ + 0.23892585710684325, + -0.12327416473889861, + 1.239637996244548 + ], + "held_grasp_midpoint": [ + 0.24318663698308318, + -0.13517601026282977, + 1.239637996244548 + ], + "held_grasp_object_position": [ + 0.24744741685932312, + -0.12327416473889861, + 1.239637996244548 + ], + "held_grasp_finger_gap": 0.025283051400437524, + "held_grasp_max_gap": 0.12496612727642059, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023402523243325868, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.03157828355291654, + -0.9944516346606092, + -0.10034320270299313 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0040643209676632505, + "held_grasp_line_xy_max_dist": 0.047483063638210296, + "held_grasp_object_top_z": 0.04520081728696823, + "held_grasp_top_clearance": 0.03323045943512837, + "held_grasp_min_top_clearance": 0.01356024518609047 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.28833136875638943, + -0.3644837974463319, + 0.8470191656738659 + ], + "target_position": [ + 0.2820836932514331, + -0.3664363691262034, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006545684485236611, + "xy_threshold": 0.08, + "gripper_dist": 0.1860311831606133, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470191656738659, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07532577670024296, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08668611592440138, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15486041046678364, + "release_required_pad_clearance": 0.05334305796220069, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.7022167519114058, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008054196834564209, + "max_z_decrease": 0.008054196834564209, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035176496095128046, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008054196834564209, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021031633027951337, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008054196834564209, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008054203252759316, + "max_button_displacement": 0.12, + "button_start": [ + 0.1377836167812347, + -0.4226978421211243, + 0.7768088579177856 + ], + "button_final": [ + 0.1377836167812347, + -0.4226978421211243, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13948541619529348, + -0.4218744894624171, + 0.8080696621618003 + ], + "closest_button": [ + 0.13777649402618408, + -0.42269703745841986, + 0.7729443311691284 + ], + "closest_ee_minus_button": [ + 0.0017089221691093948, + 0.0008225479960027315, + 0.0351253309926719 + ], + "button_min_z_position": [ + 0.13777641952037809, + -0.4226906597614289, + 0.7687546610832214 + ], + "min_active_finger_to_button": 0.1443266289021163, + "closest_active_finger": [ + 0.012302406132221222, + -0.48525503277778625, + 0.8104786276817322 + ], + "closest_active_finger_button": [ + 0.1377829313278198, + -0.42269754409790045, + 0.7762532830238342 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12548052519559857, + -0.06255748867988581, + 0.03422534465789795 + ], + "min_contact_pad_to_button": 0.021031633027951337, + "closest_contact_pad": [ + 0.13777641952037809, + -0.42288407800440475, + 0.7897854047031151 + ], + "closest_contact_pad_button": [ + 0.13777641952037809, + -0.4226906597614289, + 0.7687546610832214 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0001934182429758624, + 0.021030743619893655 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 100, + "reproducibility": { + "enabled": true, + "action_seed": 1937247219597208700, + "physical_seed": 4015830930766581336, + "layout_id": "layout_00038", + "step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "workflow_spec_digest": "899d6ab12a9c3475100698bd12223ba9b0722ce0ef08f7e073f1cc82e64b1c61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "fe28f515c983b72bdeee57087ef934ff04e36b8beafe667cdcf1392adf20171a", + "visual_seed": 4609660160882380228, + "episode_index": 100, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "runtime_workflow_digest": "82bc5063731ddfd0266f831cc4632665172de8ce02e3cf0701723ae89e342f48" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_10_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_10_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2d4f76f9d38a4a956091eb477ddd3ea3f563c4cc --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_10_success.json @@ -0,0 +1,926 @@ +{ + "episode": 10, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23449396339841583, + -0.13539343766294748, + 1.0462821973622523 + ], + "current_z": 1.0462821973622523, + "required_z": 0.8565866199366617, + "initial_z": 0.7565866199366618, + "lift_margin": 0.1896955774255905, + "gripper_z": 1.0498055823796446, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23040000361948862, + -0.13972748749542702, + 1.0498055823796446 + ], + "object_minus_gripper": [ + 0.004093959778927209, + 0.004334049832479536, + -0.0035233850173923553 + ], + "object_to_gripper_xy": 0.0059619203803715475, + "object_to_gripper_z": -0.0035233850173923553, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23449396339841583, + -0.15909328664755526, + 1.0462821973622523 + ], + "finger_b": [ + 0.22353315774964408, + -0.13539343766294748, + 1.0462821973622523 + ], + "finger_midpoint": [ + 0.22901356057402994, + -0.14724336215525136, + 1.0462821973622523 + ], + "object_minus_finger_midpoint": [ + 0.005480402824385888, + 0.011849924492303876, + 0.0 + ], + "finger_gap": 0.026111723465971393, + "fingertip_max_gap": 0.0919122303149249, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01305586173298569, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0462821973622523, + "object_top_z": 1.091707066403083, + "finger_top_clearance": 0.04542486904083076, + "fingertip_min_top_clearance": 0.013627460712249262, + "object_projection_between_fingers": 0.8237967645024783, + "object_to_finger_line_xy": 0.00994838349004638, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048456115157462454, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.315256536319681, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 205, + "max_stable_success_frames": 205, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24118553036434257, + -0.13402821911486035, + 1.2448629452482711 + ], + "held_position": [ + 0.24566185317029987, + -0.1298324386828467, + 1.241649739159066 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006925801951291082, + "max_held_gripper_dist": 0.0069271482314478714, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0032132060892051673, + "max_held_gripper_z_dist": 0.0035167575675849605, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08570770477629343, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.24566185317029987, + -0.15421369561076506, + 1.241649739159066 + ], + "held_grasp_finger_b": [ + 0.2372560952449097, + -0.1298324386828467, + 1.241649739159066 + ], + "held_grasp_midpoint": [ + 0.2414589742076048, + -0.14202306714680588, + 1.241649739159066 + ], + "held_grasp_object_position": [ + 0.24566185317029987, + -0.1298324386828467, + 1.241649739159066 + ], + "held_grasp_finger_gap": 0.025789580370479608, + "held_grasp_max_gap": 0.12496612727642059, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023572518174362105, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07690981068973907, + -0.9933451543006816, + -0.08573380574209843 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003420889087519691, + "held_grasp_line_xy_max_dist": 0.047483063638210296, + "held_grasp_object_top_z": 0.04520079866051674, + "held_grasp_top_clearance": 0.032768054322590154, + "held_grasp_min_top_clearance": 0.013560239598155022 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2949203624946809, + -0.35818577455390344, + 0.8470200566073591 + ], + "target_position": [ + 0.28697462826320913, + -0.36092446829511315, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008404471184156891, + "xy_threshold": 0.08, + "gripper_dist": 0.1870739732850776, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470200566073591, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07550713539941958, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08517028290051291, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1556044077267247, + "release_required_pad_clearance": 0.05258514145025646, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.2340671406948866, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007915258407592773, + "max_z_decrease": 0.007915258407592773, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03513950942625618, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007915258407592773, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021049881962086348, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007915258407592773, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007915284300851156, + "max_button_displacement": 0.12, + "button_start": [ + 0.1426745504140854, + -0.4171859323978424, + 0.7768088579177856 + ], + "button_final": [ + 0.1426745504140854, + -0.4171859323978424, + 0.7768088579177856 + ], + "closest_ee": [ + 0.14317129868096962, + -0.41613804178192926, + 0.8081902472956597 + ], + "closest_button": [ + 0.14266666769981384, + -0.4171854853630066, + 0.7730699777603149 + ], + "closest_ee_minus_button": [ + 0.0005046309811557737, + 0.0010474435810773342, + 0.03512026953534475 + ], + "button_min_z_position": [ + 0.1426544487476349, + -0.417183518409729, + 0.7688935995101929 + ], + "min_active_finger_to_button": 0.14527019078073655, + "closest_active_finger": [ + 0.01675420254468918, + -0.4810273051261902, + 0.8106279969215393 + ], + "closest_active_finger_button": [ + 0.1426737755537033, + -0.41718578338623047, + 0.776394248008728 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12591957300901413, + -0.06384152173995972, + 0.03423374891281128 + ], + "min_contact_pad_to_button": 0.021049881962086348, + "closest_contact_pad": [ + 0.1426544487476349, + -0.417183518409729, + 0.7899434814722792 + ], + "closest_contact_pad_button": [ + 0.1426544487476349, + -0.417183518409729, + 0.7688935995101929 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021049881962086348 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 10, + "reproducibility": { + "enabled": true, + "action_seed": 1937247219597208700, + "physical_seed": 4015830930766581336, + "layout_id": "layout_00038", + "step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "workflow_spec_digest": "899d6ab12a9c3475100698bd12223ba9b0722ce0ef08f7e073f1cc82e64b1c61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1ca1871ac276f32f418709a3f64e0baea92c802171fff5a9d9564021a1eade8f", + "visual_seed": 2617664368084942868, + "episode_index": 10, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "runtime_workflow_digest": "82bc5063731ddfd0266f831cc4632665172de8ce02e3cf0701723ae89e342f48" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_11_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_11_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6749a5aac7daede2b760b7dfb69821d41e04f593 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_11_success.json @@ -0,0 +1,926 @@ +{ + "episode": 11, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23789552149034088, + -0.13211679614055227, + 1.0437917433089041 + ], + "current_z": 1.0437917433089041, + "required_z": 0.8565865392834769, + "initial_z": 0.756586539283477, + "lift_margin": 0.18720520402542717, + "gripper_z": 1.0481333609825778, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23353323126939207, + -0.13645673877339637, + 1.0481333609825778 + ], + "object_minus_gripper": [ + 0.004362290220948806, + 0.004339942632844096, + -0.004341617673673692 + ], + "object_to_gripper_xy": 0.006153428152514931, + "object_to_gripper_z": -0.004341617673673692, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23789552149034088, + -0.15627773823672494, + 1.0437917433089041 + ], + "finger_b": [ + 0.22725880295699852, + -0.13211679614055227, + 1.0437917433089041 + ], + "finger_midpoint": [ + 0.2325771622236697, + -0.14419726718863862, + 1.0437917433089041 + ], + "object_minus_finger_midpoint": [ + 0.00531835926667118, + 0.01208047104808635, + 0.0 + ], + "finger_gap": 0.026398691333703598, + "fingertip_max_gap": 0.09877429132599388, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013199345666851813, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0437917433089041, + "object_top_z": 1.091903820461589, + "finger_top_clearance": 0.04811207715268484, + "fingertip_min_top_clearance": 0.014433623145805468, + "object_projection_between_fingers": 0.8376506559539006, + "object_to_finger_line_xy": 0.009735071232461619, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.051887145662996945, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.5469566530044987, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 202, + "max_stable_success_frames": 202, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24450144904092627, + -0.1272732997759793, + 1.2406400996494826 + ], + "held_position": [ + 0.2490809991682091, + -0.12274882922563836, + 1.236730663519139 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007531719855812098, + "max_held_gripper_dist": 0.007532874235695182, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003909436130343558, + "max_held_gripper_z_dist": 0.0043213052631903, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08568135278355098, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2490809991682091, + -0.1467316511729028, + 1.236730663519139 + ], + "held_grasp_finger_b": [ + 0.24006904979274366, + -0.12274882922563836, + 1.236730663519139 + ], + "held_grasp_midpoint": [ + 0.24457502448047638, + -0.13474024019927058, + 1.236730663519139 + ], + "held_grasp_object_position": [ + 0.2490809991682091, + -0.12274882922563836, + 1.236730663519139 + ], + "held_grasp_finger_gap": 0.02562012841693306, + "held_grasp_max_gap": 0.12496603041887283, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023846779480552496, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.006284988243395032, + -0.9966891939984517, + -0.08106262695902022 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004536147324103372, + "held_grasp_line_xy_max_dist": 0.047483015209436416, + "held_grasp_object_top_z": 0.045200709253549576, + "held_grasp_top_clearance": 0.03322067951739845, + "held_grasp_min_top_clearance": 0.013560212776064872 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.29242169188998723, + -0.36822003756259925, + 0.8470196089587261 + ], + "target_position": [ + 0.2886010141537258, + -0.3690843148649265, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00391721248079318, + "xy_threshold": 0.08, + "gripper_dist": 0.18562418686824136, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196089587261, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07556427740388312, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08880281609737688, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15380653443704603, + "release_required_pad_clearance": 0.05440140804868844, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.827741397729116, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008061349391937256, + "max_z_decrease": 0.008061349391937256, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03520776766352894, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008061349391937256, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02101476136018201, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008061349391937256, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008061359475103828, + "max_button_displacement": 0.12, + "button_start": [ + 0.14430093765258786, + -0.425345778465271, + 0.7768088579177856 + ], + "button_final": [ + 0.14430093765258786, + -0.425345778465271, + 0.7768088579177856 + ], + "closest_ee": [ + 0.14592740985120778, + -0.4242956879833472, + 0.8039018864853487 + ], + "closest_button": [ + 0.1442923098802566, + -0.4253363907337188, + 0.7687475085258484 + ], + "closest_ee_minus_button": [ + 0.0016350999709511815, + 0.0010407027503716026, + 0.03515437795950027 + ], + "button_min_z_position": [ + 0.1442923098802566, + -0.4253363907337188, + 0.7687475085258484 + ], + "min_active_finger_to_button": 0.14393016119136487, + "closest_active_finger": [ + 0.01941204071044922, + -0.4882024824619293, + 0.8106441497802734 + ], + "closest_active_finger_button": [ + 0.1443000882863998, + -0.4253458678722381, + 0.7764694094657898 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1248880475759506, + -0.06285661458969122, + 0.03417474031448364 + ], + "min_contact_pad_to_button": 0.02101476136018201, + "closest_contact_pad": [ + 0.1442923098802566, + -0.42538418888301843, + 0.78976221552743 + ], + "closest_contact_pad_button": [ + 0.1442923098802566, + -0.4253363907337188, + 0.7687475085258484 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -4.779814929961601e-05, + 0.02101470700158159 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 11, + "reproducibility": { + "enabled": true, + "action_seed": 1937247219597208700, + "physical_seed": 4015830930766581336, + "layout_id": "layout_00038", + "step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "workflow_spec_digest": "899d6ab12a9c3475100698bd12223ba9b0722ce0ef08f7e073f1cc82e64b1c61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "2b4c7f133ceb510734b0700f4478d9a3cb0573396bb219abf057f8e8a9283ebf", + "visual_seed": 3260280287371614772, + "episode_index": 11, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "runtime_workflow_digest": "82bc5063731ddfd0266f831cc4632665172de8ce02e3cf0701723ae89e342f48" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_12_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_12_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c8de7ca43b3cbaa1606e2818a4e266882b2ba1ed --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_12_success.json @@ -0,0 +1,926 @@ +{ + "episode": 12, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.24089255210341434, + -0.13027946396983928, + 1.04467031656054 + ], + "current_z": 1.04467031656054, + "required_z": 0.8565866254619479, + "initial_z": 0.7565866254619479, + "lift_margin": 0.18808369109859213, + "gripper_z": 1.0481084985786413, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23676972438935107, + -0.13462451528188876, + 1.0481084985786413 + ], + "object_minus_gripper": [ + 0.004122827714063276, + 0.004345051312049486, + -0.00343818201810131 + ], + "object_to_gripper_xy": 0.005989756194052574, + "object_to_gripper_z": -0.00343818201810131, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24089255210341434, + -0.15402410423286791, + 1.04467031656054 + ], + "finger_b": [ + 0.22993900342922602, + -0.13027946396983928, + 1.04467031656054 + ], + "finger_midpoint": [ + 0.23541577776632017, + -0.1421517841013536, + 1.04467031656054 + ], + "object_minus_finger_midpoint": [ + 0.005476774337094176, + 0.011872320131514319, + 0.0 + ], + "finger_gap": 0.026149343582171494, + "fingertip_max_gap": 0.09173130519934453, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013074671791085752, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.04467031656054, + "object_top_z": 1.0900719183653809, + "finger_top_clearance": 0.045401601804840874, + "fingertip_min_top_clearance": 0.013620480541452262, + "object_projection_between_fingers": 0.8245359690901259, + "object_to_finger_line_xy": 0.009946256281916888, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048365652599672265, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3065661613134243, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 203, + "max_stable_success_frames": 203, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2460691472440925, + -0.12803309145273656, + 1.2393081067639595 + ], + "held_position": [ + 0.25054927964579743, + -0.12371117695317668, + 1.2363218968462897 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006904200239759991, + "max_held_gripper_dist": 0.0069067727975239785, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0029862099176698464, + "max_held_gripper_z_dist": 0.003402230671518236, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08564155289362832, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.25054927964579743, + -0.14761510428775904, + 1.2363218968462897 + ], + "held_grasp_finger_b": [ + 0.24193184580772706, + -0.12371117695317668, + 1.2363218968462897 + ], + "held_grasp_midpoint": [ + 0.24624056272676226, + -0.13566314062046786, + 1.2363218968462897 + ], + "held_grasp_object_position": [ + 0.25054927964579743, + -0.12371117695317668, + 1.2363218968462897 + ], + "held_grasp_finger_gap": 0.025409799447664156, + "held_grasp_max_gap": 0.1249658739566803, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02308354791288297, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0694011076030875, + -0.9906994375639965, + -0.11703892802758317 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003746854918757678, + "held_grasp_line_xy_max_dist": 0.04748293697834015, + "held_grasp_object_top_z": 0.04520067572593689, + "held_grasp_top_clearance": 0.033060842316436995, + "held_grasp_min_top_clearance": 0.013560202717781066 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.29362589701885144, + -0.35918310829311484, + 0.8470196668431675 + ], + "target_position": [ + 0.2869158223774006, + -0.36133341116413786, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007046197849263925, + "xy_threshold": 0.08, + "gripper_dist": 0.1857345690967308, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196668431675, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0755156545076577, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08538378886039542, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15432484555327386, + "release_required_pad_clearance": 0.052691894430197714, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.4387937219668699, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008027255535125732, + "max_z_decrease": 0.008027255535125732, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03517306470084779, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008027255535125732, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02109194488038298, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008027255535125732, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0080272773536933, + "max_button_displacement": 0.12, + "button_start": [ + 0.14261575043201444, + -0.4175948798656463, + 0.7768088579177856 + ], + "button_final": [ + 0.14261575043201444, + -0.4175948798656463, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1440824558861743, + -0.41781418812561955, + 0.8080940355377859 + ], + "closest_button": [ + 0.142603725194931, + -0.41759771108627314, + 0.7729527354240417 + ], + "closest_ee_minus_button": [ + 0.0014787306912432963, + -0.00021647703934640772, + 0.03514130011374417 + ], + "button_min_z_position": [ + 0.142597034573555, + -0.4175948202610015, + 0.7687816023826599 + ], + "min_active_finger_to_button": 0.14469669285984327, + "closest_active_finger": [ + 0.003165699541568756, + -0.39964568614959717, + 0.8104444146156311 + ], + "closest_active_finger_button": [ + 0.14261497557163236, + -0.4175958037376403, + 0.7762563228607178 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1394492760300636, + 0.017950117588043157, + 0.03418809175491333 + ], + "min_contact_pad_to_button": 0.02109194488038298, + "closest_contact_pad": [ + 0.142597034573555, + -0.41904369417577025, + 0.7898237245003603 + ], + "closest_contact_pad_button": [ + 0.142597034573555, + -0.4175948202610015, + 0.7687816023826599 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001448873914768778, + 0.0210421221177004 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 12, + "reproducibility": { + "enabled": true, + "action_seed": 1937247219597208700, + "physical_seed": 4015830930766581336, + "layout_id": "layout_00038", + "step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "workflow_spec_digest": "899d6ab12a9c3475100698bd12223ba9b0722ce0ef08f7e073f1cc82e64b1c61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "06a0f7e6c6933d519feb842182f7f73fd21064b8ba7dfc7509f23118c88a2677", + "visual_seed": 3347392759324827466, + "episode_index": 12, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "runtime_workflow_digest": "82bc5063731ddfd0266f831cc4632665172de8ce02e3cf0701723ae89e342f48" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_13_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_13_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e263f85c1f1226104d8381a376943d38610712b8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_13_success.json @@ -0,0 +1,926 @@ +{ + "episode": 13, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23882270843241152, + -0.1344810518162729, + 1.0448807642730435 + ], + "current_z": 1.0448807642730435, + "required_z": 0.8565865340107218, + "initial_z": 0.7565865340107218, + "lift_margin": 0.18829423026232173, + "gripper_z": 1.0490278900801708, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2344900899685195, + -0.1387698887961467, + 1.0490278900801708 + ], + "object_minus_gripper": [ + 0.0043326184638920184, + 0.004288836979873811, + -0.004147125807127283 + ], + "object_to_gripper_xy": 0.006096368213419458, + "object_to_gripper_z": -0.004147125807127283, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23882270843241152, + -0.15870906074488147, + 1.0448807642730435 + ], + "finger_b": [ + 0.2283616697381377, + -0.1344810518162729, + 1.0448807642730435 + ], + "finger_midpoint": [ + 0.23359218908527463, + -0.14659505628057717, + 1.0448807642730435 + ], + "object_minus_finger_midpoint": [ + 0.005230519347136892, + 0.012114004464304273, + 0.0 + ], + "finger_gap": 0.02638995542261924, + "fingertip_max_gap": 0.09767015951006089, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013194977711309602, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0448807642730435, + "object_top_z": 1.0924775359106937, + "finger_top_clearance": 0.04759677163765019, + "fingertip_min_top_clearance": 0.01427903149129504, + "object_projection_between_fingers": 0.8428652265331273, + "object_to_finger_line_xy": 0.009604038158781783, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05133507975503045, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.2093551497442263, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 202, + "max_stable_success_frames": 202, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2456430990637163, + -0.1292420271454983, + 1.2392487539939032 + ], + "held_position": [ + 0.2501247506813208, + -0.12471599825924595, + 1.2355368270656244 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0073721462425571, + "max_held_gripper_dist": 0.007376882102152935, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003711926928278819, + "max_held_gripper_z_dist": 0.004132071475533294, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0856598005405173, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2501247506813208, + -0.1484906659884811, + 1.2355368270656244 + ], + "held_grasp_finger_b": [ + 0.2411490399264877, + -0.12471599825924595, + 1.2355368270656244 + ], + "held_grasp_midpoint": [ + 0.24563689530390426, + -0.13660333212386352, + 1.2355368270656244 + ], + "held_grasp_object_position": [ + 0.2501247506813208, + -0.12471599825924595, + 1.2355368270656244 + ], + "held_grasp_finger_gap": 0.025412560067611473, + "held_grasp_max_gap": 0.12496600806713104, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02367450242618247, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.0005319749870994413, + -0.9955860515965638, + -0.09385164286775957 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004630556715976952, + "held_grasp_line_xy_max_dist": 0.04748300403356552, + "held_grasp_object_top_z": 0.04520074650645256, + "held_grasp_top_clearance": 0.033368270146974334, + "held_grasp_min_top_clearance": 0.013560223951935768 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.292988522472862, + -0.36408956820130695, + 0.847019496316693 + ], + "target_position": [ + 0.2877381705248863, + -0.36580979476324493, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005524977375701103, + "xy_threshold": 0.08, + "gripper_dist": 0.1838167534902136, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.847019496316693, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07514424408529903, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08720645443261708, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15324566922182228, + "release_required_pad_clearance": 0.053603227216308544, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.2163630946971202, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008112192153930664, + "max_z_decrease": 0.008112192153930664, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03509979755678006, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008112192153930664, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02100348577774008, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 122, + "max_z_decrease_with_contact_point": 0.008112192153930664, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008112224730146644, + "max_button_displacement": 0.12, + "button_start": [ + 0.1434381008148193, + -0.4220712482929229, + 0.7768088579177856 + ], + "button_final": [ + 0.1434381008148193, + -0.4220712482929229, + 0.7768088579177856 + ], + "closest_ee": [ + 0.14139965891549144, + -0.4229050467135268, + 0.803725921972599 + ], + "closest_button": [ + 0.1434555053710937, + -0.4220562279224395, + 0.768696665763855 + ], + "closest_ee_minus_button": [ + -0.0020558464556022504, + -0.0008488187910872802, + 0.035029256208743975 + ], + "button_min_z_position": [ + 0.1434555053710937, + -0.4220562279224395, + 0.768696665763855 + ], + "min_active_finger_to_button": 0.1475749056190114, + "closest_active_finger": [ + 0.0007291063666343689, + -0.406658798456192, + 0.8109481930732727 + ], + "closest_active_finger_button": [ + 0.1434405595064163, + -0.4220730364322662, + 0.776681661605835 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14271145313978192, + 0.015414237976074163, + 0.034266531467437744 + ], + "min_contact_pad_to_button": 0.02100348577774008, + "closest_contact_pad": [ + 0.1434555053710937, + -0.4240977835869058, + 0.7896006956453064 + ], + "closest_contact_pad_button": [ + 0.1434555053710937, + -0.4220562279224395, + 0.768696665763855 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002041555664466288, + 0.020904029881451458 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 13, + "reproducibility": { + "enabled": true, + "action_seed": 1937247219597208700, + "physical_seed": 4015830930766581336, + "layout_id": "layout_00038", + "step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "workflow_spec_digest": "899d6ab12a9c3475100698bd12223ba9b0722ce0ef08f7e073f1cc82e64b1c61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "342ac259ca1639d8d8de04a634c1721cb393755feee2765b058c5fd6cf1ff4be", + "visual_seed": 609748731524081072, + "episode_index": 13, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "runtime_workflow_digest": "82bc5063731ddfd0266f831cc4632665172de8ce02e3cf0701723ae89e342f48" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_14_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_14_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9e655aa85dadf6a1a004aa38a5d43f91f344634f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_14_success.json @@ -0,0 +1,926 @@ +{ + "episode": 14, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2399665173519045, + -0.12881004991903414, + 1.0445575407613497 + ], + "current_z": 1.0445575407613497, + "required_z": 0.8565866117079107, + "initial_z": 0.7565866117079108, + "lift_margin": 0.18797092905343893, + "gripper_z": 1.0480636135776673, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23585983957638681, + -0.133125019152602, + 1.0480636135776673 + ], + "object_minus_gripper": [ + 0.004106677775517681, + 0.004314969233567861, + -0.0035060728163176513 + ], + "object_to_gripper_xy": 0.005956824811807719, + "object_to_gripper_z": -0.0035060728163176513, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2399665173519045, + -0.15256319899798995, + 1.0445575407613497 + ], + "finger_b": [ + 0.22907369033805858, + -0.12881004991903414, + 1.0445575407613497 + ], + "finger_midpoint": [ + 0.23452010384498154, + -0.14068662445851204, + 1.0445575407613497 + ], + "object_minus_finger_midpoint": [ + 0.005446413506922959, + 0.011876574539477908, + 0.0 + ], + "finger_gap": 0.026131700509547228, + "fingertip_max_gap": 0.09312134206424627, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013065850254773614, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0445575407613497, + "object_top_z": 1.0904632243259405, + "finger_top_clearance": 0.04590568356459079, + "fingertip_min_top_clearance": 0.013771705069377221, + "object_projection_between_fingers": 0.8262415758673304, + "object_to_finger_line_xy": 0.009901343537005128, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04906067103212314, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.6884084756746143, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 203, + "max_stable_success_frames": 203, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2452155813346441, + -0.12639318578814265, + 1.2414092889002786 + ], + "held_position": [ + 0.24968307911502466, + -0.12209897395085492, + 1.2383506741138326 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0069104208361772885, + "max_held_gripper_dist": 0.006911701266570536, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003058614786445979, + "max_held_gripper_z_dist": 0.0034719707961086144, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0857626811318282, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.24968307911502466, + -0.14606241810371326, + 1.2383506741138326 + ], + "held_grasp_finger_b": [ + 0.24107069011180934, + -0.12209897395085492, + 1.2383506741138326 + ], + "held_grasp_midpoint": [ + 0.245376884613417, + -0.1340806960272841, + 1.2383506741138326 + ], + "held_grasp_object_position": [ + 0.24968307911502466, + -0.12209897395085492, + 1.2383506741138326 + ], + "held_grasp_finger_gap": 0.02546409040216957, + "held_grasp_max_gap": 0.1249660900235176, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02323874468523693, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06270376138816003, + -0.992293666911826, + -0.10687149720322517 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003775437655643678, + "held_grasp_line_xy_max_dist": 0.047483045011758804, + "held_grasp_object_top_z": 0.04520081728696823, + "held_grasp_top_clearance": 0.03304141575931014, + "held_grasp_min_top_clearance": 0.01356024518609047 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.29691589764463344, + -0.36664030529072367, + 0.8470186154603262 + ], + "target_position": [ + 0.29002790678886076, + -0.3688025482335113, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0072193983525528594, + "xy_threshold": 0.08, + "gripper_dist": 0.18650278360595385, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470186154603262, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07548311564332479, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08568214548373586, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1549590249318332, + "release_required_pad_clearance": 0.05284107274186793, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7230694859659931, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008165478706359863, + "max_z_decrease": 0.008165478706359863, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03506921283141472, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008165478706359863, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021042312498599027, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008165478706359863, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008165568745790582, + "max_button_displacement": 0.12, + "button_start": [ + 0.14572782814502713, + -0.4250639975070953, + 0.7768088579177856 + ], + "button_final": [ + 0.14572782814502713, + -0.4250639975070953, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1471913079411238, + -0.42646016949209375, + 0.8036542746785479 + ], + "closest_button": [ + 0.14575529098510737, + -0.42503723502159113, + 0.7686433792114258 + ], + "closest_ee_minus_button": [ + 0.0014360169560164449, + -0.0014229344705026237, + 0.035010895467122105 + ], + "button_min_z_position": [ + 0.14575529098510737, + -0.42503723502159113, + 0.7686433792114258 + ], + "min_active_finger_to_button": 0.1441200932032922, + "closest_active_finger": [ + 0.006627596914768219, + -0.40918904542922974, + 0.810407817363739 + ], + "closest_active_finger_button": [ + 0.145727202296257, + -0.4250650703907013, + 0.7762047052383423 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13909960538148877, + 0.015876024961471558, + 0.03420311212539673 + ], + "min_contact_pad_to_button": 0.021042312498599027, + "closest_contact_pad": [ + 0.14575529098510737, + -0.42774370344691764, + 0.7895109124617026 + ], + "closest_contact_pad_button": [ + 0.14575529098510737, + -0.42503723502159113, + 0.7686433792114258 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0027064684253265137, + 0.020867533250276793 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 14, + "reproducibility": { + "enabled": true, + "action_seed": 1937247219597208700, + "physical_seed": 4015830930766581336, + "layout_id": "layout_00038", + "step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "workflow_spec_digest": "899d6ab12a9c3475100698bd12223ba9b0722ce0ef08f7e073f1cc82e64b1c61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "bdd8c409181a6d4a607c500662ee7505c5ebc8a4e6fa3b248e7df5eb047913ff", + "visual_seed": 15349178581210963, + "episode_index": 14, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "runtime_workflow_digest": "82bc5063731ddfd0266f831cc4632665172de8ce02e3cf0701723ae89e342f48" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_15_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_15_success.json new file mode 100644 index 0000000000000000000000000000000000000000..75ffbf25c9ff7d50f997fc3c2d469f96c3f97d1c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_15_success.json @@ -0,0 +1,926 @@ +{ + "episode": 15, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.24397864053962567, + -0.1351940360202856, + 1.0442399745458821 + ], + "current_z": 1.0442399745458821, + "required_z": 0.8565866214996479, + "initial_z": 0.756586621499648, + "lift_margin": 0.1876533530462342, + "gripper_z": 1.0479188287800771, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23999378251816958, + -0.13941754199567136, + 1.0479188287800771 + ], + "object_minus_gripper": [ + 0.003984858021456095, + 0.004223505975385761, + -0.003678854234195006 + ], + "object_to_gripper_xy": 0.005806642418410333, + "object_to_gripper_z": -0.003678854234195006, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24397864053962567, + -0.15899502903462145, + 1.0442399745458821 + ], + "finger_b": [ + 0.2333731271012262, + -0.1351940360202856, + 1.0442399745458821 + ], + "finger_midpoint": [ + 0.23867588382042593, + -0.14709453252745353, + 1.0442399745458821 + ], + "object_minus_finger_midpoint": [ + 0.005302756719199747, + 0.01190049650716793, + 0.0 + ], + "finger_gap": 0.026056941181967923, + "fingertip_max_gap": 0.09246222236386842, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013028470590983969, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0442399745458821, + "object_top_z": 1.0896762102651123, + "finger_top_clearance": 0.04543623571923017, + "fingertip_min_top_clearance": 0.013630870715769017, + "object_projection_between_fingers": 0.8343404291679969, + "object_to_finger_line_xy": 0.009687313238265789, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04873111118193421, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.9507958078109933, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 202, + "max_stable_success_frames": 202, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2491750323490669, + -0.13223928321722733, + 1.2415000929690878 + ], + "held_position": [ + 0.25348370894785743, + -0.12795836599872334, + 1.2382845949938435 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006872435775869389, + "max_held_gripper_dist": 0.006874604546608673, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0032154979752443413, + "max_held_gripper_z_dist": 0.0036492229736562187, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08508165308185867, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.25348370894785743, + -0.15180137111059028, + 1.2382845949938435 + ], + "held_grasp_finger_b": [ + 0.24493911881025504, + -0.12795836599872334, + 1.2382845949938435 + ], + "held_grasp_midpoint": [ + 0.24921141387905624, + -0.1398798685546568, + 1.2382845949938435 + ], + "held_grasp_object_position": [ + 0.25348370894785743, + -0.12795836599872334, + 1.2382845949938435 + ], + "held_grasp_finger_gap": 0.025327828832810064, + "held_grasp_max_gap": 0.1249658590555191, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023228785941685256, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.04897507397026207, + -0.9917901608782693, + -0.11812586048221707 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0039477703234869176, + "held_grasp_line_xy_max_dist": 0.04748292952775955, + "held_grasp_object_top_z": 0.04520068317651749, + "held_grasp_top_clearance": 0.03316781827164021, + "held_grasp_min_top_clearance": 0.013560204952955245 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2936146320433969, + -0.3576624083440487, + 0.8470195038255808 + ], + "target_position": [ + 0.286592783702919, + -0.3599949002288998, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00739911295423768, + "xy_threshold": 0.08, + "gripper_dist": 0.18740775924973563, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195038255808, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07521877367078687, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08555017551559206, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15660151582768525, + "release_required_pad_clearance": 0.05277508775779603, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5987229383797156, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008061110973358154, + "max_z_decrease": 0.008061110973358154, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03516660776183419, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008061110973358154, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021076339957024993, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008061110973358154, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008061121386042303, + "max_button_displacement": 0.12, + "button_start": [ + 0.14229270815849304, + -0.41625636816024786, + 0.7768088579177856 + ], + "button_final": [ + 0.14229270815849304, + -0.41625636816024786, + 0.7768088579177856 + ], + "closest_ee": [ + 0.14353837025990027, + -0.4167905669135302, + 0.8038877726624901 + ], + "closest_button": [ + 0.14228416979312894, + -0.4162466228008271, + 0.7687477469444275 + ], + "closest_ee_minus_button": [ + 0.001254200466771327, + -0.000543944112703143, + 0.03514002571806263 + ], + "button_min_z_position": [ + 0.14228416979312894, + -0.4162466228008271, + 0.7687477469444275 + ], + "min_active_finger_to_button": 0.14444887347181057, + "closest_active_finger": [ + 0.0026965588331222534, + -0.40198153257369995, + 0.8110825419425964 + ], + "closest_active_finger_button": [ + 0.14229120314121244, + -0.4162575304508209, + 0.7768041491508484 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13959464430809018, + 0.014275997877120972, + 0.03427839279174805 + ], + "min_contact_pad_to_button": 0.021076339957024993, + "closest_contact_pad": [ + 0.14228416979312894, + -0.41785480020606014, + 0.789762643361431 + ], + "closest_contact_pad_button": [ + 0.14228416979312894, + -0.4162466228008271, + 0.7687477469444275 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0016081774052330577, + 0.021014896417003492 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 15, + "reproducibility": { + "enabled": true, + "action_seed": 1937247219597208700, + "physical_seed": 4015830930766581336, + "layout_id": "layout_00038", + "step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "workflow_spec_digest": "899d6ab12a9c3475100698bd12223ba9b0722ce0ef08f7e073f1cc82e64b1c61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0585c38b03ec6593b241f7fb9f7e1a44bbab36f9a1c4af8d68bee69f79544464", + "visual_seed": 6974081469591140722, + "episode_index": 15, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "runtime_workflow_digest": "82bc5063731ddfd0266f831cc4632665172de8ce02e3cf0701723ae89e342f48" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_16_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_16_success.json new file mode 100644 index 0000000000000000000000000000000000000000..fd1db25192a550f803a3c271fb2ef07667ea9d9b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_16_success.json @@ -0,0 +1,926 @@ +{ + "episode": 16, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23686273838614644, + -0.13544770443262621, + 1.0458548153599534 + ], + "current_z": 1.0458548153599534, + "required_z": 0.8565866265829386, + "initial_z": 0.7565866265829386, + "lift_margin": 0.1892681887770148, + "gripper_z": 1.0498677835676944, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2326084919254549, + -0.13973766887712813, + 1.0498677835676944 + ], + "object_minus_gripper": [ + 0.00425424646069153, + 0.004289964444501915, + -0.004012968207740997 + ], + "object_to_gripper_xy": 0.006041722261358679, + "object_to_gripper_z": -0.004012968207740997, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23686273838614644, + -0.15964589708391125, + 1.0458548153599534 + ], + "finger_b": [ + 0.2264486179544556, + -0.13544770443262621, + 1.0458548153599534 + ], + "finger_midpoint": [ + 0.23165567817030103, + -0.14754680075826873, + 1.0458548153599534 + ], + "object_minus_finger_midpoint": [ + 0.0052070602158454105, + 0.012099096325642517, + 0.0 + ], + "finger_gap": 0.02634400182118248, + "fingertip_max_gap": 0.09612037272856247, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013172000910591234, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0458548153599534, + "object_top_z": 1.093115937690373, + "finger_top_clearance": 0.04726112233041957, + "fingertip_min_top_clearance": 0.014178336699125837, + "object_projection_between_fingers": 0.8437278109075558, + "object_to_finger_line_xy": 0.009565854656793656, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05056018636428124, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.2874858750237275, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 203, + "max_stable_success_frames": 203, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24478791467404543, + -0.1307245509110914, + 1.2420269194625864 + ], + "held_position": [ + 0.2492582712966848, + -0.12628586767418126, + 1.2384355481193166 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0072514788378966, + "max_held_gripper_dist": 0.007254994211249114, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0035913713432698113, + "max_held_gripper_z_dist": 0.0040006760250277384, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08520020811695969, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2492582712966848, + -0.1502914081443522, + 1.2384355481193166 + ], + "held_grasp_finger_b": [ + 0.24053355271653842, + -0.12628586767418126, + 1.2384355481193166 + ], + "held_grasp_midpoint": [ + 0.2448959120066116, + -0.13828863790926674, + 1.2384355481193166 + ], + "held_grasp_object_position": [ + 0.2492582712966848, + -0.12628586767418126, + 1.2384355481193166 + ], + "held_grasp_finger_gap": 0.025541861474210656, + "held_grasp_max_gap": 0.12496588140726089, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023656456132916916, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.027572357138539862, + -0.9954792402710603, + -0.09088920349071937 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00417624244919794, + "held_grasp_line_xy_max_dist": 0.04748294070363045, + "held_grasp_object_top_z": 0.04520072042942047, + "held_grasp_top_clearance": 0.03313193130633696, + "held_grasp_min_top_clearance": 0.01356021612882614 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.29301232296412866, + -0.36393283151297406, + 0.8470196035700612 + ], + "target_position": [ + 0.2876730215437625, + -0.3653331029567103, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005519864108260919, + "xy_threshold": 0.08, + "gripper_dist": 0.1868926706014581, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196035700612, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07522324708894045, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08709000260359882, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15598695853623581, + "release_required_pad_clearance": 0.053545001301799414, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.101059307064169, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008099853992462158, + "max_z_decrease": 0.008099853992462158, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03508685569238187, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008099853992462158, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.0209946479146819, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008099853992462158, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008099872780726916, + "max_button_displacement": 0.12, + "button_start": [ + 0.14337295293807983, + -0.4215945601463317, + 0.7768088579177856 + ], + "button_final": [ + 0.14337295293807983, + -0.4215945601463317, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1425860837852635, + -0.4218811862827147, + 0.8037855069801428 + ], + "closest_button": [ + 0.1433836668729782, + -0.42158079147338856, + 0.7687090039253235 + ], + "closest_ee_minus_button": [ + -0.000797583087714715, + -0.00030039480932614326, + 0.03507650305481935 + ], + "button_min_z_position": [ + 0.1433836668729782, + -0.42158079147338856, + 0.7687090039253235 + ], + "min_active_finger_to_button": 0.14643320800441909, + "closest_active_finger": [ + 0.0018337368965148926, + -0.40623122453689575, + 0.8110442757606506 + ], + "closest_active_finger_button": [ + 0.14337371289730072, + -0.42159453034400934, + 0.776793897151947 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14153997600078583, + 0.015363305807113592, + 0.03425037860870361 + ], + "min_contact_pad_to_button": 0.0209946479146819, + "closest_contact_pad": [ + 0.1433836668729782, + -0.42301921921649677, + 0.7896543176419837 + ], + "closest_contact_pad_button": [ + 0.1433836668729782, + -0.42158079147338856, + 0.7687090039253235 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001438427743108206, + 0.020945313716660197 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 16, + "reproducibility": { + "enabled": true, + "action_seed": 1937247219597208700, + "physical_seed": 4015830930766581336, + "layout_id": "layout_00038", + "step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "workflow_spec_digest": "899d6ab12a9c3475100698bd12223ba9b0722ce0ef08f7e073f1cc82e64b1c61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "465ca5b1e567f991c473793f5b08a774d3e2a133367e14ddd21d56ff93343b34", + "visual_seed": 4815966496987403447, + "episode_index": 16, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "runtime_workflow_digest": "82bc5063731ddfd0266f831cc4632665172de8ce02e3cf0701723ae89e342f48" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_17_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_17_success.json new file mode 100644 index 0000000000000000000000000000000000000000..bb530deb3ab1c61a6ef26249736ac856810ab68c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_17_success.json @@ -0,0 +1,926 @@ +{ + "episode": 17, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2395602233322338, + -0.1331651852473178, + 1.0458465865647664 + ], + "current_z": 1.0458465865647664, + "required_z": 0.8565866269664596, + "initial_z": 0.7565866269664596, + "lift_margin": 0.18925995959830677, + "gripper_z": 1.0493120966401321, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23541897880238657, + -0.13748606915354644, + 1.0493120966401321 + ], + "object_minus_gripper": [ + 0.004141244529847238, + 0.004320883906228645, + -0.003465510075365774 + ], + "object_to_gripper_xy": 0.005984976523520822, + "object_to_gripper_z": -0.003465510075365774, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2395602233322338, + -0.15701818063031514, + 1.0458465865647664 + ], + "finger_b": [ + 0.2287663363716509, + -0.1331651852473178, + 1.0458465865647664 + ], + "finger_midpoint": [ + 0.23416327985194235, + -0.14509168293881647, + 1.0458465865647664 + ], + "object_minus_finger_midpoint": [ + 0.005396943480291461, + 0.011926497691498672, + 0.0 + ], + "finger_gap": 0.02618154663993582, + "fingertip_max_gap": 0.09206843601166537, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01309077331996791, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0458465865647664, + "object_top_z": 1.0912934913420895, + "finger_top_clearance": 0.04544690477732316, + "fingertip_min_top_clearance": 0.013634071433196981, + "object_projection_between_fingers": 0.8300327943297588, + "object_to_finger_line_xy": 0.009833893290423674, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048534218005832686, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.4520399432735278, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 204, + "max_stable_success_frames": 204, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24585280461727219, + -0.13038768135572415, + 1.243679683652549 + ], + "held_position": [ + 0.2503473912161658, + -0.12610137772773622, + 1.2406433766772833 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006913238570619669, + "max_held_gripper_dist": 0.0069158295303952625, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.00303630697526569, + "max_held_gripper_z_dist": 0.0034366932456084687, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08572217179424407, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2503473912161658, + -0.15017336990244784, + 1.2406433766772833 + ], + "held_grasp_finger_b": [ + 0.24174955342359453, + -0.12610137772773622, + 1.2406433766772833 + ], + "held_grasp_midpoint": [ + 0.24604847231988014, + -0.13813737381509203, + 1.2406433766772833 + ], + "held_grasp_object_position": [ + 0.2503473912161658, + -0.12610137772773622, + 1.2406433766772833 + ], + "held_grasp_finger_gap": 0.025561369720082373, + "held_grasp_max_gap": 0.12496588140726089, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023337996420311008, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06337437682976294, + -0.9921438516247237, + -0.10786225495833812 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0037639103003772106, + "held_grasp_line_xy_max_dist": 0.04748294070363045, + "held_grasp_object_top_z": 0.045200690627098083, + "held_grasp_top_clearance": 0.03298680980475499, + "held_grasp_min_top_clearance": 0.013560207188129425 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2907655350123656, + -0.36656374131908287, + 0.847019624006951 + ], + "target_position": [ + 0.28403485304235637, + -0.3685850464456428, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007027642150541282, + "xy_threshold": 0.08, + "gripper_dist": 0.1846309564306758, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.847019624006951, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07538889158078055, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08556628969373624, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15344809398383213, + "release_required_pad_clearance": 0.05278314484686812, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6142097456295946, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008057475090026855, + "max_z_decrease": 0.008057475090026855, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03516400123406588, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008057475090026855, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021006074088746107, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008057475090026855, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00805748190248099, + "max_button_displacement": 0.12, + "button_start": [ + 0.13973477482795713, + -0.42484650015831, + 0.7768088579177856 + ], + "button_final": [ + 0.13973477482795713, + -0.42484650015831, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13855339472807615, + -0.4234955617816197, + 0.8080479974016572 + ], + "closest_button": [ + 0.1397261768579483, + -0.42484691739082336, + 0.7729295492172241 + ], + "closest_ee_minus_button": [ + -0.001172782129872152, + 0.001351355609203686, + 0.035118448184433104 + ], + "button_min_z_position": [ + 0.13972941040992737, + -0.4248374998569489, + 0.7687513828277588 + ], + "min_active_finger_to_button": 0.1466116389119736, + "closest_active_finger": [ + 0.011047743260860443, + -0.4861906170845032, + 0.8110394477844238 + ], + "closest_active_finger_button": [ + 0.13973413407802582, + -0.4248473942279816, + 0.776807963848114 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12868639081716537, + -0.06134322285652155, + 0.034231483936309814 + ], + "min_contact_pad_to_button": 0.021006074088746107, + "closest_contact_pad": [ + 0.13972941040992737, + -0.4248374998569489, + 0.7897574569165049 + ], + "closest_contact_pad_button": [ + 0.13972941040992737, + -0.4248374998569489, + 0.7687513828277588 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021006074088746107 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 17, + "reproducibility": { + "enabled": true, + "action_seed": 1937247219597208700, + "physical_seed": 4015830930766581336, + "layout_id": "layout_00038", + "step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "workflow_spec_digest": "899d6ab12a9c3475100698bd12223ba9b0722ce0ef08f7e073f1cc82e64b1c61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "31b830c7fd921c5fef0c16d8cbc674f7e835915c352fa5d0d696321b5c943afc", + "visual_seed": 3953305334440937037, + "episode_index": 17, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "runtime_workflow_digest": "82bc5063731ddfd0266f831cc4632665172de8ce02e3cf0701723ae89e342f48" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_18_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_18_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ff782db550204da5f639990378911f51f23c5054 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_18_success.json @@ -0,0 +1,926 @@ +{ + "episode": 18, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.24149191907501633, + -0.13290913754844405, + 1.0447207077080303 + ], + "current_z": 1.0447207077080303, + "required_z": 0.8565865852811624, + "initial_z": 0.7565865852811624, + "lift_margin": 0.1881341224268679, + "gripper_z": 1.048223634209779, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23772396783883748, + -0.13705152960368594, + 1.048223634209779 + ], + "object_minus_gripper": [ + 0.003767951236178846, + 0.004142392055241889, + -0.003502926501748771 + ], + "object_to_gripper_xy": 0.005599720391015324, + "object_to_gripper_z": -0.003502926501748771, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24149191907501633, + -0.15646401990151682, + 1.0447207077080303 + ], + "finger_b": [ + 0.23091937024559145, + -0.13290913754844405, + 1.0447207077080303 + ], + "finger_midpoint": [ + 0.2362056446603039, + -0.14468657872498042, + 1.0447207077080303 + ], + "object_minus_finger_midpoint": [ + 0.0052862744147124385, + 0.011777441176536368, + 0.0 + ], + "finger_gap": 0.025818816228047173, + "fingertip_max_gap": 0.09530843439748582, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012909408114023574, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0447207077080303, + "object_top_z": 1.091227779527126, + "finger_top_clearance": 0.046507071819095636, + "fingertip_min_top_clearance": 0.013952121545728674, + "object_projection_between_fingers": 0.8323178836852623, + "object_to_finger_line_xy": 0.009645490391565325, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05015421719874291, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.7627736338830733, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 203, + "max_stable_success_frames": 203, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2468879392593346, + -0.1298196803051455, + 1.2421555879876227 + ], + "held_position": [ + 0.25097498312709016, + -0.12565437790900116, + 1.2390608782354378 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0066053690342442435, + "max_held_gripper_dist": 0.006607356460048163, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0030947097521849543, + "max_held_gripper_z_dist": 0.0034686202682556733, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08610847840530594, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.25097498312709016, + -0.14941708862224312, + 1.2390608782354378 + ], + "held_grasp_finger_b": [ + 0.24255308684079335, + -0.12565437790900116, + 1.2390608782354378 + ], + "held_grasp_midpoint": [ + 0.24676403498394175, + -0.13753573326562213, + 1.2390608782354378 + ], + "held_grasp_object_position": [ + 0.25097498312709016, + -0.12565437790900116, + 1.2390608782354378 + ], + "held_grasp_finger_gap": 0.025211004690380033, + "held_grasp_max_gap": 0.12496597081422806, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023315315589078782, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.03803744574178859, + -0.9946534845008489, + -0.0960083251169401 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0039276049167908875, + "held_grasp_line_xy_max_dist": 0.04748298540711403, + "held_grasp_object_top_z": 0.045200735330581665, + "held_grasp_top_clearance": 0.03322273011300929, + "held_grasp_min_top_clearance": 0.0135602205991745 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2854585649326245, + -0.36659257545279544, + 0.847018747426431 + ], + "target_position": [ + 0.2811725645860494, + -0.3674095941162155, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.004363177565401008, + "xy_threshold": 0.08, + "gripper_dist": 0.18582923319299857, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.847018747426431, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07586083692912297, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0877231990919624, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15327552268485498, + "release_required_pad_clearance": 0.0538615995459812, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.726007228833481, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008047759532928467, + "max_z_decrease": 0.008047759532928467, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03520283956600104, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008047759532928467, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02103552711750356, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008047759532928467, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008047774434848408, + "max_button_displacement": 0.12, + "button_start": [ + 0.13687248528003687, + -0.4236710667610168, + 0.7768088579177856 + ], + "button_final": [ + 0.13687248528003687, + -0.4236710667610168, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13883546390434778, + -0.4224444625152626, + 0.8080819784933881 + ], + "closest_button": [ + 0.13686491549015045, + -0.42367023229598993, + 0.7729557156562805 + ], + "closest_ee_minus_button": [ + 0.0019705484141973317, + 0.0012257697807273593, + 0.035126262837107625 + ], + "button_min_z_position": [ + 0.136858657002449, + -0.42366409301757807, + 0.7687610983848572 + ], + "min_active_finger_to_button": 0.14392387582306096, + "closest_active_finger": [ + 0.011591218411922455, + -0.4857010841369629, + 0.8104879260063171 + ], + "closest_active_finger_button": [ + 0.13687163591384885, + -0.4236705601215362, + 0.7762663960456848 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1252804175019264, + -0.06203052401542669, + 0.034221529960632324 + ], + "min_contact_pad_to_button": 0.02103552711750356, + "closest_contact_pad": [ + 0.136858657002449, + -0.42366409301757807, + 0.7897966255023607 + ], + "closest_contact_pad_button": [ + 0.136858657002449, + -0.42366409301757807, + 0.7687610983848572 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02103552711750356 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 18, + "reproducibility": { + "enabled": true, + "action_seed": 1937247219597208700, + "physical_seed": 4015830930766581336, + "layout_id": "layout_00038", + "step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "workflow_spec_digest": "899d6ab12a9c3475100698bd12223ba9b0722ce0ef08f7e073f1cc82e64b1c61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "052bb97ab7df7a8691ae32bb276135c8876cd28ee9f5be1fcb087f90937db0c4", + "visual_seed": 2658312370531486046, + "episode_index": 18, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "runtime_workflow_digest": "82bc5063731ddfd0266f831cc4632665172de8ce02e3cf0701723ae89e342f48" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_19_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_19_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5b3857771710cd801aad89868c39b52a92aea749 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_19_success.json @@ -0,0 +1,926 @@ +{ + "episode": 19, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2421344275828344, + -0.13877407195486005, + 1.0441727691206202 + ], + "current_z": 1.0441727691206202, + "required_z": 0.8565865856161282, + "initial_z": 0.7565865856161282, + "lift_margin": 0.18758618350449197, + "gripper_z": 1.0480138047462286, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23802750356826027, + -0.142957716659874, + 1.0480138047462286 + ], + "object_minus_gripper": [ + 0.0041069240145741315, + 0.00418364470501395, + -0.0038410356256084466 + ], + "object_to_gripper_xy": 0.005862568368836049, + "object_to_gripper_z": -0.0038410356256084466, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2421344275828344, + -0.16291807996936475, + 1.0441727691206202 + ], + "finger_b": [ + 0.23189525820124163, + -0.13877407195486005, + 1.0441727691206202 + ], + "finger_midpoint": [ + 0.237014842892038, + -0.1508460759621124, + 1.0441727691206202 + ], + "object_minus_finger_midpoint": [ + 0.005119584690796403, + 0.012072004007252363, + 0.0 + ], + "finger_gap": 0.026225440179898106, + "fingertip_max_gap": 0.0953218040504066, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013112720089949072, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0441727691206202, + "object_top_z": 1.0908413572078908, + "finger_top_clearance": 0.04666858808727059, + "fingertip_min_top_clearance": 0.01400057642618116, + "object_projection_between_fingers": 0.8475652853550727, + "object_to_finger_line_xy": 0.009426518140981974, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.050160902025203305, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.468431818087825, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 201, + "max_stable_success_frames": 201, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24884317608329623, + -0.1338691842182837, + 1.2387567839989686 + ], + "held_position": [ + 0.253120563394878, + -0.12948225619410195, + 1.2353608251252524 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007005263476458533, + "max_held_gripper_dist": 0.00701058870407405, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0033959588737162427, + "max_held_gripper_z_dist": 0.003830285208209494, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08530813622128777, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.253120563394878, + -0.1531534505801482, + 1.2353608251252524 + ], + "held_grasp_finger_b": [ + 0.244422477908525, + -0.12948225619410195, + 1.2353608251252524 + ], + "held_grasp_midpoint": [ + 0.2487715206517015, + -0.14131785338712508, + 1.2353608251252524 + ], + "held_grasp_object_position": [ + 0.253120563394878, + -0.12948225619410195, + 1.2353608251252524 + ], + "held_grasp_finger_gap": 0.025218686222519448, + "held_grasp_max_gap": 0.12496597081422806, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023417953594274434, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.013466465860270081, + -0.994250044239408, + -0.10623325198434586 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0043747769394106495, + "held_grasp_line_xy_max_dist": 0.04748298540711403, + "held_grasp_object_top_z": 0.045200739055871964, + "held_grasp_top_clearance": 0.03337462978748307, + "held_grasp_min_top_clearance": 0.013560221716761588 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.28755170269386343, + -0.3638109147105557, + 0.8470194668179906 + ], + "target_position": [ + 0.2832476778397536, + -0.36490864313702204, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.004441805673717346, + "xy_threshold": 0.08, + "gripper_dist": 0.18443840751231774, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470194668179906, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07524607174862047, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08724544462426874, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15353770649564186, + "release_required_pad_clearance": 0.05362272231213437, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.2538342122554074, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008080840110778809, + "max_z_decrease": 0.008080840110778809, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035123165201566484, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008080840110778809, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021057365791199652, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 122, + "max_z_decrease_with_contact_point": 0.008080840110778809, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008080851503882037, + "max_button_displacement": 0.12, + "button_start": [ + 0.13894760608673093, + -0.42117011547088623, + 0.7768088579177856 + ], + "button_final": [ + 0.13894760608673093, + -0.42117011547088623, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13944107417560844, + -0.42165138667208246, + 0.8038442372050594 + ], + "closest_button": [ + 0.13894811272621155, + -0.42115655541419983, + 0.7687280178070068 + ], + "closest_ee_minus_button": [ + 0.0004929614493968948, + -0.000494831257882633, + 0.03511621939805254 + ], + "button_min_z_position": [ + 0.13894811272621155, + -0.42115655541419983, + 0.7687280178070068 + ], + "min_active_finger_to_button": 0.1451733815259268, + "closest_active_finger": [ + -0.001248687505722046, + -0.4054970145225525, + 0.81104975938797 + ], + "closest_active_finger_button": [ + 0.1389501392841339, + -0.4211689233779907, + 0.776786208152771 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14019882678985596, + 0.015671908855438232, + 0.034263551235198975 + ], + "min_contact_pad_to_button": 0.021057365791199652, + "closest_contact_pad": [ + 0.13894811272621155, + -0.422836093467538, + 0.7897182966520288 + ], + "closest_contact_pad_button": [ + 0.13894811272621155, + -0.42115655541419983, + 0.7687280178070068 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0016795380533381477, + 0.020990278845021915 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 19, + "reproducibility": { + "enabled": true, + "action_seed": 1937247219597208700, + "physical_seed": 4015830930766581336, + "layout_id": "layout_00038", + "step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "workflow_spec_digest": "899d6ab12a9c3475100698bd12223ba9b0722ce0ef08f7e073f1cc82e64b1c61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "4494d8c4ad3d02651800db2b89dd7ecc84c50b4998c9a5f0aa333061ac62d4ae", + "visual_seed": 546491481372728124, + "episode_index": 19, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "runtime_workflow_digest": "82bc5063731ddfd0266f831cc4632665172de8ce02e3cf0701723ae89e342f48" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_1_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_1_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d1160078c7080eeadfea6a680899ffa2936d8cce --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_1_success.json @@ -0,0 +1,926 @@ +{ + "episode": 1, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.24343897258188513, + -0.13270238804545412, + 1.044193107423435 + ], + "current_z": 1.044193107423435, + "required_z": 0.8565866917376254, + "initial_z": 0.7565866917376254, + "lift_margin": 0.1876064156858096, + "gripper_z": 1.0476452987585185, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23956335215570435, + -0.13688764187771685, + 1.0476452987585185 + ], + "object_minus_gripper": [ + 0.0038756204261807814, + 0.004185253832262731, + -0.0034521913350835653 + ], + "object_to_gripper_xy": 0.005704102324494151, + "object_to_gripper_z": -0.0034521913350835653, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24343897258188513, + -0.15634942006283117, + 1.044193107423435 + ], + "finger_b": [ + 0.23279938559175728, + -0.13270238804545412, + 1.044193107423435 + ], + "finger_midpoint": [ + 0.2381191790868212, + -0.14452590405414265, + 1.044193107423435 + ], + "object_minus_finger_midpoint": [ + 0.005319793495063924, + 0.011823516008688528, + 0.0 + ], + "finger_gap": 0.025930347752225642, + "fingertip_max_gap": 0.09249245621676602, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012965173876112821, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.044193107423435, + "object_top_z": 1.0895998020300828, + "finger_top_clearance": 0.04540669460664781, + "fingertip_min_top_clearance": 0.013622008381994326, + "object_projection_between_fingers": 0.8316423491681405, + "object_to_finger_line_xy": 0.009702710376710128, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04874622810838301, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.0572277288774887, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 202, + "max_stable_success_frames": 202, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2483133058136034, + -0.1301657003908941, + 1.2408866236414489 + ], + "held_position": [ + 0.2525350579529822, + -0.12596328394625045, + 1.237894574055442 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006666022489137379, + "max_held_gripper_dist": 0.0066686083684577135, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002992049586006962, + "max_held_gripper_z_dist": 0.0034183716350961735, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08571738748642728, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2525350579529822, + -0.14973505999257053, + 1.237894574055442 + ], + "held_grasp_finger_b": [ + 0.2441149313572701, + -0.12596328394625045, + 1.237894574055442 + ], + "held_grasp_midpoint": [ + 0.24832499465512614, + -0.1378491719694105, + 1.237894574055442 + ], + "held_grasp_object_position": [ + 0.2525350579529822, + -0.12596328394625045, + 1.237894574055442 + ], + "held_grasp_finger_gap": 0.02521895850911007, + "held_grasp_max_gap": 0.12496618688106537, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023117277312222892, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05357100688612519, + -0.9914426219622853, + -0.11904484271801019 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038426232107363614, + "held_grasp_line_xy_max_dist": 0.047483093440532684, + "held_grasp_object_top_z": 0.04520085081458092, + "held_grasp_top_clearance": 0.03319113749862854, + "held_grasp_min_top_clearance": 0.013560255244374275 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2924253494472155, + -0.36698506860949465, + 0.8470187534396763 + ], + "target_position": [ + 0.28560252626374305, + -0.3690047560298033, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007115479848097531, + "xy_threshold": 0.08, + "gripper_dist": 0.18803469594003872, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470187534396763, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07532293923741776, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08566003550104033, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15693277940154973, + "release_required_pad_clearance": 0.05283001775052017, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7022025703190597, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00817173719406128, + "max_z_decrease": 0.00817173719406128, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03508311484815257, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00817173719406128, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.020905918628208786, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00817173719406128, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008171833646825206, + "max_button_displacement": 0.12, + "button_start": [ + 0.1413024514913559, + -0.42526620626449585, + 0.7768088579177856 + ], + "button_final": [ + 0.1413024514913559, + -0.42526620626449585, + 0.7768088579177856 + ], + "closest_ee": [ + 0.14277230473870914, + -0.4235380846227527, + 0.8036493205241453 + ], + "closest_button": [ + 0.14133284986019135, + -0.42524066567420954, + 0.7686371207237244 + ], + "closest_ee_minus_button": [ + 0.001439454878517793, + 0.0017025810514568196, + 0.03501219980042092 + ], + "button_min_z_position": [ + 0.14133284986019135, + -0.42524066567420954, + 0.7686371207237244 + ], + "min_active_finger_to_button": 0.14378127103866287, + "closest_active_finger": [ + 0.016767635941505432, + -0.488446444272995, + 0.810848593711853 + ], + "closest_active_finger_button": [ + 0.14130248129367828, + -0.4252655804157257, + 0.7766096591949463 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12453484535217285, + -0.06318086385726929, + 0.03423893451690674 + ], + "min_contact_pad_to_button": 0.020905918628208786, + "closest_contact_pad": [ + 0.14133284986019135, + -0.42524066567420954, + 0.7895430393519332 + ], + "closest_contact_pad_button": [ + 0.14133284986019135, + -0.42524066567420954, + 0.7686371207237244 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.020905918628208786 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 1, + "reproducibility": { + "enabled": true, + "action_seed": 1937247219597208700, + "physical_seed": 4015830930766581336, + "layout_id": "layout_00038", + "step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "workflow_spec_digest": "899d6ab12a9c3475100698bd12223ba9b0722ce0ef08f7e073f1cc82e64b1c61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0c69aecbadfef561c7ebfc0959076ee04cd68483e2a3e0b43c52c56f28a32971", + "visual_seed": 455434647000317655, + "episode_index": 1, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "runtime_workflow_digest": "82bc5063731ddfd0266f831cc4632665172de8ce02e3cf0701723ae89e342f48" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_20_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_20_success.json new file mode 100644 index 0000000000000000000000000000000000000000..bcd171724599a116604c482da15e5e3104d2d618 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_20_success.json @@ -0,0 +1,926 @@ +{ + "episode": 20, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2375532660420554, + -0.13585456153924128, + 1.046559846112273 + ], + "current_z": 1.046559846112273, + "required_z": 0.8565866020565186, + "initial_z": 0.7565866020565186, + "lift_margin": 0.18997324405575433, + "gripper_z": 1.050041840129895, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23329754634990013, + -0.14021056534022658, + 1.050041840129895 + ], + "object_minus_gripper": [ + 0.004255719692155269, + 0.004356003800985303, + -0.0034819940176220587 + ], + "object_to_gripper_xy": 0.00608982095076666, + "object_to_gripper_z": -0.0034819940176220587, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2375532660420554, + -0.15983726839696824, + 1.046559846112273 + ], + "finger_b": [ + 0.22677694140732424, + -0.13585456153924128, + 1.046559846112273 + ], + "finger_midpoint": [ + 0.23216510372468982, + -0.14784591496810476, + 1.046559846112273 + ], + "object_minus_finger_midpoint": [ + 0.00538816231736558, + 0.011991353428863483, + 0.0 + ], + "finger_gap": 0.02629257311213145, + "fingertip_max_gap": 0.09186004400165124, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013146286556065725, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.046559846112273, + "object_top_z": 1.0920587073841481, + "finger_top_clearance": 0.04549886127187519, + "fingertip_min_top_clearance": 0.013649658381562556, + "object_projection_between_fingers": 0.832013202254788, + "object_to_finger_line_xy": 0.009829598404699767, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04843002200082562, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0968945600189461, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 205, + "max_stable_success_frames": 205, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24478448624190005, + -0.1329334191622868, + 1.2432450470909662 + ], + "held_position": [ + 0.24935737129203, + -0.12860321964389165, + 1.240159381345892 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007013076260895482, + "max_held_gripper_dist": 0.0070152788228025585, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0030856657450741842, + "max_held_gripper_z_dist": 0.003462681137658352, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0856440320044683, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.24935737129203, + -0.1527541301445371, + 1.240159381345892 + ], + "held_grasp_finger_b": [ + 0.2407320874398182, + -0.12860321964389165, + 1.240159381345892 + ], + "held_grasp_midpoint": [ + 0.24504472936592409, + -0.14067867489421437, + 1.240159381345892 + ], + "held_grasp_object_position": [ + 0.24935737129203, + -0.12860321964389165, + 1.240159381345892 + ], + "held_grasp_finger_gap": 0.0256449215156025, + "held_grasp_max_gap": 0.12496604532003402, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023418223851158344, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06425085686877793, + -0.9926087767481362, + -0.1029545711185107 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0037452803588700423, + "held_grasp_line_xy_max_dist": 0.04748302266001701, + "held_grasp_object_top_z": 0.045200787484645844, + "held_grasp_top_clearance": 0.03293749368082563, + "held_grasp_min_top_clearance": 0.013560236245393752 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.29321806664214534, + -0.366754968898608, + 0.8470198135221599 + ], + "target_position": [ + 0.28638200158302235, + -0.3687710215396328, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007127149061437215, + "xy_threshold": 0.08, + "gripper_dist": 0.18782804293235744, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470198135221599, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07536398312061372, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08537646508171719, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1566512553845394, + "release_required_pad_clearance": 0.052688232540858596, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.4315998058188767, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00814509391784668, + "max_z_decrease": 0.00814509391784668, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035041689556354755, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00814509391784668, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021042952926143294, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00814509391784668, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008145174123072953, + "max_button_displacement": 0.12, + "button_start": [ + 0.14208193123340607, + -0.42503246665000916, + 0.7768088579177856 + ], + "button_final": [ + 0.14208193123340607, + -0.42503246665000916, + 0.7768088579177856 + ], + "closest_ee": [ + 0.14119635079782286, + -0.4264864423616545, + 0.8036624454471991 + ], + "closest_button": [ + 0.14211155474185944, + -0.42501175403594976, + 0.768663763999939 + ], + "closest_ee_minus_button": [ + -0.0009152039440365745, + -0.0014746883257047427, + 0.03499868144726015 + ], + "button_min_z_position": [ + 0.14211155474185944, + -0.42501175403594976, + 0.768663763999939 + ], + "min_active_finger_to_button": 0.14638536313650155, + "closest_active_finger": [ + 0.0006257817149162292, + -0.40930768847465515, + 0.8108348846435547 + ], + "closest_active_finger_button": [ + 0.14208182692527768, + -0.4250333309173584, + 0.7766067385673523 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14145604521036145, + 0.015725642442703247, + 0.03422814607620239 + ], + "min_contact_pad_to_button": 0.021042952926143294, + "closest_contact_pad": [ + 0.14211155474185944, + -0.4277619011267651, + 0.7895262317070623 + ], + "closest_contact_pad_button": [ + 0.14211155474185944, + -0.42501175403594976, + 0.768663763999939 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002750147090815336, + 0.0208624677071233 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 20, + "reproducibility": { + "enabled": true, + "action_seed": 1937247219597208700, + "physical_seed": 4015830930766581336, + "layout_id": "layout_00038", + "step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "workflow_spec_digest": "899d6ab12a9c3475100698bd12223ba9b0722ce0ef08f7e073f1cc82e64b1c61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c5808b9bc1e35822663faa2515e27999a071cdb8eea775dfdcc35c8aa583823c", + "visual_seed": 5716895967849785709, + "episode_index": 20, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "runtime_workflow_digest": "82bc5063731ddfd0266f831cc4632665172de8ce02e3cf0701723ae89e342f48" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_21_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_21_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5580f845b1197a89aac7ef4523ada8e2f4b0824b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_21_success.json @@ -0,0 +1,926 @@ +{ + "episode": 21, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.24332167853804035, + -0.1312091254139132, + 1.045716430654502 + ], + "current_z": 1.045716430654502, + "required_z": 0.8565866010322251, + "initial_z": 0.7565866010322251, + "lift_margin": 0.18912982962227687, + "gripper_z": 1.0493625097316552, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23929193374459237, + -0.13546273941288062, + 1.0493625097316552 + ], + "object_minus_gripper": [ + 0.004029744793447976, + 0.004253613998967426, + -0.003646079077153308 + ], + "object_to_gripper_xy": 0.005859357912991211, + "object_to_gripper_z": -0.003646079077153308, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24332167853804035, + -0.15500578330250045, + 1.045716430654502 + ], + "finger_b": [ + 0.23262059219109832, + -0.1312091254139132, + 1.045716430654502 + ], + "finger_midpoint": [ + 0.23797113536456932, + -0.14310745435820682, + 1.045716430654502 + ], + "object_minus_finger_midpoint": [ + 0.0053505431734710285, + 0.011898328944293629, + 0.0 + ], + "finger_gap": 0.0260920328006687, + "fingertip_max_gap": 0.09242475708437417, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013046016400334356, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.045716430654502, + "object_top_z": 1.091132976117818, + "finger_top_clearance": 0.04541654546331597, + "fingertip_min_top_clearance": 0.013624963638994791, + "object_projection_between_fingers": 0.8317946112100408, + "object_to_finger_line_xy": 0.009759687670938587, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04871237854218709, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.9404150090090408, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 203, + "max_stable_success_frames": 203, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2478434016305698, + -0.12855877178361547, + 1.2427493488387946 + ], + "held_position": [ + 0.2522074013351936, + -0.12425015404241269, + 1.2395882103877927 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006899382332366205, + "max_held_gripper_dist": 0.006901871696275033, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0031611384510019658, + "max_held_gripper_z_dist": 0.003610569138369435, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08611648404232022, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2522074013351936, + -0.14805615509786846, + 1.2395882103877927 + ], + "held_grasp_finger_b": [ + 0.2435979625527742, + -0.12425015404241269, + 1.2395882103877927 + ], + "held_grasp_midpoint": [ + 0.2479026819439839, + -0.13615315457014057, + 1.2395882103877927 + ], + "held_grasp_object_position": [ + 0.2522074013351936, + -0.12425015404241269, + 1.2395882103877927 + ], + "held_grasp_finger_gap": 0.025314978222400048, + "held_grasp_max_gap": 0.12496576219797134, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02316102770534229, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.050815838366801674, + -0.9912846554936351, + -0.12154210115817565 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003972338529928277, + "held_grasp_line_xy_max_dist": 0.04748288109898567, + "held_grasp_object_top_z": 0.0452006459236145, + "held_grasp_top_clearance": 0.03318263622134706, + "held_grasp_min_top_clearance": 0.01356019377708435 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.28981523916007546, + -0.3578174783185235, + 0.8470198321310135 + ], + "target_position": [ + 0.283184422706589, + -0.35987010565276717, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006941253907840493, + "xy_threshold": 0.08, + "gripper_dist": 0.18510145094408476, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470198321310135, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07538126671347194, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08599019188192535, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15391017713282973, + "release_required_pad_clearance": 0.052995095940962675, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.0225798162881443, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008038878440856934, + "max_z_decrease": 0.008038878440856934, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035120256483182, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008038878440856934, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02107242189371654, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008038878440856934, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008038892603576714, + "max_button_displacement": 0.12, + "button_start": [ + 0.13888435065746307, + -0.4161315560340881, + 0.7768088579177856 + ], + "button_final": [ + 0.13888435065746307, + -0.4161315560340881, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13869514694830506, + -0.41615002143739, + 0.8078612351990727 + ], + "closest_button": [ + 0.1388737857341766, + -0.4161334335803985, + 0.772741436958313 + ], + "closest_ee_minus_button": [ + -0.00017863878587154325, + -1.6587856991490124e-05, + 0.035119798240759725 + ], + "button_min_z_position": [ + 0.13887010514736176, + -0.41612657904624933, + 0.7687699794769287 + ], + "min_active_finger_to_button": 0.1463131645431984, + "closest_active_finger": [ + 0.01110181212425232, + -0.47866231203079224, + 0.8107696771621704 + ], + "closest_active_finger_button": [ + 0.1388842761516571, + -0.4161317348480224, + 0.7765774130821228 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12778246402740479, + -0.06253057718276983, + 0.03419226408004761 + ], + "min_contact_pad_to_button": 0.02107242189371654, + "closest_contact_pad": [ + 0.13887010514736176, + -0.4173274589025657, + 0.789808155539446 + ], + "closest_contact_pad_button": [ + 0.13887010514736176, + -0.41612657904624933, + 0.7687699794769287 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0012008798563163392, + 0.021038176062517344 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 21, + "reproducibility": { + "enabled": true, + "action_seed": 1937247219597208700, + "physical_seed": 4015830930766581336, + "layout_id": "layout_00038", + "step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "workflow_spec_digest": "899d6ab12a9c3475100698bd12223ba9b0722ce0ef08f7e073f1cc82e64b1c61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "bab4771d7dfd9f6ce17fa1e05041be89fa95704a8a298255f842caac9e3dc57f", + "visual_seed": 5329538932756574580, + "episode_index": 21, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "runtime_workflow_digest": "82bc5063731ddfd0266f831cc4632665172de8ce02e3cf0701723ae89e342f48" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_22_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_22_success.json new file mode 100644 index 0000000000000000000000000000000000000000..728f80abd579b883b8787a0dd801e483d4bb703e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_22_success.json @@ -0,0 +1,926 @@ +{ + "episode": 22, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23461048685875502, + -0.13767870812960617, + 1.0443867069808783 + ], + "current_z": 1.0443867069808783, + "required_z": 0.8565865810125487, + "initial_z": 0.7565865810125487, + "lift_margin": 0.18780012596832962, + "gripper_z": 1.048104493280022, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23060874714184992, + -0.14184024826731137, + 1.048104493280022 + ], + "object_minus_gripper": [ + 0.004001739716905095, + 0.0041615401377052, + -0.003717786299143766 + ], + "object_to_gripper_xy": 0.005773416413146299, + "object_to_gripper_z": -0.003717786299143766, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23461048685875502, + -0.16155615571788215, + 1.0443867069808783 + ], + "finger_b": [ + 0.22421794292716965, + -0.13767870812960617, + 1.0443867069808783 + ], + "finger_midpoint": [ + 0.22941421489296232, + -0.14961743192374416, + 1.0443867069808783 + ], + "object_minus_finger_midpoint": [ + 0.005196271965792698, + 0.01193872379413799, + 0.0 + ], + "finger_gap": 0.026041072802417305, + "fingertip_max_gap": 0.09576249850563087, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013020536401208658, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0443867069808783, + "object_top_z": 1.0912953240615364, + "finger_top_clearance": 0.04690861708065808, + "fingertip_min_top_clearance": 0.014072585124197456, + "object_projection_between_fingers": 0.8407329284727716, + "object_to_finger_line_xy": 0.009529078349347048, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05038124925281544, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.5908043029173267, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 202, + "max_stable_success_frames": 202, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24239577784606706, + -0.13448614198793507, + 1.242470975732986 + ], + "held_position": [ + 0.24666865938763938, + -0.13031373965969348, + 1.2390828974935715 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006866260409671266, + "max_held_gripper_dist": 0.006870056901157561, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0033880782394144493, + "max_held_gripper_z_dist": 0.0037101123280831594, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08580454544876293, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.24666865938763938, + -0.15444966514404262, + 1.2390828974935715 + ], + "held_grasp_finger_b": [ + 0.23830971418733524, + -0.13031373965969348, + 1.2390828974935715 + ], + "held_grasp_midpoint": [ + 0.24248918678748732, + -0.14238170240186804, + 1.2390828974935715 + ], + "held_grasp_object_position": [ + 0.24666865938763938, + -0.13031373965969348, + 1.2390828974935715 + ], + "held_grasp_finger_gap": 0.025542413038860328, + "held_grasp_max_gap": 0.12496594846248626, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023760756531623517, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.03480868160784257, + -0.9965112135134224, + -0.07585352349581555 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003868093428080117, + "held_grasp_line_xy_max_dist": 0.04748297423124313, + "held_grasp_object_top_z": 0.04520069807767868, + "held_grasp_top_clearance": 0.033029355949812135, + "held_grasp_min_top_clearance": 0.013560209423303604 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2926675634908648, + -0.35840376926875395, + 0.8470194174365555 + ], + "target_position": [ + 0.2869048696158684, + -0.35994432928984144, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005965062101562233, + "xy_threshold": 0.08, + "gripper_dist": 0.18644694098461678, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470194174365555, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07516602067571942, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08648676728415021, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15573622294118852, + "release_required_pad_clearance": 0.05324338364207511, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.5071084563384118, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00790315866470337, + "max_z_decrease": 0.00790315866470337, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035175686982001804, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00790315866470337, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021233205299813675, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00790315866470337, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007903184828760656, + "max_button_displacement": 0.12, + "button_start": [ + 0.14260479807853696, + -0.4162057936191559, + 0.7768088579177856 + ], + "button_final": [ + 0.14260479807853696, + -0.4162057936191559, + 0.7768088579177856 + ], + "closest_ee": [ + 0.14229551744337662, + -0.41808678939502264, + 0.8081736698104098 + ], + "closest_button": [ + 0.14259581267833704, + -0.4162080585956573, + 0.7730494737625122 + ], + "closest_ee_minus_button": [ + -0.0003002952349604182, + -0.0018787307993653468, + 0.03512419604789763 + ], + "button_min_z_position": [ + 0.14258468151092524, + -0.4162028133869171, + 0.7689056992530823 + ], + "min_active_finger_to_button": 0.14626143183805426, + "closest_active_finger": [ + 0.0011393055319786072, + -0.40181398391723633, + 0.8106123208999634 + ], + "closest_active_finger_button": [ + 0.14260454475879666, + -0.41620665788650507, + 0.7763655185699463 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14146523922681806, + 0.014392673969268743, + 0.03424680233001709 + ], + "min_contact_pad_to_button": 0.021233205299813675, + "closest_contact_pad": [ + 0.14258468151092524, + -0.4192027111976822, + 0.7899259185770808 + ], + "closest_contact_pad_button": [ + 0.14258468151092524, + -0.4162028133869171, + 0.7689056992530823 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0029998978107650953, + 0.021020219323998557 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 22, + "reproducibility": { + "enabled": true, + "action_seed": 1937247219597208700, + "physical_seed": 4015830930766581336, + "layout_id": "layout_00038", + "step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "workflow_spec_digest": "899d6ab12a9c3475100698bd12223ba9b0722ce0ef08f7e073f1cc82e64b1c61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "fd567b796f9ed184b7d8a78c02c8f07e1fa905e788d2975dbf0935bd0ced9e29", + "visual_seed": 8476378896102449794, + "episode_index": 22, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "runtime_workflow_digest": "82bc5063731ddfd0266f831cc4632665172de8ce02e3cf0701723ae89e342f48" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_23_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_23_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d52fad1e001560cf44563dda9e331410bf34114b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_23_success.json @@ -0,0 +1,926 @@ +{ + "episode": 23, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23570922159770896, + -0.13973595899453825, + 1.0464874802729776 + ], + "current_z": 1.0464874802729776, + "required_z": 0.856586535769586, + "initial_z": 0.756586535769586, + "lift_margin": 0.18990094450339157, + "gripper_z": 1.0500711067746435, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23179546330880701, + -0.14394463888566755, + 1.0500711067746435 + ], + "object_minus_gripper": [ + 0.003913758288901947, + 0.004208679891129302, + -0.003583626501665993 + ], + "object_to_gripper_xy": 0.005747215879880001, + "object_to_gripper_z": -0.003583626501665993, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23570922159770896, + -0.16339204110276764, + 1.0464874802729776 + ], + "finger_b": [ + 0.22503882137711462, + -0.13973595899453825, + 1.0464874802729776 + ], + "finger_midpoint": [ + 0.2303740214874118, + -0.15156400004865295, + 1.0464874802729776 + ], + "object_minus_finger_midpoint": [ + 0.0053352001102971724, + 0.011828041054114696, + 0.0 + ], + "finger_gap": 0.02595125549138135, + "fingertip_max_gap": 0.09255366603524934, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012975627745690674, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0464874802729776, + "object_top_z": 1.0919008759636857, + "finger_top_clearance": 0.045413395690708125, + "fingertip_min_top_clearance": 0.013624018707212438, + "object_projection_between_fingers": 0.8309385181157473, + "object_to_finger_line_xy": 0.009726691790687343, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04877683301762467, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.0550982168765457, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 205, + "max_stable_success_frames": 205, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24270409697967346, + -0.13808479650000166, + 1.2422729691199828 + ], + "held_position": [ + 0.2469412814493988, + -0.133944158453602, + 1.2389950229878985 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0067707862546841574, + "max_held_gripper_dist": 0.006773226942836399, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0032779461320842085, + "max_held_gripper_z_dist": 0.0035782741822205644, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08617321716458816, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2469412814493988, + -0.1581316266327095, + 1.2389950229878985 + ], + "held_grasp_finger_b": [ + 0.23874388205982072, + -0.133944158453602, + 1.2389950229878985 + ], + "held_grasp_midpoint": [ + 0.24284258175460977, + -0.14603789254315575, + 1.2389950229878985 + ], + "held_grasp_object_position": [ + 0.2469412814493988, + -0.133944158453602, + 1.2389950229878985 + ], + "held_grasp_finger_gap": 0.025538813082592402, + "held_grasp_max_gap": 0.12496601551771164, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023581067665354265, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05698553135678217, + -0.9942421690123542, + -0.09074777448287398 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003578734876257265, + "held_grasp_line_xy_max_dist": 0.04748300775885582, + "held_grasp_object_top_z": 0.045200757682323456, + "held_grasp_top_clearance": 0.032943090689687454, + "held_grasp_min_top_clearance": 0.013560227304697036 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2971511018857594, + -0.3576721974921705, + 0.8470194311917547 + ], + "target_position": [ + 0.29014993901610797, + -0.35967671272552193, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007282469556965106, + "xy_threshold": 0.08, + "gripper_dist": 0.1858649063325037, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470194311917547, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07528417713516482, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08554512205415142, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1549881376989457, + "release_required_pad_clearance": 0.05277256102707571, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5934707451190061, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008066058158874512, + "max_z_decrease": 0.008066058158874512, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035228414845468216, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008066058158874512, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021011631732472225, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 122, + "max_z_decrease_with_contact_point": 0.008066058158874512, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008066063047466612, + "max_button_displacement": 0.12, + "button_start": [ + 0.14584986865520475, + -0.4159381687641144, + 0.7768088579177856 + ], + "button_final": [ + 0.14584986865520475, + -0.4159381687641144, + 0.7768088579177856 + ], + "closest_ee": [ + 0.14692920220622893, + -0.4139489457563965, + 0.8038987339219987 + ], + "closest_button": [ + 0.14584532380104065, + -0.41593053936958313, + 0.7687427997589111 + ], + "closest_ee_minus_button": [ + 0.0010838784051882822, + 0.0019815936131866163, + 0.0351559341630876 + ], + "button_min_z_position": [ + 0.14584532380104065, + -0.41593053936958313, + 0.7687427997589111 + ], + "min_active_finger_to_button": 0.1439522346326552, + "closest_active_finger": [ + 0.019520342350006104, + -0.4759346544742584, + 0.8108764886856079 + ], + "closest_active_finger_button": [ + 0.1458512842655182, + -0.41593849658966064, + 0.7767707705497742 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12633094191551208, + -0.05999615788459778, + 0.03410571813583374 + ], + "min_contact_pad_to_button": 0.021011631732472225, + "closest_contact_pad": [ + 0.14584532380104065, + -0.41593053936958313, + 0.7897544314913834 + ], + "closest_contact_pad_button": [ + 0.14584532380104065, + -0.41593053936958313, + 0.7687427997589111 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021011631732472225 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 23, + "reproducibility": { + "enabled": true, + "action_seed": 1937247219597208700, + "physical_seed": 4015830930766581336, + "layout_id": "layout_00038", + "step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "workflow_spec_digest": "899d6ab12a9c3475100698bd12223ba9b0722ce0ef08f7e073f1cc82e64b1c61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c5258cef08bcab2e261e340058f03f8dda408f5e05a2e9729a39115306b16903", + "visual_seed": 8185981747971434729, + "episode_index": 23, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "runtime_workflow_digest": "82bc5063731ddfd0266f831cc4632665172de8ce02e3cf0701723ae89e342f48" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_24_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_24_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3c9a6e6383184b8fa7e2ebac49c08cc712e88665 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_24_success.json @@ -0,0 +1,926 @@ +{ + "episode": 24, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23845029663834846, + -0.1306684888466753, + 1.0458052284700954 + ], + "current_z": 1.0458052284700954, + "required_z": 0.8565865872550119, + "initial_z": 0.7565865872550119, + "lift_margin": 0.18921864121508347, + "gripper_z": 1.049554628991189, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2343931547723728, + -0.13489988722585444, + 1.049554628991189 + ], + "object_minus_gripper": [ + 0.004057141865975666, + 0.00423139837917913, + -0.0037494005210936265 + ], + "object_to_gripper_xy": 0.005862178124551682, + "object_to_gripper_z": -0.0037494005210936265, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23845029663834846, + -0.15449502378142643, + 1.0458052284700954 + ], + "finger_b": [ + 0.22781610489341064, + -0.1306684888466753, + 1.0458052284700954 + ], + "finger_midpoint": [ + 0.23313320076587957, + -0.14258175631405087, + 1.0458052284700954 + ], + "object_minus_finger_midpoint": [ + 0.005317095872468897, + 0.01191326746737556, + 0.0 + ], + "finger_gap": 0.026091948970228714, + "fingertip_max_gap": 0.09509570274809467, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013045974485114352, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0458052284700954, + "object_top_z": 1.0923815808280755, + "finger_top_clearance": 0.04657635235798008, + "fingertip_min_top_clearance": 0.01397290570739404, + "object_projection_between_fingers": 0.8338899409315573, + "object_to_finger_line_xy": 0.009710885967265555, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05004785137404734, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.5546142922250596, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 203, + "max_stable_success_frames": 203, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24474688605540662, + -0.12737007513126397, + 1.2420026564130293 + ], + "held_position": [ + 0.24911218295764173, + -0.12308681863494797, + 1.238683536145627 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006958352003698692, + "max_held_gripper_dist": 0.006959312607048063, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0033191202674023312, + "max_held_gripper_z_dist": 0.0037226147525397657, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08584687120433787, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.24911218295764173, + -0.14700267358167138, + 1.238683536145627 + ], + "held_grasp_finger_b": [ + 0.24057021131982567, + -0.12308681863494797, + 1.238683536145627 + ], + "held_grasp_midpoint": [ + 0.2448411971387337, + -0.1350447461083097, + 1.238683536145627 + ], + "held_grasp_object_position": [ + 0.24911218295764173, + -0.12308681863494797, + 1.238683536145627 + ], + "held_grasp_finger_gap": 0.0253955389250547, + "held_grasp_max_gap": 0.12496625393629074, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023444564683808206, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.03942312176982579, + -0.9943744818998572, + -0.09831178574470109 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003976563798981281, + "held_grasp_line_xy_max_dist": 0.04748312696814537, + "held_grasp_object_top_z": 0.045200902968645096, + "held_grasp_top_clearance": 0.03314186943870897, + "held_grasp_min_top_clearance": 0.013560270890593529 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.29193508972403814, + -0.3609493276906862, + 0.8470195552211521 + ], + "target_position": [ + 0.28617678260319124, + -0.3624973775758488, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005962764404615375, + "xy_threshold": 0.08, + "gripper_dist": 0.18556799778213978, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195552211521, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07527046075902621, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08657455625660714, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15446258477691852, + "release_required_pad_clearance": 0.05328727812830357, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.5929519243109949, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00808095932006836, + "max_z_decrease": 0.00808095932006836, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035158891843234945, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00808095932006836, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021090745006084256, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00808095932006836, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008080970602818874, + "max_button_displacement": 0.12, + "button_start": [ + 0.1418767124414444, + -0.4187588393688202, + 0.7768088579177856 + ], + "button_final": [ + 0.1418767124414444, + -0.4187588393688202, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1431952806736295, + -0.4196216902851223, + 0.8038511365973616 + ], + "closest_button": [ + 0.14187701046466827, + -0.4187453389167785, + 0.7687278985977173 + ], + "closest_ee_minus_button": [ + 0.0013182702089612197, + -0.0008763513683437973, + 0.03512323799964434 + ], + "button_min_z_position": [ + 0.14187701046466827, + -0.4187453389167785, + 0.7687278985977173 + ], + "min_active_finger_to_button": 0.14434095623296692, + "closest_active_finger": [ + 0.0024539679288864136, + -0.4038538932800293, + 0.8110641837120056 + ], + "closest_active_finger_button": [ + 0.14187495410442352, + -0.4187602400779724, + 0.7768019437789917 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1394209861755371, + 0.014906346797943115, + 0.034262239933013916 + ], + "min_contact_pad_to_button": 0.021090745006084256, + "closest_contact_pad": [ + 0.14187701046466827, + -0.4207706509714056, + 0.7897211745686812 + ], + "closest_contact_pad_button": [ + 0.14187701046466827, + -0.4187453389167785, + 0.7687278985977173 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002025312054627082, + 0.0209932759709639 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 24, + "reproducibility": { + "enabled": true, + "action_seed": 1937247219597208700, + "physical_seed": 4015830930766581336, + "layout_id": "layout_00038", + "step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "workflow_spec_digest": "899d6ab12a9c3475100698bd12223ba9b0722ce0ef08f7e073f1cc82e64b1c61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "77420ee40aeab9ef531c6ab56d3a93996c0c407a9ba9d84c898f18219c0f4e5a", + "visual_seed": 8057934373072731721, + "episode_index": 24, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "runtime_workflow_digest": "82bc5063731ddfd0266f831cc4632665172de8ce02e3cf0701723ae89e342f48" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_25_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_25_success.json new file mode 100644 index 0000000000000000000000000000000000000000..371229e4a9854e5365727479948d742a04be25c1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_25_success.json @@ -0,0 +1,926 @@ +{ + "episode": 25, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23542313973291282, + -0.12910341587650612, + 1.0442548911984775 + ], + "current_z": 1.0442548911984775, + "required_z": 0.8565866035647575, + "initial_z": 0.7565866035647575, + "lift_margin": 0.18766828763372, + "gripper_z": 1.0480198003567263, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23138807242345938, + -0.13333411363458178, + 1.0480198003567263 + ], + "object_minus_gripper": [ + 0.004035067309453438, + 0.004230697758075663, + -0.003764909158248786 + ], + "object_to_gripper_xy": 0.00584641528733687, + "object_to_gripper_z": -0.003764909158248786, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23542313973291282, + -0.15291563229716468, + 1.0442548911984775 + ], + "finger_b": [ + 0.22480593555557798, + -0.12910341587650612, + 1.0442548911984775 + ], + "finger_midpoint": [ + 0.2301145376442454, + -0.1410095240868354, + 1.0442548911984775 + ], + "object_minus_finger_midpoint": [ + 0.00530860208866743, + 0.01190610821032928, + 0.0 + ], + "finger_gap": 0.026071951891016857, + "fingertip_max_gap": 0.09492454835690359, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013035975945508434, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0442548911984775, + "object_top_z": 1.0909216474794592, + "finger_top_clearance": 0.046666756280981714, + "fingertip_min_top_clearance": 0.01400002688429448, + "object_projection_between_fingers": 0.8341661259679728, + "object_to_finger_line_xy": 0.009696978757471808, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049962274178451796, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.1863167253905864, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 202, + "max_stable_success_frames": 202, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2422999333864339, + -0.12581317688967378, + 1.241188956045958 + ], + "held_position": [ + 0.2466437114487766, + -0.12155656446201824, + 1.2378236427232465 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006950718737956525, + "max_held_gripper_dist": 0.006953376350588476, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003365313322711394, + "max_held_gripper_z_dist": 0.003740922209360731, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08576121605808398, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2466437114487766, + -0.14557377080669098, + 1.2378236427232465 + ], + "held_grasp_finger_b": [ + 0.23815113969407664, + -0.12155656446201824, + 1.2378236427232465 + ], + "held_grasp_midpoint": [ + 0.24239742557142663, + -0.1335651676343546, + 1.2378236427232465 + ], + "held_grasp_object_position": [ + 0.2466437114487766, + -0.12155656446201824, + 1.2378236427232465 + ], + "held_grasp_finger_gap": 0.025474496572284136, + "held_grasp_max_gap": 0.12496605277061462, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023489613153194838, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.04735330376916452, + -0.9947770003056996, + -0.09042336138929796 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038326110572550797, + "held_grasp_line_xy_max_dist": 0.04748302638530731, + "held_grasp_object_top_z": 0.04520076513290405, + "held_grasp_top_clearance": 0.033053807226224904, + "held_grasp_min_top_clearance": 0.013560229539871215 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2885486369962069, + -0.3622560704367892, + 0.8470194916921402 + ], + "target_position": [ + 0.2832661162702038, + -0.3636003201819771, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005450874480126104, + "xy_threshold": 0.08, + "gripper_dist": 0.18528104617439808, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470194916921402, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07527200290064819, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08617179847529353, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1540912787879931, + "release_required_pad_clearance": 0.05308589923764677, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.1987561933542585, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008004367351531982, + "max_z_decrease": 0.008004367351531982, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03513133901998529, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008004367351531982, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021095328139979004, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008004367351531982, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00800439177306108, + "max_button_displacement": 0.12, + "button_start": [ + 0.13896603882312775, + -0.41986176371574396, + 0.7768088579177856 + ], + "button_final": [ + 0.13896603882312775, + -0.41986176371574396, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13982189406547918, + -0.4202802692310927, + 0.808123450762601 + ], + "closest_button": [ + 0.13896018266677856, + -0.41986072063446045, + 0.7730051875114441 + ], + "closest_ee_minus_button": [ + 0.0008617113987006153, + -0.0004195485966322354, + 0.035118263251156856 + ], + "button_min_z_position": [ + 0.13894630968570706, + -0.4198604524135589, + 0.7688044905662537 + ], + "min_active_finger_to_button": 0.14531934560945156, + "closest_active_finger": [ + -0.0015087127685546875, + -0.4054906666278839, + 0.8106459379196167 + ], + "closest_active_finger_button": [ + 0.13896554708480835, + -0.4198613762855529, + 0.7763213515281677 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14047425985336304, + 0.014370709657669012, + 0.034324586391448975 + ], + "min_contact_pad_to_button": 0.021095328139979004, + "closest_contact_pad": [ + 0.13894630968570706, + -0.42120121256153226, + 0.7898571681052033 + ], + "closest_contact_pad_button": [ + 0.13894630968570706, + -0.4198604524135589, + 0.7688044905662537 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0013407601479733522, + 0.021052677538949682 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 25, + "reproducibility": { + "enabled": true, + "action_seed": 1937247219597208700, + "physical_seed": 4015830930766581336, + "layout_id": "layout_00038", + "step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "workflow_spec_digest": "899d6ab12a9c3475100698bd12223ba9b0722ce0ef08f7e073f1cc82e64b1c61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "92db355181e18c706a6322302507f8473b7ae7877d707bb09b0edb9eb5d27908", + "visual_seed": 6050952447121397483, + "episode_index": 25, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "runtime_workflow_digest": "82bc5063731ddfd0266f831cc4632665172de8ce02e3cf0701723ae89e342f48" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_26_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_26_success.json new file mode 100644 index 0000000000000000000000000000000000000000..fb76119404935771ff570b826c26bfd3e3b75253 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_26_success.json @@ -0,0 +1,926 @@ +{ + "episode": 26, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.24214100546143014, + -0.1312442834640998, + 1.0477822056331545 + ], + "current_z": 1.0477822056331545, + "required_z": 0.856586575297781, + "initial_z": 0.7565865752977811, + "lift_margin": 0.19119563033537346, + "gripper_z": 1.0515854998626437, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2380499377852837, + -0.13550469023488243, + 1.0515854998626437 + ], + "object_minus_gripper": [ + 0.004091067676146448, + 0.0042604067707826265, + -0.003803294229489218 + ], + "object_to_gripper_xy": 0.005906598055000928, + "object_to_gripper_z": -0.003803294229489218, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24214100546143014, + -0.1551013457762087, + 1.0477822056331545 + ], + "finger_b": [ + 0.23145124726323707, + -0.1312442834640998, + 1.0477822056331545 + ], + "finger_midpoint": [ + 0.2367961263623336, + -0.14317281462015424, + 1.0477822056331545 + ], + "object_minus_finger_midpoint": [ + 0.005344879099096533, + 0.01192853115605444, + 0.0 + ], + "finger_gap": 0.026142500884568848, + "fingertip_max_gap": 0.09354529935335365, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013071250442284412, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0477822056331545, + "object_top_z": 1.0940167299276249, + "finger_top_clearance": 0.04623452429447039, + "fingertip_min_top_clearance": 0.013870357288341151, + "object_projection_between_fingers": 0.8327979875083337, + "object_to_finger_line_xy": 0.009755234534053463, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04927264967667683, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.556982139438019, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 205, + "max_stable_success_frames": 205, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24727013246724874, + -0.12848977794218458, + 1.2454577161131206 + ], + "held_position": [ + 0.2516976202004199, + -0.12416495477655125, + 1.2421358429938032 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007024356487410327, + "max_held_gripper_dist": 0.0070273293087391555, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.00332187311931742, + "max_held_gripper_z_dist": 0.0037714433304822936, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08517792481626323, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2516976202004199, + -0.14805875074003347, + 1.2421358429938032 + ], + "held_grasp_finger_b": [ + 0.24306772336339305, + -0.12416495477655125, + 1.2421358429938032 + ], + "held_grasp_midpoint": [ + 0.24738267178190648, + -0.13611185275829235, + 1.2421358429938032 + ], + "held_grasp_object_position": [ + 0.2516976202004199, + -0.12416495477655125, + 1.2421358429938032 + ], + "held_grasp_finger_gap": 0.025404499699113254, + "held_grasp_max_gap": 0.12496591866016388, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02320459931578648, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05853386830689812, + -0.9922969375390837, + -0.10918138124967491 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038414874755050383, + "held_grasp_line_xy_max_dist": 0.04748295933008194, + "held_grasp_object_top_z": 0.04520070180296898, + "held_grasp_top_clearance": 0.03309326090011509, + "held_grasp_min_top_clearance": 0.013560210540890693 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2947568301464071, + -0.3621969036449487, + 0.8470194757353577 + ], + "target_position": [ + 0.2895336584487873, + -0.36341690894529793, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005363761321656318, + "xy_threshold": 0.08, + "gripper_dist": 0.18524126102947142, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470194757353577, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07557383462134475, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08655775497651085, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15353361940421154, + "release_required_pad_clearance": 0.053278877488255424, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.5766538143935305, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008172094821929932, + "max_z_decrease": 0.008172094821929932, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03508026155195583, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008172094821929932, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02105193120804099, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008172094821929932, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008172192434372888, + "max_button_displacement": 0.12, + "button_start": [ + 0.14523358643054962, + -0.4196783602237701, + 0.7768088579177856 + ], + "button_final": [ + 0.14523358643054962, + -0.4196783602237701, + 0.7768088579177856 + ], + "closest_ee": [ + 0.14701245891021386, + -0.4210493081164078, + 0.8036455287170933 + ], + "closest_button": [ + 0.14526358246803284, + -0.419651985168457, + 0.7686367630958557 + ], + "closest_ee_minus_button": [ + 0.0017488764421810243, + -0.0013973229479508076, + 0.03500876562123756 + ], + "button_min_z_position": [ + 0.14526358246803284, + -0.419651985168457, + 0.7686367630958557 + ], + "min_active_finger_to_button": 0.14380027292977132, + "closest_active_finger": [ + 0.0065342336893081665, + -0.40317246317863464, + 0.8107179999351501 + ], + "closest_active_finger_button": [ + 0.14523304998874664, + -0.4196794927120208, + 0.7765321135520935 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13869881629943848, + 0.016507029533386175, + 0.03418588638305664 + ], + "min_contact_pad_to_button": 0.02105193120804099, + "closest_contact_pad": [ + 0.14526358246803284, + -0.42238794888881814, + 0.789510150700865 + ], + "closest_contact_pad_button": [ + 0.14526358246803284, + -0.419651985168457, + 0.7686367630958557 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0027359637203611675, + 0.02087338760500934 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 26, + "reproducibility": { + "enabled": true, + "action_seed": 1937247219597208700, + "physical_seed": 4015830930766581336, + "layout_id": "layout_00038", + "step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "workflow_spec_digest": "899d6ab12a9c3475100698bd12223ba9b0722ce0ef08f7e073f1cc82e64b1c61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ad6c9a583cc53cb97822a6d23d49cf41e105d74c471a39516779ec7ed327f129", + "visual_seed": 6379023229566861719, + "episode_index": 26, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "runtime_workflow_digest": "82bc5063731ddfd0266f831cc4632665172de8ce02e3cf0701723ae89e342f48" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_27_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_27_success.json new file mode 100644 index 0000000000000000000000000000000000000000..bd6313a452aa483735fc05113949050be596d02c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_27_success.json @@ -0,0 +1,926 @@ +{ + "episode": 27, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23949726167213484, + -0.13863009258345543, + 1.0444235712084684 + ], + "current_z": 1.0444235712084684, + "required_z": 0.8565865497687387, + "initial_z": 0.7565865497687387, + "lift_margin": 0.1878370214397297, + "gripper_z": 1.0486760359011342, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23506617067772453, + -0.14302894996781929, + 1.0486760359011342 + ], + "object_minus_gripper": [ + 0.004431090994410303, + 0.004398857384363852, + -0.004252464692665825 + ], + "object_to_gripper_xy": 0.006243757978070297, + "object_to_gripper_z": -0.004252464692665825, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23949726167213484, + -0.1629886605631687, + 1.0444235712084684 + ], + "finger_b": [ + 0.22896924077917052, + -0.13863009258345543, + 1.0444235712084684 + ], + "finger_midpoint": [ + 0.2342332512256527, + -0.15080937657331206, + 1.0444235712084684 + ], + "object_minus_finger_midpoint": [ + 0.0052640104464821424, + 0.012179283989856626, + 0.0 + ], + "finger_gap": 0.026536372358425448, + "fingertip_max_gap": 0.09818295901835203, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013268186179212707, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0444235712084684, + "object_top_z": 1.0922971068492977, + "finger_top_clearance": 0.0478735356408293, + "fingertip_min_top_clearance": 0.014362060692248756, + "object_projection_between_fingers": 0.8425979547785001, + "object_to_finger_line_xy": 0.009664000382165626, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.051591479509176016, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.0840193005071064, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 202, + "max_stable_success_frames": 202, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24684886837600079, + -0.13354238640779445, + 1.2412195506527257 + ], + "held_position": [ + 0.25146046292348656, + -0.1289400256573957, + 1.2373935649487058 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007555573793867431, + "max_held_gripper_dist": 0.0075597177262064375, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0038259857040199297, + "max_held_gripper_z_dist": 0.004239251925932441, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08610222129467662, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.25146046292348656, + -0.1529866079123428, + 1.2373935649487058 + ], + "held_grasp_finger_b": [ + 0.2424127131107101, + -0.1289400256573957, + 1.2373935649487058 + ], + "held_grasp_midpoint": [ + 0.24693658801709834, + -0.14096331678486926, + 1.2373935649487058 + ], + "held_grasp_object_position": [ + 0.25146046292348656, + -0.1289400256573957, + 1.2373935649487058 + ], + "held_grasp_finger_gap": 0.025692409284038216, + "held_grasp_max_gap": 0.12496608257293701, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023911666846303616, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0051964194591066154, + -0.9963446154416741, + -0.08526666702286258 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004577835924736883, + "held_grasp_line_xy_max_dist": 0.047483041286468505, + "held_grasp_object_top_z": 0.04520072788000107, + "held_grasp_top_clearance": 0.03319787855366102, + "held_grasp_min_top_clearance": 0.01356021836400032 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2853806512977697, + -0.36002772412611916, + 0.8470195462068202 + ], + "target_position": [ + 0.2808100320401935, + -0.36133392299769007, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0047536003081684675, + "xy_threshold": 0.08, + "gripper_dist": 0.18369754587677775, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195462068202, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07534255578648345, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0882346225546211, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15267403403411364, + "release_required_pad_clearance": 0.05411731127731055, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.24827033052501, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00779193639755249, + "max_z_decrease": 0.00779193639755249, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03518616290902124, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00779193639755249, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021216788058841456, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00779193639755249, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00779196332177395, + "max_button_displacement": 0.12, + "button_start": [ + 0.13650995492935175, + -0.4175953865051269, + 0.7768088579177856 + ], + "button_final": [ + 0.13650995492935175, + -0.4175953865051269, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13794941911742634, + -0.4192991191228937, + 0.8082850000963449 + ], + "closest_button": [ + 0.13650269806385035, + -0.41759464144706726, + 0.7731699347496033 + ], + "closest_ee_minus_button": [ + 0.001446721053575989, + -0.0017044776758264324, + 0.03511506534674158 + ], + "button_min_z_position": [ + 0.13648965954780573, + -0.41759261488914484, + 0.7690169215202332 + ], + "min_active_finger_to_button": 0.1446314047483331, + "closest_active_finger": [ + -0.003367193043231964, + -0.4044051170349121, + 0.8108442425727844 + ], + "closest_active_finger_button": [ + 0.13650919497013086, + -0.4175950586795807, + 0.7765096426010132 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13987638801336283, + 0.013189941644668579, + 0.03433459997177124 + ], + "min_contact_pad_to_button": 0.021216788058841456, + "closest_contact_pad": [ + 0.13648965954780573, + -0.4202241457698654, + 0.7900698819001325 + ], + "closest_contact_pad_button": [ + 0.13648965954780573, + -0.41759261488914484, + 0.7690169215202332 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002631530880720545, + 0.021052960379899344 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 27, + "reproducibility": { + "enabled": true, + "action_seed": 1937247219597208700, + "physical_seed": 4015830930766581336, + "layout_id": "layout_00038", + "step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "workflow_spec_digest": "899d6ab12a9c3475100698bd12223ba9b0722ce0ef08f7e073f1cc82e64b1c61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "10c5a7072ad3fe2f35bbe4b961c5d692d9427a5d9576369ee6371bda01612501", + "visual_seed": 2823433185077994205, + "episode_index": 27, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "runtime_workflow_digest": "82bc5063731ddfd0266f831cc4632665172de8ce02e3cf0701723ae89e342f48" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_28_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_28_success.json new file mode 100644 index 0000000000000000000000000000000000000000..bf677b25ee21da258ba00eaebedd43206694db24 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_28_success.json @@ -0,0 +1,926 @@ +{ + "episode": 28, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.24192403928022418, + -0.12938054011785421, + 1.0457797388977894 + ], + "current_z": 1.0457797388977894, + "required_z": 0.8565865648357694, + "initial_z": 0.7565865648357695, + "lift_margin": 0.18919317406201996, + "gripper_z": 1.0498788185889365, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23735226806110912, + -0.13388570174189818, + 1.0498788185889365 + ], + "object_minus_gripper": [ + 0.004571771219115062, + 0.004505161624043963, + -0.0040990796911470895 + ], + "object_to_gripper_xy": 0.00641853358164365, + "object_to_gripper_z": -0.0040990796911470895, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24192403928022418, + -0.15383051164923958, + 1.0457797388977894 + ], + "finger_b": [ + 0.2311393090618864, + -0.12938054011785421, + 1.0457797388977894 + ], + "finger_midpoint": [ + 0.2365316741710553, + -0.1416055258835469, + 1.0457797388977894 + ], + "object_minus_finger_midpoint": [ + 0.0053923651091688785, + 0.012224985765692697, + 0.0 + ], + "finger_gap": 0.02672286499924518, + "fingertip_max_gap": 0.09397264150737464, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013361432499622596, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0457797388977894, + "object_top_z": 1.0916654721597217, + "finger_top_clearance": 0.04588573326193224, + "fingertip_min_top_clearance": 0.013765719978579671, + "object_projection_between_fingers": 0.8371257098647844, + "object_to_finger_line_xy": 0.009867442986351891, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04948632075368732, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.2015515938170656, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 202, + "max_stable_success_frames": 202, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24636000708005987, + -0.12546936757304739, + 1.2434187422667808 + ], + "held_position": [ + 0.25117512003133624, + -0.12077362591665897, + 1.239849540186766 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0076140991538771975, + "max_held_gripper_dist": 0.007618620468417891, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003569202080014877, + "max_held_gripper_z_dist": 0.0040873027521910466, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08568678635292878, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.25117512003133624, + -0.14476442822102054, + 1.239849540186766 + ], + "held_grasp_finger_b": [ + 0.24191046802919913, + -0.12077362591665897, + 1.239849540186766 + ], + "held_grasp_midpoint": [ + 0.2465427940302677, + -0.13276902706883975, + 1.239849540186766 + ], + "held_grasp_object_position": [ + 0.25117512003133624, + -0.12077362591665897, + 1.239849540186766 + ], + "held_grasp_finger_gap": 0.025717549881893172, + "held_grasp_max_gap": 0.12496614962816238, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023602617392784988, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.02184609066006099, + -0.9922558453174282, + -0.12227463251332524 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004610765259564835, + "held_grasp_line_xy_max_dist": 0.04748307481408119, + "held_grasp_object_top_z": 0.045200806111097336, + "held_grasp_top_clearance": 0.03319710098713224, + "held_grasp_min_top_clearance": 0.0135602418333292 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2891971365975067, + -0.36531734954113937, + 0.8470197266809085 + ], + "target_position": [ + 0.2829249317259341, + -0.36731636900345954, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006583056490849355, + "xy_threshold": 0.08, + "gripper_dist": 0.18753667752776979, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470197266809085, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07514211403541045, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08702227286560203, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15686611119526286, + "release_required_pad_clearance": 0.05351113643280102, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.032896569159232, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008131563663482666, + "max_z_decrease": 0.008131563663482666, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03506599499978863, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008131563663482666, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020974821959716297, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 122, + "max_z_decrease_with_contact_point": 0.008131563663482666, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008131608218187557, + "max_button_displacement": 0.12, + "button_start": [ + 0.1386248618364334, + -0.42357781529426575, + 0.7768088579177856 + ], + "button_final": [ + 0.1386248618364334, + -0.42357781529426575, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13965609660355358, + -0.4237821027009991, + 0.8037278726104558 + ], + "closest_button": [ + 0.13864119350910187, + -0.4235564172267913, + 0.768677294254303 + ], + "closest_ee_minus_button": [ + 0.001014903094451708, + -0.00022568547420775964, + 0.03505057835615277 + ], + "button_min_z_position": [ + 0.13864119350910187, + -0.4235564172267913, + 0.768677294254303 + ], + "min_active_finger_to_button": 0.14468842824499623, + "closest_active_finger": [ + -0.0009862929582595825, + -0.4071689546108246, + 0.810943067073822 + ], + "closest_active_finger_button": [ + 0.1386260241270065, + -0.4235773980617523, + 0.7766807675361633 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13961231708526609, + 0.016408443450927734, + 0.03426229953765869 + ], + "min_contact_pad_to_button": 0.020974821959716297, + "closest_contact_pad": [ + 0.13864119350910187, + -0.42500831539290657, + 0.7896018049524538 + ], + "closest_contact_pad_button": [ + 0.13864119350910187, + -0.4235564172267913, + 0.768677294254303 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0014518981661152397, + 0.020924510698150822 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 28, + "reproducibility": { + "enabled": true, + "action_seed": 1937247219597208700, + "physical_seed": 4015830930766581336, + "layout_id": "layout_00038", + "step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "workflow_spec_digest": "899d6ab12a9c3475100698bd12223ba9b0722ce0ef08f7e073f1cc82e64b1c61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3f07c63be24d0530a4e43e51b67b4ec8a6ee6f0d1f9e12a60b428fd237bc9086", + "visual_seed": 2052782619287583831, + "episode_index": 28, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "runtime_workflow_digest": "82bc5063731ddfd0266f831cc4632665172de8ce02e3cf0701723ae89e342f48" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_29_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_29_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2286c5ac42585ccabe092079073937c680535e72 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_29_success.json @@ -0,0 +1,926 @@ +{ + "episode": 29, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.24267869673452097, + -0.13646105937542483, + 1.04414587040434 + ], + "current_z": 1.04414587040434, + "required_z": 0.85658653524826, + "initial_z": 0.75658653524826, + "lift_margin": 0.18755933515608003, + "gripper_z": 1.0486162164865058, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23835570985579532, + -0.1407409819900376, + 1.0486162164865058 + ], + "object_minus_gripper": [ + 0.004322986878725649, + 0.004279922614612769, + -0.004470346082165788 + ], + "object_to_gripper_xy": 0.006083251855768256, + "object_to_gripper_z": -0.004470346082165788, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24267869673452097, + -0.16068015628519985, + 1.04414587040434 + ], + "finger_b": [ + 0.232188852354223, + -0.13646105937542483, + 1.04414587040434 + ], + "finger_midpoint": [ + 0.23743377454437198, + -0.14857060783031234, + 1.04414587040434 + ], + "object_minus_finger_midpoint": [ + 0.005244922190148993, + 0.012109548454887514, + 0.0 + ], + "finger_gap": 0.026393209169177267, + "fingertip_max_gap": 0.09857444145574773, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01319660458458864, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.04414587040434, + "object_top_z": 1.0921682999004738, + "finger_top_clearance": 0.04802242949613378, + "fingertip_min_top_clearance": 0.014406728848840132, + "object_projection_between_fingers": 0.8420376116569849, + "object_to_finger_line_xy": 0.00962575471540562, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05178722072787387, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.504967195473278, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 201, + "max_stable_success_frames": 201, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24841714812103904, + -0.1317305136413442, + 1.2417417737917624 + ], + "held_position": [ + 0.2529235858484958, + -0.12719074578876088, + 1.2377331209044995 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00754895828027654, + "max_held_gripper_dist": 0.007551425925986543, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004008652887262931, + "max_held_gripper_z_dist": 0.00445752749435524, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0861015622453869, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2529235858484958, + -0.15102243689056594, + 1.2377331209044995 + ], + "held_grasp_finger_b": [ + 0.24391331342075634, + -0.12719074578876088, + 1.2377331209044995 + ], + "held_grasp_midpoint": [ + 0.24841844963462606, + -0.1391065913396634, + 1.2377331209044995 + ], + "held_grasp_object_position": [ + 0.2529235858484958, + -0.12719074578876088, + 1.2377331209044995 + ], + "held_grasp_finger_gap": 0.02547811825849656, + "held_grasp_max_gap": 0.12496601551771164, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023735972376881305, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -3.926370513296362e-05, + -0.9959983977705739, + -0.08937108087525392 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004628837215846901, + "held_grasp_line_xy_max_dist": 0.04748300775885582, + "held_grasp_object_top_z": 0.04520075023174286, + "held_grasp_top_clearance": 0.03333241026662244, + "held_grasp_min_top_clearance": 0.013560225069522857 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.29209490395803905, + -0.35956055273126886, + 0.8470194515034819 + ], + "target_position": [ + 0.28789869057898715, + -0.3605790618008592, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.004318051348394548, + "xy_threshold": 0.08, + "gripper_dist": 0.18310751559850835, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470194515034819, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07540933648751616, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08871914634870808, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1517867327781144, + "release_required_pad_clearance": 0.05435957317435404, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.7421151414779215, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007943689823150635, + "max_z_decrease": 0.007943689823150635, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035181020456159, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007943689823150635, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021042402782179725, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007943689823150635, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007943716846574553, + "max_button_displacement": 0.12, + "button_start": [ + 0.14359861612319946, + -0.416840523481369, + 0.7768088579177856 + ], + "button_final": [ + 0.14359861612319946, + -0.416840523481369, + 0.7768088579177856 + ], + "closest_ee": [ + 0.14463512100803225, + -0.41540002993891784, + 0.8081576333635708 + ], + "closest_button": [ + 0.143587052822113, + -0.4168423116207123, + 0.7730218172073364 + ], + "closest_ee_minus_button": [ + 0.0010480681859192376, + 0.001442281681794444, + 0.0351358161562344 + ], + "button_min_z_position": [ + 0.1435779631137848, + -0.4168388545513153, + 0.768865168094635 + ], + "min_active_finger_to_button": 0.14460997255062238, + "closest_active_finger": [ + 0.01711875945329666, + -0.4780707359313965, + 0.8104804754257202 + ], + "closest_active_finger_button": [ + 0.14359784126281736, + -0.41684117913246155, + 0.7763333320617676 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1264790818095207, + -0.061229556798934937, + 0.03414714336395264 + ], + "min_contact_pad_to_button": 0.021042402782179725, + "closest_contact_pad": [ + 0.1435779631137848, + -0.4168388545513153, + 0.7899075708768147 + ], + "closest_contact_pad_button": [ + 0.1435779631137848, + -0.4168388545513153, + 0.768865168094635 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021042402782179725 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 29, + "reproducibility": { + "enabled": true, + "action_seed": 1937247219597208700, + "physical_seed": 4015830930766581336, + "layout_id": "layout_00038", + "step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "workflow_spec_digest": "899d6ab12a9c3475100698bd12223ba9b0722ce0ef08f7e073f1cc82e64b1c61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "fdfb91d36277f9e18e079a1bdd6a2e390203fb87b9a889f077857234cea25dec", + "visual_seed": 1512478184168450007, + "episode_index": 29, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "runtime_workflow_digest": "82bc5063731ddfd0266f831cc4632665172de8ce02e3cf0701723ae89e342f48" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_2_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_2_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9c92e45e5ebe2f1514bd3c3237bf5b96131ca59e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_2_success.json @@ -0,0 +1,926 @@ +{ + "episode": 2, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.24278068140284798, + -0.1332002377458308, + 1.046889371384495 + ], + "current_z": 1.046889371384495, + "required_z": 0.8565865867398786, + "initial_z": 0.7565865867398787, + "lift_margin": 0.19030278464461625, + "gripper_z": 1.0507860658738994, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23824445173157796, + -0.13757661875210142, + 1.0507860658738994 + ], + "object_minus_gripper": [ + 0.0045362296712700145, + 0.004376381006270608, + -0.0038966944894045508 + ], + "object_to_gripper_xy": 0.006303180970157576, + "object_to_gripper_z": -0.0038966944894045508, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24278068140284798, + -0.157623859372641, + 1.046889371384495 + ], + "finger_b": [ + 0.23217370977950955, + -0.1332002377458308, + 1.046889371384495 + ], + "finger_midpoint": [ + 0.23747719559117875, + -0.1454120485592359, + 1.046889371384495 + ], + "object_minus_finger_midpoint": [ + 0.0053034858116692285, + 0.012211810813405083, + 0.0 + ], + "finger_gap": 0.026627450880395916, + "fingertip_max_gap": 0.09616210703052691, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013313725440197951, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.046889371384495, + "object_top_z": 1.0938787805064356, + "finger_top_clearance": 0.04698940912194072, + "fingertip_min_top_clearance": 0.014096822736582231, + "object_projection_between_fingers": 0.8413194746820173, + "object_to_finger_line_xy": 0.009729082318032184, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05058105351526346, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.7877301284744584, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 203, + "max_stable_success_frames": 203, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2476138669364734, + -0.12845202493834107, + 1.2445556564181992 + ], + "held_position": [ + 0.252323973429674, + -0.12385831282004482, + 1.2411471858041776 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007409788534750583, + "max_held_gripper_dist": 0.007412654369804635, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003408470614021608, + "max_held_gripper_z_dist": 0.003890574029297156, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08571507906508857, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.252323973429674, + -0.14764611970413694, + 1.2411471858041776 + ], + "held_grasp_finger_b": [ + 0.24302742000496627, + -0.12385831282004482, + 1.2411471858041776 + ], + "held_grasp_midpoint": [ + 0.24767569671732015, + -0.13575221626209089, + 1.2411471858041776 + ], + "held_grasp_object_position": [ + 0.252323973429674, + -0.12385831282004482, + 1.2411471858041776 + ], + "held_grasp_finger_gap": 0.025539883749408594, + "held_grasp_max_gap": 0.12496597081422806, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02363409438860237, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.002541934538811793, + -0.9945315990716841, + -0.10440515799863226 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004782232734809094, + "held_grasp_line_xy_max_dist": 0.04748298540711403, + "held_grasp_object_top_z": 0.04520072788000107, + "held_grasp_top_clearance": 0.03336004945545771, + "held_grasp_min_top_clearance": 0.01356021836400032 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.29314860117509994, + -0.36584585110341694, + 0.8470195449521571 + ], + "target_position": [ + 0.2888736083422417, + -0.36726251176817665, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.004503608681942393, + "xy_threshold": 0.08, + "gripper_dist": 0.1840241711846967, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195449521571, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07541660189402624, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08848582255782993, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15284107824456605, + "release_required_pad_clearance": 0.054242911278914965, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.5040129733104917, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008159935474395752, + "max_z_decrease": 0.008159935474395752, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0350065150297903, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008159935474395752, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02090665148678497, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008159935474395752, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008160034619847312, + "max_button_displacement": 0.12, + "button_start": [ + 0.1445735394954681, + -0.4235239624977111, + 0.7768088579177856 + ], + "button_final": [ + 0.1445735394954681, + -0.4235239624977111, + 0.7768088579177856 + ], + "closest_ee": [ + 0.14348852283126, + -0.42374011442893117, + 0.8036367246854617 + ], + "closest_button": [ + 0.14460830390453336, + -0.4235037267208099, + 0.7686489224433899 + ], + "closest_ee_minus_button": [ + -0.001119781073273346, + -0.0002363877081212884, + 0.034987802242071764 + ], + "button_min_z_position": [ + 0.14460830390453336, + -0.4235037267208099, + 0.7686489224433899 + ], + "min_active_finger_to_button": 0.14673921448165816, + "closest_active_finger": [ + 0.002646803855895996, + -0.40887340903282166, + 0.8108618855476379 + ], + "closest_active_finger_button": [ + 0.14457343518733978, + -0.4235243201255798, + 0.7765897512435913 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1419266313314438, + 0.014650911092758123, + 0.03427213430404663 + ], + "min_contact_pad_to_button": 0.02090665148678497, + "closest_contact_pad": [ + 0.14460830390453336, + -0.42481051415650484, + 0.7895146930495237 + ], + "closest_contact_pad_button": [ + 0.14460830390453336, + -0.4235037267208099, + 0.7686489224433899 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001306787435694956, + 0.020865770606133816 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 2, + "reproducibility": { + "enabled": true, + "action_seed": 1937247219597208700, + "physical_seed": 4015830930766581336, + "layout_id": "layout_00038", + "step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "workflow_spec_digest": "899d6ab12a9c3475100698bd12223ba9b0722ce0ef08f7e073f1cc82e64b1c61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "de28e912115c243987fcaf6e5e0e67f730bbb1af5bee168998b01c66a60e7179", + "visual_seed": 3432864162239659663, + "episode_index": 2, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "runtime_workflow_digest": "82bc5063731ddfd0266f831cc4632665172de8ce02e3cf0701723ae89e342f48" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_30_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_30_success.json new file mode 100644 index 0000000000000000000000000000000000000000..835ee53fe11d37dac48255e19cd73d3e9cd5587a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_30_success.json @@ -0,0 +1,926 @@ +{ + "episode": 30, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23793409346578986, + -0.13073920676704168, + 1.0469435620086585 + ], + "current_z": 1.0469435620086585, + "required_z": 0.8565866707411535, + "initial_z": 0.7565866707411535, + "lift_margin": 0.190356891267505, + "gripper_z": 1.0508498224603664, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2338811955551541, + -0.1350116326110146, + 1.0508498224603664 + ], + "object_minus_gripper": [ + 0.004052897910635761, + 0.004272425843972916, + -0.0039062604517079436 + ], + "object_to_gripper_xy": 0.005888939129103255, + "object_to_gripper_z": -0.0039062604517079436, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23793409346578986, + -0.1545383965699324, + 1.0469435620086585 + ], + "finger_b": [ + 0.22722060656429185, + -0.13073920676704168, + 1.0469435620086585 + ], + "finger_midpoint": [ + 0.23257735001504087, + -0.14263880166848703, + 1.0469435620086585 + ], + "object_minus_finger_midpoint": [ + 0.005356743450748991, + 0.011899594901445348, + 0.0 + ], + "finger_gap": 0.02609942981872568, + "fingertip_max_gap": 0.092715219383113, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013049714909362822, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0469435620086585, + "object_top_z": 1.0924009119371536, + "finger_top_clearance": 0.04545734992849515, + "fingertip_min_top_clearance": 0.013637204978548544, + "object_projection_between_fingers": 0.8315001003005854, + "object_to_finger_line_xy": 0.009769267374438917, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0488576096915565, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.04385025636696, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 204, + "max_stable_success_frames": 204, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.244338419178952, + -0.12793995294040356, + 1.2416012518775759 + ], + "held_position": [ + 0.2487041410880825, + -0.12361194537431203, + 1.238118092595525 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007065661742833732, + "max_held_gripper_dist": 0.007068314659498734, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003483159282050785, + "max_held_gripper_z_dist": 0.0038799395591715413, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08564215078669916, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2487041410880825, + -0.14757705395871631, + 1.238118092595525 + ], + "held_grasp_finger_b": [ + 0.2402174425304306, + -0.12361194537431203, + 1.238118092595525 + ], + "held_grasp_midpoint": [ + 0.24446079180925656, + -0.13559449966651416, + 1.238118092595525 + ], + "held_grasp_object_position": [ + 0.2487041410880825, + -0.12361194537431203, + 1.238118092595525 + ], + "held_grasp_finger_gap": 0.02542342388174219, + "held_grasp_max_gap": 0.12496580690145492, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02335971836168211, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.04997317920859291, + -0.9924355479478485, + -0.11213547400015611 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003883505595059155, + "held_grasp_line_xy_max_dist": 0.04748290345072746, + "held_grasp_object_top_z": 0.04520062357187271, + "held_grasp_top_clearance": 0.03309665708312081, + "held_grasp_min_top_clearance": 0.013560187071561813 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.29080489729178804, + -0.3645630612858929, + 0.8470195450873264 + ], + "target_position": [ + 0.2839660789599658, + -0.3666677606962202, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007155361331442344, + "xy_threshold": 0.08, + "gripper_dist": 0.18630521797676786, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195450873264, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07517378698994201, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08555274878381257, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15549431027722554, + "release_required_pad_clearance": 0.052776374391906286, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6013317890484995, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00810319185256958, + "max_z_decrease": 0.00810319185256958, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03513836785613862, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00810319185256958, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.020983686039095173, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 122, + "max_z_decrease_with_contact_point": 0.00810319185256958, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008103211890068273, + "max_button_displacement": 0.12, + "button_start": [ + 0.13966600596904752, + -0.42292922735214233, + 0.7768088579177856 + ], + "button_final": [ + 0.13966600596904752, + -0.42292922735214233, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1401455232089739, + -0.4210697125620016, + 0.8037924952311832 + ], + "closest_button": [ + 0.139672502875328, + -0.4229124188423157, + 0.7687056660652161 + ], + "closest_ee_minus_button": [ + 0.00047302033364587937, + 0.001842706280314077, + 0.03508682916596717 + ], + "button_min_z_position": [ + 0.139672502875328, + -0.4229124188423157, + 0.7687056660652161 + ], + "min_active_finger_to_button": 0.144599353154296, + "closest_active_finger": [ + 0.01434256136417389, + -0.4863956868648529, + 0.8110649585723877 + ], + "closest_active_finger_button": [ + 0.1396674811840057, + -0.4229281544685364, + 0.7767938375473022 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12532491981983182, + -0.06346753239631653, + 0.03427112102508545 + ], + "min_contact_pad_to_button": 0.020983686039095173, + "closest_contact_pad": [ + 0.139672502875328, + -0.4229124188423157, + 0.7896893521043112 + ], + "closest_contact_pad_button": [ + 0.139672502875328, + -0.4229124188423157, + 0.7687056660652161 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.020983686039095173 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 30, + "reproducibility": { + "enabled": true, + "action_seed": 1937247219597208700, + "physical_seed": 4015830930766581336, + "layout_id": "layout_00038", + "step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "workflow_spec_digest": "899d6ab12a9c3475100698bd12223ba9b0722ce0ef08f7e073f1cc82e64b1c61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "89a77b64148c94fc8db9d37e54c3d0ec455ef0a880a94cbbc1c45dff98ee7165", + "visual_seed": 7706848945304671169, + "episode_index": 30, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "runtime_workflow_digest": "82bc5063731ddfd0266f831cc4632665172de8ce02e3cf0701723ae89e342f48" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_31_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_31_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a246c4f3d529867888a15c438f335cf51b20b9b0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_31_success.json @@ -0,0 +1,926 @@ +{ + "episode": 31, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.24452679989402612, + -0.13412593846765436, + 1.0446269848405827 + ], + "current_z": 1.0446269848405827, + "required_z": 0.8565866659191274, + "initial_z": 0.7565866659191274, + "lift_margin": 0.18804031892145534, + "gripper_z": 1.0478988039289179, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24064972881425534, + -0.13832193338022616, + 1.0478988039289179 + ], + "object_minus_gripper": [ + 0.003877071079770783, + 0.004195994912571804, + -0.0032718190883351816 + ], + "object_to_gripper_xy": 0.0057129723843130425, + "object_to_gripper_z": -0.0032718190883351816, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24452679989402612, + -0.15770512899928515, + 1.0446269848405827 + ], + "finger_b": [ + 0.23378523409391222, + -0.13412593846765436, + 1.0446269848405827 + ], + "finger_midpoint": [ + 0.23915601699396916, + -0.14591553373346977, + 1.0446269848405827 + ], + "object_minus_finger_midpoint": [ + 0.005370782900056964, + 0.011789595265815411, + 0.0 + ], + "finger_gap": 0.025910605202602348, + "fingertip_max_gap": 0.09395736333983712, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012955302601301193, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0446269848405827, + "object_top_z": 1.0909468123356971, + "finger_top_clearance": 0.04631982749511443, + "fingertip_min_top_clearance": 0.013895948248534329, + "object_projection_between_fingers": 0.8281379166081219, + "object_to_finger_line_xy": 0.00977504865781741, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04947868166991856, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.8506897700843188, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 202, + "max_stable_success_frames": 202, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24932647971244687, + -0.13221083508247405, + 1.239439110002092 + ], + "held_position": [ + 0.25356985054813563, + -0.12803806132802278, + 1.2366269223668411 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00658229717886313, + "max_held_gripper_dist": 0.0065843754022156765, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002812187635250929, + "max_held_gripper_z_dist": 0.003234933082154612, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08557914802651434, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.25356985054813563, + -0.1517864558372536, + 1.2366269223668411 + ], + "held_grasp_finger_b": [ + 0.24522085801544222, + -0.12803806132802278, + 1.2366269223668411 + ], + "held_grasp_midpoint": [ + 0.24939535428178894, + -0.13991225858263817, + 1.2366269223668411 + ], + "held_grasp_object_position": [ + 0.25356985054813563, + -0.12803806132802278, + 1.2366269223668411 + ], + "held_grasp_finger_gap": 0.025173238132529436, + "held_grasp_max_gap": 0.12496578454971313, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023014675232858713, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06494766061677323, + -0.9919374868565402, + -0.1088201431222173 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0036373722979276737, + "held_grasp_line_xy_max_dist": 0.04748289227485657, + "held_grasp_object_top_z": 0.04520063474774361, + "held_grasp_top_clearance": 0.0331510495978089, + "held_grasp_min_top_clearance": 0.013560190424323082 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2863007949019286, + -0.3583570003349167, + 0.8470195276570756 + ], + "target_position": [ + 0.2812880061042353, + -0.3593695534534997, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005114031222844803, + "xy_threshold": 0.08, + "gripper_dist": 0.18664668418399147, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195276570756, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0755542282916167, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08579710297611419, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15481376669803662, + "release_required_pad_clearance": 0.0528985514880571, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8364931238367477, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007946133613586426, + "max_z_decrease": 0.007946133613586426, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03514015223036759, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007946133613586426, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021154841656235473, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007946133613586426, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007946153066435922, + "max_button_displacement": 0.12, + "button_start": [ + 0.13698793947696683, + -0.4156310260295868, + 0.7768088579177856 + ], + "button_final": [ + 0.13698793947696683, + -0.4156310260295868, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13633336747895086, + -0.41672039022813306, + 0.8079189673008343 + ], + "closest_button": [ + 0.13697630167007446, + -0.41563332080841064, + 0.7728015184402466 + ], + "closest_ee_minus_button": [ + -0.0006429341911236008, + -0.0010870694197224195, + 0.03511744886058776 + ], + "button_min_z_position": [ + 0.1369704306125641, + -0.41562941670417786, + 0.7688627243041992 + ], + "min_active_finger_to_button": 0.1466503707995702, + "closest_active_finger": [ + -0.004601933062076569, + -0.39870283007621765, + 0.810877799987793 + ], + "closest_active_finger_button": [ + 0.1369877904653549, + -0.4156317710876465, + 0.7766419649124146 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14158972352743146, + 0.016928941011428833, + 0.03423583507537842 + ], + "min_contact_pad_to_button": 0.021154841656235473, + "closest_contact_pad": [ + 0.1369704306125641, + -0.4179482989489758, + 0.7898900900601649 + ], + "closest_contact_pad_button": [ + 0.1369704306125641, + -0.41562941670417786, + 0.7688627243041992 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0023188822447979263, + 0.021027365755965644 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 31, + "reproducibility": { + "enabled": true, + "action_seed": 1937247219597208700, + "physical_seed": 4015830930766581336, + "layout_id": "layout_00038", + "step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "workflow_spec_digest": "899d6ab12a9c3475100698bd12223ba9b0722ce0ef08f7e073f1cc82e64b1c61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f2aeac8a801389e82ad0120abd696f06261526de7a96077e76863f465c220d88", + "visual_seed": 2711905762908136953, + "episode_index": 31, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "runtime_workflow_digest": "82bc5063731ddfd0266f831cc4632665172de8ce02e3cf0701723ae89e342f48" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_32_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_32_success.json new file mode 100644 index 0000000000000000000000000000000000000000..10b591439867a4724e0dd79f76d14fc36a917391 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_32_success.json @@ -0,0 +1,926 @@ +{ + "episode": 32, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.24220449888085818, + -0.13543856642233634, + 1.0442569768015353 + ], + "current_z": 1.0442569768015353, + "required_z": 0.8565865722783763, + "initial_z": 0.7565865722783763, + "lift_margin": 0.18767040452315897, + "gripper_z": 1.0479729247833576, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23813138250368948, + -0.13963276736187435, + 1.0479729247833576 + ], + "object_minus_gripper": [ + 0.004073116377168701, + 0.004194200939538012, + -0.0037159479818222874 + ], + "object_to_gripper_xy": 0.005846503103837492, + "object_to_gripper_z": -0.0037159479818222874, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24220449888085818, + -0.15940329210563878, + 1.0442569768015353 + ], + "finger_b": [ + 0.23175889105516798, + -0.13543856642233634, + 1.0442569768015353 + ], + "finger_midpoint": [ + 0.23698169496801308, + -0.14742092926398756, + 1.0442569768015353 + ], + "object_minus_finger_midpoint": [ + 0.005222803912845103, + 0.011982362841651217, + 0.0 + ], + "finger_gap": 0.026142279929724104, + "fingertip_max_gap": 0.0932910440884607, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013071139964862052, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0442569768015353, + "object_top_z": 1.0900305711182432, + "finger_top_clearance": 0.04577359431670791, + "fingertip_min_top_clearance": 0.013732078295012357, + "object_projection_between_fingers": 0.8403457398885642, + "object_to_finger_line_xy": 0.009575527720265866, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04914552204423035, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.0770225878909514, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 202, + "max_stable_success_frames": 202, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24819117517215625, + -0.13142036720584999, + 1.2408440705263546 + ], + "held_position": [ + 0.2525212422706069, + -0.1271047586885816, + 1.2375901572105004 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006925453762642406, + "max_held_gripper_dist": 0.006928013718769585, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003253913315854229, + "max_held_gripper_z_dist": 0.0036920761982699446, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08577129369663342, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2525212422706069, + -0.15084899992164646, + 1.2375901572105004 + ], + "held_grasp_finger_b": [ + 0.24388804497227717, + -0.1271047586885816, + 1.2375901572105004 + ], + "held_grasp_midpoint": [ + 0.24820464362144204, + -0.13897687930511404, + 1.2375901572105004 + ], + "held_grasp_object_position": [ + 0.2525212422706069, + -0.1271047586885816, + 1.2375901572105004 + ], + "held_grasp_finger_gap": 0.02526501706561596, + "held_grasp_max_gap": 0.12496590375900268, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02328037732326661, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.03390179135331588, + -0.992790544258795, + -0.11496783799551147 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004145708258644325, + "held_grasp_line_xy_max_dist": 0.04748295187950134, + "held_grasp_object_top_z": 0.04520067200064659, + "held_grasp_top_clearance": 0.0332678024854933, + "held_grasp_min_top_clearance": 0.013560201600193977 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.29595589213804174, + -0.3594430435780077, + 0.847019630359259 + ], + "target_position": [ + 0.28955008050114767, + -0.36160488803838725, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006760768757932877, + "xy_threshold": 0.08, + "gripper_dist": 0.18701438749675434, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.847019630359259, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07556031844660922, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08724511266453137, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1553405648508707, + "release_required_pad_clearance": 0.05362255633226569, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.254528938392034, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008127391338348389, + "max_z_decrease": 0.008127391338348389, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03508860595711052, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008127391338348389, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021084574663535867, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 122, + "max_z_decrease_with_contact_point": 0.008127391338348389, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008127436119244253, + "max_button_displacement": 0.12, + "button_start": [ + 0.14525000751018524, + -0.4178663492202758, + 0.7768088579177856 + ], + "button_final": [ + 0.14525000751018524, + -0.4178663492202758, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1460153004043789, + -0.4194155197578747, + 0.8037268344763521 + ], + "closest_button": [ + 0.1452651172876358, + -0.41784399747848505, + 0.7686814665794373 + ], + "closest_ee_minus_button": [ + 0.0007501831167431028, + -0.00157152227938967, + 0.035045367896914814 + ], + "button_min_z_position": [ + 0.1452651172876358, + -0.41784399747848505, + 0.7686814665794373 + ], + "min_active_finger_to_button": 0.1448133344621833, + "closest_active_finger": [ + 0.005204513669013977, + -0.40426474809646606, + 0.8109632730484009 + ], + "closest_active_finger_button": [ + 0.1452527642250061, + -0.4178645312786102, + 0.7767224311828613 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14004825055599213, + 0.01359978318214411, + 0.03424084186553955 + ], + "min_contact_pad_to_button": 0.021084574663535867, + "closest_contact_pad": [ + 0.1452651172876358, + -0.4205104450668385, + 0.7895967563455577 + ], + "closest_contact_pad_button": [ + 0.1452651172876358, + -0.41784399747848505, + 0.7686814665794373 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0026664475883534378, + 0.02091528976612045 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 32, + "reproducibility": { + "enabled": true, + "action_seed": 1937247219597208700, + "physical_seed": 4015830930766581336, + "layout_id": "layout_00038", + "step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "workflow_spec_digest": "899d6ab12a9c3475100698bd12223ba9b0722ce0ef08f7e073f1cc82e64b1c61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b85123f8ab5051636c889f4e11e8e1edbb47e97678665866ba0c390c5f71862a", + "visual_seed": 5788684145433311827, + "episode_index": 32, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "runtime_workflow_digest": "82bc5063731ddfd0266f831cc4632665172de8ce02e3cf0701723ae89e342f48" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_33_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_33_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9df2a7eae857cdeead247fe79263fcb57ecbcc24 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_33_success.json @@ -0,0 +1,926 @@ +{ + "episode": 33, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.24209170705078126, + -0.13306247979424127, + 1.0443188479757148 + ], + "current_z": 1.0443188479757148, + "required_z": 0.8565866746836338, + "initial_z": 0.7565866746836338, + "lift_margin": 0.18773217329208103, + "gripper_z": 1.0478058033185775, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23801818106289102, + -0.13728927167504296, + 1.0478058033185775 + ], + "object_minus_gripper": [ + 0.004073525987890236, + 0.004226791880801689, + -0.0034869553428626965 + ], + "object_to_gripper_xy": 0.005870211544538085, + "object_to_gripper_z": -0.0034869553428626965, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24209170705078126, + -0.15694923275296568, + 1.0443188479757148 + ], + "finger_b": [ + 0.23149983620979409, + -0.13306247979424127, + 1.0443188479757148 + ], + "finger_midpoint": [ + 0.23679577163028767, + -0.14500585627360346, + 1.0443188479757148 + ], + "object_minus_finger_midpoint": [ + 0.005295935420493586, + 0.011943376479362194, + 0.0 + ], + "finger_gap": 0.026129766451755437, + "fingertip_max_gap": 0.09557315569756242, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013064883225877707, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0443188479757148, + "object_top_z": 1.0915434820697831, + "finger_top_clearance": 0.047224634094068296, + "fingertip_min_top_clearance": 0.014167390228220505, + "object_projection_between_fingers": 0.8356861027484861, + "object_to_finger_line_xy": 0.009682650727725126, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05028657784878121, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.064448582272629, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 202, + "max_stable_success_frames": 202, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24766264453228856, + -0.12997964145752655, + 1.238568925794175 + ], + "held_position": [ + 0.2520411331642381, + -0.12569145077302155, + 1.2355585381562095 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006828043334484783, + "max_held_gripper_dist": 0.006828957490530324, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0030103876379654615, + "max_held_gripper_z_dist": 0.0034597716471169715, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08595641929586456, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2520411331642381, + -0.14944920342347875, + 1.2355585381562095 + ], + "held_grasp_finger_b": [ + 0.2435071974046032, + -0.12569145077302155, + 1.2355585381562095 + ], + "held_grasp_midpoint": [ + 0.24777416528442064, + -0.13757032709825015, + 1.2355585381562095 + ], + "held_grasp_object_position": [ + 0.2520411331642381, + -0.12569145077302155, + 1.2355585381562095 + ], + "held_grasp_finger_gap": 0.02524398681963453, + "held_grasp_max_gap": 0.12496582925319671, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023165300949287305, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05117979517086221, + -0.9934469131284815, + -0.10219520224433151 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00385335792028103, + "held_grasp_line_xy_max_dist": 0.04748291462659836, + "held_grasp_object_top_z": 0.0452006496489048, + "held_grasp_top_clearance": 0.03318123409008174, + "held_grasp_min_top_clearance": 0.01356019489467144 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2844043266108037, + -0.3664441638479107, + 0.847019643950886 + ], + "target_position": [ + 0.2801689491785891, + -0.3670543878581905, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.004279111512456184, + "xy_threshold": 0.08, + "gripper_dist": 0.1831468013473901, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.847019643950886, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07551092949006975, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08643046211540005, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1513367853005071, + "release_required_pad_clearance": 0.05321523105770003, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.4510140891677992, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00797879695892334, + "max_z_decrease": 0.00797879695892334, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035175473990890084, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00797879695892334, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021063392642720953, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00797879695892334, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007978820988640379, + "max_button_displacement": 0.12, + "button_start": [ + 0.13586887717247007, + -0.42331585288047785, + 0.7768088579177856 + ], + "button_final": [ + 0.13586887717247007, + -0.42331585288047785, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13756187405971784, + -0.4229551382413397, + 0.8081437283669137 + ], + "closest_button": [ + 0.13585945963859555, + -0.42331585288047785, + 0.773011326789856 + ], + "closest_ee_minus_button": [ + 0.0017024144211222891, + 0.00036071463913817103, + 0.03513240157705777 + ], + "button_min_z_position": [ + 0.1358493715524673, + -0.4233141243457794, + 0.7688300609588623 + ], + "min_active_finger_to_button": 0.14451027348797016, + "closest_active_finger": [ + 0.00949367880821228, + -0.4845088720321655, + 0.8105050921440125 + ], + "closest_active_finger_button": [ + 0.13586793839931482, + -0.42331573367118835, + 0.7763266563415527 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12637425959110254, + -0.06119313836097717, + 0.03417843580245972 + ], + "min_contact_pad_to_button": 0.021063392642720953, + "closest_contact_pad": [ + 0.1358493715524673, + -0.42413363085899175, + 0.7898775054283516 + ], + "closest_contact_pad_button": [ + 0.1358493715524673, + -0.4233141243457794, + 0.7688300609588623 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0008195065132123314, + 0.02104744446948925 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 33, + "reproducibility": { + "enabled": true, + "action_seed": 1937247219597208700, + "physical_seed": 4015830930766581336, + "layout_id": "layout_00038", + "step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "workflow_spec_digest": "899d6ab12a9c3475100698bd12223ba9b0722ce0ef08f7e073f1cc82e64b1c61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "230022893e025ea92ed7219e73f1f6127fd199f023b844a666f63fcf9927aef9", + "visual_seed": 11029055490806010, + "episode_index": 33, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "runtime_workflow_digest": "82bc5063731ddfd0266f831cc4632665172de8ce02e3cf0701723ae89e342f48" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_34_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_34_success.json new file mode 100644 index 0000000000000000000000000000000000000000..27ca9c391afa6d69669bc38df9313816544c30a1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_34_success.json @@ -0,0 +1,926 @@ +{ + "episode": 34, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.24014947580485888, + -0.1284060939289768, + 1.0445050235573816 + ], + "current_z": 1.0445050235573816, + "required_z": 0.8565865812213372, + "initial_z": 0.7565865812213373, + "lift_margin": 0.18791844233604438, + "gripper_z": 1.0481123528579257, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23595315987262044, + -0.13268326104230793, + 1.0481123528579257 + ], + "object_minus_gripper": [ + 0.004196315932238431, + 0.004277167113331121, + -0.003607329300544082 + ], + "object_to_gripper_xy": 0.005991930066224018, + "object_to_gripper_z": -0.003607329300544082, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24014947580485888, + -0.15245072199833046, + 1.0445050235573816 + ], + "finger_b": [ + 0.22956027157332057, + -0.1284060939289768, + 1.0445050235573816 + ], + "finger_midpoint": [ + 0.23485487368908972, + -0.14042840796365363, + 1.0445050235573816 + ], + "object_minus_finger_midpoint": [ + 0.005294602115769154, + 0.012022314034676823, + 0.0 + ], + "finger_gap": 0.026273092418875592, + "fingertip_max_gap": 0.09407120207040612, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013136546209437796, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0445050235573816, + "object_top_z": 1.090586980360336, + "finger_top_clearance": 0.04608195680295446, + "fingertip_min_top_clearance": 0.013824587040886354, + "object_projection_between_fingers": 0.837555780412927, + "object_to_finger_line_xy": 0.00969103572729185, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04953560103520306, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.2846272236932563, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 201, + "max_stable_success_frames": 201, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24528509957598663, + -0.12464176103634395, + 1.2401941225471345 + ], + "held_position": [ + 0.2497337181448985, + -0.12025535871825377, + 1.2370671284504924 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006986331265281431, + "max_held_gripper_dist": 0.00699554678148768, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0031269940966420773, + "max_held_gripper_z_dist": 0.003583839650429299, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08515516078507537, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2497337181448985, + -0.14400818290401407, + 1.2370671284504924 + ], + "held_grasp_finger_b": [ + 0.24092547695430808, + -0.12025535871825377, + 1.2370671284504924 + ], + "held_grasp_midpoint": [ + 0.2453295975496033, + -0.13213177081113392, + 1.2370671284504924 + ], + "held_grasp_object_position": [ + 0.2497337181448985, + -0.12025535871825377, + 1.2370671284504924 + ], + "held_grasp_finger_gap": 0.025333412120582047, + "held_grasp_max_gap": 0.12496594846248626, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023325254656573337, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.02985235414114072, + -0.993069338091444, + -0.1136755325250487 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004269206679204514, + "held_grasp_line_xy_max_dist": 0.04748297423124313, + "held_grasp_object_top_z": 0.04520070552825928, + "held_grasp_top_clearance": 0.03327513146459052, + "held_grasp_min_top_clearance": 0.013560211658477784 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.28853020475528357, + -0.3579308316440213, + 0.8470197010970602 + ], + "target_position": [ + 0.28210153421688067, + -0.3600933685589055, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006782652195090532, + "xy_threshold": 0.08, + "gripper_dist": 0.18692717631178643, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470197010970602, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0754929137454883, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08741872083379164, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15539199862224445, + "release_required_pad_clearance": 0.05370936041689582, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.426750681307269, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008051931858062744, + "max_z_decrease": 0.008051931858062744, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035121039258207636, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008051931858062744, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021060248258653866, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008051931858062744, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008051941638746654, + "max_button_displacement": 0.12, + "button_start": [ + 0.13780145347118372, + -0.41635483503341675, + 0.7768088579177856 + ], + "button_final": [ + 0.13780145347118372, + -0.41635483503341675, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13773761756405137, + -0.416358008261386, + 0.8078221996367925 + ], + "closest_button": [ + 0.1377928256988525, + -0.41635608673095703, + 0.7727012038230896 + ], + "closest_ee_minus_button": [ + -5.5208134801143505e-05, + -1.9215304289943447e-06, + 0.03512099581370287 + ], + "button_min_z_position": [ + 0.13779179751873016, + -0.41634681820869446, + 0.7687569260597229 + ], + "min_active_finger_to_button": 0.1462045467314615, + "closest_active_finger": [ + 0.010120436549186707, + -0.47883301973342896, + 0.8107283711433411 + ], + "closest_active_finger_button": [ + 0.1378017216920852, + -0.4163548946380615, + 0.7765268683433533 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1276812851428985, + -0.06247812509536743, + 0.03420150279998779 + ], + "min_contact_pad_to_button": 0.021060248258653866, + "closest_contact_pad": [ + 0.13779179751873016, + -0.4175290397877658, + 0.7897839660048533 + ], + "closest_contact_pad_button": [ + 0.13779179751873016, + -0.41634681820869446, + 0.7687569260597229 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0011822215790713297, + 0.021027039945130443 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 34, + "reproducibility": { + "enabled": true, + "action_seed": 1937247219597208700, + "physical_seed": 4015830930766581336, + "layout_id": "layout_00038", + "step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "workflow_spec_digest": "899d6ab12a9c3475100698bd12223ba9b0722ce0ef08f7e073f1cc82e64b1c61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "98d61a4e76d048ab574052069eb1ec50d469cb3c9a4a68632bd5c66b96e464e2", + "visual_seed": 3543626550412867463, + "episode_index": 34, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "runtime_workflow_digest": "82bc5063731ddfd0266f831cc4632665172de8ce02e3cf0701723ae89e342f48" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_35_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_35_success.json new file mode 100644 index 0000000000000000000000000000000000000000..33e5448c423fcc96c27700ffdc5ff7fa2d045f55 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_35_success.json @@ -0,0 +1,926 @@ +{ + "episode": 35, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.24310595565636187, + -0.13167519816765508, + 1.0436634775944413 + ], + "current_z": 1.0436634775944413, + "required_z": 0.8565866200608335, + "initial_z": 0.7565866200608335, + "lift_margin": 0.1870768575336078, + "gripper_z": 1.0477416649865288, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23865055457798368, + -0.13606589055618695, + 1.0477416649865288 + ], + "object_minus_gripper": [ + 0.0044554010783781905, + 0.004390692388531875, + -0.004078187392087429 + ], + "object_to_gripper_xy": 0.00625530002637166, + "object_to_gripper_z": -0.004078187392087429, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24310595565636187, + -0.1559915530140848, + 1.0436634775944413 + ], + "finger_b": [ + 0.23242650521746228, + -0.13167519816765508, + 1.0436634775944413 + ], + "finger_midpoint": [ + 0.23776623043691208, + -0.14383337559086995, + 1.0436634775944413 + ], + "object_minus_finger_midpoint": [ + 0.005339725219449781, + 0.012158177423214872, + 0.0 + ], + "finger_gap": 0.026558158345306976, + "fingertip_max_gap": 0.0965904303935147, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013279079172653495, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0436634775944413, + "object_top_z": 1.0909288353186104, + "finger_top_clearance": 0.047265357724169066, + "fingertip_min_top_clearance": 0.014179607317250736, + "object_projection_between_fingers": 0.8383030242208721, + "object_to_finger_line_xy": 0.00977798622407229, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05079521519675735, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.7475463095111126, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 200, + "max_stable_success_frames": 200, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2474033325694219, + -0.12737789055810095, + 1.2382148497500087 + ], + "held_position": [ + 0.2520455147713646, + -0.12275119216557726, + 1.234637860457233 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007466662307353074, + "max_held_gripper_dist": 0.007468168649801321, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003576989292775723, + "max_held_gripper_z_dist": 0.004065669311035025, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08607998036104753, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2520455147713646, + -0.14650252469376185, + 1.234637860457233 + ], + "held_grasp_finger_b": [ + 0.24286478922264357, + -0.12275119216557726, + 1.234637860457233 + ], + "held_grasp_midpoint": [ + 0.24745515199700407, + -0.13462685842966954, + 1.234637860457233 + ], + "held_grasp_object_position": [ + 0.2520455147713646, + -0.12275119216557726, + 1.234637860457233 + ], + "held_grasp_finger_gap": 0.02546392582586862, + "held_grasp_max_gap": 0.1249658516049385, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02351903955209307, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.01048601961067757, + -0.9942730073023914, + -0.10635426809763371 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004641459442458066, + "held_grasp_line_xy_max_dist": 0.04748292580246925, + "held_grasp_object_top_z": 0.04520067945122719, + "held_grasp_top_clearance": 0.03334489040703652, + "held_grasp_min_top_clearance": 0.013560203835368156 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2845845373586924, + -0.3633282582002385, + 0.8470197904156196 + ], + "target_position": [ + 0.2805644862007692, + -0.36412400366334025, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0040980510190048456, + "xy_threshold": 0.08, + "gripper_dist": 0.18566502295412324, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470197904156196, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07544979742710013, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08802821006154403, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1539981346622714, + "release_required_pad_clearance": 0.05401410503077202, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.0375638372334945, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007970869541168213, + "max_z_decrease": 0.007970869541168213, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03518738713528692, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007970869541168213, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02122415676749194, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007970869541168213, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007970897246937688, + "max_button_displacement": 0.12, + "button_start": [ + 0.13626441359519958, + -0.4203854501247406, + 0.7768088579177856 + ], + "button_final": [ + 0.13626441359519958, + -0.4203854501247406, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13743381796822066, + -0.42196773895970197, + 0.8081205598716901 + ], + "closest_button": [ + 0.13625632226467133, + -0.4203866720199585, + 0.7729884386062622 + ], + "closest_ee_minus_button": [ + 0.0011774957035493305, + -0.0015810669397434696, + 0.03513212126542786 + ], + "button_min_z_position": [ + 0.13624350726604462, + -0.4203833043575287, + 0.7688379883766174 + ], + "min_active_finger_to_button": 0.14484814580889094, + "closest_active_finger": [ + -0.003520786762237549, + -0.4040013253688812, + 0.8105411529541016 + ], + "closest_active_finger_button": [ + 0.13626380264759064, + -0.42038580775260925, + 0.7762949466705322 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13978458940982819, + 0.016384482383728027, + 0.034246206283569336 + ], + "min_contact_pad_to_button": 0.02122415676749194, + "closest_contact_pad": [ + 0.13624350726604462, + -0.4231650997258552, + 0.7898790540582751 + ], + "closest_contact_pad_button": [ + 0.13624350726604462, + -0.4203833043575287, + 0.7688379883766174 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0027817953683265118, + 0.021041065681657645 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 35, + "reproducibility": { + "enabled": true, + "action_seed": 1937247219597208700, + "physical_seed": 4015830930766581336, + "layout_id": "layout_00038", + "step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "workflow_spec_digest": "899d6ab12a9c3475100698bd12223ba9b0722ce0ef08f7e073f1cc82e64b1c61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9c991d5420013f8e90de2c9dd0fae642c03016d04760e55a672180592a4602c5", + "visual_seed": 7308179804349909006, + "episode_index": 35, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "runtime_workflow_digest": "82bc5063731ddfd0266f831cc4632665172de8ce02e3cf0701723ae89e342f48" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_36_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_36_success.json new file mode 100644 index 0000000000000000000000000000000000000000..45464b6f4477b1f6ac4cf5bce9ca3eb8071b4d42 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_36_success.json @@ -0,0 +1,926 @@ +{ + "episode": 36, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2370566025261408, + -0.13011389375464355, + 1.0445080932653796 + ], + "current_z": 1.0445080932653796, + "required_z": 0.8565865362724959, + "initial_z": 0.756586536272496, + "lift_margin": 0.1879215569928837, + "gripper_z": 1.0482690134267447, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2327467063097396, + -0.13444683808291355, + 1.0482690134267447 + ], + "object_minus_gripper": [ + 0.00430989621640121, + 0.00433294432827, + -0.003760920161365089 + ], + "object_to_gripper_xy": 0.006111432888287052, + "object_to_gripper_z": -0.003760920161365089, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2370566025261408, + -0.15421620345070244, + 1.0445080932653796 + ], + "finger_b": [ + 0.22639802528565048, + -0.13011389375464355, + 1.0445080932653796 + ], + "finger_midpoint": [ + 0.23172731390589563, + -0.14216504860267298, + 1.0445080932653796 + ], + "object_minus_finger_midpoint": [ + 0.005329288620245176, + 0.012051154848029433, + 0.0 + ], + "finger_gap": 0.02635387260871223, + "fingertip_max_gap": 0.09600108592874976, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013176936304356108, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0445080932653796, + "object_top_z": 1.0918374737866667, + "finger_top_clearance": 0.0473293805212871, + "fingertip_min_top_clearance": 0.014198814156386146, + "object_projection_between_fingers": 0.8364277645377044, + "object_to_finger_line_xy": 0.009747953683464964, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05050054296437488, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.221782167111537, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 202, + "max_stable_success_frames": 202, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24380028565965733, + -0.1260345062140977, + 1.2428482446702482 + ], + "held_position": [ + 0.2483929447821669, + -0.12162508960907122, + 1.2395375476446795 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007176084406371157, + "max_held_gripper_dist": 0.007178401050083576, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003310697025568743, + "max_held_gripper_z_dist": 0.0037358634779198763, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08593979146093471, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2483929447821669, + -0.14563975351072586, + 1.2395375476446795 + ], + "held_grasp_finger_b": [ + 0.23955196661640887, + -0.12162508960907122, + 1.2395375476446795 + ], + "held_grasp_midpoint": [ + 0.24397245569928788, + -0.13363242155989855, + 1.2395375476446795 + ], + "held_grasp_object_position": [ + 0.2483929447821669, + -0.12162508960907122, + 1.2395375476446795 + ], + "held_grasp_finger_gap": 0.025590368837452204, + "held_grasp_max_gap": 0.12496601551771164, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02354694541828315, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.03958671083714154, + -0.9950974438914367, + -0.09063095214012405 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00409127260337374, + "held_grasp_line_xy_max_dist": 0.04748300775885582, + "held_grasp_object_top_z": 0.045200739055871964, + "held_grasp_top_clearance": 0.03307728110056504, + "held_grasp_min_top_clearance": 0.013560221716761588 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.28986777022754245, + -0.3638546114303399, + 0.8470181451266852 + ], + "target_position": [ + 0.2853338509900617, + -0.36471831125079923, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.004615452418979043, + "xy_threshold": 0.08, + "gripper_dist": 0.18651216776343296, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470181451266852, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07532033558426167, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0860054463266892, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.155261458667242, + "release_required_pad_clearance": 0.0530027231633446, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.03095309415046, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008107542991638184, + "max_z_decrease": 0.008107542991638184, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035127331329423105, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008107542991638184, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.020969248009846675, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 122, + "max_z_decrease_with_contact_point": 0.008107542991638184, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008107566494781096, + "max_button_displacement": 0.12, + "button_start": [ + 0.14103378355503077, + -0.420979768037796, + 0.7768088579177856 + ], + "button_final": [ + 0.14103378355503077, + -0.420979768037796, + 0.7768088579177856 + ], + "closest_ee": [ + 0.14231425401593956, + -0.419869850470327, + 0.8037886083942071 + ], + "closest_button": [ + 0.1410422027111053, + -0.42096215486526484, + 0.7687013149261475 + ], + "closest_ee_minus_button": [ + 0.0012720513048342652, + 0.0010923043949378486, + 0.03508729346805961 + ], + "button_min_z_position": [ + 0.1410422027111053, + -0.42096215486526484, + 0.7687013149261475 + ], + "min_active_finger_to_button": 0.14420285692133405, + "closest_active_finger": [ + 0.016069740056991577, + -0.4842805564403534, + 0.81097412109375 + ], + "closest_active_finger_button": [ + 0.1410365849733352, + -0.4209781289100647, + 0.7767607569694519 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12496684491634363, + -0.0633024275302887, + 0.034213364124298096 + ], + "min_contact_pad_to_button": 0.020969248009846675, + "closest_contact_pad": [ + 0.1410422027111053, + -0.42096215486526484, + 0.7896705629359941 + ], + "closest_contact_pad_button": [ + 0.1410422027111053, + -0.42096215486526484, + 0.7687013149261475 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.020969248009846675 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 36, + "reproducibility": { + "enabled": true, + "action_seed": 1937247219597208700, + "physical_seed": 4015830930766581336, + "layout_id": "layout_00038", + "step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "workflow_spec_digest": "899d6ab12a9c3475100698bd12223ba9b0722ce0ef08f7e073f1cc82e64b1c61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f520ebb7c305f58e4e0c1caa1bf1689031534162e8378386e30c54678f40fd2b", + "visual_seed": 4040657305157758408, + "episode_index": 36, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "runtime_workflow_digest": "82bc5063731ddfd0266f831cc4632665172de8ce02e3cf0701723ae89e342f48" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_37_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_37_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3412cc97d262c1286c16f139be9e5d4be99f601d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_37_success.json @@ -0,0 +1,926 @@ +{ + "episode": 37, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.237771810594276, + -0.1371707336357091, + 1.047635187323993 + ], + "current_z": 1.047635187323993, + "required_z": 0.8565865192823962, + "initial_z": 0.7565865192823962, + "lift_margin": 0.19104866804159693, + "gripper_z": 1.0514116024650813, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23385126401689943, + -0.14140389214880922, + 1.0514116024650813 + ], + "object_minus_gripper": [ + 0.00392054657737656, + 0.004233158513100105, + -0.003776415141088174 + ], + "object_to_gripper_xy": 0.0057697761189157894, + "object_to_gripper_z": -0.003776415141088174, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.237771810594276, + -0.16074830855010275, + 1.047635187323993 + ], + "finger_b": [ + 0.22696366461982004, + -0.1371707336357091, + 1.047635187323993 + ], + "finger_midpoint": [ + 0.232367737607048, + -0.14895952109290594, + 1.047635187323993 + ], + "object_minus_finger_midpoint": [ + 0.005404072987227976, + 0.011788787457196831, + 0.0 + ], + "finger_gap": 0.025936808944991525, + "fingertip_max_gap": 0.0917530826244416, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012968404472495776, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.047635187323993, + "object_top_z": 1.0930237041888033, + "finger_top_clearance": 0.04538851686481027, + "fingertip_min_top_clearance": 0.013616555059443047, + "object_projection_between_fingers": 0.8263521872607269, + "object_to_finger_line_xy": 0.009825027895254844, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0483765413122208, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3981713871503356, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 206, + "max_stable_success_frames": 206, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24459990472120302, + -0.13534348130291282, + 1.2441784744623443 + ], + "held_position": [ + 0.24888703936231557, + -0.1311750740033379, + 1.2407443275642278 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006895542601131544, + "max_held_gripper_dist": 0.006896689479808681, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003434146898116497, + "max_held_gripper_z_dist": 0.0037640521630408763, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08503170127281115, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.24888703936231557, + -0.1553624713127468, + 1.2407443275642278 + ], + "held_grasp_finger_b": [ + 0.24063657767300264, + -0.1311750740033379, + 1.2407443275642278 + ], + "held_grasp_midpoint": [ + 0.2447618085176591, + -0.14326877265804233, + 1.2407443275642278 + ], + "held_grasp_object_position": [ + 0.24888703936231557, + -0.1311750740033379, + 1.2407443275642278 + ], + "held_grasp_finger_gap": 0.025555827255051282, + "held_grasp_max_gap": 0.12496594101190567, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023385650178997058, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07526066015047306, + -0.9925245393369528, + -0.09607742631692726 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003412679939677323, + "held_grasp_line_xy_max_dist": 0.047482970505952835, + "held_grasp_object_top_z": 0.04520068317651749, + "held_grasp_top_clearance": 0.03288692289373508, + "held_grasp_min_top_clearance": 0.013560204952955245 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.291839827908428, + -0.3582733222939217, + 0.8470198796882711 + ], + "target_position": [ + 0.28407751450186713, + -0.3610168373413365, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008232884320641566, + "xy_threshold": 0.08, + "gripper_dist": 0.18715001798083927, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470198796882711, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07590504965633277, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0861427794891939, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1548863088078647, + "release_required_pad_clearance": 0.05307138974459695, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.169674247796736, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007825672626495361, + "max_z_decrease": 0.007825672626495361, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03512121220417897, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007825672626495361, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021052674663990092, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007825672626495361, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007825694093467932, + "max_button_displacement": 0.12, + "button_start": [ + 0.13977743685245508, + -0.4172782897949219, + 0.7768088579177856 + ], + "button_final": [ + 0.13977743685245508, + -0.4172782897949219, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13964916750277087, + -0.41674073296058334, + 0.8082232991519078 + ], + "closest_button": [ + 0.13976934552192682, + -0.41727760434150696, + 0.7731063961982727 + ], + "closest_ee_minus_button": [ + -0.00012017801915595316, + 0.0005368713809236203, + 0.03511690295363512 + ], + "button_min_z_position": [ + 0.139759212732315, + -0.4172763228416443, + 0.7689831852912903 + ], + "min_active_finger_to_button": 0.1460400963300604, + "closest_active_finger": [ + 0.012881755828857422, + -0.4809412956237793, + 0.8106667399406433 + ], + "closest_active_finger_button": [ + 0.13977679610252378, + -0.41727808117866516, + 0.7764270901679993 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12689504027366635, + -0.06366321444511414, + 0.03423964977264404 + ], + "min_contact_pad_to_button": 0.021052674663990092, + "closest_contact_pad": [ + 0.139759212732315, + -0.4176807851427297, + 0.7900319743480225 + ], + "closest_contact_pad_button": [ + 0.139759212732315, + -0.4172763228416443, + 0.7689831852912903 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0004044623010854287, + 0.021048789056732242 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 37, + "reproducibility": { + "enabled": true, + "action_seed": 1937247219597208700, + "physical_seed": 4015830930766581336, + "layout_id": "layout_00038", + "step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "workflow_spec_digest": "899d6ab12a9c3475100698bd12223ba9b0722ce0ef08f7e073f1cc82e64b1c61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7b6a3d4839818d3b6446959c092d0d40889f0aeda9951a8d99b618136fd5d045", + "visual_seed": 7038660780578899421, + "episode_index": 37, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "runtime_workflow_digest": "82bc5063731ddfd0266f831cc4632665172de8ce02e3cf0701723ae89e342f48" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_38_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_38_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d847e9cd7a72697409ccd63868d8225289685cb6 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_38_success.json @@ -0,0 +1,926 @@ +{ + "episode": 38, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2354658881158366, + -0.13049160375690713, + 1.0450942644055912 + ], + "current_z": 1.0450942644055912, + "required_z": 0.8565865597443435, + "initial_z": 0.7565865597443435, + "lift_margin": 0.18850770466124767, + "gripper_z": 1.0489540977858984, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2314023051784792, + -0.13472260072004713, + 1.0489540977858984 + ], + "object_minus_gripper": [ + 0.004063582937357396, + 0.004230996963139999, + -0.003859833380307265 + ], + "object_to_gripper_xy": 0.0058663482330051, + "object_to_gripper_z": -0.003859833380307265, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2354658881158366, + -0.15443970819992944, + 1.0450942644055912 + ], + "finger_b": [ + 0.22499385768009894, + -0.13049160375690713, + 1.0450942644055912 + ], + "finger_midpoint": [ + 0.23022987289796776, + -0.1424656559784183, + 1.0450942644055912 + ], + "object_minus_finger_midpoint": [ + 0.005236015217868845, + 0.011974052221511156, + 0.0 + ], + "finger_gap": 0.026137619016676345, + "fingertip_max_gap": 0.09753314382511441, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013068809508338178, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0450942644055912, + "object_top_z": 1.0929799367541457, + "finger_top_clearance": 0.047885672348554564, + "fingertip_min_top_clearance": 0.014365701704566351, + "object_projection_between_fingers": 0.8394797805500013, + "object_to_finger_line_xy": 0.009594801976627924, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05126657191255721, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.781216552281397, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 203, + "max_stable_success_frames": 203, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24280239127860356, + -0.12666651456293304, + 1.2438177388210216 + ], + "held_position": [ + 0.24716229173222692, + -0.12236429653739798, + 1.240370606530224 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0070285512685761675, + "max_held_gripper_dist": 0.00703498803070043, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0034471322907976276, + "max_held_gripper_z_dist": 0.003838881577891584, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08572464939590797, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.24716229173222692, + -0.14640794929544568, + 1.240370606530224 + ], + "held_grasp_finger_b": [ + 0.23863078064788296, + -0.12236429653739798, + 1.240370606530224 + ], + "held_grasp_midpoint": [ + 0.24289653619005494, + -0.13438612291642182, + 1.240370606530224 + ], + "held_grasp_object_position": [ + 0.24716229173222692, + -0.12236429653739798, + 1.240370606530224 + ], + "held_grasp_finger_gap": 0.025512426762890637, + "held_grasp_max_gap": 0.12496612727642059, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023642016376521777, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.036334943043152844, + -0.9961884155820053, + -0.07929951181605509 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003944593136141754, + "held_grasp_line_xy_max_dist": 0.047483063638210296, + "held_grasp_object_top_z": 0.04520079120993614, + "held_grasp_top_clearance": 0.03306979105235359, + "held_grasp_min_top_clearance": 0.013560237362980843 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.28473770356686035, + -0.364742931868944, + 0.8470188940630379 + ], + "target_position": [ + 0.28096553653151785, + -0.3652100815556793, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.003800983158650074, + "xy_threshold": 0.08, + "gripper_dist": 0.18557307335951034, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470188940630379, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07567133372036776, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08793189158576208, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15334403448887335, + "release_required_pad_clearance": 0.05396594579288104, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.9380064242396853, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00796198844909668, + "max_z_decrease": 0.00796198844909668, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03512576487522876, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00796198844909668, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021145566612919907, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00796198844909668, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00796201403845055, + "max_button_displacement": 0.12, + "button_start": [ + 0.13666546344757075, + -0.4214715361595154, + 0.7768088579177856 + ], + "button_final": [ + 0.13666546344757075, + -0.4214715361595154, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1368115980266583, + -0.4225875844059571, + 0.8079316767405652 + ], + "closest_button": [ + 0.13665542006492615, + -0.42146793007850647, + 0.7728241086006165 + ], + "closest_ee_minus_button": [ + 0.0001561779617321457, + -0.0011196543274506476, + 0.03510756813994875 + ], + "button_min_z_position": [ + 0.13664571940898895, + -0.4214673340320587, + 0.768846869468689 + ], + "min_active_finger_to_button": 0.14593740908308464, + "closest_active_finger": [ + -0.004591219127178192, + -0.408737450838089, + 0.810772716999054 + ], + "closest_active_finger_button": [ + 0.13666544854640955, + -0.4214707016944885, + 0.7763903737068176 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14125666767358774, + 0.012733250856399536, + 0.03438234329223633 + ], + "min_contact_pad_to_button": 0.021145566612919907, + "closest_contact_pad": [ + 0.13664571940898895, + -0.4234831150357672, + 0.7898961358294561 + ], + "closest_contact_pad_button": [ + 0.13664571940898895, + -0.4214673340320587, + 0.768846869468689 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0020157810037084722, + 0.021049266360767094 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 38, + "reproducibility": { + "enabled": true, + "action_seed": 1937247219597208700, + "physical_seed": 4015830930766581336, + "layout_id": "layout_00038", + "step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "workflow_spec_digest": "899d6ab12a9c3475100698bd12223ba9b0722ce0ef08f7e073f1cc82e64b1c61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1e1909250234dde4f03a71e19a81150bedb5c20516de82b35ed0c9183a9cf3ef", + "visual_seed": 4723328871508291646, + "episode_index": 38, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "runtime_workflow_digest": "82bc5063731ddfd0266f831cc4632665172de8ce02e3cf0701723ae89e342f48" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_39_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_39_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7360014147af9a6e1c84c7798cae7fdb6fa26938 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_39_success.json @@ -0,0 +1,926 @@ +{ + "episode": 39, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23754502850109122, + -0.13481650077462187, + 1.0456129295554593 + ], + "current_z": 1.0456129295554593, + "required_z": 0.8565865255404689, + "initial_z": 0.7565865255404689, + "lift_margin": 0.18902640401499038, + "gripper_z": 1.0490762058551764, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23354115792656713, + -0.13907478666758033, + 1.0490762058551764 + ], + "object_minus_gripper": [ + 0.004003870574524088, + 0.004258285892958458, + -0.0034632762997170996 + ], + "object_to_gripper_xy": 0.00584499600715936, + "object_to_gripper_z": -0.0034632762997170996, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23754502850109122, + -0.15849821006983225, + 1.0456129295554593 + ], + "finger_b": [ + 0.22675421887843833, + -0.13481650077462187, + 1.0456129295554593 + ], + "finger_midpoint": [ + 0.23214962368976477, + -0.14665735542222708, + 1.0456129295554593 + ], + "object_minus_finger_midpoint": [ + 0.005395404811326443, + 0.011840854647605203, + 0.0 + ], + "finger_gap": 0.0260243141591703, + "fingertip_max_gap": 0.09339820683731664, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013012157079585163, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0456129295554593, + "object_top_z": 1.0917253088512917, + "finger_top_clearance": 0.04611237929583245, + "fingertip_min_top_clearance": 0.013833713788749735, + "object_projection_between_fingers": 0.8280708662268033, + "object_to_finger_line_xy": 0.00981946402047936, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049199103418658324, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.6196643874875893, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 204, + "max_stable_success_frames": 204, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2443433948892729, + -0.13247408598339278, + 1.2445538639725477 + ], + "held_position": [ + 0.24871139245872773, + -0.12829792929612774, + 1.2414559244971508 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006790943707363097, + "max_held_gripper_dist": 0.006792727527777954, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003097939475396938, + "max_held_gripper_z_dist": 0.003442972040114789, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08571725618319004, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.24871139245872773, + -0.15246135413120082, + 1.2414559244971508 + ], + "held_grasp_finger_b": [ + 0.24033150706935974, + -0.12829792929612774, + 1.2414559244971508 + ], + "held_grasp_midpoint": [ + 0.24452144976404372, + -0.1403796417136643, + 1.2414559244971508 + ], + "held_grasp_object_position": [ + 0.24871139245872773, + -0.12829792929612774, + 1.2414559244971508 + ], + "held_grasp_finger_gap": 0.025575253251906807, + "held_grasp_max_gap": 0.12496596336364746, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023439787059665828, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06830600813470432, + -0.9937409015126999, + -0.08839292909180196 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0035246276492762675, + "held_grasp_line_xy_max_dist": 0.04748298168182373, + "held_grasp_object_top_z": 0.04520072788000107, + "held_grasp_top_clearance": 0.03290843783059409, + "held_grasp_min_top_clearance": 0.01356021836400032 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2880499860555361, + -0.3581620778436142, + 0.8470185846098676 + ], + "target_position": [ + 0.28139166593406245, + -0.3602046669491828, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006964581616594676, + "xy_threshold": 0.08, + "gripper_dist": 0.1880564348100947, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470185846098676, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07542173732935127, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08539394638939611, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15662850293970115, + "release_required_pad_clearance": 0.05269697319469806, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.4458668693283806, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008057892322540283, + "max_z_decrease": 0.008057892322540283, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03514751500747396, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008057892322540283, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021040105995616565, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008057892322540283, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008057898611956773, + "max_button_displacement": 0.12, + "button_start": [ + 0.13709159195423123, + -0.4164661169052124, + 0.7768088579177856 + ], + "button_final": [ + 0.13709159195423123, + -0.4164661169052124, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13804897327181284, + -0.4151994165675953, + 0.8078355429912519 + ], + "closest_button": [ + 0.13708554208278656, + -0.4164648950099945, + 0.7727240324020386 + ], + "closest_ee_minus_button": [ + 0.0009634311890262814, + 0.001265478442399215, + 0.03511151058921336 + ], + "button_min_z_position": [ + 0.13708604872226715, + -0.416457712650299, + 0.7687509655952454 + ], + "min_active_finger_to_button": 0.1447922974914322, + "closest_active_finger": [ + 0.011522725224494934, + -0.47988712787628174, + 0.8108428120613098 + ], + "closest_active_finger_button": [ + 0.13709142804145813, + -0.416465699672699, + 0.7765640616416931 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1255687028169632, + -0.06342142820358276, + 0.0342787504196167 + ], + "min_contact_pad_to_button": 0.021040105995616565, + "closest_contact_pad": [ + 0.13708604872226715, + -0.416457712650299, + 0.7897910715908619 + ], + "closest_contact_pad_button": [ + 0.13708604872226715, + -0.416457712650299, + 0.7687509655952454 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021040105995616565 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 39, + "reproducibility": { + "enabled": true, + "action_seed": 1937247219597208700, + "physical_seed": 4015830930766581336, + "layout_id": "layout_00038", + "step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "workflow_spec_digest": "899d6ab12a9c3475100698bd12223ba9b0722ce0ef08f7e073f1cc82e64b1c61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "db8af2a4c4de39cd3fc5e5f889252ffcaa7c6ae3abb8f7779aa8ee747235db44", + "visual_seed": 2709533727686572541, + "episode_index": 39, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "runtime_workflow_digest": "82bc5063731ddfd0266f831cc4632665172de8ce02e3cf0701723ae89e342f48" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_3_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_3_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c6e8edca0832db9692ffda88aad579ed9a7af65c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_3_success.json @@ -0,0 +1,926 @@ +{ + "episode": 3, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2441068384308697, + -0.13654304083840432, + 1.0468333829314307 + ], + "current_z": 1.0468333829314307, + "required_z": 0.8565865164336531, + "initial_z": 0.7565865164336532, + "lift_margin": 0.19024686649777756, + "gripper_z": 1.0506833041868797, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24018802187810942, + -0.14069711719399447, + 1.0506833041868797 + ], + "object_minus_gripper": [ + 0.003918816552760274, + 0.004154076355590147, + -0.003849921255449029 + ], + "object_to_gripper_xy": 0.00571082074156255, + "object_to_gripper_z": -0.003849921255449029, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2441068384308697, + -0.16044744554740495, + 1.0468333829314307 + ], + "finger_b": [ + 0.2337801235614411, + -0.13654304083840432, + 1.0468333829314307 + ], + "finger_midpoint": [ + 0.2389434809961554, + -0.14849524319290464, + 1.0468333829314307 + ], + "object_minus_finger_midpoint": [ + 0.0051633574347143, + 0.011952202354500313, + 0.0 + ], + "finger_gap": 0.026039616058731913, + "fingertip_max_gap": 0.09467214934297177, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013019808029365957, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0468333829314307, + "object_top_z": 1.093081630451594, + "finger_top_clearance": 0.04624824752016332, + "fingertip_min_top_clearance": 0.013874474256048996, + "object_projection_between_fingers": 0.8427266205770645, + "object_to_finger_line_xy": 0.009479938989749356, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04983607467148589, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.4224479160225267, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 204, + "max_stable_success_frames": 204, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2495599369236168, + -0.13269572063642832, + 1.2430783076068033 + ], + "held_position": [ + 0.2537240357468371, + -0.12837416952699826, + 1.239695086850033 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006889245654641913, + "max_held_gripper_dist": 0.00689179112323308, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003383220756770333, + "max_held_gripper_z_dist": 0.0038257114988557994, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08564349589548613, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2537240357468371, + -0.15202643532629737, + 1.239695086850033 + ], + "held_grasp_finger_b": [ + 0.2451826082827235, + -0.12837416952699826, + 1.239695086850033 + ], + "held_grasp_midpoint": [ + 0.24945332201478032, + -0.14020030242664783, + 1.239695086850033 + ], + "held_grasp_object_position": [ + 0.2537240357468371, + -0.12837416952699826, + 1.239695086850033 + ], + "held_grasp_finger_gap": 0.025147279386951746, + "held_grasp_max_gap": 0.12496620923280716, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023261924510446473, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.02650589308679808, + -0.9930686080111168, + -0.11450841634803145 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004183230695242098, + "held_grasp_line_xy_max_dist": 0.04748310461640358, + "held_grasp_object_top_z": 0.045200787484645844, + "held_grasp_top_clearance": 0.033343427066250174, + "held_grasp_min_top_clearance": 0.013560236245393752 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2869102090166913, + -0.3587378736935173, + 0.8470195231923705 + ], + "target_position": [ + 0.28187495975844024, + -0.36001445467589516, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005194554273206376, + "xy_threshold": 0.08, + "gripper_dist": 0.18416754862007592, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195231923705, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07519765211643002, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08667636977150543, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1533225843939947, + "release_required_pad_clearance": 0.05333818488575272, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.6929954560307736, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008015811443328857, + "max_z_decrease": 0.008015811443328857, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03515164173911221, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008015811443328857, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02105900409009828, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008015811443328857, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008015849150990727, + "max_button_displacement": 0.12, + "button_start": [ + 0.13757488131523127, + -0.41627591848373413, + 0.7768088579177856 + ], + "button_final": [ + 0.13757488131523127, + -0.41627591848373413, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13852886115917434, + -0.4153131993597461, + 0.8079002368832796 + ], + "closest_button": [ + 0.13756424188613886, + -0.4162770211696625, + 0.7727750539779663 + ], + "closest_ee_minus_button": [ + 0.000964619273035483, + 0.0009638218099163876, + 0.0351251829053133 + ], + "button_min_z_position": [ + 0.13755029439926142, + -0.41627591848373413, + 0.7687930464744568 + ], + "min_active_finger_to_button": 0.14489764998065532, + "closest_active_finger": [ + 0.010801136493682861, + -0.4775535464286804, + 0.810806393623352 + ], + "closest_active_finger_button": [ + 0.13757489621639246, + -0.41627606749534607, + 0.776618480682373 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1267737597227096, + -0.06127747893333435, + 0.034187912940979004 + ], + "min_contact_pad_to_button": 0.02105900409009828, + "closest_contact_pad": [ + 0.13755631446838373, + -0.41642390135347196, + 0.7899282934096976 + ], + "closest_contact_pad_button": [ + 0.13755631446838373, + -0.4162747859954834, + 0.7688698172569275 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00014911535798856068, + 0.021058476152770123 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 3, + "reproducibility": { + "enabled": true, + "action_seed": 1937247219597208700, + "physical_seed": 4015830930766581336, + "layout_id": "layout_00038", + "step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "workflow_spec_digest": "899d6ab12a9c3475100698bd12223ba9b0722ce0ef08f7e073f1cc82e64b1c61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "450bccbfd9b83f4e6fcf25c4ec402a2f9f0bdce121d4916224c610d272477fb1", + "visual_seed": 233333776935005625, + "episode_index": 3, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "runtime_workflow_digest": "82bc5063731ddfd0266f831cc4632665172de8ce02e3cf0701723ae89e342f48" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_40_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_40_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f20100863bd8d51a05bd82b506a45cb5a6bc25f8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_40_success.json @@ -0,0 +1,926 @@ +{ + "episode": 40, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23513068774588364, + -0.13742317907700016, + 1.0441959114227737 + ], + "current_z": 1.0441959114227737, + "required_z": 0.8565864834852522, + "initial_z": 0.7565864834852523, + "lift_margin": 0.18760942793752144, + "gripper_z": 1.0478618015436936, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2311044480004289, + -0.1416982718819435, + 1.0478618015436936 + ], + "object_minus_gripper": [ + 0.0040262397454547405, + 0.004275092804943342, + -0.00366589012091989 + ], + "object_to_gripper_xy": 0.005872565451211062, + "object_to_gripper_z": -0.00366589012091989, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23513068774588364, + -0.16111066657455753, + 1.0441959114227737 + ], + "finger_b": [ + 0.2242997492909329, + -0.13742317907700016, + 1.0441959114227737 + ], + "finger_midpoint": [ + 0.22971521851840826, + -0.14926692282577886, + 1.0441959114227737 + ], + "object_minus_finger_midpoint": [ + 0.005415469227475378, + 0.011843743748778696, + 0.0 + ], + "finger_gap": 0.02604623373468546, + "fingertip_max_gap": 0.0947730292715196, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013023116867342747, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0441959114227737, + "object_top_z": 1.090901019022577, + "finger_top_clearance": 0.046705107599803286, + "fingertip_min_top_clearance": 0.014011532279941003, + "object_projection_between_fingers": 0.8270811617765653, + "object_to_finger_line_xy": 0.009850088955348786, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0498865146357598, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.0537205713298095, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 202, + "max_stable_success_frames": 202, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24193116743654894, + -0.1358061370447176, + 1.2422361303281628 + ], + "held_position": [ + 0.2463069164326151, + -0.13162844205732682, + 1.2388752471524838 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006920682799031228, + "max_held_gripper_dist": 0.006923219912356514, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0033608831756790636, + "max_held_gripper_z_dist": 0.0036587307340294473, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08500861390477263, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2463069164326151, + -0.15593691303819832, + 1.2388752471524838 + ], + "held_grasp_finger_b": [ + 0.23795567504078735, + -0.13162844205732682, + 1.2388752471524838 + ], + "held_grasp_midpoint": [ + 0.24213129573670122, + -0.14378267754776258, + 1.2388752471524838 + ], + "held_grasp_object_position": [ + 0.2463069164326151, + -0.13162844205732682, + 1.2388752471524838 + ], + "held_grasp_finger_gap": 0.0257030152747192, + "held_grasp_max_gap": 0.12496605277061462, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023675768218173278, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06271526720201241, + -0.9955179234668042, + -0.07078742343186861 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0035144334415460527, + "held_grasp_line_xy_max_dist": 0.04748302638530731, + "held_grasp_object_top_z": 0.04520075023174286, + "held_grasp_top_clearance": 0.03283911578729924, + "held_grasp_min_top_clearance": 0.013560225069522857 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.28680628755294, + -0.3630931266567068, + 0.847019546085644 + ], + "target_position": [ + 0.28146055570307293, + -0.3643523815212071, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005492046232912741, + "xy_threshold": 0.08, + "gripper_dist": 0.18479389624082085, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.847019546085644, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07548388336117177, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08595530602532785, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1531863141927323, + "release_required_pad_clearance": 0.052977653012663925, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.9899110997689224, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008088409900665283, + "max_z_decrease": 0.008088409900665283, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03510955958390323, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008088409900665283, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021003446570283447, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008088409900665283, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008088425457534644, + "max_button_displacement": 0.12, + "button_start": [ + 0.1371604800224304, + -0.42061382532119745, + 0.7768088579177856 + ], + "button_final": [ + 0.1371604800224304, + -0.42061382532119745, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1356190759353294, + -0.4205524681163386, + 0.8037957133485696 + ], + "closest_button": [ + 0.137169748544693, + -0.42060095071792597, + 0.7687204480171204 + ], + "closest_ee_minus_button": [ + -0.0015506726093635903, + 4.848260158735185e-05, + 0.035075265331449224 + ], + "button_min_z_position": [ + 0.137169748544693, + -0.42060095071792597, + 0.7687204480171204 + ], + "min_active_finger_to_button": 0.1470995619917709, + "closest_active_finger": [ + 0.008455775678157806, + -0.48309049010276794, + 0.8107181787490845 + ], + "closest_active_finger_button": [ + 0.13715943694114685, + -0.4206146299839019, + 0.7765068411827087 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12870366126298904, + -0.06247586011886602, + 0.03421133756637573 + ], + "min_contact_pad_to_button": 0.021003446570283447, + "closest_contact_pad": [ + 0.137169748544693, + -0.4217788875944023, + 0.7896908374399658 + ], + "closest_contact_pad_button": [ + 0.137169748544693, + -0.42060095071792597, + 0.7687204480171204 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0011779368764763265, + 0.02097038942284546 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 40, + "reproducibility": { + "enabled": true, + "action_seed": 1937247219597208700, + "physical_seed": 4015830930766581336, + "layout_id": "layout_00038", + "step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "workflow_spec_digest": "899d6ab12a9c3475100698bd12223ba9b0722ce0ef08f7e073f1cc82e64b1c61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d746509734e53fe5ba344ae76f0bc5d5dabecfc76b997f13cae6b8ff852febc3", + "visual_seed": 1821626318126215848, + "episode_index": 40, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "runtime_workflow_digest": "82bc5063731ddfd0266f831cc4632665172de8ce02e3cf0701723ae89e342f48" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_41_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_41_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e138f86e6085e7c823077dad3f8f7ef8a6529d8c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_41_success.json @@ -0,0 +1,926 @@ +{ + "episode": 41, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23531406172720792, + -0.13078342258528472, + 1.0469520994257207 + ], + "current_z": 1.0469520994257207, + "required_z": 0.8565866047202193, + "initial_z": 0.7565866047202193, + "lift_margin": 0.19036549470550135, + "gripper_z": 1.050911812331315, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2311245806679421, + -0.13503613113123325, + 1.050911812331315 + ], + "object_minus_gripper": [ + 0.004189481059265837, + 0.00425270854594853, + -0.003959712905594381 + ], + "object_to_gripper_xy": 0.005969696937259953, + "object_to_gripper_z": -0.003959712905594381, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23531406172720792, + -0.15480556959400313, + 1.0469520994257207 + ], + "finger_b": [ + 0.22478133926447397, + -0.13078342258528472, + 1.0469520994257207 + ], + "finger_midpoint": [ + 0.23004770049584095, + -0.14279449608964392, + 1.0469520994257207 + ], + "object_minus_finger_midpoint": [ + 0.005266361231366978, + 0.012011073504359204, + 0.0 + ], + "finger_gap": 0.026229788207026362, + "fingertip_max_gap": 0.09725013710744307, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013114894103513181, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0469520994257207, + "object_top_z": 1.0948126485791967, + "finger_top_clearance": 0.04786054915347604, + "fingertip_min_top_clearance": 0.014358164746042845, + "object_projection_between_fingers": 0.8387529739187548, + "object_to_finger_line_xy": 0.009646231429884272, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05112506855372154, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.802026984368275, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 204, + "max_stable_success_frames": 204, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24287303324732848, + -0.127136819185238, + 1.242488339266236 + ], + "held_position": [ + 0.24733547974226763, + -0.12278376070463802, + 1.2389603686146358 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007163038724889806, + "max_held_gripper_dist": 0.007167790464965088, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003527970651600265, + "max_held_gripper_z_dist": 0.0039385658677177915, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08568013386351685, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.24733547974226763, + -0.14677886293475925, + 1.2389603686146358 + ], + "held_grasp_finger_b": [ + 0.23878555244424451, + -0.12278376070463802, + 1.2389603686146358 + ], + "held_grasp_midpoint": [ + 0.24306051609325607, + -0.13478131181969863, + 1.2389603686146358 + ], + "held_grasp_object_position": [ + 0.24733547974226763, + -0.12278376070463802, + 1.2389603686146358 + ], + "held_grasp_finger_gap": 0.025472851976868428, + "held_grasp_max_gap": 0.12496577709913254, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023586854633114916, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.035938627899605585, + -0.9957918520077306, + -0.08430303968249331 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003973613863913852, + "held_grasp_line_xy_max_dist": 0.04748288854956627, + "held_grasp_object_top_z": 0.0452006496489048, + "held_grasp_top_clearance": 0.03309994967661501, + "held_grasp_min_top_clearance": 0.01356019489467144 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.29373821831265606, + -0.36630177926874175, + 0.8470196668298984 + ], + "target_position": [ + 0.2895049979100666, + -0.36695096740663574, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.004282709447917499, + "xy_threshold": 0.08, + "gripper_dist": 0.18492034600422225, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196668298984, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07581837266704973, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0882142941942473, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15240442574879073, + "release_required_pad_clearance": 0.05410714709712365, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.2272364594685836, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00814908742904663, + "max_z_decrease": 0.00814908742904663, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03508425792491996, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00814908742904663, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.020898550399343074, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00814908742904663, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008149164289461937, + "max_button_displacement": 0.12, + "button_start": [ + 0.14520491659641266, + -0.4232124388217926, + 0.7768088579177856 + ], + "button_final": [ + 0.14520491659641266, + -0.4232124388217926, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1448967107866634, + -0.4213473635893968, + 0.8036939230397642 + ], + "closest_button": [ + 0.14523328840732574, + -0.4231912791728973, + 0.768659770488739 + ], + "closest_ee_minus_button": [ + -0.00033657762066233166, + 0.0018439155835004994, + 0.035034152551025155 + ], + "button_min_z_position": [ + 0.14523328840732574, + -0.4231912791728973, + 0.768659770488739 + ], + "min_active_finger_to_button": 0.14524695407053959, + "closest_active_finger": [ + 0.017843283712863922, + -0.48412245512008667, + 0.8107326030731201 + ], + "closest_active_finger_button": [ + 0.14520473778247833, + -0.4232125580310821, + 0.7765899300575256 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1273614540696144, + -0.06090989708900457, + 0.03414267301559448 + ], + "min_contact_pad_to_button": 0.020898550399343074, + "closest_contact_pad": [ + 0.14523328840732574, + -0.4231912791728973, + 0.7895583208880821 + ], + "closest_contact_pad_button": [ + 0.14523328840732574, + -0.4231912791728973, + 0.768659770488739 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.020898550399343074 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 41, + "reproducibility": { + "enabled": true, + "action_seed": 1937247219597208700, + "physical_seed": 4015830930766581336, + "layout_id": "layout_00038", + "step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "workflow_spec_digest": "899d6ab12a9c3475100698bd12223ba9b0722ce0ef08f7e073f1cc82e64b1c61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "582336c2e2c4c7515e2bbb5b049493632653cee4c9ec5ca642dcc7b0bfe14df6", + "visual_seed": 2771033563971955220, + "episode_index": 41, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "runtime_workflow_digest": "82bc5063731ddfd0266f831cc4632665172de8ce02e3cf0701723ae89e342f48" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_42_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_42_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ca78d05a47d23e751a4381af15621d530fb9e280 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_42_success.json @@ -0,0 +1,926 @@ +{ + "episode": 42, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23861007472518342, + -0.1397716642710113, + 1.0450876107139442 + ], + "current_z": 1.0450876107139442, + "required_z": 0.8565865384465915, + "initial_z": 0.7565865384465915, + "lift_margin": 0.1885010722673527, + "gripper_z": 1.0495053774547032, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23419925827383928, + -0.14407051959512074, + 1.0495053774547032 + ], + "object_minus_gripper": [ + 0.004410816451344141, + 0.004298855324109452, + -0.004417766740758999 + ], + "object_to_gripper_xy": 0.0061591768009265895, + "object_to_gripper_z": -0.004417766740758999, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23861007472518342, + -0.16408109093595666, + 1.0450876107139442 + ], + "finger_b": [ + 0.22817898480314625, + -0.1397716642710113, + 1.0450876107139442 + ], + "finger_midpoint": [ + 0.23339452976416483, + -0.151926377603484, + 1.0450876107139442 + ], + "object_minus_finger_midpoint": [ + 0.005215544961018587, + 0.0121547133324727, + 0.0 + ], + "finger_gap": 0.02645289892885055, + "fingertip_max_gap": 0.09643001767527587, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013226449464425288, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0450876107139442, + "object_top_z": 1.092117403319395, + "finger_top_clearance": 0.047029792605450815, + "fingertip_min_top_clearance": 0.014108937781635245, + "object_projection_between_fingers": 0.8445062872484281, + "object_to_finger_line_xy": 0.00958586112536256, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05071500883763794, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.0063606119166946, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 203, + "max_stable_success_frames": 203, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24659278352798236, + -0.13438788507194316, + 1.2414951148440834 + ], + "held_position": [ + 0.2511666561208845, + -0.12986247757899386, + 1.2374893045248014 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007579323174757014, + "max_held_gripper_dist": 0.00758173083878303, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004005810319281933, + "max_held_gripper_z_dist": 0.004409161915125193, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08575715652156615, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2511666561208845, + -0.15386569565589225, + 1.2374893045248014 + ], + "held_grasp_finger_b": [ + 0.24220537367998105, + -0.12986247757899386, + 1.2374893045248014 + ], + "held_grasp_midpoint": [ + 0.2466860149004328, + -0.14186408661744304, + 1.2374893045248014 + ], + "held_grasp_object_position": [ + 0.2511666561208845, + -0.12986247757899386, + 1.2374893045248014 + ], + "held_grasp_finger_gap": 0.025621457043516996, + "held_grasp_max_gap": 0.12496603041887283, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.0238810715178058, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.002388693909712042, + -0.995803029494626, + -0.0914910956909518 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004585490196003994, + "held_grasp_line_xy_max_dist": 0.047483015209436416, + "held_grasp_object_top_z": 0.04520075023174286, + "held_grasp_top_clearance": 0.033238808712050164, + "held_grasp_min_top_clearance": 0.013560225069522857 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2869037023271746, + -0.35937809451505776, + 0.8470195007549746 + ], + "target_position": [ + 0.28220927607408797, + -0.3607444561543571, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.004889231225358211, + "xy_threshold": 0.08, + "gripper_dist": 0.18374868127015725, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195007549746, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07545162846161277, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08871178923870547, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15225565189940574, + "release_required_pad_clearance": 0.05435589461935274, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.734786252037685, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 147, + "max_placed_release_frames": 147 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007772505283355713, + "max_z_decrease": 0.007772505283355713, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03518575500332615, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007772505283355713, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02109866642798832, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007772505283355713, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007772526598508487, + "max_button_displacement": 0.12, + "button_start": [ + 0.13790920376777643, + -0.4170059263706207, + 0.7768088579177856 + ], + "button_final": [ + 0.13790920376777643, + -0.4170059263706207, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13973275518176645, + -0.417285334448805, + 0.8082729335678182 + ], + "closest_button": [ + 0.13789930939674372, + -0.41700729727745056, + 0.7731360793113708 + ], + "closest_ee_minus_button": [ + 0.0018334457850227304, + -0.0002780371713544394, + 0.0351368542564473 + ], + "button_min_z_position": [ + 0.13789102435111994, + -0.41700500249862665, + 0.7690363526344299 + ], + "min_active_finger_to_button": 0.14436242709439287, + "closest_active_finger": [ + -0.0012420043349266052, + -0.39950934052467346, + 0.8106918334960938 + ], + "closest_active_finger_button": [ + 0.1379084140062332, + -0.41700649261474604, + 0.7764643430709839 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1391504183411598, + 0.017497152090072576, + 0.03422749042510986 + ], + "min_contact_pad_to_button": 0.02109866642798832, + "closest_contact_pad": [ + 0.13789102435111994, + -0.41846537203486106, + 0.7900844177677661 + ], + "closest_contact_pad_button": [ + 0.13789102435111994, + -0.41700500249862665, + 0.7690363526344299 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0014603695362344071, + 0.021048065133336125 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 42, + "reproducibility": { + "enabled": true, + "action_seed": 1937247219597208700, + "physical_seed": 4015830930766581336, + "layout_id": "layout_00038", + "step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "workflow_spec_digest": "899d6ab12a9c3475100698bd12223ba9b0722ce0ef08f7e073f1cc82e64b1c61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f60836b180e3713459da2979056be0253abf9e9f8264ad373e4cc909b6b5f1c6", + "visual_seed": 7318992324615682393, + "episode_index": 42, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "runtime_workflow_digest": "82bc5063731ddfd0266f831cc4632665172de8ce02e3cf0701723ae89e342f48" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_43_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_43_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e504c1eb4d29ba9dbe0de7431194aeb7704022f6 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_43_success.json @@ -0,0 +1,926 @@ +{ + "episode": 43, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23535542321374933, + -0.12952048868250565, + 1.0465032946880766 + ], + "current_z": 1.0465032946880766, + "required_z": 0.8565866140905433, + "initial_z": 0.7565866140905433, + "lift_margin": 0.1899166805975333, + "gripper_z": 1.0502728752500254, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23122657092403748, + -0.1338345387802061, + 1.0502728752500254 + ], + "object_minus_gripper": [ + 0.004128852289711854, + 0.004314050097700445, + -0.003769580561948871 + ], + "object_to_gripper_xy": 0.005971469624449917, + "object_to_gripper_z": -0.003769580561948871, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23535542321374933, + -0.1533315905817852, + 1.0465032946880766 + ], + "finger_b": [ + 0.22453702806016396, + -0.12952048868250565, + 1.0465032946880766 + ], + "finger_midpoint": [ + 0.22994622563695666, + -0.14142603963214542, + 1.0465032946880766 + ], + "object_minus_finger_midpoint": [ + 0.005409197576792674, + 0.01190555094963977, + 0.0 + ], + "finger_gap": 0.02615351309780377, + "fingertip_max_gap": 0.09592972839579947, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013076756548901879, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0465032946880766, + "object_top_z": 1.0938355446537764, + "finger_top_clearance": 0.047332249965699846, + "fingertip_min_top_clearance": 0.014199674989709936, + "object_projection_between_fingers": 0.8288938527223191, + "object_to_finger_line_xy": 0.009849457257439147, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.050464864197899736, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.2149760756955295, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 204, + "max_stable_success_frames": 204, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24204599561042617, + -0.12680217268834387, + 1.241661304484748 + ], + "held_position": [ + 0.24649657168773212, + -0.12248457316746517, + 1.238281604322448 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00706198741358481, + "max_held_gripper_dist": 0.007063244137460192, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0033797001622999367, + "max_held_gripper_z_dist": 0.003745841615578227, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0856357112212691, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.24649657168773212, + -0.14655705408945224, + 1.238281604322448 + ], + "held_grasp_finger_b": [ + 0.2379385685051267, + -0.12248457316746517, + 1.238281604322448 + ], + "held_grasp_midpoint": [ + 0.2422175700964294, + -0.1345208136284587, + 1.238281604322448 + ], + "held_grasp_object_position": [ + 0.24649657168773212, + -0.12248457316746517, + 1.238281604322448 + ], + "held_grasp_finger_gap": 0.025548458979220572, + "held_grasp_max_gap": 0.12496582180261612, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02348518009250002, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.054786190055857095, + -0.995079840710642, + -0.08255049358088051 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0037498556404293557, + "held_grasp_line_xy_max_dist": 0.04748291090130806, + "held_grasp_object_top_z": 0.0452006496489048, + "held_grasp_top_clearance": 0.03298919921379394, + "held_grasp_min_top_clearance": 0.01356019489467144 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2948825757303728, + -0.3672691677899924, + 0.8470191697020517 + ], + "target_position": [ + 0.2899071116155445, + -0.3684175324847683, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005106269149795357, + "xy_threshold": 0.08, + "gripper_dist": 0.18546965112477645, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470191697020517, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0752500034506798, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08548698121013297, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15435546192415836, + "release_required_pad_clearance": 0.05274349060506649, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5366809709920903, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008116304874420166, + "max_z_decrease": 0.008116304874420166, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035138348862353584, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008116304874420166, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02095895053672627, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008116304874420166, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008116335716555614, + "max_button_displacement": 0.12, + "button_start": [ + 0.14560703933238983, + -0.42467898130416865, + 0.7768088579177856 + ], + "button_final": [ + 0.14560703933238983, + -0.42467898130416865, + 0.7768088579177856 + ], + "closest_ee": [ + 0.14737513660280974, + -0.42410456232132887, + 0.8037826111038068 + ], + "closest_button": [ + 0.1456194370985031, + -0.4246603548526764, + 0.7686925530433655 + ], + "closest_ee_minus_button": [ + 0.0017556995043066237, + 0.0005557925313475209, + 0.0350900580604413 + ], + "button_min_z_position": [ + 0.1456194370985031, + -0.4246603548526764, + 0.7686925530433655 + ], + "min_active_finger_to_button": 0.14399960942275708, + "closest_active_finger": [ + 0.020807303488254547, + -0.48787564039230347, + 0.8105061054229736 + ], + "closest_active_finger_button": [ + 0.1456061750650406, + -0.4246795177459717, + 0.7763391733169556 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12479887157678604, + -0.06319612264633179, + 0.034166932106018066 + ], + "min_contact_pad_to_button": 0.02095895053672627, + "closest_contact_pad": [ + 0.1456194370985031, + -0.4252062084633801, + 0.7896443942855241 + ], + "closest_contact_pad_button": [ + 0.1456194370985031, + -0.4246603548526764, + 0.7686925530433655 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0005458536107036949, + 0.020951841242158653 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 43, + "reproducibility": { + "enabled": true, + "action_seed": 1937247219597208700, + "physical_seed": 4015830930766581336, + "layout_id": "layout_00038", + "step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "workflow_spec_digest": "899d6ab12a9c3475100698bd12223ba9b0722ce0ef08f7e073f1cc82e64b1c61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b12a7b3f3955be1fb2689652be335da5291948cad690ef7aa11180d4a9ba659e", + "visual_seed": 8427291011344041742, + "episode_index": 43, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "runtime_workflow_digest": "82bc5063731ddfd0266f831cc4632665172de8ce02e3cf0701723ae89e342f48" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_44_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_44_success.json new file mode 100644 index 0000000000000000000000000000000000000000..37fda5f3a234cbf61365079645c9cb0a1047dd31 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_44_success.json @@ -0,0 +1,926 @@ +{ + "episode": 44, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23817721151052842, + -0.13390279216586223, + 1.0479506533504142 + ], + "current_z": 1.0479506533504142, + "required_z": 0.856586611526004, + "initial_z": 0.756586611526004, + "lift_margin": 0.19136404182441014, + "gripper_z": 1.051673911589328, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23396499107443178, + -0.13817525063180064, + 1.051673911589328 + ], + "object_minus_gripper": [ + 0.0042122204360966475, + 0.004272458465938406, + -0.0037232582389139512 + ], + "object_to_gripper_xy": 0.005999725189159833, + "object_to_gripper_z": -0.0037232582389139512, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23817721151052842, + -0.15793873012321086, + 1.0479506533504142 + ], + "finger_b": [ + 0.2276134477800176, + -0.13390279216586223, + 1.0479506533504142 + ], + "finger_midpoint": [ + 0.232895329645273, + -0.14592076114453656, + 1.0479506533504142 + ], + "object_minus_finger_midpoint": [ + 0.005281881865255411, + 0.012017968978674326, + 0.0 + ], + "finger_gap": 0.026254893213333935, + "fingertip_max_gap": 0.0948025018235395, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01312744660666698, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0479506533504142, + "object_top_z": 1.0947101246722448, + "finger_top_clearance": 0.04675947132183067, + "fingertip_min_top_clearance": 0.0140278413965492, + "object_projection_between_fingers": 0.8381111843105539, + "object_to_finger_line_xy": 0.009670958002361844, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04990125091176975, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.9677463385693839, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 206, + "max_stable_success_frames": 206, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24529033291673616, + -0.12989199205914093, + 1.244460440622621 + ], + "held_position": [ + 0.24977591296826795, + -0.12553087322101492, + 1.2411706685230606 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007068407627323391, + "max_held_gripper_dist": 0.007071925276405323, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003289772099560384, + "max_held_gripper_z_dist": 0.0037013811687121034, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08577814500012382, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.24977591296826795, + -0.14947083568636246, + 1.2411706685230606 + ], + "held_grasp_finger_b": [ + 0.24107181749812753, + -0.12553087322101492, + 1.2411706685230606 + ], + "held_grasp_midpoint": [ + 0.24542386523319776, + -0.1375008544536887, + 1.2411706685230606 + ], + "held_grasp_object_position": [ + 0.24977591296826795, + -0.12553087322101492, + 1.2411706685230606 + ], + "held_grasp_finger_gap": 0.025473183562239887, + "held_grasp_max_gap": 0.1249660900235176, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023446849360809197, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.041101397726030775, + -0.994345746574553, + -0.09791430627881526 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004033110053867101, + "held_grasp_line_xy_max_dist": 0.047483045011758804, + "held_grasp_object_top_z": 0.04520077258348465, + "held_grasp_top_clearance": 0.033119597413316465, + "held_grasp_min_top_clearance": 0.013560231775045395 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.29437605191668137, + -0.36191617253850417, + 0.8470197971174561 + ], + "target_position": [ + 0.28918892084582015, + -0.36318257039731044, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0053394842712646854, + "xy_threshold": 0.08, + "gripper_dist": 0.18510639081274397, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470197971174561, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07549143351915896, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08691570284458859, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15334163859571665, + "release_required_pad_clearance": 0.0534578514222943, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.927760649335047, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008150458335876465, + "max_z_decrease": 0.008150458335876465, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03504565214745224, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008150458335876465, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020927525124677833, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 122, + "max_z_decrease_with_contact_point": 0.008150458335876465, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008150524889936546, + "max_button_displacement": 0.12, + "button_start": [ + 0.14488884806632993, + -0.41944402456283564, + 0.7768088579177856 + ], + "button_final": [ + 0.14488884806632993, + -0.41944402456283564, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1459179487945084, + -0.41939109382395323, + 0.803689603255263 + ], + "closest_button": [ + 0.1449121534824371, + -0.41942074894905085, + 0.7686583995819092 + ], + "closest_ee_minus_button": [ + 0.0010057953120712892, + 2.9655125097616253e-05, + 0.03503120367335377 + ], + "button_min_z_position": [ + 0.1449121534824371, + -0.41942074894905085, + 0.7686583995819092 + ], + "min_active_finger_to_button": 0.1447053383043567, + "closest_active_finger": [ + 0.00516732782125473, + -0.4037798047065735, + 0.8108915686607361 + ], + "closest_active_finger_button": [ + 0.14488933980464935, + -0.41944387555122375, + 0.7766566276550293 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13972201198339462, + 0.01566407084465027, + 0.03423494100570679 + ], + "min_contact_pad_to_button": 0.020927525124677833, + "closest_contact_pad": [ + 0.1449121534824371, + -0.4205276706031679, + 0.7895566299446856 + ], + "closest_contact_pad_button": [ + 0.1449121534824371, + -0.41942074894905085, + 0.7686583995819092 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0011069216541170768, + 0.020898230362776382 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 44, + "reproducibility": { + "enabled": true, + "action_seed": 1937247219597208700, + "physical_seed": 4015830930766581336, + "layout_id": "layout_00038", + "step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "workflow_spec_digest": "899d6ab12a9c3475100698bd12223ba9b0722ce0ef08f7e073f1cc82e64b1c61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8cc2f37bc00aeb52edafc956bc95c46859c2af8928612522a176cf1127340cdf", + "visual_seed": 3652968821336484396, + "episode_index": 44, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "runtime_workflow_digest": "82bc5063731ddfd0266f831cc4632665172de8ce02e3cf0701723ae89e342f48" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_45_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_45_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2c5bf5e5a3a6894a82695e76a3b1e12941210d99 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_45_success.json @@ -0,0 +1,926 @@ +{ + "episode": 45, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.242113663698235, + -0.13692012738838252, + 1.0469070885160443 + ], + "current_z": 1.0469070885160443, + "required_z": 0.8565865747846956, + "initial_z": 0.7565865747846956, + "lift_margin": 0.19032051373134873, + "gripper_z": 1.0506875394226451, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23831528098423305, + -0.14105154371072143, + 1.0506875394226451 + ], + "object_minus_gripper": [ + 0.0037983827140019577, + 0.0041314163223389044, + -0.0037804509066008407 + ], + "object_to_gripper_xy": 0.005612157523672798, + "object_to_gripper_z": -0.0037804509066008407, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.242113663698235, + -0.16052269842749212, + 1.0469070885160443 + ], + "finger_b": [ + 0.23157697930679716, + -0.13692012738838252, + 1.0469070885160443 + ], + "finger_midpoint": [ + 0.23684532150251608, + -0.14872141290793733, + 1.0469070885160443 + ], + "object_minus_finger_midpoint": [ + 0.0052683421957189225, + 0.01180128551955481, + 0.0 + ], + "finger_gap": 0.02584768998616675, + "fingertip_max_gap": 0.09216203614771107, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012923844993083387, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0469070885160443, + "object_top_z": 1.0922849235809704, + "finger_top_clearance": 0.0453778350649261, + "fingertip_min_top_clearance": 0.013613350519477829, + "object_projection_between_fingers": 0.833825465435511, + "object_to_finger_line_xy": 0.009621472634447613, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048581018073855536, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.8335207384051337, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 205, + "max_stable_success_frames": 205, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24837118129097865, + -0.13430429767243354, + 1.243056070299483 + ], + "held_position": [ + 0.2525044154935224, + -0.13013788207867702, + 1.2396923006726244 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0067644356731032815, + "max_held_gripper_dist": 0.006767058655903162, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0033637696268586925, + "max_held_gripper_z_dist": 0.003753759328660733, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08571733024774411, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2525044154935224, + -0.15402016128342697, + 1.2396923006726244 + ], + "held_grasp_finger_b": [ + 0.2442899554774439, + -0.13013788207867702, + 1.2396923006726244 + ], + "held_grasp_midpoint": [ + 0.24839718548548317, + -0.142079021681052, + 1.2396923006726244 + ], + "held_grasp_object_position": [ + 0.2525044154935224, + -0.13013788207867702, + 1.2396923006726244 + ], + "held_grasp_finger_gap": 0.025255506594986064, + "held_grasp_max_gap": 0.12496591866016388, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02320203776048528, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05924036469906623, + -0.9918929916426165, + -0.11242273933943414 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003653622276312612, + "held_grasp_line_xy_max_dist": 0.04748295933008194, + "held_grasp_object_top_z": 0.04520072788000107, + "held_grasp_top_clearance": 0.03311308139260004, + "held_grasp_min_top_clearance": 0.01356021836400032 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2936727678695833, + -0.3626216223127926, + 0.8470199271371189 + ], + "target_position": [ + 0.28697162997079456, + -0.3646243597818485, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006994012189619278, + "xy_threshold": 0.08, + "gripper_dist": 0.18611815420753292, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470199271371189, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07554067419305113, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08606824322522132, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15442727941629886, + "release_required_pad_clearance": 0.05303412161261066, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.097879028255077, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00810539722442627, + "max_z_decrease": 0.00810539722442627, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03512322911657686, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00810539722442627, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.020964794669759004, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 122, + "max_z_decrease_with_contact_point": 0.00810539722442627, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008105417932037362, + "max_button_displacement": 0.12, + "button_start": [ + 0.1426715552806854, + -0.42088583111763, + 0.7768088579177856 + ], + "button_final": [ + 0.1426715552806854, + -0.42088583111763, + 0.7768088579177856 + ], + "closest_ee": [ + 0.14311171354677235, + -0.4197722998909625, + 0.80380688944027 + ], + "closest_button": [ + 0.14268042147159576, + -0.4208697974681854, + 0.7687034606933594 + ], + "closest_ee_minus_button": [ + 0.00043129207517658696, + 0.001097497577222939, + 0.035103428746910637 + ], + "button_min_z_position": [ + 0.14268042147159576, + -0.4208697974681854, + 0.7687034606933594 + ], + "min_active_finger_to_button": 0.14491211613228092, + "closest_active_finger": [ + 0.015922673046588898, + -0.48226410150527954, + 0.8108921051025391 + ], + "closest_active_finger_button": [ + 0.14267541468143463, + -0.42088446021080017, + 0.7767482399940491 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12675274163484573, + -0.06137964129447937, + 0.03414386510848999 + ], + "min_contact_pad_to_button": 0.020964794669759004, + "closest_contact_pad": [ + 0.14268042147159576, + -0.4210025711186427, + 0.7896678349197201 + ], + "closest_contact_pad_button": [ + 0.14268042147159576, + -0.4208697974681854, + 0.7687034606933594 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00013277365045727407, + 0.02096437422636077 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 45, + "reproducibility": { + "enabled": true, + "action_seed": 1937247219597208700, + "physical_seed": 4015830930766581336, + "layout_id": "layout_00038", + "step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "workflow_spec_digest": "899d6ab12a9c3475100698bd12223ba9b0722ce0ef08f7e073f1cc82e64b1c61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9ed163b7ac8aa172d018eaf2dc4a1b15774716a9ba511957cd37beb14c0b6bf1", + "visual_seed": 2532577027709380530, + "episode_index": 45, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "runtime_workflow_digest": "82bc5063731ddfd0266f831cc4632665172de8ce02e3cf0701723ae89e342f48" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_46_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_46_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9e001ea1046c5f92fb3f6a103d5d0e4412328205 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_46_success.json @@ -0,0 +1,926 @@ +{ + "episode": 46, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23916677728602137, + -0.1376121950812406, + 1.0464194358373915 + ], + "current_z": 1.0464194358373915, + "required_z": 0.8565865478210346, + "initial_z": 0.7565865478210346, + "lift_margin": 0.1898328880163569, + "gripper_z": 1.050684569291052, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23486902217558778, + -0.141941580570297, + 1.050684569291052 + ], + "object_minus_gripper": [ + 0.004297755110433593, + 0.004329385489056398, + -0.00426513345366053 + ], + "object_to_gripper_xy": 0.0061003506212438455, + "object_to_gripper_z": -0.00426513345366053, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23916677728602137, + -0.16179861346397914, + 1.0464194358373915 + ], + "finger_b": [ + 0.22864633253716288, + -0.1376121950812406, + 1.0464194358373915 + ], + "finger_midpoint": [ + 0.23390655491159212, + -0.14970540427260987, + 1.0464194358373915 + ], + "object_minus_finger_midpoint": [ + 0.0052602223744292465, + 0.012093209191369275, + 0.0 + ], + "finger_gap": 0.026375416430810292, + "fingertip_max_gap": 0.09738072606041392, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013187708215405146, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0464194358373915, + "object_top_z": 1.0938476368334573, + "finger_top_clearance": 0.04742820099606582, + "fingertip_min_top_clearance": 0.01422846029881971, + "object_projection_between_fingers": 0.840900230941399, + "object_to_finger_line_xy": 0.009647312258969292, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.051190363030206965, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.149617973927382, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 204, + "max_stable_success_frames": 204, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24642150897375065, + -0.13289132307480084, + 1.2428616781695276 + ], + "held_position": [ + 0.25091705432188954, + -0.12837478229052526, + 1.2390139648838667 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007444055760259282, + "max_held_gripper_dist": 0.0074464908689012045, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003847713285660914, + "max_held_gripper_z_dist": 0.004248151093292574, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0857587469542875, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.25091705432188954, + -0.15235637093553167, + 1.2390139648838667 + ], + "held_grasp_finger_b": [ + 0.24201497151478438, + -0.12837478229052526, + 1.2390139648838667 + ], + "held_grasp_midpoint": [ + 0.24646601291833697, + -0.14036557661302845, + 1.2390139648838667 + ], + "held_grasp_object_position": [ + 0.25091705432188954, + -0.12837478229052526, + 1.2390139648838667 + ], + "held_grasp_finger_gap": 0.02558053307190563, + "held_grasp_max_gap": 0.12496579200029373, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023817366584516136, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.007696948231212159, + -0.9960093056639955, + -0.08891692762714909 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004487487761849445, + "held_grasp_line_xy_max_dist": 0.047482896000146865, + "held_grasp_object_top_z": 0.045200638473033905, + "held_grasp_top_clearance": 0.033223436310259584, + "held_grasp_min_top_clearance": 0.01356019154191017 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.28643414824533364, + -0.3608789098605577, + 0.8470195569714065 + ], + "target_position": [ + 0.2814800015170001, + -0.36258535699389777, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005239802632231729, + "xy_threshold": 0.08, + "gripper_dist": 0.1836742654497736, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195569714065, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07575222837073659, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08909038124432221, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1517179832125473, + "release_required_pad_clearance": 0.05454519062216111, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 4.123689960173953, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008093118667602539, + "max_z_decrease": 0.008093118667602539, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03509304581213215, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008093118667602539, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02100130453775779, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008093118667602539, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008093136411863997, + "max_button_displacement": 0.12, + "button_start": [ + 0.13717992603778836, + -0.41884681582450867, + 0.7768088579177856 + ], + "button_final": [ + 0.13717992603778836, + -0.41884681582450867, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13710049581122685, + -0.41847873873588703, + 0.8038069129761639 + ], + "closest_button": [ + 0.1371859908103943, + -0.4188309907913208, + 0.7687157392501831 + ], + "closest_ee_minus_button": [ + -8.549499916743475e-05, + 0.00035225205543376603, + 0.035091173725980807 + ], + "button_min_z_position": [ + 0.1371859908103943, + -0.4188309907913208, + 0.7687157392501831 + ], + "min_active_finger_to_button": 0.1457232672965721, + "closest_active_finger": [ + 0.01056913286447525, + -0.4823450446128845, + 0.8107708692550659 + ], + "closest_active_finger_button": [ + 0.13717977702617645, + -0.41884639859199524, + 0.776522696018219 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1266106441617012, + -0.06349864602088928, + 0.034248173236846924 + ], + "min_contact_pad_to_button": 0.02100130453775779, + "closest_contact_pad": [ + 0.1371859908103943, + -0.4195765020232915, + 0.7897038074149917 + ], + "closest_contact_pad_button": [ + 0.1371859908103943, + -0.4188309907913208, + 0.7687157392501831 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0007455112319706969, + 0.020988068164808582 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 46, + "reproducibility": { + "enabled": true, + "action_seed": 1937247219597208700, + "physical_seed": 4015830930766581336, + "layout_id": "layout_00038", + "step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "workflow_spec_digest": "899d6ab12a9c3475100698bd12223ba9b0722ce0ef08f7e073f1cc82e64b1c61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0c57d510a4ed45f8370552d1c562561aa3dca34fe11ecdd91ce09f520a873f72", + "visual_seed": 7326931385791599777, + "episode_index": 46, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "runtime_workflow_digest": "82bc5063731ddfd0266f831cc4632665172de8ce02e3cf0701723ae89e342f48" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_47_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_47_success.json new file mode 100644 index 0000000000000000000000000000000000000000..065f1988d689787b92987cba913a693bc0743472 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_47_success.json @@ -0,0 +1,926 @@ +{ + "episode": 47, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2445644055257635, + -0.13812280881308348, + 1.0449862101482117 + ], + "current_z": 1.0449862101482117, + "required_z": 0.8565865562023519, + "initial_z": 0.7565865562023519, + "lift_margin": 0.18839965394585978, + "gripper_z": 1.0483420235286665, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2405286770826345, + -0.1423165400277404, + 1.0483420235286665 + ], + "object_minus_gripper": [ + 0.004035728443128994, + 0.004193731214656937, + -0.003355813380454764 + ], + "object_to_gripper_xy": 0.005820179169705029, + "object_to_gripper_z": -0.003355813380454764, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2445644055257635, + -0.16210361645793422, + 1.0449862101482117 + ], + "finger_b": [ + 0.23416533097556877, + -0.13812280881308348, + 1.0449862101482117 + ], + "finger_midpoint": [ + 0.23936486825066614, + -0.15011321263550886, + 1.0449862101482117 + ], + "object_minus_finger_midpoint": [ + 0.005199537275097366, + 0.011990403822425388, + 0.0 + ], + "finger_gap": 0.026138475219488987, + "fingertip_max_gap": 0.09422568673790807, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013069237609744508, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0449862101482117, + "object_top_z": 1.0914139835152041, + "finger_top_clearance": 0.04642777336699244, + "fingertip_min_top_clearance": 0.013928332010097732, + "object_projection_between_fingers": 0.8417189639970339, + "object_to_finger_line_xy": 0.009540656231039259, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04961284336895404, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.7749311021894496, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 202, + "max_stable_success_frames": 202, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.25020054599930164, + -0.134350103835878, + 1.2410763367861437 + ], + "held_position": [ + 0.2544951117936147, + -0.13006262349678707, + 1.2381918216232595 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006719093000151463, + "max_held_gripper_dist": 0.006724178487610329, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002884515162884238, + "max_held_gripper_z_dist": 0.003333641598018078, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08574696436301334, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2544951117936147, + -0.15373071825290446, + 1.2381918216232595 + ], + "held_grasp_finger_b": [ + 0.24587887554578572, + -0.13006262349678707, + 1.2381918216232595 + ], + "held_grasp_midpoint": [ + 0.2501869936697002, + -0.14189667087484575, + 1.2381918216232595 + ], + "held_grasp_object_position": [ + 0.2544951117936147, + -0.13006262349678707, + 1.2381918216232595 + ], + "held_grasp_finger_gap": 0.02518766040073897, + "held_grasp_max_gap": 0.1249661123752594, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023158173868129614, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.03980488431242729, + -0.9929460903949081, + -0.11168541871856627 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00405822109061929, + "held_grasp_line_xy_max_dist": 0.0474830561876297, + "held_grasp_object_top_z": 0.045200761407613754, + "held_grasp_top_clearance": 0.03327870618649557, + "held_grasp_min_top_clearance": 0.013560228422284127 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.28928805711567496, + -0.3596888348584786, + 0.8470192606664702 + ], + "target_position": [ + 0.2844975264263336, + -0.36082285384019314, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.004922924266775845, + "xy_threshold": 0.08, + "gripper_dist": 0.18471643791628606, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470192606664702, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07549383846235215, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08692625842376055, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15304945153822763, + "release_required_pad_clearance": 0.053463129211880275, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.9370762330998426, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007860839366912842, + "max_z_decrease": 0.007860839366912842, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035135145787806764, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007860839366912842, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021062476529864742, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007860839366912842, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007860862924028964, + "max_button_displacement": 0.12, + "button_start": [ + 0.14019745588302612, + -0.41708430647850026, + 0.7768088579177856 + ], + "button_final": [ + 0.14019745588302612, + -0.41708430647850026, + 0.7768088579177856 + ], + "closest_ee": [ + 0.14030833570822143, + -0.4168672568841884, + 0.8081739507815279 + ], + "closest_button": [ + 0.1401868462562561, + -0.41708642244338984, + 0.773039698600769 + ], + "closest_ee_minus_button": [ + 0.00012148945196532868, + 0.00021916555920142855, + 0.03513425218075883 + ], + "button_min_z_position": [ + 0.14017823338508606, + -0.41708338260650624, + 0.7689480185508728 + ], + "min_active_finger_to_button": 0.14594169185831016, + "closest_active_finger": [ + 0.012096874415874481, + -0.47810637950897217, + 0.8104859590530396 + ], + "closest_active_finger_button": [ + 0.1401969939470291, + -0.41708505153656, + 0.7763431072235107 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12810011953115463, + -0.061021327972412165, + 0.03414285182952881 + ], + "min_contact_pad_to_button": 0.021062476529864742, + "closest_contact_pad": [ + 0.14017823338508606, + -0.41807045061559833, + 0.7899873534813436 + ], + "closest_contact_pad_button": [ + 0.14017823338508606, + -0.41708338260650624, + 0.7689480185508728 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0009870680090920958, + 0.021039334930470832 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 47, + "reproducibility": { + "enabled": true, + "action_seed": 1937247219597208700, + "physical_seed": 4015830930766581336, + "layout_id": "layout_00038", + "step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "workflow_spec_digest": "899d6ab12a9c3475100698bd12223ba9b0722ce0ef08f7e073f1cc82e64b1c61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "4c35364a10c85b30cffc1afab4dd4d9814b66f1bebdbbdd1f0a6b9fe2c53be11", + "visual_seed": 4518561701243906585, + "episode_index": 47, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "runtime_workflow_digest": "82bc5063731ddfd0266f831cc4632665172de8ce02e3cf0701723ae89e342f48" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_48_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_48_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8d457e7267630c5e1c9f7147d4759785062431c6 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_48_success.json @@ -0,0 +1,926 @@ +{ + "episode": 48, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23923240065521523, + -0.13827087999387702, + 1.0459658351574799 + ], + "current_z": 1.0459658351574799, + "required_z": 0.8565864669411575, + "initial_z": 0.7565864669411575, + "lift_margin": 0.1893793682163224, + "gripper_z": 1.0501206052033412, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2347704572343483, + -0.14260095142377494, + 1.0501206052033412 + ], + "object_minus_gripper": [ + 0.004461943420866921, + 0.004330071429897914, + -0.004154770045861289 + ], + "object_to_gripper_xy": 0.006217592595131637, + "object_to_gripper_z": -0.004154770045861289, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23923240065521523, + -0.16260218360163456, + 1.0459658351574799 + ], + "finger_b": [ + 0.22872642251940478, + -0.13827087999387702, + 1.0459658351574799 + ], + "finger_midpoint": [ + 0.23397941158731, + -0.1504365317977558, + 1.0459658351574799 + ], + "object_minus_finger_midpoint": [ + 0.005252989067905223, + 0.012165651803878769, + 0.0 + ], + "finger_gap": 0.02650260198250357, + "fingertip_max_gap": 0.09851495592142478, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013251300991251784, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0459658351574799, + "object_top_z": 1.0940473014968863, + "finger_top_clearance": 0.048081466339406465, + "fingertip_min_top_clearance": 0.014424439901821906, + "object_projection_between_fingers": 0.8428566683323014, + "object_to_finger_line_xy": 0.009645247054897626, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.051757477960712395, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.3872893318043276, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 203, + "max_stable_success_frames": 203, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24672726455406668, + -0.13305165360925714, + 1.241862804634973 + ], + "held_position": [ + 0.2513569535745085, + -0.12851236209230016, + 1.238135277991605 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007478879781018954, + "max_held_gripper_dist": 0.007480507365751001, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.00372752664336784, + "max_held_gripper_z_dist": 0.00414472566588775, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08577892951680646, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2513569535745085, + -0.15245752585536432, + 1.238135277991605 + ], + "held_grasp_finger_b": [ + 0.24230616921779044, + -0.12851236209230016, + 1.238135277991605 + ], + "held_grasp_midpoint": [ + 0.24683156139614948, + -0.14048494397383224, + 1.238135277991605 + ], + "held_grasp_object_position": [ + 0.2513569535745085, + -0.12851236209230016, + 1.238135277991605 + ], + "held_grasp_finger_gap": 0.025598585216995356, + "held_grasp_max_gap": 0.12496597081422806, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023861813741532418, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.00010767478939958247, + -0.9965598280701969, + -0.08287639882885522 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0046316408805458864, + "held_grasp_line_xy_max_dist": 0.04748298540711403, + "held_grasp_object_top_z": 0.045200709253549576, + "held_grasp_top_clearance": 0.033268827841483856, + "held_grasp_min_top_clearance": 0.013560212776064872 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2897588141210424, + -0.36565781788233553, + 0.8470196534188192 + ], + "target_position": [ + 0.2854281420838076, + -0.36666370633170897, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.004445956799910441, + "xy_threshold": 0.08, + "gripper_dist": 0.18517688681291886, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196534188192, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0755871827997911, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08871973817486588, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15329387325518512, + "release_required_pad_clearance": 0.05435986908743294, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.742324295574467, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008086442947387695, + "max_z_decrease": 0.008086442947387695, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03514633524524775, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008086442947387695, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.020963063838028262, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 122, + "max_z_decrease_with_contact_point": 0.008086442947387695, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008086455797745336, + "max_button_displacement": 0.12, + "button_start": [ + 0.1411280632019043, + -0.4229251742362976, + 0.7768088579177856 + ], + "button_final": [ + 0.1411280632019043, + -0.4229251742362976, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13965672689281813, + -0.42164907642533794, + 0.8038147613858353 + ], + "closest_button": [ + 0.14113724231719968, + -0.42291405797004694, + 0.768722414970398 + ], + "closest_ee_minus_button": [ + -0.0014805154243815455, + 0.0012649815447089985, + 0.03509234641543735 + ], + "button_min_z_position": [ + 0.14113724231719968, + -0.42291405797004694, + 0.768722414970398 + ], + "min_active_finger_to_button": 0.14653327891098578, + "closest_active_finger": [ + 0.01279013603925705, + -0.48482373356819153, + 0.8109461069107056 + ], + "closest_active_finger_button": [ + 0.14113184809684753, + -0.42292413115501404, + 0.7767577171325684 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12834171205759048, + -0.06189960241317749, + 0.03418838977813721 + ], + "min_contact_pad_to_button": 0.020963063838028262, + "closest_contact_pad": [ + 0.14113724231719968, + -0.42291405797004694, + 0.7896854788084262 + ], + "closest_contact_pad_button": [ + 0.14113724231719968, + -0.42291405797004694, + 0.768722414970398 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.020963063838028262 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 48, + "reproducibility": { + "enabled": true, + "action_seed": 1937247219597208700, + "physical_seed": 4015830930766581336, + "layout_id": "layout_00038", + "step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "workflow_spec_digest": "899d6ab12a9c3475100698bd12223ba9b0722ce0ef08f7e073f1cc82e64b1c61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "04131dc4051f6fc1459cef400ae31972611c7f2568369471f19ede9ff607645c", + "visual_seed": 6226463666891886947, + "episode_index": 48, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "runtime_workflow_digest": "82bc5063731ddfd0266f831cc4632665172de8ce02e3cf0701723ae89e342f48" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_49_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_49_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2b65be554c7c19893a6a34a593c200cab8e8efdd --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_49_success.json @@ -0,0 +1,926 @@ +{ + "episode": 49, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23531323585634314, + -0.13396072541857013, + 1.0441863494472827 + ], + "current_z": 1.0441863494472827, + "required_z": 0.85658651854917, + "initial_z": 0.75658651854917, + "lift_margin": 0.18759983089811272, + "gripper_z": 1.0476673754079306, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23135128474762964, + -0.13821610809135879, + 1.0476673754079306 + ], + "object_minus_gripper": [ + 0.003961951108713502, + 0.00425538267278866, + -0.003481025960647921 + ], + "object_to_gripper_xy": 0.005814235829385157, + "object_to_gripper_z": -0.003481025960647921, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23531323585634314, + -0.15756689165311058, + 1.0441863494472827 + ], + "finger_b": [ + 0.22446172185172664, + -0.13396072541857013, + 1.0441863494472827 + ], + "finger_midpoint": [ + 0.22988747885403488, + -0.14576380853584037, + 1.0441863494472827 + ], + "object_minus_finger_midpoint": [ + 0.005425757002308268, + 0.011803083117270241, + 0.0 + ], + "finger_gap": 0.02598088606043193, + "fingertip_max_gap": 0.09312907651487645, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012990443030215982, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0441863494472827, + "object_top_z": 1.0900929634542929, + "finger_top_clearance": 0.04590661400701013, + "fingertip_min_top_clearance": 0.013771984202103038, + "object_projection_between_fingers": 0.825549284970149, + "object_to_finger_line_xy": 0.009859657707346203, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04906453825743823, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.7104683033668864, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 203, + "max_stable_success_frames": 203, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24201499709753624, + -0.13240398517918528, + 1.243516803121098 + ], + "held_position": [ + 0.2463624900837114, + -0.12827671538844593, + 1.240362145981329 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006773987958351183, + "max_held_gripper_dist": 0.00677648107066336, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003154657139768924, + "max_held_gripper_z_dist": 0.0034683303575269164, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08616196891060696, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2463624900837114, + -0.15256529431446175, + 1.240362145981329 + ], + "held_grasp_finger_b": [ + 0.23810427885873067, + -0.12827671538844593, + 1.240362145981329 + ], + "held_grasp_midpoint": [ + 0.24223338447122103, + -0.14042100485145384, + 1.240362145981329 + ], + "held_grasp_object_position": [ + 0.2463624900837114, + -0.12827671538844593, + 1.240362145981329 + ], + "held_grasp_finger_gap": 0.02565410530269371, + "held_grasp_max_gap": 0.12496593356132507, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023539071440297817, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07279272617275698, + -0.9938913767745269, + -0.08295269850688136 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003391123507805657, + "held_grasp_line_xy_max_dist": 0.047482966780662536, + "held_grasp_object_top_z": 0.045200709253549576, + "held_grasp_top_clearance": 0.032830035825023855, + "held_grasp_min_top_clearance": 0.013560212776064872 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2939880168410959, + -0.36275470817661903, + 0.8470193420919109 + ], + "target_position": [ + 0.28717113776302333, + -0.3648466555879644, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007130644033809139, + "xy_threshold": 0.08, + "gripper_dist": 0.1857401853394447, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470193420919109, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07543124991624493, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08532009905217029, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1544081810200663, + "release_required_pad_clearance": 0.05266004952608515, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.3774228412374653, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008094429969787598, + "max_z_decrease": 0.008094429969787598, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03511449099187799, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008094429969787598, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02097686162717083, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008094429969787598, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008094446740297353, + "max_button_displacement": 0.12, + "button_start": [ + 0.14287106692790982, + -0.4211081266403198, + 0.7768088579177856 + ], + "button_final": [ + 0.14287106692790982, + -0.4211081266403198, + 0.7768088579177856 + ], + "closest_ee": [ + 0.14263179360844097, + -0.4199501551363502, + 0.8038094918452917 + ], + "closest_button": [ + 0.1428756564855575, + -0.42109230160713196, + 0.768714427947998 + ], + "closest_ee_minus_button": [ + -0.00024386287711652965, + 0.0011421464707817575, + 0.035095063897293666 + ], + "button_min_z_position": [ + 0.1428756564855575, + -0.42109230160713196, + 0.768714427947998 + ], + "min_active_finger_to_button": 0.14550030318799453, + "closest_active_finger": [ + 0.016576766967773438, + -0.48473939299583435, + 0.8110306262969971 + ], + "closest_active_finger_button": [ + 0.1428700685501098, + -0.4211084842681885, + 0.7768042087554932 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12629330158233637, + -0.06363090872764587, + 0.034226417541503906 + ], + "min_contact_pad_to_button": 0.02097686162717083, + "closest_contact_pad": [ + 0.1428756564855575, + -0.42109230160713196, + 0.7896912895751689 + ], + "closest_contact_pad_button": [ + 0.1428756564855575, + -0.42109230160713196, + 0.768714427947998 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02097686162717083 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 49, + "reproducibility": { + "enabled": true, + "action_seed": 1937247219597208700, + "physical_seed": 4015830930766581336, + "layout_id": "layout_00038", + "step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "workflow_spec_digest": "899d6ab12a9c3475100698bd12223ba9b0722ce0ef08f7e073f1cc82e64b1c61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "4b413baaa494eea7979b893265f400bd6b5e9fbcdaf5d87ad46af7fa5ff146c5", + "visual_seed": 8671567066032146699, + "episode_index": 49, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "runtime_workflow_digest": "82bc5063731ddfd0266f831cc4632665172de8ce02e3cf0701723ae89e342f48" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_4_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_4_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ea70b7e48b1202ff0374ee9934f63932ff980422 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_4_success.json @@ -0,0 +1,926 @@ +{ + "episode": 4, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.238548085609678, + -0.13648168276992056, + 1.0469281117377587 + ], + "current_z": 1.0469281117377587, + "required_z": 0.8565866713538779, + "initial_z": 0.7565866713538779, + "lift_margin": 0.1903414403838808, + "gripper_z": 1.0515116848974535, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2342171430621577, + -0.14077847007819383, + 1.0515116848974535 + ], + "object_minus_gripper": [ + 0.004330942547520283, + 0.004296787308273264, + -0.00458357315969482 + ], + "object_to_gripper_xy": 0.006100774092068947, + "object_to_gripper_z": -0.00458357315969482, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.238548085609678, + -0.16070724371901185, + 1.0469281117377587 + ], + "finger_b": [ + 0.22807891146080256, + -0.13648168276992056, + 1.0469281117377587 + ], + "finger_midpoint": [ + 0.23331349853524028, + -0.1485944632444662, + 1.0469281117377587 + ], + "object_minus_finger_midpoint": [ + 0.005234587074437719, + 0.012112780474545642, + 0.0 + ], + "finger_gap": 0.026390934251322336, + "fingertip_max_gap": 0.09670429861042307, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013195467125661168, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0469281117377587, + "object_top_z": 1.0942379258588617, + "finger_top_clearance": 0.04730981412110302, + "fingertip_min_top_clearance": 0.01419294423633089, + "object_projection_between_fingers": 0.8426324009767987, + "object_to_finger_line_xy": 0.009610179541769152, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.050852149305211536, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.805916303012835, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 204, + "max_stable_success_frames": 204, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24603834916827283, + -0.13161752586365044, + 1.2429385966623059 + ], + "held_position": [ + 0.2505588987089646, + -0.12708462040025267, + 1.238791020977584 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007627908242135928, + "max_held_gripper_dist": 0.007631653446112488, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004147575684721794, + "max_held_gripper_z_dist": 0.004570152504314473, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08610608860664823, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2505588987089646, + -0.15106662915873306, + 1.238791020977584 + ], + "held_grasp_finger_b": [ + 0.24171804306755848, + -0.12708462040025267, + 1.238791020977584 + ], + "held_grasp_midpoint": [ + 0.24613847088826152, + -0.13907562477949287, + 1.238791020977584 + ], + "held_grasp_object_position": [ + 0.2505588987089646, + -0.12708462040025267, + 1.238791020977584 + ], + "held_grasp_finger_gap": 0.025559684516128365, + "held_grasp_max_gap": 0.1249660900235176, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023749713134530108, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.014161640678496873, + -0.9955343772848738, + -0.09333140723953436 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004395791853819748, + "held_grasp_line_xy_max_dist": 0.047483045011758804, + "held_grasp_object_top_z": 0.045200832188129425, + "held_grasp_top_clearance": 0.03320077459998031, + "held_grasp_min_top_clearance": 0.013560249656438827 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.29231083763865184, + -0.3670387334742107, + 0.8470195085135661 + ], + "target_position": [ + 0.2867943133509158, + -0.368470094928943, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005699196068856984, + "xy_threshold": 0.08, + "gripper_dist": 0.18371214154724344, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195085135661, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07545822715406683, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08764241568603319, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15233042535864974, + "release_required_pad_clearance": 0.0538212078430166, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.651483280030232, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00813359022140503, + "max_z_decrease": 0.00813359022140503, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035041006017708015, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00813359022140503, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.020906868249459705, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00813359022140503, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00813363814278194, + "max_button_displacement": 0.12, + "button_start": [ + 0.14249424636363983, + -0.4247315526008606, + 0.7768088579177856 + ], + "button_final": [ + 0.14249424636363983, + -0.4247315526008606, + 0.7768088579177856 + ], + "closest_ee": [ + 0.14074672562262847, + -0.424438439922483, + 0.8036705074546866 + ], + "closest_button": [ + 0.14251576364040375, + -0.42471376061439514, + 0.7686752676963806 + ], + "closest_ee_minus_button": [ + -0.0017690380177752818, + 0.000275320691912162, + 0.034995239758305985 + ], + "button_min_z_position": [ + 0.14251576364040375, + -0.42471376061439514, + 0.7686752676963806 + ], + "min_active_finger_to_button": 0.14722515269578512, + "closest_active_finger": [ + 0.014843307435512543, + -0.48958176374435425, + 0.810900866985321 + ], + "closest_active_finger_button": [ + 0.14249512553215027, + -0.4247325360774994, + 0.7766249775886536 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12765181809663773, + -0.06484922766685486, + 0.03427588939666748 + ], + "min_contact_pad_to_button": 0.020906868249459705, + "closest_contact_pad": [ + 0.14251576364040375, + -0.42540958378177784, + 0.7895705535312286 + ], + "closest_contact_pad_button": [ + 0.14251576364040375, + -0.42471376061439514, + 0.7686752676963806 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0006958231673827031, + 0.02089528583484801 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 4, + "reproducibility": { + "enabled": true, + "action_seed": 1937247219597208700, + "physical_seed": 4015830930766581336, + "layout_id": "layout_00038", + "step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "workflow_spec_digest": "899d6ab12a9c3475100698bd12223ba9b0722ce0ef08f7e073f1cc82e64b1c61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1ed92b220d459ecccee2870602cdb14a75a39d00d11e60e14959915ecdd55ab8", + "visual_seed": 8333722650316760132, + "episode_index": 4, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "runtime_workflow_digest": "82bc5063731ddfd0266f831cc4632665172de8ce02e3cf0701723ae89e342f48" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_50_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_50_success.json new file mode 100644 index 0000000000000000000000000000000000000000..84129348702d770aeff432706392f9af190af241 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_50_success.json @@ -0,0 +1,926 @@ +{ + "episode": 50, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.24214772921152236, + -0.1369910093727601, + 1.0449547063095244 + ], + "current_z": 1.0449547063095244, + "required_z": 0.8565866777291188, + "initial_z": 0.7565866777291188, + "lift_margin": 0.18836802858040558, + "gripper_z": 1.0493042405164155, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23775481284128377, + -0.14128104186872148, + 1.0493042405164155 + ], + "object_minus_gripper": [ + 0.0043929163702385865, + 0.004290032495961382, + -0.004349534206891104 + ], + "object_to_gripper_xy": 0.006140203013933237, + "object_to_gripper_z": -0.004349534206891104, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24214772921152236, + -0.1612825671766578, + 1.0449547063095244 + ], + "finger_b": [ + 0.231669228676614, + -0.1369910093727601, + 1.0449547063095244 + ], + "finger_midpoint": [ + 0.2369084789440682, + -0.14913678827470894, + 1.0449547063095244 + ], + "object_minus_finger_midpoint": [ + 0.005239250267454171, + 0.012145778901948845, + 0.0 + ], + "finger_gap": 0.026455221677396275, + "fingertip_max_gap": 0.09616160677123448, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013227610838698133, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0449547063095244, + "object_top_z": 1.0916992148651563, + "finger_top_clearance": 0.04674450855563195, + "fingertip_min_top_clearance": 0.014023352566689568, + "object_projection_between_fingers": 0.8431171501742042, + "object_to_finger_line_xy": 0.00962150703350112, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05058080338561724, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.198757120251658, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 202, + "max_stable_success_frames": 202, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.248276407049988, + -0.13199365050275327, + 1.2418882026578546 + ], + "held_position": [ + 0.2528386174764, + -0.12744459579983822, + 1.238001164036038 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007524409073971866, + "max_held_gripper_dist": 0.007526667182793147, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0038870386218166075, + "max_held_gripper_z_dist": 0.004339464367023815, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08612294560426191, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2528386174764, + -0.15127283994166082, + 1.238001164036038 + ], + "held_grasp_finger_b": [ + 0.24378248120733936, + -0.12744459579983822, + 1.238001164036038 + ], + "held_grasp_midpoint": [ + 0.2483105493418697, + -0.13935871787074952, + 1.238001164036038 + ], + "held_grasp_object_position": [ + 0.2528386174764, + -0.12744459579983822, + 1.238001164036038 + ], + "held_grasp_finger_gap": 0.02549115185718565, + "held_grasp_max_gap": 0.12496584415435791, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023722199102189864, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.00267821230715623, + -0.9945317290494297, + -0.10440051289524185 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004726393889881234, + "held_grasp_line_xy_max_dist": 0.047482922077178955, + "held_grasp_object_top_z": 0.04520066827535629, + "held_grasp_top_clearance": 0.03336382297987244, + "held_grasp_min_top_clearance": 0.013560200482606888 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.28590222497680184, + -0.36018667766374196, + 0.847019464392617 + ], + "target_position": [ + 0.28036536565063525, + -0.3618878336645705, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005792300314806976, + "xy_threshold": 0.08, + "gripper_dist": 0.18466904539092058, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.847019464392617, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07571683220728699, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08914871262785005, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15264107221789017, + "release_required_pad_clearance": 0.05457435631392503, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 4.183437268386993, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008031904697418213, + "max_z_decrease": 0.008031904697418213, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0351343992150151, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008031904697418213, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021035933343919233, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008031904697418213, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008031926737967822, + "max_button_displacement": 0.12, + "button_start": [ + 0.13606528937816617, + -0.41814929246902466, + 0.7768088579177856 + ], + "button_final": [ + 0.13606528937816617, + -0.41814929246902466, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1343448870066035, + -0.4175025341212564, + 0.8078245578037014 + ], + "closest_button": [ + 0.13605701923370359, + -0.41814929246902466, + 0.7727378606796265 + ], + "closest_ee_minus_button": [ + -0.0017121322271000938, + 0.0006467583477682837, + 0.03508669712407497 + ], + "button_min_z_position": [ + 0.13604709506034846, + -0.4181444942951202, + 0.7687769532203674 + ], + "min_active_finger_to_button": 0.14739000393253304, + "closest_active_finger": [ + 0.007480233907699585, + -0.4815165102481842, + 0.810839056968689 + ], + "closest_active_finger_button": [ + 0.13606438040733335, + -0.4181500971317291, + 0.776566207408905 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12858414649963376, + -0.06336641311645508, + 0.034272849559783936 + ], + "min_contact_pad_to_button": 0.021035933343919233, + "closest_contact_pad": [ + 0.13604709506034846, + -0.4185526718418286, + 0.7898089260888402 + ], + "closest_contact_pad_button": [ + 0.13604709506034846, + -0.4181444942951202, + 0.7687769532203674 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00040817754670841033, + 0.021031972868472804 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 50, + "reproducibility": { + "enabled": true, + "action_seed": 1937247219597208700, + "physical_seed": 4015830930766581336, + "layout_id": "layout_00038", + "step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "workflow_spec_digest": "899d6ab12a9c3475100698bd12223ba9b0722ce0ef08f7e073f1cc82e64b1c61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8e505158ddd20de7977968953ad5a0bc624efa109b6e131da854a65a315db04b", + "visual_seed": 1693358245129075747, + "episode_index": 50, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "runtime_workflow_digest": "82bc5063731ddfd0266f831cc4632665172de8ce02e3cf0701723ae89e342f48" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_51_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_51_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d33837b1072956bedd8a1b33783e0e86a43d107e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_51_success.json @@ -0,0 +1,926 @@ +{ + "episode": 51, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23838806859477632, + -0.130553731721419, + 1.0458158476407229 + ], + "current_z": 1.0458158476407229, + "required_z": 0.8565865301763483, + "initial_z": 0.7565865301763484, + "lift_margin": 0.18922931746437455, + "gripper_z": 1.0498439771792456, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23399097379584372, + -0.1348926142201937, + 1.0498439771792456 + ], + "object_minus_gripper": [ + 0.004397094798932605, + 0.004338882498774704, + -0.004028129538522718 + ], + "object_to_gripper_xy": 0.006177405928783828, + "object_to_gripper_z": -0.004028129538522718, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23838806859477632, + -0.15482149307683582, + 1.0458158476407229 + ], + "finger_b": [ + 0.22782865151581946, + -0.130553731721419, + 1.0458158476407229 + ], + "finger_midpoint": [ + 0.2331083600552979, + -0.14268761239912742, + 1.0458158476407229 + ], + "object_minus_finger_midpoint": [ + 0.005279708539478428, + 0.01213388067770843, + 0.0 + ], + "finger_gap": 0.026465553654719344, + "fingertip_max_gap": 0.09635097245107219, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013232776827359684, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0458158476407229, + "object_top_z": 1.0927331213814793, + "finger_top_clearance": 0.04691727374075638, + "fingertip_min_top_clearance": 0.01407518212222693, + "object_projection_between_fingers": 0.8408092163524705, + "object_to_finger_line_xy": 0.00968252608910536, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.050675486225536095, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.064248554748864, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 203, + "max_stable_success_frames": 203, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2445983006782717, + -0.1254574915865178, + 1.2422596629926101 + ], + "held_position": [ + 0.2491775048387495, + -0.1209147589933364, + 1.2386862401873107 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007373932512704764, + "max_held_gripper_dist": 0.007376547951435339, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0035734228052994865, + "max_held_gripper_z_dist": 0.004013447889673172, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08611490954138012, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2491775048387495, + -0.1447460258542719, + 1.2386862401873107 + ], + "held_grasp_finger_b": [ + 0.24010014241850378, + -0.1209147589933364, + 1.2386862401873107 + ], + "held_grasp_midpoint": [ + 0.24463882362862666, + -0.13283039242380415, + 1.2386862401873107 + ], + "held_grasp_object_position": [ + 0.2491775048387495, + -0.1209147589933364, + 1.2386862401873107 + ], + "held_grasp_finger_gap": 0.025501525223123662, + "held_grasp_max_gap": 0.12496571004390716, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02368544749225485, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0026509435893655735, + -0.9948909223468962, + -0.10092088549863322 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004664901481760593, + "held_grasp_line_xy_max_dist": 0.04748285502195358, + "held_grasp_object_top_z": 0.04520063102245331, + "held_grasp_top_clearance": 0.033333843700609586, + "held_grasp_min_top_clearance": 0.013560189306735993 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.29521238294465635, + -0.35976613373105193, + 0.8470192151444991 + ], + "target_position": [ + 0.28948655315741584, + -0.3617673379848781, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006065471557758937, + "xy_threshold": 0.08, + "gripper_dist": 0.18654111434453025, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470192151444991, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0752367392002869, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08777740253177989, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15565492426728866, + "release_required_pad_clearance": 0.053888701265889946, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.7853769975617344, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00813978910446167, + "max_z_decrease": 0.00813978910446167, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03508920417668784, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00813978910446167, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020967962815268703, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 122, + "max_z_decrease_with_contact_point": 0.00813978910446167, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008139843646830243, + "max_button_displacement": 0.12, + "button_start": [ + 0.14518648386001587, + -0.4180288016796112, + 0.7768088579177856 + ], + "button_final": [ + 0.14518648386001587, + -0.4180288016796112, + 0.7768088579177856 + ], + "closest_ee": [ + 0.14694286316220218, + -0.4183986671511756, + 0.8037129992805577 + ], + "closest_button": [ + 0.14520490169525146, + -0.4180053770542145, + 0.768669068813324 + ], + "closest_ee_minus_button": [ + 0.0017379614669507104, + -0.0003932900969610964, + 0.03504393046723375 + ], + "button_min_z_position": [ + 0.14520490169525146, + -0.4180053770542145, + 0.768669068813324 + ], + "min_active_finger_to_button": 0.1439951381055468, + "closest_active_finger": [ + 0.005961790680885315, + -0.40478572249412537, + 0.8110144138336182 + ], + "closest_active_finger_button": [ + 0.1451893448829651, + -0.41802674531936646, + 0.7767366766929626 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13922755420207977, + 0.013241022825241089, + 0.03427773714065552 + ], + "min_contact_pad_to_button": 0.020967962815268703, + "closest_contact_pad": [ + 0.14520490169525146, + -0.4193572222506129, + 0.7895934082100042 + ], + "closest_contact_pad_button": [ + 0.14520490169525146, + -0.4180053770542145, + 0.768669068813324 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0013518451963984157, + 0.020924339396680258 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 51, + "reproducibility": { + "enabled": true, + "action_seed": 1937247219597208700, + "physical_seed": 4015830930766581336, + "layout_id": "layout_00038", + "step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "workflow_spec_digest": "899d6ab12a9c3475100698bd12223ba9b0722ce0ef08f7e073f1cc82e64b1c61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "488dc1663d0652fefc5a32b8dbdbd77c39b0387cff5749c9e9b87d8cf17a7156", + "visual_seed": 6216270969308746385, + "episode_index": 51, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "runtime_workflow_digest": "82bc5063731ddfd0266f831cc4632665172de8ce02e3cf0701723ae89e342f48" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_52_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_52_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7a9eb0c51aa0284b0effed57cfb0f3f7d84f409b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_52_success.json @@ -0,0 +1,926 @@ +{ + "episode": 52, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.24129441941174146, + -0.13662588778308804, + 1.0462211308795097 + ], + "current_z": 1.0462211308795097, + "required_z": 0.8565866036970308, + "initial_z": 0.7565866036970308, + "lift_margin": 0.18963452718247897, + "gripper_z": 1.0496437596150925, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23733022510303076, + -0.14084229107305823, + 1.0496437596150925 + ], + "object_minus_gripper": [ + 0.0039641943087107, + 0.004216403289970194, + -0.0034226287355827445 + ], + "object_to_gripper_xy": 0.00578730448662292, + "object_to_gripper_z": -0.0034226287355827445, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24129441941174146, + -0.16034544213022917, + 1.0462211308795097 + ], + "finger_b": [ + 0.23063929810059558, + -0.13662588778308804, + 1.0462211308795097 + ], + "finger_midpoint": [ + 0.23596685875616852, + -0.1484856649566586, + 1.0462211308795097 + ], + "object_minus_finger_midpoint": [ + 0.005327560655572938, + 0.011859777173570563, + 0.0 + ], + "finger_gap": 0.026002862699753205, + "fingertip_max_gap": 0.0934199519212216, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013001431349876602, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0462211308795097, + "object_top_z": 1.092176075282127, + "finger_top_clearance": 0.04595494440261727, + "fingertip_min_top_clearance": 0.013786483320785215, + "object_projection_between_fingers": 0.8320908080593348, + "object_to_finger_line_xy": 0.009719496346742807, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0492099759606108, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.8138342006323005, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 204, + "max_stable_success_frames": 204, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24768527601110119, + -0.13403117176241805, + 1.2420902395507758 + ], + "held_position": [ + 0.25198059888718327, + -0.1298222629921445, + 1.2390853628454062 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006722647964957916, + "max_held_gripper_dist": 0.006726193249585274, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0030048767053696412, + "max_held_gripper_z_dist": 0.0033960109728796706, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08549630562695709, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.25198059888718327, + -0.15372113678079738, + 1.2390853628454062 + ], + "held_grasp_finger_b": [ + 0.24361311153617865, + -0.1298222629921445, + 1.2390853628454062 + ], + "held_grasp_midpoint": [ + 0.24779685521168096, + -0.14177169988647093, + 1.2390853628454062 + ], + "held_grasp_object_position": [ + 0.25198059888718327, + -0.1298222629921445, + 1.2390853628454062 + ], + "held_grasp_finger_gap": 0.025321354879531664, + "held_grasp_max_gap": 0.12496605277061462, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023240279967248284, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05781605092157325, + -0.9926850633975774, + -0.10598900491646203 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003713218751022288, + "held_grasp_line_xy_max_dist": 0.04748302638530731, + "held_grasp_object_top_z": 0.04520078003406525, + "held_grasp_top_clearance": 0.033096864975669806, + "held_grasp_min_top_clearance": 0.013560234010219574 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2898375486731114, + -0.3665697789888619, + 0.8470196338734715 + ], + "target_position": [ + 0.28388536511408075, + -0.3682581431762832, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006187007576345904, + "xy_threshold": 0.08, + "gripper_dist": 0.18679297008759632, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196338734715, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07561345877928516, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08642570138233278, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15486872033852125, + "release_required_pad_clearance": 0.053212850691166394, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.4472334979472958, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008144974708557129, + "max_z_decrease": 0.008144974708557129, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03506340756696323, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008144974708557129, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020925205813019897, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 122, + "max_z_decrease_with_contact_point": 0.008144974708557129, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00814504071596286, + "max_button_displacement": 0.12, + "button_start": [ + 0.13958528637886047, + -0.4245195984840393, + 0.7768088579177856 + ], + "button_final": [ + 0.13958528637886047, + -0.4245195984840393, + 0.7768088579177856 + ], + "closest_ee": [ + 0.14073971619358486, + -0.42394737515577396, + 0.8037047498343459 + ], + "closest_button": [ + 0.13960930705070493, + -0.4244972765445709, + 0.7686638832092285 + ], + "closest_ee_minus_button": [ + 0.001130409142879929, + 0.0005499013887969584, + 0.035040866625117406 + ], + "button_min_z_position": [ + 0.13960930705070493, + -0.4244972765445709, + 0.7686638832092285 + ], + "min_active_finger_to_button": 0.14453153214425563, + "closest_active_finger": [ + 0.013828739523887634, + -0.4870107173919678, + 0.810880184173584 + ], + "closest_active_finger_button": [ + 0.1395867019891739, + -0.4245184659957886, + 0.7766892910003662 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12575796246528625, + -0.0624922513961792, + 0.03419089317321777 + ], + "min_contact_pad_to_button": 0.020925205813019897, + "closest_contact_pad": [ + 0.13960930705070493, + -0.42512132556211624, + 0.7895797814959611 + ], + "closest_contact_pad_button": [ + 0.13960930705070493, + -0.4244972765445709, + 0.7686638832092285 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0006240490175453139, + 0.02091589828673257 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 52, + "reproducibility": { + "enabled": true, + "action_seed": 1937247219597208700, + "physical_seed": 4015830930766581336, + "layout_id": "layout_00038", + "step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "workflow_spec_digest": "899d6ab12a9c3475100698bd12223ba9b0722ce0ef08f7e073f1cc82e64b1c61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "46aa7d3c60df5bb25b3ddb4d5152f4aa78053d4672c97fdf1ec7a5d98618eb02", + "visual_seed": 8629191423535936709, + "episode_index": 52, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "runtime_workflow_digest": "82bc5063731ddfd0266f831cc4632665172de8ce02e3cf0701723ae89e342f48" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_53_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_53_success.json new file mode 100644 index 0000000000000000000000000000000000000000..11820459b0502b24612d762fe2dc32847571bf3c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_53_success.json @@ -0,0 +1,926 @@ +{ + "episode": 53, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.24061127876463578, + -0.13142010441554713, + 1.0467678611221813 + ], + "current_z": 1.0467678611221813, + "required_z": 0.8565866613208767, + "initial_z": 0.7565866613208767, + "lift_margin": 0.19018119980130466, + "gripper_z": 1.0510268457654182, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23620475386751713, + -0.1357948923713238, + 1.0510268457654182 + ], + "object_minus_gripper": [ + 0.004406524897118652, + 0.004374787955776671, + -0.004258984643236818 + ], + "object_to_gripper_xy": 0.006209366419123225, + "object_to_gripper_z": -0.004258984643236818, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24061127876463578, + -0.1556147681755671, + 1.0467678611221813 + ], + "finger_b": [ + 0.2298980903643883, + -0.13142010441554713, + 1.0467678611221813 + ], + "finger_midpoint": [ + 0.23525468456451204, + -0.14351743629555713, + 1.0467678611221813 + ], + "object_minus_finger_midpoint": [ + 0.005356594200123743, + 0.012097331880009998, + 0.0 + ], + "finger_gap": 0.026460426303437007, + "fingertip_max_gap": 0.0978322176747802, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013230213151718516, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0467678611221813, + "object_top_z": 1.0944969123729607, + "finger_top_clearance": 0.04772905125077931, + "fingertip_min_top_clearance": 0.014318715375233776, + "object_projection_between_fingers": 0.8360755213208595, + "object_to_finger_line_xy": 0.009795835795285963, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.051416108837390104, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.2349765457748303, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 204, + "max_stable_success_frames": 204, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2461012688091952, + -0.12721515540495143, + 1.2425224073860774 + ], + "held_position": [ + 0.25073567150312487, + -0.12264219167389406, + 1.2387431197318746 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007528127309515895, + "max_held_gripper_dist": 0.007531430266382842, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0037792876542028786, + "max_held_gripper_z_dist": 0.004236714021907506, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08554155525199186, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.25073567150312487, + -0.14652482035485417, + 1.2387431197318746 + ], + "held_grasp_finger_b": [ + 0.24166304412266587, + -0.12264219167389406, + 1.2387431197318746 + ], + "held_grasp_midpoint": [ + 0.24619935781289537, + -0.13458350601437413, + 1.2387431197318746 + ], + "held_grasp_object_position": [ + 0.25073567150312487, + -0.12264219167389406, + 1.2387431197318746 + ], + "held_grasp_finger_gap": 0.02554784766467173, + "held_grasp_max_gap": 0.12496548652648926, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023669879869742824, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.011391762564077649, + -0.9954194491850907, + -0.09492285251578925 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004544258651912246, + "held_grasp_line_xy_max_dist": 0.04748274326324463, + "held_grasp_object_top_z": 0.04520045220851898, + "held_grasp_top_clearance": 0.033262159056697035, + "held_grasp_min_top_clearance": 0.013560135662555694 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.29154368330043073, + -0.36447741371296477, + 0.8470197689238373 + ], + "target_position": [ + 0.2868774117285605, + -0.3656358469028335, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0048079161637692505, + "xy_threshold": 0.08, + "gripper_dist": 0.18444015266358307, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470197689238373, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.075816281772108, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08875541609830916, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15210442602445284, + "release_required_pad_clearance": 0.05437770804915458, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.7791679634470294, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008057475090026855, + "max_z_decrease": 0.008057475090026855, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03520708963697635, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008057475090026855, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02098286826006257, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 122, + "max_z_decrease_with_contact_point": 0.008057475090026855, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008057480037384577, + "max_button_displacement": 0.12, + "button_start": [ + 0.14257733523845673, + -0.421897292137146, + 0.7768088579177856 + ], + "button_final": [ + 0.14257733523845673, + -0.421897292137146, + 0.7768088579177856 + ], + "closest_ee": [ + 0.14093527228347708, + -0.42039688260358604, + 0.8073963146746916 + ], + "closest_button": [ + 0.14256586134433746, + -0.421893835067749, + 0.7722588777542114 + ], + "closest_ee_minus_button": [ + -0.001630589060860388, + 0.0014969524641629817, + 0.035137436920480214 + ], + "button_min_z_position": [ + 0.14257161319255826, + -0.42189043760299677, + 0.7687513828277588 + ], + "min_active_finger_to_button": 0.1468941859603125, + "closest_active_finger": [ + 0.012644000351428986, + -0.48131319880485535, + 0.810870349407196 + ], + "closest_active_finger_button": [ + 0.14258110523223874, + -0.4219000339508056, + 0.7767481207847595 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12993710488080976, + -0.05941316485404974, + 0.03412222862243652 + ], + "min_contact_pad_to_button": 0.02098286826006257, + "closest_contact_pad": [ + 0.14257161319255826, + -0.42189043760299677, + 0.7897342510878214 + ], + "closest_contact_pad_button": [ + 0.14257161319255826, + -0.42189043760299677, + 0.7687513828277588 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02098286826006257 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 53, + "reproducibility": { + "enabled": true, + "action_seed": 1937247219597208700, + "physical_seed": 4015830930766581336, + "layout_id": "layout_00038", + "step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "workflow_spec_digest": "899d6ab12a9c3475100698bd12223ba9b0722ce0ef08f7e073f1cc82e64b1c61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1d7b8de2bc6482e246b82314bde9f76066da18b45b6a7ca218af8d3e99ff3cbc", + "visual_seed": 5181008212441551003, + "episode_index": 53, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "runtime_workflow_digest": "82bc5063731ddfd0266f831cc4632665172de8ce02e3cf0701723ae89e342f48" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_54_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_54_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3efd6d66830052fcea1ac85964cfc735bc916575 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_54_success.json @@ -0,0 +1,926 @@ +{ + "episode": 54, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23587200736577912, + -0.1321381353000459, + 1.045355332394474 + ], + "current_z": 1.045355332394474, + "required_z": 0.8565865905554291, + "initial_z": 0.7565865905554291, + "lift_margin": 0.1887687418390449, + "gripper_z": 1.048950492130479, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.231749595891999, + -0.13646494478147425, + 1.048950492130479 + ], + "object_minus_gripper": [ + 0.004122411473780119, + 0.004326809481428356, + -0.0035951597360051046 + ], + "object_to_gripper_xy": 0.005976249379647095, + "object_to_gripper_z": -0.0035951597360051046, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23587200736577912, + -0.15594673413628687, + 1.045355332394474 + ], + "finger_b": [ + 0.22504097177521473, + -0.1321381353000459, + 1.045355332394474 + ], + "finger_midpoint": [ + 0.23045648957049691, + -0.14404243471816638, + 1.045355332394474 + ], + "object_minus_finger_midpoint": [ + 0.00541551779528221, + 0.01190429941812049, + 0.0 + ], + "finger_gap": 0.02615646594074069, + "fingertip_max_gap": 0.09228990481613636, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013078232970370352, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.045355332394474, + "object_top_z": 1.0908055514143344, + "finger_top_clearance": 0.04545021901986046, + "fingertip_min_top_clearance": 0.013635065705958137, + "object_projection_between_fingers": 0.8285324922023458, + "object_to_finger_line_xy": 0.009858815863772371, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04864495240806818, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.6709216268203384, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 204, + "max_stable_success_frames": 204, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24281495146890453, + -0.12967290793817604, + 1.2397828010942125 + ], + "held_position": [ + 0.24727165807823182, + -0.1253822338473604, + 1.2365716691587694 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006970185525654286, + "max_held_gripper_dist": 0.00697385200894694, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.00321113193544309, + "max_held_gripper_z_dist": 0.0035771859752058432, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08598074495944515, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.24727165807823182, + -0.14949948773953495, + 1.2365716691587694 + ], + "held_grasp_finger_b": [ + 0.23881079137734318, + -0.1253822338473604, + 1.2365716691587694 + ], + "held_grasp_midpoint": [ + 0.2430412247277875, + -0.1374408607934477, + 1.2365716691587694 + ], + "held_grasp_object_position": [ + 0.24727165807823182, + -0.1253822338473604, + 1.2365716691587694 + ], + "held_grasp_finger_gap": 0.02555832937869402, + "held_grasp_max_gap": 0.12496599316596985, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023417200947498457, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0617316855230715, + -0.9926297835135423, + -0.1042847634332984 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0037029767235539084, + "held_grasp_line_xy_max_dist": 0.047482996582984924, + "held_grasp_object_top_z": 0.04520078003406525, + "held_grasp_top_clearance": 0.03296987599788413, + "held_grasp_min_top_clearance": 0.013560234010219574 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.29461912672272483, + -0.3658360801887892, + 0.847019569461269 + ], + "target_position": [ + 0.28691537820747515, + -0.36830322026684353, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008089160732174484, + "xy_threshold": 0.08, + "gripper_dist": 0.18751895006764427, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.847019569461269, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07538166837535852, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08545439074021481, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1564134771080314, + "release_required_pad_clearance": 0.05272719537010741, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5066755290128842, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008152246475219727, + "max_z_decrease": 0.008152246475219727, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035038454210700495, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008152246475219727, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02088990221743492, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 122, + "max_z_decrease_with_contact_point": 0.008152246475219727, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008152320278243485, + "max_button_displacement": 0.12, + "button_start": [ + 0.14261530339717865, + -0.4245646893978119, + 0.7768088579177856 + ], + "button_final": [ + 0.14261530339717865, + -0.4245646893978119, + 0.7768088579177856 + ], + "closest_ee": [ + 0.14241010260067458, + -0.4233625577082719, + 0.8036744557651384 + ], + "closest_button": [ + 0.14264129102230072, + -0.424541711807251, + 0.7686566114425659 + ], + "closest_ee_minus_button": [ + -0.00023118842162614395, + 0.0011791540989790628, + 0.03501784432257249 + ], + "button_min_z_position": [ + 0.14264129102230072, + -0.424541711807251, + 0.7686566114425659 + ], + "min_active_finger_to_button": 0.14543216754369548, + "closest_active_finger": [ + 0.015629678964614868, + -0.4866648018360138, + 0.8108552694320679 + ], + "closest_active_finger_button": [ + 0.14261648058891296, + -0.4245641231536865, + 0.7766737937927246 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1269868016242981, + -0.06210067868232727, + 0.03418147563934326 + ], + "min_contact_pad_to_button": 0.02088990221743492, + "closest_contact_pad": [ + 0.14264129102230072, + -0.424541711807251, + 0.7895465136600008 + ], + "closest_contact_pad_button": [ + 0.14264129102230072, + -0.424541711807251, + 0.7686566114425659 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02088990221743492 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 54, + "reproducibility": { + "enabled": true, + "action_seed": 1937247219597208700, + "physical_seed": 4015830930766581336, + "layout_id": "layout_00038", + "step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "workflow_spec_digest": "899d6ab12a9c3475100698bd12223ba9b0722ce0ef08f7e073f1cc82e64b1c61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d7664e8018c23aa9981ddd1dc5225318430af297795c6b7c8dab6195853db489", + "visual_seed": 294378431685323617, + "episode_index": 54, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "runtime_workflow_digest": "82bc5063731ddfd0266f831cc4632665172de8ce02e3cf0701723ae89e342f48" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_55_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_55_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1ac82e690005638027a459a6745d6ee7c78ec0c7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_55_success.json @@ -0,0 +1,926 @@ +{ + "episode": 55, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2379025987360033, + -0.12936619057186152, + 1.0467617855073041 + ], + "current_z": 1.0467617855073041, + "required_z": 0.8565865808087639, + "initial_z": 0.756586580808764, + "lift_margin": 0.1901752046985402, + "gripper_z": 1.0504504812073443, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23385310275884413, + -0.1336223202522225, + 1.0504504812073443 + ], + "object_minus_gripper": [ + 0.004049495977159173, + 0.004256129680360987, + -0.0036886957000401566 + ], + "object_to_gripper_xy": 0.005874781487432366, + "object_to_gripper_z": -0.0036886957000401566, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2379025987360033, + -0.15321423714583882, + 1.0467617855073041 + ], + "finger_b": [ + 0.2272775274068875, + -0.12936619057186152, + 1.0467617855073041 + ], + "finger_midpoint": [ + 0.23259006307144542, + -0.14129021385885016, + 1.0467617855073041 + ], + "object_minus_finger_midpoint": [ + 0.005312535664557888, + 0.011924023286988633, + 0.0 + ], + "finger_gap": 0.026107881303226978, + "fingertip_max_gap": 0.09644629593363649, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013053940651613472, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0467617855073041, + "object_top_z": 1.0939826838347408, + "finger_top_clearance": 0.0472208983274367, + "fingertip_min_top_clearance": 0.014166269498231026, + "object_projection_between_fingers": 0.8343770753178567, + "object_to_finger_line_xy": 0.00970539098771164, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05072314796681825, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.674304326122132, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 204, + "max_stable_success_frames": 204, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24410883180027423, + -0.12582245167503744, + 1.2410446041138694 + ], + "held_position": [ + 0.24844321002641492, + -0.12148774691593775, + 1.2377907375759083 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006940039438120442, + "max_held_gripper_dist": 0.006942977683122892, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0032538665379611142, + "max_held_gripper_z_dist": 0.003659872359867533, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08534001808212871, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.24844321002641492, + -0.14531418531511436, + 1.2377907375759083 + ], + "held_grasp_finger_b": [ + 0.23984897498428406, + -0.12148774691593775, + 1.2377907375759083 + ], + "held_grasp_midpoint": [ + 0.2441460925053495, + -0.13340096611552604, + 1.2377907375759083 + ], + "held_grasp_object_position": [ + 0.24844321002641492, + -0.12148774691593775, + 1.2377907375759083 + ], + "held_grasp_finger_gap": 0.02532903556689729, + "held_grasp_max_gap": 0.12496594846248626, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02340147886292972, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.03492797999061812, + -0.9947629492679447, + -0.0960557701417026 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0040457336810583, + "held_grasp_line_xy_max_dist": 0.04748297423124313, + "held_grasp_object_top_z": 0.04520070552825928, + "held_grasp_top_clearance": 0.0331997868272082, + "held_grasp_min_top_clearance": 0.013560211658477784 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2874332405762283, + -0.3656611446176671, + 0.8470198306095013 + ], + "target_position": [ + 0.2832702575071304, + -0.366527924456795, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.004252262377031127, + "xy_threshold": 0.08, + "gripper_dist": 0.18175833868903313, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470198306095013, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0755125047054584, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08728029626241106, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15010889185544132, + "release_required_pad_clearance": 0.05364014813120553, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.2882995902408143, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 147, + "max_placed_release_frames": 147 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008043467998504639, + "max_z_decrease": 0.008043467998504639, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035167089576382586, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008043467998504639, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02102846213861875, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008043467998504639, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008043482543816746, + "max_button_displacement": 0.12, + "button_start": [ + 0.13897018134593964, + -0.4227893948554992, + 0.7768088579177856 + ], + "button_final": [ + 0.13897018134593964, + -0.4227893948554992, + 0.7768088579177856 + ], + "closest_ee": [ + 0.14001265095306412, + -0.4217094603118935, + 0.8080746662210867 + ], + "closest_button": [ + 0.13895919919013977, + -0.42279031872749323, + 0.7729399800300598 + ], + "closest_ee_minus_button": [ + 0.0010534517629243456, + 0.0010808584155997392, + 0.03513468619102689 + ], + "button_min_z_position": [ + 0.1389557272195816, + -0.422784388065338, + 0.768765389919281 + ], + "min_active_finger_to_button": 0.1447662123881606, + "closest_active_finger": [ + 0.011941157281398773, + -0.4832426905632019, + 0.8103957176208496 + ], + "closest_active_finger_button": [ + 0.1389692723751068, + -0.4227894842624664, + 0.7762413024902344 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12702811509370804, + -0.06045320630073553, + 0.034154415130615234 + ], + "min_contact_pad_to_button": 0.02102846213861875, + "closest_contact_pad": [ + 0.1389557272195816, + -0.42291601592949074, + 0.7897934400909137 + ], + "closest_contact_pad_button": [ + 0.1389557272195816, + -0.422784388065338, + 0.768765389919281 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00013162786415271688, + 0.021028050171632673 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 55, + "reproducibility": { + "enabled": true, + "action_seed": 1937247219597208700, + "physical_seed": 4015830930766581336, + "layout_id": "layout_00038", + "step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "workflow_spec_digest": "899d6ab12a9c3475100698bd12223ba9b0722ce0ef08f7e073f1cc82e64b1c61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "4303c4163958a79356faeeab98b2d1806617ae2ada41186ecc42193562220cf4", + "visual_seed": 8966146851045324459, + "episode_index": 55, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "runtime_workflow_digest": "82bc5063731ddfd0266f831cc4632665172de8ce02e3cf0701723ae89e342f48" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_56_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_56_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ba5588a2b3fbea88d2fbbef79ea2f933f0fc5da6 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_56_success.json @@ -0,0 +1,926 @@ +{ + "episode": 56, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.24356826536274412, + -0.13867293237189138, + 1.0467233317137583 + ], + "current_z": 1.0467233317137583, + "required_z": 0.856586540276021, + "initial_z": 0.756586540276021, + "lift_margin": 0.19013679143773732, + "gripper_z": 1.0511735017471082, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23918663952389232, + -0.14299294526143846, + 1.0511735017471082 + ], + "object_minus_gripper": [ + 0.004381625838851794, + 0.004320012889547087, + -0.0044501700333499095 + ], + "object_to_gripper_xy": 0.006153141990686275, + "object_to_gripper_z": -0.0044501700333499095, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24356826536274412, + -0.16303834501069195, + 1.0467233317137583 + ], + "finger_b": [ + 0.23313952998762033, + -0.13867293237189138, + 1.0467233317137583 + ], + "finger_midpoint": [ + 0.23835389767518222, + -0.15085563869129165, + 1.0467233317137583 + ], + "object_minus_finger_midpoint": [ + 0.005214367687561894, + 0.012182706319400272, + 0.0 + ], + "finger_gap": 0.026503430996446118, + "fingertip_max_gap": 0.09702183278911292, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013251715498223047, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0467233317137583, + "object_top_z": 1.0941851847767576, + "finger_top_clearance": 0.047461853062999326, + "fingertip_min_top_clearance": 0.014238555918899796, + "object_projection_between_fingers": 0.8451685799630143, + "object_to_finger_line_xy": 0.009587454573327527, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05101091639455646, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.7644554299153263, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 203, + "max_stable_success_frames": 203, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24953722066824446, + -0.13348828416356656, + 1.2438427874385347 + ], + "held_position": [ + 0.25407443817297215, + -0.12888073633825303, + 1.239865137001517 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007591939320546882, + "max_held_gripper_dist": 0.007594590919374604, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003977650437017699, + "max_held_gripper_z_dist": 0.004442687046417593, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0858035814598195, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.25407443817297215, + -0.15272570616856432, + 1.239865137001517 + ], + "held_grasp_finger_b": [ + 0.2450001254844903, + -0.12888073633825303, + 1.239865137001517 + ], + "held_grasp_midpoint": [ + 0.24953728182873122, + -0.14080322125340866, + 1.239865137001517 + ], + "held_grasp_object_position": [ + 0.25407443817297215, + -0.12888073633825303, + 1.239865137001517 + ], + "held_grasp_finger_gap": 0.02551324630416126, + "held_grasp_max_gap": 0.12496603786945343, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023684736067296517, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.004913874569048987, + -0.9951501834774295, + -0.09824442051108195 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0046294343211470594, + "held_grasp_line_xy_max_dist": 0.047483018934726715, + "held_grasp_object_top_z": 0.045200757682323456, + "held_grasp_top_clearance": 0.033313799614323666, + "held_grasp_min_top_clearance": 0.013560227304697036 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.29194484232525286, + -0.3609259906190856, + 0.8470196690248031 + ], + "target_position": [ + 0.28706589316508313, + -0.36258535499424016, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005153410039677907, + "xy_threshold": 0.08, + "gripper_dist": 0.18360352107671166, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196690248031, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07512909343218888, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08747972468880304, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15305192744727653, + "release_required_pad_clearance": 0.05373986234440152, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.4888529559865127, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007976114749908447, + "max_z_decrease": 0.007976114749908447, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035151919887379125, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007976114749908447, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021052422433785578, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007976114749908447, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007976137240825909, + "max_button_displacement": 0.12, + "button_start": [ + 0.1427658200263977, + -0.41884681582450856, + 0.7768088579177856 + ], + "button_final": [ + 0.1427658200263977, + -0.41884681582450856, + 0.7768088579177856 + ], + "closest_ee": [ + 0.14209036916656265, + -0.41738766320544096, + 0.8081314826622051 + ], + "closest_button": [ + 0.14275899529457092, + -0.41884654760360707, + 0.7730162143707275 + ], + "closest_ee_minus_button": [ + -0.0006686261280082761, + 0.0014588843981661048, + 0.0351152682914776 + ], + "button_min_z_position": [ + 0.14274714887142181, + -0.4188436269760131, + 0.7688327431678772 + ], + "min_active_finger_to_button": 0.1461142810917733, + "closest_active_finger": [ + 0.0157356858253479, + -0.48240363597869873, + 0.8105822801589966 + ], + "closest_active_finger_button": [ + 0.14276576042175293, + -0.41884657740592945, + 0.7763296365737915 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12703007459640503, + -0.06355705857276928, + 0.03425264358520508 + ], + "min_contact_pad_to_button": 0.021052422433785578, + "closest_contact_pad": [ + 0.14274714887142181, + -0.4188436269760131, + 0.7898851656016628 + ], + "closest_contact_pad_button": [ + 0.14274714887142181, + -0.4188436269760131, + 0.7688327431678772 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021052422433785578 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 56, + "reproducibility": { + "enabled": true, + "action_seed": 1937247219597208700, + "physical_seed": 4015830930766581336, + "layout_id": "layout_00038", + "step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "workflow_spec_digest": "899d6ab12a9c3475100698bd12223ba9b0722ce0ef08f7e073f1cc82e64b1c61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "db5df4f095bf30d11c1229c35790dd594a7d82e6f9e275619adeb8a9b2d68d1f", + "visual_seed": 8976314143773235387, + "episode_index": 56, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "runtime_workflow_digest": "82bc5063731ddfd0266f831cc4632665172de8ce02e3cf0701723ae89e342f48" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_57_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_57_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b70df282dd46d145d8e59804206268171b1de110 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_57_success.json @@ -0,0 +1,926 @@ +{ + "episode": 57, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23809813707970695, + -0.13672634376449724, + 1.0475475289958978 + ], + "current_z": 1.0475475289958978, + "required_z": 0.8565866157165081, + "initial_z": 0.7565866157165081, + "lift_margin": 0.1909609132793897, + "gripper_z": 1.0517619396625644, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2341312407689273, + -0.1408507171339192, + 1.0517619396625644 + ], + "object_minus_gripper": [ + 0.0039668963107796495, + 0.004124373369421952, + -0.004214410666666613 + ], + "object_to_gripper_xy": 0.005722475166470727, + "object_to_gripper_z": -0.004214410666666613, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23809813707970695, + -0.16063525446005256, + 1.0475475289958978 + ], + "finger_b": [ + 0.22781489418297413, + -0.13672634376449724, + 1.0475475289958978 + ], + "finger_midpoint": [ + 0.23295651563134054, + -0.1486807991122749, + 1.0475475289958978 + ], + "object_minus_finger_midpoint": [ + 0.0051416214483664124, + 0.011954455347777643, + 0.0 + ], + "finger_gap": 0.026026545969860183, + "fingertip_max_gap": 0.09469222183132991, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01301327298493008, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0475475289958978, + "object_top_z": 1.0940693573609477, + "finger_top_clearance": 0.04652182836504992, + "fingertip_min_top_clearance": 0.01395654850951501, + "object_projection_between_fingers": 0.8438912965909114, + "object_to_finger_line_xy": 0.009446552622211415, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04984611091566496, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.216579425488809, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 205, + "max_stable_success_frames": 205, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24580991142847494, + -0.13252029131162085, + 1.2429099568173054 + ], + "held_position": [ + 0.2499998307881495, + -0.128225670728078, + 1.2391024546416445 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0071060722635523784, + "max_held_gripper_dist": 0.007111006641454075, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0038075021756609484, + "max_held_gripper_z_dist": 0.00419612191091967, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0853587065369415, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2499998307881495, + -0.15206943300672324, + 1.2391024546416445 + ], + "held_grasp_finger_b": [ + 0.2415767780802644, + -0.128225670728078, + 1.2391024546416445 + ], + "held_grasp_midpoint": [ + 0.24578830443420696, + -0.14014755186740063, + 1.2391024546416445 + ], + "held_grasp_object_position": [ + 0.2499998307881495, + -0.128225670728078, + 1.2391024546416445 + ], + "held_grasp_finger_gap": 0.025287799756411312, + "held_grasp_max_gap": 0.1249661123752594, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023449229338483604, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.03164212979847414, + -0.994631316501843, + -0.09852573194667169 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004010088986943015, + "held_grasp_line_xy_max_dist": 0.0474830561876297, + "held_grasp_object_top_z": 0.04520079120993614, + "held_grasp_top_clearance": 0.03320965321361205, + "held_grasp_min_top_clearance": 0.013560237362980843 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2948544149507974, + -0.3632603338062501, + 0.8470196008188708 + ], + "target_position": [ + 0.28894636073771907, + -0.3649740778554284, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006151587051384918, + "xy_threshold": 0.08, + "gripper_dist": 0.18653463356573804, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196008188708, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07519340814835353, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08635900916069865, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1556303472402414, + "release_required_pad_clearance": 0.05317950458034933, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.3825095589361873, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008129477500915527, + "max_z_decrease": 0.008129477500915527, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035071766948560644, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008129477500915527, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02092963141417482, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 122, + "max_z_decrease_with_contact_point": 0.008129477500915527, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008129527257793367, + "max_button_displacement": 0.12, + "button_start": [ + 0.14464628696441645, + -0.42123553156852717, + 0.7768088579177856 + ], + "button_final": [ + 0.14464628696441645, + -0.42123553156852717, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1437172557111631, + -0.42036271590353586, + 0.8037278203340428 + ], + "closest_button": [ + 0.1446684300899505, + -0.42121767997741694, + 0.7686793804168701 + ], + "closest_ee_minus_button": [ + -0.0009511743787874172, + 0.0008549640738810815, + 0.03504843991717266 + ], + "button_min_z_position": [ + 0.1446684300899505, + -0.42121767997741694, + 0.7686793804168701 + ], + "min_active_finger_to_button": 0.14623390445928397, + "closest_active_finger": [ + 0.017701484262943268, + -0.48524487018585205, + 0.8109558820724487 + ], + "closest_active_finger_button": [ + 0.1446505337953567, + -0.42123430967330927, + 0.776736855506897 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12694904953241343, + -0.06401056051254278, + 0.03421902656555176 + ], + "min_contact_pad_to_button": 0.02092963141417482, + "closest_contact_pad": [ + 0.1446684300899505, + -0.42135666670253574, + 0.7896085503436363 + ], + "closest_contact_pad_button": [ + 0.1446684300899505, + -0.42121767997741694, + 0.7686793804168701 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00013898672511880594, + 0.02092916992676619 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 57, + "reproducibility": { + "enabled": true, + "action_seed": 1937247219597208700, + "physical_seed": 4015830930766581336, + "layout_id": "layout_00038", + "step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "workflow_spec_digest": "899d6ab12a9c3475100698bd12223ba9b0722ce0ef08f7e073f1cc82e64b1c61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7b666de542a91448a26a2a6df238478e34ae874c9728f8f3a436a19b05afe84b", + "visual_seed": 2657001640714280873, + "episode_index": 57, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "runtime_workflow_digest": "82bc5063731ddfd0266f831cc4632665172de8ce02e3cf0701723ae89e342f48" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_58_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_58_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1ed73bc6ee338105e7a649052bbaeba333927fe2 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_58_success.json @@ -0,0 +1,926 @@ +{ + "episode": 58, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2432347735877593, + -0.13324191694719037, + 1.045008748248441 + ], + "current_z": 1.045008748248441, + "required_z": 0.8565865218659078, + "initial_z": 0.7565865218659078, + "lift_margin": 0.18842222638253314, + "gripper_z": 1.048490729359719, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23896030235895813, + -0.137529202871888, + 1.048490729359719 + ], + "object_minus_gripper": [ + 0.004274471228801174, + 0.004287285924697626, + -0.003481981111278065 + ], + "object_to_gripper_xy": 0.006054083323341313, + "object_to_gripper_z": -0.003481981111278065, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2432347735877593, + -0.15736654489312044, + 1.045008748248441 + ], + "finger_b": [ + 0.2326387079505911, + -0.13324191694719037, + 1.045008748248441 + ], + "finger_midpoint": [ + 0.2379367407691752, + -0.1453042309201554, + 1.045008748248441 + ], + "object_minus_finger_midpoint": [ + 0.0052980328185840975, + 0.012062313972965033, + 0.0 + ], + "finger_gap": 0.02634908500340622, + "fingertip_max_gap": 0.09265518558430302, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01317454250170311, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.045008748248441, + "object_top_z": 1.090755401409306, + "finger_top_clearance": 0.045746653160865014, + "fingertip_min_top_clearance": 0.01372399594825947, + "object_projection_between_fingers": 0.8382820592120845, + "object_to_finger_line_xy": 0.009701518711343936, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048827592792151514, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.5139160743439013, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 202, + "max_stable_success_frames": 202, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24821961083214314, + -0.12950777248566497, + 1.2405419289968256 + ], + "held_position": [ + 0.2527466703512409, + -0.12510550316668254, + 1.2375596077047766 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006983443515581434, + "max_held_gripper_dist": 0.006986049816727921, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002982321292049006, + "max_held_gripper_z_dist": 0.0034615221517209083, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08570373056865824, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2527466703512409, + -0.14880686862887632, + 1.2375596077047766 + ], + "held_grasp_finger_b": [ + 0.24389261230582432, + -0.12510550316668254, + 1.2375596077047766 + ], + "held_grasp_midpoint": [ + 0.2483196413285326, + -0.13695618589777941, + 1.2375596077047766 + ], + "held_grasp_object_position": [ + 0.2527466703512409, + -0.12510550316668254, + 1.2375596077047766 + ], + "held_grasp_finger_gap": 0.025301167337577094, + "held_grasp_max_gap": 0.12496594846248626, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023140811111984794, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.040961711838321015, + -0.9916512415173503, + -0.12227000188260503 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004199857014331678, + "held_grasp_line_xy_max_dist": 0.04748297423124313, + "held_grasp_object_top_z": 0.04520076513290405, + "held_grasp_top_clearance": 0.03326768220265553, + "held_grasp_min_top_clearance": 0.013560229539871215 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.28741765424715476, + -0.3667577813820351, + 0.8470200522810931 + ], + "target_position": [ + 0.2812011118518929, + -0.3686472253380703, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006497337748269386, + "xy_threshold": 0.08, + "gripper_dist": 0.18624070637849843, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470200522810931, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07568857998212301, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08722077933767618, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15422100198858849, + "release_required_pad_clearance": 0.05361038966883809, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.229391475654504, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008081018924713135, + "max_z_decrease": 0.008081018924713135, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035152300501506716, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008081018924713135, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021212595515504043, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008081018924713135, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008081034968378397, + "max_button_displacement": 0.12, + "button_start": [ + 0.13690103590488434, + -0.424908697605133, + 0.7768088579177856 + ], + "button_final": [ + 0.13690103590488434, + -0.424908697605133, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13617557844706626, + -0.4268729375826729, + 0.8038167588588007 + ], + "closest_button": [ + 0.13690519332885742, + -0.4248931407928466, + 0.7687278389930725 + ], + "closest_ee_minus_button": [ + -0.0007296148817911574, + -0.0019797967898262936, + 0.03508891986572815 + ], + "button_min_z_position": [ + 0.13690519332885742, + -0.4248931407928466, + 0.7687278389930725 + ], + "min_active_finger_to_button": 0.1462127666805505, + "closest_active_finger": [ + -0.004468940198421478, + -0.4101930856704712, + 0.8111062049865723 + ], + "closest_active_finger_button": [ + 0.13690008223056793, + -0.42490956187248224, + 0.7768075466156006 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1413690224289894, + 0.014716476202011053, + 0.03429865837097168 + ], + "min_contact_pad_to_button": 0.021212595515504043, + "closest_contact_pad": [ + 0.13690519332885742, + -0.42810430370003877, + 0.7896959729417065 + ], + "closest_contact_pad_button": [ + 0.13690519332885742, + -0.4248931407928466, + 0.7687278389930725 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0032111629071921444, + 0.02096813394863395 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 58, + "reproducibility": { + "enabled": true, + "action_seed": 1937247219597208700, + "physical_seed": 4015830930766581336, + "layout_id": "layout_00038", + "step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "workflow_spec_digest": "899d6ab12a9c3475100698bd12223ba9b0722ce0ef08f7e073f1cc82e64b1c61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "34bf247a819c35557ccc483ac34792061b9849ed7ad3b0686fcb4a296f52ed6e", + "visual_seed": 4554955878426974530, + "episode_index": 58, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "runtime_workflow_digest": "82bc5063731ddfd0266f831cc4632665172de8ce02e3cf0701723ae89e342f48" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_59_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_59_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3d53f461b0f30e5613a3b97f2c9cea041d9e3f25 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_59_success.json @@ -0,0 +1,926 @@ +{ + "episode": 59, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23821585190940306, + -0.13819763316343442, + 1.0441101584638095 + ], + "current_z": 1.0441101584638095, + "required_z": 0.8565865406127874, + "initial_z": 0.7565865406127874, + "lift_margin": 0.18752361785102212, + "gripper_z": 1.04780653128812, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23416747139933586, + -0.1424344481134313, + 1.04780653128812 + ], + "object_minus_gripper": [ + 0.004048380510067201, + 0.004236814949996892, + -0.0036963728243104566 + ], + "object_to_gripper_xy": 0.005860032907314526, + "object_to_gripper_z": -0.0036963728243104566, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23821585190940306, + -0.16206146922979228, + 1.0441101584638095 + ], + "finger_b": [ + 0.22764557247210737, + -0.13819763316343442, + 1.0441101584638095 + ], + "finger_midpoint": [ + 0.23293071219075523, + -0.15012955119661336, + 1.0441101584638095 + ], + "object_minus_finger_midpoint": [ + 0.00528513971864783, + 0.011931918033178945, + 0.0 + ], + "finger_gap": 0.026100066650959312, + "fingertip_max_gap": 0.09233413375515348, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013050033325479661, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0441101584638095, + "object_top_z": 1.089555966432195, + "finger_top_clearance": 0.04544580796838549, + "fingertip_min_top_clearance": 0.013633742390515662, + "object_projection_between_fingers": 0.8359826826734709, + "object_to_finger_line_xy": 0.009664627260940199, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04866706687757674, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.7170878558772515, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 202, + "max_stable_success_frames": 202, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24559737277909569, + -0.13531749482174593, + 1.24220577165641 + ], + "held_position": [ + 0.24996197239837617, + -0.1310845522915805, + 1.2388863774219758 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006927186325190207, + "max_held_gripper_dist": 0.006928927008301723, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003319394234434281, + "max_held_gripper_z_dist": 0.0036813308146812496, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.085836563006769, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.24996197239837617, + -0.15522457687220031, + 1.2388863774219758 + ], + "held_grasp_finger_b": [ + 0.24157080982174653, + -0.1310845522915805, + 1.2388863774219758 + ], + "held_grasp_midpoint": [ + 0.24576639111006135, + -0.1431545645818904, + 1.2388863774219758 + ], + "held_grasp_object_position": [ + 0.24996197239837617, + -0.1310845522915805, + 1.2388863774219758 + ], + "held_grasp_finger_gap": 0.025556846365315862, + "held_grasp_max_gap": 0.12496575474739074, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023518724173783867, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05498918078701129, + -0.9933770883139528, + -0.10088681979954958 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003733698847481319, + "held_grasp_line_xy_max_dist": 0.04748287737369537, + "held_grasp_object_top_z": 0.045200638473033905, + "held_grasp_top_clearance": 0.03297985323020248, + "held_grasp_min_top_clearance": 0.01356019154191017 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2910969252491118, + -0.3609710848880011, + 0.8470193123191884 + ], + "target_position": [ + 0.28412303239869574, + -0.3630569787790869, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0072791575621051815, + "xy_threshold": 0.08, + "gripper_dist": 0.18730684733172456, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470193123191884, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07525021988205942, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0856528978594314, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1563982300384734, + "release_required_pad_clearance": 0.052826448929715705, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6977318396667336, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007902920246124268, + "max_z_decrease": 0.007902920246124268, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03516206017666047, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007902920246124268, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02121453595609918, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007902920246124268, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00790294085843944, + "max_button_displacement": 0.12, + "button_start": [ + 0.13982295989990234, + -0.4193184375762939, + 0.7768088579177856 + ], + "button_final": [ + 0.13982295989990234, + -0.4193184375762939, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13918473594270486, + -0.42108363384696734, + 0.8081804581404411 + ], + "closest_button": [ + 0.1398150473833084, + -0.41931888461112976, + 0.773068368434906 + ], + "closest_ee_minus_button": [ + -0.0006303114406035482, + -0.0017647492358375816, + 0.03511208970553514 + ], + "button_min_z_position": [ + 0.13980516791343692, + -0.4193153977394104, + 0.7689059376716614 + ], + "min_active_finger_to_button": 0.1466065692710299, + "closest_active_finger": [ + -0.002011537551879883, + -0.40512245893478394, + 0.8106712698936462 + ], + "closest_active_finger_button": [ + 0.1398221403360367, + -0.4193190336227417, + 0.776390790939331 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1418336778879166, + 0.014196574687957764, + 0.034280478954315186 + ], + "min_contact_pad_to_button": 0.02121453595609918, + "closest_contact_pad": [ + 0.13980516791343692, + -0.42219502987291546, + 0.7899241263331115 + ], + "closest_contact_pad_button": [ + 0.13980516791343692, + -0.4193153977394104, + 0.7689059376716614 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002879632133505061, + 0.02101818866145011 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 59, + "reproducibility": { + "enabled": true, + "action_seed": 1937247219597208700, + "physical_seed": 4015830930766581336, + "layout_id": "layout_00038", + "step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "workflow_spec_digest": "899d6ab12a9c3475100698bd12223ba9b0722ce0ef08f7e073f1cc82e64b1c61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "2be39780052e34d82a913244be7813e7a51b929d69a4b2dd1b8f928ec5920885", + "visual_seed": 1908088712222237419, + "episode_index": 59, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "runtime_workflow_digest": "82bc5063731ddfd0266f831cc4632665172de8ce02e3cf0701723ae89e342f48" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_5_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_5_success.json new file mode 100644 index 0000000000000000000000000000000000000000..db2eaac78e2eb7ac27829df9974986149adfd594 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_5_success.json @@ -0,0 +1,926 @@ +{ + "episode": 5, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23988716978017555, + -0.12759781732331535, + 1.0456767891455196 + ], + "current_z": 1.0456767891455196, + "required_z": 0.8565865598541061, + "initial_z": 0.7565865598541062, + "lift_margin": 0.1890902292914135, + "gripper_z": 1.0494771746212828, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23563061219743617, + -0.13189867865067773, + 1.0494771746212828 + ], + "object_minus_gripper": [ + 0.004256557582739379, + 0.004300861327362376, + -0.003800385475763113 + ], + "object_to_gripper_xy": 0.006051090035057929, + "object_to_gripper_z": -0.003800385475763113, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23988716978017555, + -0.15170077782206848, + 1.0456767891455196 + ], + "finger_b": [ + 0.22927997509098597, + -0.12759781732331535, + 1.0456767891455196 + ], + "finger_midpoint": [ + 0.23458357243558076, + -0.1396492975726919, + 1.0456767891455196 + ], + "object_minus_finger_midpoint": [ + 0.00530359734459479, + 0.01205148024937655, + 0.0 + ], + "finger_gap": 0.026333729017722223, + "fingertip_max_gap": 0.09860887270700369, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013166864508861098, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0456767891455196, + "object_top_z": 1.0940454432033406, + "finger_top_clearance": 0.04836865405782098, + "fingertip_min_top_clearance": 0.01451059621734626, + "object_projection_between_fingers": 0.8377531193359533, + "object_to_finger_line_xy": 0.009708643786227997, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05180443635350185, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.082308674976396, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 202, + "max_stable_success_frames": 202, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24490585727165815, + -0.12349237627892375, + 1.2414002919475586 + ], + "held_position": [ + 0.24940741785970494, + -0.11903733446422787, + 1.2380884834159394 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0071469938469716845, + "max_held_gripper_dist": 0.007149504962722383, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003311808531619276, + "max_held_gripper_z_dist": 0.0037785859544587908, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0855469112042544, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.24940741785970494, + -0.1427988878766699, + 1.2380884834159394 + ], + "held_grasp_finger_b": [ + 0.24049556068941616, + -0.11903733446422787, + 1.2380884834159394 + ], + "held_grasp_midpoint": [ + 0.24495148927456056, + -0.13091811117044888, + 1.2380884834159394 + ], + "held_grasp_object_position": [ + 0.24940741785970494, + -0.11903733446422787, + 1.2380884834159394 + ], + "held_grasp_finger_gap": 0.02537779775307468, + "held_grasp_max_gap": 0.1249658516049385, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023457262193746872, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.02259938143406699, + -0.9956699481118946, + -0.09016996387741806 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004322320446627767, + "held_grasp_line_xy_max_dist": 0.04748292580246925, + "held_grasp_object_top_z": 0.0452006496489048, + "held_grasp_top_clearance": 0.033270616092554085, + "held_grasp_min_top_clearance": 0.01356019489467144 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.28928388960998175, + -0.3648826010056591, + 0.8470196984350189 + ], + "target_position": [ + 0.28626213582153576, + -0.3651141252888047, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.003030610409088206, + "xy_threshold": 0.08, + "gripper_dist": 0.18458419436526294, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196984350189, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07550480722835176, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08847867391376495, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15282957419767357, + "release_required_pad_clearance": 0.054239336956882475, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.496185135436075, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008041143417358398, + "max_z_decrease": 0.008041143417358398, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035139039093518364, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008041143417358398, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02102231088922948, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008041143417358398, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008041157651929436, + "max_button_displacement": 0.12, + "button_start": [ + 0.14196206629276276, + -0.42137557268142695, + 0.7768088579177856 + ], + "button_final": [ + 0.14196206629276276, + -0.42137557268142695, + 0.7768088579177856 + ], + "closest_ee": [ + 0.14058250289947075, + -0.4209774287259281, + 0.8072447672455929 + ], + "closest_button": [ + 0.1419500857591629, + -0.42136973142623896, + 0.77213454246521 + ], + "closest_ee_minus_button": [ + -0.0013675828596921569, + 0.0003923027003108759, + 0.03511022478038295 + ], + "button_min_z_position": [ + 0.141948401927948, + -0.42136907577514643, + 0.7687677145004272 + ], + "min_active_finger_to_button": 0.14714505531309868, + "closest_active_finger": [ + 0.014136329293251038, + -0.48570331931114197, + 0.8105248808860779 + ], + "closest_active_finger_button": [ + 0.14196251332759857, + -0.4213768243789673, + 0.7762577533721924 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12782618403434753, + -0.06432649493217468, + 0.0342671275138855 + ], + "min_contact_pad_to_button": 0.02102231088922948, + "closest_contact_pad": [ + 0.141948401927948, + -0.42195341899646294, + 0.7897819025200277 + ], + "closest_contact_pad_button": [ + 0.141948401927948, + -0.42136907577514643, + 0.7687677145004272 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0005843432213165078, + 0.02101418801960042 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 5, + "reproducibility": { + "enabled": true, + "action_seed": 1937247219597208700, + "physical_seed": 4015830930766581336, + "layout_id": "layout_00038", + "step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "workflow_spec_digest": "899d6ab12a9c3475100698bd12223ba9b0722ce0ef08f7e073f1cc82e64b1c61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3f4ea7d108f60b20e013ae27f03123d92ff1e94ae83b27a5e514adafc219e085", + "visual_seed": 4398132067094493289, + "episode_index": 5, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "runtime_workflow_digest": "82bc5063731ddfd0266f831cc4632665172de8ce02e3cf0701723ae89e342f48" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_60_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_60_success.json new file mode 100644 index 0000000000000000000000000000000000000000..436beba34dbf2406f0b056131b619da234d5e6f7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_60_success.json @@ -0,0 +1,926 @@ +{ + "episode": 60, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23745706147552853, + -0.12803352827920061, + 1.0479122958987788 + ], + "current_z": 1.0479122958987788, + "required_z": 0.8565866788717617, + "initial_z": 0.7565866788717617, + "lift_margin": 0.19132561702701711, + "gripper_z": 1.0516231503895537, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23340182357070025, + -0.13226029980019255, + 1.0516231503895537 + ], + "object_minus_gripper": [ + 0.004055237904828285, + 0.004226771520991934, + -0.0037108544907749064 + ], + "object_to_gripper_xy": 0.0058575209735368915, + "object_to_gripper_z": -0.0037108544907749064, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23745706147552853, + -0.15187183083216535, + 1.0479122958987788 + ], + "finger_b": [ + 0.2268441572891432, + -0.12803352827920061, + 1.0479122958987788 + ], + "finger_midpoint": [ + 0.23215060938233587, + -0.13995267955568297, + 1.0479122958987788 + ], + "object_minus_finger_midpoint": [ + 0.005306452093192665, + 0.011919151276482354, + 0.0 + ], + "finger_gap": 0.02609403004282934, + "fingertip_max_gap": 0.09524198342322698, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013047015021414659, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0479122958987788, + "object_top_z": 1.0946619114474472, + "finger_top_clearance": 0.04674961554866841, + "fingertip_min_top_clearance": 0.014024884664600489, + "object_projection_between_fingers": 0.8345807030414277, + "object_to_finger_line_xy": 0.009695459863632768, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.050120991711613494, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.429893897857201, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 205, + "max_stable_success_frames": 205, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24369758289650875, + -0.12477732161794268, + 1.2459357471396677 + ], + "held_position": [ + 0.24807501771760518, + -0.12051022900697962, + 1.2426665297346278 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006932373143801414, + "max_held_gripper_dist": 0.006935340068185789, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003269217405039937, + "max_held_gripper_z_dist": 0.0036814109284530883, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08521184971929438, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.24807501771760518, + -0.14445332623066662, + 1.2426665297346278 + ], + "held_grasp_finger_b": [ + 0.23950464306675961, + -0.12051022900697962, + 1.2426665297346278 + ], + "held_grasp_midpoint": [ + 0.24378983039218238, + -0.13248177761882313, + 1.2426665297346278 + ], + "held_grasp_object_position": [ + 0.24807501771760518, + -0.12051022900697962, + 1.2426665297346278 + ], + "held_grasp_finger_gap": 0.025430753553891874, + "held_grasp_max_gap": 0.12496584415435791, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023444358443034493, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.042850580088593986, + -0.9945080933323404, + -0.09548549671308135 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003940382705925856, + "held_grasp_line_xy_max_dist": 0.047482922077178955, + "held_grasp_object_top_z": 0.0452006496489048, + "held_grasp_top_clearance": 0.033111224902022236, + "held_grasp_min_top_clearance": 0.01356019489467144 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.29416997270454487, + -0.3656586387911184, + 0.8470200019656592 + ], + "target_position": [ + 0.2885145410979518, + -0.3670587893592648, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005826176127644295, + "xy_threshold": 0.08, + "gripper_dist": 0.1880167519528089, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470200019656592, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07515631316189995, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08594208592219836, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15721994870096848, + "release_required_pad_clearance": 0.05297104296109918, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.9739670763104851, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008141398429870605, + "max_z_decrease": 0.008141398429870605, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035089809199187236, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008141398429870605, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020914041742398082, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 122, + "max_z_decrease_with_contact_point": 0.008141398429870605, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008141456428116568, + "max_button_displacement": 0.12, + "button_start": [ + 0.14421446621418, + -0.4233202338218689, + 0.7768088579177856 + ], + "button_final": [ + 0.14421446621418, + -0.4233202338218689, + 0.7768088579177856 + ], + "closest_ee": [ + 0.14412367663264763, + -0.4213556828234064, + 0.8037032378445467 + ], + "closest_button": [ + 0.14423660933971405, + -0.42329892516136175, + 0.768667459487915 + ], + "closest_ee_minus_button": [ + -0.00011293270706641545, + 0.001943242337955342, + 0.03503577835663163 + ], + "button_min_z_position": [ + 0.14423660933971405, + -0.42329892516136175, + 0.768667459487915 + ], + "min_active_finger_to_button": 0.1450178708997684, + "closest_active_finger": [ + 0.01796342432498932, + -0.48592832684516907, + 0.8109378814697266 + ], + "closest_active_finger_button": [ + 0.14421755075454712, + -0.42331844568252563, + 0.7767314314842224 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1262541264295578, + -0.06260988116264343, + 0.03420644998550415 + ], + "min_contact_pad_to_button": 0.020914041742398082, + "closest_contact_pad": [ + 0.14423660933971405, + -0.42329892516136175, + 0.7895815012303131 + ], + "closest_contact_pad_button": [ + 0.14423660933971405, + -0.42329892516136175, + 0.768667459487915 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.020914041742398082 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 60, + "reproducibility": { + "enabled": true, + "action_seed": 1937247219597208700, + "physical_seed": 4015830930766581336, + "layout_id": "layout_00038", + "step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "workflow_spec_digest": "899d6ab12a9c3475100698bd12223ba9b0722ce0ef08f7e073f1cc82e64b1c61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7858695fe52df2f489c5126f817a6d266d4ca70617e2fa024128791789d4c6af", + "visual_seed": 821912906927205968, + "episode_index": 60, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "runtime_workflow_digest": "82bc5063731ddfd0266f831cc4632665172de8ce02e3cf0701723ae89e342f48" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_61_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_61_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ed1c46a39e5660400b381b8d3720e975e09de057 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_61_success.json @@ -0,0 +1,926 @@ +{ + "episode": 61, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.24166123033432052, + -0.1369752512245119, + 1.0457383223592633 + ], + "current_z": 1.0457383223592633, + "required_z": 0.8565865743756449, + "initial_z": 0.7565865743756449, + "lift_margin": 0.18915174798361845, + "gripper_z": 1.0490629321003513, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2377844702065978, + -0.1411615561944996, + 1.0490629321003513 + ], + "object_minus_gripper": [ + 0.003876760127722728, + 0.004186304969987703, + -0.003324609741087947 + ], + "object_to_gripper_xy": 0.005705647937758207, + "object_to_gripper_z": -0.003324609741087947, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24166123033432052, + -0.1605856399489308, + 1.0457383223592633 + ], + "finger_b": [ + 0.2309916398430933, + -0.1369752512245119, + 1.0457383223592633 + ], + "finger_midpoint": [ + 0.2363264350887069, + -0.14878044558672135, + 1.0457383223592633 + ], + "object_minus_finger_midpoint": [ + 0.005334795245613616, + 0.011805194362209448, + 0.0 + ], + "finger_gap": 0.025909276658537837, + "fingertip_max_gap": 0.09342145583198697, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012954638329268919, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0457383223592633, + "object_top_z": 1.0918331040500393, + "finger_top_clearance": 0.046094781690775966, + "fingertip_min_top_clearance": 0.013828434507232807, + "object_projection_between_fingers": 0.8304159802433191, + "object_to_finger_line_xy": 0.009722895098471466, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049210727915993485, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.6564829321214263, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 204, + "max_stable_success_frames": 204, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24788014050443283, + -0.13440048274923905, + 1.243668044966638 + ], + "held_position": [ + 0.2521049209087504, + -0.1302547685170981, + 1.2407429835458896 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006602401099178396, + "max_held_gripper_dist": 0.006604551598996529, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0029250614207483316, + "max_held_gripper_z_dist": 0.0032972711536765065, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08561164695323234, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2521049209087504, + -0.1541836528454791, + 1.2407429835458896 + ], + "held_grasp_finger_b": [ + 0.24377266431356032, + -0.1302547685170981, + 1.2407429835458896 + ], + "held_grasp_midpoint": [ + 0.24793879261115537, + -0.14221921068128862, + 1.2407429835458896 + ], + "held_grasp_object_position": [ + 0.2521049209087504, + -0.1302547685170981, + 1.2407429835458896 + ], + "held_grasp_finger_gap": 0.025338074219820393, + "held_grasp_max_gap": 0.12496619433164596, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02322576898544442, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06457569527731488, + -0.993102307746232, + -0.09786616334852294 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003585947369538193, + "held_grasp_line_xy_max_dist": 0.04748309716582298, + "held_grasp_object_top_z": 0.04520080238580704, + "held_grasp_top_clearance": 0.03304985663022143, + "held_grasp_min_top_clearance": 0.01356024071574211 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2887565842222596, + -0.3657875937181411, + 0.8470195761091701 + ], + "target_position": [ + 0.2828528383840727, + -0.36740111208494974, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006120266043395298, + "xy_threshold": 0.08, + "gripper_dist": 0.1856050920345834, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195761091701, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07542012975319594, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08539498660942467, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15423191464445934, + "release_required_pad_clearance": 0.05269749330471234, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.44936852897024704, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008052289485931396, + "max_z_decrease": 0.008052289485931396, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03513030863401893, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008052289485931396, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021028765699523416, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008052289485931396, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00805229541446145, + "max_button_displacement": 0.12, + "button_start": [ + 0.13855277001857752, + -0.4236625730991363, + 0.7768088579177856 + ], + "button_final": [ + 0.13855277001857752, + -0.4236625730991363, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13859465741463634, + -0.42324718360551755, + 0.8080647505106583 + ], + "closest_button": [ + 0.1385428756475448, + -0.42366293072700495, + 0.7729369401931763 + ], + "closest_ee_minus_button": [ + 5.178176709152993e-05, + 0.00041574712148739756, + 0.03512781031748202 + ], + "button_min_z_position": [ + 0.13854549825191492, + -0.42365604639053345, + 0.7687565684318542 + ], + "min_active_finger_to_button": 0.14592996080159756, + "closest_active_finger": [ + 0.010646745562553406, + -0.48504501581192017, + 0.8104116320610046 + ], + "closest_active_finger_button": [ + 0.13855223357677454, + -0.42366272211074824, + 0.7762362957000732 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12790548801422114, + -0.06138229370117193, + 0.034175336360931396 + ], + "min_contact_pad_to_button": 0.021028765699523416, + "closest_contact_pad": [ + 0.13854549825191492, + -0.42440021417866464, + 0.7897721626691953 + ], + "closest_contact_pad_button": [ + 0.13854549825191492, + -0.42365604639053345, + 0.7687565684318542 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0007441677881311892, + 0.021015594237341007 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 61, + "reproducibility": { + "enabled": true, + "action_seed": 1937247219597208700, + "physical_seed": 4015830930766581336, + "layout_id": "layout_00038", + "step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "workflow_spec_digest": "899d6ab12a9c3475100698bd12223ba9b0722ce0ef08f7e073f1cc82e64b1c61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5007465d5a87db68a07588a5b19546f422af6a6a672d849ddaf9d9adc020ed7f", + "visual_seed": 835634557695665992, + "episode_index": 61, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "runtime_workflow_digest": "82bc5063731ddfd0266f831cc4632665172de8ce02e3cf0701723ae89e342f48" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_62_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_62_success.json new file mode 100644 index 0000000000000000000000000000000000000000..cc231be495e53355f230dcab2a299d340e015534 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_62_success.json @@ -0,0 +1,926 @@ +{ + "episode": 62, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2437681358987822, + -0.1359400061175002, + 1.0472650141310862 + ], + "current_z": 1.0472650141310862, + "required_z": 0.85658655618202, + "initial_z": 0.75658655618202, + "lift_margin": 0.19067845794906624, + "gripper_z": 1.0516230933762587, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23929057035718868, + -0.14028042678489333, + 1.0516230933762587 + ], + "object_minus_gripper": [ + 0.004477565541593537, + 0.0043404206673931245, + -0.004358079245172508 + ], + "object_to_gripper_xy": 0.00623601192664023, + "object_to_gripper_z": -0.004358079245172508, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2437681358987822, + -0.16032855650114128, + 1.0472650141310862 + ], + "finger_b": [ + 0.23323041062051514, + -0.1359400061175002, + 1.0472650141310862 + ], + "finger_midpoint": [ + 0.23849927325964868, + -0.14813428130932074, + 1.0472650141310862 + ], + "object_minus_finger_midpoint": [ + 0.005268862639133537, + 0.012194275191820536, + 0.0 + ], + "finger_gap": 0.026567744425442442, + "fingertip_max_gap": 0.09711349315595347, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013283872212721221, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0472650141310862, + "object_top_z": 1.0947010715756051, + "finger_top_clearance": 0.04743605744451895, + "fingertip_min_top_clearance": 0.014230817233355668, + "object_projection_between_fingers": 0.8426798416920789, + "object_to_finger_line_xy": 0.009673378355441815, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.051056746577976736, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.9644784695427395, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 203, + "max_stable_success_frames": 203, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24884484315069433, + -0.131049926307241, + 1.2449033220799144 + ], + "held_position": [ + 0.25347673441709495, + -0.12642494655668488, + 1.2410267963174002 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007607384989879812, + "max_held_gripper_dist": 0.0076095618959979815, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0038765257625141825, + "max_held_gripper_z_dist": 0.004352860596483987, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0856916636494291, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.25347673441709495, + -0.15022795318050977, + 1.2410267963174002 + ], + "held_grasp_finger_b": [ + 0.24424262139208264, + -0.12642494655668488, + 1.2410267963174002 + ], + "held_grasp_midpoint": [ + 0.2488596779045888, + -0.13832644986859732, + 1.2410267963174002 + ], + "held_grasp_object_position": [ + 0.25347673441709495, + -0.12642494655668488, + 1.2410267963174002 + ], + "held_grasp_finger_gap": 0.02553139180876268, + "held_grasp_max_gap": 0.1249661123752594, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023688690661839606, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.0003380786363282249, + -0.9950662611584983, + -0.09921200334074044 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004769530223007263, + "held_grasp_line_xy_max_dist": 0.0474830561876297, + "held_grasp_object_top_z": 0.045200787484645844, + "held_grasp_top_clearance": 0.033359564010065235, + "held_grasp_min_top_clearance": 0.013560236245393752 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.28652011771488783, + -0.367253807836714, + 0.8470195087421947 + ], + "target_position": [ + 0.2812527087432543, + -0.36893459800356937, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005529073417801846, + "xy_threshold": 0.08, + "gripper_dist": 0.18549413454818547, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195087421947, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07513634979490116, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08735686772747363, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1549884677707091, + "release_required_pad_clearance": 0.053678433863736816, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.365996742776499, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008075594902038574, + "max_z_decrease": 0.008075594902038574, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035152387459955664, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008075594902038574, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021203128061416224, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008075594902038574, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008075607839731058, + "max_button_displacement": 0.12, + "button_start": [ + 0.13695263862609863, + -0.42519605159759516, + 0.7768088579177856 + ], + "button_final": [ + 0.13695263862609863, + -0.42519605159759516, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13601504618279317, + -0.4271153976208472, + 0.8038198889327162 + ], + "closest_button": [ + 0.1369528323411941, + -0.42518159747123707, + 0.7687332630157471 + ], + "closest_ee_minus_button": [ + -0.0009377861584009273, + -0.0019338001496101431, + 0.035086625916969094 + ], + "button_min_z_position": [ + 0.1369528323411941, + -0.42518159747123707, + 0.7687332630157471 + ], + "min_active_finger_to_button": 0.14644457637192929, + "closest_active_finger": [ + -0.004694230854511261, + -0.4108615517616272, + 0.8105396628379822 + ], + "closest_active_finger_button": [ + 0.13695254921913144, + -0.4251959323883056, + 0.7762361764907837 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1416467800736427, + 0.014334380626678411, + 0.034303486347198486 + ], + "min_contact_pad_to_button": 0.021203128061416224, + "closest_contact_pad": [ + 0.1369528323411941, + -0.42830905327806057, + 0.789704473275653 + ], + "closest_contact_pad_button": [ + 0.1369528323411941, + -0.42518159747123707, + 0.7687332630157471 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.003127455806823498, + 0.020971210259905892 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 62, + "reproducibility": { + "enabled": true, + "action_seed": 1937247219597208700, + "physical_seed": 4015830930766581336, + "layout_id": "layout_00038", + "step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "workflow_spec_digest": "899d6ab12a9c3475100698bd12223ba9b0722ce0ef08f7e073f1cc82e64b1c61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5a48cee54cb7d90d1520de8fc9c36ceb124f1dcfaeae663c4269016bf93c29f4", + "visual_seed": 8179723110427779339, + "episode_index": 62, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "runtime_workflow_digest": "82bc5063731ddfd0266f831cc4632665172de8ce02e3cf0701723ae89e342f48" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_63_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_63_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3ff3afb26fad98104381b855b5562622a1382d33 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_63_success.json @@ -0,0 +1,926 @@ +{ + "episode": 63, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.24133845827729017, + -0.1308347039970895, + 1.0453131018218476 + ], + "current_z": 1.0453131018218476, + "required_z": 0.8565865907835896, + "initial_z": 0.7565865907835896, + "lift_margin": 0.188726511038258, + "gripper_z": 1.0488010366036307, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23704469160810226, + -0.13518403816833663, + 1.0488010366036307 + ], + "object_minus_gripper": [ + 0.004293766669187904, + 0.004349334171247138, + -0.0034879347817831086 + ], + "object_to_gripper_xy": 0.006111721520374355, + "object_to_gripper_z": -0.0034879347817831086, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24133845827729017, + -0.15486375133435287, + 1.0453131018218476 + ], + "finger_b": [ + 0.23055029785665115, + -0.1308347039970895, + 1.0453131018218476 + ], + "finger_midpoint": [ + 0.23594437806697066, + -0.14284922766572117, + 1.0453131018218476 + ], + "object_minus_finger_midpoint": [ + 0.005394080210319507, + 0.012014523668631677, + 0.0 + ], + "finger_gap": 0.02633969478179059, + "fingertip_max_gap": 0.0924018598704725, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013169847390895283, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0453131018218476, + "object_top_z": 1.0910162215177062, + "finger_top_clearance": 0.04570311969585861, + "fingertip_min_top_clearance": 0.013710935908757582, + "object_projection_between_fingers": 0.8322458335747766, + "object_to_finger_line_xy": 0.009841769981660491, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04870092993523625, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3409396870656711, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 203, + "max_stable_success_frames": 203, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24655110727571206, + -0.1276810225353611, + 1.2397465536034094 + ], + "held_position": [ + 0.2511402426592491, + -0.12327331876577852, + 1.2367449772499028 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0070354443139544285, + "max_held_gripper_dist": 0.007037718952024383, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0030015763535065076, + "max_held_gripper_z_dist": 0.003459426891758488, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08554538069492161, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2511402426592491, + -0.14710021966000342, + 1.2367449772499028 + ], + "held_grasp_finger_b": [ + 0.24231358722774649, + -0.12327331876577852, + 1.2367449772499028 + ], + "held_grasp_midpoint": [ + 0.2467269149434978, + -0.13518676921289097, + 1.2367449772499028 + ], + "held_grasp_object_position": [ + 0.2511402426592491, + -0.12327331876577852, + 1.2367449772499028 + ], + "held_grasp_finger_gap": 0.025409270991700848, + "held_grasp_max_gap": 0.12496599316596985, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023152697310552563, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05340629310506959, + -0.9914884173371783, + -0.11873704621133574 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0040323120900499715, + "held_grasp_line_xy_max_dist": 0.047482996582984924, + "held_grasp_object_top_z": 0.04520072788000107, + "held_grasp_top_clearance": 0.0331529802776125, + "held_grasp_min_top_clearance": 0.01356021836400032 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2903424678742402, + -0.3578053023396973, + 0.8470198770489221 + ], + "target_position": [ + 0.2839697578266901, + -0.35985276797141325, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006693545313449639, + "xy_threshold": 0.08, + "gripper_dist": 0.1850975940494144, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470198770489221, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.075903070909766, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08724391382427692, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15267261104462937, + "release_required_pad_clearance": 0.05362195691213846, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.2541817950825105, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008080005645751953, + "max_z_decrease": 0.008080005645751953, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03511721603470499, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008080005645751953, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021006834936696635, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008080005645751953, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008080015774338907, + "max_button_displacement": 0.12, + "button_start": [ + 0.1396696865558624, + -0.4161142408847809, + 0.7768088579177856 + ], + "button_final": [ + 0.1396696865558624, + -0.4161142408847809, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1395949398562837, + -0.41534341636041366, + 0.8038377998181746 + ], + "closest_button": [ + 0.13967148959636688, + -0.41610157489776617, + 0.7687288522720337 + ], + "closest_ee_minus_button": [ + -7.65497400831705e-05, + 0.0007581585373525046, + 0.03510894754614091 + ], + "button_min_z_position": [ + 0.13967148959636688, + -0.41610157489776617, + 0.7687288522720337 + ], + "min_active_finger_to_button": 0.14554585183908517, + "closest_active_finger": [ + 0.013361245393753052, + -0.47981107234954834, + 0.81078040599823 + ], + "closest_active_finger_button": [ + 0.13966937363147733, + -0.41611376404762274, + 0.7765385508537292 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12630812823772428, + -0.0636973083019256, + 0.03424185514450073 + ], + "min_contact_pad_to_button": 0.021006834936696635, + "closest_contact_pad": [ + 0.13967148959636688, + -0.4163822988901772, + 0.7897338114030985 + ], + "closest_contact_pad_button": [ + 0.13967148959636688, + -0.41610157489776617, + 0.7687288522720337 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00028072399241102497, + 0.021004959131064815 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 63, + "reproducibility": { + "enabled": true, + "action_seed": 1937247219597208700, + "physical_seed": 4015830930766581336, + "layout_id": "layout_00038", + "step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "workflow_spec_digest": "899d6ab12a9c3475100698bd12223ba9b0722ce0ef08f7e073f1cc82e64b1c61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "61b77251b916c648e9c09608037a583b3eed7a76f3f5d8f0047217d4a27af54f", + "visual_seed": 7409979955497940057, + "episode_index": 63, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "runtime_workflow_digest": "82bc5063731ddfd0266f831cc4632665172de8ce02e3cf0701723ae89e342f48" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_64_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_64_success.json new file mode 100644 index 0000000000000000000000000000000000000000..09214937d442b57e6e222a6afc63fe6ea7cfebae --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00038/results/episode_64_success.json @@ -0,0 +1,926 @@ +{ + "episode": 64, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.24227240663183125, + -0.13082547768089692, + 1.0462252213892445 + ], + "current_z": 1.0462252213892445, + "required_z": 0.8565865145222263, + "initial_z": 0.7565865145222264, + "lift_margin": 0.18963870686701811, + "gripper_z": 1.0506813520718041, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23771425481008324, + -0.13522247682613164, + 1.0506813520718041 + ], + "object_minus_gripper": [ + 0.004558151821748013, + 0.004396999145234726, + -0.004456130682559678 + ], + "object_to_gripper_xy": 0.006333273206904913, + "object_to_gripper_z": -0.004456130682559678, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24227240663183125, + -0.15520435941900917, + 1.0462252213892445 + ], + "finger_b": [ + 0.2315628089306231, + -0.13082547768089692, + 1.0462252213892445 + ], + "finger_midpoint": [ + 0.23691760778122717, + -0.14301491854995305, + 1.0462252213892445 + ], + "object_minus_finger_midpoint": [ + 0.005354798850604081, + 0.012189440869056128, + 0.0 + ], + "finger_gap": 0.02662753007176194, + "fingertip_max_gap": 0.09627966388628989, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01331376503588097, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0462252213892445, + "object_top_z": 1.093082856781181, + "finger_top_clearance": 0.04685763539193655, + "fingertip_min_top_clearance": 0.014057290617580964, + "object_projection_between_fingers": 0.8382350057406565, + "object_to_finger_line_xy": 0.009805190910192314, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05063983194314495, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.1745812799176765, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 203, + "max_stable_success_frames": 203, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2466920565530962, + -0.1263489400789672, + 1.241657132050053 + ], + "held_position": [ + 0.25141920303048765, + -0.12166032265353942, + 1.2377019572696744 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007744188448383844, + "max_held_gripper_dist": 0.007746416465590802, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003955174780378545, + "max_held_gripper_z_dist": 0.004446538085248974, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08577579824106568, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.25141920303048765, + -0.14547002106108733, + 1.2377019572696744 + ], + "held_grasp_finger_b": [ + 0.24211690998496505, + -0.12166032265353942, + 1.2377019572696744 + ], + "held_grasp_midpoint": [ + 0.24676805650772635, + -0.13356517185731337, + 1.2377019572696744 + ], + "held_grasp_object_position": [ + 0.25141920303048765, + -0.12166032265353942, + 1.2377019572696744 + ], + "held_grasp_finger_gap": 0.025562362843899386, + "held_grasp_max_gap": 0.12496591120958328, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02369169039495794, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.0025642462625123166, + -0.9940418656155771, + -0.10896877554881668 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004857891289020869, + "held_grasp_line_xy_max_dist": 0.04748295560479164, + "held_grasp_object_top_z": 0.04520070180296898, + "held_grasp_top_clearance": 0.033378709975664785, + "held_grasp_min_top_clearance": 0.013560210540890693 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.2853779090451825, + -0.36691435192301086, + 0.8470189887003722 + ], + "target_position": [ + 0.2808353934572148, + -0.36823786688127297, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0047313993396957185, + "xy_threshold": 0.08, + "gripper_dist": 0.1847819051350509, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470189887003722, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0757684917180543, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08960192525035975, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15267798177978098, + "release_required_pad_clearance": 0.054800962625179875, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 4.651482789641797, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008049607276916504, + "max_z_decrease": 0.008049607276916504, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03512939696021451, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008049607276916504, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02110271154741428, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008049607276916504, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008049616420533597, + "max_button_displacement": 0.12, + "button_start": [ + 0.13653531670570374, + -0.4244993329048156, + 0.7768088579177856 + ], + "button_final": [ + 0.13653531670570374, + -0.4244993329048156, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1351967296120682, + -0.42559287593698947, + 0.8080709997481239 + ], + "closest_button": [ + 0.13653181493282318, + -0.42449712753295893, + 0.7729840874671936 + ], + "closest_ee_minus_button": [ + -0.0013350853207549918, + -0.0010957484040305387, + 0.035086912280930305 + ], + "button_min_z_position": [ + 0.13652797043323517, + -0.424489676952362, + 0.7687592506408691 + ], + "min_active_finger_to_button": 0.14740158267766967, + "closest_active_finger": [ + -0.0062297433614730835, + -0.4117230772972107, + 0.8106850981712341 + ], + "closest_active_finger_button": [ + 0.13653521239757538, + -0.424498826265335, + 0.7763023376464844 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14276495575904846, + 0.012775748968124334, + 0.034382760524749756 + ], + "min_contact_pad_to_button": 0.02110271154741428, + "closest_contact_pad": [ + 0.13652797043323517, + -0.42652558825609393, + 0.7897635240112266 + ], + "closest_contact_pad_button": [ + 0.13652797043323517, + -0.424489676952362, + 0.7687592506408691 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00203591130373193, + 0.021004273370357485 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 64, + "reproducibility": { + "enabled": true, + "action_seed": 1937247219597208700, + "physical_seed": 4015830930766581336, + "layout_id": "layout_00038", + "step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "workflow_spec_digest": "899d6ab12a9c3475100698bd12223ba9b0722ce0ef08f7e073f1cc82e64b1c61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "65a46bd9334e8b2a1641ab9df4a164b0bb174f4406f17dc690f2db020058fe60", + "visual_seed": 595501452218919741, + "episode_index": 64, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3932150417231703852, + 6575293240791915237, + 6314773312541860175, + 1098307215458801517 + ], + "runtime_workflow_digest": "82bc5063731ddfd0266f831cc4632665172de8ce02e3cf0701723ae89e342f48" + } +} \ No newline at end of file